Multi-dimensional mobile shooting equipment with self-stabilization function

Abstract

The invention discloses a multi-dimensional mobile shooting device with a self-stabilizing function, the shooting device comprises a moving mechanism, an automatic adjusting mechanism, a vibration damping platform, an acquisition mechanism, a clamping rotation mechanism, a lens cleaning mechanism and a shooting frame, the moving mechanism is fixedly connected with the shooting frame, the automatic adjusting mechanism is fixedly connected with the moving mechanism, and the vibration damping platform is fixedly connected with the clamping rotation mechanism. The vibration damping platform is in fastening connection with the moving mechanism, the collecting mechanism is in fastening connection with the automatic adjusting mechanism, the clamping and rotating mechanism is in fastening connection with the vibration damping platform, the lens cleaning mechanism is in fastening connection with the collecting mechanism, the automatic adjusting mechanism is located above the vibration damping platform, and the clamping and rotating mechanism is located in the vibration damping platform. The lens cleaning mechanism is located at the lower end of the collecting mechanism, the automatic adjusting mechanism and the vibration damping platform reduce the influence of external interference and vibration, the lens cleaning mechanism ensures that the lens is kept clean, and therefore the shooting effect is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of photographing equipment, and in particular to a multi-dimensional mobile photographing equipment with a self-stabilizing function. Background Art

[0002] In the development of high-precision shooting equipment, existing technologies continue to explore how to improve image quality, accuracy and operational flexibility. With the advancement of technology, fields including aerial photography, biological science research, and industrial inspection have increasingly higher requirements for precise control and image quality of shooting equipment. The equipment required in these fields must not only be able to perform precise position adjustment and stable image capture, but also be able to adapt to different environmental conditions and operational requirements, thus promoting the research and development and optimization of multifunctional integrated shooting equipment.

[0003] At present, in traditional industrial inspection and shooting equipment, simple mechanical structures are mostly used for position adjustment and image acquisition, such as basic support devices and manual focusing systems. These devices often rely on the operator's skills and experience to achieve the ideal shooting effect. In addition, the cleaning and maintenance of the lens mainly rely on manual cleaning, and there is no automatic detection and cleaning function, which makes operation in harsh environments difficult and easily affects the image quality.

[0004] Regarding the related technologies mentioned above, although the existing technologies provide basic shooting support, there are obvious deficiencies in image stability, automatic posture adjustment and high-frequency vibration control in high-dynamic environments. For example, the lack of an automated vibration damping system makes it impossible to effectively resist vibration interference from the environment, affecting the clarity of the image. In addition, traditional equipment also shows limitations in multi-angle shooting and adaptability to complex environments, and cannot meet the strict requirements of scientific research or industrial fields for accuracy and efficiency. Existing lens cleaning methods cannot guarantee the clean state of the lens for a long time, increasing the difficulty and cost of maintenance. Therefore, technical personnel in this field provide a multi-dimensional mobile shooting device with a self-stabilization function to solve the problems raised in the above background. Summary of the invention

[0005] The object of the present invention is to provide a multi-dimensional mobile shooting device with a self-stabilizing function to solve the problems raised in the above background technology.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0007] The shooting equipment includes a moving mechanism, an automatic adjustment mechanism, a vibration damping platform, a collecting mechanism, a clamping and rotating mechanism, a lens cleaning mechanism and a shooting frame. The moving mechanism and the shooting frame are tightly connected, the automatic adjustment mechanism and the moving mechanism are tightly connected, the vibration damping platform and the moving mechanism are tightly connected, the collecting mechanism and the automatic adjustment mechanism are tightly connected, the clamping and rotating mechanism and the vibration damping platform are tightly connected, the lens cleaning mechanism and the collecting mechanism are tightly connected, the automatic adjustment mechanism is located above the vibration damping platform, the clamping and rotating mechanism is located inside the vibration damping platform, and the lens cleaning mechanism is located at the lower end of the collecting mechanism.

[0008] By adopting the above technical solution, the mobile mechanism ensures that the equipment can be freely adjusted in the horizontal and vertical directions through two-dimensional movement to meet the needs of different shooting angles. The automatic adjustment mechanism is installed above the vibration damping platform, and uses multiple adjustment motors and mechanical transmission systems to automatically adjust the posture of the equipment according to real-time detection data to compensate for the instability caused by movement or external factors, thereby ensuring the stability of the equipment and the accuracy of the image during shooting. The vibration damping platform effectively absorbs and isolates external vibrations through an articulated structure and a damping system. The design of the platform reduces the impact of vibration on the captured image, thereby improving the stability and clarity of the image. The acquisition mechanism is responsible for capturing and processing image information. The laser transmitter and interferometer are used for spatial positioning and calibration to ensure the quality and accuracy of the captured images. The clamping and rotating mechanism is located in the vibration damping platform to adjust the stable positioning and angle adjustment during the shooting process. The lens cleaning mechanism is installed at the lower end of the acquisition mechanism to keep the lens clean and prevent dust from affecting the image quality. The equipment achieves all-round stable control during the shooting process by using a moving mechanism, an automatic adjustment mechanism, a vibration damping platform and a lens cleaning mechanism. The automatic adjustment mechanism and the vibration damping platform effectively reduce the impact of external interference and vibration, and improve the stability and clarity of the image. At the same time, the lens cleaning mechanism ensures that the lens remains clean after long-term use, thereby ensuring the shooting effect.

[0009] Furthermore, the moving mechanism includes a transverse slide rail, a vertical slide rail, a transverse slide block, a vertical slide block, a transverse motor and a vertical motor; the transverse motor and the transverse slide block are fastened together, the transverse motor and the transverse slide block are transmission-connected, the transverse slide rail and the transverse slide block are slidably connected, the vertical motor and the vertical slide rail are fastened together, the vertical slide rail and the vertical slide block are transmission-connected, the transverse slide block and the automatic adjustment mechanism are fastened together, the transverse slide rail and the vertical slide block are fastened together, the vertical slide rail and the shooting frame are fastened together, the transverse slide block includes a transverse frame, a transverse sliding wheel, a first elastic member, a vibration block, a moving wheel, an auxiliary wheel and a first hydraulic cylinder; the transverse frame and the vibration block are slidingly connected, the moving wheel and the vibration block are rotationally connected, the vibration block and the first elastic member are fastened together, and the first elastic member and the transverse frame are fastened together The movable wheel is in contact with the transverse slide rail, the transverse motor is fastened to the transverse frame, the transverse motor is transmission-connected to the movable wheel, the movable wheel is transmission-connected to the transverse frame, there are eight transverse sliding wheels, first elastic members and vibration blocks, four transverse sliding wheels, first elastic members and vibration blocks are located at the upper end of the transverse slide rail, and the other four transverse sliding wheels, first elastic members and vibration blocks are located at the lower end of the transverse slide rail, the first hydraulic cylinder is fastened to the transverse frame, the auxiliary wheel is slidingly connected to the transverse slide rail, the auxiliary wheel is rotatably connected to the transverse frame, the first hydraulic cylinder is transmission-connected to the automatic adjustment mechanism, the vertical sliding block includes the vertical frame, the vertical wheel and the vertical screw rod, the vertical motor is transmission-connected to the vertical screw rod, so the vertical screw rod is transmission-connected to the vertical frame, the vertical wheel is slidingly connected to the vertical slide rail, and the vertical wheel is rotationally connected to the vertical frame.

