CN104486536A - Automatic image shooting system and realization method thereof - Google Patents
Automatic image shooting system and realization method thereof Download PDFInfo
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- CN104486536A CN104486536A CN201410344786.9A CN201410344786A CN104486536A CN 104486536 A CN104486536 A CN 104486536A CN 201410344786 A CN201410344786 A CN 201410344786A CN 104486536 A CN104486536 A CN 104486536A
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Abstract
The invention provides an automatic image shooting system and a realization method thereof. Based on signals of an RF(radio frequency) transmitter and receiver and signals of a light source transmitter and receiver or signals of an ultrasonic emitter and receiver and by utilizing parameters of an inertial coordinate sensor and software modification values of a terminal image shooting device and the like synthesis techniques, and after carrying out operational analysis processing through a processor, operation values are converted into electrical signals to drive a motor, the image shooting device is allowed to trace and position the position of a mobile tag accurately in an effective range, no matter indoor or outdoor, and remote control image shooting is carried out on the accurate position of the mobile tag or software of the terminal image shooting device is utilized to guide the processor to order the terminal image shooting device to carry out automatic image shooting according to the set time intervals.
Description
Technical field
The present invention relates to automation filming image technical field, particularly relate to a kind of automatic image shooting system and its implementation.
Background technology
Very various according to image capture devices kind in the market, but no matter be special digital camera or general digital camera, even smart mobile phone and panel computer or other image display equipment etc., target person carried out instant and effectively to follow the trail of and under positioning scenarios lacking, when carrying out the general filming image of friend's party or family, no matter be carry out being in step with or autodyning, all be subject to the restriction that the direction and translational speed etc. of target are many, captured static image major part is all fixed scene and towards the stiff and not natural result to be captured such as camera lens: especially dynamically record a video, hand-held image capture devices must be carried out by a people, just can track the target that will take, in this case, except photographer itself cannot participate in the enjoyment among filming image scene, for the photographer of some industry Yus, often do not know especially bat where or clap a little what, in shooting process, frequent appearance is not the existing picture that camera lens has the heels of that head is exactly slow half bat, waste a lot of precious and picture that is moment: just more highlight image capture devices when this existing picture and must effectively solved in the tracking of moving target and the problem of location and manual and/or automatic shooting.
For tracking and the orientation problem of mobile tag, have the error amount of 3 ~ 5 meters at least in outdoor employing global position system, when indoor, global position system loses positioning function accurately completely because of the impact of terrain and its features.
Have some location technologies as follows in prior art:
The many indoor orientation methods of the RF radio frequency signal acquisition of the indoor positioning of number of patent application 201210507974.x and navigation system and number of patent application 200880106680.8 and source location system etc.But these methods all must have multiple beacon transceiver to carry out triangle polyester fibre, not only be only applicable to large-area indoor environment, and when must build many beacon receiver and calculation server, except cost is too high, just becomes cannot locate if mobile tag transfers to outdoor.
The tracking camera system of number of patent application 201310133248.0 and method then only use single a kind of RF radiofrequency signal to carry out following the trail of and locating then taking, this patent and above-mentioned patent duplicate, not only to arrange around outside numerous wireless identification tags, if directly take the intensity computing of RF radio frequency, then can there is barrier because of between two carriers, and produce signal refraction problems, therefore become and cannot follow the trail of mobile tag very accurately and locate, shooting image be out the accurate location of mobile tag most probably.
A kind of infrared ray of number of patent application 201020179277.2 follows the trail of camera, be then to use single a kind of infrared ray to follow the trail of and image pickup method.Therefore the place being more only applicable to spacious clear uses, one has barrier obstruction, can stop immediately the tracking of mobile tag and location, if mobile tag is positioned at after barrier or when carrier is positioned over pocket for a long time, infrared ray method for tracking and positioning then complete failure.As can be seen here, although above patented method is effective, there is major defect, and be not exclusively applicable to utilizing on the conventional automatic image bat equipment of general family.
Also have some location tracking technique for taking can be used on the automatic image shooting equipment of family in addition.As patent No. ZL 200510023277.7, denomination of invention: it has the digital camera of the functions such as auto-shoot tracking, location and prompting.But this patent is confined to the function that digital camera own just has track and localization target a little, and not carry out movable tracking and location for mobile tag target, this not only for general most consuming public when not buying this digital camera, helpless loses outside various one's own precious image, mobility target is just lost completely to the function of following the trail of and locating.
In above-mentioned several method and many localization methods that mobile tag is followed the trail of of not stating, nearly all to carry out tracing and positioning and automatic shooting with monotechnics or method, although these single methods utilize terminal image capture apparatus application software, coordinate transducer or RF radio frequency or the single method such as infrared ray or ultrasonic wave all effective, also all have respective major defect:
(1) application software (app) of single terminal end image capture devices is used to carry out tracing and positioning, then can because of the difference apart from too far away or environment light source None-identified target object, also just accurately cannot locate moving target, and identification software stability is also poor, require relative also higher for the resolution of image and environment light source etc., the terminal image capture apparatus of low resolution and shooting environmental light source not enough time can be described as and cannot use.
(2) when using single inertia coordinate transducer to position, then can because of the translational speed of mobile tag and angle change, larger with work time longer error rate, according to current six axle sensors about after 10 minutes, very likely just lose the actual coordinate position of mobile tag, the time, longer then precision will be poorer.
(3) when using single RF radio frequency to position, then because of serious refraction problems, multiple signal launch and accept station must be set up when single use to carry out triangle polyester fibre, otherwise can only as complementary outline target localization.
(4) light source transceiver (comprising infrared ray) then can lose the accurate location of mobile tag completely because of the slight barrier of centre.
(5) though ultrasonic transmitter-receiver has stronger penetrability, when mobile tag is positioned over pocket, also can penetrate clothing and actual coordinate signal transmission is driven carrier to motor, but if during large-scale thick and heavy barrier, ultrasonic wave then can because penetrating and refraction problems and lose the moving target of tracking.
In view of this, prior art haves much room for improvement and improves.
