CN111885299A - Image acquisition remote control system, remote control method and image acquisition device - Google Patents
Image acquisition remote control system, remote control method and image acquisition device Download PDFInfo
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- CN111885299A CN111885299A CN202010580532.2A CN202010580532A CN111885299A CN 111885299 A CN111885299 A CN 111885299A CN 202010580532 A CN202010580532 A CN 202010580532A CN 111885299 A CN111885299 A CN 111885299A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
- H04N23/681—Motion detection
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
- H04N23/682—Vibration or motion blur correction
- H04N23/685—Vibration or motion blur correction performed by mechanical compensation
- H04N23/687—Vibration or motion blur correction performed by mechanical compensation by shifting the lens or sensor position
Abstract
The invention discloses an image acquisition remote control system, a remote control method and an image acquisition device, wherein the image acquisition remote control system comprises: the data acquisition end is used for acquiring magnetic field data and gravity data; the inclination angle compensator is used for converting the gravity data into an inclination angle value; the terminal magnetic field data integrator is used for integrating the inclination angle value and the magnetic field data into terminal magnetic field data; and the first azimuth calculator is used for converting the terminal magnetic field data into azimuth information. The invention can lead the image acquisition equipment to synchronously rotate along with the head or other parts, and avoids the defect of blind angle in the image acquisition process.
Description
Technical Field
The invention relates to the technical field of shooting equipment, in particular to an image acquisition remote control system, a remote control method and an image acquisition device.
Background
The prior image acquisition equipment is difficult to avoid encountering a blind angle during shooting, the shooting angle is limited, and sometimes key pictures are missed. The image acquisition equipment is a law enforcement recorder, for example, cameras of the law enforcement recorder are all embedded in the instrument and are fixedly worn on the chest, a shooting center cannot be determined along with the sight of law enforcement personnel, the cameras are fixed, and therefore a shooting blind area can be generated. The camera is rotated to shoot through the mode, the application scene is limited, the operation is automatic, time and labor are wasted, the key information of most of emergency situations is only several seconds, and if the body rotates untimely or deviates at the moment, the camera shoots and misses the useful key evidence.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the present invention provides a remote control system, a remote control method and an image capturing device for image capturing, which enable an image capturing device to rotate synchronously with a head or other parts. The invention can synchronously rotate the camera by rotating the head, thereby avoiding the conditions of blind angle, untimely follow-up shooting and the like of the camera.
In order to achieve the above and other objects, the present invention provides an image capturing remote control system, a remote control method and an image capturing apparatus, wherein the image capturing remote control system includes:
the data acquisition end is used for acquiring magnetic field data and gravity data;
the inclination angle compensator is used for converting the gravity data into an inclination angle value;
the terminal magnetic field data integrator is used for integrating the inclination angle value and the magnetic field data into terminal magnetic field data;
the first azimuth calculator is used for converting the terminal magnetic field data into azimuth information;
the wireless communication equipment is used for outputting the azimuth angle information;
the image input equipment is arranged on the motion executing mechanism and is used for acquiring images;
the magnetic field information acquisition device is used for acquiring magnetic field data of the image input equipment;
the second azimuth calculator is used for converting the magnetic field data of the image input equipment into azimuth information of the image input equipment;
the data comparator is used for receiving azimuth angle information sent by the wireless communication equipment, and comparing the azimuth angle information with the azimuth angle information of the image input equipment to output an angle difference value;
and the motion executing mechanism is used for carrying out rotation control on the image input equipment through self motion according to the angle difference.
In an embodiment, the image input device is a camera device.
In an embodiment, the magnetic field data comprises geomagnetic field magnetic force information, and the gravity data comprises gravity acceleration and component information of the gravity acceleration in a three-dimensional space.
In one embodiment, the data acquisition end is a six-axis sensor, a three-axis sensor or a nine-axis sensor.
