Intelligent camera equipment capable of freely moving
By combining a quadruped robot dog with a transport vehicle, the intelligent camera equipment can move and shoot automatically, solving the problems of physical labor and space limitations caused by manual operation, and improving shooting accuracy and applicability.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-01-04
- Publication Date
- 2026-03-27
AI Technical Summary
Existing smart camera equipment requires manual operation, which increases physical labor and is inconvenient to enter certain spaces, affecting shooting efficiency.
The system combines a quadruped robot dog with a transport vehicle. Through the cooperation of a robotic arm and a camera, it can automatically move and shoot. It also uses a panoramic camera to detect the target in real time and plan the robot dog's movement path to ensure that the target is always in the center of the frame. At the same time, the system uses a power unit and a clamping and limiting unit to realize the storage and transportation of the equipment.
It improves shooting accuracy and applicability, reduces the space occupied by the equipment, and realizes automated operation and efficient shooting process.
Smart Images
Figure CN121750997A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of intelligent camera technology, specifically an intelligent camera device that can move freely. Background Technology
[0002] With the development of technology and the improvement of people's living standards, cameras have become an indispensable tool for people to record various information in real life. With the application of intelligent networks, intelligent cameras are also widely produced and used.
[0003] Currently, existing intelligent camera devices require manual handling and operation by operators, which not only increases the physical labor of operators but also affects shooting efficiency. In addition, it is inconvenient for personnel to enter certain spaces, which affects shooting. Therefore, this invention proposes an intelligent camera device that can move freely to make up for and improve the shortcomings of existing technologies. Summary of the Invention
[0004] To overcome the shortcomings of existing technologies, this invention proposes an intelligent camera device that can move freely.
[0005] To achieve the above objectives, the present invention employs the following technical solution: A freely movable intelligent camera device includes a carrier vehicle and a quadruped robot dog. The carrier vehicle has a storage box at its rear. Support shafts are fixedly connected to the bottom of both the front and rear sides of the storage box. Each support shaft has a mounting plate rotatably connected to it. Two mounting plates are fixedly connected to the rear of the carrier vehicle. One side of the storage box is open, and a storage compartment is located inside. The bottom and one side of the storage compartment are also open. One end of a rigid chain is fixedly connected to each of the four corners of the top surface of the storage compartment. A power component is located at the other end of the rigid chain. The storage compartment... An infrared sensor is fixedly connected to the inner wall of the top surface. Clamping and limiting components are provided on both the front and back sides of the storage box. A mounting base is fixedly connected to one side of the top surface of the four-legged robot dog. A robotic arm is detachably connected to the top surface of the mounting base. A gimbal connector is detachably connected to one end of the robotic arm. A four-axis stabilized gimbal is installed on the gimbal connector. A camera is fixedly connected to one side of the four-axis stabilized gimbal. A camera lens is detachably connected to the lens mount of the camera. A mounting rod is fixedly connected to the top surface of the four-axis stabilized gimbal. A panoramic camera is fixedly connected to the top of the mounting rod.
[0006] Preferably, the power assembly includes: a chain box, the top surface of which is fixedly connected to the inner wall of the top surface of the storage box; a sprocket is rotatably connected inside one side of the chain box; a rigid chain is meshed with the sprocket; the rigid chain can slide along the inside of the chain box; two sprockets located on the same side are fixedly connected by a connecting shaft; each connecting shaft has a motor at its front end; the motor is fixedly connected to the corresponding chain box; and one end of the motor shaft is fixedly connected to the corresponding connecting shaft by a coupling.
[0007] Preferably, each of the connecting shafts is equipped with an electromagnetic brake, and the top of the electromagnetic brake is fixedly connected to the inner wall of the top surface of the storage box.
[0008] Preferably, several support wheels are fixedly installed on the inner walls of both sides of the storage box, and the support wheels can roll and make contact with the storage box.
