CN104580871A - Automatic tracking photography system and automatic racking photography method - Google Patents
Automatic tracking photography system and automatic racking photography method Download PDFInfo
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- CN104580871A CN104580871A CN201310491004.XA CN201310491004A CN104580871A CN 104580871 A CN104580871 A CN 104580871A CN 201310491004 A CN201310491004 A CN 201310491004A CN 104580871 A CN104580871 A CN 104580871A
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Abstract
The invention discloses an automatic tracking photography system and an automatic tracking photography method. The automatic tracking photography method comprises the following steps: a photography system with a communication module, a near field communication module and a direction sensor obtains the position of a movable terminal with the communication module, the near field communication module and a sensor module set at a tracking starting moment through the near field communication module and the direction sensor; the movable terminal obtains an current motion state of the movable terminal through an internal sensor module set, and obtains the current position of the movable terminal through computation; the movable terminal sends the current position of the movable terminal to a photography device; the photography device performs tracking photography by controlling an electrical platform to align to the position of the movable terminal. The invention provides the automatic tracking photography system and the automatic tracking photography method, which can perform precise positioning and tracking photography on a photographed object without the need of aligning the movable terminal to the photography device deliberately.
Description
Technical field
The present invention relates to a kind of camera chain and especially a kind of automatic tracing camera chain of method for imaging and automatic tracing method for imaging.
Background technology
Along with the progress of science and technology, camera, gradually to low priceization, automation development, becomes the necessary devices of family.But when photographer wants to photograph to self and periphery does not have a people that can seek help time, known method is entered picture by photography target after pre-setting the angle of camera and zero count to wait for that camera is photographed.But above-mentioned method can only be photographed to fixed angle, but cannot follow and be carried out follow shot by the movement of photography target.In addition, in football match, need to carry out sequence photography from multiple angle to the player of high-speed motion and football, now have to rely on a large amount of professional photographers to operate camera.
In order to realize carrying out automatic tracing photography to by photography target, existing various document proposes different solutions now.
Publication date is disclose a kind of automatic tracing camera in the Japanese Patent Publication " JP 2008-172606 " of on 07 24th, 2008, and described device is analyzed photographs, finds out and is carried out follow shot by photography target.But described device does not solve how to distinguish the multiple objects moved, and such as to the player moved multiple in athletic competition simultaneously, just accurately cannot carry out follow shot simultaneously.
Publication date is disclose a kind of automatic tracing camera chain in the Japanese Patent Publication " JP 2003-274257 " of on 09 26th, 2003, described camera chain by detect the sender signal held by photography target carry out follow shot to by photography target.But described camera chain needs special sender aligning camera could realize following the trail of the direction of sender, in addition when sender is placed on the medium situation of pocket, owing to there is barrier between sender and camera, camera also cannot realize following the trail of the direction of sender.
Camera when carrying out auto-focusing, as known technology, generally all by using built-in range finder module metric photography device and being adjusted the focal length of camera by the distance between photography target.
Along with intelligent terminal universal with sensor assembly, intelligent terminal can provide more accurate positioning function.
In addition, along with intelligent terminal universal with near-field communication (Near Field Communication) module, intelligent terminal can communicate with other equipment more easily.
Summary of the invention
For above-mentioned prior art, the technical problem to be solved in the present invention is to provide a kind of without the need to deliberately making movable termination aim at camera, can also to automatic tracing camera chain and the automatic tracing method for imaging being carried out accurate location tracking photography by photography target.
In order to solve the problems of the technologies described above, automatic tracing camera chain of the present invention comprises camera, the electric platform controlled by camera, movable termination;
Described camera has cradle head control module, communication module, near-field communication module, aspect sensor;
Described movable termination has communication module, near-field communication module, groups of sensor;
Described camera is by the motion of cradle head control module controls electric platform;
Described camera is by direct or indirect the communicating with movable termination of communication module;
Described camera is communicated with movable termination by near-field communication module;
Described camera obtains the orientation of self by aspect sensor;
Described movable termination is by direct or indirect the communicating with camera of communication module;
Described movable termination is communicated with camera by near-field communication module;
Described movable termination obtains the motion state of self by groups of sensor.
Adopt above-mentioned automatic tracing camera chain, described camera obtains the initial position of movable termination by near-field communication module and aspect sensor; Movable termination can be determined position residing for self and motion state by groups of sensor and by communication module, the position residing for self and motion state is sent to camera; Camera carries out automatic tracing photography by the position residing for movable termination and motion state.
In addition, as the further improvement of the above-mentioned automatic tracing camera chain of the present invention, described communication module comprises wire communication module, wireless communication module.
In addition, as the further improvement of the above-mentioned automatic tracing camera chain of the present invention, described movable termination comprises handheld device, Wearable device, embedded mobile device; Described handheld device comprises mobile phone, PDA, panel computer; Described Wearable device comprises earphone, glasses, wrist-watch, cap, necklace; Described embedded mobile device comprises ball, navigator.
In addition, as the further improvement of the above-mentioned automatic tracing camera chain of the present invention, described movable termination also has energy collection module.
In addition, as the further improvement of the above-mentioned automatic tracing camera chain of the present invention, described movable termination has the control module controlling camera.
In addition, as the further improvement of the above-mentioned automatic tracing camera chain of the present invention, described movable termination has the output module exporting and come from the information of camera.
In addition, as the further improvement of the above-mentioned automatic tracing camera chain of the present invention, described follow shot system has more than one camera.
