WO2019109846A1

WO2019109846A1 - Photographic robot

Info

Publication number: WO2019109846A1
Application number: PCT/CN2018/118118
Authority: WO
Inventors: 罗云富
Original assignee: 真善美创新科技有限公司
Priority date: 2017-12-07
Filing date: 2018-11-29
Publication date: 2019-06-13
Also published as: CN108044596A

Abstract

Disclosed is a photographic robot, comprising: a mechanical motion portion and a control portion. The mechanical motion portion comprises: a first base (200), a mechanical rotating arm (100) and a second base (300), with the first base (200) being connected to the second base (300) by means of the mechanical rotating arm (100). The control portion comprises: a first controller (20) and a second controller (30). The photographic robot solves the technical problem of photographic equipment being inconvenient to carry, and realizes intelligence in and specialization of photographing, thereby realizing fully-automatic photographing. Moreover, the photographic robot is made of a light material, thus facilitating the flexible motion of the mechanical arm.

Description

Photography robot

Technical field

The present application relates to the field of automation and artificial intelligence, and in particular to a photographic robot.

Background technique

Traditional photographic equipment usually needs to rely on human operation to adjust the height angle, and also depends on the rail when moving the photographic equipment.

The inventor found that if the height angle is adjusted by human operation, human error is easy to occur, and the shooting is not accurate; if it depends on the rail, it takes time to debug. In addition, photographic equipment is usually not carried, and it is easy to cause strain during use.

In view of the inconvenience of photographic equipment in related art, an effective solution has not been proposed yet.

Summary of the invention

The application provides a photographic robot to solve the problem that the photographic equipment is inconvenient to carry.

In order to achieve the above object, according to an aspect of the present application, a photographing robot is provided.

The photographing robot according to the present application includes: a mechanical moving portion and a control portion, the control portion is configured to control the mechanical moving portion to perform a preset operation; the mechanical moving portion includes: a first base, a mechanical rotating arm, and a second base The first base is connected to the second base by the mechanical rotating arm; the control part comprises: a first controller and a second controller; the first controller is configured to control the first a base displacement; and the second controller is configured to control the mechanical rotating arm to rotate with the second base.

Further, the first base is provided with: a manual controller for performing a shooting preset operation by a manual manner; a first connection port for providing a power source and a data communication interface; and a mounting base for providing the smart The mounting base and signal transmission interface of the device.

Further, the photographic robot further includes: a smart photographic device, the smart photographic device comprising: a first sensor for detecting environmental image information data; a second sensor for detecting ambient sound information data; and a first circuit board The first circuit board includes: a first communication module, an operation system, and a programming system; the first communication module is configured to receive a first shooting control command; and the computing system is configured to process the first The data detected by the sensor and/or the second sensor; the programming system for controlling the smart camera device to perform a preset shooting operation.

Further, the second base is provided with: a first power source for detachably being disposed on the second base; further comprising: a second circuit board, the second circuit board comprising: a power controller, a communication module, a self-balancing controller, and a rotation controller, wherein the power controller is configured to stabilize the mechanical rotating arm to perform a preset operation; and the second communication module is configured to receive a second shooting control command; The self-balancing controller is configured to control the displacement of the second base; the rotation controller is configured to control the mechanical rotating arm to perform a preset moving operation;

Further, the photographic robot further includes: a remote control terminal, the remote control terminal is pre-installed with an application program, and the remote control terminal is configured to issue a preset control instruction to the photographic robot by wireless communication; Control commands are used to control the displacement of the first base and/or the rotation of the mechanical rotating arm with the second base.

Further, the remote control terminal includes: a preview module and a live broadcast module, the preview module is configured to preview an action operation performed by the photographic robot; and the live broadcast module is configured to perform an action operation performed by the photographic robot.

Further, the first base further includes: a plurality of motion fixing shafts and a plurality of motion wheels, wherein the plurality of motion fixing shafts are configured to perform a preset displacement with the plurality of the motion wheels.

Further, the mechanical rotating arm includes: a plurality of rotating fixed shafts and a plurality of mechanical rotating sub-arms, and the plurality of rotating fixed shafts are configured to perform a preset action with a plurality of the mechanical rotating sub-arms.