[0009] Preferably, the clamping and limiting assembly includes: a fixed plate, on one side of which are two electrically operated telescopic rods distributed front and rear, and each of the electrically operated telescopic rods has a clamping plate fixedly connected to its free end, the clamping plate being able to abut against the four-legged robot dog.
[0010] Preferably, the storage box has crossbars fixedly connected to the top of both the front and rear sides, one end of a pull rope is fixedly connected to each crossbar, the other end of each pull rope is fixedly connected to a pull ring, and each pull ring is fixedly connected to the rear of the transport vehicle.
[0011] Preferably, two door panels are hinged to one side of the storage box, and the two door panels can cover the opening of the storage box.
[0012] Preferably, the storage box is not fixedly connected to the first fastening block on the other side, and a second fastening block is provided on one side of the first fastening block. The second fastening block is fixedly connected to the rear of the transport vehicle. A groove is opened on the side of the second fastening block near the first fastening block, and the first fastening block can be inserted into the groove. The first fastening block and the second fastening block are fastened together by a screw and a nut.
[0013] Preferably, the camera's lens mount is equipped with a contact sensor, which can automatically identify the camera's lens model.
[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. This invention, through the cooperation of a quadruped robot dog and a mounting base, can drive the movement of a robotic arm and a camera, thereby facilitating shooting from different locations. It also uses a panoramic camera to detect targets in real time, extract target features, plan the robot dog, and control the gimbal to adjust the angle in real time to ensure that the target is always in the center of the frame, thus improving shooting accuracy. 2. With the cooperation of the storage box and storage compartment, the quadruped robot dog can be stored away through the action of the power component and the clamping and limiting component, reducing space occupation and allowing for long-distance transportation by a transport vehicle, thereby improving the applicability of this device. Attached Figure Description
[0015] The invention will now be further described with reference to the accompanying drawings.
[0016] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a diagram showing the usage state of the present invention; Figure 3 This is a schematic diagram of the structure of a quadruped robot dog; Figure 4 yes Figure 3 The right view; Figure 5 yes Figure 3 The main view; Figure 6 This is a schematic diagram of the storage box structure; Figure 7 yes Figure 6 Rear view; Figure 8 This is a schematic diagram of the internal structure of the storage box; Figure 9 This is a schematic diagram of the structure of the first fixing block and the second fixing block; Figure 10 This is a schematic diagram of the clamping and limiting component structure; Figure 11 This is a schematic diagram showing the connection between the rigid chain and the storage box; Figure 12 Schematic diagram of the power component structure; Figure 13 This is a schematic diagram of a rigid chain meshing with a sprocket; Figure 14 This is a schematic diagram of the internal structure of the chain box; The following are the labels in the diagram: 1. Transport vehicle; 2. Quadruped robot dog; 3. Storage box; 4. Support shaft; 5. Mounting plate; 6. Storage box; 7. Rigid chain; 8. Infrared sensor; 9. Mounting base; 10. Robotic arm; 11. Gimbal connector; 12. Four-axis stabilized gimbal; 13. Camera; 14. Mounting rod; 15. Panoramic camera; 16. Chain box; 17. Sprocket; 18. Connecting shaft; 19. Support wheel; 20. Fixing plate; 21. Electric telescopic rod; 22. Clamping plate; 23. Crossbar; 24. Kala rope; 25. Pull ring; 26. Gate; 27. First fastening block; 28. Second fastening block; 29. Groove; 30. Screw; 31. Nut; 32. Motor; 33. Electromagnetic brake. Detailed Implementation
[0017] To make the technical means, creative features, achieved objectives, and effects of this invention readily understandable, the invention will be further described below in conjunction with the accompanying drawings and specific embodiments. It should be understood that these embodiments are for illustrative purposes only and are not intended to limit the scope of the invention. Furthermore, it should be understood that after reading the teachings of this invention, those skilled in the art can make various modifications or alterations to the invention, and these equivalent forms also fall within the scope defined by this application.