Summary of the invention
In view of the deficiencies in the prior art, the object of the invention is to provide a kind of automatic image shooting system and its implementation, for complex arts such as the software tracking functions by RF RF transceiver and/or light source transceiver and/or ultrasonic transmitter-receiver and inertia coordinate transducer and/or terminal image capture apparatus, more effectively more accurately mobile tag owner carried out immediately and follow the trail of accurately and locate and automatically snap simultaneously or shake control shooting.
Technical scheme of the present invention is as follows:
A kind of automatic image shooting system, wherein, comprising: at least one terminal image capture apparatus, the motor driving carrier of at least one and the mobile tag carrier of at least one;
By following the trail of mobile tag carrier and locating, thus automatic image shooting is carried out to mobile tag carrier and/or shakes control shooting.
Preferably, described automatic image shooting system, wherein, use any one or more than one the complex art in the application software of RF RF transceiver, light source transceiver, ultrasonic transmitter-receiver, inertia coordinate transducer or terminal image capture apparatus follow the trail of mobile tag carrier and locate, and then automatic image shooting is carried out to mobile tag carrier and/or shakes control shooting;
Wherein, described RF RF transceiver comprises any one or more than one mode in wifi, 2.4G, 2.5G, NFC, Bluetooth or Zigbee and sets up communication between each carrier and be connected, and follows the trail of mobile tag carrier according to its signal source direction and locate; Also utilize RF RF transceiver signal between each carrier, carry out the transmission of audio signal and/or video image signal;
Described light source transceiver comprises infrared ray and/or laser and/or photoelectric sensor, and follows the trail of mobile tag carrier and locate;
Described ultrasonic transmitter-receiver comprises directly acquisition ultrasonic signal and/or ultrasonic reflections signal, for following the trail of mobile tag carrier and locating and carry out range determination according to signal time difference;
Described inertia coordinate transducer comprises at least one angular-rate sensor and at least one accelerometer formed, for following the trail of mobile tag carrier and locating;
The application software of described terminal image capture apparatus comprises image capturing and recognition technology, for following the trail of mobile tag carrier and locating and parameters setting; The setting of each shooting interval time setting when wherein each item setting parameter comprises AUTOMATIC STATIC shooting and the video time of automatic video recording and each video recording interval time.
Described automatic image shooting comprises static shooting and dynamically takes; Wherein the interval time of presetting according to it still image shooting take continuously automatically; Automatic dynamic shooting is then according to taking continuously its interval time of presetting and video time.
Preferably, described automatic image shooting system, wherein, described motor drives carrier to have motor drive unit and the first processor of more than one group at least, and described motor drive unit and first processor are electrically connected; Described motor drive unit comprises stepper motor and/or servo motor and corresponding gear further;
Described motor drives carrier to further comprises a main structure body and the bascule body of at least one, is connected between main structure body with bascule body with motor drive unit; Described bascule body screw and nut and/or metric system bolt and/or trip are installed the terminal image capture apparatus fixing at least one and are fixed The Cloud Terrace and/or the terminal image capture apparatus of at least one;
Described motor drives carrier inside to be provided with a substrate, is provided with each electronic sensor and power supply supply loop and first processor;
Described motor drives the center point that on the shell vertical side of carrier, mark one is longitudinal and horizontal, and the camera lens of described central point and terminal image capture apparatus The Cloud Terrace and terminal image capture apparatus towards same direction also in line; Outer casing bottom has a metric system bolt, for being connected with all types of image capture devices foot rest;
Motor drives on carrier and has been provided with supply socket and mains switch; Its power suppling part part is divided by adapter supply power mode and/or Rechargeable battery supply power mode.
Preferably, described automatic image shooting system, wherein, described terminal image capture apparatus comprises at least one group of RF RF transceiver and power supply, and described RF RF transceiver and power supply are electrically connected;
Described motor driving carrier have the RF RF transceiver of a group at least and/or has the light source transceiver of a group at least and/or have ultrasonic transmitter-receiver and the power supply of one group at least, and being electrically connected;
The RF RF transceiver described mobile tag carrier having one group at least and/or the light source transceiver having a group at least and/or have the ultrasonic transmitter-receiver of a group at least and/or have the inertia coordinate transducer of at least, and be electrically connected.
Preferably, described automatic image shooting system, wherein, described mobile tag carrier is made up of a frame structure; The electronic sensor of frame structure interior arrangement at least one and microphone and loudspeaker or piezo and a power supply supply loop, and be electrically connected;
Wherein, described electronic sensor comprises inertia coordinate transducer and/or meter step transducer and/or displacement transducer and/or seeks mark transducer and/or temperature sensor;
Described frame structure inside is installed and Power Support supply module group substrates and various electronic sensor substrate and each substrate for electronic elements;
Described mobile tag carrier also comprises a power suppling part part, and it is adapter supply power mode and/or Rechargeable battery supply power mode or button cell supply power mode.
Preferably, described automatic image shooting system, wherein, described RF RF transceiver comprise transmitting and reception antenna and be electrically connected;
Described RF RF transceiver is used for transmission and the reception of the data between each carrier and order, comprises various setting parameter and takes shutter triggering command and the transmission of audio signal and/or the transmission of video image signal; Carry out information source direction calculating according to its RF radio-frequency (RF) signal strength simultaneously, and the coordinate values of mobile tag carrier is drawn according to the direction calculating of information source, again coordinate values is passed to first processor and carry out drive motor unit, and impel motor to drive the bascule body center point of carrier to aim at mobile tag direction and position;
Described one group of light source transceiver comprises at least one light source transmitter unit and the light source receiving element of at least one, and is electrically connected;
Described ultrasonic transmitter-receiver comprises at least one ultrasonic transmitting element and the ultrasonic wave receive unit of at least one, and is electrically connected; Described ultrasonic transmitter-receiver drives the Signal transmissions between carrier and mobile tag carrier to calculate the accurate location of mobile tag carrier according to its intensitometer at motor; And signal transmission time difference is for calculating the distance between motor driving carrier and mobile tag carrier;
Described inertia coordinate transducer, through recording the motion parameters obtained of mobile tag, after the second processor process, is sent to motor by RF RF transceiver and drives first processor process on carrier.