Further, the first base, the mechanical rotating arm, and the second base adopt a structure of a lightweight material.

Further, the first controller is further configured to control a four-axis displacement balance in the first base;

The second controller is further configured to control six-axis rotation and lifting in the mechanical rotating arm.

DRAWINGS

Other features, objects, and advantages of the present application will become apparent from the accompanying drawings. The drawings and the description of the exemplary embodiments of the present application are intended to explain the present application and do not constitute an undue limitation of the present application. In the drawing:

1(a) is a schematic view of a photographic robot according to a first embodiment of the present application;

1(b) is a schematic view showing the inside of a photographing robot according to a first embodiment of the present application;

2 is a partially enlarged schematic view of a photographing robot according to a first embodiment of the present application;

3 is a schematic view showing the internal structure of a photographing robot according to a first embodiment of the present application;

4 is a schematic view showing the internal structure of a photographing robot according to a second embodiment of the present application;

FIG. 5 is a schematic diagram showing the external structure of a photographic robot according to a second embodiment of the present application.

6 is a schematic structural view of a photographic robot according to a third embodiment of the present application;

7 is a schematic view showing the internal structure of a photographing robot according to a third embodiment of the present application;

8 is a schematic structural view of a photographing robot according to a fourth embodiment of the present application;

9 is a schematic structural view of a photographing robot according to a fifth embodiment of the present application;

FIG. 10 is a schematic structural view of a photographic robot according to a sixth embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present application. It is an embodiment of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present application without departing from the inventive scope shall fall within the scope of the application.

It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or order. It should be understood that the data so used may be interchanged where appropriate to facilitate the embodiments of the present application described herein. In addition, the terms "comprises" and "comprises" and "the" and "the" are intended to cover a non-exclusive inclusion, for example, a process, method, system, product, or device that comprises a series of steps or units is not necessarily limited to Those steps or units may include other steps or units not explicitly listed or inherent to such processes, methods, products or devices. In the present application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inside", "outside", "medium", The orientation or positional relationship of the indications "vertical", "horizontal", "transverse", "longitudinal", etc. is based on the orientation or positional relationship shown in the drawings. These terms are primarily intended to describe the present application and its embodiments, and are not intended to limit the scope,

Moreover, the above partial terms may be used to indicate other meanings in addition to the orientation or positional relationship, for example, the term "upper" may also be used to indicate a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meaning of these terms in this application can be understood on a case-by-case basis.

In addition, the terms "installation," "set," "set," "connected," "connected," and "socketed" are to be understood broadly. For example, it may be a fixed connection, a detachable connection, or a one-piece construction; it may be a mechanical connection, or an electrical connection; it may be directly connected, or indirectly connected through an intermediate medium, or it may be two devices, components or components. Internal communication. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood on a case-by-case basis.

It should be noted that the embodiments in the present application and the features in the embodiments may be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings.

As shown in FIG. 1(a) and FIG. 1(b), the present application relates to a photographing robot including: a mechanical moving portion and a control portion, the control portion for controlling the mechanical moving portion to execute a preset The mechanical movement portion includes: a first base 200, a mechanical rotating arm 100, and a second base 300; the first base 200 is connected to the second base 300 through the mechanical rotating arm 100; the control portion The first controller 20 and the second controller 30 are included; the first controller 20 is configured to control the displacement of the first base 200; and the second controller 30 is configured to control the mechanical rotating arm 100 cooperates with the second base 300 to rotate. The displacement of the first base 200 in the horizontal direction and the balance control performed during the displacement can be controlled by the first controller 20. The second controller 30 can control the mechanical rotating arm 100 to rotate in cooperation with the second base 300 to adjust the position, height, angle, and the like of the photographing apparatus.

As a preferred embodiment, the first controller 20 is further configured to control the four-axis displacement balance in the first base 200; the four-axis is specifically a four-axis displacement for positional movement. The second controller 30 is further configured to control six-axis rotation and lifting in the mechanical rotating arm 100. The six-axis is specifically a six-axis rotation and lifting for rotating.