In order to solve the problems of the technologies described above, automatic tracing method for imaging of the present invention, is applicable to one and has camera, the electric platform controlled by camera, the camera chain of movable termination, is characterized in that described automatic tracing method for imaging comprises the following steps:
A) initial alignment step, described camera sends Initialize installation information by near-field communication module to movable termination, and obtains the initial position following the trail of start time movable termination;
B) movable termination positioning step, described movable termination obtains the current motion state of movable termination by built-in sensors module group, and by calculating the position obtaining the current place of movable termination;
C) movable termination position transmits step, and the position at current place and motion state are sent to camera by described movable termination;
D) photography alignment procedures, described camera aims at the position at movable termination place by controlling electric platform.
In addition, as the further improvement of the above-mentioned automatic tracing method for imaging of the present invention, the position that camera in described photography alignment procedures may arrive according to the position at the current place of movable termination and motion state calculating movable termination subsequent time, by controlling the position that electric platform aligning movable termination subsequent time may arrive.
Advantage of the present invention and good effect are:
1, movable termination of the present invention is connected with camera by network, also can carry out follow shot without the need to aiming at camera.
2, movable termination of the present invention can be mobile phone, PDA, panel computer, the daily articles for use carried with such as earphone, thus decreases user and buy and carry the inconvenience of special sender.
3, camera of the present invention obtains the position of movable termination by communication module, thus decreases the inconvenience that user buys and carry special receiver.
4, the present invention carries out initialization location by the near-field communication module of camera to movable termination, improves positioning precision during initialization, and directly network configuration information can be sent to movable termination, decreases the operation that user carries out loaded down with trivial details setting.
5, the present invention calculates by the current location of movable termination and motion state the position that movable termination subsequent time may arrive, the position that electric platform aligning movable termination subsequent time may arrive can be controlled in advance, reduce the hysteresis quality impact because network delay produces.
6, movable termination of the present invention can carry out Long-distance Control to camera, is more convenient for carrying out follow shot operation.
, movable termination of the present invention uses transducer to position, go for the multiple environment such as outdoor or enclosure space and carry out tracing and positioning.
8, movable termination of the present invention is powered by energy collection module, achieves the supply of electric power persistence.
Accompanying drawing explanation
Illustrate below in conjunction with accompanying drawing and embodiments of the invention are described in further detail.
Fig. 1 is the pie graph of the camera chain in the first execution mode of the present invention.
Fig. 2 is the flow chart of the follow shot method in the first execution mode of the present invention.
Fig. 3 is the pie graph of the camera chain in the second execution mode of the present invention.
Fig. 4 is the flow chart of the follow shot method in the second execution mode of the present invention.
Fig. 5 is the pie graph of the camera chain in the third execution mode of the present invention.
Fig. 6 is the schematic diagram that multiple cameras in the third execution mode of the present invention carries out follow shot simultaneously.
Fig. 7 is the flow chart of the follow shot method in the third execution mode of the present invention.
Fig. 8 is the pie graph of the camera chain in the present invention's the 5th kind of execution mode.
Fig. 9 is the flow chart of the follow shot method in the present invention's the 5th kind of execution mode.
Figure 10 is the pie graph of the camera chain in the present invention's the 6th kind of execution mode.
Figure 11 is the flow chart of the follow shot method in the present invention's the 6th kind of execution mode.
Description of reference numerals:
101-video camera; 101a-video camera; 101b-video camera;
101c-video camera; 102-camera;
111-cradle head control module; 112-Focussing module; 113-aspect sensor;
114-range finder module; 115-near-field communication module; 116-wire communication module;
117-wireless communication module; 118-GPS locating module;
120-electric platform; 121-server; 123-aspect sensor;
125-near-field communication module; 126-wire communication module;
131-wireless communication module; 132-near-field communication module;
133-aspect sensor; 134-velocity transducer; 135-acceleration transducer;
136-angular-rate sensor; 138-touch-screen; 139-display screen;
140-voice input module; 142-GPS locating module; 145-energy collection module;
150-mobile phone; 151-glasses; 154-football;
155-necklace.
Embodiment
[embodiment 1]
Fig. 1 illustrates the pie graph of the camera chain of present embodiment.
Along with popularizing of intelligent handheld device, present smart mobile phone, PDA, the intelligent handheld devices such as panel computer cannot leave daily life.People can always carry smart mobile phone, because user carries smart mobile phone action at any time, so the position residing for smart mobile phone can think the position residing for user approx in the process of work, life, study.Mostly smart mobile phone is to realize positioning function by GPS, but GPS location also exists larger position error, and cannot be positioned by GPS in the enclosed environments such as indoor.But smart mobile phone by the moving situation using transducer constantly to measure smart mobile phone, can realize positioning function to the mode of the calculating to moving situation, and significantly can improve positioning precision.In addition, for realizing mobile-phone payment function, present mobile phone generally all has near-field communication module.
In the present embodiment, the orientation of self determined by video camera 101 by aspect sensor 113.In addition, the information of the information of self and server 121 is sent to mobile phone 150 by near-field communication module 115 by video camera 101, and carries out initializing set to mobile phone 150.After this video camera 101 is connected by wire communication module 116 and server 121, and obtains the movement state information such as position, orientation, speed, acceleration, angular speed of mobile phone 150 current time from server 121.Video camera 101 can be calculated by above-mentioned movement state information and learn the position that mobile phone 150 subsequent time may arrive.Video camera 101 controls electric platform 120 by cradle head control module 111 and carries out the position that horizontal direction and vertical direction rotary alignment subsequent time mobile phone may arrive, and also can be adjusted the focal length of camera lens by Focussing module 112 simultaneously.
