CN106292739A - Follow body-sensing photographic head The Cloud Terrace and the control method of human body head action - Google Patents
Follow body-sensing photographic head The Cloud Terrace and the control method of human body head action Download PDFInfo
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- CN106292739A CN106292739A CN201610821137.2A CN201610821137A CN106292739A CN 106292739 A CN106292739 A CN 106292739A CN 201610821137 A CN201610821137 A CN 201610821137A CN 106292739 A CN106292739 A CN 106292739A
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- head
- axis
- steering wheel
- cloud terrace
- transmitter
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
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Abstract
The present invention is to provide a kind of body-sensing photographic head The Cloud Terrace following human body head action and control method.Being grouped into by transmitter section and receiver part, transmitter section includes space angle sensor, transmitter control circuit and radio transmitter, and space angle sensor is connected with transmitter control circuit, and transmitter control circuit is connected with radio transmitter；Receiver section includes wireless receiving circuit, cradle head control circuit, servo driving circuit and The Cloud Terrace main body, and wireless receiving circuit is connected with cradle head control circuit, and cradle head control shop road is connected with servo driving circuit, and servo driving circuit is connected with The Cloud Terrace main body.Transmitter section mainly gathers the space angle of human body head and by radio transmitter, angle information is sent to receiver section.The space angle information of the receiver section mainly human body head that reception transmitter sends, and these information are used for the control of The Cloud Terrace main body, so that The Cloud Terrace can follow the headwork of human body completely.
Description
Technical field
The present invention relates to a kind of motion sensing control The Cloud Terrace, particularly to a kind of body-sensing photographic head cloud following human body head action
Platform.
Background technology
Along with industry and the development of science and technology, the simplicity of instrumentation is had higher requirement by people, body-sensing
Manipulation has obtained development at full speed as the easiest a kind of control mode.Traditional photographic head The Cloud Terrace mostly is button rocking bar control
System processed, its shortcoming is:
1. operation complexity, manipulator needs could skilled operation through certain training；
2. motility is inadequate, typically can only carry out the rotation of single shaft；
3. cannot combine with VR glasses, telepresenc is low.
Therefore, traditional control program has been not suitable with new requirement in many occasions.
Summary of the invention
It is an object of the invention to provide a kind of headwork that can follow human body completely follows human body head action
Body-sensing photographic head The Cloud Terrace.The present invention also aims to provide a kind of body-sensing photographic head The Cloud Terrace following human body head action
Control method.
The body-sensing photographic head The Cloud Terrace following human body head action of the present invention is grouped into by transmitter section and receiver part,
Described transmitter section mainly includes space angle sensor 3, transmitter control circuit 1 and radio transmitter 3, space angle
Sensor 3 is connected with transmitter control circuit 1, and transmitter control circuit 1 is connected with radio transmitter 3；Described receiver part
Divide and mainly include wireless receiving circuit 4, cradle head control circuit 5, servo driving circuit 6 and The Cloud Terrace main body 7, wireless receiving circuit 4
Being connected with cradle head control circuit 5, cradle head control shop road 5 is connected with servo driving circuit 6, servo driving circuit 6 and The Cloud Terrace main body 7
It is connected.
The body-sensing photographic head The Cloud Terrace following human body head action of the present invention can also include:
Described The Cloud Terrace main body 7 include photographic head 11, carry the U-shaped platform 12 of photographic head, the steering wheel 13 turned about the X axis, around Y
Steering wheel 14, the steering wheel 15 turned about the Z axis and the U-shaped plate 16 that axle rotates, photographic head 11 and U-shaped platform 12 phase of lift-launch photographic head
Even, the steering wheel carrying the steering wheel 13 that the U-shaped platform 12 of photographic head is connected to turn about the X axis rotates on disk, the rudder turned about the X axis
Machine 13 is pasted mutually with the steering wheel 14 rotated around Y-axis, and the steering wheel around the steering wheel 14 of Y-axis rotation rotates disk and is connected with U-shaped plate 16, U
The steering wheel of steering wheel 15 that template 16 is connected to turn about the Z axis rotates on disk.
