CN101403848A - Three-dimensional automatic stabilization camera shooting system - Google Patents
Three-dimensional automatic stabilization camera shooting system Download PDFInfo
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- CN101403848A CN101403848A CNA2008101530847A CN200810153084A CN101403848A CN 101403848 A CN101403848 A CN 101403848A CN A2008101530847 A CNA2008101530847 A CN A2008101530847A CN 200810153084 A CN200810153084 A CN 200810153084A CN 101403848 A CN101403848 A CN 101403848A
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Abstract
The invention relates to a three dimensional automatic-stabilization camera system which comprises measuring devices, collection controlling devices and collection executing devices, wherein, a measuring device, a collection controlling device and a collection executing device independently with the same functions are respectively arranged in the X-axis, Y-axis and Z-axis direction; the collection executing device is composed of a Z-axis and a X-axis executing device and a Y-axis executing device; the measuring devices are respectively arranged in the horizontal position at the bottom of the Z-axis and the X-axis executing device and the Y-axis executing device; the collection controlling devices are respectively arranged at the top of the Z-axis and the X-axis executing device and the Y-axis executing device; when perturbation causes the change of random posture of a carrier, the collection controlling devices transmit induction measurement signals output by the measuring devices to the collection executing devices to be collected after operation treatment so as to ensure the monitor area of the camera always contains objects to be viewed and to achieve the goal of outputting stable and clear images of the camera. The three dimensional automatic-stabilization camera system is characterized by intelligent automatic stabilization and automatic adjustment.
Description
Technical field
The invention belongs to the video monitoring equipment technical field of heavy mechanical equipment, particularly a kind of three-dimensional automatic stabilization camera shooting system is that three-dimensional (X, Y, Z axle) autostable platform reaches the application at camera monitoring system.
Background technology
Rig camera is realized the adjustment of gyrobearing by traditional The Cloud Terrace.When the operator need adjust rig camera supervision visual angle, can adjust the The Cloud Terrace of support cameras, reach the purpose that changes the video camera attitude.When the operator adjusted turning to of The Cloud Terrace, rig camera rotated thereupon, and the video camera attitude obtains changing, and observation angle also can obtain adjusting thereupon.Therefore, the rotational angle of this The Cloud Terrace, i.e. the watch-dog angular range that can monitor.
It is the method that direction control and pitch control subsystem combine that existing traditional The Cloud Terrace all adopts bidimensional (X, Z axle) Spin Control.The variation of the variation of position angle 0-360 ° (Z axle) by level and the vertical angle of pitch ± 90 ° (X-axis) realizes " on every side " and " up and down " omnibearing observation (Fig. 1).
Existing traditional The Cloud Terrace adds camera system that video camera constitutes, and to operate mainly in the carrier of carrying The Cloud Terrace and target all be under the basicly stable prerequisite, when attitude takes place at random and changes in the carrier of carrying The Cloud Terrace (if X, Y, when the Z axle rotates) or when target moved, existing systems just can not effectively be finished the task of real-time monitoring.Originally the object in camera's range partly or entirely can deflect away from the monitor area of video camera, if traditional camera system will manually constantly be corrected, but the staff in actual mechanical process, most occasions, such operation can't realize.
Summary of the invention
Problem to be solved by this invention is, overcome the deficiencies in the prior art, a kind of three-dimensional automatic stabilization camera shooting system is provided, when the carrying three-dimensional automatic stabilization camera shooting system carrier along X, Y, when the Z axle rotates, three-dimensional automatic stabilization camera shooting system can be measured each rotation amount automatically, through calculation process output corrected signal, the correcting device of control three-dimensional automatic stabilization camera shooting system, thereby the monitor area that guarantees video camera comprises the object that will watch all the time, exports steady and audible video pictures.