[0010] By adopting the above technical scheme, the mobile mechanism of the present invention is designed to ensure high-precision and high-flexibility shooting equipment. The mobile mechanism includes a horizontal and vertical motor and slide rail system. By accurately controlling the movement of the motor, the horizontal sliding block and the vertical sliding block can move accurately along the slide rail. The horizontal sliding block is embedded with a horizontal frame, a sliding wheel, a vibration block and other components, and is equipped with a hydraulic cylinder and an elastic member, which effectively reduces shock and adjusts the position, and enhances the stability and anti-interference ability of the equipment during operation. The vertical sliding block realizes fine height adjustment through a vertical moving screw rod, ensuring the diversity and accuracy of the shooting angle. The motor drives the sliding block to move smoothly along the slide rail. Through the real-time feedback adjustment of the automatic adjustment mechanism, any instability caused by vibration or other external factors is automatically compensated. The vibration damping elements such as the hydraulic cylinder and the elastic member further improve the image stability during the shooting process. The equipment can perform stable shooting in a complex environment, meet the needs of high-quality image acquisition, and is particularly suitable for occasions where accurate shooting at different angles and positions is required, improves the operating efficiency and shooting quality, ensures the clarity and accuracy of the image, and reduces the impact caused by environmental factors.

[0011] Furthermore, the automatic adjusting mechanism includes an adjusting frame, a first adjusting motor, a second adjusting motor, a third adjusting motor, a first transmission rod, a second transmission rod, a third transmission rod, a first gear shaft cylinder, a second gear shaft cylinder, a third gear shaft cylinder, a first connecting block, a second connecting block, a third connecting block and a shooting connecting plate. The first hydraulic cylinder is transmission-connected to the adjusting frame, the adjusting frame and the first adjusting motor are fastened together, the first adjusting motor and the first transmission rod are transmission-connected, the first transmission rod and the first gear shaft cylinder are transmission-connected, the first gear shaft cylinder and the adjusting frame are rotationally connected, the first gear shaft cylinder and the first connecting block are hinged, the first gear shaft cylinder is transmission-connected to the shooting connecting plate via the first connecting block, the adjusting frame and the second adjusting motor are fastened together, and the second adjusting motor The machine is connected in transmission connection with the second transmission rod, the second transmission rod is connected in transmission connection with the second gear shaft cylinder, the second gear shaft cylinder is rotatably connected with the first gear shaft cylinder, the second gear shaft cylinder is located in the first gear shaft cylinder, the second gear shaft cylinder is hinged with the second connecting block, the second gear shaft cylinder is connected in transmission connection with the shooting connecting plate through the second connecting block, the adjusting frame is fastenedly connected with the third adjusting motor, the third adjusting motor is connected in transmission connection with the third transmission rod, the third transmission rod is connected in transmission connection with the third gear shaft cylinder, the third gear shaft cylinder is rotatably connected with the second gear shaft cylinder, the third gear shaft cylinder is located in the second gear shaft cylinder, the third gear shaft cylinder is hinged with the third connecting block, the third gear shaft cylinder is connected in transmission connection with the shooting connecting plate through the third connecting block, and the shooting connecting plate is fastenedly connected with the collecting mechanism.

[0012] By adopting the above technical solution, three adjustment motors are connected to the shooting connection plate through a transmission rod and a gear shaft series. Such a design allows each motor to independently or collaboratively control the three-dimensional posture adjustment of the shooting device. This nested gear system increases the transmission accuracy and torque while maintaining the compactness of the structure. The start-up and adjustment of the first, second and third adjustment motors are based on real-time image acquisition data and preset shooting parameters. By accurately controlling the rotation and angle adjustment of the gear shaft, the expected shooting angle and position are achieved. The operation of the motor is synchronously controlled by the microcontroller unit to ensure accurate adjustment and rapid response of the shooting angle, so that the entire device can achieve complex spatial positioning and posture adjustment, ensuring high stability and high image quality during the shooting process. Through the adjustment mechanism, the device can automatically compensate for slight offsets caused by device movement or external factors, and optimize the clarity and accuracy of the image. The implementation effect of this automatic adjustment mechanism is reflected in the improvement of the degree of automation and operating efficiency during the shooting process, greatly improving the image quality, and is particularly suitable for scientific research and industrial fields that require extremely high shooting accuracy.

[0013] Furthermore, the vibration damping platform includes an upper platform plate, a lower platform plate, a hinge block, a damping rod, a damping slide rod, a connecting pipe, a displacement sensor, a second elastic member, a magnetic block and an electromagnetic block. The upper platform plate is hinged to the hinge block, the hinge block and the damping slide rod are hinged, the damping slide rod and the damping rod are slidably connected, the damping slide rod and the magnetic block are tightly connected, the magnetic block and the second elastic member are tightly connected, the second elastic member and the electromagnetic block are tightly connected, the electromagnetic block and the damping rod are tightly connected, the magnetic block and the electromagnetic block are magnetically connected, the magnetic block and the damping rod are slidably connected, the damping rod and the hinge block are hinged, the hinge block and the lower platform plate are hinged, the upper platform plate and the connecting pipe are tightly connected, the displacement sensor and the connecting pipe are tightly connected, the upper platform plate and the clamping and rotating mechanism are tightly connected, and the lower platform plate and the vertical slide rail are tightly connected.

[0014] By adopting the above technical solution, the upper platform plate and the lower platform plate are connected by a hinge block, and the hinge block allows the platform part to move freely to adapt to and alleviate external forces. The damping slide rod realizes basic vibration buffering through a sliding connection with the damping rod. The magnetic connection between the magnetic block and the electromagnetic block provides a contactless damping mechanism. This setting can effectively absorb vibrations in a wider frequency range. The second elastic member further improves the damping effect, so that the vibration energy is effectively attenuated during the transmission process. When the equipment is operating or external factors cause vibration, the displacement sensor monitors the displacement of the platform in real time, and adjusts the magnetic force of the electromagnetic block through the control system to achieve dynamic adjustment and control of the vibration. Through this intelligent adjustment, the vibration damping platform can respond to various vibration conditions in real time, effectively reducing or eliminating adverse effects. Based on the combination of mechanical articulation and magnetic damping, this can not only resist conventional mechanical vibrations, but also adapt to complex and changeable external environments, improve the stability of the equipment during high-precision shooting, and can significantly improve the image quality, ensuring high precision and high definition during shooting.

[0015] Furthermore, the acquisition mechanism includes an acquisition frame, an image sensor, a laser emitter, a cylindrical objective lens, an interferometer and an adaptive light source assembly. The acquisition frame and the image sensor are tightly connected, the laser emitter and the acquisition frame are tightly connected, the cylindrical objective lens and the acquisition frame are tightly connected, the interferometer and the acquisition frame are tightly connected, and the adaptive light source assembly and the acquisition frame are tightly connected.

[0016] By adopting the above technical solution, the image sensor is responsible for capturing images, the laser emitter is used to provide accurate distance and position measurement, enhance imaging depth and clarity, and the cylindrical objective lens is used to adjust and optimize light focus to adapt to different shooting distances; the interferometer is used for extremely high-precision distance and position measurement to ensure image quality. The adaptive light source assembly adjusts the light source according to ambient light conditions to ensure that the image has excellent performance under various lighting conditions. The acquisition mechanism first measures the target distance and establishes the precise position through the laser emitter and the interferometer. Then the adaptive light source assembly adjusts the light source intensity and angle according to the measurement results and ambient light. The image sensor captures the image with the assistance of the cylindrical objective lens, and the objective lens ensures that the light is correctly focused on the sensor. This series of actions are carried out in coordination and precisely controlled by the microcontroller unit. The equipment can effectively reduce the impact of external environmental changes on shooting quality and improve the accuracy and reliability of the image.

