CN106292739B - The body-sensing camera holder and control method for following human body head to act - Google Patents
The body-sensing camera holder and control method for following human body head to act Download PDFInfo
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- CN106292739B CN106292739B CN201610821137.2A CN201610821137A CN106292739B CN 106292739 B CN106292739 B CN 106292739B CN 201610821137 A CN201610821137 A CN 201610821137A CN 106292739 B CN106292739 B CN 106292739B
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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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Abstract
The present invention is to provide a kind of body-sensing camera holder for following human body head to act and control methods.It is grouped as 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 that wireless receiving circuit, cradle head control circuit, servo driving circuit and holder main body, wireless receiving circuit are 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 holder main body.Transmitter section is mainly to acquire the space angle of human body head and angle information is sent to receiver section by radio transmitter.Receiver section is mainly the space angle information for receiving the human body head that transmitter is sent, and these information are used for the control of holder main body, so that holder be allow to follow the headwork of human body completely.
Description
Technical field
The present invention relates to a kind of motion sensing control holder, in particular to a kind of body-sensing camera cloud for following human body head to act
Platform.
Background technique
With the development of industry and science and technology, more stringent requirements are proposed for simplicity of the people to instrumentation, body-sensing
Manipulation has obtained development at full speed as a kind of very easy control mode.Traditional camera holder is mostly key rocking bar control
System processed, disadvantage are as follows:
1. complicated for operation, manipulator needs could skilled operation by certain training；
2. flexibility is inadequate, uniaxial rotation can only be generally carried out；
3. can not 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
Human body head is followed to act the purpose of the present invention is to provide a kind of headwork that can follow human body completely
Body-sensing camera holder.The object of the invention is also to provide a kind of body-sensing camera holders for following human body head to act
Control method.
The body-sensing camera holder for following human body head to act of the invention is grouped as by transmitter section and receiver part,
The transmitter section mainly includes space angle sensor 3, transmitter control circuit 1 and radio transmitter 2, space angle
Sensor 3 is connected with transmitter control circuit 1, and transmitter control circuit 1 is connected with radio transmitter 2；The receiver part
Divide mainly includes wireless receiving circuit 4, cradle head control circuit 5, servo driving circuit 6 and holder main body 7, wireless receiving circuit 4
It is connected with cradle head control circuit 5, cradle head control circuit 5 is connected with servo driving circuit 6, servo driving circuit 6 and holder main body 7
It is connected.
The of the invention body-sensing camera holder for following human body head to act can also include:
The holder main body 7 include camera 11, carry camera U-shaped platform 12, turn about the X axis steering engine 13, around Y
The steering engine 14 of axis rotation, the steering engine 15 turned about the Z axis and U-shaped board 16, camera 11 and 12 phase of U-shaped platform for carrying camera
Even, the U-shaped platform 12 for carrying camera is connected in the steering engine rotating circular disc of the steering engine 13 turned about the X axis, the rudder turned about the X axis
Machine 13 is mutually pasted with the steering engine 14 rotated around Y-axis, and the steering engine rotating circular disc around the steering engine 14 of Y-axis rotation is connected with U-shaped board 16, U
Template 16 is connected in the steering engine rotating circular disc of the steering engine 15 turned about the Z axis.
It further include two block space angular transducers, and two block space angular transducers are adopted respectively using cooperative mode
Collect the space angle of human body head and shoulder.
The control method of the body-sensing camera holder for following human body head to act of the invention are as follows:
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 microcontroller and space angle sensor；
Second step, is interrupted by the serial ports 1 of single-chip microcontroller and serial ports 2 interrupts to receive respectively and is mounted on human body head and shoulder
The data packet that space angle sensor is passed back；
Third step unpacks the data packet received according to data head, extracts X-axis, Y-axis, and the 16 of the space angle of Z axis
Bit binary data；
The 16 bit space angle-datas extracted are disassembled by shift operation into two 8 data, then will by the 4th step
These data are pressed onto a data packet, and entire data packet includes 12 valid data, are set the packet header of data packet as 0x66, are counted
Packet tail according to packet is 0x99；
5th step, MCU driving wireless transmitter module issue packed data packet；
In entire control process, every 100ms recycles above-mentioned second step to the 5th step；
Receiver section:
6th step, the data packet that receiver sends hair machine receive: single-chip microcontroller is received by wireless module and is sent out first
The data packet for sending machine to send verifies packet header 0x66, data packet packet tail 0x99, if passing through verification；Then pass through displacement fortune
It calculates and 12 effective 8 data in data packet is 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 microcontroller start control steering engine by steering engine and move: when receiver unlatching power supply, first having to keep head
Static ten seconds, the space angle acquired in this ten seconds is averaged to the initial zero position as head and shoulder；Receiver later
Buzzer makes a sound, and prompts the movement that can start head；Then the head and shoulder that the first step is acquired and restored by every 100ms
The space angle in portion updates, and the head X-axis drift angle received and head initial zero position X-axis drift angle are made the difference, as holder master
Deflection angle of the body around X-axis rotate steering wheel；And make the difference the head Y-axis drift angle received and head initial zero position Y-axis drift angle, as
Deflection angle of the holder main body around Y-axis rotate steering wheel；The head Z axis space angle received and head Z axis initial zero position Z axis is inclined
Offset of the difference 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 made the difference, as
Then shoulder Z axis offset makes the difference head Z axis offset and shoulder Z axis offset, result writes a composition holder main body about the z axis
The deflection angle of rotate steering wheel；Finally, by holder main body around the deflection angle of X-axis rotate steering wheel, around Y-axis rotate steering wheel deflection angle and
The deflection angle of rotate steering wheel is converted into the steering engine control signal of corresponding 50Hz about the z axis, controls steering engine rotation by servo driving.
