CN104486536B - A kind of automatic image shooting system and its implementation - Google Patents
A kind of automatic image shooting system and its implementation Download PDFInfo
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- CN104486536B CN104486536B CN201410344786.9A CN201410344786A CN104486536B CN 104486536 B CN104486536 B CN 104486536B CN 201410344786 A CN201410344786 A CN 201410344786A CN 104486536 B CN104486536 B CN 104486536B
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Abstract
The present invention provides a kind of automatic image shooting system and its implementation, the signal of transceiver signal and light source transceiver or the signal of ultrasonic transmitter-receiver based on RF radio frequencies and using inertia coordinate sensor parameter and terminal image capture apparatus software correction value etc. complex art, after operational analysis processing being carried out using processor, operation values are converted into electric signal and carry out drive motor, promote image capture devices either indoor or outdoors in effective range, can accurate tracking and position mobile tag position, and the accurate orientation of mobile tag is carried out shaking control filming image or carries out automatic image shooting according to the interval time of setting using the software of terminal image capture apparatus come bootstrap processor order terminal image capture apparatus.
Description
Technical field
The present invention relates to automation filming image technical field more particularly to a kind of automatic image shooting system and its realizations
Method.
Background technology
It is very various according to image capture devices type currently on the market, but either special digital camera or general number
Code camera or even smart mobile phone and tablet computer or other image display equipment etc., lack to target person carry out immediately and
Under effective tracking and positioning scenarios, when carrying out the general filming image of friend's party or family, be whether in step with or
Self-timer is all limited by the direction of target and movement speed etc. are many, and captured static image major part is all fixed field
Scape and towards the stiff and unnatural result to be captured such as camera lens：Especially dynamic is recorded a video, it is necessary to hold image by a people
Capture apparatus can just track the target to be shot, in this case, in addition to photographer itself can not participate in clapping in image
Take the photograph except the enjoyment among scene, for the photographer of some industry Yus, often do not know even more clap where or clap it is a little what,
Often occur not being that have the heels of head be exactly slow half phenomenon clapped to camera lens in shooting process, wastes many precious and picture of moment
Face：Just more highlighted in the case of this phenomenon image capture devices for mobile target tracking and positioning and manually
And/or effective solution must be obtained on the problem of automatic shooting.
Tracking for mobile tag and orientation problem, in the outdoor mistake for using global position system to have 3~5 meters at least
Difference, indoors when global position system lose accurate positioning function completely because of the influence of terrain and its features.
There are some location technologies as follows in the prior art：
The indoor positioning and navigation system and number of patent application of number of patent application 201210507974.x
200880106680.8 RF radio frequency signal acquisitions and many indoor orientation methods of source location system etc..But these methods
Multiple beacon transceivers must all be possessed to carry out triangulation location, be not only only applicable to the indoor environment of large area and it is necessary to
In the case of building many beacon receivers and calculation server, other than cost is too high, if mobile tag turns
Being reformed into if moving on to outdoor can not position.
The tracking camera system of number of patent application 201310133248.0 then only uses a kind of single RF radio frequencies with method to be believed
It number is tracked and positions and then shot, this patent is identical with above-mentioned patent, not only to arrange numerous nothings around
Except line label, and if the intensity operation for directly taking RF radio frequencies, there can be barrier because of between two carriers,
And signal refraction problems are generated, therefore become very accurately mobile tag to be tracked and be positioned, it shoots
Image is not most probably the accurate location of mobile tag.
A kind of infrared ray of number of patent application 201020179277.2 tracks camera, then is chased after using a kind of single infrared ray
Track and image pickup method.Therefore the place for being more only applicable to spacious clear uses, and one has barrier obstruction, to mobile tag
Tracking and positioning can stop immediately, if mobile tag for a long time be located at barrier behind or carrier be positioned in pocket
When, infrared ray method for tracking and positioning is then entirely ineffective.It can be seen that although above patented method is effective, there is serious lack
It falls into, is not fully suitble to clap in equipment using in the common automatic image of general family.
In addition there are some location tracking technique for taking that can use in the automatic image shooting equipment of family.Such as patent
Number ZL200510023277.7, denomination of invention：Its digital camera with functions such as auto-shoot tracking, positioning and prompts.But it should
Patent, which is confined to the digital camera of itself, just slightly has the function of track and localization target, and not directed to mobile tag
Target carries out movable tracking and positioning, this is not only buying the digital camera for general most of consuming public
In the case of, that has no alternative loses except various one's own precious images, and mobility target is just lost completely
The function of tracking and positioning.
In above-mentioned several method and many localization methods being tracked to mobile tag that do not state, be nearly all with
Monotechnics or method are tracked positioning and automatic shooting, these single methods either utilize terminal image capture apparatus
Although application software, coordinate sensor or RF radio frequencies or the single methods such as infrared ray or ultrasonic wave are all effectively, also all exist
There is respective major defect：
(1) be tracked positioning using the application software (app) of single terminal end image capture devices, then it can be because of distance
Too far or environment light source difference and None- identified target object also can not just be accurately positioned mobile target, and identify soft
Part stability is also poor, and the requirements such as resolution and environment light source for image are relatively also relatively high, at the end of low resolution
It can be described as not using when end image capture devices and shooting environmental light source deficiency.
It (2), then can be because of the movement speed and angle of mobile tag using single inertia coordinate sensor come when being positioned
Variation, with writing, time longer error rate is bigger, according to current six axle sensor after about passing through 10 minutes, it is most likely that just lose
The practical coordinate position of mobile tag, more long then precision will be poorer the time.
