CN104994275A - Shooting device and control method thereof - Google Patents

Abstract

The invention relates to the technical field of camera shooting, and provides a shooting device and a control method thereof. The control method includes the steps of: obtaining an attitude angle of the current position of the shooting device; obtaining an absolute position angle of the current position of the shooting device, and obtaining a following angle according to the absolute position angle; obtaining a motor control signal after performing PID operation on the attitude angle and the following angle; and driving a motor to work according to the motor control signal. The control method provided by the invention collects the attitude angle and the following angle in real time to perform PID operation, and uses an FOC motor driving algorithm to drive the motor to make up for an error of the attitude angle and a zero angle, thereby realizing stable and smooth pictures in a shooting process.

Description

Filming apparatus and control method thereof

Technical field

The present invention relates to camera technique field, particularly relate to a kind of filming apparatus and control method thereof.

Background technology

At present, method for stable mobile phone or camera capture video generally has three kinds of processing methods, wherein two kinds process camera, one is optical anti-vibration, another kind is mechanical stabilization, and from treatment effect, the processing method of optical anti-vibration is better than the processing method of mechanical stabilization, in addition, a kind of method is also had to be exactly by being subject to the people of professional training to carry out video capture to ensure the stable of video pictures and fluency.But be no matter the stabilization technology based on camera lens or the Camera crews of specialty, the video capture of shooting all cannot be made to reach good effect, main cause is that how senior camera or professional have certain limitation in the filtration of vibrations, and rocking of namely producing in shooting process makes shooting effect bad.In sum, exist in prior art and make shooting effect problem of poor owing to can produce to rock in shooting process.

Summary of the invention

The object of the present invention is to provide a kind of filming apparatus and control method thereof, be intended to solution and make shooting effect problem of poor for existing in prior art owing to can produce to rock in shooting process.

The present invention is achieved in that first aspect provides a kind of control method of filming apparatus, and described control method comprises the following steps:

A. the attitude angle of the current position of described filming apparatus is obtained;

B. obtain the absolute position angle of the current position of described filming apparatus, and obtain following angle according to described absolute position angle;

C. described attitude angle and described angle of following are obtained motor control signal after PID arithmetic;

D. according to described motor control signal drive motors.

In conjunction with first aspect, in the first execution mode of first aspect, described steps A is specially:

Obtain the angle of pitch of the current position of described filming apparatus, roll angle and angle of drift;

Through Kalman filtering algorithm, attitude angle is obtained to the described angle of pitch, roll angle and angle of drift.

In conjunction with first aspect, in the second execution mode of first aspect, described step C is specially:

Described attitude angle and described angle of following are done difference, by PID controller generating rate set point;

By described rate setpoints with collect rate information and carry out poor, generate current setting value by PID controller;

The current of electric information described current setting value and Real-time Collection arrived is poor, generates motor control signal by PID controller.

In conjunction with first aspect, in the third execution mode of first aspect, described step D is specially:

The stator current of asynchronous motor under three phase coordinate systems is transformed into the alternating current under two-phase rest frame;

Described alternating current is become the direct current under synchronous rotating frame through rotor field-oriented rotation transformation;

The controlled quentity controlled variable of motor is obtained, through corresponding coordinate inverse transformation to control motor according to described direct current.

In conjunction with first aspect, in the 4th kind of execution mode of first aspect, also comprise after obtaining the absolute position angle steps of the current position of described filming apparatus described in described step B:

Judging whether the break period arriving setting, is then upgrade described absolute position angle, and obtains following angle according to the absolute position angle after upgrading; No, then obtain following angle according to original absolute position angle.

Second aspect present invention provides a kind of filming apparatus, and described filming apparatus comprises:

Attitude angle acquisition module, for obtaining the attitude angle of the current position of described filming apparatus;

Following angle acquisition module, for obtaining the absolute position angle of the current position of described filming apparatus, and obtaining following angle according to described absolute position angle;

Control module, for obtaining motor control signal by described attitude angle and described angle of following, and according to described motor control signal drive motors after PID arithmetic.

In conjunction with second aspect, in the first execution mode of second aspect, the process that described attitude angle acquisition module obtains the attitude angle of the current position of described filming apparatus is:

Obtain the angle of pitch of the current position of described filming apparatus, roll angle and angle of drift;

Through Kalman filtering algorithm, attitude angle is obtained to the described angle of pitch, roll angle and angle of drift.

