WO2022016582A1 - 一种图像采集设备 - Google Patents

一种图像采集设备 Download PDF

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Publication number
WO2022016582A1
WO2022016582A1 PCT/CN2020/105239 CN2020105239W WO2022016582A1 WO 2022016582 A1 WO2022016582 A1 WO 2022016582A1 CN 2020105239 W CN2020105239 W CN 2020105239W WO 2022016582 A1 WO2022016582 A1 WO 2022016582A1
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WO
WIPO (PCT)
Prior art keywords
image acquisition
plate
exoskeleton
arm
joint
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PCT/CN2020/105239
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English (en)
French (fr)
Inventor
陈小兵
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南京智金科技创新服务中心
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Publication of WO2022016582A1 publication Critical patent/WO2022016582A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices

Definitions

  • the invention relates to the technical field of image acquisition, in particular to an image acquisition device.
  • Image acquisition technology has broad application prospects in many fields such as national security, public security, transportation, finance, and industrialized production lines.
  • Existing image recognition systems are basically oriented to computer applications, and the solution is to use an image acquisition card and run an image processing algorithm on a PC to realize it.
  • PC-based application systems are not only large in size, high in cost, and poor in real-time performance, but also sometimes cannot meet the needs of special application environments.
  • the present invention provides an image acquisition device to solve the above problems in the background art.
  • An image acquisition device comprising an image acquisition device, an image acquisition auxiliary device, an image processor and an image acquisition supplementary device;
  • the image acquisition device includes at least one of a video camera, a camera and an electronic scanner;
  • the image acquisition auxiliary device includes a multi-functional photographic image support and an auxiliary power supporter
  • the auxiliary power supporter includes a human exoskeleton power assist system
  • the tops of the two sides of the patellar joint components of the human exoskeleton power assist system are respectively symmetrically provided.
  • a support rod the top of the support rod is covered with a movable ring, the side of the movable ring has an extension column, the front end of the extension column is connected with the rocking arm through a movable joint, and the extension column and the rocking arm are on the same side on the same horizontal line, respectively
  • a support plate is provided, the top of the support plate is provided with an arm drive device, and the top of one end of the rocking arm away from the movable joint is provided with a fixed plate, and the movable rods at both ends of the fixed plate are respectively opposite to the two ends of the
  • the rocker arm is connected, the center of the fixing plate is provided with a mounting pan-tilt fixer, the center of the connecting plate of the patellar joint part is provided with a T-shaped column, the top ends of the T-shaped column are respectively provided with rotating rings, the The outer side of the rotating ring is provided with a camera mounting plate;
  • the image acquisition and supplementary device includes a fixing seat located on the patellar joint part on one side of the tail end of the T-shaped column, the top of the fixing seat is provided with a bearing plate, and the bearing plate is provided with an electro-hydraulic rod and an auxiliary battery.
  • the top of the telescopic rod of the electro-hydraulic rod is provided with a connecting rod, the top of the connecting rod is provided with a rotating disk, and the rotating disk is connected with a rotating driving device, and the rotating driving device is used to drive the rotating disk to rotate around its axis,
  • the top of the rotating disk is connected with the base of the fill light through the support arm assembly.
  • the front end of the swing arm is provided with an arm sensor, and the arm touch sensor and the arm driving device are respectively connected to the control device of the human exoskeleton power assist system.
  • two ends of the fixed plate are provided with movable rods, and one end of the movable rod away from the fixed plate is provided with a rocking arm connecting hole, and the rocking arm connecting hole is supported by a protruding column on the top of the front end of the rocking arm.
  • the top of the protruding column is threadedly connected with the nut, and the center of the fixing plate is provided with a bracket insertion hole.
  • both ends of the fixing plate are provided with fixing ropes.
  • the mounting pan/tilt holder includes a pressing plate, the top of the fixing plate is provided with pressing plates on opposite sides, and the top of the fixing plate below the pressing plate is provided with grooves,
  • the sliding block at the bottom of the pressing plate is located in the groove, the two opposite grooves are communicated through a movable cavity, and the moving rod of the sliding block is located in the movable cavity.
  • a spring is provided, and two ends of the spring are respectively connected with one end close to the moving rod.
  • fixing ropes are respectively provided on both sides of the camera mounting plate.
  • the support arm assembly includes a first tube body and a second tube body connected in sequence, and a first joint is provided at one end of the first tube body away from the second tube body, and a joint is provided between the first tube body and the second tube body.
  • a second joint is provided, and a third joint is arranged at one end of the second pipe body away from the first pipe body.
  • the first pipe body is installed on the top of the rotating disk through the first joint, and the second driving device is connected with the support arm assembly, which is used for driving The arm assembly is bent.
  • the image acquisition and supplementary device further includes an auxiliary controller, which is respectively connected with the auxiliary battery, the electro-hydraulic rod, the rotation driving device, the fill light, and the second driving device of the support arm assembly. connect.
  • the vertical column of the T-shaped column is a retractable vertical column.
  • an image acquisition device includes an image acquisition device, an image acquisition auxiliary device, an image processor and an image acquisition supplementary device; the image acquisition device includes a video camera, a camera and an electronic scanner; the image acquisition auxiliary device
  • the device includes a multi-functional photographic image support and an auxiliary power supporter, the auxiliary power supporter includes a human exoskeleton power assist system, and support rods are symmetrically arranged on the tops of both sides of the patellar joint part of the human exoskeleton power assist system, respectively, and the The top of the support rod is covered with a movable ring, the side of the movable ring is provided with an extension column, the front end of the extension column is connected with the swing arm through the movable joint, and the extension column and the swing arm are respectively provided with support plates on the same horizontal line, The top of the support plate is provided with an arm drive device, and the top of one end of the swing arm away from the movable joint is provided with a fixed plate, and the movable rods
  • a camera mounting plate is provided;
  • the image acquisition and supplementary device includes a fixing seat on the patellar joint part on one side of the tail end of the T-shaped column, a bearing plate is arranged on the top of the fixing seat, and an electro-hydraulic rod is arranged on the bearing plate
  • the top of the telescopic rod of the electro-hydraulic rod is provided with a connecting rod
  • the top of the connecting rod is provided with a rotating disk
  • the rotating disk is connected with a rotating driving device
  • the rotating driving device is used to drive the rotating The disk rotates around its axis, and the top of the rotating disk is connected with the base of the fill light through the support arm assembly.