(3) it when being positioned, then because of serious refraction problems, must be set up in single use using single RF radio frequencies
Multiple signals emit receiving stations to carry out triangulation location, otherwise can only be positioned as complementary outline target.
(4) light source transceiver (including infrared ray) then can lose mobile mark completely because of intermediate slight barrier
The accurate location of label.
(5) it though ultrasonic transmitter-receiver has stronger penetrability, when mobile tag is positioned over pocket, can also penetrate
Practical coordinate signal is passed to motor and drives carrier by clothing, but when if it is large-scale thick and heavy barrier, ultrasonic wave then can
Because that can not penetrate and refraction problems due tos loses the mobile target of tracking.
In view of this, the prior art has much room for improvement and improves.
Invention content
In view of the deficiencies in the prior art, present invention aims at a kind of automatic image shooting system of offer and its realization sides
Method, for passing through RF RF transceivers and/or light source transceiver and/or ultrasonic transmitter-receiver and inertia coordinate
The complex arts such as the software tracking function of sensor and/or terminal image capture apparatus, more effectively more accurately to mobile tag
Owner carries out immediately and accurately tracks and position and be carried out at the same time automatic shooting or shake control shooting.
Technical scheme is as follows：
A kind of automatic image shooting system, wherein including：It is at least one terminal image capture apparatus, at least one
Motor drives carrier and at least one mobile tag carrier；
By the way that mobile tag carrier is tracked and is positioned, to carry out automatic image shooting to mobile tag carrier
And/or shake control shooting.
Preferably, the automatic image shooting system, wherein received with RF RF transceivers, light source transmitting
Device, ultrasonic transmitter-receiver, inertia coordinate sensor or terminal image capture apparatus application software in any one or
More than one complex art is tracked and positions to mobile tag carrier, and then carries out automatic image to mobile tag carrier
Shoot and/or shake control shooting；
Wherein, the RF RF transceivers include in wifi, 2.4G, 2.5G, NFC, Bluetooth or Zigbee
Any one or more than one mode and each carrier between establish communication connection, and according to its signal source direction to mobile tag
Carrier is tracked and positions；Also audio signal is carried out between each carrier using RF RF transceivers signal and/or is regarded
The transmission of frequency video signal；
The light source transceiver includes infrared ray and/or laser and/or photoelectric sensor, and is carried to mobile tag
Body is tracked and positions；
The ultrasonic transmitter-receiver includes to directly acquire ultrasonic signal and/or ultrasonic reflections signal, is used for
Mobile tag carrier is tracked and is positioned and range determination is carried out according to signal time difference；
The inertia coordinate sensor includes that at least one angular-rate sensor and at least one accelerometer are formed,
For mobile tag carrier to be tracked and is positioned；
The application software of the terminal image capture apparatus includes image capturing and identification technology, for mobile tag
Carrier is tracked and positions and parameters setting；Each bat when parameters setting therein includes AUTOMATIC STATIC shooting
The video time for taking the photograph interval time setting and automatic video recording and the setting of video recording interval time every time.
The automatic image shooting includes that static shooting and dynamic are shot；Wherein automatic still image shooting is preset according to its
Interval time is carried out continuously shooting；Automatic dynamic shooting is then carried out continuously shooting according to its preset interval time and video time.
Preferably, the automatic image shooting system, wherein the horse of at least one group or more of the carrier of motor driving
Up to driving unit and first processor, the motor drive unit is electrically connected with first processor；The motor drive unit
Further include stepper motor and/or servo motor and corresponding gear；
The motor driving carrier further comprises a main structure body and at least one bascule body, main structure body and work
It is connected with motor drive unit between dynamic structure；The bascule body screw and nut and/or metric system bolt and/or trip
The fixed at least one terminal image capture apparatus of installation fixes holder and/or at least one terminal image capture apparatus；
The motor driving carrier inside is provided with a substrate, is provided with each electronic sensor and power supply supply loop
With first processor；
The center point that a longitudinal and transverse direction is identified on the shell vertical side of the motor driving carrier, in described
The camera lens of heart point and terminal image capture apparatus holder and terminal image capture apparatus is towards same direction and in line；Shell
One metric system bolt is arranged at bottom, for being connect with all types of image capture devices tripods；
It is provided with power outlet and power switch on motor driving carrier；Its power suppling part part point is powered by adapter
Mode and/or Rechargeable battery power supply mode.
Preferably, the automatic image shooting system, wherein the terminal image capture apparatus includes at least one set RF
RF transceiver and power supply, the RF RF transceivers are electrically connected with the power supply；
At least one group of RF RF transceivers and/or at least one group of light source hair on the motor driving carrier
Receiver and/or at least one group of ultrasonic transmitter-receiver and power supply are penetrated, and is electrically connected；
At least one group of RF RF transceivers and/or at least one group of light source on the mobile tag carrier
Transceiver and/or at least one group of ultrasonic transmitter-receiver and/or the inertia coordinate sensor of at least one, and
It is electrically connected.
Preferably, the automatic image shooting system, wherein the mobile tag carrier is by a frame structure institute
Composition；At least one electronic sensor of frame structure interior arrangement and microphone and loudspeaker or piezo and a power supply supply
Circuit is answered, and is electrically connected；
Wherein, the electronic sensor includes inertia coordinate sensor and/or step-counting sensor and/or displacement sensor
And/or seek mark sensor and/or temperature sensor；
Installation and Power Support supply module group substrates and various electronic sensor substrates and each inside the frame structure
Substrate for electronic elements；
The mobile tag carrier further includes a power suppling part part, is adapter power supply mode and/or rechargeable type
Battery powered mode or button cell power supply mode.