When mobile phone 150 can be positioned by GPS, the geographical coordinate that can locate using GPS of mobile phone 150 is as the coordinate of self current location; When mobile phone 150 be in indoor wait cannot be positioned by GPS in enclosed environment time, mobile phone 150 can also set up intrinsic coordinates system voluntarily, and by sensor measurement intrinsic coordinates, using the coordinate of this intrinsic coordinates as self current location.
Mobile phone 150 carries out initializing set by near-field communication module 132 and video camera 101, the coordinate of self is sent to video camera 101, the message such as the information of the video camera 101 that video camera 101 sends and the information of server 121 can also be received, and connected by wireless communication module 131 and server.Mobile phone 150 obtains the bearing data of self by aspect sensor 133, Negotiation speed transducer 134 obtains self speed data, the acceleration information of self is obtained by acceleration transducer 135, the angular velocity data of self is obtained by angular-rate sensor 136, and calculated by the coordinate of motion state data to self such as above-mentioned orientation, speed, acceleration, angular speed, constantly update the coordinate of self current location.After self coordinate of renewal, this coordinate is sent to server 121 by wireless communication module 131 by mobile phone 150.In addition mobile phone 150 can also by above-mentioned bearing data, speed data, acceleration information, and angular velocity data is sent to server 121.
Taken picture can be sent to server 121 and can receive control information from mobile phone 150 by server 121 by video camera 101, carries out work according to the instruction of control information.User can watch mobile phone 150 picture received from server 121 by the touch-screen 138 of mobile phone 150, and control information can be waited starting the photography of video camera 101 to be sent on server 121 with end by touch-screen 138, speech-controlled information can also be sent on server 121 by the microphone of mobile phone.
Fig. 2 illustrates the flow chart of the follow shot method of present embodiment.
Concrete follow shot method comprises the following steps:
A) initial alignment step, when mobile phone 150 can be positioned by GPS, the geographical coordinate that can locate using GPS of mobile phone 150 is as the coordinate of self current location; When mobile phone 150 cannot be positioned by GPS, mobile phone 150 can also set up intrinsic coordinates system voluntarily, using the coordinate of this intrinsic coordinates as self current location.Mobile phone 150 is communicated with the near-field communication module 115 of video camera 101 by near-field communication module 132, and above-mentioned coordinate is sent to video camera 101.Because near-field communication needs communicating pair to be in position close to each other, think that mobile phone 150 and video camera 101 are in same coordinate position so can be similar to, thus the initial alignment precision higher than GPS locate mode can be provided.According to aspect sensor 113, video camera 101 determines that the coordinate system of self is set up in the orientation of self, and the coordinate of mobile phone 150 is set to the origin position of local Coordinate System, sets up the corresponding relation of local Coordinate System and mobile phone coordinate system.Simultaneous camera 101 is by wireless network access point information, and the message such as the information of server 121 are sent to mobile phone 150, and mobile phone 150 connects according to the information of server 121 and server 121.
B) mobile phone positioning step, mobile phone 150 obtains the bearing data of self by aspect sensor 133, Negotiation speed transducer 134 obtains self speed data, the acceleration information of self is obtained by acceleration transducer 135, the angular velocity data of self is obtained by angular-rate sensor 136, and by motion state data such as above-mentioned orientation, speed, acceleration, angular speed, self coordinate is calculated, constantly update the coordinate of self current location.
C) mobile phone location transmits step, and the coordinate information at current place is sent to server 121 by wireless communication module 131 by mobile phone 150, in addition can by above-mentioned bearing data, and speed data, acceleration information, angular velocity data is sent to server 121.Video camera 101 receives coordinate data from the mobile phone 150 of server 121 and bearing data by wire communication module 116, speed data, acceleration information, angular velocity data.
D) photography alignment procedures, video camera 101 controls by cradle head control module 111 coordinate position that electric platform 120 aims at the current place of mobile phone 150.Because Internet Transmission inevitably produces time delay, when network delay is comparatively serious or speed of moving body of being photographed is very fast, video camera 101 also can pass through the mobile phone bearing data received, speed data, acceleration information, angular velocity data calculates, and obtains the position that mobile phone 150 subsequent time may arrive, control electric platform 120 aims at the coordinate position that mobile phone 150 subsequent time may arrive in advance, avoids causing tracking situation not in time.
The advantage that the present embodiment has and good effect are:
1, the mobile phone of the present embodiment is connected with server by radio communication, also can carry out follow shot without the need to aligned with camera.
2, the movable termination of the present embodiment is the daily mobile phone carried with, thus decreases user and buy and carry the inconvenience of special sender.
3, the video camera of the present embodiment obtains the positional information of mobile phone by wire communication module, thus decreases the inconvenience that user buys and carry special receiver.
4, the present embodiment carries out initialization location by the near-field communication module of video camera to mobile phone, improves positioning precision during initialization, and directly network configuration information can be sent to mobile phone, decreases the operation that user carries out loaded down with trivial details setting.
5, the present embodiment calculates by mobile phone current location and motion state the position that mobile phone subsequent time may arrive, and can control electric platform in advance and aim at the position that mobile phone subsequent time may arrive, reduce the hysteresis quality impact because network delay produces.
6, the mobile phone of the present embodiment can carry out Long-distance Control to video camera, is more convenient for carrying out follow shot operation.
7, the mobile phone of the present embodiment uses transducer to position, and goes for the multiple environment such as outdoor or enclosure space and carries out tracing and positioning.
[embodiment 2]
Fig. 3 illustrates the pie graph of the camera chain of present embodiment.