Also include two block space angular transducers, and two block space angular transducers use cooperative mode to adopt respectively
Collection human body head and the space angle of shoulder.
The control method of the body-sensing photographic head The Cloud Terrace following human body head action of the present invention is:
Transmitter section:
The first step, initializes Singlechip clock and relevant interface, set up serial ports 1 and the baud rate of serial ports 2 be 115200Bd,
Realize the frequency docking of single-chip microcomputer and space angle sensor；
Second step, is interrupted by the serial ports 1 of single-chip microcomputer and serial ports 2 interrupts receiving respectively and is arranged on human body head and shoulder
The packet that space angle sensor is passed back；
3rd step, unpacks the packet received according to data head, and extracts X-axis, Y-axis, the 16 of the space angle of Z axis
Bit binary data；
The 16 bit space angle-datas extracted are disassembled into two 8 bit data by shift operation, then will by the 4th step
These data are pressed onto in a packet, and whole packet comprises 12 valid data, and the packet header of setting data bag is 0x66, number
Bag tail according to bag is 0x99；
5th step, packed packet is sent by Micro Controller Unit (MCU) driving wireless transmitter module；
During whole control, every 100ms circulates above-mentioned second step to the 5th step；
Receiver section:
6th step, the packet that the machine of sending out is sent by receiver is received: first single-chip microcomputer is received by wireless module and sends out
Send the packet that machine sends, verify packet header 0x66, packet bag tail 0x99, if by verification；Then transported by displacement
Calculate and effective for 12 in packet 8 bit data are reduced to 6 16 bit space angle-datas, then go back protocephalic region and shoulder space
The space angle of angular transducer；
7th step, single-chip microcomputer is started by steering wheel and controls steering wheel motion: when receiver power-on, first have to keep head
Static ten seconds, the initial zero position as head and shoulder that the space angle gathered in these ten seconds is averaged；Receiver afterwards
Buzzer sends sound, and prompting can start the motion of head；Then every 100ms by first step collection and reduces head and shoulder
The space angle in portion updates, and the head X-axis drift angle received and head initial zero position X-axis drift angle are done difference, as The Cloud Terrace master
Body rotates the deflection angle of steering wheel around X-axis；And difference is done in the head Y-axis drift angle received and head initial zero position Y-axis drift angle, as
The Cloud Terrace main body rotates the deflection angle of steering wheel around Y-axis；By inclined to the head Z axis space angle and the head Z axis initial zero position Z axis that receive
The difference side-play amount as head Z axis is made at angle, and the shoulder Z axis drift angle received and initial zero position shoulder Z axis drift angle are done difference, as
Shoulder Z axis side-play amount, then does difference by head Z axis side-play amount and shoulder Z axis side-play amount, and its result composition The Cloud Terrace main body is about the z axis
Rotate the deflection angle of steering wheel；Finally, The Cloud Terrace main body is rotated around X-axis the deflection angle of steering wheel, around Y-axis rotate steering wheel deflection angle and
The deflection angle rotating steering wheel about the z axis is converted into the steering wheel control signal of corresponding 50Hz, controls steering wheel by servo driving and rotates.
The body-sensing photographic head The Cloud Terrace following human body head action of the present invention and control method thereof, its advantage has:
The most simple to operate, control The Cloud Terrace by headwork, just can be with skilled operation after being simply familiar with；
2. flexibility ratio is high, can carry out the linkage of three axles simultaneously；
3. combine with VR glasses, have the strongest telepresenc.
Accompanying drawing explanation
Fig. 1 is the hardware block diagram of the present invention；
Fig. 2 a-Fig. 2 b is the mechanical construction drawing of The Cloud Terrace main body；
Fig. 3 is the software implementing course of transmitter section；
Fig. 4 is the software implementing course of receiver section.