Preferably, the automatic image shooting system, wherein the RF RF transceivers include transmitting and receive
Antenna and electric connection；
The data that the RF RF transceivers are used between each carrier send and receive with order, including each seed ginseng
Number setting and shooting shutter triggering command and the transmission of audio signal and/or the transmission of video image signal；It is penetrated simultaneously according to its RF
Frequency signal strength carries out information source direction calculating, and the coordinate values of mobile tag carrier are obtained according to the direction calculating of information source, then will
Coordinate values pass to first processor and carry out drive motor unit, and promote the bascule body center point of motor driving carrier
It is directed at mobile tag direction and position；
The one group of light source transceiver includes that at least one light source transmitter unit and at least one light source receive
Unit, and be electrically connected；
The ultrasonic transmitter-receiver includes that at least one ultrasonic transmitting element and at least one ultrasonic wave connect
Unit is received, and is electrically connected；The ultrasonic transmitter-receiver drives the signal between carrier and mobile tag carrier in motor
Transmission calculates the accurate location of mobile tag carrier according to its intensitometer；And signal transmission time difference is carried for calculating motor driving
The distance between body and mobile tag carrier；
The inertia coordinate sensor is through measuring the movement parameters obtained of mobile tag, after being handled via second processor,
It is transmitted to motor by RF RF transceivers and drives first processor processing on carrier.
Preferably, the automatic image shooting system, wherein the light source transceiver and/or ultrasonic wave transmitting
The transmitting of receiver and receiving unit are respectively set at least one subplate and mounted on mobile tag carrier and motor driving carriers
Shell on；Respective transmitting and receiving unit are electrically connected with respective transceiver and processor；
The receiving unit side of the light source transceiver and ultrasonic transmitter-receiver has opaque and/or non-respectively
Penetrability material, for completely cutting off light source or ultrasonic signal transmitting and the angle barrier design and/or the utilization that enter receiving unit
Directions and location Calculation benchmark of the light signal ID and RFID as mobile tag.
Preferably, the automatic image shooting system, wherein the motor driving of the motor driving carrier is by first
Acquired coordinate signal is changed into electric signal and carrys out drive motor by processor, promotes the bascule body center of motor carrier
Point alignment mobile tag direction；
Motor drives carrier when drive more than one bascule body, progress left and right horizontal rotation and/or upper sagging
The shift action that direct rotary turns and/or upper and lower, left and right, advance retreat, the drive actions of motor are by motor driving carrier
First processor controls.
Preferably, the automatic image shooting system, wherein have at least one button on the motor driving carrier
And/or switch and/or touching type induction device and/or touch screen；And it is electrically connected with first processor；And it is sent out through RF radio frequencies
Receiver and/or light source transceiver are penetrated, the various functions behaviour on mobile tag carrier and image capture devices is shaken
Control operation, it is therein shake control operation include filming image triggering command；Other key switches include：
The option switches of one adjustable terminal image capture devices software control or motor driving carrier control；
The option switches of one group of adjustable automatic shooting interval time or video time；
One group of adjustable option switches taken pictures or recorded a video；
The button of at least one and/or switch and/or touching type induction device and/or touch on the mobile tag carrier
Shield and is electrically connected with second processor；And RF RF transceivers and/or light source transceiver are penetrated, motor is driven
Various functions on carrier and image capture devices shake control operation, and therein to shake control operation include that filming image triggers and refers to
It enables.
A kind of implementation method of the automatic image shooting system, wherein the described method comprises the following steps：
S0, mobile tag carrier are shaken using preceding elder generation in front of motor driving carrier, until making light source transceiver and surpassing
The signal of pinger allows two carriers to generate signal connection, or carries out signal using the NFC near field communication agreement of RF radio frequencies
Connection, and each coordinate data is promoted to be zeroed；
When S1, mobile tag carrier start mobile, the application of inertia coordinate sensor and/or terminal image capture apparatus is soft
Part tracking brings into operation；The parameter of angular-rate sensor and accelerometer on mobile tag carrier is supplied to second processing successively
Device carries out calculation processing, and coordinate message is transmitted to motor driving by second processor through RF RF transceivers by both party again
The first processor of carrier；Application software trace parameters on terminal image capture apparatus are also by the RF of terminal image capture apparatus
RF transceiver is transmitted on the first processor of motor driving carrier and processing is compared；
S2, motor pass to first processor progress after driving the RF RF transceivers of carrier to receive coordinate message
Operation and the intensity for comparing trace parameters and RF information sources, and the coordinate signal of the exact coordinates of mobile tag carrier is calculated, so
Coordinate signal is changed into electric signal again afterwards and carrys out drive motor unit, allows the central point and terminal image capture apparatus of bascule body
Camera lens turn to and be directed at the direction of mobile tag, and start timing carry out automatic shooting action or wait for remote manual control shooting；
After S3, the movement of mobile tag carrier, inertia coordinate sensor calculates mobile tag carrier and drives carrier with motor
Distance when having exceeded a setting value, light signal is involved by motor driving carrier transmitting ultrasound and compares the reception of RF radio frequencies
Time difference, confirm whether the two has exceeded setting value, if it is determined that exceeded setting value, then trace parameters have been deactivated, to avoid
Target can not be tracked caused by hypertelorism, coordinate values easy to produce error amount instead；Conversely, when distance is less than setting value then
Software trace parameters are enabled once again.