As shown in FIG. 2 to FIG. 3, the first base 200 in the photographic robot is provided with: a manual controller 2001 for performing a shooting preset operation by a manual method; and a first connection port 2002 for providing power And a data communication interface; a mounting base 2003 for providing a mounting base and a signal transmission interface of the smart device. The photographic robot further includes: a smart photographic device, the smart photographic device comprising: a first sensor 2006 for detecting environmental image information data; a second sensor 2007 for detecting ambient sound information data; further comprising: a first circuit The first circuit board 3001 includes: a first communication module 2008, an operation system 2009, and a programming system 2010; the first communication module 2008 is configured to receive a first shooting control command; the computing system 2009 And for processing the data detected by the first sensor and/or the second sensor; the programming system 2010 is configured to control the smart photography device to perform a preset shooting operation. Preset operations include, but are not limited to, position, angle, height adjustment, and displacement changes.

The manual controller 2001 can be used as a human hand to adjust direction, angle, brightness, speed, white balance, and other shooting settings.

The mounting base 2003 can convert and mount the base of different instruments. The mounting base 2003 is used as a base for mounting different instruments to connect and carry artificial intelligence devices, camera and other photographic camera devices, smart phones, other smart devices and transmit signals to the devices thereon.

The first connection port 2002 is provided with a communication and power connection port for data transmission or power supply.

The first sensor 2006 in the smart photography device may be a 3D lens sensor. The second sensor 2007 may be an operator having a 3D sound function.

The first circuit board 3001 includes: a first communication module 2008, an operation system 2009, and a programming system 2010; an operation system 2009 is used to connect with the first sensor 2006; and an operation system 2009 is used for the second sensor 2007 connection.

For example, a 3D lens sensor computing system is connected to a 3D lens sensor, a 3D sounding function computing system, and a 3D sounding function computing device are connected to an photographic system (ISP) to connect with a camera/camera device.

In some embodiments, the 3D lens sensor computing system is used for automatic tracking and 3D face recognition functions.

In some embodiments, the computing system is used to collect and integrate data such as human face features, light and darkness, height, angle, etc., and calculate the best shooting mode by itself.

In some embodiments, the 3D sound function computing system is used for multi-azimuth, distance-distance radio reception.

In some embodiments, the communication module is configured to receive instructions issued by a pre-installed application via Bluetooth, WI-FI.

In some embodiments, the ISP system is used to automatically adjust aperture, shutter, white balance, metering, focus, lens technology, automatic color adjustment techniques.

For example, the first communication module 2008 can transmit and receive information, and control the power device in the photographic robot, such as the motor control module, the automatic balancing module, the angle/speed/steering control module, so that the smart photographic device can control the mechanical arm to cooperate with the shooting. .

As shown in FIG. 4 to FIG. 5, the second base is provided with a first power source 3001 for detachably being disposed on the second base, and a second circuit board 3006. The second circuit board 3006 includes: a power controller 3005, a second communication module 2002, a self-balancing controller 3003, and a rotation controller 3004. The power controller 3005 is configured to stabilize the mechanical rotating arm to perform a preset operation. The second communication module 2002 is configured to receive a second shooting control command; the self-balancing controller 3003 is configured to control the second base displacement; the rotation controller 3004 is configured to control the mechanical The turning arm performs a preset moving operation.

The second communication module 2002 is configured to receive an instruction issued by a pre-installed application through Bluetooth or WI-FI.

The power controller 3005 can be implemented in a manner of being controlled by multiple motors.

The rotation controller 3004 is configured to complete the angle/rotation speed/steering control, and can be used to set the height, the angle, the rotation speed, and the steering of the mechanical rotation arm to reach the left and right of the automatic lifting.

For example, a battery and a circuit board are built in the base, and the circuit board includes: a communication module and an automatic balancing module. The power controller for controlling the angle/rotation/steering is respectively connected to the plurality of motion fixing shafts of the first base; the automatic balancing module and the second base A plurality of rotating fixed shafts are connected below.

The self-balancing controller 3003 is used for automatically and independently calculating the heights of a plurality of fixed axes of motion, and balancing with each other, so that the four axes can smoothly move and realize the trackless setting.

For example, the rotation controller 3004 is used to stabilize the connection and coordinate torque and power of the shafts (31, 32, 33, 34) in the arm, and to ensure the flexibility of the mechanical arm to enable smooth and quiet movement.