In one embodiment, the magnetic field information collector is a six-axis sensor, a three-axis sensor or a nine-axis sensor.
In one embodiment, the wireless communication device is a bluetooth module.
In one embodiment, the image capture device is a law enforcement recorder.
Another object of the present invention is to provide an image capturing remote control system, comprising:
the data acquisition end is used for acquiring magnetic field data and gravity data;
the inclination angle compensator is used for converting the gravity data into an inclination angle value;
the terminal magnetic field data integrator is used for integrating the inclination angle value and the magnetic field data into terminal magnetic field data;
the first azimuth calculator is used for converting the terminal magnetic field data into azimuth information;
the wireless communication equipment is used for outputting the azimuth angle information;
the image input equipment is arranged on the motion executing mechanism and is used for acquiring images;
the information acquisition end is used for acquiring magnetic field data, angles and acceleration of the image input equipment;
the second azimuth calculator is used for converting the magnetic field data of the image input equipment into azimuth information of the image input equipment;
the data comparator is used for receiving azimuth angle information sent by the wireless communication equipment, and comparing the azimuth angle information with the azimuth angle information of the image input equipment to output an angle difference value;
the anti-shake algorithm calculator is used for carrying out PID (proportion integration differentiation) operation on the angle and the acceleration so as to obtain motor control information for controlling the motion actuating mechanism;
the motion executing mechanism is used for carrying out rotation control on the image input equipment through self motion according to the angle difference; the motion mechanism is also used for reversely controlling the image input equipment through self motion according to the motor control information so as to stabilize the image input equipment.
Another object of the present invention is to provide an image capturing device, comprising:
the first remote control body is provided with an auricle structure;
the second remote control body is connected with the first remote control body in a clamping way;
a circuit board disposed between the first remote control body and the second remote control body;
the data acquisition end is arranged on the circuit board and used for acquiring magnetic field data and gravity data;
the inclination angle compensator is arranged on the circuit board and used for converting the gravity data into an inclination angle value;
the terminal magnetic field data integrator is arranged on the circuit board and used for integrating the inclination angle value and the magnetic field data into terminal magnetic field data;
the first azimuth calculator is arranged on the circuit board and used for converting the terminal magnetic field data into azimuth information;
the wireless communication equipment is arranged on the circuit board and used for outputting the azimuth angle information;
the power supply is arranged between the first remote control body and the circuit board and used for supplying power to the circuit board;
the image input equipment is arranged on the motion executing mechanism and is used for acquiring images;
the magnetic field information acquisition device is used for acquiring magnetic field data of the image input equipment;
the second azimuth calculator is used for converting the magnetic field data of the image input equipment into azimuth information of the image input equipment;
the data comparator is used for receiving azimuth angle information sent by the wireless communication equipment, and comparing the azimuth angle information with the azimuth angle information of the image input equipment to output an angle difference value;
and the motion executing mechanism is used for carrying out rotation control on the image input equipment through self motion according to the angle difference.
Another object of the present invention is to provide a remote control method for image acquisition, which at least includes the following steps:
collecting magnetic field data and gravity data through a data collection end;
converting the gravity data into a tilt angle value through a tilt angle compensator;
integrating the inclination angle value and the magnetic field data into terminal magnetic field data through a terminal magnetic field data integrator;
converting the terminal magnetic field data into azimuth information through a first azimuth calculator;
outputting the azimuth angle information through wireless communication equipment;
collecting images through an image input device;
collecting magnetic field data of the image input equipment through a magnetic field information collector;
converting the magnetic field data of the image input equipment into azimuth information of the image input equipment through a second azimuth calculator;
receiving azimuth angle information sent by the wireless communication equipment through a data comparator, and comparing the azimuth angle information with the azimuth angle information of the image input equipment to output an angle difference value;
and receiving the angle difference value through a motion executing mechanism, and carrying out rotation control on the image input equipment through self motion.