Advantageous effect：A kind of automatic image shooting system provided by the invention and its implementation, the hair based on RF radio frequencies
It penetrates the signal of receiver signal and light source transceiver or the signal of ultrasonic transmitter-receiver and is sensed using inertia coordinate
The complex art of the parameter of device and the software correction value of terminal image capture apparatus etc. is carried out using processor at operational analysis
After reasons, operation values are converted into electric signal and carry out drive motor, promote image capture devices either indoor in effective range or
Outdoor accurate tracking and can position the position of mobile tag, and carry out shaking control filming image to the accurate orientation of mobile tag
Or using terminal image capture apparatus software come bootstrap processor order terminal image capture apparatus according to setting interval when
Between carry out automatic image shooting.
Description of the drawings
Fig. 1 is the schematic diagram of the preferred embodiment of the automatic image shooting system of the present invention.
Fig. 2 be the present invention automatic image shooting system in image capture devices first embodiment schematic diagram.
Fig. 3 be the present invention automatic image shooting system in image capture devices second embodiment schematic diagram.
Fig. 4 a drive the stereoscopic schematic diagram of the preferred embodiment of carrier for motor in the automatic image shooting system of the present invention.
Fig. 4 b drive the explosive view of the preferred embodiment of carrier for motor in the automatic image shooting system of the present invention.
Fig. 5 be the present invention automatic image shooting system in mobile tag carrier preferred embodiment schematic diagram.
Fig. 6 is the flow chart of the implementation method of the automatic image shooting system of the present invention.
Fig. 7 is fixed on motor driving for the first embodiment of image capture devices in the automatic image shooting system of the present invention
Schematic diagram on carrier.
Fig. 8 is fixed on motor driving for the second embodiment of image capture devices in the automatic image shooting system of the present invention
Schematic diagram on carrier.
Specific implementation mode
To make the objectives, technical solutions, and advantages of the present invention clearer and more explicit, develop simultaneously embodiment pair referring to the drawings
The present invention is further described.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and do not have to
It is of the invention in limiting.
Referring to Fig. 1, its schematic diagram for the preferred embodiment of the automatic image shooting system of the present invention.As shown,
The automatic image shooting system includes：At least one terminal image capture apparatus A1, at least one motor drive carrier B 1
With at least one mobile tag support C 1；Terminal image capture apparatus A1 is tracked and positions to mobile tag support C 1,
To carry out automatic image shooting to mobile tag support C 1 and/or shake control shooting.The present invention automatic image shooting system be
With RF RF transceivers, light source transceiver, ultrasonic transmitter-receiver, inertia coordinate sensor (inertial
Coordinate), the complex art of any one in the application software of terminal image capture apparatus or more than one modes promotees
Make the bascule body of processor drive motor carrier, and mobile tag carrier accurately track and position, and can be same
When drives terminal image capture devices to mobile tag carrier carry out automatic image shooting and/or shake control shooting.
In the present embodiment, the automatic image shooting system is received with RF RF transceivers, light source transmitting
Device, ultrasonic transmitter-receiver, inertia coordinate sensor or terminal image capture apparatus application software in any one or
More than one complex art is tracked and positions to mobile tag carrier, and then carries out automatic image to mobile tag carrier
Shoot and/or shake control shooting.
Wherein, the RF RF transceivers include in wifi, 2.4G, 2.5G, NFC, Bluetooth, Zigbee
Any one or more than one mode and each carrier between establish communication connection, and according to its signal source direction to mobile tag
Carrier is tracked and positions；Also audio signal is carried out between each carrier using RF RF transceivers signal and/or is regarded
The transmission of frequency video signal；The light source transceiver includes infrared ray and/or laser and/or photoelectric sensor etc., and
Mobile tag carrier is tracked and is positioned；The ultrasonic transmitter-receiver include directly acquire ultrasonic signal and/
Or ultrasonic reflections signal, for mobile tag carrier to be tracked and is positioned and carries out range determination according to signal time difference
(particularly, ultrasonic transmitter-receiver be direction is judged according to receiving intensity, then compare the time difference of RF signals come calculate away from
From)；The inertia coordinate sensor includes that at least one angular-rate sensor and at least one accelerometer are formed, and is used for
Mobile tag carrier is tracked and is positioned；The application software of the terminal image capture apparatus includes image capturing and knowledge
Other technology, for mobile tag carrier to be tracked and positioned.
Specifically, the terminal image capture apparatus A1 includes more than one various brands digital camera (such as Fig. 2 institutes
Show) and/or various brands intelligence shooting mobile phone (as shown in Figure 3) and/or various brands tablet computer and/or the image of various brands bat
Take the photograph product；It is provided with power supply and power switch on the ontology of the terminal image capture apparatus A1.