Preferably, described automatic image shooting system, wherein, the transmitting of described light source transceiver and/or ultrasonic transmitter-receiver and receiving element are respectively arranged at least one subplate and are arranged on the shell of mobile tag carrier and motor driving carrier; Respective transmitting and receiving element and respective transceiver and processor are electrically connected;
The receiving element side of described light source transceiver and ultrasonic transmitter-receiver has light tight and/or non-penetrative material respectively, launches and enter the angle barrier design of receiving element and/or use light signal ID and RFID as the direction of mobile tag and location Calculation benchmark for isolated light source or ultrasonic signal.
Preferably, described automatic image shooting system, wherein, it is by first processor, obtained coordinate signal is changed into the signal of telecommunication to carry out CD-ROM drive motor that described motor drives the motor of carrier to drive, and impels the bascule body center point of motor carrier to aim at mobile tag direction;
Motor drives carrier when driving more than one bascule body, carrying out left and right horizontal rotation and/or up and down vertical rotary and/or upper and lower, left and right, advance. the shift action of retrogressing, the drive actions of its motor drives the first processor on carrier to control by motor.
Preferably, described automatic image shooting system, wherein, described motor drives the button and/or switch and/or touching type induction device and/or touch screen that carrier there are at least one; And be electrically connected with first processor; And through RF RF transceiver and/or light source transceiver, control operation is shaken to the various functions behaviour on mobile tag carrier and image capture devices, control operation of shaking wherein comprises filming image triggering command; Other key switch comprises:
The option switches that the software control of an adjustable terminal image capture devices or motor drive carrier to control;
The option switches of one group of adjustable automatic shooting interval time or video time;
One group of adjustable option switches of taking pictures or recording a video;
Described mobile tag carrier have the button of and/or switch and/or touching type induction device and/or touch-screen at least and be electrically connected with the second processor; And through RF RF transceiver and/or light source transceiver, driving the various functions on carrier and image capture devices to shake control operation to motor, control operation of shaking wherein comprises filming image triggering command.
An implementation method for described automatic image shooting system, wherein, said method comprising the steps of:
First carrier front is driven to rock at motor before S0, mobile tag carrier use, allow two carriers produce signal to making the signal of light source transceiver and ultrasonic transmitter connect, or use the NFC agreement of RF radio frequency to carry out signal connection, and each coordinate data is impelled to make zero;
When S1, mobile tag carrier start mobile, the application software of inertia coordinate transducer and/or terminal image capture apparatus is followed the trail of and is brought into operation; Angular-rate sensor on mobile tag carrier and the parameter of accelerometer are supplied to the second processor successively and carry out computing, and coordinate message is delivered to through RF RF transceiver by both party the first processor that motor drives carrier by the second processor again; Application software trace parameters on terminal image capture apparatus is also delivered to motor by the RF RF transceiver of terminal image capture apparatus and drives on the first processor of carrier and to compare process;
S2, motor pass to first processor after driving the RF RF transceiver of carrier to receive coordinate message and carry out computing and the intensity of comparison trace parameters and RF information source, and calculate the coordinate signal of the exact coordinates of mobile tag carrier, and then coordinate signal is changed into the signal of telecommunication carry out drive motor unit, allow the camera lens of the central point of bascule body and terminal image capture apparatus turn to and aim at the direction of mobile tag, and start timing carry out automatic shooting action or wait for remote manual control shooting;
After S3, mobile tag carrier move, inertia coordinate transducer calculates mobile tag carrier and motor when driving the distance of carrier to exceed a set point, light signal is involved and the time difference of the reception of comparison RF radio frequency by the transmitting of motor driving carrier is ultrasonic, whether both confirmations exceed set point, if determine to exceed set point, then inactive trace parameters, thus avoid cannot following the trail of the objective because hypertelorism causes, its coordinate values easily produces error on the contrary; Otherwise, then enable software trace parameters once again when distance is less than set point.
Beneficial effect: a kind of automatic image shooting system provided by the invention and its implementation, based on the transceiver signal of RF radio frequency and the signal of light source transceiver or the signal of ultrasonic transmitter-receiver and the complex art utilizing the parameter of inertia coordinate transducer and the software correction value of terminal image capture apparatus etc., carry out after operational analysis process through processor again, operation values is converted to the signal of telecommunication and carrys out CD-ROM drive motor, image capture devices is impelled no matter to be indoor or outdoors in effective range, all can accurate tracking and location mobile tag position, and to the accurate orientation of mobile tag shake control filming image or utilize the software of terminal image capture apparatus come bootstrap processor command terminal image capture devices according to setting interval time carry out automatic image shooting.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the preferred embodiment of automatic image shooting system of the present invention.
Fig. 2 is the schematic diagram of the first embodiment of image capture devices in automatic image shooting system of the present invention.
Fig. 3 is the schematic diagram of the second embodiment of image capture devices in automatic image shooting system of the present invention.
Fig. 4 a is the schematic perspective view that in automatic image shooting system of the present invention, motor drives the preferred embodiment of carrier.
Fig. 4 b is the exploded perspective view that in automatic image shooting system of the present invention, motor drives the preferred embodiment of carrier.
Fig. 5 is the schematic diagram of the preferred embodiment of mobile tag carrier in automatic image shooting system of the present invention.
Fig. 6 is the flow chart of the implementation method of automatic image shooting system of the present invention.
Fig. 7 is the schematic diagram that the first embodiment of image capture devices in automatic image shooting system of the present invention is fixed on motor driving carrier.
Fig. 8 is the schematic diagram that the second embodiment of image capture devices in automatic image shooting system of the present invention is fixed on motor driving carrier.