The image acquisition remote control system can synchronously rotate the camera by rotating the head, thereby avoiding the defects of blind angles, untimely follow-up shooting and the like in the image acquisition process. The invention can achieve the expected effect by using the ear-wearing structure and other structures such as wearing on a hat or glasses, and solves the defect that the camera has a blind angle due to the fact that an image acquisition device such as a law enforcement recorder is worn in front of the chest. The invention can ensure that the image acquisition equipment synchronously rotates along with the head or other parts and has the anti-shake effect.
Drawings
FIG. 1: the structural schematic block diagram of the image acquisition remote control system in one embodiment of the invention;
FIG. 2: the structural schematic block diagram of the image acquisition equipment in one embodiment of the invention;
FIG. 3: the structure schematic diagram of the remote control body in the image acquisition device in one embodiment of the invention;
FIG. 4: the schematic diagram of an image acquisition device in one embodiment of the invention;
FIG. 5: the invention discloses a flow diagram of an image acquisition remote control method in one embodiment;
FIG. 6: in one embodiment of the invention, a schematic diagram of distribution information of magnetic field data acquired by a data acquisition end in a three-dimensional space is shown;
FIG. 7: in an embodiment of the present invention, an included angle between the remote control body and the horizontal direction is schematically illustrated.
Description of the symbols
101 data acquisition terminal
102 first azimuth calculator
103 radio communication equipment
104 image acquisition equipment
1041 image input device
1042 magnetic field information collector
1043 second azimuth calculator
1044 data comparator
1045 movement actuator
10451A first electric machine
10452 second electric machine
10453 third electric machine
1046 information collecting terminal
1047 anti-shake algorithm calculator
105 first remote control body
1051 auricle structure
106 second remote control body
1061 silica gel key
1062 light guide column
107 circuit board
1071 USB interface that charges
108 power supply
109 tilt angle compensator
110 terminal magnetic field data integrator
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention.
It should be noted that the drawings provided in the present embodiment are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
In the present invention, it should be noted that, as the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. appear, their indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present application and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first" and "second," if any, are used for descriptive and distinguishing purposes only and are not to be construed as indicating or implying relative importance.
The invention provides an image acquisition remote control system, a remote control method and an image acquisition device, which can enable an image acquisition device to synchronously rotate with a head or other parts.
Referring to fig. 1, in an embodiment, an image capturing remote control system is provided, which includes, but is not limited to, a data capturing end 101, a first azimuth calculator 102, a wireless communication device 103, a tilt angle compensator 109, a terminal magnetic field data integrator 110, and an image capturing device 104. The data acquisition terminal 101 is configured to acquire magnetic field data and gravity data, where the magnetic field data includes geomagnetic field magnetic force information, for example, and the gravity data includes gravity acceleration and component information of the gravity acceleration in a three-dimensional space, for example. The data acquisition end 101 is, for example, a six-axis sensor, a three-axis sensor or a nine-axis sensor, wherein the six-axis sensor includes a three-axis accelerator and a three-axis magnetometer. The data acquisition end 101 transmits the acquired magnetic field data and the acquired gravity data to the tilt angle compensator 109 through a signal organization and data acquisition part to transmit component information of the gravity acceleration in a three-dimensional space and the magnetic field data. The tilt angle compensator 109 is configured to convert the gravity data into a tilt angle value. The terminal magnetic field data integrator 110 is connected to the data acquisition end 101 and the tilt angle compensator 109, and is configured to integrate the tilt angle value and the magnetic field data into terminal magnetic field data. The first azimuth calculator 102 is configured to convert the terminal magnetic field data into azimuth information. The wireless communication device 103 is configured to output the azimuth information, and the wireless communication device 103 is, for example, a bluetooth module. The image acquisition device 104 is configured to receive the azimuth angle information sent by the wireless communication device 103, and adjust the rotation angle thereof according to the azimuth angle information sent by the wireless communication device 103.