Also referring to Fig. 4 a and Fig. 4 b, the motor drive unit of at least one group or more of the carrier B 1 of motor driving
Md1, motor drive unit Md1 are electrically connected with first processor CPU1；The motor drive unit includes stepper motor
And/or servo motor and corresponding gear are formed；In addition, the motor drives carrier B 1, a main structure is contained
Body Ba1 and at least one bascule body Ba2 uses motor drive unit Md1 connections between the two；The motor driving carries
Each electronic sensor and power supply supply loop PW1 and the first processor CPU1 possessed inside body B1 can be divided at least one base
Plate is simultaneously electrically connected；Motor drive unit Md1 and each ministry of electronics industry can be installed and support inside the motor driving carrier B 1
Part substrate, including first processor CPU1 substrates；On 1 shell vertical side of the described motor driving carrier B mark one it is longitudinal and
Lateral center point G.Central point G and terminal image capture apparatus holder Aa1 (as shown in Figure 3) and terminal image are shot
The camera lens of device A 1 is towards same direction and in line；The motor drives 1 outer casing bottom of carrier B to gather around, and there are one metric system spiral shells
Bolt can be connect with all types of image capture devices tripods；The bascule body Ba2 can use screw and nut and/or metric system
Bolt B a3 and/or the fixed at least one terminal image capture apparatus of trip installation fix holder Aa1 and/or at least one
Terminal image capture apparatus A1；The bascule body Ba2 can support image capture devices to fix holder Aa1 and/or end
Hold image capture devices A1.There are power outlet and power switch in the motor driving carrier B 1；Power suppling part part can divide
By adapter power supply mode and/or Rechargeable battery power supply mode.
The mobile tag support C 1 (as shown in Figure 5) is made of a frame structure；Inside frame structure,
It can device more than one electronic sensor and microphone and loudspeaker or piezo and a power supply supply loop and second processing
Device CPU2 can be divided at least one substrate and be electrically connected；The various electronic sensors may include inertia coordinate sensor
And/or step-counting sensor and/or seek mark sensor and with second processor be electrically connected；It can be with inside the frame structure
It installs and Power Support supplies module group substrates and various electronic sensor substrates and each substrate for electronic elements, including second processor
CPU2 substrates.Described 1 power suppling part part of mobile tag support C is that adapter power supply mode and/or Rechargeable battery supply
Electric mode or button cell power supply mode.
Further, terminal image capture apparatus itself have to have RF RF transceivers or can plug-in RF radio frequencies
The type of the connectivity port RF1 of transceiver, RF RF transceivers can be wifi, NFC, self-defined 2.4G, make by oneself
The RF radio-frequency transmissions that any types such as adopted 2.5G, Bluetooth, Zigbee or more than one lines that can arrange in pairs or groups mutually use receive
Device.Motor drives also have on carrier and mobile tag and be sent out with the RF radio frequencies of terminal image capture apparatus similar frequency bands itself
Receiver RF2 is penetrated, and can be communicatively coupled between three above-mentioned carriers, including audio signal and/or video
The connection of video signal.On carrier and mobile tag other than possessing RF RF transceivers RF2, in addition motor drives
Possess light source transceiver and ultrasonic transmitter-receiver R1；Receiving unit is normally open, that is can be connect at any time
Receive light source and ultrasonic source signal.
The type of light source transceiver can be infrared ray or laser or photoelectric sensor.In addition to possessing on mobile tag
Except RF RF transceivers RF3 and light source transceiver and ultrasonic transmitter-receiver (R2), in addition possess at least one
A inertia coordinate sensor and microphone and loudspeaker or piezo.Inertia coordinate sensor is at least one angular-rate sensor
And at least one acceierometer sensor is formed.Motor drives is arranged multiple buttons or switch on carrier and mobile tag, presses
The type of key and switch contains touch-switch and touch-induction-type switch and touch-screen.Motor drives carrier and mobile mark
Sign on carrier, no matter light source transceiver and ultrasonic transmitter-receiver transmitting or receiving unit side have respectively it is opaque
With non-penetrative material, the angle barrier design of transmitting or reception for completely cutting off light signal or ultrasonic signal；It is designed
Method can also be depressed or protruding-type.Terminal image capture apparatus itself can such as load application software (such as Smartphone
App softwares), then can carry out function setting (such as:The interval time of automatic shooting and the shooting time of video recording), it also can be according to
The auxiliary coordinate foundation of the image capturing of its list of characters note of the ancient Chinese and identification technology as tracing and positioning.
The RF RF transceivers pass through any one in wifi, 2.4G, 2.5G, NFC, Bluetooth, Zigbee
Communication connection is established between kind or various ways and each carrier；And for the transmission of data and order between each carrier with connect
It receives, including various parameters setting and the transmission of shooting shutter triggering command and audio signal transmission and/or video image；While according to
Its RF RF signal strength carries out information source direction calculating, and the coordinate of mobile tag carrier is obtained according to the direction calculating of information source
Value, then coordinate values are passed into first processor and carry out drive motor unit, and promote in the bascule body of motor driving carrier
Heart location point is directed at mobile tag direction and position；
The light source transceiver includes infrared ray and/or laser and/or photoelectric sensor etc.；One group of light source transmitting connects
It includes at least one light source transmitter unit and at least one light source receiving unit to receive device；
The ultrasonic transmitter-receiver includes that at least one ultrasonic transmitting element and at least one ultrasonic wave connect
Unit is received, and is electrically connected；The ultrasonic transmitter-receiver drives the signal between carrier and mobile tag carrier in motor
Transmission calculates the accurate location of mobile tag carrier according to its intensitometer；And signal transmission time difference is carried for calculating motor driving
The distance between body and mobile tag carrier；
The inertia coordinate sensor is by least one angular-rate sensor and at least one accelerometer institute group
At；The inertia coordinate sensor after being handled via second processor, passes through RF through measuring the movement parameters obtained of mobile tag
RF transceiver is transmitted to first processor processing on motor driving carrier.
The application software of the terminal image capture apparatus includes image capturing and identification technology, for mobile tag
Carrier is tracked and positions and parameters setting；Each bat when parameters setting therein includes AUTOMATIC STATIC shooting
The video time for taking the photograph interval time setting and automatic video recording and the setting of video recording interval time every time.