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is described in more detail:
It is the hardware block diagram of the present invention in conjunction with Fig. 1, Fig. 1.The body-sensing photographic head cloud following headwork of the present invention
Platform mainly includes transmitter and receiver two parts.Wherein transmitter section specifically includes that space angle sensor 3, transmitter
Control circuit 1, radio transmitter 2.Wherein space angle sensor 3 is connected with transmitter control circuit 1, and transmitter controls electricity
Road 1 is connected with radio transmitter 3.The major function that transmitter section completes is to gather the space angle of human body head and pass through
Angle information is sent to receiver section by radio transmitter.Receiver section specifically includes that wireless receiving circuit 4, The Cloud Terrace
Control circuit 5, servo driving circuit 6, The Cloud Terrace main body 7.Wherein wireless receiving circuit 4 is connected with cradle head control circuit 5, The Cloud Terrace control
Zhi Dian road 5 is connected with servo driving circuit 6, and servo driving circuit 6 is connected with The Cloud Terrace main body 7.It is main that receiver section completes
Function is the space angle information receiving the human body head that transmitter sends, and these information are used for the control of The Cloud Terrace main body,
So that The Cloud Terrace can follow the headwork of human body completely.
In conjunction with Fig. 2 a-Fig. 2 b.The Cloud Terrace main body includes: photographic head 1, carries the U-shaped platform 2 of photographic head, the rudder turned about the X axis
Machine 3, the steering wheel 4 rotated around Y-axis, the steering wheel 5 and the U-shaped plate 6 that turn about the Z axis form.It is characterized in that: photographic head 1 and lift-launch are taken the photograph
As the U-shaped platform 2 of head is connected, the U-shaped platform 2 carrying photographic head is connected to the steering wheel rotation disk of the steering wheel 3 turned about the X axis
On, the steering wheel 3 turned about the X axis is pasted mutually with the steering wheel 4 rotated around Y-axis, and the steering wheel around the steering wheel 4 of Y-axis rotation rotates disk and U
Template 6 is connected, and the steering wheel of steering wheel 5 that U-shaped plate 6 is connected to turn about the Z axis rotates on disk.Cradle head control circuit controls this respectively
The corner of three steering wheels, makes The Cloud Terrace follow human body head action completely.
It is the software implementing course of transmitter section in conjunction with Fig. 3, Fig. 3.The first step, initializes Singlechip clock and connects with relevant
Mouthful, set up serial ports 1 and the baud rate of serial ports 2 be 115200Bd, it is achieved the frequency docking of single-chip microcomputer and space angle sensor.The
Two steps are interrupted by the serial ports 1 of single-chip microcomputer and serial ports 2 interrupts receiving the space angle biography being arranged on human body head and shoulder respectively
The packet that sensor is passed back.3rd step, unpacks the packet received according to data head, and extracts X-axis, Y-axis, the sky of Z axis
Between 16 bit binary data of angle.The 16 bit space angle-datas extracted are disassembled into two by shift operation by the 4th step
Then these data are pressed onto in a packet by individual 8 bit data, and whole packet comprises 12 valid data, setting data
The packet header of bag is 0x66, and the bag tail of packet is 0x99.5th step, Micro Controller Unit (MCU) driving wireless transmitter module is by packed data
Bag sends.During whole control, every 100ms circulates above-mentioned second step to the 5th step.The major function of transmitter has been
Intervals sample space angle, and the work of packet is sent by wireless module.
It is the software implementing course of receiver section in conjunction with Fig. 4, Fig. 4.Receiver section mainly completes two parts work, the
One step has been reception and the reduction of space angle data of packet, and second step is that single-chip microcomputer passes through steering wheel startup control steering wheel
Motion.
The first step, the packet that the machine of sending out is sent by receiver is received: first single-chip microcomputer is received by wireless module and sends out
Send the packet that machine sends, verify packet header 0x66, packet bag tail 0x99, if by verification, illustrating that packet is complete
Receive.Then by shift operation, effective for 12 in packet 8 bit data are reduced to 6 16 bit space angle-datas, so
Afterwards according to reducing formula head and the space angle of shoulder space angle sensor.This completes reception and the sky of packet
Between the reduction of angle.