Referring to fig. 1, in an embodiment, the image capturing device 104 includes, but is not limited to, an image input device 1041, a magnetic field information collector 1042, a second azimuth calculator 1043, a data comparator 1044, and a motion executing mechanism 1045. The image input device 1041 is mounted on the motion actuator 1045, and the image input device 1041 can receive an optical signal of a target object, so that the optical signal (for example, reflected light) of the target object can be collected, so that the photosensitive element can convert the optical signal into an electrical signal for generating an image. The magnetic field information collector 1042 is configured to collect magnetic field data of the image input device 1041, and the magnetic field information collector is, for example, a six-axis sensor, a three-axis sensor, or a nine-axis sensor. The second azimuth calculator 1043 is configured to convert the magnetic field data of the image input device 1041 into azimuth information of the image input device. The data comparator 1044 is configured to receive the azimuth information sent by the wireless communication device 103, and compare the azimuth information with the azimuth information of the image input device to output an angle difference, where the data comparator 1044 is, for example, a controller. The motion actuator 1045 is configured to perform rotation control on the image input device 1041 through self motion according to the angle difference. The image capturing device 104, such as a law enforcement recorder, can adjust itself according to the azimuth information sent by the wireless communication device 103, so that it can move synchronously with the head or other parts.
Referring to fig. 1, in an embodiment, for example, the acquisition module 101, the first azimuth calculator 102 and the wireless communication device 103 are disposed in a remote control body, the remote control body is not kept horizontal when being worn on the head or ear, and usually has an included angle with a horizontal plane, which affects the accuracy of calculating the azimuth by the first azimuth calculator 102, and in this embodiment, after tilt compensation, the included angle between the line of sight and the magnetic north is calculated, so as to further eliminate the effect of the included angle. Specifically, the data acquisition end 101 acquires the gravity data to eliminate the influence of the included angle, the data acquisition end 101 transmits the acquired magnetic field data and the acquired gravity data to the first azimuth calculator 102 through a signal organization and data acquisition part, and the obtained azimuth information is the azimuth information after the influence of the included angle is eliminated.
Referring to fig. 4, in an embodiment, the motion actuator 1045 at least includes: a first motor 10451, a second motor 10452, and a third motor 10453. The first motor 10451, the second motor 10452, and the third motor 10453 are respectively located in three directions of a three-dimensional space coordinate system, and respectively drive the image input device 1041 to rotate in different three-dimensional directions. The image input device 1041 is, for example, a lens device.
Referring to fig. 1 and 2, in an embodiment, the image capturing remote control system not only enables the image capturing device 104 to move along with the head or other parts, but also ensures stability during movement. The image capturing device 104 in the image capturing remote control system includes, for example, the image input device 1041, an information capturing end 1046, the second azimuth calculator 1043, the data comparator 1044, an anti-shake algorithm calculator 1047, and the motion executing mechanism 1045. The image input device 1041 is mounted on the motion actuator 1045. The information acquisition terminal 1046 is configured to acquire magnetic field data, an angle, and an acceleration of the image input device 1041, the information acquisition terminal 1046 includes, for example, two sensors, for example, six-axis sensors, where one of the sensors is configured to acquire magnetic field data and an acceleration, and the other sensor is configured to acquire an angle and an acceleration, and the sensor is also, for example, a six-axis sensor, a three-axis sensor, or a nine-axis sensor. The second azimuth calculator 1043 is configured to convert the magnetic field data of the image input device into azimuth information of the image input device. The data comparator 1044 is configured to receive the azimuth information sent by the wireless communication device 103, and compare the azimuth information with the azimuth information of the image input device to output an angle difference. The anti-shake algorithm calculator 1047 may perform PID (proportional, Integral, and derivative) operation on the acquired angle and acceleration, so as to obtain motor control information for controlling the motion of the motion actuator 1045, where the anti-shake algorithm calculator 1047 may be disposed on a main control board of the motion actuator 1045, and the motor control information may be information for controlling the motion of the motion actuator 1045, and may include, but is not limited to, a torque, a rotation speed, and a motor rotation angle value. The motion actuator 1045 is configured to perform rotation control on the image input device 1041 through self motion according to the angle difference. The moving mechanism 1045 is also configured to perform reverse control on the image input device 1041 through self-movement according to the motor control information, so that the image input device 1041 maintains stability in the rotation process.