[0017] Furthermore, the adaptive light source assembly includes a light receiving lens, a multi-wavelength light source array and a phase detector. The light receiving lens is tightly connected to the acquisition frame, the multi-wavelength light source array is tightly connected to the acquisition frame, and the phase detector is tightly connected to the acquisition frame.

[0018] By adopting the above technical solution, the light-receiving lens is responsible for capturing the characteristics of ambient light, the multi-wavelength light source array provides light sources of different wavelengths as needed to adapt to different shooting environments and object characteristics, and the phase detector is used to monitor and adjust the phase of the light source to ensure the optimization of the light interaction between the light source and the subject. The light-receiving lens first captures the light conditions in the current environment, including intensity and color distribution, and then transmits these data to the control system. After analyzing these data, the control system instructs the multi-wavelength light source array to emit the light most suitable for the current environment. At the same time, the phase detector ensures the phase matching between the emitted light wave and the ambient light wave to reduce light interference and improve image quality. Real-time feedback of ambient light and dynamic adjustment of the light source ensure uniform distribution of light and optimal configuration of optical characteristics during photography, thereby achieving a significant improvement in image quality. The implementation effect of the adaptive light source component is reflected in improving the adaptability and flexibility of shooting under different lighting conditions, especially suitable for precision shooting in changing environments.

[0019] Furthermore, the clamping and rotating mechanism includes a clamping wheel, a wheel frame, a clamping motor, a clamping hydraulic cylinder, a clamping frame and a rotating motor. The clamping wheel and the wheel frame are rotatably connected, the clamping motor and the wheel frame are fixedly connected, the clamping motor and the clamping wheel are transmission-connected, the clamping hydraulic cylinder and the clamping frame are fixedly connected, the clamping hydraulic cylinder and the wheel frame are transmission-connected, the rotating motor and the upper platform plate are fixedly connected, and the rotating motor and the clamping frame are transmission-connected.

[0020] By adopting the above technical solution, the clamping wheel is connected to the clamping motor through the wheel frame, and the clamping motor provides the necessary power to rotate the clamping wheel, thereby achieving stable clamping and precise position adjustment of the photographed object. The clamping hydraulic cylinder increases the clamping strength and stability, and together with the clamping frame provides necessary support and power transmission for the clamping mechanism. The rotating motor is responsible for driving the rotation of the entire clamping frame. It is tightly connected to the upper platform plate to ensure the stability and reliability of the overall mechanism. The operator or the automatic control system adjusts the clamping motor and the rotating motor as needed to adapt to different shooting angles and positions. The clamping motor controls the rotation of the clamping wheel to adapt to and fix objects of different sizes and shapes, and the rotating motor adjusts the angle of the clamping frame and the clamped object to achieve all-round viewing angle coverage. Based on the coordinated work of mechanical and hydraulic systems, stable clamping and flexible rotation of the photographed object are achieved through precise motor control and hydraulic adjustment. This design enables the shooting equipment to adapt to various complex environments and needs, such as detailed shooting of specific parts, which significantly improves the flexibility of operation and the diversity of shooting. Through this efficient clamping and rotation mechanism, high stability and high precision can be ensured during the shooting process, thereby greatly improving image quality and shooting efficiency.

[0021] Furthermore, the lens cleaning mechanism includes a photoelectric sensor, a nozzle, a cleaning brush, a cleaning motor, a cleaning block, a liquid pump, a liquid reservoir and a magnetic guide rail. The photoelectric sensor is fastened to the collection frame, the nozzle is fastened to the cleaning brush, the nozzle is connected to the liquid pump, the liquid pump is connected to the liquid reservoir, the cleaning motor is fastened to the cleaning block, the cleaning motor is transmission-connected to the cleaning brush, the magnetic guide rail is transmission-connected to the cleaning block, and the cleaning block is slidingly connected to the magnetic guide rail.

[0022] By adopting the above technical solution, the photoelectric sensor is responsible for detecting stains or dust on the surface of the lens. Once it is detected that cleaning is required, the system is started, and the nozzle is connected with the liquid pump and the liquid reservoir to spray cleaning liquid to wet the lens surface. At the same time, the cleaning motor drives the cleaning brush to move through the magnetic guide rail to physically clean the lens. The workflow starts with the detection of the photoelectric sensor. When it is found that the lens surface is unclean, the control system instructs the liquid pump to draw cleaning liquid from the liquid reservoir to the nozzle and spray it onto the lens. Subsequently, the cleaning motor is started to drive the cleaning brush to slide along the cleaning block under the guidance of the magnetic guide rail to effectively remove stains or dust on the lens. Based on the synergistic effect of photoelectric detection and mechanical-electric cleaning, manual intervention is reduced and the efficiency and frequency of cleaning are improved. This design not only keeps the lens clean for a long time, thereby ensuring image quality, but also extends the service life of the equipment. Through this efficient cleaning mechanism, the photographic equipment can continue to operate in various environments, and is particularly suitable for shooting tasks with harsh external environmental conditions or requiring long-term continuous work.

[0023] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: first, the transverse slide rail and the vertical slide rail in the moving mechanism are used to drive the transverse slide block and the vertical slide block to be positioned respectively. The arrangement of the transverse slide wheel reduces the friction between the transverse frame and the transverse slide rail. The arrangement of the vibration block and the first elastic member reduces the vibration caused by the movement. The automatic adjustment mechanism is aligned with the position to be measured. Subsequently, the first adjustment motor in the automatic adjustment mechanism drives the first transmission rod, so that the first transmission rod drives the first connecting block by driving the first gear shaft cylinder. At the same time, the second adjustment motor drives the second transmission rod, so that The second transmission rod drives the second connecting block by driving the second gear shaft cylinder. At the same time, the third adjusting motor drives the third transmission rod, so that the second transmission rod drives the third connecting block by driving the third gear shaft cylinder. Thus, the desired shooting angle and position are achieved by controlling the rotation and angle adjustment of the gear shaft cylinder, thereby compensating for slight deviations caused by equipment movement or external factors, optimizing image clarity and accuracy, and realizing multi-angle shooting of the object. Secondly, the platform is allowed to move freely through the connecting block to adapt to and relieve external forces. The damping slide rod realizes basic vibration buffering through the sliding connection with the damping rod. The magnetic The magnetic connection between the block and the electromagnetic block provides a contactless damping mechanism that can effectively absorb vibrations in a wider frequency range. The second elastic member further improves the damping effect, so that the vibration energy is effectively attenuated during the transmission process. When the equipment is operating or external factors cause vibration, the displacement sensor monitors the displacement of the platform in real time, and adjusts the magnetic force of the electromagnetic block through the control system to achieve dynamic adjustment and control of the vibration; finally, the laser transmitter is used to provide accurate distance and position measurement, enhance imaging depth and clarity, the cylindrical objective lens is used to adjust and optimize the focus of light to adapt to different shooting distances, and the interferometer is used for extremely high-precision distance and position measurement to ensure image quality. The adaptive light source assembly adjusts the light source according to the ambient light conditions, automatically adjusts the light source intensity and angle according to the reflective characteristics and color of the measured object, optimizes the imaging quality, uses light sources of different wavelengths for imaging, and analyzes the different physical and chemical properties of the object surface. The acquisition mechanism first measures the target distance and establishes the precise position through the laser transmitter and the interferometer, and then the adaptive light source assembly adjusts the light source intensity and angle according to the measurement results and ambient light. The image sensor captures the image with the assistance of the cylindrical objective lens, and the objective lens ensures that the light is correctly focused on the sensor;Finally, the photoelectric sensor is responsible for detecting stains or dust on the lens surface and the size of the light transmittance. Once it detects that cleaning is needed, the system starts, and the nozzle sprays cleaning liquid to wet the lens surface through the connection with the liquid pump and the liquid reservoir. At the same time, the cleaning motor drives the cleaning brush to move through the magnetic guide rail to physically clean the lens. The control system instructs the liquid pump to extract cleaning liquid from the liquid reservoir to the nozzle and spray it onto the lens. Subsequently, the cleaning motor starts and drives the cleaning brush to slide along the cleaning block under the guidance of the magnetic guide rail, effectively removing stains or dust on the lens, reducing manual intervention and improving the efficiency and frequency of cleaning. ; BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0025] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 is a schematic diagram of the mobile mechanism of the present invention;