[0018] like Figure 1-12 As shown, the present invention provides a freely movable intelligent camera device, including a transport vehicle 1 and a quadruped robot dog 2. The quadruped robot dog 2 is an industrial-grade quadruped robot with a load capacity of ≥5kg and a battery life of ≥4 hours, and has a built-in high computing power chip. The transport vehicle 1 has a storage box 3 at its rear. Support shafts 4 are fixedly connected to the bottom of both the front and rear sides of the storage box 3. Mounting plates 5 are rotatably connected to each support shaft 4. Two mounting plates 5 are fixedly connected to the rear of the transport vehicle 1. One side of the storage box 3 is open, and a storage compartment 6 is located inside. The bottom and one side of the storage compartment 6 are open. One end of a rigid chain 7 is fixedly connected to each of the four corners of the top surface of the storage compartment 6. A power component is located at the other end of each rigid chain 7. The open ends of two rigid chains 7 on the same side are positioned opposite each other, ensuring stability after extension and preventing the storage compartment 6 from shaking. An infrared sensor 8 is fixedly connected to the inner wall of the top surface of the storage compartment 6. Clamping and limiting components are provided on both the front and rear sides of the storage compartment 6, allowing the storage box 3 to rotate downwards around the support shafts 4 to a horizontal position. Then, the power component is activated, causing the rigid chains 7 to move downwards, thereby allowing the storage compartment 6 to... The storage box 6 extends out from the storage box 3. At the same time, the quadruped robot dog 2 moves towards the storage box 6. The quadruped robot dog 2 enters the storage box 6 through the opening on the side of the storage box 6. Under the sensing detection of the infrared sensor 8, the quadruped robot dog 2 stops moving when it enters the storage box 6. The clamping and limiting component is activated to clamp and limit the quadruped robot dog 2 inside the storage box 6. Then, the power component works in the opposite direction to retract the rigid chain 7 upward. The rigid chain 7 retracts and pulls the storage box 6 upward. At the same time, the four legs of the quadruped robot dog 2 retract to reduce the space occupied. The open ends of the two rigid chains 7 on the same side are set opposite each other to ensure that the rigid chain 7 can remain stable after it extends, avoiding the shaking of the storage box 6. This ensures that the storage box 6 can be accurately stored in the storage box 3. Then, the storage box 3 is flipped upward to make the storage box vertical so that it can be transported by the transport vehicle. The quadruped robot dog 2 is fixedly connected to a mounting base 9 on one side of its top surface. The top surface of the mounting base 9 is detachably connected to a robotic arm 10. The robotic arm 10 is a three-axis lightweight model (load ≥ 2kg, repeatability ± 0.1mm). The robotic arm 10 also has a 180-degree pitch adjustment capability, which expands the camera shooting height range (0.5m-2.5m). One end of the robotic arm 10 is detachably connected to the gimbal connector 11. A four-axis stabilized gimbal 12 is installed on the gimbal connector 11. The four-axis stabilized gimbal 12 is driven by a brushless motor and supports 360-degree unlimited rotation (yaw axis), ±90-degree pitch (pitch axis), and ±45-degree roll (roll axis). A new "fine-tuning axis" is added to achieve ±5-degree high-precision compensation. The stabilization accuracy is ≤0.01 degrees. In the scenario of the quadruped robot dog 2 running (speed ≤3m / s), the image jitter is controlled within 1 pixel. The four-axis stabilized gimbal 12 is fixedly connected to a camera on one side. The camera 13 is detachably connected to the lens mount of the camera. The mount has a built-in contact sensor that can automatically identify the lens model (focal length, aperture range, whether it has image stabilization) and transmit the data to the large model in real time. The top surface of the four-axis stabilized gimbal 12 is fixedly connected to the mounting rod 14, and the top of the mounting rod 14 is fixedly connected to the panoramic camera 15. The panoramic camera 15 detects the target in real time and extracts the target features (such as face and clothing color). The large model is combined with the target's motion trajectory to plan the movement path of the quadruped robot dog 2 (using an AI path planning algorithm to avoid obstacles). At the same time, the four-axis stabilized gimbal 12 is controlled to adjust the angle in real time to ensure that the target is always in the center of the image (deviation ≤ 5% of the image size).