The automatic image shooting includes that static shooting and dynamic are shot；Wherein automatic still image shooting is preset according to its
Interval time is carried out continuously shooting；Automatic dynamic shooting is then carried out continuously shooting according to its preset interval time and video time.
Preferably, the automatic image shooting system, wherein the light source transceiver and/or ultrasonic wave transmitting
The transmitting of receiver and receiving unit are respectively set at least one subplate and mounted on mobile tag carrier and motor driving carriers
Shell on；Respective transmitting and receiving unit are electrically connected with respective transceiver and processor；
The receiving unit side of the light source transceiver and ultrasonic transmitter-receiver has opaque and/or non-respectively
Penetrability material, for completely cutting off light source or ultrasonic signal transmitting and the angle barrier design and/or the utilization that enter receiving unit
Directions and location Calculation benchmark of the light signal ID as mobile tag.
Preferably, the automatic image shooting system, wherein the motor driving of the motor driving carrier is by first
Acquired coordinate signal is changed into electric signal and carrys out drive motor by processor, promotes the bascule body center of motor carrier
Point alignment mobile tag direction；
Motor drives carrier when drive more than one bascule body, progress left and right horizontal rotation and/or upper sagging
The shift action that direct rotary turns and/or upper and lower, left and right, advance retreat, the drive actions of motor are by motor driving carrier
First processor controls.
Preferably, the automatic image shooting system, wherein have at least one button on the motor driving carrier
And/or switch and/or touching type induction device and/or touch screen；And it is electrically connected with first processor；And it is sent out through RF radio frequencies
Receiver and/or light source transceiver are penetrated, the various functions behaviour on mobile tag carrier and image capture devices is shaken
Control operation, it is therein shake control operation include filming image triggering command；Other key switches include：
The option switches of one adjustable terminal image capture devices software control or motor driving carrier control；
The option switches of one group of adjustable automatic shooting interval time or video time；
One group of adjustable option switches taken pictures or recorded a video；
The mobile tag carrier is equipped at least one button and/or switch and/or touching type induction device and/or touches
It touches screen and is electrically connected with second processor；And RF RF transceivers and/or light source transceiver are penetrated, motor is driven
Various functions on dynamic load body and image capture devices shake control operation, and therein to shake control operation include that filming image triggers and refers to
It enables.
The invention of this hair additionally provides a kind of implementation method of automatic image shooting system, as shown in fig. 6, the method includes
Following steps：
When S100, mobile tag carrier start mobile, the image of inertia coordinate sensor and terminal image capture apparatus is caught
It catches and identification software tracking brings into operation, and the parameter of angular-rate sensor and accelerometer is supplied to second processor successively
Calculation processing is carried out, coordinate message is transmitted to motor driving through RF RF transceivers by both party again and carried by second processor
The first processor of body；And the trace parameters on terminal image capture apparatus are also by the RF radio-frequency transmissions of terminal image capture apparatus
Receiver is transmitted on the first processor of motor driving carrier and processing is compared；
S200, motor driving carrier RF RF transceivers receive pass to after coordinate message first processor into
Row operation and the intensity for comparing trace parameters and RF information sources, and the coordinate signal of the exact coordinates of mobile tag carrier is calculated,
Then coordinate signal is changed into electric signal again and carrys out drive motor unit, the central point of bascule body and terminal image shooting is allowed to set
Standby camera lens turns to and is directed at the direction of mobile tag, and starts timing and carry out automatic shooting action or remote manual control is waited for clap
It takes the photograph；
After S300, the movement of mobile tag carrier, inertia coordinate sensor calculates mobile tag carrier and is carried with motor driving
When the distance of body has exceeded a setting value, light signal is involved by motor driving carrier transmitting ultrasound and compares the reception of RF radio frequencies
Time difference, both confirm whether exceed setting value, if it is determined that exceeded setting value, then deactivated terminal image capture apparatus
Software trace parameters, to avoid that target can not be tracked caused by hypertelorism, coordinate values easy to produce bigger instead
Error amount；Conversely, when distance is less than the trace parameters that setting value then enables the software once again.
It should be noted that during above-mentioned distance confirms, the exact coordinates of light signal and ultrasonic wave signal
Value, also as the amendment coordinate values of inertia coordinate sensor, at the same time second processor carries out inertia coordinate sensor error
The amendment of value.During above-mentioned distance confirms, the problems such as because of barrier, causes mobile tag support C 1 and motor to drive and carry
Body B1 when the two is mutual can not all obtain light signal and ultrasonic signal, is then continuing with former inertia coordinate sensing
The trace parameters of device and terminal image capture apparatus software carry out drive motor as standard coordinate value, until receiving light source again
The amendment of error amount is carried out when signal and/or ultrasonic signal again.Inertia coordinate sensor then indicates to move when not detecting variation
Dynamic label carrier does not move.
Among the shooting, further include：
The transmission of audio signal, using RF RF transceivers and microphone on mobile tag carrier and loudspeaker into
Row voice communication, also as the audio signal transmission for playing music.