[0027] Figure 3 It is a schematic diagram of the vibration block and the first elastic member of the present invention;

[0028] Figure 4 It is a schematic diagram of the automatic adjustment mechanism of the present invention;

[0029] Figure 5 is a schematic diagram of a vibration damping platform of the present invention;

[0030] Figure 6 is a schematic diagram of the clamping and rotating mechanism of the present invention;

[0031] Figure 7 is a schematic diagram of a lens cleaning mechanism of the present invention;

[0032] Figure 8 It is a schematic diagram of the collection mechanism of the present invention.

[0033] In the figure: 1, moving mechanism; 11, horizontal slide rail; 12, vertical slide rail; 121, vertical moving frame; 122, vertical moving wheel; 123, vertical moving screw rod; 13, horizontal sliding block; 131, horizontal moving frame; 132, horizontal sliding wheel; 133, first elastic member; 134, vibration block; 135, moving wheel; 136, auxiliary wheel; 137, first hydraulic cylinder; 14, vertical sliding block; 15, horizontal motor; 16, vertical motor; 2, automatic adjustment 201, adjusting frame; 202, first adjusting motor; 203, second adjusting motor; 204, third adjusting motor; 205, first transmission rod; 206, second transmission rod; 207, third transmission rod; 208, first gear shaft cylinder; 209, second gear shaft cylinder; 2010, third gear shaft cylinder; 2011, first connecting block; 2012, second connecting block; 2013, third connecting block; 2014, shooting connecting plate; 3. Vibration damping platform; 31. Upper platform plate; 32. Lower platform plate; 33. Articulated block; 34. Damping rod; 35. Damping slide rod; 36. Connecting pipe; 37. Displacement sensor; 38. Second elastic member; 39. Magnetic block; 310. Electromagnetic block; 4. Collection mechanism; 41. Collection frame; 42. Image sensor; 43. Laser transmitter; 44. Cylindrical objective lens; 45. Interferometer; 46. Adaptive light source assembly; 461. Optical lens; 462, multi-wavelength light source array; 463, phase detector; 5, clamping and rotating mechanism; 51, clamping wheel; 52, wheel frame; 53, clamping motor; 54, clamping hydraulic cylinder; 55, clamping frame; 56, rotating motor; 6, lens cleaning mechanism; 61, photoelectric sensor; 62, nozzle; 63, cleaning brush; 64, cleaning motor; 65, cleaning block; 66, liquid pump; 67, liquid reservoir; 68, magnetic guide rail; 7, shooting frame. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] See also Figure 1 - Figure 8 , the present invention provides a technical solution:

[0036] The shooting equipment includes a moving mechanism 1, an automatic adjustment mechanism 2, a vibration damping platform 3, a collection mechanism 4, a clamping and rotating mechanism 5, a lens cleaning mechanism 6 and a shooting frame 7. The moving mechanism 1 is tightly connected to the shooting frame 7, the automatic adjustment mechanism 2 is tightly connected to the moving mechanism 1, the vibration damping platform 3 is tightly connected to the moving mechanism 1, the collection mechanism 4 is tightly connected to the automatic adjustment mechanism 2, the clamping and rotating mechanism 5 is tightly connected to the vibration damping platform 3, the lens cleaning mechanism 6 is tightly connected to the collection mechanism 4, the automatic adjustment mechanism 2 is located above the vibration damping platform 3, the clamping and rotating mechanism 5 is located in the vibration damping platform 3, and the lens cleaning mechanism 6 is located at the lower end of the collection mechanism 4.

[0037] By adopting the above technical solution, the mobile mechanism 1 ensures that the device can be freely adjusted in the horizontal and vertical directions through two-dimensional movement to meet the needs of different shooting angles. The automatic adjustment mechanism 2 is installed above the vibration damping platform 3, and uses multiple adjustment motors and mechanical transmission systems to automatically adjust the posture of the device according to real-time detection data to compensate for the instability caused by movement or external factors, thereby ensuring the stability of the device and the accuracy of the image during shooting. The vibration damping platform 3 effectively absorbs and isolates external vibrations through an articulated structure and a damping system. The design of the platform reduces the impact of vibration on the captured image, thereby improving the stability and clarity of the image. The acquisition mechanism 4 is responsible for capturing and processing image information. The laser transmitter 43 and the interferometer 45 are used for spatial positioning and calibration to ensure the quality and accuracy of the captured image. The clamping and rotating mechanism 5 is located in the vibration damping platform 3 to adjust the stable positioning and angle adjustment during the shooting process. The lens cleaning mechanism 6 is installed at the lower end of the acquisition mechanism 4 to keep the lens clean and prevent dust from affecting the image quality. The device achieves all-round stable control during the shooting process by using the moving mechanism 1, the automatic adjustment mechanism 2, the vibration damping platform 3 and the lens cleaning mechanism 6. The automatic adjustment mechanism 2 and the vibration damping platform 3 effectively reduce the impact of external interference and vibration, and improve the stability and clarity of the image. At the same time, the lens cleaning mechanism 6 ensures that the lens remains clean after long-term use, thereby ensuring the shooting effect.

[0038] Furthermore, the mobile mechanism 1 includes a transverse slide rail 11, a vertical slide rail 12, a transverse sliding block 13, a vertical sliding block 14, a transverse motor 15 and a vertical motor 16, the transverse motor 15 and the transverse sliding block 13 are fastened, the transverse motor 15 and the transverse sliding block 13 are transmission-connected, the transverse slide rail 11 and the transverse sliding block 13 are slidingly connected, the vertical motor 16 and the vertical slide rail 12 are fastened, the vertical slide rail 12 and the vertical sliding block 14 are transmission-connected, the transverse sliding block 13 and the automatic adjustment mechanism 2 are fastened, and the transverse slide rail 11 and the transverse sliding block 13 are slidingly connected. 1 is fastened to the vertical sliding block 14, the vertical sliding rail 12 is fastened to the shooting frame 7, the transverse sliding block 13 includes a transverse frame 131, a transverse sliding wheel 132, a first elastic member 133, a vibration block 134, a moving wheel 135, an auxiliary wheel 136 and a first hydraulic cylinder 137, the transverse frame 131 is slidably connected to the vibration block 134, the moving wheel 135 is rotatably connected to the vibration block 134, the vibration block 134 is fastened to the first elastic member 133, the first elastic member 133 is fastened to the transverse frame 131, the moving wheel 135 is rotatably connected to the vibration block 134, The transverse slide rail 11 is abutted, the transverse motor 15 is fastened to the transverse frame 131, the transverse motor 15 is transmission-connected to the moving wheel 135, the moving wheel 135 is transmission-connected to the transverse frame 131, there are eight transverse sliding wheels 132, first elastic members 133 and vibration blocks 134, four of which are located at the upper end of the transverse slide rail 11, and the other four transverse sliding wheels 132, first elastic members 133 and vibration blocks 134 are located at the lower end of the transverse slide rail 11, and the first hydraulic cylinder 137 is connected to the moving wheel 135. It is fastened to the transverse frame 131, the auxiliary wheel 136 is slidably connected to the transverse slide rail 11, the auxiliary wheel 136 is rotatably connected to the transverse frame 131, the first hydraulic cylinder 137 is transmission-connected to the automatic adjustment mechanism 2, the vertical sliding block 14 includes a vertical frame 121, a vertical wheel 122 and a vertical screw rod 123, the vertical motor 16 is transmission-connected to the vertical screw rod 123, so the vertical screw rod 123 is transmission-connected to the vertical frame 121, the vertical wheel 122 is slidably connected to the vertical slide rail 12, and the vertical wheel 122 is rotatably connected to the vertical frame 121.