[0019] like Figure 8 , Figure 11 , Figure 12 , Figure 13 and Figure 14 As shown, the power assembly includes: a chain box 16, the top surface of which is fixedly connected to the inner wall of the storage box 3, a sprocket 17 rotatably connected to one side of the chain box 16, a rigid chain 7 meshing with the sprocket 17, the rigid chain 7 being able to slide along the inside of the chain box 16, two sprockets 17 located on the same side being fixedly connected by a connecting shaft 18, each connecting shaft 18 having a motor 32 at its front end, the motor 32 being fixedly connected to the corresponding chain box 16, and one end of the motor 32's rotating shaft being fixedly connected to the corresponding connecting shaft 18 by a coupling.
[0020] Specifically, the two motors 32 work simultaneously. When the motors 32 work, they drive the connecting shaft 18 to rotate. The rotation of the connecting shaft 18 drives the sprocket 17 to rotate. The sprocket 17 engages with the rigid chain 7, and the rotation of the sprocket 17 pulls the rigid chain 7 into the chain box 16. When the motors 32 work in the opposite direction, they drive the connecting shaft 18 to rotate in the opposite direction. The rotation of the connecting shaft 18 in the opposite direction drives the sprocket 17 to rotate in the opposite direction, so that the rigid chain 7 extends downward from the chain box 16, thereby realizing the storage and release of the storage box 6.
[0021] like Figure 11 , Figure 12 and Figure 8 As shown, each of the connecting shafts 18 is equipped with an electromagnetic brake 33, and the top of the electromagnetic brake 33 is fixedly connected to the inner wall of the top surface of the storage box 3.
[0022] Specifically, the electromagnetic brake 33 can brake the connecting shaft 18, thereby braking the connecting shaft 18 after the rigid chain 7 moves to the appropriate position, thus preventing the rigid chain 7 from automatically sliding down due to gravity and ensuring the stability of the device.
[0023] like Figure 6 , Figure 7 and Figure 8 As shown, several support wheels 19 are fixedly installed on the inner walls of both sides of the storage box 3, and the support wheels 19 can roll and contact with the storage box 6.
[0024] The specific support wheel 19 makes rolling contact with the storage box 6, which can provide support and limit the storage box 6, preventing the storage box 6 from shaking inside the storage box 3 and ensuring the stability of the storage box 6.
[0025] like Figure 8 and Figure 10 As shown, the clamping and limiting assembly includes: a fixing plate 20, on one side of which are two electric telescopic rods 21 distributed front and rear, and each electric telescopic rod 21 is fixedly connected to a clamping plate 22 at its free end, and the clamping plate 22 can abut against the quadruped robot dog 2.
[0026] Specifically, the electric telescopic rod 21 extends, causing the clamping plate 22 to move closer to the quadruped robot dog 2. The clamping plate 22 contacts the body of the quadruped robot dog 2 and forms a clamping limit on the body of the quadruped robot dog 2. The electric telescopic rod 21 retracts, causing the clamping plate 22 to move away from the quadruped robot dog 2. The clamping plate 22 separates from the quadruped robot dog 2, making it convenient for the quadruped robot dog 2 to be removed from the storage box 6.
[0027] like Figure 1 , Figure 6 and Figure 7As shown, the storage box 3 has crossbars 23 fixedly connected to the top of both the front and rear sides. One end of a pull rope 24 is fixedly connected to each crossbar 23, and the other end of each pull rope 24 is fixedly connected to a pull ring 25. Each pull ring 25 is fixedly connected to the rear of the transport vehicle 1.
[0028] Specifically, with the cooperation of the pull ring 25, the pull rope 24 and the crossbar 23, the storage box 3 can be lifted when it is in a horizontal position, which avoids excessive movement of the storage box 3 and ensures that the storage box 3 can be stably in a horizontal position, making it convenient for the storage box 6 to be stored and released.