  • the advantages of the invention are as follows: it is convenient for the cameraman to control, reduces the fatigue of the cameraman, improves the image acquisition efficiency, is suitable for long-term uninterrupted image acquisition, is suitable for the use of many terrains, and can control and fill light in multiple directions.
  • FIG. 1 is a schematic structural diagram of an embodiment of the present invention
  • FIG. 2 is a cross-sectional view of a mounting pan/tilt holder according to an embodiment of the present invention
  • 1- human exoskeleton assist system 2- patellar joint parts; 3- support rod; 4- active ring; 5- extension column; 7- active joint; 8- swing arm; 9- support plate; 10- arm drive Device; 11-Fixed plate; 110-Moveable rod; 12-Mounted gimbal holder; 120-Squeeze plate; 121-Groove; 122-Sliding block; 123-Active cavity; 124-Moving rod; 125-Spring; 13-T-shaped column; 14-rotating ring; 15-camera mounting plate; 17-fixed seat; 18-carrying plate; 19-electro-hydraulic rod; 20-connecting plate; 21-auxiliary battery; 22-connecting rod; 23- 25-fill light; 26-arm sensor; 27-first tube body; 28-second tube body; 29-first joint; 30-second joint; 31-third joint.
  • an image acquisition device includes an image acquisition device, an image acquisition auxiliary device, an image processor and an image acquisition supplementary device;
  • the image acquisition device includes at least one of a camera, a camera and an electronic scanner; the image processor is connected to the image acquisition device for processing the acquired images.
  • the image acquisition auxiliary device includes a multi-functional photographic image stand and an auxiliary power supporter
  • the auxiliary power supporter includes a human exoskeleton power assist system 1
  • the tops of the two sides of the patellar joint component 2 of the human exoskeleton power assist system 1 are respectively.
  • a support rod 3 is symmetrically arranged, the top of the support rod 3 is covered with a movable ring 4, and the side of the movable ring 4 has an extension column 5, and the front end of the extension column 5 is connected with the rocking arm 8 through the movable joint 7, and the extension
  • the column 5 and the rocking arm 8 are respectively provided with support plates 9 on the same side and on the same horizontal line.
  • the top of the support plate 9 is provided with an arm driving device 10 , and the top of one end of the rocking arm 8 away from the movable joint 7 is provided with a fixed plate. 11.
  • the movable rods 110 at the two ends of the fixing plate 11 are respectively connected with the rocking arms 8 at the opposite ends.
  • a T-shaped column 13 is provided in the center of the plate 20 , and rotating rings 14 are respectively provided at both ends of the top of the T-shaped column 13 , and a camera mounting plate 15 is provided on the outer side of the rotating ring 14 .
  • the image acquisition and supplementary device includes a fixing seat 17 located on the patellar joint part 2 at the rear end of the T-shaped column 13 , a bearing plate 18 is arranged on the top of the fixing seat 17 , and an electro-hydraulic rod is arranged on the bearing plate 18 .
  • 19 and auxiliary battery 21 the top of the telescopic rod of the electro-hydraulic rod 19 is provided with a connecting rod 22, and the top of the connecting rod 22 is provided with a rotating disk 23, the rotating disk 23 is connected with the rotating drive device, and the rotating drive The device is used to drive the rotating disk 23 to rotate around its axis, and the top of the rotating disk 23 is connected to the base of the fill light 25 through a support arm assembly.
  • the front end of the rocking arm 8 is provided with an arm sensor 26.
  • the arm sensor 26 and the arm driving device 10 are respectively connected to the control device of the human exoskeleton power assist system 1. Because there are two left and right rocking arms 8, the left and right rocking arms 8
  • An arm sensor 26 is respectively provided on the upper arm, and the arm drive device 10 adopts a magnetic axis linear motor, an electric cylinder or a hydraulic cylinder.
  • the arm sensors 26 on the left and right swing arms 8 are respectively The arm sensor 26 that sends out the "shrink” action command and the arm sensor 26 that sends the "extend” action command, when the arm sensor 26 that sends the "shrink” action command receives the pressure signal, the control device of the exoskeleton power assist system sends a signal to control the According to the preset program of the system, the device sends a "shrink" action command to the arm drive devices 10 on the left and right sides, then the swing arm 10 retracts upward, and lifts the fixed plate on the swing arm 10, when the "extend” action command is issued
  • the arm sensor 26 of the device receives the pressure signal, the control device of the box exoskeleton power assist system sends a signal, and the control device sends out the “stretch” action command to the arm drive devices 10 on the left and right sides according to the preset program of the system, then the swing arm 10 Extend downwards and lower the fixed plate
  • Two ends of the fixed plate 11 are provided with movable rods 110 , and one end of the movable rod 110 away from the fixed plate 11 is provided with a rocking arm connecting hole, and the rocking arm connecting hole is penetrated by the protruding column on the top of the front end of the rocking arm 8 , the top of the protruding column is threadedly connected with the nut, and the center of the fixing plate 11 is provided with a bracket insertion hole for inserting the camera bracket.
  • Both ends of the fixing plate 11 are provided with fixing ropes to facilitate fixing the camera.
  • the mounting head holder 12 includes a pressing plate 120 , the top of the fixing plate 11 is provided with pressing plates 120 on opposite sides, and the top of the fixing plate 11 under the pressing plate 120 is provided with a groove 121 , the sliding block 122 at the bottom of the pressing plate 120 is located in the groove 121, the two opposite grooves 121 are communicated through the movable cavity 123, and the moving rod 124 of the sliding block 122 is located in the movable cavity 123.
  • a spring 125 is arranged in the movable cavity 123, and the two ends of the spring 125 are respectively connected with one end close to the moving rod 124. Hold the camera horizontally on the platform to avoid shaking.
  • the two sides of the camera mounting plate 15 are respectively provided with fixing ropes to fix the camera in the shoulder-resisting position.
  • the arm assembly includes a first tube body 27 and a second tube body 28 which are connected in sequence.
  • a first joint 29 is provided at one end of the first tube body 27 away from the second tube body 28 .