Referring to fig. 1 and 2, the six-axis sensor includes a three-axis accelerator and a three-axis magnetometer. The three-axis accelerator can respectively sense acceleration in three coordinate axis directions in a three-dimensional space coordinate system, namely acceleration components of a three-dimensional space. The three-axis magnetometer can respectively sense all-dimensional dynamic information of roll (left-right inclination), pitch (front-back inclination) and Yaw (left-right swinging). Therefore, when the data comparator 1044 receives the azimuth information sent by the wireless communication device 103 and compares the azimuth information with the azimuth information of the image input device to output an angle difference, the motion actuator 1045 performs rotation control on the image input device 1041 through its own motion according to the angle difference. The information collecting terminal 1046 is, for example, the six-axis sensor, and the six-axis sensor 3021 may detect a shake amount of the image input device 1041, so that the anti-shake algorithm calculator 1047 performs compensation calculation on the shake amount of the image input device 1041, and may determine the motor control information. The motion executing mechanism 1045 may also control the image input device 1041 to move in the opposite direction to the shaking direction according to the motor control information, so that the image input device 1041 may rotate stably, and the problem of poor image quality caused by shaking of a human body when the image collecting device 300 collects an image is avoided.
Referring to fig. 3, in an embodiment, an image capturing device is provided, which includes, but is not limited to, a first remote control body 105, a second remote control body 106, a circuit board 107, the data capturing end 101, a tilt angle compensator 109, a terminal magnetic field data integrator 110, the first azimuth calculator 102, the wireless communication device 103, the image capturing device 104, and a power supply 108. The first remote control body 105 is provided with an auricle structure 1051, i.e. an ear-hanging structure, which can be worn on the ear, and the auricle structure 1051 is made of rubber, for example. The first remote control body 105 is provided with other structures for wearing on a hat or glasses, for example. The second remote control body 106 is connected with the first remote control body 105 in a clamping manner, a plurality of silica gel keys 1061 are further arranged on the second remote control body 106, the silica gel keys correspond to the modules on the circuit board 107, so that the operation of a user is facilitated, and the silica gel keys are used for the operations of startup and shutdown, initial position determination, resetting and the like. The circuit board 107 is disposed between the first remote control body 105 and the second remote control body 106, the circuit board 107 is further provided with an LED lamp, the second remote control body 106 is correspondingly provided with a light guide column 1062, and the circuit board 107 is further provided with a speaker, for example. The first remote control body 105 and the second remote control body 106 are made of silicon gel, for example. The data acquisition end 101 is arranged on the circuit board 107 and is used for acquiring magnetic field data and gravity data. The tilt angle compensator 109 is disposed on the circuit board 107 for converting the gravity data into a tilt angle value. The terminal magnetic field data integrator 110 is connected to the data acquisition end 101 and the tilt angle compensator 109, and is configured to integrate the tilt angle value and the magnetic field data into terminal magnetic field data. The first azimuth calculator 102 is disposed on the circuit board 107, and is configured to convert the terminal magnetic field data into azimuth information. The wireless communication device 103 is disposed on the circuit board 107 and configured to output the azimuth angle information. The image acquisition device 104 is configured to receive the azimuth angle information sent by the wireless communication device 103, and adjust a rotation angle of the image acquisition device according to the azimuth angle information sent by the wireless communication device 103. The power supply 108 is arranged between the first remote control body 105 and the circuit board 107 and used for supplying power to the circuit board 107, and a USB charging interface 1071 is arranged on the circuit board 107.