[0039] By adopting the above technical solution, the moving mechanism 1 of the present invention is designed to ensure a high-precision and high-flexibility shooting device. The moving mechanism 1 includes a horizontal and vertical motor and a slide rail system. By precisely controlling the movement of the motor, the horizontal slide block 13 and the vertical slide block 14 can move precisely along the slide rail. The horizontal slide block 13 is embedded with components such as a horizontal frame 131, a sliding wheel, and a vibration block 134. It is equipped with a hydraulic cylinder and an elastic member to effectively reduce shock and adjust the position, thereby enhancing the stability and anti-interference ability of the equipment during operation. The vertical slide block 14 can achieve fine height adjustment through a vertical screw rod 123 to ensure the diversity and accuracy of the shooting angles. The motor drives the slide block to move smoothly along the slide rail. Through the real-time feedback adjustment of the automatic adjustment mechanism 2, any instability caused by vibration or other external factors is automatically compensated. Vibration damping elements such as hydraulic cylinders and elastic members further improve the image stability during the shooting process. The equipment can perform stable shooting in complex environments to meet the needs of high-quality image acquisition. It is particularly suitable for occasions where precise shooting at different angles and positions is required, thereby improving operating efficiency and shooting quality, ensuring image clarity and accuracy, and reducing the impact caused by environmental factors.

[0040] Further, the automatic adjustment mechanism 2 includes an adjustment frame 201, a first adjustment motor 202, a second adjustment motor 203, a third adjustment motor 204, a first transmission rod 205, a second transmission rod 206, a third transmission rod 207, a first gear shaft cylinder 208, a second gear shaft cylinder 209, a third gear shaft cylinder 2010, a first connecting block 2011, a second connecting block 2012, a third connecting block 2013 and a shooting connecting plate 2014, and the first hydraulic cylinder 137 is transmission-connected to the adjustment frame 201. The adjusting frame 201 is connected to the first adjusting motor 202, the first adjusting motor 202 is connected to the first transmission rod 205, the first transmission rod 205 is connected to the first gear shaft 208, the first gear shaft 208 is connected to the adjusting frame 201, the first gear shaft 208 is connected to the first connecting block 2011, the first gear shaft 208 is connected to the shooting connecting plate 2014 through the first connecting block 2011, the adjusting frame 201 is connected to the second adjusting motor 203, the second adjusting The motor 203 is connected to the second transmission rod 206, the second transmission rod 206 is connected to the second gear shaft cylinder 209, the second gear shaft cylinder 209 is connected to the first gear shaft cylinder 208, the second gear shaft cylinder 209 is located in the first gear shaft cylinder 208, the second gear shaft cylinder 209 is hinged to the second connecting block 2012, the second gear shaft cylinder 209 is connected to the shooting connecting plate 2014 through the second connecting block 2012, the adjusting frame 201 is connected to the third adjusting motor 204, and the third adjusting The motor 204 is transmission-connected to the third transmission rod 207, the third transmission rod 207 is transmission-connected to the third gear shaft cylinder 2010, the third gear shaft cylinder 2010 is rotationally connected to the second gear shaft cylinder 209, the third gear shaft cylinder 2010 is located inside the second gear shaft cylinder 209, the third gear shaft cylinder 2010 is hinged to the third connecting block 2013, the third gear shaft cylinder 2010 is transmission-connected to the shooting connecting plate 2014 via the third connecting block 2013, and the shooting connecting plate 2014 is fastened to the collecting mechanism 4.

[0041] By adopting the above technical solution, three adjustment motors are connected to the shooting connecting plate 2014 through a transmission rod and a gear shaft series. Such a design allows each motor to independently or collaboratively control the three-dimensional posture adjustment of the shooting device. This nested gear system increases the transmission accuracy and torque while maintaining the compactness of the structure. The start-up and adjustment of the first, second and third adjustment motors 204 are based on real-time image acquisition data and preset shooting parameters. By accurately controlling the rotation and angle adjustment of the gear shaft, the expected shooting angle and position are achieved. The operation of the motor is synchronously controlled by the microcontroller unit to ensure accurate adjustment and rapid response of the shooting angle, so that the entire device can achieve complex spatial positioning and posture adjustment, ensuring high stability and high image quality during the shooting process. Through the adjustment mechanism, the device can automatically compensate for slight offsets caused by device movement or external factors, and optimize the clarity and accuracy of the image. The implementation effect of this automatic adjustment mechanism 2 is reflected in the improvement of the degree of automation and operating efficiency during the shooting process, greatly improving the image quality, and is particularly suitable for scientific research and industrial fields that require extremely high shooting accuracy.

[0042] Further, the vibration damping platform 3 includes an upper platform plate 31, a lower platform plate 32, a hinge block 33, a damping rod 34, a damping slide rod 35, a connecting pipe 36, a displacement sensor 37, a second elastic member 38, a magnetic block 39 and an electromagnetic block 310. The upper platform plate 31 is hinged to the hinge block 33, the hinge block 33 is hinged to the damping slide rod 35, the damping slide rod 35 is slidably connected to the damping rod 34, the damping slide rod 35 is fastened to the magnetic block 39, the magnetic block 39 is fastened to the second elastic member 38, and the second elastic member 38 is fastened to the second elastic member 38. The magnetic member 38 is tightly connected to the electromagnetic block 310, the electromagnetic block 310 is tightly connected to the damping rod 34, the magnetic block 39 is magnetically connected to the electromagnetic block 310, the magnetic block 39 is slidingly connected to the damping rod 34, the damping rod 34 is hinged to the hinge block 33, the hinge block 33 is hinged to the lower platform plate 32, the upper platform plate 31 is tightly connected to the connecting pipe 36, the displacement sensor 37 is tightly connected to the connecting pipe 36, the upper platform plate 31 is tightly connected to the clamping and rotating mechanism 5, and the lower platform plate 32 is tightly connected to the vertical slide rail 12.