Before the shooting, further include：
As shown in Figure 7 and Figure 8, using the metric system bolt in motor driving carrier B 1, terminal image capture apparatus A1 is consolidated
It is driven on the bascule body of carrier B 1 due to motor or sets the terminal image shooting that terminal image capture apparatus A1 is fixed on
On standby holder Aa1.Power supply is respectively started in terminal image capture apparatus A1, motor driving carrier B 1 and mobile tag support C 1.Horse
RF radio frequencies wifi, NFC, 2.4G, 2.5G, Bluetooth, Zigbee are used up to driving carrier B 1 and terminal image capture apparatus A1
In any one or more than one feasible methods carry out signal pairing connection.Motor drives carrier B 1 and mobile tag support C 1
With RF radio frequencies wifi, NFC, 2.4G, 2.5G, Bluetooth, any one or more than one feasible methods in Zigbee into
The pairing connection of row signal.Terminal image capture apparatus A1 if any application software can be set, then can be taken pictures or be recorded a video and
The settings such as automatic camera interval time or photography time；Automatic shooting setting such as can be carried out without application software, then motor can be driven
Switch option on dynamic load B1, between being set as being controlled by motor driving carrier and can setting and take pictures or record a video and automatically snap
Every and video time.It can first be shaken in motor driving carrier B 1 front to making light source transmitting receive before 1 use of mobile tag support C
The signal of device and ultrasonic transmitter allows two carriers to generate signals connection, or using RF radio frequencies NFC near field communication agreement into
Row signal connects, and each coordinate data is promoted to be zeroed, including inertia coordinate sensor and terminal image capture apparatus application
The coordinate values of software are zeroed；Then by an indicator light and auditory tone cues after the completion of flyback action.Complete the mobile tag carrier of zero
C1 can be carried by adult or child or animal or article.
Illustrate how above-mentioned automatic image shooting system works below by three kinds of screening-modes：
(1) pattern is automatically snapped：
When the automatic camera interval time of terminal image capture apparatus software timer expires, then connect with RF radio-frequency transmissions
Receive device message will be supplied to motor to drive carrier at that time.Or the timer of motor driving carrier first processor is between automatic camera
When the time expires, motor driving carrier is when receiving message at that time, emits light signal and ultrasonic signal and simultaneously immediately
Information at that time, which is transmitted, with RF RF transceivers gives mobile tag carrier.Mobile tag carrier is stood after receiving information at that time
Emit light source and ultrasonic wave and the motor received is driven to the light signal and ultrasonic signal of carrier, with second processing
Device calculates orientation coordinate and distance.Mobile tag carrier is sent out by the coordinate orientation being calculated and apart from message with RF radio frequencies again
It penetrates receiver and passes to motor driving carrier.Motor driving carrier receives the coordinate orientation of mobile tag carrier and apart from message
After comparison itself receives the light signal and ultrasonic signal that mobile tag carrier is emitted afterwards, accurate mobile tag is carried out
Carrier coordinate calculates, and changes into electric signal drive motor unit and carry the central point alignment mobile tag of bascule body (Ba2)
Body, first processor transmits positioning completion message with RF RF transceivers and gives terminal image capture apparatus after completion positioning
It carries out filming image action and completes shooting action；Positioning is also completed message and passes to mobile tag load by first processor simultaneously
Body orders it to stop transmitting light signal and ultrasonic signal, to save power supply；Inertia coordinate sensor is then continued to run with and is passed
Pass new coordinate parameter；Motor driving carrier is also simultaneously stopped transmitting light signal and ultrasonic signal and continues to track mobile tag
Carrier and the next shooting instruction of waiting, recycle according to this.Mobile tag carrier drives the positioning completion news of carrier receiving motor
The parameter for simultaneously being accumulated inertia coordinate sensor after breath carries out error correction, and starts to recalculate moving parameter and will be new
Parameter sends second processor to successively, and the new command of carrier is driven until receiving motor again, and cycle carries out according to this.Motor
Drive carrier and mobile tag carrier after receiving information at that time, when can not receive light signal and ultrasonic signal, i.e. table
Show that first processor will be with the signal strength of RF RF transceivers and inertia coordinate at this time between the two with the presence of obstacle
The parameter value of sensor and/or the application software trace parameters value of terminal image capture apparatus are as positioning and the standard seat of distance
Scale value, and electric signal is changed into for drive motor unit.
(2) manual screening-mode:
No matter automatically snap whether interval time expires, when through touching the shooting button on mobile tag carrier, at second
Reason device emits light signal and ultrasonic signal, while parameter and triggering of the second processor together with inertia coordinate sensor immediately
Shooting order passes to motor using RF RF transceivers and drives carrier together.Motor drives the RF radio-frequency transmissions of carrier
Receiver receive mobile tag carrier shooting fingertip enable after check and calculate immediately the coordinate parameter received and drive horse
Up to unit, terminal image capture apparatus alignment lens mobile tag carrier direction is allowed；RF radio frequencies are penetrated by first processor simultaneously
Transceiver will shoot pass down the line and give terminal image capture apparatus.Terminal image capture apparatus in receive motor driving carry
Filming image triggering is carried out after the triggering shooting instruction of the RF RF transceivers of body immediately and completes filming image operation.
(3) video recording screening-mode：
Style of shooting of recording a video and automatic and manual style of shooting process are identical.Video recording shooting can be by mobile tag carrier
Stop shooting button carrying out stopping shooting instruction manually.Video recording shooting time and interval time can be by terminal image capture apparatus
Software or motor driving carrier on button and/or switch set.
It should be understood that implementation example explanation detailed above, the present invention is with RF radio frequencies as between each carrier
Primary communications mode, and can be used as the householder method of tracing and positioning；Light source transceiver and ultrasonic transmitter-receiver are then
For main tracing and positioning standard coordinate according to and apart from coordinate according to away from；The coordinate values of inertia coordinate sensor, each carrier it
Between because of factors such as barriers, when causing can not to receive the signal of light source transceiver and ultrasonic transmitter-receiver, as
The standard coordinate foundation of main tracing and positioning, but when light source transceiver and ultrasonic transmitter-receiver can normally receive letter
Number when, then coordinate values of inertia coordinate sensor are served only for auxiliary positioning purposes, the software tracking ginseng of terminal image capture apparatus
Number is in short distance, also as main location purposes, but then suspends in its remote parameter value and uses.