Along with popularizing of Intelligent worn device, present Intelligent worn device has spread to each corner of daily life.Common glasses, wrist-watch, earphone, cap, the daily furnishings that the people such as necklace can carry with in the process used and smart machine merge and become trend of the times.And glasses also can be used as display and use, user can not make by glasses viewing display factitious actions such as being similar to viewing mobile phone in the process of taking pictures.Because user carries glasses action at any time, so the position residing for glasses can think the position residing for user approx.Mostly smart machine is to realize positioning function by GPS, GPS location also exists larger position error, and cannot be positioned by GPS in the enclosed environments such as indoor, but when the moving situation using transducer constantly to measure smart machine, by to the position residing for moving situation computational intelligence equipment, significantly positioning precision can be improved.
Camera of today generally all has automatic focusing function, and mostly known automatic focusing function is to rely on range finder module surveying camera and by the distance between photography target, and then carries out Focussing according to distance.
In the present embodiment, camera 102 is determined the orientation of self by aspect sensor 113 and is set up self coordinate system.In addition; due to as usually can carry-on wears glasses by the glasses user of photography target; think that the position of glasses user is the position of glasses 151 so can be similar to; camera 102 measures the initial distance between glasses user by range finder module 114, and using the coordinate of glasses user as the Labeling Coordinate of glasses 151 in the coordinate system of himself.After this camera 102 is connected with glasses 151 by wireless communication module 117, and obtains the movement state information such as position, orientation, speed, angular speed of glasses 151 current time.Camera 102 can be calculated by above-mentioned movement state information and learn the position that glasses 151 subsequent time may arrive.Camera 102 controls electric platform 120 by cradle head control module 111 and carries out the position that horizontal direction and vertical direction rotary alignment subsequent time glasses 151 may arrive, and also can be adjusted the focal length of camera lens by Focussing module 112 simultaneously.
When glasses 151 can be positioned by GPS, the geographical coordinate that can locate using GPS of glasses 151 is as the coordinate of self current location; When glasses 151 be in indoor wait cannot be positioned by GPS in enclosed environment time, glasses 151 can also set up intrinsic coordinates system voluntarily, and by sensor measurement intrinsic coordinates, using the coordinate of this intrinsic coordinates as self current location.
Glasses 151 are connected with camera 102 by wireless communication module 131, and the coordinate of self is sent to camera 102, and can receive the information that camera 102 sends.Glasses 151 obtain the bearing data of self by aspect sensor 133, Negotiation speed transducer 134 obtains self speed data, the angular velocity data of self is obtained by angular-rate sensor 136, and calculated by the coordinate of above motion state data to self, constantly update the coordinate of self current location.After self coordinate of renewal, this coordinate is sent to camera 102 by wireless communication module 131 by glasses 151.In addition glasses 151 can also by above-mentioned bearing data, speed data, and angular velocity data is sent to camera 102.
Viewed picture can be sent to glasses 151 and can receive the control information from glasses 151 by camera 102, carries out work according to the instruction of control information.User can watch picture received from camera 102 by the display screen 139 of glasses 151, and by voice input module 140, the control informations such as the photographing command to camera 102 can be sent to camera 102.
Fig. 4 illustrates the flow chart of the follow shot method of present embodiment.
Concrete follow shot method comprises the following steps:
A) initial alignment step, when glasses 151 can be positioned by GPS, the geographical coordinate that can locate using GPS of glasses 151 is as the coordinate of self current location; When glasses 151 cannot be positioned by GPS, glasses 151 can also set up intrinsic coordinates system voluntarily, using the coordinate of this intrinsic coordinates as self current location.Glasses 151 are communicated with the wireless communication module 117 of camera 102 by wireless communication module 131, and above-mentioned coordinate is sent to camera 102.According to aspect sensor 113, camera 102 determines that the coordinate system of self is set up in the orientation of self, by to being carried out auto-focusing by photography target, aspect sensor 113 can be measured by the orientation at photography target place, range finder module 114 can measure with by the spacing of photography target, and then determine by the position at photography target place, due to as usually can carry-on wears glasses by the glasses user of photography target, think that the position of glasses 151 is by the position of photography target so can be similar to, and using by the coordinate of photography target as the Labeling Coordinate of glasses in the coordinate system of himself, set up the corresponding relation of local Coordinate System and glasses coordinate system.Since then, camera 102 can by from the coordinate position and local Coordinate System of the glasses 151 received by glasses 151 by the interrelated realization in the position of photography target to the location of the initial position of glasses 151.
B) glasses positioning step, glasses 151 obtain the bearing data of self by aspect sensor 133, Negotiation speed transducer 134 obtains self speed data, the angular velocity data of self is obtained by angular-rate sensor 136, and by motion state data such as above-mentioned orientation, speed, angular speed, self coordinate is calculated, constantly update the coordinate of self current location.
C) eye positions transmits step, and the coordinate information at current place is sent to camera 102 by wireless communication module 131 by glasses 151, in addition can by above-mentioned bearing data, and speed data, angular velocity data is sent to camera 102.
D) photography alignment procedures, camera 102 controls by cradle head control module 111 coordinate position that electric platform 120 aims at the current place of glasses 151.Because Internet Transmission inevitably produces time delay, when network delay is comparatively serious or speed of moving body of being photographed is very fast, camera 102 also can pass through the glasses bearing data received, speed data, angular velocity data calculates, obtain the position that glasses 151 subsequent time may arrive, control electric platform 120 aims at the coordinate position that glasses 151 subsequent time may arrive in advance, avoids causing tracking situation not in time.
The advantage that the present embodiment has and good effect are:
1, the glasses of the present embodiment are crossed radio communication and are connected with camera, also can carry out follow shot without the need to align cameras.
2, the movable termination of the present embodiment is the daily glasses carried with, thus decreases user and buy and carry the inconvenience of special sender.