  • a second joint 30 is arranged between them, and a third joint 31 is arranged at one end of the second pipe body 28 away from the first pipe body 27.
  • the first pipe body 27 is installed on the top of the rotating plate 23 through the first joint 29.
  • the arm assembly is connected, which is used to drive the support arm assembly to bend, and the third joint 31 is provided with the base of the fill light 25 .
  • the image capturing and supplementing device further includes an auxiliary controller, which is respectively connected with the auxiliary battery, the electro-hydraulic lever, the rotation driving device, the fill light, and the second driving device of the arm assembly, and the auxiliary controller is connected with the auxiliary controller. , realizes the multi-directional adjustment of the fill light, which is convenient to supplement the light source of the image acquisition object.
  • the vertical column of the T-shaped column 13 is a telescopic vertical column, and the telescopic vertical column is a hydraulic rod or an electric push rod. Lift up and down to adjust the height of the camera at the shoulder position.
  • the human exoskeleton power assist system includes an exoskeleton lower limb, a waist belt, a harness, a back frame, a hip joint part, a first foot sole plate part, a second foot sole plate part, a power source, a control device, a sensor and a driving device, and the exoskeleton lower limb is composed of the first foot sole plate.
  • a left exoskeleton lower extremity unit, a second left exoskeleton lower extremity unit, a first right exoskeleton lower extremity unit, and a second right exoskeleton lower extremity unit are composed, the first left exoskeleton lower extremity unit and the first right exoskeleton lower extremity unit are both It has a thigh part, a calf part and a movable joint, the first left exoskeleton lower limb unit and the second left exoskeleton lower limb unit are both located on one side of the hip joint part, the first right exoskeleton lower limb unit and the second right exoskeleton are The lower limb units are all located on the other side of the hip joint component, one end of the first left exoskeleton lower limb unit and one end of the first right exoskeleton lower limb unit are movably connected with the hip joint component, and the first left exoskeleton lower limb unit is movably connected to the hip joint component.
  • the other end is movably connected with the first foot bottom part
  • the other end of the first right exoskeleton lower limb unit is movably connected with the second foot bottom part
  • one end of the second left exoskeleton lower limb unit is movably connected with the second right exoskeleton lower limb
  • One end of the unit is movably connected with the back frame.
  • the basic idea is to make two of the lower limbs of the exoskeleton wear or bind to the left and right lower limbs of the human body respectively, and the lower limb parts of the exoskeleton to be worn or bound to the left and right lower limbs of the human body include the thigh part and the calf part and Active joint, one end of the part is movably connected to the exoskeleton hip joint, and the other end of the part is connected to the exoskeleton foot plate; the other two of the exoskeleton lower limbs are magnetic axis linear motors, and their magnetic axes are movable rods for linear motion , The mover part of the magnetic axis linear motor is installed on the left and right sides of the exoskeleton back frame or the waist of the exoskeleton respectively.
  • the exoskeleton device has four exoskeleton lower limbs, and two of the exoskeleton lower limbs are both exoskeleton force-bearing rods and power elements.
  • the exoskeleton lower limb driving device which is both a force-bearing rod and a power element, is a magnetic axis linear motor; the exoskeleton lower limb connected to the left and right lower limbs of the human body can be driven by a linear motor, or a hydraulic cylinder or air pressure. Cylinder drive.
  • two exoskeleton lower limbs are arranged respectively.
  • One of the lower limbs of the exoskeleton is connected with the lower limbs of the human body by wearing or binding, and the human body moves basically synchronously with the lower limbs of the human body on the same side; When the human body walks, it performs basically synchronous movements with the lower limbs of the human body on the other side.
  • the lower limb of the exoskeleton on the left side of the human body that is synchronized with the lower limb of the human body is the supporting leg
  • the lower limb of the left exoskeleton is driven by the controller
  • the lower limb of the exoskeleton contacts the ground through the exoskeleton foot plate, bearing and transmitting the left side of the human body.
  • the lower end of the exoskeleton lower limb touches the ground to bear and transmit the load on the right side of the human body; similarly, the right side of the human body is synchronized with the lower limbs of the human body.
  • the lower limb of the exoskeleton When the lower limb of the exoskeleton is the support leg, the lower limb of the right exoskeleton is driven by the controller, and the lower limb of the exoskeleton contacts the ground through the sole plate of the exoskeleton to bear and transmit the load on the left side of the human body, and the left side of the human body is not synchronized with the lower limb of the human body
  • the lower limb of the exoskeleton is driven by the controller, and the lower end of the lower limb of the exoskeleton contacts the ground to bear and transmit the load on the left side of the human body.
  • one exoskeleton on the left and right sides of the human body bears and transmits the load.
  • the movements of the lower limbs of the exoskeleton are controlled by the control system of the exoskeleton power assist system.
  • Signal detection and transmission elements such as pressure sensors, angle sensors, position sensors, current sensors, and voltage sensors can be installed on the soles, ankle joints, knee joints, hip joints, back frames and drive components of the exoskeleton power assist system as required.
  • the control system sends action commands to the driving elements according to the preset program, executes the actions of the elements, and completes the task of exoskeleton walking assistance.
  • the second left exoskeleton lower limb unit and the second right exoskeleton lower limb unit are both magnetic axis linear motors.
  • the driving devices of the first left exoskeleton lower limb unit and the first right exoskeleton lower limb unit are both linear motor driving devices.
  • the sensor of the exoskeleton foot bottom plate receives the pressure signal
  • the sensor of the exoskeleton knee joint receives the angle signal
  • the above signal is transmitted to the control device of the exoskeleton device, the control device
  • the "extend" action command is issued to the driving device of the first left exoskeleton lower limb unit and the second right exoskeleton lower limb unit
  • the second left exoskeleton lower limb unit and the first right exoskeleton lower limb unit are issued to the second exoskeleton lower limb unit.
  • the driving device of the first left exoskeleton sends a "shrink" action command to "extend” the driving device of the lower limb unit of the first left exoskeleton, thereby driving the soleplate of the lower limb unit of the first left exoskeleton to contact the ground and exert force, so as to pass the load of the human body through
  • the first left exoskeleton lower limb unit is transmitted to the ground;
  • the lower end of the magnetic axis of the second right exoskeleton lower limb unit is brought into contact with the ground and a force is applied, and the load of the human body is transmitted to the ground through the second right exoskeleton lower limb unit;
  • the driving device of the exoskeleton lower limb unit "retracts", thereby driving the first right exoskeleton lower limb unit to contract upward;
  • the magnetic axis of the second left exoskeleton lower limb unit is caused to contract upward.
