CN104811642A - Chest wearing camera system with double cloud decks and control method thereof - Google Patents
Chest wearing camera system with double cloud decks and control method thereof Download PDFInfo
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- CN104811642A CN104811642A CN201510198579.1A CN201510198579A CN104811642A CN 104811642 A CN104811642 A CN 104811642A CN 201510198579 A CN201510198579 A CN 201510198579A CN 104811642 A CN104811642 A CN 104811642A
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Abstract
The invention discloses a chest wearing camera system with double cloud decks. The chest wearing camera system with double cloud decks comprises a micromation intelligent cloud deck, a micromation uniaxial electric cloud deck, a minitype camera, a camera base and a chest wearing assistant device; the minitype camera is connected with the micromation uniaxial electric cloud deck; the minitype camera and the micromation uniaxial electric cloud deck are fixed on the camera base together; the camera base is connected to one face of the micromation intelligent cloud deck; and the other face of the micromation intelligent cloud deck is connected with the chest wearing assistant device.
Description
Technical field
The present invention relates to chest and wear that formula is stable shoots with video-corder technical field, be specifically related to the microminiaturization of high-speed holder and wear the combination of formula camera with chest, becoming highly integrated integrated camera-shooting and recording device.
Background technology
Wear in formula camera-shooting and recording device at existing chest, the installation site of camera and visual angle are all fixing, along with the motion of people or rocking of health, shoot with video-corder visual angle and there will be deviation, and shooting with video-corder picture also can be very unstable, and the adjustment that visual angle can not be artificially real-time.To this, existing chest wears formula camera-shooting and recording device not effective solution, only has some simple stabilization measures (comprising optical anti-vibration and electronic flutter-proof).And can real-time stabilization attitude, follow the tracks of visual angle, the The Cloud Terrace of adjustable visual angle just can perfectly address this problem.Also there is the camera-shooting and recording device that electric platform is housed now, but be all large-scale fixed cameras or take photo by plane, hand-held camera.And existing monopod video camera all only has a The Cloud Terrace mostly, be only used for keeping the attitude of video camera, if the attitude wanting to keep will be changed, will preset posture be reset, very loaded down with trivial details, and not in time.Existing The Cloud Terrace directly can not be contained in small-sized chest and wear on formula camera-shooting and recording device.The shortcomings of formula camera-shooting and recording device is worn based on existing chest, The Cloud Terrace and chest worn camera being combined togather of the invention, and it is microminiaturized, highly integrated, achieve chest to wear formula camera-shooting and recording device and still can stablize in compound movement environment and shoot with video-corder, and artificially can regulate camera pitching in real time.
Summary of the invention
The object of the present invention is to provide a kind of energy real-time stabilization attitude, follow the tracks of visual angle, and can artificially regulate the light chest of camera pitching to wear formula camera-shooting and recording device in real time, so that the personnel of shooting with video-corder still can photograph the stable picture of high definition in compound movement environment, and can real-time selection visual angle.
The present invention may be defined as chest and wears formula The Cloud Terrace camera-shooting and recording device, mainly comprises three parts: microminiaturized intelligent console, and a microminiaturized axle electric platform, small-sized image pickup head and chest wear formula additional device.
Existing The Cloud Terrace is mainly used in large-scale fixed cameras, aerial camera and hand-held camera, and volume and quality are all larger, and intelligence degree is general lower, is difficult to the light chest be applicable in compound movement environment and wears formula Camcording system.Based on this, the present invention devises microminiaturization, intelligentizedly can be used for the The Cloud Terrace that chest wears formula camera.Microminiaturized intelligent console is installed on camera base, mainly comprises three parts: Miniature posture transducer, miniature MCU and miniature accurate stepping motor.
Attitude transducer is the high performance three-dimensional motion attitude measuring system based on MEMS technology.It comprises various motion sensor, obtains the attitude data such as 3 d pose and orientation by embedded micro-central controller.Attitude transducer of the present invention has selected miniature IMU nine axle sensor (motion sensor), the MPU (central controller) of miniature low-power consumption, utilize special three-dimensional algorithm and Data fusion technique, export zero shift 3 d pose and bearing data in real time.