The image acquisition remote control system is also applied to police cars or law enforcement recorders. When the image acquisition device is applied to a police car, for example, the image acquisition device is arranged on the front glass of the police car or the top end of the police car, and the remote control body consisting of the first remote control body 105 and the second remote control body 106 is worn on the head or the ear of a police officer.
Referring to fig. 5, in an embodiment, the image capturing remote control method at least includes the following steps:
s1, collecting magnetic field data and gravity data through the data collection end 101;
s2, converting the gravity data into an inclination angle value through the inclination angle compensator 109;
s3, integrating the inclination angle value and the magnetic field data into terminal magnetic field data through a terminal magnetic field data integrator 110;
s4, converting the terminal magnetic field data into azimuth information through the first azimuth calculator 102;
s5, outputting the azimuth angle information through the wireless communication equipment 103;
s6, acquiring an image through the image input device 1041;
s7, collecting the magnetic field data of the image input device through the magnetic field information collector 1042;
s8, converting the magnetic field data of the image input device into azimuth information of the image input device by the second azimuth calculator 1043;
s9, receiving the azimuth information sent by the wireless communication device through the data comparator 1044, and comparing the azimuth information with the azimuth information of the image input device to output an angle difference;
and S10, receiving the angle difference value through the motion executing mechanism 1045, and performing rotation control on the image input device through self motion.
Specifically, in the step S1, the data acquisition end 101 is, for example, a six-axis sensor, a three-axis sensor or a nine-axis sensor, where the six-axis sensor includes a three-axis accelerator and a three-axis magnetometer. The magnetic field data includes, for example, geomagnetic field magnetic force information, and the gravity data includes, for example, gravitational acceleration and component information of the gravitational acceleration in a three-dimensional space. For example, the three-axis magnetometer is used to acquire the magnetic field data, such as the geomagnetic field, to obtain the magnetic field vector of the geomagnetic field in the three-dimensional space, where the magnetic field vector in the horizontal direction X axis is denoted as Xm, the magnetic field vector in the horizontal direction Y axis is denoted as Ym, and the magnetic field vector in the vertical direction Z axis is denoted as Zm.
Specifically, in the step S2, the data acquisition end 101 takes a six-axis sensor as an example, and the six-axis sensor includes a three-axis accelerator and a three-axis magnetometer. The specific process of the tilt angle compensator 109 converting the gravity data into tilt angle values is as follows:
for example, the component Ax of the acceleration of gravity on the X axis of the three-axis accelerator, the component Ay of the acceleration of gravity on the Y axis of the three-axis accelerator, and the component Az of the acceleration of gravity on the Z axis of the three-axis accelerator are collected by the three-axis accelerator, and the first azimuth calculator 102 analyzes the component Ax and the component Az according to the formula (1) and the formula (2) to obtain the included angle between the X axis of the three-axis accelerator and the horizontal plane
And the angle theta between the Y-axis of the three-axis accelerator and the horizontal plane, and then the step S3 is performed.
Specifically, in the step S3, the terminal magnetic field data integrator 110 integrates the tilt angle value and the magnetic field data into terminal magnetic field data, and the terminal magnetic field data integrator 110 integrates the tilt angle value (S) using the formula (3) and the formula (4)
θ) and the magnetic field data are integrated into terminal magnetic field data, for example, a component Hx of the terminal geomagnetic field magnetic force calibrated by the gravitational acceleration in the X-axis direction of the three-axis magnetometer and a component Hy of the terminal geomagnetic field magnetic force in the Y-axis direction of the three-axis magnetometer.