  • the exoskeleton is made of metal or plastic or polymer material
  • the hip joint part is made of metal or plastic or polymer material
  • the thigh part is made of metal or plastic or polymer material
  • the calf part is made of metal or plastic or polymer material. It is made of metal or plastic or polymer material
  • the ankle part is made of metal or plastic or polymer material
  • the bottom plate is made of metal or plastic or polymer material.
  • the driving device for the lower limbs of the exoskeleton is a linear motor that is electrically driven for linear motion.
  • Linear motors can be installed on the hip, knee, and ankle joints of the exoskeleton system.
  • the thigh part, calf part and bottom plate part of the exoskeleton are pushed by the linear motor or electric cylinder to swing back and forth or up and down or retract in basically the same way with the actions of the corresponding parts of the human body, so as to provide the walking human body with help.
  • the assisting principle is: the exoskeleton assisting system detects the pressure of the device in the human muscle or bone or the action signal or pressure signal of the action sensor, or the angle or position signal of the large, calf and exoskeleton device, and the detected signal is sent to the device.
  • the control system analyzes and processes, and according to the preset program, the control system issues instructions to the executive components in a timely manner, and controls the driving device to perform linear motion of advancing or retracting, thereby changing the angle or position of the human exoskeleton joints and components, and providing assistance for human walking.
  • two exoskeleton lower limbs are arranged respectively.
  • One of the lower limbs of the exoskeleton is connected with the lower limbs of the human body by wearing or binding, and the human body moves basically synchronously with the lower limbs of the human body on the same side; When the human body walks, it performs basically synchronous movements with the lower limbs of the human body on the other side.
  • the human body When the human body walks, when the lower limb of the exoskeleton on the left side of the human body that is synchronized with the lower limb of the human body is the supporting leg, the lower limb of the left exoskeleton is driven by the controller, and the lower limb of the exoskeleton contacts the ground through the exoskeleton foot plate, bearing and transmitting the left side of the human body.
  • the lower end of the exoskeleton lower limb touches the ground to bear and transmit the load on the right side of the human body; similarly, the right side of the human body is synchronized with the lower limbs of the human body.
  • the lower limb of the exoskeleton is the support leg
  • the lower limb of the right exoskeleton is driven by the controller, and the lower limb of the exoskeleton contacts the ground through the sole plate of the exoskeleton to bear and transmit the load on the left side of the human body, and the left side of the human body is not synchronized with the lower limb of the human body
  • the lower limb of the exoskeleton is driven by the controller, and the lower end of the lower limb of the exoskeleton contacts the ground to bear and transmit the load on the left side of the human body.
  • the driving device used in the lower limbs can be one of a magnetic axis linear motor, an electric cylinder or a hydraulic cylinder, or two or more types of driving elements are used simultaneously.
  • the driving device of the lower limb of the exoskeleton worn or bound to the lower limb of the human body is arranged on the rear side of the exoskeleton.
  • the action state is "extended”
  • the lower limb of the exoskeleton is driven to receive force and transmit the load to the ground; when the action state is "retracted”, Drive exoskeleton lower limbs to contract without bearing and transmitting loads.
  • the magnetic axis linear motor set on the exoskeleton back frame is both the lower limb of the exoskeleton and the driving element of the lower limb of the exoskeleton.
  • the control device is controlled by a computer.
  • the pressure signal or limb movement signal or the position signal of the device components collected by the sensor is transmitted to the computer, and the computer analyzes and processes the signal.
  • the voltage or current or frequency of the motor controls the operation, stop, forward rotation, reverse rotation, acceleration and deceleration of the motor.
  • Linear motors or electric cylinders and hydraulic cylinders make corresponding predetermined actions such as advancing, shrinking, accelerating, decelerating, and stopping under the control of the system.
  • the control elements such as pressure sensors, relays, etc. are all conventional general products.
  • the parameters of the motor used to directly convert electrical energy into linear motion are as follows but are not limited to the following parameters:
  • Thrust 1N-300N;
  • Linear magnetic shaft motor models S040D, S040T, S040Q, S080D, S080T, S080Q, S120D, S120T, S120Q; TSL2504, TSL2505, TSL2507, etc.