Embodiment
For making object of the present invention, technical scheme and advantage clearly, clearly, developing simultaneously referring to accompanying drawing, the present invention is described in more detail for embodiment.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
Refer to Fig. 1, it is the schematic diagram of the preferred embodiment of automatic image shooting system of the present invention.As shown in the figure, described automatic image shooting system comprises: at least one terminal image capture apparatus A1, the motor driving carrier B 1 of at least one and the mobile tag support C 1 of at least one; Terminal image capture apparatus A1 follows the trail of mobile tag support C 1 and locates, thus carries out automatic image shooting to mobile tag support C 1 and/or shake control shooting.Automatic image shooting system of the present invention is the complex art of any one or more than one mode used in the application software of RF RF transceiver, light source transceiver, ultrasonic transmitter-receiver, inertia coordinate transducer (inertial coordinate), terminal image capture apparatus, impel the bascule body of processor CD-ROM drive motor carrier, and mobile tag carrier is followed the trail of accurately and locates, and terminal image capture apparatus can be driven simultaneously to carry out automatic image shooting to mobile tag carrier and/or shake control shooting.
In the present embodiment, described automatic image shooting system uses any one or more than one the complex art in the application software of RF RF transceiver, light source transceiver, ultrasonic transmitter-receiver, inertia coordinate transducer or terminal image capture apparatus follow the trail of mobile tag carrier and locate, and then carries out automatic image shooting to mobile tag carrier and/or shake control shooting.
Wherein, described RF RF transceiver comprises any one or more than one mode in wifi, 2.4G, 2.5G, NFC, Bluetooth, Zigbee and sets up communication between each carrier and be connected, and follows the trail of mobile tag carrier according to its signal source direction and locate; Also utilize RF RF transceiver signal between each carrier, carry out the transmission of audio signal and/or video image signal; Described light source transceiver comprises infrared ray and/or laser and/or photoelectric sensor etc., and follows the trail of mobile tag carrier and locate; Described ultrasonic transmitter-receiver comprises directly acquisition ultrasonic signal and/or ultrasonic reflections signal, for following the trail of mobile tag carrier and locating and carry out range determination (particularly according to signal time difference, ultrasonic transmitter-receiver judges direction according to receiving intensity, then the time difference of comparison RF signal calculates distance); Described inertia coordinate transducer comprises at least one angular-rate sensor and at least one accelerometer formed, for following the trail of mobile tag carrier and locating; The application software of described terminal image capture apparatus comprises image capturing and recognition technology, for following the trail of mobile tag carrier and locating.
Specifically, described terminal image capture apparatus A1 comprises intelligence shooting mobile phone (as shown in Figure 3) of more than one various brands digital camera (as shown in Figure 2) and/or various brands and/or the filming image product of various brands panel computer and/or various brands; The body of described terminal image capture apparatus A1 is provided with power supply and mains switch.
See also Fig. 4 a and Fig. 4 b, described motor drives carrier B 1 to have the motor drive unit Md1 of more than a group at least, and this motor drive unit Md1 and first processor CPU1 is electrically connected; Described motor drive unit comprises stepper motor and/or servo motor and corresponding gear and formed; In addition, described motor drives carrier B 1, contains a main structure body Ba1 and the bascule body Ba2 of at least one, connects between the two with motor drive unit Md1; Each electronic sensor that described motor drives carrier B 1 inside to have and power supply supply loop PW1 and first processor CPU1 can be divided at least one substrate and be electrically connected; Described motor drives carrier B 1 inside can install and support motor drive unit Md1 and each substrate for electronic elements, comprises first processor CPU1 substrate; Described motor drives the center point G that on carrier B 1 shell vertical side, mark one is longitudinal and horizontal.The camera lens of this central point G and terminal image capture apparatus The Cloud Terrace Aa1 (as shown in Figure 3) and terminal image capture apparatus A1 towards same direction also in line; Described motor drives carrier B 1 outer casing bottom to have a metric system bolt, can be connected with all types of image capture devices foot rest; Described bascule body Ba2 can install with screw and nut and/or metric system bolt B a3 and/or trip the terminal image capture apparatus fixing at least one and fix The Cloud Terrace Aa1 and/or the terminal image capture apparatus A1 of at least one; Described bascule body Ba2 can support image capture devices and fix The Cloud Terrace Aa1 and/or terminal image capture apparatus A1.Described motor drives in carrier B 1 supply socket and mains switch; Power suppling part part can be divided by adapter supply power mode and/or Rechargeable battery supply power mode.
Described mobile tag support C 1 (as shown in Figure 5) is made up of a frame structure; Frame structure is inner, can device more than one electronic sensor and microphone and loudspeaker or piezo and a power supply supply loop and the second processor CPU2 can be divided at least one substrate and be electrically connected; Described various electronic sensors can comprise inertia coordinate transducer and/or meter step transducer and/or seek mark transducer and be electrically connected with the second processor; Described frame structure inside can be installed and Power Support supply module group substrates and various electronic sensor substrate and each substrate for electronic elements, comprises the second processor CPU2 substrate.Described mobile tag support C 1 power suppling part part is adapter supply power mode and/or Rechargeable battery supply power mode or button cell supply power mode.
Further, terminal image capture apparatus itself must have RF RF transceiver or can the connectivity port RF1 of plug-in RF RF transceiver, the RF RF transceiver that the kind of RF RF transceiver can use for any one such as wifi, NFC, self-defined 2.4G, self-defined 2.5G, Bluetooth, Zigbee or more than one lines of can arranging in pairs or groups mutually.Motor drives on carrier and mobile tag also must possess the RF RF transceiver RF2 with the similar frequency bands of terminal image capture apparatus own, and can communicate to connect between above-mentioned three carriers, comprising audio signal and or the connection of video image signal.Motor to drive on carrier and mobile tag except having RF RF transceiver RF2, also has light source transceiver and ultrasonic transmitter-receiver R1 in addition; Receiving element is normally open, that is can receive light source and ultrasound waves source signal at any time.
The kind of light source transceiver can be infrared ray or laser or photoelectric sensor.On mobile tag except having RF RF transceiver RF3 and light source transceiver and ultrasonic transmitter-receiver (R2), have at least one inertia coordinate transducer and microphone and loudspeaker or piezo in addition.Inertia coordinate transducer is formed by least one angular-rate sensor and at least one acceierometer sensor.Motor drives on carrier and mobile tag and arranges multiple button or switch, and the kind of button and switch contains touch-switch and touch-induction-type switch and touch-screen.Motor drives on carrier and mobile tag carrier, no matter the transmitting of light source transceiver and ultrasonic transmitter-receiver or receiving element side have light tight and non-penetrative material respectively, for isolated light signal or the transmitting of ultrasonic signal or the angle barrier design of reception; Its method for designing also can be depressed or protruding-type.Terminal image capture apparatus itself is as loaded application software (the app software as Smartphone), then can carry out function setting (such as: the interval time of automatic shooting and the shooting time of video recording), also can according to the image capturing of its list of characters note of the ancient Chinese and the recognition technology auxiliary coordinate foundation as tracing and positioning.