Specifically, in the step S4, the first azimuth calculator 102 analyzes the azimuth information (α shown in fig. 5) by using formula (5), where in fig. 6, an arrow between a component Hx of the terminal geomagnetic field magnetic force in the X-axis direction of the three-axis magnetometer and a component Hy of the terminal geomagnetic field magnetic force in the Y-axis direction of the three-axis magnetometer indicates a magnetic north direction. And an arrow between a component Hy of the terminal geomagnetic field magnetic force in the Y-axis direction of the three-axis magnetometer and a component Hz of the terminal geomagnetic field magnetic force in the Z-axis direction of the three-axis magnetometer indicates the geomagnetic field direction, and the azimuth angle information is an angle deviating from the magnetic north direction. As shown in fig. 7, when the remote control body is worn on the head or ear, it is not horizontal, but usually has an angle with the horizontal plane, which affects the accuracy of the calculation of the azimuth by the first azimuth calculator 102, and the component information of the gravitational acceleration in three-dimensional space and the magnetic field data are collected, namely, the influence of the angle is eliminated.
Specifically, in the step S5, the wireless communication device 103 is, for example, a bluetooth module. Specifically, in step S6, the image input device 1041 is, for example, a camera device. Specifically, in the step S7, the magnetic field information collector 1042 is, for example, a three-axis magnetometer. Specifically, in step S10, the motion actuator 1045 at least includes: a first motor 10451, a second motor 10452, and a third motor 10453. The first motor 10451, the second motor 10452, and the third motor 10453 are respectively located in three directions of a three-dimensional space coordinate system, and respectively drive the image input device 1041 to rotate in different three-dimensional directions.
In conclusion, the image acquisition remote control system can synchronously rotate the camera by rotating the head, thereby avoiding the defects of blind angles, untimely follow-up shooting and the like in the image acquisition process. The invention can achieve the expected effect by using the ear-wearing structure and other structures such as wearing on a hat or glasses, and solves the defect that the camera has a blind angle due to the fact that an image acquisition device such as a law enforcement recorder is worn in front of the chest. The invention can ensure that the image acquisition equipment synchronously rotates along with the head or other parts and has the anti-shake effect.
The above description is only a preferred embodiment of the present application and a description of the applied technical principle, and it should be understood by those skilled in the art that the scope of the present invention related to the present application is not limited to the technical solution of the specific combination of the above technical features, and also covers other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept, for example, the technical solutions formed by mutually replacing the above features with (but not limited to) technical features having similar functions disclosed in the present application.
Other technical features than those described in the specification are known to those skilled in the art, and are not described herein in detail in order to highlight the innovative features of the present invention.
Claims (10)
1. An image acquisition remote control system, comprising:
the data acquisition end is used for acquiring magnetic field data and gravity data;
the inclination angle compensator is used for converting the gravity data into an inclination angle value;
the terminal magnetic field data integrator is used for integrating the inclination angle value and the magnetic field data into terminal magnetic field data;
the first azimuth calculator is used for converting the terminal magnetic field data into azimuth information;
the wireless communication equipment is used for outputting the azimuth angle information;
the image input equipment is arranged on the motion executing mechanism and is used for acquiring images;
the magnetic field information acquisition device is used for acquiring magnetic field data of the image input equipment;
the second azimuth calculator is used for converting the magnetic field data of the image input equipment into azimuth information of the image input equipment;
the data comparator is used for receiving azimuth angle information sent by the wireless communication equipment, and comparing the azimuth angle information with the azimuth angle information of the image input equipment to output an angle difference value;
and the motion executing mechanism is used for carrying out rotation control on the image input equipment through self motion according to the angle difference.
2. The image capturing remote control system of claim 1, wherein the image input device is a camera device.
3. The image acquisition remote control system according to claim 1, wherein the magnetic field data includes geomagnetic field magnetic force information, and the gravity data includes gravitational acceleration and component information of the gravitational acceleration in a three-dimensional space.
4. The image capturing remote control system of claim 1, wherein the data capturing end is a six-axis sensor, a three-axis sensor, or a nine-axis sensor.