Preferably, the second base and the mechanical rotating arm adopt a lightweight material, which helps the mechanical arm to move flexibly to prevent falling.

As shown in FIG. 6 to FIG. 7, the photographing robot further includes: a remote control terminal 400, which is pre-installed with an application program, and the remote control terminal 400 is configured to wirelessly communicate to the photographing robot A preset control command is issued; the control command is for controlling the displacement of the first base and/or the rotation of the mechanical rotating arm with the second base.

The photographic robot includes a mechanical turning arm and a smart photographic device. In addition to the artificial intelligence automatic operation, a manual controller is also provided to perform the manual operation mode, and a tablet computer and a self-developed application are provided, and the central control system is operated on the tablet computer. , remote control photography robot.

As a preferred embodiment of the present invention, the remote control terminal 400 includes: a preview module 4001 and a live broadcast module 4002, the preview module 4001 is configured to preview an action operation performed by the photographic robot; and the live broadcast module 4002 is configured to: The action operation performed by the photographic robot is broadcasted.

The photographic robot in the embodiment of the present application includes a mechanical movement part and a smart photographic apparatus. In addition to the automatic operation of the smart photographic apparatus, a manual operation mode of the manual controller is additionally provided. The remote control terminal 400 can be a tablet computer and a self-developed application, and operates on a tablet computer with a central control system to control the photographic robot by remote control.

For example, it can be connected to the second base by a mechanical turning arm, and the rolling axis is disposed below the second base for automatic balancing. In addition, the rotating shafts (31, 32, 33, 34) constitute a plurality of sets of mechanical rotating arm structures arranged above the first base to control the angle, the rotational speed, and the steering. In addition, the second base has a built-in battery and a circuit board, and a plurality of motor-connected control modules, a communication module, an automatic balancing module, and an angle/speed/steering control module can be installed in the circuit board. At the same time, the multi-motor associative control module, the angle/speed/steering control module is connected with the rotating shaft above the second base; the automatic balancing module is connected with the rotating shaft below the second base.

For example, a manual controller, a base that can convert and install different instruments, a communication and power connection port, and a smart photography device can be installed above the first base. Among them, the manual controller is used for manual adjustment of direction, angle, brightness, speed, white balance and other shooting settings. A base that can convert and install different instruments can connect and carry smart photography equipment. Intelligent photographic devices include, but are not limited to, photographic camera devices such as cameras, smart phones, other smart devices, and transmit signals thereto. The intelligent photography device may include: a 3D lens sensor, a 3D sound function operator, a circuit board, and a communication module, an artificial intelligence computing system, a 3D lens sensor computing system, a 3D sound function computing system, and an ISP system in the circuit board. Specifically, the 3D lens sensor computing system is connected to the 3D lens sensor, the 3D sounding function computing system is connected to the 3D sounding function computing device, and the ISP system is connected to the photographic imaging device.

In the specific implementation process, the user opens the pre-installed application program through the remote control terminal 400, and uses the central control system (CPU, MCU, CPU/MCU) to set the shooting instruction on the remote control terminal 400, and then remotely via Bluetooth and WI-FI. Send the shooting command to the shooting robot. Then, the circuit board in the second base is driven by the battery, the communication module is used to receive the shooting instruction; the automatic balancing module is used to automatically calculate the height of the rolling axis automatically, the rolling axes are coordinated and balanced, and the moving is smooth, and the trackless setting and stability are realized. Optical system. The angle/speed/steering control module is used to set the height, angle, rotation speed and steering of the mechanical turning arm, and the mechanical turning arm automatically moves up and down. Then, the multi-motor associative control module such as the cascade motor stabilizes the connection of the rotating shafts (31, 32, 33, 34) in the mechanical arm and coordinates the torque and power to ensure that the arm can move flexibly, smoothly and quietly.

In some embodiments, the central control system issues commands to the photographic robot through the application via Bluetooth, WI-FI, while controlling multiple electric motors to achieve multi-point remote control.

In some embodiments, the central control system commands the camera person via the application via Bluetooth, WI-FI to control the smart camera for automatic shooting.

In the specific implementation, the central control system can control multiple motors at the same time to achieve multi-point remote control. For example, users can preview live or live on a tablet. A photographic camera device such as a camera, a smart phone, and other smart devices can be connected to the first base.