[0043] By adopting the above technical solution, the upper platform plate 31 is connected to the lower platform plate 32 by the hinge block 33, and the hinge block 33 allows the platform part to move freely to adapt to and alleviate external forces. The damping slide rod 35 realizes basic vibration buffering through the sliding connection with the damping rod 34. The magnetic connection between the magnetic block 39 and the electromagnetic block 310 provides a contactless damping mechanism. This setting can effectively absorb vibrations in a wider frequency range. The second elastic member 38 further improves the damping effect, so that the vibration energy is effectively attenuated during the transmission process. When the device is operating or external factors cause vibration, the displacement sensor 37 monitors the displacement of the platform in real time, and adjusts the magnetic force of the electromagnetic block 310 through the control system to achieve dynamic adjustment and control of the vibration. Through this intelligent adjustment, the vibration damping platform 3 can respond to various vibration conditions in real time, effectively reducing or eliminating adverse effects. Based on the combination of mechanical articulation and magnetic damping, this can not only resist conventional mechanical vibrations, but also adapt to complex and changeable external environments, improve the stability of the equipment during high-precision shooting, and can significantly improve the image quality, ensuring high precision and high definition during shooting.

[0044] Furthermore, the acquisition mechanism 4 includes an acquisition frame 41, an image sensor 42, a laser emitter 43, a cylindrical objective lens 44, an interferometer 45 and an adaptive light source assembly 46. The acquisition frame 41 and the image sensor 42 are tightly connected, the laser emitter 43 and the acquisition frame 41 are tightly connected, the cylindrical objective lens 44 and the acquisition frame 41 are tightly connected, the interferometer 45 and the acquisition frame 41 are tightly connected, and the adaptive light source assembly 46 and the acquisition frame 41 are tightly connected.

[0045] By adopting the above technical solution, the image sensor 42 is responsible for capturing images, the laser emitter 43 is used to provide accurate distance and position measurement, enhance imaging depth and clarity, and the cylindrical objective lens 44 is used to adjust and optimize light focus to adapt to different shooting distances; the interferometer 45 is used for extremely high-precision distance and position measurement to ensure image quality, and the adaptive light source component 46 adjusts the light source according to ambient light conditions to ensure that the image has excellent performance under various lighting conditions. The acquisition mechanism 4 first measures the target distance and establishes the precise position through the laser emitter 43 and the interferometer 45, and then the adaptive light source component 46 adjusts the light source intensity and angle according to the measurement results and ambient light. The image sensor 42 captures the image with the assistance of the cylindrical objective lens 44, and the objective lens ensures that the light is correctly focused on the sensor. This series of actions are carried out in coordination and are precisely controlled by the microcontroller unit. The device can effectively reduce the impact of external environmental changes on shooting quality and improve the accuracy and reliability of the image.

[0046] Furthermore, the adaptive light source assembly includes a light receiving lens 461, a multi-wavelength light source array 462 and a phase detector 463, the light receiving lens 461 and the acquisition frame 41 are fastened together, the multi-wavelength light source array 462 and the acquisition frame 41 are fastened together, and the phase detector 463 and the acquisition frame 41 are fastened together.

[0047] By adopting the above technical solution, the light-receiving lens 461 is responsible for capturing the characteristics of the ambient light, the multi-wavelength light source array 462 provides light sources of different wavelengths as needed to adapt to different shooting environments and object characteristics, and the phase detector 463 is used to monitor and adjust the phase of the light source to ensure that the light interaction between the light source and the subject is optimized. The light-receiving lens 461 first captures the light conditions in the current environment, including intensity and color distribution, and then transmits these data to the control system. After analyzing these data, the control system instructs the multi-wavelength light source array 462 to emit the light most suitable for the current environment. At the same time, the phase detector 463 ensures the phase match between the emitted light wave and the ambient light wave to reduce light interference and improve image quality. The real-time feedback of ambient light and the dynamic adjustment of the light source ensure the uniform distribution of light and the optimal configuration of optical characteristics during the shooting process, thereby achieving a significant improvement in image quality. The implementation effect of the adaptive light source component 46 is reflected in improving the adaptability and flexibility of shooting under different lighting conditions, especially suitable for precision shooting in changing environments.

[0048] Furthermore, the clamping and rotating mechanism 5 includes a clamping wheel 51, a wheel frame 52, a clamping motor 53, a clamping hydraulic cylinder 54, a clamping frame 55 and a rotating motor 56. The clamping wheel 51 and the wheel frame 52 are rotationally connected, the clamping motor 53 and the wheel frame 52 are fastened, the clamping motor 53 and the clamping wheel 51 are transmission-connected, the clamping hydraulic cylinder 54 and the clamping frame 55 are fastened, the clamping hydraulic cylinder 54 and the wheel frame 52 are transmission-connected, the rotating motor 56 and the upper platform plate 31 are fastened, and the rotating motor 56 and the clamping frame 55 are transmission-connected.

[0049] By adopting the above technical solution, the clamping wheel 51 is connected to the clamping motor 53 through the wheel frame 52. The clamping motor 53 provides the necessary power to rotate the clamping wheel 51, thereby achieving stable clamping and precise position adjustment of the photographed object. The clamping hydraulic cylinder 54 increases the clamping force and stability, and together with the clamping frame 55 provides necessary support and power transmission for the clamping mechanism. The rotating motor 56 is responsible for driving the rotation of the entire clamping frame 55. It is tightly connected to the upper platform plate 31 to ensure the stability and reliability of the overall mechanism. The operator or the automatic control system adjusts the clamping motor 53 and the rotating motor 56 as needed to adapt to different shooting angles and positions. The clamping motor 53 controls the rotation of the clamping wheel 51 to adapt to and fix objects of different sizes and shapes, and the rotating motor 56 adjusts the angle of the clamping frame 55 and the clamped object to achieve all-round viewing angle coverage. Based on the coordinated work of the mechanical and hydraulic systems, the stable clamping and flexible rotation of the photographed object are achieved through precise motor control and hydraulic adjustment. This design enables the shooting equipment to adapt to various complex environments and needs, such as detailed shooting of specific parts, which significantly improves the flexibility of operation and the diversity of shooting. Through this efficient clamping and rotation mechanism, high stability and high precision can be ensured during the shooting process, thereby greatly improving image quality and shooting efficiency.

[0050] Furthermore, the lens cleaning mechanism 6 includes a photoelectric sensor 61, a nozzle 62, a cleaning brush 63, a cleaning motor 64, a cleaning block 65, a liquid pump 66, a liquid reservoir 67 and a magnetic guide rail 68. The photoelectric sensor 61 is fastened to the collection frame 41, the nozzle 62 is fastened to the cleaning brush 63, the nozzle 62 is communicated with the liquid pump 66, the liquid pump 66 is communicated with the liquid reservoir 67, the cleaning motor 64 is fastened to the cleaning block 65, the cleaning motor 64 is transmission-connected to the cleaning brush 63, the magnetic guide rail 68 is transmission-connected to the cleaning block 65, and the cleaning block 65 is slidably connected to the magnetic guide rail 68.

[0051] By adopting the above technical solution, the photoelectric sensor 61 is responsible for detecting stains or dust on the surface of the lens. Once it detects that cleaning is needed, the system starts. The nozzle 62 sprays cleaning liquid to wet the lens surface through the connection with the liquid pump 66 and the liquid reservoir 67. At the same time, the cleaning motor 64 drives the cleaning brush 63 to move through the magnetic guide rail 68 to physically clean the lens. The workflow starts with the detection of the photoelectric sensor 61. When it is found that the lens surface is unclean, the control system instructs the liquid pump 66 to extract cleaning liquid from the liquid reservoir 67 to the nozzle 62 and spray it onto the lens. Subsequently, the cleaning motor 64 starts and drives the cleaning brush 63 to slide along the cleaning block 65 under the guidance of the magnetic guide rail 68 to effectively remove stains or dust on the lens. Based on the synergy of photoelectric detection and mechanical-electric cleaning, the automated process reduces manual intervention and improves the efficiency and frequency of cleaning. This design not only keeps the lens clean for a long time, thereby ensuring image quality, but also prolongs the service life of the equipment. Through this efficient cleaning mechanism, the photographic equipment can continue to operate in various environments, especially suitable for shooting tasks with harsh external environmental conditions or long-term continuous work.