3, the camera of the present embodiment obtains the positional information of glasses by wire communication module, thus decreases the inconvenience that user buys and carry special receiver.
4, the present embodiment carries out initialization location by the range finder module of camera to glasses, can complete location without the need to using special equipment.
5, the present embodiment calculates by glasses current location and motion state the position that glasses subsequent time may arrive, and can control electric platform in advance and aim at the position that glasses subsequent time may arrive, reduce the hysteresis quality impact because network delay produces.
6, the glasses of the present embodiment can carry out Long-distance Control to camera, and the eyeglass of glasses also can be used as display use, and user can not make the factitious actions such as viewing mobile phone in the process of taking pictures, and is more convenient for carrying out follow shot operation.
7, the glasses of the present embodiment use transducer to position, and go for the multiple environment such as outdoor or enclosure space and carry out tracing and positioning.
[embodiment 3]
Fig. 5 illustrates the pie graph of the camera chain of present embodiment.
Along with popularizing of intelligent embedded mobile device, present intelligent embedded mobile device has been applied in various navigator, in the various device such as football.In football match, need to carry out sequence photography from multiple angle to the player of high-speed motion and football, now a large amount of professional photographer of needs is operated camera.By to being equipped with the football embedding embedded mobile device, can realize easily carrying out follow shot to football.In addition, because the position of video camera in football pitch is all generally fixing, thus can sets up a football pitch coordinate system easily and determine the coordinate of video camera in the coordinate system of football pitch.
In the present embodiment, the coordinate position of video camera 101 in football pitch is fixing, and video camera 101 determines the orientation of self by aspect sensor 113.In addition, video camera 101 measures the initial distance between football 154 by range finder module 114, determines the initial coordinate position of football 154 in football pitch.Video camera 101 is connected with server 121 by wire communication module 116, and obtain the movement state information such as position, orientation, acceleration, angular speed of football 154, and the football coordinate system corresponding relation of the coordinate of football 154 in the coordinate system of football pitch and football 154 self is sent to server 121.Video camera 101 can be calculated by above-mentioned movement state information and learn the position that subsequent time football 154 may arrive.Video camera 101 controls electric platform 120 by cradle head control module 111 and carries out the position that horizontal direction and vertical direction rotary alignment football 154 subsequent time may arrive, and also can be adjusted the focal length of camera lens by Focussing module 112 simultaneously.
When football 154 can be positioned by GPS, the geographical coordinate that can locate using GPS of football 154 is as the coordinate of self current location; When football 154 be in indoor wait cannot be positioned by GPS in enclosed environment time, football 154 can also set up intrinsic coordinates system voluntarily, using the coordinate of this intrinsic coordinates as self current location.
Football 154 is connected with server 121 by wireless communication module 131, and the coordinate of self is sent to server 121, and can the information that sends of reception server 121.Football 154 obtains the bearing data of self by aspect sensor 133, the acceleration information of self is obtained by acceleration sensor 135, the angular velocity data of self is obtained by angular-rate sensor 136, and calculated by the coordinate of above motion state data to self, constantly update the coordinate of self current location.After self coordinate of renewal, this coordinate is sent to server 121 by wireless communication module 131 by football 154.In addition football 154 can also by above-mentioned bearing data, acceleration information, and angular velocity data is sent to server 121.
Fig. 6 illustrates the schematic diagram that multiple cameras carries out follow shot simultaneously.
Video camera 101,101a, 101b, 101c carries out follow shot to football 154 simultaneously.Server 121, after receiving the positional information from football 154, is converted into the coordinate position of football 154 in football pitch automatically.Video camera 101,101a, 101b, 101c is after receiving the movement state information such as position, orientation, acceleration, angular speed of the football 154 sent from server 121, control respective electric platform respectively and carry out the position that horizontal direction and vertical direction rotary alignment football 154 subsequent time may arrive, also can be adjusted the focal length of respective camera lens simultaneously by respective Focussing module.
Fig. 7 illustrates the flow chart of the follow shot method of present embodiment.
Concrete follow shot method comprises the following steps:
A) initial alignment step, when football 154 can be positioned by GPS, the geographical coordinate that can locate using GPS of football 154 is as the coordinate of self current location; When football 154 cannot be positioned by GPS, football 154 can also set up intrinsic coordinates system voluntarily, and by sensor measurement intrinsic coordinates, using the coordinate of this intrinsic coordinates as self current location.Above-mentioned coordinate, by wireless communication module 131 and server 121, is sent to server 121 by football 154.Video camera 101 is by presetting, determine from the coordinate in the coordinate system of football pitch, the orientation of self is determined according to aspect sensor 113, by carrying out auto-focusing to football 154, aspect sensor 113 can measure the orientation at football 154 place, and range finder module 114 can measure the spacing with football 154, and then determines the position at football 154 place, and by the Labeling Coordinate of football 154 in the coordinate system of football pitch, set up the corresponding relation of football pitch coordinate system and football coordinate system.Video camera 101 is connected with server 121 by wire communication module 116, and obtains the positional information of football 154, and the coordinate system corresponding relation of the coordinate of football 154 in the coordinate system of football pitch and football 154 self is sent to server 121.
B) football positioning step, football 154 obtains the bearing data of self by aspect sensor 133, the acceleration information of self is obtained by acceleration transducer 135, the angular velocity data of self is obtained by angular-rate sensor 136, and by motion state data such as above-mentioned orientation, acceleration, angular speed, self coordinate is calculated, constantly update the coordinate of self current location.