Second step, single-chip microcomputer is started by steering wheel and controls steering wheel motion: when receiver power-on, first have to keep head
Static ten seconds, the initial zero position as head and shoulder that the space angle gathered in these ten seconds is averaged.Connect after this
Receipts machine buzzer sends sound, and prompting can start the motion of head.Then every 100ms is by first step collection the head that reduces
Update with the space angle of shoulder, and difference is done, as cloud in the head X-axis drift angle received and head initial zero position X-axis drift angle
Platform main body rotates the deflection angle of steering wheel around X-axis；And difference is done in the head Y-axis drift angle received and head initial zero position Y-axis drift angle,
Rotate the deflection angle of steering wheel around Y-axis as The Cloud Terrace main body；By the head Z axis space angle received and head Z axis initial zero position Z
The difference side-play amount as head Z axis is made in axle drift angle, and the shoulder Z axis drift angle received and initial zero position shoulder Z axis drift angle are done difference,
As shoulder Z axis side-play amount, then head Z axis side-play amount and shoulder Z axis side-play amount are done difference, its result composition The Cloud Terrace main body around
Z axis rotates the deflection angle of steering wheel.Finally, The Cloud Terrace main body is rotated around X-axis the deflection angle of steering wheel, rotate the deflection of steering wheel around Y-axis
Angle and rotate the deflection angle of steering wheel about the z axis and be converted into the steering wheel control signal of corresponding 50Hz, controls corresponding by servo driving
Steering wheel rotates.During whole control, repeat above-mentioned circulation, thus achieve The Cloud Terrace to human body head action completely with
With.
Claims (4)
1. following a body-sensing photographic head The Cloud Terrace for human body head action, transmitter section and receiver part are grouped into, it is special
Levy and be: described transmitter section mainly includes space angle sensor (3), transmitter control circuit (1) and radio transmitter
(3), space angle sensor (3) is connected with transmitter control circuit (1), transmitter control circuit (1) and radio transmitter
(3) it is connected；Described receiver section mainly includes wireless receiving circuit (4), cradle head control circuit (5), servo driving circuit (6)
With The Cloud Terrace main body (7), wireless receiving circuit (4) is connected with cradle head control circuit (5), cradle head control shop road (5) and servo driving
Circuit (6) is connected, and servo driving circuit (6) is connected with The Cloud Terrace main body (7).
The body-sensing photographic head The Cloud Terrace following human body head action the most according to claim 1, is characterized in that: described The Cloud Terrace master
Body (7) include photographic head (11), carry the U-shaped platform (12) of photographic head, the steering wheel (13) turned about the X axis, around Y-axis rotate rudder
Machine (14), the steering wheel (15) turned about the Z axis and U-shaped plate (16), photographic head (11) and U-shaped platform (12) phase of lift-launch photographic head
Even, the steering wheel carrying the steering wheel (13) that the U-shaped platform (12) of photographic head is connected to turn about the X axis rotates on disk, turns about the X axis
Steering wheel (13) paste mutually with the steering wheel (14) rotated around Y-axis, the steering wheel of the steering wheel (14) rotated around Y-axis rotates disk and U-shaped
Plate (16) is connected, and the steering wheel of steering wheel (15) that U-shaped plate (16) is connected to turn about the Z axis rotates on disk.
The body-sensing photographic head The Cloud Terrace following human body head action the most according to claim 1 and 2, is characterized in that: also include
Two block space angular transducers, and two block space angular transducers use cooperative mode gather human body head and shoulder respectively
The space angle in portion.