The present invention solves its technical matters and takes following technical scheme to realize:
According to a kind of three-dimensional automatic stabilization camera shooting system provided by the invention, comprise measurement mechanism, Correction and Control device and correction actuating unit, in X-axis, Y-axis, Z-direction, identical and the measurement mechanism independently again of one tunnel function is respectively arranged, the Correction and Control device, revise actuating unit, described correction actuating unit is by Z, X-axis actuating unit 20 and Y-axis actuating unit 22 are formed, measurement mechanism 21,21 ' respectively are contained in Z, on the bottom level position of X-axis actuating unit and Y-axis actuating unit, Correction and Control device 30,30 ' respectively are contained in Z, X-axis actuating unit and Y-axis actuating unit top; When disturbance caused that the attitude at random of carrier changes, the Correction and Control device was sent to the correction actuating unit through calculation process and is revised according to the measurement of inductance signal of measurement mechanism output.
It is to take following technical scheme further to realize that the present invention solves its technical matters:
Aforesaid measurement mechanism adopts the silicon micromechanical structure obliquity sensor in X, Y-axis, adopts the electronic compass of silicon micromechanical structure at the Z axle.
Aforesaid Z axle actuating unit is installed in Z, the foot of X-axis actuating unit, install with base flange 1, following stepper motor 4 is the drive stepping motor around the rotation of Z axle, in the wheel box 2 of its Z axle topworks below leaning on, main body in the wheel box is a pair of internal tooth transmission gear 3, axle center around the rotation of Z axle is concentric with housing, stepper motor 4 spindle noses are adorned a driver pinion 26, by an axle of carrier pulley 27 number of teeth idle wheels 7 such as two are arranged on it, 7 ', with internal tooth transmission gear 3 engagements that are fixed on wheel box, tubular shaft 10 ends of internal tooth transmission gear are installed conducting slip ring 28, guarantee that cable does not have winding, realize that both forward and reverse directions rotates at any angle.
Aforesaid X-axis actuating unit is contained in the top of Z, X-axis actuating unit, stepper motor 8 spindle noses are equipped with driver pinion 9, with driven gear wheel 9 ' engagement, become gearing-down output, the driven gear wheel that end face is equipped with electromagnetic brake 11 moving plates is loaded on the diameter of axle of hollow output shaft 10, connects by key, transmits and rotates and torque, the stator of electromagnetic brake 11 is housed, with the accurately bigger holding torque of off-position of guaranteeing output shaft with generation in skeleton front supporting plate 29 and driven gear wheel 9 ' corresponding position.
Aforesaid Y-axis actuating unit, its front end are video cameras 12, and center section is duplicate gear 16 wheel boxes, and the end structure is the stepper motor 17 as power source; Stepper motor puts in duplicate gear 16 wheel boxes as the flange electric machine structure with spindle nose, drive pinion wheel 18 rotations, pinion wheel arrives driven gear 14 by duplicate gear 19 with transmission of power, driven gear drags the outer backup plate 15 of wheel box, drive 90 ° of bent plates 13 and form driving-chains with its fixing video camera 12, make video camera under the dragging of stepper motor, finish " Y " axial ± rotation in 90 ° of scopes.
Aforesaid Correction and Control device is made up of power circuit, parameter setting circuit, signaling input circuit, angle memory circuit, cpu control circuit, angle compensation circuit, driving circuit, signaling input circuit, parameter setting circuit and angle compensation circuit are connected the input of cpu control circuit respectively, the output of cpu control circuit connects driving circuit, the two-way connection angle memory circuit of cpu control circuit, power circuit provides operating voltage for the various piece circuit; When receiving the manual control order that controller sends, the signaling input circuit carries out the signaling conversion and sends cpu control circuit to, CPU analyzes decoding to self being provided with of parameter to signaling according to parameter setting circuit, turn over respective angles by the driving circuit driving, and simultaneously by the current angle value of angle memory circuit memory three-dimensional automatic stabilization camera shooting system carrier platform and the position of three axial at present relative initial zero, as new Camera Positioning value; When disturbance causes that the carrier of carrying three-dimensional automatic stabilization camera shooting system is along X, Y, when Z axle generation attitude changes, the three axial present actual angles that measurement mechanism will detect input to the angle compensation circuit, the angle compensation circuit sends metrical information to CPU, CPU calculates the angle compensation value according to the angle compensation algorithm, and the actuating unit offset angle is revised in driving, the monitor area of video camera is remained unchanged, thereby realize the purpose of autostable video pictures.
The present invention compared with prior art has significant advantage and beneficial effect.