Described RF RF transceiver is by any one in wifi, 2.4G, 2.5G, NFC, Bluetooth, Zigbee or set up communication between various ways with each carrier and be connected; And for the transmission of the data between each carrier and order and reception, comprise the transmission of various setting parameter and shooting shutter triggering command and audio signal transmission and/or video image; Carry out information source direction calculating according to its RF radio-frequency (RF) signal strength simultaneously, and the coordinate values of mobile tag carrier is drawn according to the direction calculating of information source, again coordinate values is passed to first processor and carry out drive motor unit, and impel motor to drive the bascule body center point of carrier to aim at mobile tag direction and position;
Described light source transceiver comprises infrared ray and/or laser and/or photoelectric sensor etc.; One group of light source transceiver comprises at least one light source transmitter unit and the light source receiving element of at least one;
Described ultrasonic transmitter-receiver comprises at least one ultrasonic transmitting element and the ultrasonic wave receive unit of at least one, and is electrically connected; Described ultrasonic transmitter-receiver drives the Signal transmissions between carrier and mobile tag carrier to calculate the accurate location of mobile tag carrier according to its intensitometer at motor; And signal transmission time difference is for calculating the distance between motor driving carrier and mobile tag carrier;
Described inertia coordinate transducer is made up of at least one angular-rate sensor and the accelerometer of at least one; Described inertia coordinate transducer, through recording the motion parameters obtained of mobile tag, after the second processor process, is sent to motor by RF RF transceiver and drives first processor process on carrier.
The application software of described terminal image capture apparatus comprises image capturing and recognition technology, for following the trail of mobile tag carrier and locating and parameters setting; The setting of each shooting interval time setting when wherein each item setting parameter comprises AUTOMATIC STATIC shooting and the video time of automatic video recording and each video recording interval time.
Described automatic image shooting comprises static shooting and dynamically takes; Wherein the interval time of presetting according to it still image shooting take continuously automatically; Automatic dynamic shooting is then according to taking continuously its interval time of presetting and video time.
Preferably, described automatic image shooting system, wherein, the transmitting of described light source transceiver and/or ultrasonic transmitter-receiver and receiving element are respectively arranged at least one subplate and are arranged on the shell of mobile tag carrier and motor driving carrier; Respective transmitting and receiving element and respective transceiver and processor are electrically connected;
The receiving element side of described light source transceiver and ultrasonic transmitter-receiver has light tight and/or non-penetrative material respectively, launches and enter the angle barrier design of receiving element and/or use light signal ID as the direction of mobile tag and location Calculation benchmark for isolated light source or ultrasonic signal.
Preferably, described automatic image shooting system, wherein, it is by first processor, obtained coordinate signal is changed into the signal of telecommunication to carry out CD-ROM drive motor that described motor drives the motor of carrier to drive, and impels the bascule body center point of motor carrier to aim at mobile tag direction;
Motor drives carrier when driving more than one bascule body, carrying out left and right horizontal rotation and/or up and down vertical rotary and/or upper and lower, left and right, advance. the shift action of retrogressing, the drive actions of its motor drives the first processor on carrier to control by motor.
Preferably, described automatic image shooting system, wherein, described motor drives the button and/or switch and/or touching type induction device and/or touch screen that carrier there are at least one; And be electrically connected with first processor; And through RF RF transceiver and/or light source transceiver, control operation is shaken to the various functions behaviour on mobile tag carrier and image capture devices, control operation of shaking wherein comprises filming image triggering command; Other key switch comprises:
The option switches that the software control of an adjustable terminal image capture devices or motor drive carrier to control;
The option switches of one group of adjustable automatic shooting interval time or video time;
One group of adjustable option switches of taking pictures or recording a video;
Described mobile tag carrier is provided with at least one button and/or switch and/or touching type induction device and/or touch-screen and is electrically connected with the second processor; And through RF RF transceiver and/or light source transceiver, driving the various functions on carrier and image capture devices to shake control operation to motor, control operation of shaking wherein comprises filming image triggering command.
This invention additionally provides a kind of implementation method of automatic image shooting system, as shown in Figure 6, said method comprising the steps of:
When S100, mobile tag carrier start mobile, the image capturing of inertia coordinate transducer and terminal image capture apparatus and identification software are followed the trail of and are brought into operation, and the parameter of angular-rate sensor and accelerometer is supplied to the second processor successively carries out computing, coordinate message is delivered to through RF RF transceiver by both party the first processor that motor drives carrier by the second processor again; And trace parameters on terminal image capture apparatus is also delivered to motor by the RF RF transceiver of terminal image capture apparatus drives process that the first processor of carrier compares;
S200, motor pass to first processor after driving the RF RF transceiver of carrier to receive coordinate message and carry out computing and the intensity of comparison trace parameters and RF information source, and calculate the coordinate signal of the exact coordinates of mobile tag carrier, and then coordinate signal is changed into the signal of telecommunication carry out drive motor unit, allow the camera lens of the central point of bascule body and terminal image capture apparatus turn to and aim at the direction of mobile tag, and start timing carry out automatic shooting action or wait for remote manual control shooting;
After S300, mobile tag carrier move, inertia coordinate transducer calculates mobile tag carrier and motor when driving the distance of carrier to exceed a set point, light signal is involved and the time difference of the reception of comparison RF radio frequency by the transmitting of motor driving carrier is ultrasonic, whether both confirmations exceed set point, if determine to exceed set point, the then software trace parameters of inactive terminal image capture apparatus, thus avoid cannot following the trail of the objective because hypertelorism causes, its coordinate values easily produces larger error amount on the contrary; Otherwise, when distance is less than the trace parameters that set point then enables this software once again.