In conjunction with second aspect, in the second execution mode of second aspect, described control module is by described attitude angle and describedly follow the process that angle obtains motor control signal after PID arithmetic and be:

Described attitude angle and described angle of following are done difference, by PID controller generating rate set point;

By described rate setpoints with collect rate information and carry out poor, generate current setting value by PID controller;

The current of electric information described current setting value and Real-time Collection arrived is poor, generates motor control signal by PID controller.

In conjunction with second aspect, in the third execution mode of second aspect, described control module according to the process of described motor control signal drive motors is:

The stator current of asynchronous motor under three phase coordinate systems is transformed into the alternating current under two-phase rest frame;

Described alternating current is become the direct current under synchronous rotating frame through rotor field-oriented rotation transformation;

The controlled quentity controlled variable of motor is obtained, through corresponding coordinate inverse transformation to control motor according to described direct current.

In conjunction with second aspect, in the 4th kind of execution mode of second aspect, described in follow the absolute position angle steps that angle acquisition module obtains the current position of described filming apparatus, and also to comprise according to the process of described motor control signal drive motors:

Judging whether the break period arriving setting, is then upgrade described absolute position angle, and obtains following angle according to the absolute position angle after upgrading; No, then obtain following angle according to original absolute position angle.

The invention provides a kind of filming apparatus and control method thereof, by Real-time Collection attitude angle with follow angle and carry out PID arithmetic, and utilize FOC motor to drive algorithm drives motor to make up the error of attitude angle and zero degree, thus the frame stabilization realized in shooting process is smooth, in addition, the present invention also comprises lag function, namely when photographer wants the video taking any direction, only with when health being turned to the direction of wanted photographed scene, system can the smooth direction followed pointed by health voluntarily, and ensures the smooth smoothness of picture.

Accompanying drawing explanation

In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.

Fig. 1 is the flow chart of the control method of a kind of filming apparatus that an embodiment of the present invention provides;

Fig. 2 is the structural representation of a kind of filming apparatus that the another kind of embodiment of the present invention provides;

Fig. 3 is the circuit diagram of the current sampling circuit in a kind of filming apparatus of providing of the another kind of embodiment of the present invention;

Fig. 4 is the circuit diagram of the encoder in a kind of filming apparatus of providing of the another kind of embodiment of the present invention.

Embodiment

In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.

In order to technical scheme of the present invention is described, be described below by specific embodiment.

An embodiment of the present invention provides a kind of control method of filming apparatus, and as shown in Figure 1, control method comprises the following steps:

Step S101. obtains the attitude angle of the current position of filming apparatus.

In this step, step S101 is specially:

Obtain the angle of pitch of the current position of filming apparatus, roll angle and angle of drift;

Through Kalman filtering algorithm, attitude angle is obtained to the angle of pitch, roll angle and angle of drift.

Concrete, first read the data of six axles of MPU6050 by IIC agreement, upgrade the state of angular speed and acceleration according to terminal signaling, then get attitude angle by Kalman filtering algorithm.

Wherein, acceleration transducer Z axis and natural system of coordinates Z axis angle are:

$\mathrm{\α}={\tan }^{-1}\left(\frac{\sqrt{A_x^2+A_y^2}}{A_2}\right);$

Acceleration transducer X-axis and natural system of coordinates X-axis angle are:

$\mathrm{\β}={\tan }^{-1}\left(\frac{A_x}{\sqrt{A_z^2+A_y^2}}\right);$

Acceleration transducer Y-axis and natural system of coordinates Y-axis angle are:

$\mathrm{\γ}={\tan }^{-1}\left(\frac{A_y}{\sqrt{A_z^2+A_x^2}}\right);$

Step S102. obtains the absolute position angle of the current position of filming apparatus, and obtains following angle according to absolute position angle.

In this step, concrete, the absolute position angle of current position is obtained according to encoder, when photographer wants the video taking any direction, when health being turned to the direction of wanted photographed scene, system can the smooth direction followed pointed by your health voluntarily, and obtains following angle according to the angle of rotated angle and original measurement.

Further, also comprise after obtaining the absolute position angle steps of the current position of filming apparatus in step B:

Judge whether the break period arriving setting, be, then upgrade absolute position angle, and obtain following angle according to the absolute position angle after upgrading; No, then obtain following angle according to original absolute position angle.

In this step, concrete, by setting break period, to obtain following angle, when photographer rotates, need to calculate according to the angle rotated and new follow angle.