In order to the pitching of control camera that can be artificially real-time, a miniature axle electric platform has been installed again in the present invention additional between camera and base, and the rotation of this electric platform can be regulated as required in real time to change the pitching of camera.And do not need the preset posture by changing microminiaturized intelligent console to make camera pitching.
The present invention selects miniature MCU as central controller, mainly contain two large functions: (1) is by carrying out analyzing and processing to the camera base attitude data of attitude transducer, control the rotation of microminiaturized intelligent console stepping motor, correct the attitude of camera base.(2) accept camera pitch demand signal, analyzing and processing, control the rotation of a microminiaturized axle electric platform, change the pitching of camera.
Stepping motor on existing The Cloud Terrace is all larger, is not suitable for light chest and wears formula Camcording system.Miniature accurate stepping motor is devised based on this present invention.This micromachine volume is little, lightweight, and precision is high, is swift in response, and can meet in compound movement environment and regulate the rapid posture wearing camera.
It is a small-sized and can the high definition camera of shooting with video-corder that the chest that the present invention selects wears camera, and chest is worn formula additional device and comprised camera mounting seat and periphery, the frame provided support or the lightweight helmet.
Concrete scheme of the present invention is as follows;
Scheme 1, a kind of chest with two The Cloud Terrace wears formula Camcording system, it is characterized in that: comprise microminiaturized intelligent console, a microminiaturized axle electric platform, small-sized image pickup head, camera base and chest wear formula additional device, described small-sized image pickup head is connected with a described microminiaturized axle electric platform, described small-sized image pickup head is fixed to camera base together with a miniature axle electric platform, described camera base is connected to the one side of described intelligent miniature The Cloud Terrace, and the another side of microminiaturized intelligent console connects chest and wears formula additional device.
The chest of the two The Cloud Terrace of scheme 2, band according to scheme 1 wears formula Camcording system, it is characterized in that: described small-sized image pickup head has Pitch signal receiver, described small-sized image pickup head base has attitude transducer, a described microminiaturized axle electric platform has a microminiaturized axle electric platform motor, described microminiaturized intelligent console has microminiaturized intelligent electric machine, a described axle electric platform is for regulating the pitching of small-sized image pickup head, described microminiaturized intelligent console for regulating attitude and the orientation of small-sized image pickup head base, and then regulates attitude and the orientation of camera.
The chest of the two The Cloud Terrace of scheme 3, band according to scheme 2 wears formula Camcording system, it is characterized in that: described attitude transducer is IMU nine axle sensor, it comprises 3 axis accelerometers, 3 axle gyroscopes and 3 axle magnetometers, nine axle sensors are sensing acceleration, angular speed and magnetic field intensity respectively, the MPU that sensing signal is input to self carries out computing, exports 3 d pose and the bearing data of small-sized image pickup head base afterwards.
The chest of the two The Cloud Terrace of scheme 4, band according to scheme 2 wears formula Camcording system, it is characterized in that: described system also comprises central controller MCU, the attitude orientation signal of the small-sized image pickup head base that described central controller MCU exports for the small-sized image pickup head pitch demand signal that receives small-sized image pickup head Pitch signal receiver and transmit and attitude transducer, and control the action of a described microminiaturized axle electric platform motor and microminiaturized intelligent electric machine.
Scheme 5, a kind of chest for the two The Cloud Terrace of the band described in any one of control program 1-3 wear the method for formula Camcording system, it is characterized in that:
Preset small-sized image pickup head base attitude, attitude transducer obtains attitude orientation data and sends central controller MCU to, and central controller obtains computing and stores preset value;
Enter in work, attitude transducer obtains small-sized image pickup head base attitude, central controller MCU and preset posture compare, see whether both conform to, if conformed to do not perform adjustment, if do not conformed to, central controller MCU operational analysis exports control signal, control intelligent miniature electric machine rotation, correct small-sized image pickup head base attitude, orientation;
For the adjustment of small-sized image pickup head pitching, small-sized image pickup head Pitch signal receiver sends pitch demand, central controller MCU accepts instruction and analytic operation, sends Electric Machine Control instruction, and a miniature axle electric platform motor receives the pitching of order-driven small-sized image pickup head and changes.
