TWI772830B - System and method for image stabilizing panning shot - Google Patents

Abstract

A method for image stabilizing panning shot is adapted to a panning shot dock, for adjusting an image capturing direction of the panning dock toward an optical signal source. The optical signal source emits an optical positioning signal. The method comprises receiving the optical positioning signal by an optical signal receiving array, wherein each of the optical signal receiving units of the array respectively generates a receiving strength; comparing the receiving strengths, to obtaining the position of the optical signal source relative to the position of the array, so as to generate a turning signal accordingly; and transmitting the turning signal to the panning dock to adjust the image capturing direction of the panning dock toward the optical signal source. Then, a handheld mobile device identifies a feature object in a captured image to take over the control of the panning dock.

Description

Follow-up shooting system with image stabilization function and follow-up shooting method with image stabilization function

The invention relates to video recording and follow-up shooting, in particular to a follow-up system with image stabilization function and a follow-up method with image stabilization function.

Although several tracking technologies have been developed, a smartphone can be driven by a dock to follow a specific target. However, when the specific target of the follow-up shot quickly leaves the follow-up screen, the smartphone lacks a trackable target, and it will not be able to continue to follow the shot. Although some tracking mechanisms have a search mode, the search mode is often just a blind search, which makes the search failure probability still high. In addition, if the tracking mechanism accelerates the tracking speed to prevent a specific target from leaving the tracking screen, it tends to over-track. Over-following causes the smartphone to continuously oscillate to follow a specific target during shooting, which makes the camera image (especially dynamic video streaming) shake significantly. Therefore, there is still a need to improve the follow-up method.

In view of the above problems, the present invention provides a tracking system with image stabilization function, which includes a light tracker, a tracking base and a handheld mobile device.

The light tracker has an optical signal source for sending out an optical positioning signal. The camera-following base includes a control chip, a steering module and an optical signal receiving array. The steering module is electrically connected to the control chip, an image capturing direction is defined on the steering module, and the control chip is used to control the steering of the steering module to change the image capturing direction; the optical signal receiving array is electrically connected to the control chip, and rotates synchronously with the steering module, the optical signal receiving array is used for receiving the optical positioning signal toward the image capturing direction and generating a receiving intensity distribution, and transmitting the receiving intensity distribution to the control chip. The hand-held mobile device is carried on the steering module and establishes a communication connection with the tracking base, and the hand-held mobile device includes a microprocessor and a camera. The camera is electrically connected to the microprocessor for capturing a camera frame along the image capturing direction and transmitting the camera frame to the microprocessor; the microprocessor defines a plurality of sampling frames with different sizes in the camera frame and preloads them one of the sampling frames, and the microprocessor changes the loaded sampling frame according to a selection command.

The control chip compares the received intensity distribution, analyzes the angle that the image capture direction needs to change according to the received intensity distribution, and generates a first steering signal, and sends out the first steering signal to control the steering module to make the image capture direction toward the optical signal The location of the source is approached.

The microprocessor identifies a characteristic object in the camera image, and when the characteristic object is identified, the control chip stops sending the first steering signal; when the characteristic object exceeds the loaded sampling frame, the microprocessor sends a second steering signal to drive the steering The module changes the direction of image capture to make the feature objects return to the sampling frame.

In at least one embodiment, the optical tracker further includes a first encoding circuit for generating a designated identification code; and the first encoding circuit is used for driving the optical signal source to emit an optical positioning signal according to the designated identification code, and enabling the optical positioning The signal carries the designated identification code; and the control chip analyzes whether the optical positioning signal contains the designated identification code, and if the optical positioning signal contains the designated identification code, the control chip compares the received intensity distribution.

In at least one embodiment, the optical tracker further includes at least one first button electrically connected to the first encoding circuit for being pressed to trigger the first encoding circuit to drive the optical signal source to emit an optical positioning signal.

In at least one embodiment, when multiple characteristic objects are identified, the microprocessor analyzes the movement of each characteristic object and the optical signal source, finds out the characteristic objects linked with the optical signal source, and keeps the linked characteristic objects in the sampling frame middle.

In at least one embodiment, the first steering signal includes a steering direction and a steering angular velocity, and the steering angular velocity is related to the received intensity distribution; when the intensity peak in the received intensity distribution is closer to the edge of the optical signal receiving array, the steering angular velocity The higher the value; the lower the steering angular velocity is when the intensity peak in the received intensity distribution is closer to the center of the optical signal receiving array.