At the same time, the circuit board on the smart photography device is driven by the battery, and the communication module is used for receiving the shooting instruction; the first connection port of the first base is used for the communication and power connection port, and is used for connecting the shooting device to the mounting base of the base. Passing the shooting signal to the smart photography device after the power is passed; connecting the first circuit board and the second circuit board, transmitting and receiving information with the communication module, thereby controlling the multi-motor coupling control module (cascade motor), the automatic balancing module, The angle/speed/steering control module allows the intelligent camera to manipulate the robotic arm for shooting. In the smart photography equipment, it can include: 3D lens sensor computing system for automatic tracking and 3D face recognition, and control 3D lens sensor to follow specified human face movement; 3D sound function computing system for multi-directional, distance-distance radio ISP system for including but not limited to automatic aperture adjustment, shutter, white balance, metering, focusing, lens technology, automatic color adjustment preset operation, automatic shooting; computing system can be used to collect and integrate human features, The light, darkness, height, angle and other data, calculate the best shooting mode.

All the moving or shooting instructions in the embodiment of the present application are output by the central control system. In the specific implementation process, the smart photography device can self-control the lifting, angle, rotation speed, steering of the mechanical rotating arm, and the balance of the four axes, thereby cooperating with Shooting.

As shown in FIG. 8 to FIG. 10, the first base in the embodiment of the present application further includes: a plurality of motion fixed axes and a plurality of moving wheels (40, 41, 42, 43), and the plurality of the motions are fixed. The shaft is used to perform a preset displacement in cooperation with a plurality of the moving wheels (40, 41, 42, 43). The mechanical rotating arm in the embodiment of the present application includes: a plurality of rotating fixed shafts (31, 32, 33, 34) and a plurality of mechanical rotating sub-arms, wherein the plurality of rotating fixed shafts are used to cooperate with the plurality of The mechanical rotating sub-arm performs a preset action.

For example, a plurality of moving wheels (40, 41, 42, 43) are coupled to the second base, and a plurality of moving wheels (40, 41, 42, 43) are disposed below the second base for automatic balancing. In addition, a plurality of rotating fixed shafts (31, 32, 33, 34) constitute a plurality of sets of mechanical arms disposed above the base to control height, angle, rotational speed, and steering.

The photographic robot in the embodiment of the present application controls the robot remotely, so that the mechanical axis automatically balances and adjusts the angle, the rotational speed, and the steering; thereby achieving the four-axis balance and the six-axis automatic lifting under the trackless setting. Automatic optical white balance is automatically captured/recorded by artificial intelligence devices, so that the shooting is intelligent and professional, and automatic shooting is achieved. At the same time, the use of lightweight materials helps the robot arm to move flexibly to prevent falling and protect the camera.

The above description is only the preferred embodiment of the present application, and is not intended to limit the present application, and various changes and modifications may be made to the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of this application are intended to be included within the scope of the present application.

Industrial applicability

The present application adopts a control unit for controlling the mechanical movement to perform a preset operation, and by using the first controller and the second controller, controlling the displacement of the first base and controlling the mechanical rotation arm to cooperate with the second base The purpose of the rotation is to realize the technical effect of the automatic shooting, thereby solving the technical problem that the photographic equipment is inconvenient to carry, and the application realizes the intelligentization and specialization of the shooting, thereby realizing the automatic shooting, the photography of the present application. The robot also uses lightweight materials to help the robot arm move flexibly.

Claims

A photographic robot includes: a mechanical movement portion and a control portion, wherein the control portion is configured to control the mechanical movement portion to perform a preset operation;

The mechanical movement portion includes: a first base, a mechanical rotating arm, and a second base; the first base is connected to the second base by the mechanical rotating arm;

The control unit includes: a first controller and a second controller;

The first controller is configured to control the displacement of the first base;

The second controller is configured to control the mechanical rotating arm to rotate with the second base.
The photographic robot according to claim 1, wherein the first base is provided with:

Manual controller for performing a shooting preset operation manually;

a first connection port for providing power and a data communication interface;