C) football position transmits step, and the coordinate information at current place is sent to server 121 by wireless communication module 131 by football 154, in addition can by above-mentioned bearing data, and acceleration information, angular velocity data is sent to server 121.Video camera 101 receives mobile phone coordinate data from server 121 and bearing data by wire communication module 116, acceleration information, angular velocity data.
D) photography alignment procedures, video camera 101 controls by cradle head control module 111 coordinate position that electric platform 120 aims at the current place of football 154.Because Internet Transmission inevitably produces time delay, when network delay is comparatively serious or speed of moving body of being photographed is very fast, video camera 101 also can pass through the football bearing data received, acceleration information, angular velocity data calculates, obtain the position that football 154 subsequent time may arrive, control electric platform 120 aims at the coordinate position that football 154 subsequent time may arrive in advance, avoids causing tracking situation not in time.
The advantage that the present embodiment has and good effect are:
1, the football of the present embodiment is connected with server by radio communication, also can carry out follow shot without the need to aligned with camera.
2, the video camera of the present embodiment obtains the positional information of football by wire communication module, thus decreases the inconvenience that user buys and carry special receiver.
3, the present embodiment carries out initialization location by the range finder module of video camera to football, can complete location without the need to using special equipment.
4, the present embodiment calculates by football current location and motion state the position that football subsequent time may arrive, and can control electric platform in advance and aim at the position that football subsequent time may arrive, reduce the hysteresis quality impact because network delay produces.
5, the multiple cameras of the present embodiment can obtain the position of football by server, jointly completes follow shot operation, reduces the number of professional photographer.
6, the football of the present embodiment uses transducer to position, and goes for the multiple environment such as outdoor or enclosure space and carries out tracing and positioning.
[embodiment 4]
The personage of some pet feedings, also wants when daytime stays out middle to understand the dynamic of pet at home.Necklace is generally fixing in animals to the equipment that animal identifies, can by following the trail of the tracking of positioning equipment realization to animal embedded in necklace at this.
In the present embodiment, necklace is connected with the server in family by Wi-Fi network, the positional information of self and movement state information is sent on server.Video camera carries out follow shot by above-mentioned positional information and movement state information to necklace.User also can be received since video camera is sent to picture taken by server by the Internet, thus can pet dynamic in Real Time Observation man.Also the display in family and audio amplifier and pet can be used to engage in the dialogue simultaneously.Server can also record the picture taken by sending from video camera, observes after waiting until.
Other parts of the present embodiment are identical with embodiment 3.
The advantage that the present embodiment has and good effect are:
1, the necklace of the present embodiment is connected with server by Wi-Fi network, also can carry out follow shot without the need to aligned with camera.
2, the video camera of the present embodiment leads to Wi-Fi network and obtains the positional information of necklace, thus decreases the inconvenience that user buys and carry special receiver.
3, the present embodiment carries out initialization location by the range finder module of video camera to necklace, can complete location without the need to using special equipment.
4, the present embodiment calculates by necklace current location and motion state the position that necklace subsequent time may arrive, and can control electric platform in advance and aim at the position that necklace subsequent time may arrive, reduce the hysteresis quality impact because network delay produces.
5, the multiple cameras of the present embodiment can obtain the position of necklace by server, jointly completes follow shot operation.
6, the necklace of the present embodiment uses transducer to position, and goes for the multiple environment such as outdoor or enclosure space and carries out tracing and positioning.
7, the picture taken by video camera of the present embodiment can be observed by network, is convenient to user and observes in real time.
8, in the present embodiment, user can engage in the dialogue with the pet in family.
9, the picture taken by video camera of the present embodiment can carry out record by server, observes after being convenient to user.
[embodiment 5]
Fig. 8 illustrates the pie graph of the camera chain of present embodiment.
Along with popularizing of intelligent handheld device, present smart mobile phone, PDA, the intelligent handheld devices such as panel computer cannot leave daily life.People can always carry smart mobile phone, because user carries smart mobile phone action at any time, so the position residing for smart mobile phone can think the position residing for user approx in the process of work, life, study.Mostly smart mobile phone is to realize positioning function by GPS, GPS location also exists larger position error, and cannot be positioned by GPS in the enclosed environments such as indoor, but when the moving situation using transducer constantly to measure smart mobile phone, by significantly positioning precision can be improved to the calculating of moving situation.In addition, for realizing mobile-phone payment function, present mobile phone generally all has near-field communication module.
In the present embodiment, electric platform 120 determines the orientation of self by aspect sensor 123.In addition, electric platform 120 carries out initializing set by near-field communication module 125 and mobile phone 150.After this electric platform 120 is connected by wire communication module 126 and server 121, and obtains the movement state information such as position, orientation, speed, acceleration, angular speed of mobile phone 150 current time from server.Electric platform 120 can be calculated by above-mentioned movement state information and learn the position that mobile phone 150 subsequent time may arrive.Electric platform 120 carries out the position that horizontal direction and vertical direction rotary alignment subsequent time mobile phone may arrive.
When mobile phone 150 can be positioned by GPS, the geographical coordinate that can locate using GPS of mobile phone 150 is as the coordinate of self current location; When mobile phone 150 be in indoor wait cannot be positioned by GPS in enclosed environment time, mobile phone 150 can also set up intrinsic coordinates system voluntarily, and by sensor measurement intrinsic coordinates, using the coordinate of this intrinsic coordinates as self current location.