In conclusion the present invention provides a kind of automatic image shooting system and its implementation, the hair based on RF radio frequencies
It penetrates the signal of receiver signal and light source transceiver or the signal of ultrasonic transmitter-receiver and is sensed using inertia coordinate
The complex art of the parameter of device and the application software correction value of terminal image capture apparatus etc. carries out operation point using processor
After analysis processing, operation values are converted into electric signal and carry out drive motor, promotes image capture devices either room in effective range
It is interior or outdoor, accurate tracking and the position of mobile tag can be positioned, and the accurate orientation of mobile tag be carried out to shake control image
Shooting or using terminal image capture apparatus software come bootstrap processor order terminal image capture apparatus according between setting
Automatic image shooting is carried out every the time.
It should be understood that the application of the present invention is not limited to the above for those of ordinary skills can
With improvement or transformation based on the above description, all these modifications and variations should all belong to the guarantor of appended claims of the present invention
Protect range.It is not in accordance with the size and shape drafting of actual product as the shown chart of the disclosure, is only used for coordinating this explanation
The chart used is drawn, therefore the chart of the disclosure is not intended to limit the invention the protection domain of appended claims.
Claims (1)
1. a kind of implementation method of automatic image shooting system, which is characterized in that
The automatic image shooting system includes：At least one terminal image capture apparatus, the driving of at least one motor carry
Body and at least one mobile tag carrier；By the way that mobile tag carrier is tracked and is positioned, to be carried to mobile tag
Body carries out automatic image shooting and/or shakes control shooting；
It the described method comprises the following steps：
S0, mobile tag carrier are shaken using preceding elder generation in front of motor driving carrier, until making light source transceiver and ultrasonic wave
The signal of transmitter allows two carriers to generate signal connection, or carries out signal transmission using the NFC near field communication agreement of RF radio frequencies,
And each coordinate data is promoted to be zeroed；
When S1, mobile tag carrier start mobile, the application software tracking of inertia coordinate sensor and terminal image capture apparatus
It brings into operation；The parameter of angular-rate sensor and accelerometer on mobile tag carrier is supplied to second processor to carry out successively
Coordinate message is transmitted to motor through RF RF transceivers by both party again and drives carrier by calculation processing, second processor
First processor；Image capturing and identification software trace parameters on terminal image capture apparatus is also by terminal image capture apparatus
RF RF transceivers be transmitted to motor driving carrier first processor on processing is compared；
S2, motor pass to first processor and carry out operation after driving the RF RF transceivers of carrier to receive coordinate message
And the intensity of trace parameters and RF information sources is compared, and the coordinate signal of the exact coordinates of mobile tag carrier is calculated, then again
Coordinate signal is changed into electric signal and carrys out drive motor unit, allows the central point of bascule body and the mirror of terminal image capture apparatus
Head turns to and is directed at the direction of mobile tag, and starts timing and carry out automatic shooting action or wait for remote manual control shooting；
After S3, the movement of mobile tag carrier, inertia coordinate sensor calculate mobile tag carrier and motor driving carrier away from
When from having exceeded a setting value, light signal being involved by motor driving carrier transmitting ultrasound and compares the time of the reception of RF radio frequencies
Difference, confirms whether the two has exceeded setting value, if it is determined that has exceeded preset value, then software trace parameters has been deactivated, to avoid
Target can not be tracked caused by hypertelorism, coordinate values easy to produce error amount instead；Conversely, when distance is less than preset value then
Software trace parameters are enabled once again.
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| CN104836948A (en) * | 2015-05-11 | 2015-08-12 | 国家电网公司 | Follow-up camera and real-time ranging method |
| CN105338252A (en) * | 2015-11-30 | 2016-02-17 | 吕衍荣 | Mobile phone shooting device |
| CN105338251A (en) * | 2015-11-30 | 2016-02-17 | 吕衍荣 | Automatic shooting device of mobile phone |
| CN105338253A (en) * | 2015-11-30 | 2016-02-17 | 吕衍荣 | Auto-tracking automatic shooting device of mobile phone |
| CN105338250A (en) * | 2015-11-30 | 2016-02-17 | 吕衍荣 | Portable mobile phone automatic tracking self-photographing device |
| CN106427807B (en) * | 2016-10-31 | 2019-03-19 | 惠州华阳通用电子有限公司 | A kind of vehicle carried mobile phone camera arrangement and control method |
| CN108632567B (en) | 2017-03-16 | 2020-07-28 | 杭州海康威视数字技术股份有限公司 | Cloud deck control method, device and system |
| TWI691210B (en) * | 2018-10-03 | 2020-04-11 | 黑快馬股份有限公司 | System and method for image stabilizing panning shot |
| CN111050059B (en) * | 2018-10-12 | 2021-07-06 | 黑快马股份有限公司 | Follow shooting system with picture stabilizing function and follow shooting method with picture stabilizing function |
| CN110779520B (en) * | 2019-10-21 | 2022-08-23 | 腾讯科技（深圳）有限公司 | Navigation method and device, electronic equipment and computer readable storage medium |
| CN113923277A (en) * | 2020-07-07 | 2022-01-11 | 黑快马股份有限公司 | Automatic video-shooting follow-up system and automatic video-shooting follow-up method |
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