The present invention has intelligent automatic stable, self-adjusting characteristics, has realized along the randomness autostable adjustment of X-axis, Y-axis, Z axle three-dimensional space.In general sense stable is to realize by artificial, promptly when plane bidimensional skew appears in the carrier of camera head, overcomes skew by manually carrying out contrary operation, realizes stablizing.The present invention has adopted advanced in the world electronic gyroscope stabilization technique, and respectively be provided with a cover along X-axis, Y-axis, Z axle three-dimensional, when the carrying platform of system along any one random variation (rotating along X, Y, Z axle) takes place, measurement mechanism provides shifted signal immediately and is transferred to Correction and Control device, Correction and Control device through calculation process output corrected signal, revises actuating unit and revises immediately.Measurement mechanism adopts the silicon micromechanical structure obliquity sensor, because the sensitivity of silicon micromechanical structure obliquity sensor, induction speed are much larger than migration velocity, cooperate the high running speed of revising actuating unit just to make system reach autostable purpose, finish the task of real-time monitoring effectively.
The specific embodiment of the present invention is provided in detail by following examples and accompanying drawing thereof.
Description of drawings
Fig. 1: bidimensional in the prior art (X, Z axle) observation figure;
Fig. 2: three-dimensional of the present invention (X, Y, Z axle) observation figure;
Fig. 3: control principle block diagram of the present invention;
Fig. 4: device of the present invention changes synoptic diagram with carrier at the Z axle;
Fig. 5: device of the present invention changes synoptic diagram with carrier in X-axis;
Fig. 6: device of the present invention with carrier at the normal synoptic diagram of Y-axis;
Fig. 7: device of the present invention changes synoptic diagram with carrier in Y-axis;
Fig. 8: Z axle actuating unit structural drawing of the present invention
Fig. 9: X-axis actuating unit structural drawing of the present invention
Figure 10: Y-axis actuating unit structural drawing of the present invention
Figure 11: control circuit theory diagram of the present invention;
Figure 12: control circuit schematic diagram of the present invention;
Figure 13: program work explanation of the present invention.
Among the figure: 1. base flange, 2. wheel box, 3. internal tooth transmission gear, 4. stepper motor, 5. universal stage, 6. O-ring seal, 7,7 '. idle wheel 8. stepper motors, 9. driver pinion, 9 ' driven gear wheel 10. tubular shafts, 11. electromagnetic brake, 12. video cameras, 13.90 ° of bent plates, 14. driven gear, 15. backup plate, 16. duplicate gears, 17. stepper motors, 18. pinion wheel, 19. duplicate gear, 20.Z, X-axis actuating unit, 21,21 '. measurement mechanism, 22.Y axle actuating unit, 23. barrier, 24. targets, 25. traffic routes.26. driver pinion, 27. axle of carrier pulley, 28. conducting slip rings.29. the skeleton front supporting plate, 30,30 '. the Correction and Control device.
Embodiment
Below in conjunction with accompanying drawing and preferred embodiment, to according to embodiment provided by the invention, structure, feature and effect thereof, describe in detail as after.
Referring to Fig. 2～13, a kind of three-dimensional automatic stabilization camera shooting system, comprise measurement mechanism, Correction and Control device and correction actuating unit, in X-axis, Y-axis, Z-direction, identical and the measurement mechanism independently again of one tunnel function is respectively arranged, the Correction and Control device, revise actuating unit, described correction actuating unit is by Z, X-axis actuating unit 20 and Y-axis actuating unit 22 are formed, measurement mechanism 21,21 ' respectively are contained in Z, on the bottom level position of X-axis actuating unit and Y-axis actuating unit, Correction and Control device 30,30 ' ' respectively is contained in Z, X-axis actuating unit and Y-axis actuating unit top; When disturbance caused that the attitude at random of carrier changes, the Correction and Control device was sent to the correction actuating unit through calculation process and is revised according to the measurement of inductance signal of measurement mechanism output.