The body-sensing camera holder for following human body head to act of the invention and its control method, advantage have:
1. it is easy to operate, holder is controlled by headwork, it can skilled operation after being simply familiar with；
2. flexibility ratio is high, the linkage of three axis can be carried out simultaneously；
3. combining with VR glasses, there is very strong telepresenc.
Detailed description of the invention
Fig. 1 is hardware block diagram of the invention；
Fig. 2 a- Fig. 2 b is the mechanical construction drawing of holder main body；
Fig. 3 is the software implementing course of transmitter section；
Fig. 4 is the software implementing course of receiver section.
Specific embodiment
The present invention is described in more detail with reference to the accompanying drawing:
In conjunction with Fig. 1, Fig. 1 is hardware block diagram of the invention.The body-sensing camera cloud for following headwork of the 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, transmitter control electricity
Road 1 is connected with radio transmitter 2.The major function that transmitter section is completed is to acquire 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, holder
Control circuit 5, servo driving circuit 6, holder main body 7.Wherein wireless receiving circuit 4 is connected with cradle head control circuit 5, holder control
Circuit 5 processed is connected with servo driving circuit 6, and servo driving circuit 6 is connected with holder main body 7.Receiver section is completed main
Function is to receive the space angle information for the human body head that transmitter is sent, and these information are used for the control of holder main body,
To allow holder to follow the headwork of human body completely.
In conjunction with Fig. 2 a- Fig. 2 b.Holder main body includes: camera 11, carries the U-shaped platform 12 of camera, turns about the X axis
Steering engine 13, around the steering engine 14 of Y-axis rotation, the steering engine 15 turned about the Z axis and U-shaped board 16 are formed.It is characterized in that: 11 He of camera
The U-shaped platform 12 for carrying camera is connected, and the U-shaped platform 12 for carrying camera is connected to the steering engine of the steering engine 13 turned about the X axis
In rotating circular disc, the steering engine 13 turned about the X axis is mutually pasted with the steering engine 14 rotated around Y-axis, around the steering engine of the steering engine 14 of Y-axis rotation
Rotating circular disc is connected with U-shaped board 16, and U-shaped board 16 is connected in the steering engine rotating circular disc of the steering engine 15 turned about the Z axis.Cradle head control
Circuit controls the corner of these three steering engines respectively, and holder is made to follow human body head to act completely.
It is the software implementing course of transmitter section in conjunction with Fig. 3, Fig. 3.The first step, initializes Singlechip clock and correlation connects
Mouthful, set up serial ports 1 and the baud rate of serial ports 2 be 115200Bd, realize the frequency docking of single-chip microcontroller and space angle sensor.The
Two steps are interrupted by the serial ports 1 of single-chip microcontroller and are passed with the interruption of serial ports 2 space angle that reception is mounted on human body head and shoulder respectively
The data packet that sensor is passed back.Third step unpacks the data packet received according to data head, extracts X-axis, Y-axis, the sky of Z axis
Between angle 16 bit binary datas.4th step disassembles the 16 bit space angle-datas extracted at two by shift operation
These data, are then pressed onto a data packet by a 8 data, and entire data packet includes 12 valid data, set data
The packet header of packet is 0x66, and the packet tail of data packet is 0x99.5th step, MCU driving wireless transmitter module is by packed data
Packet issues.In entire control process, every 100ms recycles above-mentioned second step to the 5th step.The major function of transmitter is to complete
Certain time interval sample space angle, and pass through the work of wireless module transmission data packet.
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 is the reception for completing data packet and the reduction of space angle data, and second step is that single-chip microcontroller passes through steering engine starting control steering engine
Movement.
The first step, the data packet that receiver sends hair machine receive: single-chip microcontroller is received by wireless module and is sent out first
The data packet for sending machine to send verifies packet header 0x66, data packet packet tail 0x99, if illustrating that data packet is complete by verification
It receives.Then 12 effective 8 data in data packet are reduced to by 6 16 bit space angle-datas by shift operation, so
Afterwards according to the space angle on reducing formula head and shoulder space angle sensor.This completes the reception of data packet and skies
Between angle reduction.