Mobile phone 150 carries out initializing set by near-field communication module 132 and electric platform 120, the coordinate of self is sent to electric platform 120, the message such as the server settings information that electric platform 120 sends can also be received, and connected by wireless communication module 131 and server.Mobile phone 150 obtains the bearing data of self by aspect sensor 133, Negotiation speed transducer 134 obtains self speed data, the acceleration information of self is obtained by acceleration transducer 135, the angular velocity data of self is obtained by angular-rate sensor 136, and calculated by the coordinate of above motion state data to self, constantly update the coordinate of self current location.After self coordinate of renewal, this coordinate is sent to server 121 by wireless communication module 131 by mobile phone 150.In addition mobile phone 150 can also by above-mentioned bearing data, speed data, acceleration information, and angular velocity data is sent to server 121.
Fig. 9 illustrates the flow chart of the follow shot method of present embodiment.
Concrete follow shot method comprises the following steps:
A) initial alignment step, when mobile phone 150 can be positioned by GPS, the geographical coordinate that can locate using GPS of mobile phone 150 is as the coordinate of self current location; When mobile phone 150 cannot be positioned by GPS, mobile phone 150 can also set up intrinsic coordinates system voluntarily, using the coordinate of this intrinsic coordinates as self current location.Mobile phone 150 is communicated with the near-field communication module 125 of electric platform 120 by near-field communication module 132, and above-mentioned coordinate is sent to electric platform 120.Because near-field communication needs communicating pair to be in position close to each other, think that mobile phone 150 and electric platform 120 are in same coordinate position so can be similar to, thus the initial alignment precision higher than GPS locate mode can be provided.According to aspect sensor 123, electric platform 120 determines that the coordinate system of self is set up in the orientation of self, and the coordinate of mobile phone 150 is set to the origin position of local Coordinate System.Electric platform 120 is by wireless network access point information simultaneously, and the configuration informations such as the information of server 121 are sent to mobile phone 150, and mobile phone 150 connects according to the information of server 121 and server 121.
B) mobile phone positioning step, mobile phone 150 obtains the bearing data of self by aspect sensor 133, Negotiation speed transducer 134 obtains self speed data, the acceleration information of self is obtained by acceleration transducer 135, the angular velocity data of self is obtained by angular-rate sensor 136, and by motion state data such as above-mentioned orientation, speed, acceleration, angular speed, self coordinate is calculated, constantly update the coordinate of self current location.
C) mobile phone location transmits step, and the coordinate information at current place is sent to server 121 by wireless communication module 131 by mobile phone 150, in addition can by above-mentioned bearing data, and speed data, acceleration information, angular velocity data is sent to server 121.Electric platform 120 receives mobile phone coordinate data from server 121 and bearing data by wire communication module 126, speed data, acceleration information, angular velocity data.
D) photography alignment procedures, electric platform 120 aims at the coordinate position at the current place of mobile phone 150.Because Internet Transmission inevitably produces time delay, when network delay is comparatively serious or speed of moving body of being photographed is very fast, electric platform 120 also can pass through the mobile phone bearing data received, speed data, acceleration information, angular velocity data calculates, and obtains the position that mobile phone 150 subsequent time may arrive, electric platform 120 aims at the coordinate position that mobile phone 150 subsequent time may arrive in advance, avoids causing tracking situation not in time.
The advantage that the present embodiment has and good effect are:
1, the mobile phone of the present embodiment is connected with server by radio communication, thus also can carry out follow shot without the need to aiming at electric platform.
2, the movable termination of the present embodiment is the daily mobile phone carried with, thus decreases user and buy and carry the inconvenience of dedicated remote control.
3, the electric platform of the present embodiment obtains the positional information of mobile phone by wire communication module, thus decreases the inconvenience that user buys and carry special receiver.
4, the present embodiment carries out initialization location by the near-field communication module of electric platform to mobile phone, improves positioning precision during initialization, and directly network configuration information is sent to mobile phone, decreases the operation that user carries out loaded down with trivial details setting.
5, the present embodiment calculates by mobile phone current location and motion state the position that mobile phone subsequent time may arrive, and can control electric platform in advance and aim at the position that mobile phone subsequent time may arrive, reduce the hysteresis quality impact because network delay produces.
6, the mobile phone of the present embodiment is without the need to realizing the control to electric platform through camera, reduces the complexity of camera chain.
7, the mobile phone of the present embodiment uses transducer to position, and goes for the multiple environment such as outdoor or enclosure space and carries out tracing and positioning.
[embodiment 6]
Figure 10 illustrates the pie graph of the camera chain of present embodiment.
In Safari Park, a large amount of animals is had to live on the broad soil of a slice, general zoo all adopts a large amount of cameras each corner to zoo to monitor, but wants to find out certain only specific animal wherein, and monitors it is but the very difficult thing of part to it.Necklace is generally fixing in animals to the equipment that animal identifies, can by positioner being embedded in necklace the location realized animal at this.
In the present embodiment, video camera 101 is determined the orientation of self by aspect sensor 113 and is determined self coordinate position by GPS locating module 118.Video camera 101 is connected by wireless communication module 117 and server 121, and obtains the positional information of necklace 155 current time from server.It is movable and move horizontally that video camera 101 controls electric platform 120 by cradle head control module 111, and by the position of horizontal direction and vertical direction rotary alignment necklace 155, also can be adjusted the focal length of camera lens by Focussing module 112 simultaneously.
Necklace 155 obtains the coordinate position of self by GPS locating module 142 and this coordinate is sent to server 121 by wireless communication module 131.
Because animal cannot be charged to necklace voluntarily, for realizing the persistence of supply of electric power, necklace 155 uses energy collection module 145 to carry out collection of energy by the multiple kinds of energy such as solar energy, vibration is converted to electric energy.
Figure 11 illustrates the flow chart of the follow shot method of present embodiment.