Measurement mechanism adopts the silicon micromechanical structure obliquity sensor in X, Y-axis, adopts the electronic compass of silicon micromechanical structure at the Z axle.The main idea of using gyro principle is that this systems stabilisation is the systems stabilisation of an autonomous type.The systems stabilisation of so-called " autonomous type " does not rely on the systems stabilisation that other device provides subsidiary, control information, auxiliary control executive means exactly.Oneself set up a measuring basis, this benchmark can keep stablizing in rugged environment, accurately.Gyro is realized the desirable parts of this benchmark just.
Fig. 4 is the vertical view of (car or boat-carrying) three automatic stabilization camera shooting system tracking targets.If is reference axis with the Z axle, when running into obstacle and must hide, camera system needs advance along the diagram camber line.This moment, video camera and tracked target can form arbitrarily angled along the angle of Z axle at random.This angle is known as the deviation angle (disturbance) for original straight line, is that the skew at center can make tracked target lose with " Z " axle promptly.
We have installed the electronic compass of silicon microstructure in three-dimensional automatic stabilization camera shooting system bottom level position in order to revise above-mentioned deviation angle.Measure the angle of skew, export corrected signal, and signal conveys is carried out Correction and Control to the Correction and Control device.In like manner, for the skew that occurs along X-axis, Y-axis, we can solve by taking aforesaid way.Shown in Fig. 5,6,7.
More than just folk prescription to qualitatively simple introduction having been carried out in the disturbance of three of " X ", " Y ", " Z ".Car, shipping row often are not simple a certain axial generation disturbances.But occur with the form of three-dimensional disturbance simultaneously.This moment, measurement mechanism can mail to the Correction and Control device simultaneously with the three-dimensional turbulence signal.By the measuring-signal of Correction and Control device, send to the correction actuating unit through calculation process and revise according to measurement mechanism output.Revising actuating unit can three-dimensional move simultaneously, rotates correction of deviation in the opposite direction, keeps monitoring normally.
Z axle actuating unit (as Fig. 8) is installed in Z, the foot of X-axis actuating unit, install with base flange 1, following stepper motor 4 is the drive stepping motor around the rotation of Z axle, in the wheel box 2 of its Z axle topworks below leaning on, main body in the wheel box is a pair of internal tooth transmission gear 3, axle center around the rotation of Z axle is concentric with housing, stepper motor 4 spindle noses are adorned a driver pinion 26, by an axle of carrier pulley 27 number of teeth idle wheels 7 such as two are arranged on it, 7 ', with internal tooth transmission gear 3 engagements that are fixed on wheel box, tubular shaft 10 ends of internal tooth transmission gear are installed conducting slip ring 28, guarantee that cable does not have winding, realize that both forward and reverse directions rotates at any angle.After the Correction and Control device passes to stepper motor with the instruction of " Z " deviation adjustment angle, stepper motor will drag rotating part to the opposite direction rotation of disturbance according to the instruction rotation, guarantee video camera tracking target at any time.Rotating part and fixed part are taked coaxial rotation form.Hermetically-sealed construction therebetween adopts butt-end packing.Between the end face of rotating part and wheel box, adopt " A " type end side O-ring seal.Make complete machine have reliable rainproof effect.
X-axis actuating unit (as Fig. 9) is contained in the top of Z, X-axis actuating unit, stepper motor 8 spindle noses are equipped with driver pinion 9, with driven gear wheel 9 ' engagement, become gearing-down output, end face is equipped with the moving plate of electromagnetic brake 11, and driven gear wheel is loaded on the diameter of axle of hollow output shaft 10, connect by key, transmission is rotated and torque, and the stator of electromagnetic brake 11 is housed in skeleton front supporting plate 29 and driven gear wheel 9 ' corresponding position, with accurately bigger with the generation holding torque of off-position of guaranteeing output shaft.
Y-axis actuating unit (22) (as Figure 10), its front end are video cameras 12, and center section is duplicate gear 16 wheel boxes, and the end structure is the stepper motor 17 as power source; Stepper motor puts in duplicate gear 16 wheel boxes as the flange electric machine structure with spindle nose, drive pinion wheel 18 rotations, pinion wheel arrives driven gear 14 by duplicate gear 19 with transmission of power, driven gear drags the outer backup plate 15 of wheel box, drive 90 ° of bent plates 13 and form driving-chains with its fixing video camera 12, make video camera under the dragging of stepper motor, finish " Y " axial ± rotation in 90 ° of scopes.Send the signal of correction " Y " axle deflection when the Correction and Control device after, stepper motor (17) is by the wheel box output of secondary transmission, and making video camera produce with " Y " axle is the rotation at center, makes video camera remain initial horizontal level.