Except the object of description described above, feature and advantage, the present invention also has other objects, feature and advantage.Below with reference to accompanying drawings, optimum execution mode of the present invention is described.
Accompanying drawing explanation
Fig. 1 structured flowchart of the present invention;
Fig. 2 present system allomeric function FB(flow block);
Fig. 3 Miniature posture transducer of the present invention;
Fig. 4 preset mode flow chart of the present invention;
Fig. 5 camera base adjustment of the present invention functional flow diagram;
Fig. 6 camera pitching adjustment of the present invention functional flow diagram.
Embodiment
By reference to the accompanying drawings, below the constitute and function of entirety of the present invention is described in further details.
Hardware aspect of the present invention mainly comprises microminiaturized intelligent console, a microminiaturized axle electric platform, small-sized image pickup head and chest wear formula additional device, software aspect mainly comprises the acquisition (three-dimensional algorithm and Data fusion technique) of 3 d pose based on IMU nine axle sensor initial data and bearing data, and the feedback attitude of master controller MCU regulates algorithm.
Fig. 1 is structured flowchart of the present invention, and camera is connected with a miniature axle electric platform, and camera is fixedly attached on camera base together with a miniature axle electric platform, and camera base is connected to intelligent miniature The Cloud Terrace.
Fig. 2 is present system allomeric function FB(flow block), and the adjustable camera pitching of a miniature axle electric platform, base and camera fix as one, the attitude orientation of the adjustable camera base of intelligent miniature The Cloud Terrace.
Be illustrated in figure 3 Miniature posture transducer of the present invention, Miniature posture transducer is primarily of IMU nine axle sensor, and miniature MPU forms.IMU nine axle sensor comprises: three axis accelerometer, three-axis gyroscope and three axle magnetometers, measure the acceleration information of camera respectively in real time, the magnetic field intensity information of angular velocity information and present position, these information pass to miniature MPU, use special three-dimensional algorithm and Data fusion technique analysis just can obtain the real-time zero shift 3 d pose represented with hypercomplex number, Eulerian angles etc. of camera and bearing data.Micro-central controller MCU is after the 3 d pose obtaining the camera base that Miniature posture transducer is sent and bearing data, comparative analysis is done in the attitude that will keep with the camera base preset and orientation, send control signal to after computing microminiaturized intelligent console motor, after motor obtains control signal, the motor of all directions adjusts rotation respectively, makes rectification to the attitude of camera base and orientation.
Fig. 4 is preset mode flow chart of the present invention, the attitude that camera base will keep and orientation will be preset in micro-central controller MCU in advance, concrete presetting method is: regulate microminiaturized intelligent console to enter attitude orientation preset mode, camera base keeps preset value state, attitude transducer obtains the attitude data of preset state, then be stored in internal memory after passing to central microcontroller MCU, MCU operational analysis.
Intelligent miniature The Cloud Terrace depends primarily on the attitude sample frequency of Miniature posture transducer to the pose adjustment frequency that chest wears formula camera, the operational capability of micro-central controller MCU, and the adjustable frequency of accurate stepping motor.Comprehensive above restriction condition, intelligent miniature The Cloud Terrace is designed to select it to regulate sensitivity and frequency by the present invention, reduces power consumption to meet in accurate quick adjustment in strenuous exercise and gentle movement adjustment at a slow speed.
Fig. 5 is camera base attitude orientation of the present invention adjustment functional flow diagram, micro-central controller MCU is after the 3 d pose obtaining the camera base that Miniature posture transducer is sent and bearing data, comparative analysis is done in the attitude that will keep with the camera base preset and orientation, if inconsistent with preset posture after computing, send control signal then to microminiaturized intelligent console motor, after motor obtains control signal, the motor of all directions adjusts rotation respectively, rectification is made to the attitude of camera base and orientation, and then epicycle regulates.If camera base attitude and preset posture are always, then this takes turns adjustment and completes.
Fig. 6 be camera pitching of the present invention adjustment functional flow diagram, micro-central controller MCU after obtaining camera pitch demand signal, analytic operation, control signal is sent to a microminiaturized axle electric platform motor, after motor obtains control signal, adjustment is rotated, and changes the pitching of camera.