[0029] like Figure 2 , Figure 6 and Figure 7 As shown, two door panels 26 are hinged to one side of the storage box 3, and the two door panels 26 can cover the opening of the storage box.
[0030] Specifically, the two door panels 26 can block the opening of the storage box, thereby forming a sealed space inside the storage box 3, which reduces the impact of the external environment on the storage box 6 and the quadruped robot dog 2, and ensures the service life of the storage box 6 and the quadruped robot dog 2.
[0031] like Figure 1 , Figure 2 , Figure 6 and Figure 7 As shown, the storage box 3 is not fixedly connected to the first fastening block 27 on the other side. The first fastening block 17 has a second fastening block 28 on one side. The second fastening block 28 is fixedly connected to the rear of the transport vehicle 1. The second fastening block 28 has a groove 29 on the side near the first fastening block 27. The first fastening block 27 can be inserted into the groove 29. The first fastening block 27 and the second fastening block 28 are fastened together by a screw 30 and a nut 31.
[0032] Specifically, the first fastening block 27 can be inserted into the groove 29. The first fastening block 27 and the second fastening block 28 are fastened together by the screw 30 and the nut 31, thereby limiting the storage box 3 and making the storage box 3 stably in a vertical state. When it is necessary to flip the storage box 3 to a horizontal state, the screw 30 and the nut 31 are separated from the first fastening block 27 and the second fastening block 28, and then the first fastening block 27 is moved out of the groove 29, releasing the restriction on the storage box 3.
[0033] like Figure 1 and Figure 2 As shown, the camera's lens mount is equipped with a contact sensor, which can automatically identify the camera's lens model.
[0034] Specifically, the contact sensor can automatically identify the camera's lens model, thereby automatically calling the corresponding lens's "parameter template library": for example, when changing to a wide-angle lens (focal length 16mm), it automatically lowers the aperture (f / 8-f / 11) and increases the sensitivity (ISO 200-400) to optimize depth of field and image sharpness; when changing to a macro lens (focal length 100mm), it automatically turns on the focus assist light and adjusts the shutter speed (1 / 125s-1 / 250s) to avoid blurry images caused by hand shake during shooting. At the same time, combined with the real-time image of the panoramic camera, it dynamically adjusts the exposure compensation (±2EV) to adapt to the current lighting environment; when using a telephoto lens (focal length ≥200mm), a retractable counterweight is added to the bottom of the four-axis stabilized gimbal 12, and the counterweight is automatically adjusted to balance the lens's center of gravity, preventing the four-axis stabilized gimbal 12 from becoming unbalanced.
[0035] This solution also includes a controller, the location of which is set by the staff according to the actual situation during operation. The controller is used to control the electrical components used in this solution. The controller is one of an Intel processor, AMD processor, PLC controller, ARM processor, or microcontroller. It is used in conjunction with a motherboard, memory modules, storage media, and power supply, which is a lithium battery. When a display screen is provided, a graphics card is also provided. For the operating principle of the controller, please refer to "Principles of Automatic Control", "Principles and Application Simulation Cases of Microcontrollers", and "Principles and Applications of Sensors" published by Tsinghua University Press. Other books in this field can also be consulted. Other automation control and electrical components not mentioned are knowledge well known to those skilled in the art and will not be described in detail here.