  • Cylindrical linear motor (linear synchronous motor) model LSMC200201, LSMC400401

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Abstract

本发明公开了一种图像采集设备，包括图像采集装置、图像采集辅助装置、图像处理器与图像采集补充装置；本发明便于摄像人员的操控，降低了摄像人员的劳累程度，提高了图像采集效率，适宜长时间不间断图像采集使用，适宜较多地形的使用，并且可以多方位调控补光。

Description

一种图像采集设备 技术领域
本发明涉及图像采集技术领域，具体的说是一种图像采集设备。
背景技术
图像采集技术在国家安全、公安、交通、金融及工业化生产线等诸多领域具有广泛的应用前景。现有的图像识别系统基本是面向计算机应用，其方案是：采用图像采集卡，在PC机上运行图像处理算法来实现。但由于大部分图像识别系统要求数据量大、算法复杂、对实时性要求高，基于PC的应用系统不仅体积大、成本高、实时性能力差，而且有时不能满足特殊应用环境的需求。
目前，市场上销售的图形图像采集装置大多是将摄像机通过工作人员肩抗或者提来实现对周围的信息进行采集，该装置虽然实现了对周围的信息的采集，但是对于摄像人员来说，如果要使用该装置，不仅要有非常好的体力，还要在在移动采访过程中跟随拍摄，消耗大量的体力，并且长时间的拍摄，会造成拍摄人员的疲劳，严重的产生肌肉劳损，其次，因为采集图像不同，有的地方需要进行补光，从而满足光线要求，因此，为了能够更好的推广和应用，需要一种降低劳损，提供补光的图像采集设备。
发明内容
为了弥补以上不足，本发明提供了一种图像采集设备，以解决上述背景技术中的问题。
本发明的技术方案是：
一种图像采集设备，包括图像采集装置、图像采集辅助装置、图像处理器与图像采集补充装置；
所述图像采集装置包括摄像机、照相机与电子扫描器中的至少一种；
所述图像采集辅助装置包括多功能摄影像支架与辅助动力支撑器，所述辅助动力支撑器包括人体外骨骼助力系统，所述人体外骨骼助力系统的髌关节部件的两侧顶部分别对称设有支撑杆，所述支撑杆的顶部套有活动环，活动环的侧面具有延伸柱，所述延伸柱的前端通过活动关节与摇摆臂连接，所述延伸柱与摇摆臂同侧在同一水平线上分别设有支撑板，所述支撑板顶部设有手臂驱动装置，远离所述活动关节的所述摇摆臂一端顶部设有固定板，所述固定板的两端的活动杆分别与两端相对的所述摇摆臂连接，所述固定板的中央设有搭载云台固定器，所述髌关节部件的连接板中央设有T形柱，所述T形柱的顶部两端分别设有转动环，所述转动环的外侧面设有摄像机搭载板；
所述图像采集补充装置包括位于T形柱尾端一侧髌关节部件上的固定座，所述固定座的顶部设有承载板，所述承载板上设有电动液压杆与辅助电池，所述电动液压杆的伸缩杆顶部设有连接杆，所述连接杆的顶部设有转动盘，所述转动盘与转动驱动装置连接，所述转动驱动装置用于驱动所述转动盘围绕其轴线转动，所述转动盘的顶部通过支臂组件与补光灯的底座连接。
作为优选的技术方案，所述摇摆臂的前端设有手臂传感器，所述手臂触感器与手臂驱动装置分别与人体外骨骼助力系统的控制装置连接。
作为优选的技术方案，所述固定板的两端设有活动杆，所述活动杆远离固定板一端设有摇摆臂连接孔，所述摇摆臂连接孔被所述摇摆臂前端顶部的凸出柱贯穿，凸出柱顶部与螺帽螺纹连接，所述固定板的中央设有支架插入孔。
作为优选的技术方案，所述固定板的两端设有固定绳。
作为优选的技术方案，所述搭载云台固定器包括挤压板，所述固定板的顶部相对两侧设有挤压板，所述挤压板下方的所述固定板顶部设有凹槽，所述挤压板底部的滑动块位于所述凹槽内，两个相对的所述凹槽之间通过活动腔连通，所述滑动块的移动杆位于所述活动腔内，所述活动腔内设有弹簧，所述弹簧的两端分别与接近所述移动杆一端连接。
作为优选的技术方案，所述摄像机搭载板的两侧分别设有固定绳。
作为优选的技术方案，支臂组件包括依次连接的第一管体、第二管 体，第一管体远离第二管体一端设有第一关节，第一管体和第二管体之间设有第二关节，第二管体远离第一管体一端设有第三关节，第一管体通过第一关节安装在转动盘顶部，第二驱动装置与支臂组件连接，其用于驱动支臂组件弯曲。
作为优选的技术方案，所述图像采集补充装置还包括辅助控制器，所述辅助控制器分别与所述辅助电池、电动液压杆、转动驱动装置、补光灯、支臂组件的第二驱动装置连接。
作为优选的技术方案，所述T形柱的垂直柱为可伸缩垂直柱。
由于采用了上述技术方案一种图像采集设备，包括图像采集装置、图像采集辅助装置、图像处理器与图像采集补充装置；所述图像采集装置包括摄像机、照相机与电子扫描器；所述图像采集辅助装置包括多功能摄影像支架与辅助动力支撑器，所述辅助动力支撑器包括人体外骨骼助力系统，所述人体外骨骼助力系统的髌关节部件的两侧顶部分别对称设有支撑杆，所述支撑杆的顶部套有活动环，活动环的侧面具有延伸柱，所述延伸柱的前端通过活动关节与摇摆臂连接，所述延伸柱与摇摆臂同侧在同一水平线上分别设有支撑板，所述支撑板顶部设有手臂驱动装置，远离所述活动关节的所述摇摆臂一端顶部设有固定板，所述固定板的两端的活动杆分别与两端相对的所述摇摆臂连接，所述固定板的中央设有搭载云台固定器，所述髌关节部件的连接板中央设有T形柱，所述T形柱的顶部两端分别设有转动环，所述转动环的外侧面设有摄像机搭载板；所述图像采集补充装置包括位于T形柱尾端一侧髌关节部件上的固定座，所述固定座的顶部设有承载板，所述承载板上设有电动液压杆与辅助电池，所述电动液压杆的伸缩杆顶部设有连接杆，所述连接杆的顶部设有转动盘，所述转动盘与转动驱动装置连接，所述转动驱动装置用于驱动所述转动盘围绕其轴线转动，所述转动盘的顶部通过支臂组件与补光灯的底座连接。