The present invention also provides a tracking method with an image stabilization function, which is suitable for making an image capturing direction of a tracking base approach an optical signal source, and the optical signal source is used to emit an optical positioning signal.

The tracking method with image stabilization function includes the following steps: continuously capturing a camera image along the image capturing direction; receiving an optical positioning signal toward the image capturing direction to generate a reception intensity distribution; analyzing the required image capturing direction according to the reception intensity distribution change the angle to generate a first turn signal; send out the first turn signal to control the tracking base to make the image capture direction approach the position of the optical signal source; identify whether there is a characteristic object in the camera image; The feature object stops sending the first turn signal; defines a sampling frame in the camera image; and when the feature object exceeds the loaded sampling frame, sends a second turn signal to drive the tracking base to change the image capture direction, so that the feature object Reply to the sampling frame.

In at least one embodiment, the camera-following method with an image stabilization function further includes: before defining a sampling frame in the photographing frame, defining a plurality of sampling frames with different sizes in the photographing frame, and preloading one of the sampling frames .

In at least one embodiment, the camera-following method with an image stabilization function further includes changing the loaded sampling frame according to a selection command.

In at least one embodiment, the tracking method with the image stabilization function further includes, before generating the first turn signal, analyzing whether the optical positioning signal contains a specified identification code, and if the optical positioning signal contains the specified identification code, comparing the received intensity distributed.

The present invention receives the optical positioning signal through the optical coding receiving array, which can effectively increase the receiving angle of view, avoid search failure, and ensure that the characteristic objects that need to be photographed remain in the camera image. In addition, in at least one embodiment, the sampling frame that can be set quickly can avoid excessive follow-up shooting, and solve the problem of unstable shaking of the camera image.

Referring to FIG. 1 , a tracking system with an image stabilization function disclosed in a first embodiment of the present invention is used to execute a tracking method with an image stabilization function. The tracking system with image stabilization function includes a tracking base 200 and a remote control device 300 . The camera-following base 200 has a changeable image capturing direction. The handheld mobile device 100 is carried on the tracking base 200 for shooting a camera frame M along the image capturing direction, and the handheld mobile device 100 can control the rotation of the tracking base 200 to change the image capture of the handheld mobile device 100 Take the direction, and continue to follow the feature object A. The camera-following base 200 can change the image capturing direction by itself, so that the image capturing direction is close to the remote control device 300 . That is to say, the camera base 200 can search for the remote control device 300 by itself, so that the image capturing direction of the handheld mobile device 100 approaches the remote control device 300, and the handheld mobile device 100 can recognize the characteristic object A and further control the camera base 200, while maintaining the feature object A within the specified range in the imaging frame M.

As shown in FIG. 1 and FIG. 2 , the remote control device 300 has an encoding circuit 310 , an optical signal source 330 and a key group 320 .

The encoding circuit 310 is used to generate a designated identification code. The optical signal source 330 is electrically connected to the encoding circuit 310, and the encoding circuit 310 is used to drive the optical signal source 330 to emit the optical positioning signal S according to the designated identification code, and make the optical positioning signal S carry the designated identification code; in a specific embodiment, The optical signal source 330 can be a single optically encoded transmitting unit or an optically encoded transmitting array. The key set 320 is electrically connected to the encoding circuit 310 for being pressed to trigger the encoding circuit 310 to drive the optical signal source 330 to emit an optical positioning signal S for the tracking base 200 to track.

As shown in FIG. 1 and FIG. 2 , the camera base 200 includes a control chip 210 , a second communication interface 220 , a steering module 230 and an optical signal receiving array 240 .

As shown in FIG. 1 and FIG. 2 , the second communication interface 220 is electrically connected to the control chip 210 and establishes a communication connection with the first communication interface 150 of the handheld mobile device 100 , so that the control chip 210 of the tracking base 200 can communicate with The handheld mobile device 100 establishes a communication link, and receives the second turn signal from the handheld mobile device 100 and transmits it to the control chip 210 .