Concrete follow shot method comprises the following steps:
A) initial setup procedure, video camera 101 is determined the orientation of self according to aspect sensor 113 and is determined self coordinate position by GPS locating module 118.Necklace 155 is connected by wireless communication module 131 and server 121.
B) necklace positioning step, necklace 155 obtains the coordinate position of self by GPS locating module 142.
C) necklace position transmits step, and the coordinate information at current place is sent to server 121 by wireless communication module 131 by necklace 155, and video camera 101 receives the necklace coordinate data from server 121 by wireless communication module 117.
D) photography alignment procedures, video camera 101 controls by cradle head control module 111 coordinate position that electric platform 120 aims at the current place of necklace 155.
The advantage that the present embodiment has and good effect are:
1, the necklace of the present embodiment is connected with server by radio communication, also can carry out follow shot without the need to aligned with camera.
2, the necklace of the present embodiment is powered by energy collection module, achieves the supply of electric power persistence.
By reference to the accompanying drawings embodiments of the present invention are explained in detail above, but the present invention is not limited to above-mentioned execution mode, can also makes a variety of changes under the prerequisite not departing from present inventive concept.Such as, the formation of the embodiment had can be replaced as the formation of other embodiments, the formation of some embodiments also can be added in the formation of other embodiments.Other execution modes that every those skilled in the art technical scheme according to the present invention draws, belong to the scope of protection of the invention equally.
Claims (9)
1. a follow shot system, comprises camera, the electric platform controlled by camera, movable termination, it is characterized in that described camera has cradle head control module, communication module, near-field communication module, aspect sensor;
Described movable termination has communication module, near-field communication module, groups of sensor;
Described camera is by the motion of cradle head control module controls electric platform;
Described camera is by direct or indirect the communicating with movable termination of communication module;
Described camera is communicated with movable termination by near-field communication module;
Described camera obtains the orientation of self by aspect sensor;
Described movable termination is by direct or indirect the communicating with camera of communication module;
Described movable termination is communicated with camera by near-field communication module;
Described movable termination obtains the motion state of self by groups of sensor.
2. follow shot system according to claim 1, is characterized in that described communication module comprises wire communication module, wireless communication module.
3. follow shot system according to claim 1, is characterized in that described movable termination comprises handheld device, Wearable device, embedded mobile device; Described handheld device comprises mobile phone, PDA, panel computer; Described Wearable device comprises earphone, glasses, wrist-watch, cap, necklace; Described embedded mobile device comprises ball, navigator.
4. follow shot system according to claim 1, is characterized in that described movable termination also has energy collection module.
5. follow shot system according to claim 1, is characterized in that described movable termination has the control module controlling camera.
6. follow shot system according to claim 1, is characterized in that described movable termination has the output module exporting and come from the information of camera.
7. follow shot system according to claim 1, is characterized in that described follow shot system has more than one camera.
8. a follow shot method, is applicable to one and has camera, the electric platform controlled by camera, the camera chain of movable termination, it is characterized in that described follow shot method comprises the following steps:
A) initial alignment step, described camera sends Initialize installation information by near-field communication module to movable termination, and obtains the initial position following the trail of start time movable termination;
B) movable termination positioning step, described movable termination obtains the current motion state of movable termination by built-in sensors module group, and by calculating the position obtaining the current place of mobile terminal;
C) movable termination position transmits step, and the position at current place and motion state are sent to camera by described movable termination;
D) photography alignment procedures, described camera aims at the position at movable termination place by controlling electric platform.
9. follow shot method according to claim 8, it is characterized in that the position that the camera in described photography alignment procedures may arrive according to the position at the current place of movable termination and motion state calculating movable termination subsequent time, by controlling the position that electric platform aligning movable termination subsequent time may arrive.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201310491004.XA CN104580871A (en) | 2013-10-20 | 2013-10-20 | Automatic tracking photography system and automatic racking photography method |
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| CN201310491004.XA CN104580871A (en) | 2013-10-20 | 2013-10-20 | Automatic tracking photography system and automatic racking photography method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104869312A (en) * | 2015-05-22 | 2015-08-26 | 北京橙鑫数据科技有限公司 | Intelligent tracking shooting apparatus |
| CN105141910A (en) * | 2015-08-17 | 2015-12-09 | 北京尚易德科技有限公司 | Video IOT (Internet of Things) terminal acquisition equipment, video IOT terminal acquisition method, cloud control device and cloud control method |
| CN106303256A (en) * | 2016-08-31 | 2017-01-04 | 广东小天才科技有限公司 | A kind of determination method and device of acquisition parameters |
| CN110389599A (en) * | 2018-04-17 | 2019-10-29 | 吴建州 | The automatic regulating three-dimensional control system and its device of camera unit |
-
2013
- 2013-10-20 CN CN201310491004.XA patent/CN104580871A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104869312A (en) * | 2015-05-22 | 2015-08-26 | 北京橙鑫数据科技有限公司 | Intelligent tracking shooting apparatus |
| CN104869312B (en) * | 2015-05-22 | 2017-09-29 | 北京橙鑫数据科技有限公司 | Intelligent tracking shooting device |
| CN105141910A (en) * | 2015-08-17 | 2015-12-09 | 北京尚易德科技有限公司 | Video IOT (Internet of Things) terminal acquisition equipment, video IOT terminal acquisition method, cloud control device and cloud control method |
| CN106303256A (en) * | 2016-08-31 | 2017-01-04 | 广东小天才科技有限公司 | A kind of determination method and device of acquisition parameters |
| CN110389599A (en) * | 2018-04-17 | 2019-10-29 | 吴建州 | The automatic regulating three-dimensional control system and its device of camera unit |
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Application publication date: 20150429 |