[0052] The working principle of the present invention is as follows: first, the lateral slide rail 11 and the vertical slide rail 12 in the mobile mechanism 1 are used to respectively drive the lateral slide block 13 and the vertical slide block 14 to be positioned. The friction of the lateral slide wheel 132 with respect to the lateral slide rail 11 is reduced because of the setting of the lateral slide wheel 132. The vibration caused by the movement is reduced by the setting of the vibration block 134 and the first elastic member 133. The automatic adjustment mechanism 2 is aligned with the position to be measured. Then, the first adjustment motor 202 in the automatic adjustment mechanism 2 drives the first transmission rod 205, so that the first transmission rod 205 drives the first connecting block 2011 by driving the first gear shaft cylinder 208. At the same time, the second adjustment motor 203 drives the second transmission rod 205 to move the first gear shaft cylinder 208. The transmission of the rod 206 enables the second transmission rod 206 to drive the second connecting block 2012 by driving the second gear shaft cylinder 209. At the same time, the third transmission rod 207 is driven by the third adjustment motor 204, so that the second transmission rod 206 drives the third connecting block 2013 by driving the third gear shaft cylinder 2010. Thus, by controlling the rotation and angle adjustment of the gear shaft cylinder, the expected shooting angle and position are achieved, thereby compensating for the slight offset caused by the movement of the equipment or external factors, optimizing the clarity and accuracy of the image, and realizing multi-angle shooting of the shooting object; secondly, the platform part is allowed to move freely through the connecting block to adapt to and relieve the external force, and the damping slide rod 35 is connected with the damping rod 34 The sliding connection realizes basic vibration buffering. The magnetic connection between the magnetic block 39 and the electromagnetic block 310 provides a contactless damping mechanism, which can effectively absorb vibrations in a wider frequency range. The second elastic member 38 further improves the damping effect, so that the vibration energy is effectively attenuated during the transmission process. When the equipment is operating or external factors cause vibration, the displacement sensor 37 monitors the displacement of the platform in real time, and adjusts the magnetic force of the electromagnetic block 310 through the control system to achieve dynamic adjustment and control of the vibration; finally, the laser transmitter 43 is used to provide accurate distance and position measurement, enhance imaging depth and clarity, and the cylindrical objective lens 44 is used to adjust and optimize light focus to adapt to different Shooting distance, the interferometer 45 is used for extremely high-precision distance and position measurement to ensure image quality. The adaptive light source assembly 46 adjusts the light source according to the ambient light conditions. According to the reflective characteristics and color of the measured object, the light source intensity and angle are automatically adjusted to optimize the imaging quality. Different wavelengths of light sources are used for imaging to analyze the different physical and chemical properties of the object surface. The acquisition mechanism 4 first measures the target distance and establishes the precise position through the laser transmitter 43 and the interferometer 45. After that, the adaptive light source assembly 46 adjusts the light source intensity and angle according to the measurement results and the ambient light. The image sensor 42 captures the image with the assistance of the cylindrical objective lens 44, which ensures that the light is correctly focused on the sensor;Finally, the photoelectric sensor 61 is responsible for detecting stains or dust on the lens surface and the size of the light transmittance. Once it detects that cleaning is needed, the system starts, and the nozzle 62 sprays cleaning liquid to wet the lens surface through the connection with the liquid pump 66 and the liquid reservoir 67. At the same time, the cleaning motor 64 drives the cleaning brush 63 to move through the magnetic guide rail 68 to physically clean the lens. The control system instructs the liquid pump 66 to extract cleaning liquid from the liquid reservoir 67 to the nozzle 62 and spray it onto the lens. Subsequently, the cleaning motor 64 starts and drives the cleaning brush 63 to slide along the cleaning block 65 under the guidance of the magnetic guide rail 68, effectively removing stains or dust on the lens, reducing manual intervention and improving the efficiency and frequency of cleaning. ;

[0053] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0054] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A multi-dimensional mobile shooting device with a self-stabilizing function, characterized in that: The shooting device comprises a moving mechanism (1), an automatic adjustment mechanism (2), a vibration damping platform (3), a collection mechanism (4), a clamping and rotating mechanism (5), a lens cleaning mechanism (6) and a shooting frame (7); the moving mechanism (1) and the shooting frame (7) are tightly connected; the automatic adjustment mechanism (2) and the moving mechanism (1) are tightly connected; the vibration damping platform (3) and the moving mechanism (1) are tightly connected; the collection mechanism (4) and the automatic adjustment mechanism (2) are tightly connected; the clamping and rotating mechanism (5) and the vibration damping platform (3) are tightly connected; the lens cleaning mechanism (6) and the collection mechanism (4) are tightly connected; the automatic adjustment mechanism (2) is located above the vibration damping platform (3); the clamping and rotating mechanism (5) is located inside the vibration damping platform (3); and the lens cleaning mechanism (6) is located at the lower end of the collection mechanism (4).

2. The multi-dimensional mobile shooting device with self-stabilization function according to claim 1, characterized in that: The moving mechanism (1) comprises a transverse slide rail (11), a vertical slide rail (12), a transverse slide block (13), a vertical slide block (14), a transverse motor (15) and a vertical motor (16); the transverse motor (15) and the transverse slide block (13) are fixedly connected; the transverse motor (15) and the transverse slide block (13) are transmission-connected; the transverse slide rail (11) and the transverse slide block (13) are slidingly connected; the vertical motor (16) and the vertical slide rail (12) are fixedly connected; the vertical slide rail (12) and the vertical slide block (14) are transmission-connected; the transverse slide block (13) and the automatic adjustment mechanism (2) are fixedly connected; the transverse slide rail (11) and the vertical slide block (14) are transmission-connected; the transverse slide block (13) and the automatic adjustment mechanism (2) are fixedly connected; the transverse slide rail (11) and the vertical slide block (14) are transmission-connected; the transverse slide block (13) and the automatic adjustment mechanism (2) are fixedly connected; the transverse slide rail (11) and the vertical slide block (14) are transmission-connected; the transverse slide block (13) and the automatic adjustment mechanism (2) are fixedly connected; the transverse slide rail (11) and the vertical slide block (13 ... The vertical sliding block (14) is tightly connected to the vertical sliding rail (12) and the shooting frame (7). The horizontal sliding block (13) includes a horizontal frame (131), a horizontal sliding wheel (132), a first elastic member (133), a vibration block (134), a moving wheel (135), an auxiliary wheel (136) and a first hydraulic cylinder (137). The horizontal frame (131) and the vibration block (134) are slidingly connected. The moving wheel (135) and the vibration block (134) are rotationally connected. The vibration block (134) and the first elastic member (133) are tightly connected. The first elastic member (133) and the horizontal frame (131) are tightly connected. The moving wheel (135) and the vibration block (134) are rotationally connected. ) and the transverse slide rail (11), the transverse motor (15) and the transverse frame (131) are tightly connected, the transverse motor (15) and the moving wheel (135) are transmission-connected, the moving wheel (135) and the transverse frame (131) are transmission-connected, the transverse sliding wheels (132), the first elastic member (133) and the vibration block (134) are eight, four of the transverse sliding wheels (132), the first elastic member (133) and the vibration block (134) are located at the upper end of the transverse slide rail (11), and the other four of the transverse sliding wheels (132), the first elastic member (133) and the vibration block (134) are located at the lower end of the transverse slide rail (11), and the first hydraulic cylinder (137) The auxiliary wheel (136) is connected to the horizontal slide rail (11) in a sliding manner, and the auxiliary wheel (136) is connected to the horizontal slide rail (11) in a rotational manner. The first hydraulic cylinder (137) is connected to the automatic adjustment mechanism (2) in a transmission manner. The vertical sliding block (14) includes a vertical moving frame (121), a vertical moving wheel (122) and a vertical moving screw rod (123). The vertical motor (16) is connected to the vertical moving screw rod (123) in a transmission manner, so that the vertical moving screw rod (123) is connected to the vertical moving frame (121) in a transmission manner. The vertical moving wheel (122) is connected to the vertical slide rail (12) in a sliding manner, and the vertical moving wheel (122) is connected to the vertical moving frame (121) in a rotational manner.