[0036] Working principle: First, over 100,000 professional photographs covering different scenes (indoor, outdoor, night scene, sports) and shooting styles (portrait, landscape, documentary) are collected. Camera movement (pan, rotation, zoom), composition parameters (golden ratio, rule of thirds), and lighting parameters (exposure value, white balance) are annotated. A mapping database of "photography knowledge - environmental data - equipment parameters" is constructed. Using LoRA fine-tuning technology, a dedicated "intelligent photography model" is trained based on an open-source visual model. The model inference time is controlled within 200ms. This completes the construction of the large model training and parameter adaptation algorithm, and a natural language processing module is built to support user input. For vague commands (such as "take a night scene with an atmosphere" or "take a lively family photo"), the large model breaks down semantic commands into specific shooting parameters: for example, the parameters for "atmospheric night scene" are "aperture f / 1.8, shutter speed 1 / 30s, white balance 3200K, turn on soft light"; the parameters for "lively family photo" are "shutter speed 1 / 500s, ISO 400, diagonal composition, and the quadruped robot dog moving in a circle around the target to take the picture". At the same time, the large model analyzes the environment through a panoramic camera. If it finds that the environment does not meet the requirements of the command (such as the night scene being too dark), it will automatically control the quadruped robot dog to move to a position with better lighting (such as near a street lamp). Then, during actual shooting, the quadruped robot dog 2 is transported to the shooting position by the transport vehicle 1. Then, the storage box 3 is rotated downwards around the support shaft 4 to a horizontal position. With the cooperation of the pull ring 25, the pull rope 24 and the crossbar 23, the storage box 3 can be lifted when it is in a horizontal position, which avoids excessive movement of the storage box 3 and ensures that the storage box 3 can be stably in a horizontal position, which is convenient for the storage box 6 to be put in and taken out. Then, both motors 32 operate simultaneously. Motors 32 drive the connecting shaft 18 to rotate, which in turn drives the sprocket 17 to rotate. The sprocket 17 engages with the rigid chain 7, causing the rigid chain 7 to move downwards. This causes the storage box 6 to extend from the storage compartment 3. Simultaneously, the quadruped robot dog 2 extends its four legs and stands upright until its four legs contact the ground. At this point, motors 32 stop operating, and the electric telescopic rod 21 retracts, causing the clamping plate 22 to move away from the quadruped robot dog 2. The clamping plate 22 separates from the quadruped robot dog 2, releasing its restraint. The quadruped robot dog 2 then extends outwards from the opening on the side of the storage box 6. As the robot moves out, the two motors 32 work in opposite directions, driving the connecting shaft 18 to rotate in the opposite direction. The reverse rotation of the connecting shaft 18 drives the sprocket 17 to rotate in the opposite direction, which in turn causes the rigid chain 7 to pull the storage box 6 upward, so that the storage box 6 is stored in the storage box 3. The movement of the quadruped robot dog 2 drives the camera 13 to move and take pictures. During the shooting process, the panoramic camera 15 detects the target in real time and extracts the target features (such as face and clothing color). The large model combines the target's movement trajectory to plan the robot dog / robot's movement path (using AI path planning algorithm to avoid obstacles). At the same time, the gimbal is controlled to adjust the angle in real time to ensure that the target is always in the center of the picture. After filming is completed, the quadruped robot dog 2 moves towards the storage box 6. The quadruped robot dog 2 enters the storage box 6 through the opening on the side of the storage box 6. Under the sensing detection of the infrared sensor 8, the quadruped robot dog 2 stops moving after it enters the storage box 6. Then, the electric telescopic rod 21 extends, driving the clamping plate 22 to move closer to the quadruped robot 2. The clamping plate 22 clamps and limits the quadruped robot dog 2 inside the storage box 6. Then, the power component works in the opposite direction, retracting the rigid chain 7 upward. The retracted rigid chain 7 pulls the storage box 6 upward. At the same time, the four legs of the quadruped robot dog 2 retract to reduce the space occupied. After the storage box 6 enters the storage container 3, the motor 32 stops working. Then, the storage container 3 is flipped upward to make the storage container vertical so that it can be transported by the transport vehicle 1.
[0037] In the description of this invention, it should be understood that the terms "upper," "side," "inner," etc., indicating orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the elements referred to must have a specific orientation, or be constructed and operated in a specific orientation. In addition, it should be noted that unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to the internal communication of two elements or the interaction relationship between two elements. Unless otherwise explicitly limited, those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.
[0038] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.