Correction and Control device (as Figure 11,12) is made up of power circuit, parameter setting circuit, signaling input circuit, angle memory circuit, cpu control circuit, angle compensation circuit, driving circuit, signaling input circuit, parameter setting circuit and angle compensation circuit are connected the input of cpu control circuit respectively, the output of cpu control circuit connects driving circuit, the two-way connection angle memory circuit of cpu control circuit, power circuit provides operating voltage for the various piece circuit; When receiving the manual control order that controller sends, the signaling input circuit carries out the signaling conversion and sends cpu control circuit to, CPU analyzes decoding to self being provided with of parameter to signaling according to parameter setting circuit, turn over respective angles by the driving circuit driving, and simultaneously by the current angle value of angle memory circuit memory three-dimensional automatic stabilization camera shooting system carrier platform and the position of three axial at present relative initial zero, as new Camera Positioning value; When disturbance causes that the carrier of carrying three-dimensional automatic stabilization camera shooting system is along X, Y, when Z axle generation attitude changes, the three axial present actual angles that measurement mechanism will detect input to the angle compensation circuit, the angle compensation circuit sends metrical information to CPU, CPU calculates the angle compensation value according to the angle compensation algorithm, and the actuating unit offset angle is revised in driving, the monitor area of video camera is remained unchanged, thereby realize the purpose of autostable video pictures.Wherein:
The I power circuit
Realize the voltage transitions of AC24V-DC12V-DC5V, be the total system power supply.
II signaling input circuit
RS-485 is controlled signaling be converted to the Transistor-Transistor Logic level signal.
The III cpu control circuit
Be provided with according to The Cloud Terrace self parameter the data that receive are carried out analyzing and processing and carried out corresponding actions; Finish the analyzing and processing work of the angle compensation of three-dimensional automatic stabilization camera shooting system simultaneously.
The IV driving circuit
The control signal that CPU is sent be converted to the drive corresponding axis to the correcting device running.
V angle memory circuit
The current angle value and three of memory three-dimensional automatic stabilization camera shooting system carrier platform is the position of at present relative initial zero axially, as new Camera Positioning value
VI angle compensation circuit
Send the current measurement of angle information of angle measurement unit to CPU.
The VII parameter setting circuit
The parameter such as address code, agreement of The Cloud Terrace is set.
Figure 13 is seen in program work explanation of the present invention.
Claims (6)
1. three-dimensional automatic stabilization camera shooting system, comprise measurement mechanism, Correction and Control device and correction actuating unit, it is characterized in that: in X-axis, Y-axis, Z-direction, identical and the measurement mechanism independently again of one tunnel function is respectively arranged, the Correction and Control device, revise actuating unit, described correction actuating unit is by Z, X-axis actuating unit (20) and Y-axis actuating unit (22) are formed, measurement mechanism (21,21 ') be contained in Z respectively, on the bottom level position of X-axis actuating unit and Y-axis actuating unit, Correction and Control device (30,30 ') is contained in Z respectively, X-axis actuating unit and Y-axis actuating unit top; When disturbance caused that the attitude at random of carrier changes, the Correction and Control device was according to the measurement of inductance signal of measurement mechanism output, sent to be elected through calculation process and revised actuating unit and revise.
2. three-dimensional automatic stabilization camera shooting system according to claim 1 is characterized in that: described measurement mechanism adopts the silicon micromechanical structure obliquity sensor in X, Y-axis, adopts the electronic compass of silicon micromechanical structure at the Z axle.