It should be noted that in above-mentioned distance confirmation process, the exact coordinates value of its light signal and ultrasonic wave signal, also as the correction coordinate values of inertia coordinate transducer, the second processor meanwhile carries out the correction of inertia coordinate sensor error value.In above-mentioned distance confirmation process, because of problems such as barriers, mobile tag support C 1 and motor is caused to drive carrier B 1, both each other when all cannot obtain light signal and ultrasonic signal, then continue to use the trace parameters of former inertia coordinate transducer and terminal image capture apparatus software to carry out CD-ROM drive motor as standard coordinate value, until carry out the correction of error amount again when again receiving light signal and/or ultrasonic signal.Inertia coordinate transducer then represents that mobile tag carrier does not move when not detecting change.
Among described shooting, also comprise:
The transmission of audio signal, it utilizes the microphone on RF RF transceiver and mobile tag carrier and loudspeaker to carry out voice call, also as the audio signal transmission playing music.
Before described shooting, also comprise:
As shown in Figure 7 and Figure 8, utilize motor to drive metric system bolt in carrier B 1, terminal image capture apparatus A1 is fixed on motor and drives on the bascule body of carrier B 1 or on terminal image capture apparatus The Cloud Terrace Aa1 that terminal image capture apparatus A1 is fixed on.Terminal image capture apparatus A1, motor drive carrier B 1 and mobile tag support C 1 to start power supply respectively.Motor drives carrier B 1 and terminal image capture apparatus A1 to use any one or more than one feasible method in RF radio frequency wifi, NFC, 2.4G, 2.5G, Bluetooth, Zigbee to carry out signal and matches and be connected.Motor drives carrier B 1 and mobile tag support C 1 to use RF radio frequency wifi, NFC, 2.4G, 2.5G, Bluetooth, and any one or more than one feasible method in Zigbee carries out signal pairing and connects.Terminal image capture apparatus A1 can set if any application software, then can carry out taking pictures or recording a video and the setting such as automatic camera interval time or photography time; As can be carried out automatic shooting setting without application software, then can drive the switch option of carrying on B1 to motor, carry out being set as driving carrier to control and can set to take pictures or record a video and automatically snap interval and video time by motor.Can first drive carrier B 1 front to rock at motor before mobile tag support C 1 uses to connect to making the signal of light source transceiver and ultrasonic transmitter allow two carriers produce signal, or use the NFC agreement of RF radio frequency to carry out signal connection, and impel each coordinate data to make zero, the coordinate values comprising inertia coordinate transducer and terminal image capture apparatus application software makes zero; Then by an indicator light and auditory tone cues after flyback action completes.The mobile tag support C 1 completing zero can by be grown up or child or animal or article carry.
Illustrate how above-mentioned automatic image shooting system works below by three kinds of screening-modes:
(1) pattern is automatically snapped:
When the automatic camera of terminal image capture apparatus software timer expires interval time, then RF RF transceiver is used message to be supplied to motor and to drive carrier when the time comes.Or motor drives the timer of carrier first processor when automatic camera expires interval time, when motor drives receive carriers to message when the time comes, immediately transmitting illuminant signal and ultrasonic signal and simultaneously utilization RF RF transceiver transmit when the time comes information to mobile tag carrier.Transmitting illuminant and ultrasonic wave the motor received is driven light signal and the ultrasonic signal of carrier immediately after mobile tag receive carriers to information when the time comes, use the second processor to calculate orientation coordinate and distance.The coordinate orientation calculated and distance message are passed to motor with RF RF transceiver and drive carrier by mobile tag carrier again.Motor drives receive carriers to the coordinate orientation of mobile tag carrier and after receiving apart from comparison itself after message the light signal and ultrasonic signal that mobile tag carrier launches, carry out mobile tag carrier coordinate accurately to calculate, and change into the signal of telecommunication drive motor unit central point of bascule body (Ba2) is aimed at mobile tag carrier, after completing location, first processor uses the transmission of RF RF transceiver to locate message to carry out filming image action to terminal image capture apparatus and complete shooting action; Location is also completed message and passes to mobile tag carrier by first processor simultaneously, orders it to stop transmitting illuminant signal and ultrasonic signal, to save power supply; Inertia coordinate transducer then continues to run and transmits new coordinate parameter; Motor drives carrier also to stop transmitting illuminant signal and ultrasonic signal also to continue to follow the trail of mobile tag carrier and wait for that next time takes instruction simultaneously, circulates according to this.The parameter that inertia coordinate transducer is accumulated is carried out error correction by mobile tag carrier after the location receiving motor driving carrier completes message simultaneously, and start to recalculate moving parameter and send new argument to second processor successively, until again receive the new instruction that motor drives carrier, circulation is carried out according to this.Motor drives carrier and mobile tag carrier receiving when the time comes after information, when cannot receive light signal and ultrasonic signal, namely represent and have obstacle to exist between the two, now first processor by with the application software trace parameters value of the parameter value of the signal strength signal intensity of RF RF transceiver and inertia coordinate transducer and/or terminal image capture apparatus as location and the standard coordinate value of distance, and change into the signal of telecommunication for drive motor unit.
(2) manual screening-mode:
No matter automatically snap and whether expire interval time, during through touching the shooting button on mobile tag carrier, second processor is transmitting illuminant signal and ultrasonic signal immediately, simultaneously the second processor together with inertia coordinate transducer parameter and trigger shooting order, utilize RF RF transceiver to pass to motor in the lump and drive carrier.The coordinate parameter drive motor unit that receive are checked and calculated to motor after driving the RF RF transceiver of carrier to receive the shooting fingertip order of mobile tag carrier immediately, allows terminal image capture apparatus alignment lens mobile tag carrier direction; Pass down the line will be taken to terminal image capture apparatus by first processor through RF RF transceiver simultaneously.Terminal image capture apparatus carries out filming image triggering immediately and completes filming image operation after the triggering shooting instruction of RF RF transceiver receiving motor driving carrier.