Concrete, can by arranging timer interruption and serial ports implement of interruption function, wherein, the interrupt method of timer comprises the following steps: wait for that 1MS interrupt service routine starts; Set interrupt identification; Wait for button operation; LED flicker is reminded; End interrupt.Wherein, serial ports interrupts comprising the following steps: enter serial ports and interrupt; Wait for DMA transmission, judge whether transmission; When having judged transmission, wait for lower secondary data, end interrupt.

Step S103. is by attitude angle and follow angle obtain motor control signal after PID arithmetic.

In this step, step S103 is specially:

By attitude angle with follow angle and do difference, by PID controller generating rate set point;

By rate setpoints with collect rate information and carry out poor, generate current setting value by PID controller;

Current of electric information current setting value and Real-time Collection arrived is poor, generates motor control signal by PID controller.

Step S104. is according to motor control signal drive motors.

In this step, step S104 is specially:

The stator current of asynchronous motor under three phase coordinate systems is transformed into the alternating current under two-phase rest frame;

Alternating current is become the direct current under synchronous rotating frame through rotor field-oriented rotation transformation;

The controlled quentity controlled variable of motor is obtained, through corresponding coordinate inverse transformation to control motor according to direct current.

The another kind of embodiment of the present invention provides a kind of filming apparatus, and as shown in Figure 2, this filming apparatus comprises:

Attitude angle acquisition module 201, for obtaining the attitude angle of the current position of filming apparatus;

Following angle acquisition module 202, for obtaining the absolute position angle of the current position of filming apparatus, and obtaining following angle according to absolute position angle;

Control module 203, for by attitude angle with follow angle obtain motor control signal after PID arithmetic, and according to motor control signal drive motors 204.

Concrete, the process that attitude angle acquisition module 201 obtains the attitude angle of the current position of filming apparatus is:

Obtain the angle of pitch of the current position of filming apparatus, roll angle and angle of drift;

Through Kalman filtering algorithm, attitude angle is obtained to the angle of pitch, roll angle and angle of drift.

Concrete, attitude angle acquisition module 201 comprises acceleration transducer, angular-rate sensor and Magnetic Sensor, the data of six axles of MPU6050 are read by IIC agreement, upgrade the state of angular speed and acceleration according to terminal signaling, then get attitude angle by Kalman filtering algorithm.

Wherein, acceleration transducer Z axis and natural system of coordinates Z axis angle are:

$\mathrm{\α}={\tan }^{-1}\left(\frac{\sqrt{A_x^2+A_y^2}}{A_2}\right);$

Acceleration transducer X-axis and natural system of coordinates X-axis angle are:

$\mathrm{\β}={\tan }^{-1}\left(\frac{A_x}{\sqrt{A_z^2+A_y^2}}\right);$

Acceleration transducer Y-axis and natural system of coordinates Y-axis angle are:

$\mathrm{\γ}={\tan }^{-1}\left(\frac{A_y}{\sqrt{A_z^2+A_x^2}}\right);$

Concrete, control module 203 is by attitude angle and follow the process that angle obtains motor control signal after PID arithmetic and be:

By attitude angle with follow angle and do difference, by PID controller generating rate set point;

By rate setpoints with collect rate information and carry out poor, generate current setting value by PID controller;

Current of electric information current setting value and Real-time Collection arrived is poor, generates motor control signal by PID controller.

Wherein, current information is obtained by current sampling circuit, as shown in Figure 3, is the circuit diagram of current sampling circuit.

Concrete, control module 203 according to the process of motor control signal drive motors is:

The stator current of asynchronous motor under three phase coordinate systems is transformed into the alternating current under two-phase rest frame;

Alternating current is become the direct current under synchronous rotating frame through rotor field-oriented rotation transformation;

The controlled quentity controlled variable of motor is obtained, through corresponding coordinate inverse transformation to control motor according to direct current.

Concrete, follow the absolute position angle steps that angle acquisition module 202 obtains the current position of filming apparatus, and also comprise according to the process of motor control signal drive motors:

Judge whether the terminal time arriving setting, be, then upgrade absolute position angle, and obtain following angle according to the absolute position angle after upgrading; No, then obtain following angle according to original absolute position angle.

Wherein, can adopt encoder according to following angle acquisition module 202, as shown in Figure 4, be the circuit diagram of encoder.