5. The image acquisition remote control system according to claim 1, wherein the magnetic field information acquisition unit is a six-axis sensor, a three-axis sensor, or a nine-axis sensor.
6. The image capturing remote control system according to claim 1, wherein the wireless communication device is a bluetooth module.
7. The image-capturing remote control system according to claim 1, wherein the image-capturing device is a law enforcement recorder.
8. An image acquisition remote control system, comprising:
the data acquisition end is used for acquiring magnetic field data and gravity data;
the inclination angle compensator is used for converting the gravity data into an inclination angle value;
the terminal magnetic field data integrator is used for integrating the inclination angle value and the magnetic field data into terminal magnetic field data;
the first azimuth calculator is used for converting the terminal magnetic field data into azimuth information;
the wireless communication equipment is used for outputting the azimuth angle information;
the image input equipment is arranged on the motion executing mechanism and is used for acquiring images;
the information acquisition end is used for acquiring magnetic field data, angles and acceleration of the image input equipment;
the second azimuth calculator is used for converting the magnetic field data of the image input equipment into azimuth information of the image input equipment;
the data comparator is used for receiving azimuth angle information sent by the wireless communication equipment, and comparing the azimuth angle information with the azimuth angle information of the image input equipment to output an angle difference value;
the anti-shake algorithm calculator is used for carrying out PID (proportion integration differentiation) operation on the angle and the acceleration so as to obtain motor control information for controlling the motion actuating mechanism;
the motion executing mechanism is used for carrying out rotation control on the image input equipment through self motion according to the angle difference; the motion mechanism is also used for reversely controlling the image input equipment through self motion according to the motor control information so as to stabilize the image input equipment.
9. An image capturing device, comprising:
the first remote control body is provided with an auricle structure;
the second remote control body is connected with the first remote control body in a clamping way;
a circuit board disposed between the first remote control body and the second remote control body;
the data acquisition end is arranged on the circuit board and used for acquiring magnetic field data and gravity data;
the inclination angle compensator is arranged on the circuit board and used for converting the gravity data into an inclination angle value;
the terminal magnetic field data integrator is arranged on the circuit board and used for integrating the inclination angle value and the magnetic field data into terminal magnetic field data;
the first azimuth calculator is arranged on the circuit board and used for converting the terminal magnetic field data into azimuth information;
the wireless communication equipment is arranged on the circuit board and used for outputting the azimuth angle information;
the power supply is arranged between the first remote control body and the circuit board and used for supplying power to the circuit board;
the image input equipment is arranged on the motion executing mechanism and is used for acquiring images;
the magnetic field information acquisition device is used for acquiring magnetic field data of the image input equipment;
the second azimuth calculator is used for converting the magnetic field data of the image input equipment into azimuth information of the image input equipment;
the data comparator is used for receiving azimuth angle information sent by the wireless communication equipment, and comparing the azimuth angle information with the azimuth angle information of the image input equipment to output an angle difference value;
and the motion executing mechanism is used for carrying out rotation control on the image input equipment through self motion according to the angle difference.
10. An image acquisition remote control method is characterized by at least comprising the following steps:
collecting magnetic field data and gravity data through a data collection end;
converting the gravity data into a tilt angle value through a tilt angle compensator;
integrating the inclination angle value and the magnetic field data into terminal magnetic field data through a terminal magnetic field data integrator;
converting the terminal magnetic field data into azimuth information through a first azimuth calculator;
outputting the azimuth angle information through wireless communication equipment;
collecting images through an image input device;
collecting magnetic field data of the image input equipment through a magnetic field information collector;
converting the magnetic field data of the image input equipment into azimuth information of the image input equipment through a second azimuth calculator;
receiving azimuth angle information sent by the wireless communication equipment through a data comparator, and comparing the azimuth angle information with the azimuth angle information of the image input equipment to output an angle difference value;
and receiving the angle difference value through a motion executing mechanism, and carrying out rotation control on the image input equipment through self motion.
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