4. a control method for the body-sensing photographic head The Cloud Terrace following human body head action described in claim 1, is characterized in that:
Transmitter section:
The first step, initializes Singlechip clock and relevant interface, set up serial ports 1 and the baud rate of serial ports 2 be 115200Bd, it is achieved
The frequency docking of single-chip microcomputer and space angle sensor；
Second step, is interrupted by the serial ports 1 of single-chip microcomputer and serial ports 2 interrupts receiving the space being arranged on human body head and shoulder respectively
The packet that angular transducer is passed back；
3rd step, unpacks the packet received according to data head, and extracts X-axis, Y-axis, 16 two of the space angle of Z axis
Binary data；
The 16 bit space angle-datas extracted are disassembled into two 8 bit data by shift operation, then by these by the 4th step
Data are pressed onto in a packet, and whole packet comprises 12 valid data, and the packet header of setting data bag is 0x66, packet
Bag tail be 0x99；
5th step, packed packet is sent by Micro Controller Unit (MCU) driving wireless transmitter module；
During whole control, every 100ms circulates above-mentioned second step to the 5th step；
Receiver section:
6th step, the packet that the machine of sending out is sent by receiver is received: first single-chip microcomputer receives transmitter by wireless module
The packet sent, verifies packet header 0x66, packet bag tail 0x99, if by verification；Then passing through shift operation will
12 effective 8 bit data in packet are reduced to 6 16 bit space angle-datas, then go back protocephalic region and shoulder space angle
The space angle of sensor；
7th step, single-chip microcomputer is started by steering wheel and controls steering wheel motion: when receiver power-on, first has to keep head static
Ten seconds, the initial zero position as head and shoulder that the space angle gathered in these ten seconds is averaged；Receiver buzzing afterwards
Device sends sound, and prompting can start the motion of head；Then every 100ms by first step collection and reduces head and shoulder
Space angle updates, and the head X-axis drift angle received and head initial zero position X-axis drift angle are done difference, as The Cloud Terrace main body around X
Axle rotates the deflection angle of steering wheel；And difference is done, as The Cloud Terrace in the head Y-axis drift angle received and head initial zero position Y-axis drift angle
Main body rotates the deflection angle of steering wheel around Y-axis；The head Z axis space angle received and head Z axis initial zero position Z axis drift angle are made
Difference, as the side-play amount of head Z axis, is done, as shoulder in the shoulder Z axis drift angle received and initial zero position shoulder Z axis drift angle by difference
Z axis side-play amount, then does difference by head Z axis side-play amount and shoulder Z axis side-play amount, and its result composition The Cloud Terrace main body rotates about the z axis
The deflection angle of steering wheel；Finally, The Cloud Terrace main body is rotated around X-axis the deflection angle of steering wheel, rotate the deflection angle of steering wheel and around Z around Y-axis
The deflection angle of axle rotation steering wheel is converted into the steering wheel control signal of corresponding 50Hz, controls steering wheel by servo driving and rotates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610821137.2A CN106292739B (en) | 2016-09-13 | 2016-09-13 | The body-sensing camera holder and control method for following human body head to act |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610821137.2A CN106292739B (en) | 2016-09-13 | 2016-09-13 | The body-sensing camera holder and control method for following human body head to act |
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| Publication Number | Publication Date |
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| CN106292739A true CN106292739A (en) | 2017-01-04 |
| CN106292739B CN106292739B (en) | 2018-12-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610821137.2A Active CN106292739B (en) | 2016-09-13 | 2016-09-13 | The body-sensing camera holder and control method for following human body head to act |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109194912A (en) * | 2018-08-06 | 2019-01-11 | 陈彦楠 | A kind of real-time head behaviortrace monitoring system and its control method |
| CN113212777A (en) * | 2021-06-17 | 2021-08-06 | 广东汇天航空航天科技有限公司 | Manned aircraft somatosensory control method and system and related equipment |
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| CN204650286U (en) * | 2015-04-08 | 2015-09-16 | 优利科技有限公司 | Control device and the clouds terrace system of The Cloud Terrace |
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| CN102348068A (en) * | 2011-08-03 | 2012-02-08 | 东北大学 | Head gesture control-based following remote visual system |
| CN202295294U (en) * | 2011-09-15 | 2012-07-04 | 深圳市大疆创新科技有限公司 | Cradle head for unmanned aerial vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109194912A (en) * | 2018-08-06 | 2019-01-11 | 陈彦楠 | A kind of real-time head behaviortrace monitoring system and its control method |
| CN113212777A (en) * | 2021-06-17 | 2021-08-06 | 广东汇天航空航天科技有限公司 | Manned aircraft somatosensory control method and system and related equipment |
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| Publication number | Publication date |
|---|---|
| CN106292739B (en) | 2018-12-25 |
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