3. The multi-dimensional mobile shooting device with self-stabilization function according to claim 2, characterized in that: The automatic adjustment mechanism (2) comprises an adjustment frame (201), a first adjustment motor (202), a second adjustment motor (203), a third adjustment motor (204), a first transmission rod (205), a second transmission rod (206), a third transmission rod (207), a first gear shaft cylinder (208), a second gear shaft cylinder (209), a third gear shaft cylinder (2010), a first connection block (2011), a second connection block (2012), a third connection block (2013) and a shooting connection plate (2014); the first hydraulic cylinder (137) is transmission-connected to the adjustment frame (201); the adjustment frame (201 ) is tightly connected to the first adjusting motor (202), the first adjusting motor (202) is transmission-connected to the first transmission rod (205), the first transmission rod (205) is transmission-connected to the first gear shaft cylinder (208), the first gear shaft cylinder (208) is rotationally connected to the adjusting frame (201), the first gear shaft cylinder (208) is hinged to the first connecting block (2011), the first gear shaft cylinder (208) is transmission-connected to the shooting connecting plate (2014) through the first connecting block (2011), the adjusting frame (201) is tightly connected to the second adjusting motor (203), the second adjusting motor (2 03) is transmission-connected to the second transmission rod (206), the second transmission rod (206) is transmission-connected to the second gear shaft cylinder (209), the second gear shaft cylinder (209) is rotationally connected to the first gear shaft cylinder (208), the second gear shaft cylinder (209) is located in the first gear shaft cylinder (208), the second gear shaft cylinder (209) is hinged to the second connecting block (2012), the second gear shaft cylinder (209) is transmission-connected to the shooting connecting plate (2014) through the second connecting block (2012), the adjusting frame (201) is fastened to the third adjusting motor (204), the third adjusting motor The machine (204) is connected to the third transmission rod (207) in a transmission connection, the third transmission rod (207) is connected to the third gear shaft cylinder (2010) in a transmission connection, the third gear shaft cylinder (2010) is connected to the second gear shaft cylinder (209) in a rotational connection, the third gear shaft cylinder (2010) is located in the second gear shaft cylinder (209), the third gear shaft cylinder (2010) is hinged to the third connecting block (2013), the third gear shaft cylinder (2010) is connected to the shooting connecting plate (2014) in a transmission connection via the third connecting block (2013), and the shooting connecting plate (2014) is fixedly connected to the collecting mechanism (4).

4. The multi-dimensional mobile shooting device with self-stabilization function according to claim 1, characterized in that: The vibration damping platform (3) comprises an upper platform plate (31), a lower platform plate (32), a hinge block (33), a damping rod (34), a damping slide rod (35), a connecting pipe (36), a displacement sensor (37), a second elastic member (38), a magnetic block (39) and an electromagnetic block (310); the upper platform plate (31) and the hinge block (33) are hinged, the hinge block (33) and the damping slide rod (35) are hinged, the damping slide rod (35) and the damping rod (34) are slidably connected, the damping slide rod (35) and the magnetic block (39) are tightly connected, the magnetic block (39) and the second elastic member (38) are tightly connected, and the second elastic member ( The electromagnetic block (38) is tightly connected to the electromagnetic block (310), the electromagnetic block (310) is tightly connected to the damping rod (34), the magnetic block (39) is magnetically connected to the electromagnetic block (310), the magnetic block (39) is slidably connected to the damping rod (34), the damping rod (34) is hinged to the hinge block (33), the hinge block (33) is hinged to the lower platform plate (32), the upper platform plate (31) is tightly connected to the connecting pipe (36), the displacement sensor (37) is tightly connected to the connecting pipe (36), the upper platform plate (31) is tightly connected to the clamping and rotating mechanism (5), and the lower platform plate (32) is tightly connected to the vertical slide rail (12).

5. The multi-dimensional mobile shooting device with self-stabilization function according to claim 1, characterized in that: The acquisition mechanism (4) comprises an acquisition frame (41), an image sensor (42), a laser emitter (43), a cylindrical objective lens (44), an interferometer (45) and an adaptive light source assembly (46); the acquisition frame (41) and the image sensor (42) are tightly connected, the laser emitter (43) and the acquisition frame (41) are tightly connected, the cylindrical objective lens (44) and the acquisition frame (41) are tightly connected, the interferometer (45) and the acquisition frame (41) are tightly connected, and the adaptive light source assembly (46) and the acquisition frame (41) are tightly connected.

6. The multi-dimensional mobile shooting device with self-stabilization function according to claim 5, characterized in that: The adaptive light source assembly comprises a light receiving lens (461), a multi-wavelength light source array (462) and a phase detector (463); the light receiving lens (461) and a collection frame (41) are tightly connected; the multi-wavelength light source array (462) and the collection frame (41) are tightly connected; and the phase detector (463) and the collection frame (41) are tightly connected.

7. The multi-dimensional mobile shooting device with self-stabilization function according to claim 4, characterized in that: The clamping and rotating mechanism (5) comprises a clamping wheel (51), a wheel frame (52), a clamping motor (53), a clamping hydraulic cylinder (54), a clamping frame (55) and a rotating motor (56); the clamping wheel (51) and the wheel frame (52) are rotationally connected; the clamping motor (53) and the wheel frame (52) are fixedly connected; the clamping motor (53) and the clamping wheel (51) are transmission-connected; the clamping hydraulic cylinder (54) and the clamping frame (55) are fixedly connected; the clamping hydraulic cylinder (54) and the wheel frame (52) are transmission-connected; the rotating motor (56) and the upper platform plate (31) are fixedly connected; and the rotating motor (56) and the clamping frame (55) are transmission-connected.

8. The multi-dimensional mobile shooting device with self-stabilization function according to claim 1, characterized in that: The lens cleaning mechanism (6) comprises a photoelectric sensor (61), a nozzle (62), a cleaning brush (63), a cleaning motor (64), a cleaning block (65), a liquid pump (66), a liquid reservoir (67) and a magnetic guide rail (68); the photoelectric sensor (61) is firmly connected to the collection frame (41); the nozzle (62) is firmly connected to the cleaning brush (63); the nozzle (62) is communicated with the liquid pump (66); the liquid pump (66) is communicated with the liquid reservoir (67); the cleaning motor (64) is firmly connected to the cleaning block (65); the cleaning motor (64) is transmission-connected to the cleaning brush (63); the magnetic guide rail (68) is transmission-connected to the cleaning block (65); and the cleaning block (65) is slidably connected to the magnetic guide rail (68).

Images