本发明的优点：便于摄像人员的操控，降低了摄像人员的劳累程度，提高了图像采集效率，适宜长时间不间断图像采集使用，适宜较多地形的使用，并且可以多方位调控补光。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本发明实施例的结构示意图；
图2为本发明实施例的搭载云台固定器剖面图；
其中：1-人体外骨骼助力系统；2-髌关节部件；3-支撑杆；4-活动环；5-延伸柱；7-活动关节；8-摇摆臂；9-支撑板；10-手臂驱动装置；11-固定板；110-活动杆；12-搭载云台固定器；120-挤压板；121-凹槽；122-滑动块；123-活动腔；124-移动杆；125-弹簧；13-T形柱；14-转动环；15-摄像机搭载板；17-固定座；18-承载板；19-电动液压杆；20-连接板；21-辅助电池；22-连接杆；23-转动盘；25-补光灯；26-手臂传感器；27-第一管体；28-第二管体；29-第一关节；30-第二关节；31-第三关节。
具体实施方式
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，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
下面结合附图和具体实施例进一步说明本发明。
实施例：
如图1和图2所示，一种图像采集设备，包括图像采集装置、图像采集辅助装置、图像处理器与图像采集补充装置；
所述图像采集装置包括摄像机、照相机与电子扫描器中的至少一种；所述图像处理器连接所述图像采集装置，用于对采集的图像进行处理。
所述图像采集辅助装置包括多功能摄影像支架与辅助动力支撑器，所述辅助动力支撑器包括人体外骨骼助力系统1，所述人体外骨骼助力系统1的髌关节部件2的两侧顶部分别对称设有支撑杆3，所述支撑杆3的顶部套有活动环4，活动环4的侧面具有延伸柱5，所述延伸柱5的前端通过活动关节7与摇摆臂8连接，所述延伸柱5与摇摆臂8同侧在同一水平线上分别设有支撑板9，所述支撑板9顶部设有手臂驱动装置10，远离所述活动关节7的所述摇摆臂8一端顶部设有固定板11，所述固定板11的两端的活动杆110分别与两端相对的所述摇摆臂8连接，所述固定板11的中央设有搭载云台固定器12，所述髌关节部件2的连接板20中央设有T形柱13，所述T形柱13的顶部两端分别设有转动环14，所述转动环14的外侧面设有摄像机搭载板15。
所述图像采集补充装置包括位于T形柱13尾端一侧髌关节部件2上的固定座17，所述固定座17的顶部设有承载板18，所述承载板18上设有电动液压杆19与辅助电池21，所述电动液压杆19的伸缩杆顶部设有连接杆22，所述连接杆22的顶部设有转动盘23，所述转动盘23与转动驱动装置连接，所述转动驱动装置用于驱动所述转动盘23围绕其轴线转动，所述转动盘23的顶部通过支臂组件与补光灯25的底座连接。
所述摇摆臂8的前端设有手臂传感器26，所述手臂传感器26与手臂驱动装置10分别与人体外骨骼助力系统1的控制装置连接，因为有左右两个摇摆臂8，因此左右摇摆臂8上分别设有一个手臂传感器26，而手臂驱动装置10采用磁轴直线电机或电动缸或液压缸的一种，人的上肢放置在摇摆臂8时，左右摇摆臂8上的手臂传感器26分别为发出“缩”动作指令的手臂传感器26与发出“伸”动作指令的手臂传感器26，当发出“缩”动作指令的手臂传感器26接收到压力信号，向外骨骼助力系统的控制装置发出信号，控制装置根据系统预置的程序，向左右两侧的手臂驱动装置10发出“缩”的动作指令，则摇摆臂10向上收缩，将摇摆臂10上的固定板抬起，当发出“伸”动作指令的手臂传感器26接收到压力信号，箱外骨骼助力系统的控制装置发出信号，控制装置根据系统预置的程序，向左右两侧的手臂驱动装置10发出“伸” 的动作指令，则摇摆臂10向下伸展，将摇摆臂10上的固定板降落，从而完成摄像机从低处向上仰视拍摄。
所述固定板11的两端设有活动杆110，所述活动杆110远离固定板11一端设有摇摆臂连接孔，所述摇摆臂连接孔被所述摇摆臂8前端顶部的凸出柱贯穿，凸出柱顶部与螺帽螺纹连接，所述固定板11的中央设有支架插入孔，用来插入摄像机支架。
所述固定板11的两端设有固定绳，方便固定摄像机。
所述搭载云台固定器12包括挤压板120，所述固定板11的顶部相对两侧设有挤压板120，所述挤压板120下方的所述固定板11顶部设有凹槽121，所述挤压板120底部的滑动块122位于所述凹槽121内，两个相对的所述凹槽121之间通过活动腔123连通，所述滑动块122的移动杆124位于所述活动腔123内，所述活动腔123内设有弹簧125，所述弹簧125的两端分别与接近所述移动杆124一端连接，摄像机水平搭载平台放置于两个挤压板120之间，用来夹持摄像机水平搭载平台，避免晃动。
所述摄像机搭载板15的两侧分别设有固定绳，固定肩抗位置摄像机。
支臂组件包括依次连接的第一管体27、第二管体28，第一管27体远离第二管体28一端设有第一关节29，第一管体27和第二管体28之间设有第二关节30，第二管体28远离第一管体27一端设有第三关节31，第一管体27通过第一关节29安装在转动盘23顶部，第二驱动装置与支臂组件连接，其用于驱动支臂组件弯曲，所述第三关节31上设有补光灯25的底座。
所述图像采集补充装置还包括辅助控制器，所述辅助控制器分别与所述辅助电池、电动液压杆、转动驱动装置、补光灯、支臂组件的第二驱动装置连接，通过辅助控制器，实现了补光灯的多方向调节，便于对图像采集对象的光源补充。
所述T形柱13的垂直柱为可伸缩垂直柱，可伸缩垂直柱为液压杆或电动推杆，可伸缩垂直柱通过伸缩控制器与电源电气连接，通过伸缩控制器控制可伸缩垂直柱的上下升降，调节肩部位置摄像机的高度。