The invention provides filming apparatus and control method thereof by Real-time Collection attitude angle with follow angle and carry out PID arithmetic, and utilize FOC motor to drive algorithm drives motor to make up the error of attitude angle and zero degree, thus realize in shooting process stablize smooth, in addition, also comprise lag function, namely when photographer wants the video taking any direction, only with when health being turned to the direction of wanted photographed scene, system can the smooth direction followed pointed by health voluntarily, and ensures the smooth smoothness of picture.

Above content is in conjunction with concrete preferred implementation further description made for the present invention, can not assert that specific embodiment of the invention is confined to these explanations.For general technical staff of the technical field of the invention; make some equivalent alternative or obvious modification without departing from the inventive concept of the premise; and performance or purposes identical, all should be considered as belonging to the scope of patent protection that the present invention is determined by submitted to claims.

Claims (10)

1. a control method for filming apparatus, is characterized in that, described control method comprises the following steps:

A. the attitude angle of the current position of described filming apparatus is obtained;

B. obtain the absolute position angle of the current position of described filming apparatus, and obtain following angle according to described absolute position angle;

C. described attitude angle and described angle of following are obtained motor control signal after PID arithmetic;

D. according to described motor control signal drive motors.

2. control method as claimed in claim 1, it is characterized in that, described steps A is specially:

Obtain the angle of pitch of the current position of described filming apparatus, roll angle and angle of drift;

Through Kalman filtering algorithm, attitude angle is obtained to the described angle of pitch, roll angle and angle of drift.

3. control method as claimed in claim 1, it is characterized in that, described step C is specially:

Described attitude angle and described angle of following are done difference, by PID controller generating rate set point;

By described rate setpoints with collect rate information and carry out poor, generate current setting value by PID controller;

The current of electric information described current setting value and Real-time Collection arrived is poor, generates motor control signal by PID controller.

4. control method as claimed in claim 1, it is characterized in that, described step D is specially:

The stator current of asynchronous motor under three phase coordinate systems is transformed into the alternating current under two-phase rest frame;

Described alternating current is become the direct current under synchronous rotating frame through rotor field-oriented rotation transformation;

The controlled quentity controlled variable of motor is obtained, through corresponding coordinate inverse transformation to control motor according to described direct current.

5. control method as claimed in claim 1, is characterized in that, also comprise after obtaining the absolute position angle steps of the current position of described filming apparatus described in described step B:

Judging whether the break period arriving setting, is then upgrade described absolute position angle, and obtains following angle according to the absolute position angle after upgrading; No, then obtain following angle according to original absolute position angle.

6. a filming apparatus, is characterized in that, described filming apparatus comprises:

Attitude angle acquisition module, for obtaining the attitude angle of the current position of described filming apparatus;

Following angle acquisition module, for obtaining the absolute position angle of the current position of described filming apparatus, and obtaining following angle according to described absolute position angle;

Control module, for obtaining motor control signal by described attitude angle and described angle of following, and according to described motor control signal drive motors after PID arithmetic.

7. filming apparatus as claimed in claim 6, it is characterized in that, the process that described attitude angle acquisition module obtains the attitude angle of the current position of described filming apparatus is:

Obtain the angle of pitch of the current position of described filming apparatus, roll angle and angle of drift;

Through Kalman filtering algorithm, attitude angle is obtained to the described angle of pitch, roll angle and angle of drift.

8. filming apparatus as claimed in claim 6, is characterized in that, described control module is by described attitude angle and describedly follow the process that angle obtains motor control signal after PID arithmetic and be:

Described attitude angle and described angle of following are done difference, by PID controller generating rate set point;

By described rate setpoints with collect rate information and carry out poor, generate current setting value by PID controller;

The current of electric information described current setting value and Real-time Collection arrived is poor, generates motor control signal by PID controller.

9. filming apparatus as claimed in claim 6, it is characterized in that, described control module according to the process of described motor control signal drive motors is:

The stator current of asynchronous motor under three phase coordinate systems is transformed into the alternating current under two-phase rest frame;

Described alternating current is become the direct current under synchronous rotating frame through rotor field-oriented rotation transformation;

The controlled quentity controlled variable of motor is obtained, through corresponding coordinate inverse transformation to control motor according to described direct current.

10. filming apparatus as claimed in claim 6, is characterized in that, described in follow the absolute position angle steps that angle acquisition module obtains the current position of described filming apparatus, and also to comprise according to the process of described motor control signal drive motors:

Judging whether the break period arriving setting, is then upgrade described absolute position angle, and obtains following angle according to the absolute position angle after upgrading; No, then obtain following angle according to original absolute position angle.