As shown in FIG. 1 and FIG. 2 , the steering module 230 is electrically connected to the control chip 210 , and the steering module 230 defines the image capturing direction. Meanwhile, the steering module 230 is used to carry the handheld mobile device 100 , so that the handheld mobile device 100 can capture the camera image M along the image capturing direction. The control chip 210 drives the steering module 230 to turn according to the second turning signal or the first turning signal to change the image capturing direction, thereby changing the range covered by the camera image M.

The steering module 230 generally includes one or more motors, necessary gear boxes, and a clamp 232 . The clamp 232 is used to clamp the handheld mobile device 100 to carry the handheld mobile device 100 on the steering module 230 .

As shown in FIG. 1 , FIG. 2 and FIG. 3 , the optical signal receiving array 240 is electrically connected to the control chip 210 and rotates synchronously with the steering module 230 , especially the fixture 232 . The optical signal receiving array 240 has a plurality of optical signal receiving units for receiving the optical positioning signal S, and according to the different receiving distances and angles, different receiving intensities are formed to generate a receiving intensity distribution, which is transmitted to the control chip 210 . Generally speaking, the closer the optical positioning signal S is to being directed toward the optical signal receiving unit, the stronger the receiving intensity is. The control chip 210 analyzes whether the optical positioning signal S contains the specified identification code. If the optical positioning signal S contains a designated identification code, the control chip 210 compares the received intensity distribution, analyzes the angle that needs to be changed in the image capturing direction according to the received intensity distribution, generates a first steering signal, and sends out the first steering signal to control the Turning to the module 230 , the image capturing direction approaches the position of the optical signal source 330 . Therefore, by holding the camera image M of the mobile device 100, the target carrying the remote control device 300 can be captured. In addition to the steering direction, the first turn signal also includes the steering angular velocity. The steering angular velocity is related to the received intensity distribution. When the intensity peak in the received intensity distribution is closer to the edge of the optical signal receiving array 240, the steering angular velocity is higher; conversely, when the intensity peak in the received intensity distribution is closer to the optical signal receiving array The center of the 240, the lower the steering angular velocity.

As shown in FIG. 3 , the method of analyzing the angle to be changed in the image capturing direction according to the received intensity distribution is as follows.

A threshold group 241 can be defined in the middle area of the optical signal receiving array 240. The optical signal receiving units in the threshold group 241 are set so that the receiving intensity must exceed the threshold value, so as to obtain the desired receiving intensity distribution, that is, the steering module 230. The image capturing direction defined here is close to the optical signal source 330 of the remote control device 300 . If the receiving intensity of at least one of the optical signal receiving units in the threshold group 241 does not reach the threshold value, then according to the position of the optical signal receiving unit in the optical signal receiving array 240 and the receiving intensity of other optical signal receiving units, the optical signal The receiving array 240 is turned (ie, the turning module 230 is turned) in a direction with a higher receiving intensity, until the receiving intensity of the optical signal receiving units in the threshold group 241 all reach the threshold value. The size of the range of the threshold group 241 is related to the sensitivity. The smaller the range of the threshold group 241 is, the higher the sensitivity, that is, the closer the image capturing direction is to the optical signal source 330 .

As shown in FIG. 4 to FIG. 9 , the square and rectangular array in FIG. 3 is only an example, and the optical signal receiving array 240 can be in the form of a long rectangular array, a circular array (including a circular ring and a polygonal frame), Trapezoid arrays (including triangles), cross arrays, and combinations of the foregoing arrays, and can be configured on curved surfaces to increase the acceptable angle. The fixture 232 of the optical signal receiving array 240 fixed to the steering module 230 in FIG. 3 is also an example, as long as the receiving surface of the optical signal receiving array 240 can rotate synchronously with the image capturing direction defined by the steering module 230 .

Referring to FIGS. 1 and 10 , the handheld mobile device 100 of the present invention may be an electronic device such as a smart phone, a tablet computer, etc., which has photographing and video recording functions and can establish a communication connection with the tracking base 200 .

As shown in FIG. 1 and FIG. 10 , the handheld mobile device 100 is carried on the steering module 230 , and the handheld mobile device 100 includes a microprocessor 110 , a camera 120 , a memory unit 130 , a touch display panel 140 and a first communication interface 150 .

As shown in FIG. 1 and FIG. 10 , the camera 120 , the memory unit 130 and the touch display panel 140 are electrically connected to the microprocessor 110 . The camera 120 is used for capturing the image M along the image capturing direction and transmitting the image M to the microprocessor 110 , so as to transmit the image M to the memory unit 130 for storing the image M.