(3) video recording screening-mode:
Video recording style of shooting and automatic and manual style of shooting process duplicate.Video recording shooting can be taken button by the stopping on mobile tag carrier and be carried out manually stopping shooting instruction.Video recording shooting time and interval time can drive the button on carrier and/or switch to set by the software of terminal image capture apparatus or motor.
Should be understood that, above described in detail enforcement example illustrates, the present invention is with RF radio frequency as the primary communications mode between each carrier, and can as the householder method of tracing and positioning, light source transceiver and ultrasonic transmitter-receiver be then main tracing and positioning standard coordinate according to and distance coordinate according to distance, the coordinate values of inertia coordinate transducer, because of factors such as barriers between each carrier, when causing the signal that cannot receive light source transceiver and ultrasonic transmitter-receiver, it is as the standard coordinate foundation of main tracing and positioning, but when light source transceiver and ultrasonic transmitter-receiver can normal received signal time, the then coordinate values of inertia coordinate transducer, only for assist location purposes, the software trace parameters of terminal image capture apparatus is in closely situation, also as main location purposes, but its parameter value is then suspend to use in remote situation.
In sum, the invention provides a kind of automatic image shooting system and its implementation, based on the transceiver signal of RF radio frequency and the signal of light source transceiver or the signal of ultrasonic transmitter-receiver and the complex art utilizing the parameter of inertia coordinate transducer and the application software correction value of terminal image capture apparatus etc., carry out after operational analysis process through processor again, operation values is converted to the signal of telecommunication and carrys out CD-ROM drive motor, image capture devices is impelled no matter to be indoor or outdoors in effective range, all can accurate tracking and location mobile tag position, and to the accurate orientation of mobile tag shake control filming image or utilize the software of terminal image capture apparatus come bootstrap processor command terminal image capture devices according to setting interval time carry out automatic image shooting.
Should be understood that, application of the present invention is not limited to above-mentioned citing, for those of ordinary skills, can be improved according to the above description or convert, and all these improve and convert the protection range that all should belong to claims of the present invention.As for chart shown in of the present disclosure not according to size and the arbitrary shape of actual product, only for coordinate this explanations draw the chart of use, the therefore non-protection range for limiting claims of the present invention of chart of the present disclosure.
Claims (10)
1. an automatic image shooting system, is characterized in that, comprising: at least one terminal image capture apparatus, the motor driving carrier of at least one and the mobile tag carrier of at least one;
By following the trail of mobile tag carrier and locating, thus automatic image shooting is carried out to mobile tag carrier and/or shakes control shooting.
2. automatic image shooting system according to claim 1, it is characterized in that, use any one or more than one the complex art in the application software of RF RF transceiver, light source transceiver, ultrasonic transmitter-receiver, inertia coordinate transducer or terminal image capture apparatus follow the trail of mobile tag carrier and locate, and then automatic image shooting is carried out to mobile tag carrier and/or shakes control shooting;
Wherein, described RF RF transceiver comprises between any one or more than one mode in wifi, 2.4G, 2.5G, NFC, Bluetooth or Zigbee and each carrier and establishes a communications link, and follows the trail of mobile tag carrier according to its signal source direction and locate; Also RF RF transceiver signal is utilized to carry out audio signal and/or the transmission of video image signal between each carrier;
Described light source transceiver comprises infrared ray and/or laser and/or photoelectric sensor, and follows the trail of mobile tag carrier and locate;
Described ultrasonic transmitter-receiver comprises directly acquisition ultrasonic signal and/or ultrasonic reflections signal, for following the trail of mobile tag carrier and locating and carry out range determination according to signal time difference;
Described inertia coordinate transducer comprises at least one angular-rate sensor and at least one accelerometer formed, for following the trail of mobile tag carrier and locating;
The application software of described terminal image capture apparatus comprises image capturing and recognition technology, for following the trail of mobile tag carrier and locating and parameters setting; The setting of each shooting interval time setting when setting parameter wherein comprises AUTOMATIC STATIC shooting and the video time of automatic video recording and each video recording interval time.
Described automatic image shooting comprises static shooting and dynamically takes; Wherein successional circulation shooting is carried out in still image shooting the interval time of presetting according to it automatically; Automatic dynamic shooting is then according to its interval time of presetting and video time carrying out successional circulation shooting.
3. automatic image shooting system according to claim 1, is characterized in that, described motor drives carrier to have motor drive unit and the first processor of more than one group at least, and described motor drive unit and first processor are electrically connected; Described motor drive unit comprises stepper motor and/or servo motor and corresponding gear further;
Described motor drives carrier to further comprises a main structure body and the bascule body of at least one, is connected between main structure body with bascule body with motor drive unit; Described bascule body screw and nut and/or metric system bolt and/or trip are installed the terminal image capture apparatus fixing at least one and are fixed The Cloud Terrace and/or the terminal image capture apparatus of at least one;
Described motor drives carrier inside to be provided with a substrate, is provided with each electronic sensor and power supply supply loop and first processor;
Described motor drives the center point that on the shell vertical side of carrier, mark one is longitudinal and horizontal, and the camera lens of described central point and terminal image capture apparatus The Cloud Terrace and terminal image capture apparatus towards same direction also in line; Outer casing bottom has a metric system bolt, for being connected with all types of image capture devices foot rest;
Motor drives on carrier and has been provided with supply socket and mains switch; Its power suppling part part is divided by adapter supply power mode and/or Rechargeable battery supply power mode.
4. automatic image shooting system according to claim 1 and 2, is characterized in that, described terminal image capture apparatus comprises at least one group of RF RF transceiver and power supply, and described RF RF transceiver and power supply are electrically connected;
Described motor driving carrier have the RF RF transceiver of a group at least and/or has the light source transceiver of a group at least and/or have ultrasonic transmitter-receiver and the power supply of one group at least, and being electrically connected;
The RF RF transceiver described mobile tag carrier having one group at least and/or the light source transceiver having a group at least and/or have the ultrasonic transmitter-receiver of a group at least and/or have the inertia coordinate transducer of and microphone and loudspeaker and/or piezo and power supply at least, and be electrically connected.