Second step, single-chip microcontroller start control steering engine by steering engine and move: when receiver unlatching power supply, first having to keep head
Static ten seconds, the space angle acquired in this ten seconds is averaged to the initial zero position as head and shoulder.It connects after this
Receipts machine buzzer makes a sound, and prompts the movement that can start head.Then the head that the first step is acquired and restored by every 100ms
It is updated with the space angle of shoulder, and the head X-axis drift angle received and head initial zero position X-axis drift angle is made the difference, as cloud
Deflection angle of the platform main body around X-axis rotate steering wheel；And make the difference the head Y-axis drift angle received and head initial zero position Y-axis drift angle,
As holder main body around the deflection angle of Y-axis rotate steering wheel；By the head Z axis space angle received and head Z axis initial zero position Z
Offset of the difference as head Z axis is made in axis drift angle, and the shoulder Z axis drift angle received and initial zero position shoulder Z axis drift angle are made the difference,
As shoulder Z axis offset, then head Z axis offset and shoulder Z axis offset are made the difference, result write a composition holder main body around
The deflection angle of Z axis rotate steering wheel.Finally, by holder main body around the deflection angle of X-axis rotate steering wheel, around the deflection of Y-axis rotate steering wheel
The deflection angle of angle and about the z axis rotate steering wheel is converted into the steering engine control signal of corresponding 50Hz, is controlled by servo driving corresponding
Steering engine rotation.In entire control process repeat above-mentioned circulation, thereby realize holder to human body head act completely with
With.
Claims (1)
1. a kind of control method for the body-sensing camera holder for following human body head to act, the body-sensing for following human body head to act are taken the photograph
As head holder is grouped as by transmitter section and receiver part, the transmitter section mainly include space angle sensor (3),
Transmitter control circuit (1) and radio transmitter (2), space angle sensor (3) are connected with transmitter control circuit (1),
Transmitter control circuit (1) is connected with radio transmitter (2)；The receiver section mainly include wireless receiving circuit (4),
Cradle head control circuit (5), servo driving circuit (6) and holder main body (7), wireless receiving circuit (4) and cradle head control circuit (5)
It is connected, cradle head control circuit (5) is connected with servo driving circuit (6), and servo driving circuit (6) is connected with holder main body (7), institute
Space angle sensor is stated including two pieces and two block space angular transducers are separately mounted to human body head and shoulder, using common
The mode of work acquires the space angle of human body head and shoulder respectively；
It is characterized in that control method are as follows:
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 docking of the frequency of single-chip microcontroller and space angle sensor；
Second step, is interrupted by the serial ports 1 of single-chip microcontroller and serial ports 2 interrupts and receives the space for being mounted on human body head and shoulder respectively
The data packet that angular transducer is passed back；
Third step unpacks the data packet received according to data head, extracts X-axis, Y-axis, and 16 two of the space angle of Z axis
Binary data；
4th step disassembles the 16 bit space angle-datas extracted at two 8 data, then by these by shift operation
Data are pressed onto a data packet, and entire data packet includes 12 valid data, set the packet header of data packet as 0x66, data packet
Packet tail be 0x99；
5th step, MCU driving wireless transmitter module issue packed data packet；
In entire control process, every 100ms recycles above-mentioned second step to the 5th step；
Receiver section:
6th step, the data packet that receiver sends hair machine receive: single-chip microcontroller receives transmitter by wireless module first
The data packet of transmission verifies packet header 0x66, data packet packet tail 0x99, if passing through verification；It then will by shift operation
12 effective 8 data in data 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 microcontroller start control steering engine by steering engine and move: when receiver unlatching power supply, first having to keep head static
Ten seconds, the space angle acquired in this ten seconds is averaged to the initial zero position as head and shoulder；Receiver buzzing later
Device makes a sound, and prompts the movement that can start head；Then the first step is acquired and restored by every 100ms head and shoulder
Space angle updates, and the head X-axis drift angle received and head initial zero position X-axis drift angle are made the difference, as holder main body around X
The deflection angle of axis rotate steering wheel；And make the difference the head Y-axis drift angle received and head initial zero position Y-axis drift angle, as holder
Deflection angle of the main body around Y-axis rotate steering wheel；The head Z axis space angle received and head Z axis initial zero position Z axis drift angle are made
Offset of the difference as head Z axis, the shoulder Z axis drift angle received and initial zero position shoulder Z axis drift angle is made the difference, as shoulder
Then Z axis offset makes the difference head Z axis offset and shoulder Z axis offset, result composition holder main body rotates about the z axis
The deflection angle of steering engine；Finally, by holder main body around the deflection angle of X-axis rotate steering wheel, around the deflection angle of Y-axis rotate steering wheel and around Z
The deflection angle of axis rotate steering wheel is converted into the steering engine control signal of corresponding 50Hz, controls steering engine rotation by servo driving.
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 CN106292739A (en) | 2017-01-04 |
| CN106292739B true CN106292739B (en) | 2018-12-25 |
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Families Citing this family (2)
| 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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| 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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Patent Citations (7)
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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 |
| CN203204445U (en) * | 2013-04-10 | 2013-09-18 | 四川艾普视达数码科技有限公司 | Control system of camera holder |
| TW201443543A (en) * | 2013-05-01 | 2014-11-16 | Arec Inc | Panning camera and automatic panning cradle head |
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