As shown in FIG. 10 and FIG. 11 , the microprocessor 110 defines a plurality of sampling frames F with different sizes in the imaging frame M, and preloads one of the sampling frames F.

As shown in FIG. 10 , the memory unit 130 is used to store the operating system and necessary photography application programs in addition to storing the image M, and the memory unit 130 stores the setting value of the sampling frame F for the microprocessor 110 Load execution for follow mode.

As shown in FIG. 10 and FIG. 11 , the touch display panel 140 is electrically connected to the microprocessor 110 for displaying the camera image M, and can receive feedback from the touch operation to the microprocessor 110 , and can accept the touch operation as a feedback Feedback to the microprocessor 110 for the selection command.

As shown in FIG. 10 and FIG. 11 , the microprocessor 110 can change the loaded sampling frame F according to the selection command. The method of inputting the selection command can be as shown in FIG. 11 , displaying a selection list L which is independent or pop-up displayed in the camera screen M, and displays options of sampling frames F of different sizes from small to large for the user to display on the touch display panel. Choose from 140. The size of the sampling frame F can be expressed by multiplying the width by the height, for example, the width is X1 to X6, and the width is Y1 to Y6, forming different width and height combinations.

As shown in FIG. 1 and FIG. 10 , the first communication interface 150 is electrically connected to the microprocessor 110 for establishing a communication connection. The first communication interface 150 can be a wired communication interface, such as a USB interface, or a wireless communication interface, such as Bluetooth, an RF communication interface, and a Wi-Fi interface (supporting Wi-Fi Direct).

As shown in FIG. 1 , FIG. 2 and FIG. 10 , the different buttons of the button group 320 are used to trigger the encoding circuit 310 to send out other optical encoding signals, such as the start and end of the shooting function, the enabling and stopping of the follow-up mode, the single photo The captured shutter and the like are received through the tracking base 200 , and then transmitted to the handheld mobile device 100 through the first communication interface 150 and the second communication interface 220 , so as to operate the relevant functions of the handheld mobile device 100 through the remote control device 300 . In addition, the selection command is not necessarily generated by the touch display panel 140. The encoding circuit 310 can pre-store a plurality of numbers, and each number corresponds to a sampling frame F. By continuously pressing the buttons of the button group 320, different samples can be issued in a cyclic manner. The selection command or number of the frame F causes the handheld mobile device 100 to load the corresponding sampling frame F.

As shown in FIG. 12 and FIG. 13 , the optical signal source 330 is set along with the feature object A. Therefore, when the image capturing direction approaches the optical signal source 330 , the feature object A usually enters the camera screen M, which makes the microprocessor 110 The characteristic object A can be identified from the camera image M.

As shown in FIG. 13 and FIG. 14 , when the microprocessor 110 identifies the characteristic object A from the camera image M, the handheld mobile device 100 enables the tracking mode, the microprocessor 110 preloads one of the sampling frames F, and continues Identify characteristic object A. The microprocessor 110 simultaneously sends out an interrupt signal to interrupt the control chip 210 to generate the first steering signal; at this time, the steering module 230 is controlled by the handheld mobile device 100 instead. When the feature object A exceeds the loaded sampling frame F, the microprocessor 110 sends a second steering signal to drive the steering module 230 to change the image capturing direction, so that the feature object A returns to the sampling frame F.

As shown in FIG. 15 , if the feature object A continues to move in the camera frame M, and the feature object A continues to be located in the sampling frame F, the image capture direction does not change. In terms of the method of the feature object A, the camera image M in the first embodiment of the present invention can be maintained relatively stable, and the photographing direction is changed only when the feature object A has a large displacement.

As shown in FIG. 16 , when multiple people enter the mirror at the same time, each person's face will be recognized as the characteristic object A, so that the microprocessor 110 can recognize multiple characteristic objects A at the same time. At this time, the microprocessor 110 can analyze the movement of the plurality of characteristic objects A and the optical signal source 330 to find out the characteristic object A linked with the optical signal source 330 , such as a person wearing the remote control device 300 (the optical signal source 330 ). face, keeping feature A in sampling frame F.