人体外骨骼助力系统包括外骨骼下肢、腰带、背带、背架、髋关节部件、第一脚底板部件、第二脚底板部件、电源、控制装置、传感器和驱动装置，所述外骨骼下肢由第一左外骨骼下肢单元、第二左外骨骼下肢单元、第一右外骨骼下肢单元和第二右外骨骼下肢单元构成，所述第一左外骨骼下肢单元和第一右外骨骼下肢单元均具有大腿部件和小腿部件以及活动关节，所述第一左外骨骼下肢单元和第二左外骨骼下肢单元均位于髋关节部件一侧，所述第一右外骨骼下肢单元和第二右外骨骼下肢单元均位于髋关节部件另一侧，所述第一左外骨骼下肢单元的一端和第一右外骨骼下肢单元的一端均与髋关节部件活动连接，所述第一左外骨骼下肢单元的另一端与第一脚底板部件活动连接，所述第一右外骨骼下肢单元的另一端与第二脚底板部件活动连接，所述第二左外骨骼下肢单元的一端和第二右外骨骼下肢单元的一端均与背架活动连接。
基本构思是：让外骨骼下肢中的两只分别与人体的左、右下肢穿戴或绑缚连接，与人体的左、右下肢穿戴或绑缚连接的外骨骼下肢部件包括大腿部件和小腿部件以及活动关节，部件的一端与外骨骼髋关节活动连接，部件的另一端与外骨骼脚底板连接；外骨骼下肢中的另两只为磁轴式直线电机，其磁轴是直线运动的活动杆件，磁轴式直线电机的动子部分，分别安装于外骨骼背架或外骨骼腰部的左、右两侧，磁轴式直线电机的磁轴部分位于动子部件的中间，在电力驱动下作上、下的直线运动，当下行时接触地面，把背架上的重力传递到地面；电源与控制装置电气连接，传感器与控制装置电气连接，控制装置与驱动装置电气连接。外骨骼装置具有四只外骨骼下肢，且其中的两只外骨骼下肢既是外骨骼受力杆件，同时也是动力元件。既是受力杆件又是动力元件的外骨骼下肢驱动装置为磁轴直线电机；与人体的左、右下肢穿戴或绑缚连接的外骨骼下肢可以是直线电机驱动，也可以是液压缸或气压缸驱动。
在人体的左右两侧，各分别布置了两只外骨骼下肢。其中一只外骨骼下肢与人体下肢穿戴或绑缚连接，人体行走时与同一侧的人体下肢作基本同步的动作；其中另一只外骨骼下肢装置在外骨骼背架上或外骨骼髋关节部位，人体行走时与另一侧的人体下肢作基本同步的动作。当人体行走时，人体左侧的与人体下肢同步的外骨骼下肢为支撑腿时，左侧 外骨骼下肢在控制器的驱动下，外骨骼下肢通过外骨骼脚底板接触地面，承受和传递人体左侧的负重，人体右侧的不与人体下肢同步的外骨骼下肢在控制器的驱动下，外骨骼下肢下端接触地面，承受和传递人体右侧的负重；同样，人体右侧的与人体下肢同步的外骨骼下肢为支撑腿时，右侧外骨骼下肢在控制器的驱动下，外骨骼下肢通过外骨骼脚底板接触地面，承受和传递人体左侧的负重，人体左侧的不与人体下肢同步的外骨骼下肢在控制器的驱动下，外骨骼下肢下端接触地面，承受和传递人体左侧的负重。在人体行走的每一步的过程中，在外骨骼助力系统的控制装置的控制下，人体的左右两侧都各有1只外骨骼在承受和传递负重。外骨骼下肢的动作是受控于外骨骼助力系统的控制系统的。在外骨骼助力系统的脚底、踝关节、膝关节、髋关节、背架以及驱动部件上可以按需要装置压力传感器、角度传感器、位置传感器、电流传感器、电压传感器等信号检测和传输元件，这些信号传送至装置的控制系统，控制系统根据预置的程序，向驱动元件发出动作指令，执行元件动作，完成外骨骼助行的任务。
所述第二左外骨骼下肢单元和第二右外骨骼下肢单元均为磁轴式直线电机。本实施例中所述第一左外骨骼下肢单元和第一右外骨骼下肢单元的驱动装置均为直线电机驱动装置。
当人体左腿为支撑腿，右腿为摆动腿时，外骨骼脚底板的传感器接受到压力信号，外骨骼膝关节的传感器接受到角度信号，上述信号传送至外骨骼装置的控制装置，控制装置根据系统预置的程序，向第一左外骨骼下肢单元的驱动装置和第二右外骨骼下肢单元发出“伸”的动作指令，向第二左外骨骼下肢单元和第一右外骨骼下肢单元的驱动装置发出“缩”的动作指令，使第一左外骨骼下肢单元的驱动装置“伸”，从而驱动第一左外骨骼下肢单元的脚底板与地面接触并施力，将人体的负重通过第一左外骨骼下肢单元传递至地面；使第二右外骨骼下肢单元的磁轴下端与地面接触并施力，将人体的负重通过第二右外骨骼下肢单元传递至地面；使第一右外骨骼下肢单元的驱动装置“缩”，从而驱动第一右外骨骼下肢单元向上收缩；使第二左外骨骼下肢单元的磁轴向上收缩。
所述外骨骼由金属或塑料或高分子材料制成，所述髋关节部件由金属或塑料或高分子材料制成，所述大腿部件由金属或塑料或高分子材料制成，所述小腿部件由金属或塑料或高分子材料制成，所述踝骨部件由金属或塑料或高分子材料制成，所述底板由金属或塑料或高分子材料制成。
外骨骼下肢用的驱动装置为电力驱动的直线运动的直线电机。直线电机可以安装在外骨骼系统的髋关节、膝关节、踝关节部位。在控制装置的控制下，通过直线运动的直线电机或电动缸推动外骨骼的大腿部件、小腿部件、底板部件随人体相应部位的动作做基本相同的前后或上下摆动或伸缩，给行走的人体提供助力。
助力原理是：外骨骼助力系统通过检测装置在人体肌肉或骨骼的压力或动作传感器的动作信号或压力信号，或者大、小腿以及外骨骼装置的角度或位置信号，被检测出的信号送到装置控制系统分析处理，控制系统根据预置的程序，适时向执行部件发出指令，控制驱动器件作推进或收缩的直线运动，从而改变人体外骨骼关节和部件的角度或位置，给人体行走提供助力。在人体的左右两侧，各分别布置了两只外骨骼下肢。其中一只外骨骼下肢与人体下肢穿戴或绑缚连接，人体行走时与同一侧的人体下肢作基本同步的动作；其中另一只外骨骼下肢装置在外骨骼背架上或外骨骼髋关节部位，人体行走时与另一侧的人体下肢作基本同步的动作。当人体行走时，人体左侧的与人体下肢同步的外骨骼下肢为支撑腿时，左侧外骨骼下肢在控制器的驱动下，外骨骼下肢通过外骨骼脚底板接触地面，承受和传递人体左侧的负重，人体右侧的不与人体下肢同步的外骨骼下肢在控制器的驱动下，外骨骼下肢下端接触地面，承受和传递人体右侧的负重；同样，人体右侧的与人体下肢同步的外骨骼下肢为支撑腿时，右侧外骨骼下肢在控制器的驱动下，外骨骼下肢通过外骨骼脚底板接触地面，承受和传递人体左侧的负重，人体左侧的不与人体下肢同步的外骨骼下肢在控制器的驱动下，外骨骼下肢下端接触地面，承受和传递人体左侧的负重。在人体行走的每一步的过程中，在外骨骼助力系统的控制装置的控制下，人体的左右两侧都至少各有一只外骨骼在承受和传递负重。