Claims
1. A freely movable intelligent camera device, comprising a transport vehicle (1) and a quadrupedal robot dog (2), characterized in that, The transport vehicle (1) has a storage box (3) at the rear. The storage box (3) has a support shaft (4) fixedly connected to the bottom of both the front and rear sides. Each support shaft (4) is rotatably connected to a mounting plate (5). The two mounting plates (5) are fixedly connected to the rear of the transport vehicle (1). The storage box (3) has an opening on one side. The storage box (3) has a storage box (6) inside. The bottom and one side of the storage box (6) are open. The top of the storage box (6) has one end of a rigid chain (7) fixedly connected to each of the four corners. The other end of the rigid chain (7) has a power component. An infrared sensor (8) is fixedly connected to the inner wall of the top of the storage box (6). The storage box (6) is equipped with clamping and limiting components on both the front and back sides. The top side of the quadruped robot dog (2) is fixedly connected to the mounting base (9). The top side of the mounting base (9) is detachably connected to the robotic arm (10). One end of the robotic arm (10) is detachably connected to the gimbal connector (11). A four-axis stabilized gimbal (12) is installed on the gimbal connector (11). A camera is fixedly connected to one side of the four-axis stabilized gimbal (12). A camera (13) is detachably connected to the lens mount of the camera. The top side of the four-axis stabilized gimbal (12) is fixedly connected to the mounting rod (14). The top of the mounting rod (14) is fixedly connected to the panoramic camera (15).
2. The intelligent camera device capable of free movement according to claim 1, characterized in that, The power assembly includes: a chain box (16), the top surface of which is fixedly connected to the inner wall of the storage box (3), a sprocket (17) is rotatably connected to one side of the chain box (16), a rigid chain (7) is meshed with the sprocket (17), the rigid chain (7) can slide along the inside of the chain box (16), two sprockets (17) on the same side are fixedly connected by a connecting shaft (18), each connecting shaft (18) has a motor (32) at its front end, the motor (32) is fixedly connected to the corresponding chain box (16), and one end of the motor (32) shaft is fixedly connected to the corresponding connecting shaft (18) by a coupling.
3. The freely movable intelligent camera device according to claim 2, characterized in that, Each of the connecting shafts (18) is equipped with an electromagnetic brake (33), the top of which is fixedly connected to the inner wall of the top surface of the storage box (3).
4. The freely movable intelligent camera device according to claim 3, characterized in that, Several support wheels (19) are fixedly installed on the inner walls of both sides of the storage box (3), and the support wheels (19) can roll and contact with the storage box (6).
5. The freely movable intelligent camera device according to claim 1, characterized in that, The clamping and limiting assembly includes: a fixed plate (20), on one side of the fixed plate (20) are two electric telescopic rods (21) distributed front and rear, and each electric telescopic rod (21) is fixedly connected to a clamping plate (22) at its free end. The clamping plate (22) can abut against the quadruped robot dog (2).
6. The intelligent camera device capable of free movement according to claim 1, characterized in that, The storage box (3) has a crossbar (23) fixedly connected to the top of both the front and rear sides. One end of a pull rope (24) is fixedly connected to each crossbar (23), and the other end of each pull rope (24) is fixedly connected to a pull ring (25). Each pull ring (25) is fixedly connected to the rear of the transport vehicle (1).
7. The intelligent camera device capable of free movement according to claim 1, characterized in that, Two door panels (26) are hinged to one side of the storage box (3), and the two door panels (26) can cover the opening of the storage box.
8. The intelligent camera device capable of free movement according to claim 1, characterized in that, The storage box (3) is not fixedly connected to the first fastening block (27) on the other side. The first fastening block (17) is provided with a second fastening block (28) on one side. The second fastening block (28) is fixedly connected to the rear of the transport vehicle (1). The second fastening block (28) has a groove (29) on the side near the first fastening block (27). The first fastening block (27) can be inserted into the groove (29). The first fastening block (27) and the second fastening block (28) are fastened together by a screw (30) and a nut (31).
9. The intelligent camera device capable of free movement according to claim 1, characterized in that, The camera's lens mount is equipped with a contact sensor that can automatically identify the camera's lens model.