3. three-dimensional automatic stabilization camera shooting system according to claim 1, it is characterized in that: described Z axle actuating unit is installed in Z, the foot of X-axis actuating unit, install with base flange (1), following stepper motor (4) is the drive stepping motor around the rotation of Z axle, the wheel box (2) of its Z axle topworks below leaning on, main body in the wheel box is an a pair of internal tooth transmission gear (3), axle center around the rotation of Z axle is concentric with housing, stepper motor (4) spindle nose is adorned a driver pinion (26), by an axle of carrier pulley (27) number of teeth idle wheels (7 such as two are arranged on it, 7 '), with internal tooth transmission gear (3) engagement that is fixed on wheel box, the tubular shaft of internal tooth transmission gear (10) end is installed conducting slip ring (28), guarantee that cable does not have winding, realize that both forward and reverse directions rotates at any angle.。
4. three-dimensional automatic stabilization camera shooting system according to claim 1, it is characterized in that: described X-axis actuating unit is contained in Z, the top of X-axis actuating unit, stepper motor (8) spindle nose is equipped with driver pinion (9), mesh with driven gear wheel (9 '), become gearing-down output, the driven gear wheel that end face is equipped with electromagnetic brake (11) moving plate is loaded on the diameter of axle of hollow output shaft (10), connect by key, transmit and rotate and torque, in skeleton front supporting plate (29) and driven gear wheel (9 ') corresponding position the stator of electromagnetic brake (11) is housed, with the accurately bigger holding torque of off-position of guaranteeing output shaft with generation.
5. three-dimensional automatic stabilization camera shooting system according to claim 1 is characterized in that: described Y-axis actuating unit, its front end are video camera (12), and center section is duplicate gear (a 16) wheel box, and the end structure is the stepper motor (17) as power source; Stepper motor 17 puts in duplicate gear (16) wheel box as the flange electric machine structure with spindle nose, drive pinion wheel (18) rotation, pinion wheel arrives driven gear (14) by duplicate gear (19) with transmission of power, driven gear drags the outer backup plate (15) of wheel box, drive 90 ° of bent plates (13) and form driving-chain with its fixing video camera (12), make video camera under the dragging of stepper motor, finish " Y " axial ± rotation in 90 ° of scopes.
6. three-dimensional automatic stabilization camera shooting system according to claim 1, it is characterized in that: described Correction and Control device is made up of power circuit, parameter setting circuit, signaling input circuit, angle memory circuit, cpu control circuit, angle compensation circuit, driving circuit, signaling input circuit, parameter setting circuit and angle compensation circuit are connected the input of cpu control circuit respectively, the output of cpu control circuit connects driving circuit, the two-way connection angle memory circuit of cpu control circuit, power circuit provides operating voltage for the various piece circuit; When receiving the manual control order that controller sends, the signaling input circuit carries out the signaling conversion and sends cpu control circuit to, CPU analyzes decoding to self being provided with of parameter to signaling according to parameter setting circuit, turn over respective angles by the driving circuit driving, and simultaneously by the current angle value of angle memory circuit memory three-dimensional automatic stabilization camera shooting system carrier platform and the position of three axial at present relative initial zero, as new Camera Positioning value; When disturbance causes that the carrier of carrying three-dimensional automatic stabilization camera shooting system is along X, Y, when Z axle generation attitude changes, the three axial present actual angles that measurement mechanism will detect input to the angle compensation circuit, the angle compensation circuit sends metrical information to CPU, CPU calculates the angle compensation value according to the angle compensation algorithm, and the actuating unit offset angle is revised in driving, the monitor area of video camera is remained unchanged, thereby realize the purpose of autostable video pictures.
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| CN106257924A (en) * | 2015-10-13 | 2016-12-28 | 深圳市易知见科技有限公司 | Multi-visual angle filming device and multi-visual angle filming method |
| WO2018191957A1 (en) * | 2017-04-21 | 2018-10-25 | 深圳市大疆灵眸科技有限公司 | Camera mount attitude estimation method and device, and corresponding camera mount |
| CN111669487A (en) * | 2020-06-16 | 2020-09-15 | 深圳市安星数字系统有限公司 | Control method of ocean monitoring device and monitoring device |
| CN116996756A (en) * | 2023-05-30 | 2023-11-03 | 钛玛科（北京）工业科技有限公司 | Automatic fine adjustment device for industrial camera and control method thereof |
| CN116996756B (en) * | 2023-05-30 | 2024-03-26 | 钛玛科（北京）工业科技有限公司 | Automatic fine adjustment device for industrial camera and control method thereof |
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