5. automatic image shooting system according to claim 1, is characterized in that, described mobile tag carrier is made up of a frame structure; The electronic sensor of frame structure interior arrangement at least one and microphone and loudspeaker and/or piezo and a power supply supply loop, and be electrically connected;
Wherein, described electronic sensor comprises inertia coordinate transducer and/or meter step transducer and/or displacement transducer and/or seeks mark transducer and/or temperature sensor;
Wherein, the audio signal transmission of described microphone and loudspeaker and/or piezo collocation RF RF transceiver and/or video image signal, carry out voice call and/or play music;
Described frame structure inside is installed and Power Support supply module group substrates and various electronic sensor substrate and each substrate for electronic elements;
Described mobile tag carrier also comprises a power suppling part part, and it is adapter supply power mode and/or Rechargeable battery supply power mode or button cell supply power mode.
6. automatic image shooting system according to claim 3, is characterized in that, described RF RF transceiver comprises transmitting and reception antenna being electrically connected;
Described RF RF transceiver is used for transmission and the reception of the data between each carrier and order, comprises various setting parameter and takes the transmission of shutter triggering command and audio signal transmission and/or video image signal; Carry out information source direction calculating according to its RF radio-frequency (RF) signal strength simultaneously, and the coordinate values of mobile tag carrier is drawn according to the direction calculating of information source, again coordinate values is passed to first processor and carry out drive motor unit, and impel motor to drive the bascule body center point of carrier to aim at mobile tag direction and position;
Described one group of light source transceiver comprises at least one light source transmitter unit and the light source receiving element of at least one, and is electrically connected;
Described ultrasonic transmitter-receiver comprises at least one ultrasonic transmitting element and the ultrasonic wave receive unit of at least one, and is electrically connected; Described ultrasonic transmitter-receiver drives the Signal transmissions between carrier and mobile tag carrier to calculate the accurate location of mobile tag carrier according to its intensitometer at motor; And according to signal transmission time difference for calculating the distance between motor driving carrier and mobile tag carrier;
Described inertia coordinate transducer, through recording the motion parameters obtained of mobile tag, after the second processor process, is sent to motor by RF RF transceiver and drives first processor process on carrier.
7. automatic image shooting system according to claim 3, it is characterized in that, the transmitting of described light source transceiver and/or ultrasonic transmitter-receiver and receiving element are respectively arranged at least one subplate and are arranged on the shell of mobile tag carrier and motor driving carrier; Respective transmitting and receiving element and respective transceiver and processor are electrically connected;
The receiving element side of described light source transceiver and ultrasonic transmitter-receiver has light tight and/or non-penetrative material respectively, launches and enter the angle barrier design of receiving element and/or use light signal ID and RFID as the direction of mobile tag and location Calculation benchmark for isolated light source or ultrasonic signal.
8. automatic image shooting system according to claim 3, it is characterized in that, it is change into the signal of telecommunication by first processor by fast for obtained coordinate number to carry out CD-ROM drive motor that described motor drives the motor of carrier to drive, and impels the bascule body center point of motor carrier to aim at mobile tag direction;
Motor drives carrier when driving more than one bascule body, carry out left and right horizontal rotation and/or up and down vertical rotary and/or shift action that is upper and lower and/or left and right and/or that advance and retreat, the drive actions of its motor drives the first processor on carrier to control by motor.
9. automatic image shooting system according to claim 3, is characterized in that, described motor drives the button and/or switch and/or touching type induction device and/or touch screen that carrier there are at least one; And be electrically connected with first processor; And through RF RF transceiver and/or light source transceiver, control operation is shaken to the various functions behaviour on mobile tag carrier and image capture devices, control operation of shaking wherein comprises filming image triggering command; Other key switch comprises:
The option switches that the software control of an adjustable terminal image capture devices or motor drive carrier to control;
The option switches of one group of adjustable automatic shooting interval time or video time;
One group of adjustable option switches of taking pictures or recording a video;
Described mobile tag carrier have the button of and/or switch and/or touching type induction device and/or touch-screen at least and be electrically connected with the second processor; And through RF RF transceiver and/or light source transceiver, driving the various functions on carrier and image capture devices to shake control operation to motor, control operation of shaking wherein comprises filming image triggering command and voice call and/or plays musical instruction.
10. an implementation method for automatic image shooting system according to claim 1, is characterized in that, said method comprising the steps of:
First carrier front is driven to rock at motor before S0, mobile tag carrier use, allow two carriers produce signal to making the signal of light source transceiver and ultrasonic transmitter connect, or use the NFC agreement of RF radio frequency to carry out Signal transmissions, and each coordinate data is impelled to make zero;
When S1, mobile tag carrier start mobile, the application software of inertia coordinate transducer and terminal image capture apparatus is followed the trail of and is brought into operation; Angular-rate sensor on mobile tag carrier and the parameter of accelerometer are supplied to the second processor successively and carry out computing, and coordinate message is delivered to through RF RF transceiver by both party the first processor that motor drives carrier by the second processor again; Image capturing on terminal image capture apparatus and identification software trace parameters are also delivered to motor by the RF RF transceiver of terminal image capture apparatus and drive on the first processor of carrier and to compare process;
S2, motor pass to first processor after driving the RF RF transceiver of carrier to receive coordinate message and carry out computing and the intensity of comparison trace parameters and RF information source, and calculate the coordinate signal of the exact coordinates of mobile tag carrier, and then coordinate signal is changed into the signal of telecommunication carry out drive motor unit, allow the camera lens of the central point of bascule body and terminal image capture apparatus turn to and aim at the direction of mobile tag, and start timing carry out automatic shooting action or wait for remote manual control shooting;
After S3, mobile tag carrier move, inertia coordinate transducer calculates mobile tag carrier and motor when driving the distance of carrier to exceed a set point, light signal is involved and the time difference of the reception of comparison RF radio frequency by the transmitting of motor driving carrier is ultrasonic, whether both confirmations exceed set point, if determine to exceed preset value, then inactive software trace parameters, thus avoid cannot following the trail of the objective because hypertelorism causes, its coordinate values easily produces error on the contrary; Otherwise, then enable software trace parameters once again when distance is less than preset value.
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