As shown in FIG. 17 , it is a circuit block diagram of the light tracker 400 , the remote control device 300 and the tracking base 200 in the second embodiment of the present invention. In the second embodiment, the function of transmitting the optical positioning signal S is separated from the remote control device 300 to form a separate optical tracker 400 . Similarly, the encoding circuit 310 of the first embodiment is also divided into a first encoding circuit 311 and a second encoding circuit 312 .

As shown in FIG. 17 , the light tracker 400 has an optical signal source 330 , a first encoding circuit 311 and at least one first button 321 . The optical signal source 330 is used for sending out the optical positioning signal S. The first encoding circuit 311 is used to generate a designated identification code, and the first encoding circuit 311 is used to drive the optical signal source 330 to emit an optical positioning signal S according to the designated identification code, and make the optical positioning signal S carry the designated identification code. At least one first button 321 is electrically connected to the first encoding circuit 311 for being pressed to trigger the first encoding circuit 311 to drive the optical signal source 330 to emit the optical positioning signal S. That is to say, the remote control device 300 does not need to have the function of sending out the optical positioning signal S. The camera-following base 200 can change the image capturing direction by itself, so that the image capturing direction is close to the light tracker 400 .

As shown in FIG. 17 , in the second embodiment, the camera base 200 and the remote control device 300 are also slightly adjusted. In the second embodiment, the camera base 200 further includes a third communication interface 250 electrically connected to the control chip 210 . The remote control device 300 further includes a fourth communication interface 340 electrically connected to the second encoding circuit 312 . The third communication interface 250 and the fourth communication interface 340 are used for establishing a communication link. The third communication interface 250 and the fourth communication interface 340 may be wireless communication interfaces, such as Bluetooth, RF communication interface, and Wi-Fi interface (supporting Wi-Fi Direct). Specifically, the communication link between the third communication interface 250 and the fourth communication interface 340 and the communication link between the first communication interface 150 and the second communication interface 220 use different communication protocols.

As shown in FIG. 17 , different buttons of the button group 320 are used to trigger the second encoding circuit 312 to generate function command codes, such as the start and end of the shooting function, the enabling and stopping of the follow-up mode, the shutter for capturing a single photo, etc. , to be sent through the fourth communication interface 340 . The function command code is received by the third communication interface 250 of the camera base 200 . Then, the function command code is transmitted to the handheld mobile device 100 through the first communication interface 150 and the second communication interface 220 , so as to operate the relevant functions of the handheld mobile device 100 through the remote control device 300 . In addition, the selection command is not necessarily generated by the touch display panel 140. The second encoding circuit 312 can pre-store a plurality of numbers, and each number corresponds to a sampling frame F. The buttons of the button group 320 can be continuously pressed to issue a cyclical number. The selection commands or numbers of different sampling frames F enable the handheld mobile device 100 to load the corresponding sampling frames F. That is to say, when the light tracker 400 becomes an independent device, each element of the remote control device 300 is no longer used for triggering and generating the optical positioning signal S.

As shown in FIG. 18 , the tracking method with image stabilization function of the present invention is suitable for making the image capturing direction of the tracking base 200 approach the optical signal source 330, and the optical signal source 330 is used for sending out the optical positioning signal S; the method Contains the following steps.

The microprocessor 110 activates the camera 120, so that the camera 120 continuously captures the camera image M along an image capturing direction and transmits it to the microprocessor 110, as shown in step S105.

The optical positioning signal S is received by the optical signal receiving array 240 toward the image capturing direction to generate a received intensity distribution, as shown in step S110 .

The control chip 210 analyzes the angle that the image capturing direction needs to change according to the received intensity distribution, and generates a first turn signal, as shown in step S120.

The control chip 210 sends a first turning signal to control the tracking base 200, so that the image capturing direction approaches the position of the optical signal source 330, as shown in step S130.

The microprocessor 110 identifies whether there is a characteristic object A in the image M, as shown in step S140.

As mentioned above, when the image capturing direction approaches the optical signal source 330 , the characteristic object A usually enters the camera frame M. At this time, the microprocessor 110 recognizes that the feature object A exists in the camera image M, and the handheld mobile device 100 can activate the follow-up mode, as shown in step S200.

As shown in FIG. 19 , after the handheld mobile device 100 starts the tracking mode, the microprocessor 110 controls the control chip 210 to stop sending the first turn signal through the communication connection, so as to stop the tracking base 200 from tracking the function of the optical signal source 330 . As shown in step S205.