下肢中使用的驱动装置可以是磁轴直线电机或电动缸或液压缸的一种，或同时采用两种以上类型的驱动元件。穿戴或绑缚在人体下肢的外骨骼下肢的驱动装置设置在外骨骼后侧，当动作状态是“伸”时，驱动外骨骼下肢受力，向地面传递负荷；当动作状态是“缩”时，驱动外骨骼下肢收缩，不承受和传递负荷。设置在外骨骼背架上的磁轴直线电机既是外骨骼下肢也是外骨骼下肢驱动元件，当动作状态是“伸”时，磁轴下端运动至地面，向地面传递负荷；当动作状态是“缩”时，磁轴向上收缩，不承受和传递负荷，其向上收缩的位置和速度受控于装置的控制系统。
所述控制装置是采用计算机控制。传感器采集到的压力信号或肢体动作信号或装置部件的位置信号传递给计算机，计算机对信号进行分析处理，根据预置的程序，适时向驱动元件发出开关信号、正反转信号，或者控制输送给电机的电压或电流或频率，控制电机运行、停止、正转、反转、加速、减速。直线电机或电动缸、液压缸在系统控制下作出相应的推进、收缩、加速、减速、停止等预定动作。所述控制元件如压力传感器、继电器等都是采用常规通用产品。所采用的把电能直接转换成直线运动的电机的参数如下但不限于以下参数：
采用移动直流电源；
推力：1N-300N；
速度：0.1m-1000m/s；
行程：10mm-300mm；
功率：50W-1000W；
名称、型号和生产厂家(但不限于下列种类和生产厂)：
线性磁轴电机型号：S040D、S040T、S040Q、S080D、S080T、S080Q、S120D、S120T、S120Q；TSL2504、TSL2505、TSL2507等
步进直线电机：LBM57400
圆筒直线电机(直线同步电机)型号：LSMC200201、LSMC400401
管形直线电机
生产企业：深圳泰科电机有限公司、南京思展科技有限公司、日脉贸易(上海)有限公司、郑州微纳科技有限公司、深圳大族电机科技有限 公司等。
以上显示和描述了本发明的基本原理、主要特征及本发明的优点。本行业的技术人员应该了解，本发明不受上述实施例的限制，上述实施例和说明书中描述的只是说明本发明的原理，在不脱离本发明精神和范围的前提下，本发明还会有各种变化和改进，这些变化和改进都落入要求保护的本发明范围内。本发明要求保护范围由所附的权利要求书及其等效物界定。

Claims (10)

  1. 一种图像采集设备，其特征在于，包括图像采集装置、图像采集辅助装置、图像处理器与图像采集补充装置；
    所述图像采集装置包括摄像机、照相机与电子扫描器中的至少一种；
    所述图像采集辅助装置包括多功能摄影像支架与辅助动力支撑器，所述辅助动力支撑器包括人体外骨骼助力系统，所述人体外骨骼助力系统的髌关节部件的两侧顶部分别对称设有支撑杆，所述支撑杆的顶部套有活动环，活动环的侧面具有延伸柱，所述延伸柱的前端通过活动关节与摇摆臂连接，所述延伸柱与摇摆臂同侧在同一水平线上分别设有支撑板，所述支撑板顶部设有手臂驱动装置，远离所述活动关节的所述摇摆臂一端顶部设有固定板，所述固定板的两端的活动杆分别与两端相对的所述摇摆臂连接，所述固定板的中央设有搭载云台固定器，所述髌关节部件的连接板中央设有T形柱，所述T形柱的顶部两端分别设有转动环，所述转动环的外侧面设有摄像机搭载板；
    所述图像采集补充装置包括位于T形柱尾端一侧髌关节部件上的固定座，和连接所述固定座上的补光灯。
  2. 如权利要求1所述的一种图像采集设备，其特征在于，所述摇摆臂的前端设有手臂传感器，所述手臂触感器与手臂驱动装置分别与人体外骨骼助力系统的控制装置连接。
  3. 如权利要求1所述的一种图像采集设备，其特征在于，所述固定板的两端设有活动杆，所述活动杆远离固定板一端设有摇摆臂连接孔，所述摇摆臂连接孔被所述摇摆臂前端顶部的凸出柱贯穿，凸出柱顶部与螺帽螺纹连接，所述固定板的中央设有支架插入孔。
  4. 如权利要要求1或3所述的一种图像采集设备，其特征在于，所述固定板的两端设有固定绳。
  5. 如权利要求1所述的一种图像采集设备，其特征在于，所述搭载云台固定器包括挤压板，所述固定板的顶部相对两侧设有挤压板，所述挤压板下方的所述固定板顶部设有凹槽，所述挤压板底部的滑动块位于所述凹槽内，两个相对的所述凹槽之间通过活动腔连通，所述滑动块的移动杆位于 所述活动腔内，所述活动腔内设有弹簧，所述弹簧的两端分别与接近所述移动杆一端连接。
  6. 如权利要求1所述的一种图像采集设备，其特征在于，所述摄像机搭载板的两侧分别设有固定绳。
  7. 如权利要求1所述的一种图像采集设备，其特征在于，所述图像采集补充装置的固定座的顶部设有承载板，所述承载板上设有电动液压杆与辅助电池，所述电动液压杆的伸缩杆顶部设有连接杆，所述连接杆的顶部设有转动盘，所述转动盘与转动驱动装置连接，所述转动驱动装置用于驱动所述转动盘围绕其轴线转动，所述转动盘的顶部通过支臂组件与补光灯的底座连接。
  8. 如权利要求7所述的一种图像采集设备，其特征在于，支臂组件包括依次连接的第一管体、第二管体，第一管体远离第二管体一端设有第一关节，第一管体和第二管体之间设有第二关节，第二管体远离第一管体一端设有第三关节，第一管体通过第一关节安装在转动盘顶部，第二驱动装置与支臂组件连接，其用于驱动支臂组件弯曲。
  9. 如权利要求8所述的一种图像采集设备，其特征在于，所述图像采集补充装置还包括辅助控制器，所述辅助控制器分别与所述辅助电池、电动液压杆、转动驱动装置、补光灯、支臂组件的第二驱动装置连接。
  10. 如权利要求1所述的一种图像采集设备，其特征在于，所述T形柱的垂直柱为可伸缩垂直柱。
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