The mounting base is used to provide a mounting base and a signal transmission interface for the smart device.
The photographic robot of claim 2, further comprising: a smart photographic device, the smart photographic device comprising:

a first sensor for detecting environmental image information data;

a second sensor for detecting ambient sound information data;

Also included: the first circuit board,

The first circuit board includes: a first communication module, an operation system, and a programming system;

The first communication module is configured to receive a first shooting control instruction;

The computing system is configured to process data detected by the first sensor and/or the second sensor;

The programming system is configured to control the smart photography device to perform a preset shooting operation.
The photographic robot according to claim 1, wherein the second base is provided with:

a first power source for detachably being disposed on the second base;

Also included: a second circuit board,

The second circuit board includes: a power controller, a second communication module, a self-balancing controller, and a rotation controller.

The power controller is configured to stabilize the mechanical rotating arm to perform a preset operation;

The second communication module is configured to receive a second shooting control instruction;

The self-balancing controller is configured to control the displacement of the second base;

The rotation controller is configured to control the mechanical rotating arm to perform a preset moving operation.
The photographing robot according to claim 1, further comprising: a remote control terminal, the remote control terminal being pre-installed with an application;

The remote control terminal is configured to send a preset control command to the photographic robot by wireless communication; the control command is used to control the first base displacement and/or the mechanical rotating arm cooperates with the second The base rotates.
The photographic robot according to claim 5, wherein the remote control terminal comprises: a preview module and a live broadcast module,

The preview module is configured to preview an action operation performed by the photographic robot;

The live broadcast module is configured to broadcast an action operation performed by the photographic robot.
The photographing robot according to claim 1, wherein the first base further comprises: a plurality of motion fixing shafts and a plurality of motion wheels, wherein the plurality of motion fixing shafts are configured to perform presets in cooperation with the plurality of the motion wheels Displacement.
The photographing robot according to claim 1, wherein the mechanical turning arm comprises: a plurality of rotating fixed shafts and a plurality of mechanical rotating sub-arms, wherein the plurality of rotating fixed shafts are for engaging a plurality of the mechanical rotating sub-arms Perform preset actions.
The photographing robot according to claim 1, wherein said first base, said mechanical turning arm, and said second base are constructed of a lightweight material.
The photographic robot according to claim 1, wherein

The first controller is further configured to control a four-axis displacement balance in the first base;

The second controller is further configured to control six-axis rotation and lifting in the mechanical rotating arm.
A photographic robot comprising: a mechanical movement and a control unit;

The mechanical moving portion includes: a first base, a mechanical rotating arm and a second base; the first base is connected to the second base by the mechanical rotating arm;

The control portion includes a controller for controlling movement of the first base, and further for controlling the mechanical rotating arm to rotate the second base.
The photographic robot of claim 11 further comprising: a smart photographic device, said smart photographic device comprising:

a sensor for detecting environmental image information data, and also for detecting ambient sound information data;

a first circuit board, the first circuit board includes: a first communication module, an operation module, and a programming module:

The first communication module is configured to receive a first shooting control instruction;

The computing module is configured to process data detected by the sensor;

The programming module is configured to control the smart photography device to perform a preset shooting operation.
The photographic robot of claim 11 wherein said second base comprises:

a second circuit board, the second circuit board includes: a power controller, a second communication module, a self-balancing controller, a rotation controller,

The power controller is configured to cause the mechanical rotating arm to stably perform a preset operation;

The second communication module is configured to receive a second shooting control instruction;

The self-balancing controller is configured to control movement of the second base;

The rotation controller is configured to control the mechanical rotating arm to perform a preset moving operation.
The photographing robot according to claim 11, wherein the first base further comprises: a plurality of motion fixing shafts and a plurality of motion wheels, wherein the plurality of motion fixing shafts are configured to perform presets in cooperation with the plurality of the motion wheels Displacement;

The mechanical rotating arm includes a plurality of rotating fixed shafts and a plurality of mechanical rotating sub-arms, and the plurality of rotating fixed shafts are configured to perform a preset action with a plurality of the mechanical rotating sub-arms.
The photographic robot of claim 11 wherein said controller comprises:

a first controller for controlling displacement and balance of four axes in the first base;

And a second controller for controlling rotation and lifting of the six shafts in the mechanical rotating arm.