The handheld mobile device 100 defines a plurality of sampling frames F with different sizes in the camera frame M, and preloads one of the sampling frames F, as shown in step S210. If a selection command is input, the loaded sampling frame F is changed according to the selection command, as shown in steps S220 and S230.

Identify the characteristic object A in the image M, as shown in step S240. It is determined whether the feature object A exceeds the loaded sampling frame F, as shown in step S250. When the feature object A exceeds the loaded sampling frame F, the handheld mobile device 100 sends a second steering signal to drive the steering module 230 to change the image capturing direction, so that the feature object A returns to the sampling frame F, as shown in step S260.

Similarly, when a plurality of characteristic objects A are identified in step S240, the microprocessor 110 can analyze the movement of the plurality of characteristic objects A and the optical signal source 330 to find out the characteristic objects A linked with the optical signal source 330, such as a matching The face of the person wearing the remote control device 300 (optical signal source 330 ) keeps the feature object A in the sampling frame F. Alternatively, the microprocessor 110 can adjust the magnification of the camera 120 to keep all the characteristic objects A in the sampling frame F. Or, the microprocessor 110 keeps the selected feature object A in the sampling frame F according to a selection instruction.

The present invention receives the optical positioning signal S through the optical coding receiving array, which can effectively increase the receiving angle of view, avoid search failure, and ensure that the characteristic object A that needs to be photographed remains in the camera image M. The sampling frame F that can be set quickly can avoid excessive follow-up and solve the problem of unstable shaking of the camera image M.

100: Handheld Mobile Device 110: Microprocessor 120: Camera 130: Memory Unit 140: touch display panel 150: The first communication interface 200: Follow-up base 210: Control Chip 220: Second communication interface 230: Steering Module 232: Fixtures 240: Optical signal receiving array 241: Threshold Group 250: Third communication interface 300: Remote Control 310: Encoding circuit 311: The first encoding circuit 312: Second encoding circuit 320:Key group 321: First button 330: Optical signal source 340: Fourth communication interface 400: Light Tracer M: camera screen A: Feature Object F: Sampling frame L: selection list S: Optical positioning signal X1~X6: width Y1~Y6: length S105~140, S200~S260: Steps

FIG. 1 is a system schematic diagram of a tracking system with an image stabilization function in the first embodiment of the present invention. FIG. 2 is a circuit block diagram of a remote control device and a tracking base according to the first embodiment of the present invention. FIG. 3 is a schematic diagram of threshold groups of a plurality of optical signal receiving units of the optical signal receiving array according to the first embodiment of the present invention. 4 to 9 are optical signal receiving arrays of different array forms in the first embodiment of the present invention. FIG. 10 is a circuit block diagram of a handheld mobile device and a camera-following base according to the first embodiment of the present invention. 11 is a schematic diagram of a plurality of sampling frames and a selection list on a sampling screen according to the first embodiment of the present invention. FIG. 12 and FIG. 13 are schematic diagrams of tracking the optical signal source according to the first embodiment of the present invention. FIG. 14 and FIG. 15 are schematic diagrams of maintaining the characteristic object in the sampling frame according to the first embodiment of the present invention. FIG. 16 is a schematic diagram of tracking a plurality of characteristic objects in the first embodiment of the present invention. 17 is a circuit block diagram of a light tracker, a remote control device, and a tracking base in a second embodiment of the present invention. FIG. 18 is a flow chart of the tracking method with the image stabilization function of the present invention. FIG. 19 is another flowchart of the tracking method with the image stabilization function of the present invention.

150: The first communication interface

200: Follow-up base

210: Control Chip

220: Second communication interface

230: Steering Module

240: Optical signal receiving array

250: Third communication interface

300: Remote Control

311: The first encoding circuit

312: Second encoding circuit

320:Key group

321: First button

330: Optical signal source

340: Fourth communication interface

400: Light Tracer

S: Optical positioning signal

Claims (8)