Although illustrate and describe embodiments of the invention, for the ordinary skill in the art, be appreciated that and can carry out multiple change, amendment, replacement and modification to these embodiments without departing from the principles and spirit of the present invention, scope of the present invention is by claims and equivalency thereof.
Claims (5)
1. the chest of the two The Cloud Terrace of band wears formula Camcording system, it is characterized in that: comprise microminiaturized intelligent console, a microminiaturized axle electric platform, small-sized image pickup head, camera base and chest wear formula additional device, described small-sized image pickup head is connected with a described microminiaturized axle electric platform, described small-sized image pickup head is fixed to camera base together with a miniature axle electric platform, described camera base is connected to the one side of described intelligent miniature The Cloud Terrace, and the another side of microminiaturized intelligent console connects chest and wears formula additional device.
2. the chest of the two The Cloud Terrace of band according to claim 1 wears formula Camcording system, it is characterized in that: described small-sized image pickup head has Pitch signal receiver, described small-sized image pickup head base has attitude transducer, a described microminiaturized axle electric platform has a microminiaturized axle electric platform motor, described microminiaturized intelligent console has microminiaturized intelligent electric machine, a described axle electric platform is for regulating the pitching of small-sized image pickup head, described microminiaturized intelligent console for regulating attitude and the orientation of small-sized image pickup head base, and then regulates attitude and the orientation of camera.
3. the chest of the two The Cloud Terrace of band according to claim 2 wears formula Camcording system, it is characterized in that: described attitude transducer is IMU nine axle sensor, it comprises 3 axis accelerometers, 3 axle gyroscopes and 3 axle magnetometers, nine axle sensors are sensing acceleration, angular speed and magnetic field intensity respectively, the MPU that sensing signal is input to self carries out computing, exports 3 d pose and the bearing data of small-sized image pickup head base afterwards.
4. the chest of the two The Cloud Terrace of band according to claim 2 wears formula Camcording system, it is characterized in that: described system also comprises central controller MCU, the attitude orientation signal of the small-sized image pickup head base that described central controller MCU exports for the small-sized image pickup head pitch demand signal that receives small-sized image pickup head Pitch signal receiver and transmit and attitude transducer, and control the action of a described microminiaturized axle electric platform motor and microminiaturized intelligent electric machine.
5. the chest for controlling the two The Cloud Terrace of band described in any one of claim 1-3 wears a method for formula Camcording system, it is characterized in that:
Preset small-sized image pickup head base attitude, attitude transducer obtains attitude orientation data and sends central controller MCU to, and central controller obtains computing and stores preset value;
Enter in work, attitude transducer obtains small-sized image pickup head base attitude, central controller MCU and preset posture compare, see whether both conform to, if conformed to do not perform adjustment, if do not conformed to, central controller MCU operational analysis exports control signal, control intelligent miniature electric machine rotation, correct small-sized image pickup head base attitude, orientation;
For the adjustment of small-sized image pickup head pitching, small-sized image pickup head Pitch signal receiver sends pitch demand, central controller MCU accepts instruction and analytic operation, sends Electric Machine Control instruction, and a miniature axle electric platform motor receives the pitching of order-driven small-sized image pickup head and changes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510198579.1A CN104811642A (en) | 2015-04-24 | 2015-04-24 | Chest wearing camera system with double cloud decks and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510198579.1A CN104811642A (en) | 2015-04-24 | 2015-04-24 | Chest wearing camera system with double cloud decks and control method thereof |
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| CN104811642A true CN104811642A (en) | 2015-07-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510198579.1A Pending CN104811642A (en) | 2015-04-24 | 2015-04-24 | Chest wearing camera system with double cloud decks and control method thereof |
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| CN108513106A (en) * | 2018-06-07 | 2018-09-07 | 广州鼎飞科技有限公司 | A kind of animal video frequency tracking instrument and system |
| CN111885299A (en) * | 2020-06-23 | 2020-11-03 | 上海源涛信息科技有限公司 | Image acquisition remote control system, remote control method and image acquisition device |
| CN112219178A (en) * | 2019-08-13 | 2021-01-12 | 深圳市大疆创新科技有限公司 | Holder control method, holder and computer readable storage medium |
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