A tracking system with image stabilization function, comprising: an optical tracker with an optical signal source for sending out an optical positioning signal; a tracking base, comprising: a control chip; a steering module, an electrical is electrically connected to the control chip, an image capturing direction is defined on the steering module, and the control chip is used for controlling the steering of the steering module to change the image capturing direction; and an optical signal receiving array, electrically connected on the control chip and rotates synchronously with the steering module, the optical signal receiving array is used for receiving the optical positioning signal toward the image capturing direction and generating a received intensity distribution, and transmitting the received intensity distribution to the control chip; and a handheld mobile device, which is carried on the steering module and establishes a communication connection with the camera base, the handheld mobile device comprises: a microprocessor; and a camera, which is electrically connected to the microprocessor for Shooting a camera frame along the image capturing direction and sending the camera frame to the microprocessor; the microprocessor defines a plurality of sampling frames with different sizes in the camera frame, and preloads one of the sampling frames One, and the microprocessor changes the loaded sampling frame according to a selection command; wherein, the control chip compares the received intensity distribution, analyzes the angle that the image capturing direction needs to change according to the received intensity distribution, and generates a first turning signal, sending the first turning signal to control the turning module to make the image capturing direction approach the position of the optical signal source; The first steering signal includes a steering direction and a steering angular velocity, and the steering angular velocity is related to the received intensity distribution; when the intensity peak in the received intensity distribution is closer to the edge of the optical signal receiving array, the higher the steering angular velocity is high; when the intensity peak in the received intensity distribution is closer to the center of the optical signal receiving array, the lower the steering angular velocity; and wherein, the microprocessor identifies a characteristic object in the camera image, when the characteristic is identified object, the control chip stops sending the first turn signal; when the feature object exceeds the loaded sampling frame, the microprocessor sends a second turn signal to drive the turning module to change the image capture direction, so that the feature object Reply to the sampling frame. The tracking system with image stabilization function as claimed in claim 1, wherein the light tracker further comprises: a first encoding circuit for generating a designated identification code; and the first encoding circuit for generating a designated identification code according to the designated The identification code drives the optical signal source to emit the optical positioning signal, and makes the optical positioning signal carry the designated identification code; wherein, the control chip analyzes whether the optical positioning signal contains the designated identification code, if the optical positioning signal contains the designated identification code code, the control wafer is compared to the received intensity distribution. The tracking system with image stabilization function as claimed in claim 2, wherein the light tracker further comprises: at least one first button, electrically connected to the first encoding circuit, for being pressed to trigger the first button The encoding circuit drives the optical signal source to send out the optical positioning signal. The tracking system with image stabilization function as claimed in claim 1, wherein when a plurality of the characteristic objects are identified, the microprocessor analyzes each of the characteristic objects and the optical signal By moving the source, the characteristic object linked with the optical signal source is found, and the linked characteristic object is maintained in the sampling frame. A tracking method with image stabilization function, which is suitable for making an image capturing direction of a tracking base approach an optical signal source, the optical signal source is used for sending an optical positioning signal; the method comprises the following steps: continuous shooting a camera frame along the image capturing direction; receiving the optical positioning signal towards the image capturing direction to generate a received intensity distribution; analyzing the angle that needs to be changed in the image capturing direction according to the received intensity distribution to generate a first a turning signal; sending out the first turning signal to control the tracking base, so that the image capturing direction approaches the position of the optical signal source; the first turning signal includes a turning direction and a turning angular velocity, the turning angular velocity is related to the received intensity distribution; when the intensity front in the received intensity distribution is closer to the edge of the optical signal receiving array, the steering angular velocity is higher; when the intensity front in the received intensity distribution is closer to the optical signal receiving array the center of the , the lower the steering angular velocity; identify whether there is a characteristic object in the camera image; when the characteristic object is identified, stop sending the first turn signal; define a sampling frame in the camera image; and when the characteristic object exceeds The loaded sampling frame sends a second turn signal to drive the tracking base to change the image capturing direction, so that the characteristic object returns to the sampling frame. The tracking method with a picture stabilization function according to claim 5, further comprising: before defining the sampling frame in the photographing picture, defining a plurality of sampling frames with different sizes in the photographing picture, and preloading the sampling frames in the photographing picture one of these sampling frames. The tracking method with image stabilization function as claimed in claim 6, further comprising: changing the loaded sampling frame according to a selection command. The tracking method with image stabilization function according to claim 5, further comprising: before generating the first turn signal, analyzing whether the optical positioning signal contains a specified identification code, if the optical positioning signal contains the specified identification code , and compare the received intensity distribution.

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