CN106534703A - Image chasing system - Google Patents
Image chasing system Download PDFInfo
- Publication number
- CN106534703A CN106534703A CN201611220989.2A CN201611220989A CN106534703A CN 106534703 A CN106534703 A CN 106534703A CN 201611220989 A CN201611220989 A CN 201611220989A CN 106534703 A CN106534703 A CN 106534703A
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- CN
- China
- Prior art keywords
- shooting
- image
- optical axis
- unit
- camera lens
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
- H04N23/681—Motion detection
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/62—Control of parameters via user interfaces
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
- H04N23/681—Motion detection
- H04N23/6812—Motion detection based on additional sensors, e.g. acceleration sensors
Abstract
The present invention provides an image chasing system. The system comprises image detection and processing unit, a servo control unit and a dual-axis motion unit. The lens of the image collection device and the image detection and processing unit are fixed on the dual-axis motion unit; the dual-axis motion unit is configured to obtain the attitude information of a lens optical axis in the image shooting process; the image detection and processing unit is configured to obtain the position information of the shooting target; and the servo control unit is configured to regulate the motion of the dual-axis motion unit according to the attitude information and/or the position information to allow the pointing of the lens optical axis to track the shooting target in real time. The image chasing system can allow the pointing of the lens optical axis to track the shooting target in real time through obtaining and processing of the lens optical axis attitude information in the shooting process so as to stabilize the shooting line of sight, and can allow the lens to track the shooting target for shooting through processing of the position information of the shooting target.
Description
Technical field
The present invention relates to image, camera work field, more particularly, it relates to one kind chases after shooting system.
Background technology
With the continuous development of science and technology, in national defence investigation, anti-terrorism early warning, take precautions against natural calamities its people Jing such as tour, news interview
In Ji life, great majority are required for building picture pick-up device by mobile vehicle and carry out real-time tracing to target scene or target object
Shoot.
But when mobile vehicle is during motion, picture pick-up device can occur to rock accordingly, shooting process needs to rely on
Artificial pickaback or to manually adjust and shoot with video-corder visual angle and shot, demand, labor intensity and the operant skill to shooting personnel is required for
High requirement, and due to the problems such as the inevitable shooting picture of manual operation can occur shake, diplopia and scene and miss.
Even if in prior art means, being improved by way of the software and hardware combinings such as electronic steady image, pre-sampling filtering
The quality of filmed image, reduces operation difficulty.But these technological means are built upon sacrificing picture visual field or detector performance
On the basis of, do not fully play out the ability of image detecting.
So, in shooting process, how to make the control of shooting line-of-sight stabilization be that those skilled in the art are urgently to be resolved hurrily to ask
Topic.
The content of the invention
To solve the above problems, the invention provides one kind chases after shooting system, this chases after shooting system and can lead in shooting process
Acquisition and process to camera lens optical axis attitude information are crossed, the sensing real-time tracing photographic subjects of the camera lens optical axis is made, and then can be made
Line-of-sight stabilization is shot, and by the process of the positional information to photographic subjects, is allow camera lens to follow the trail of the target and is shot.
For achieving the above object, the present invention provides following technical scheme：
One kind chases after shooting system, and for image capture device, the shooting system that chases after includes：Image detection and processing unit, watch
Take control unit and biaxial movement unit；The camera lens of described image collecting device and described image detection are fixed on processing unit
On the biaxial movement unit；
The biaxial movement unit is for obtaining the attitude information of the camera lens optical axis during shooting image；
Described image is detected to be used to obtain the positional information of photographic subjects with processing unit；
The servo control unit is transported for according to the attitude information and/or the positional information, adjusting the twin shaft
Moving cell is moved, so that photographic subjects described in the sensing real-time tracing of the camera lens optical axis.
Preferably, chase after in shooting system above-mentioned, the biaxial movement unit includes：
Optical axis supporting arrangement, the camera lens of described image collecting device and described image detection are fixed on described with processing unit
On optical axis supporting arrangement；
Attitude transducer, the attitude transducer are believed for the attitude that the camera lens optical axis is obtained during shooting image
Breath.
Preferably, chase after in shooting system above-mentioned, the biaxial movement unit also includes：
Azimuth-drive motor and pitching motor, the azimuth-drive motor and the pitching motor are used to drive the optical axis supporting arrangement
Motion, so that photographic subjects described in the sensing real-time tracing of the camera lens optical axis.
Preferably, chase after in shooting system above-mentioned, the attitude transducer is six axle athletic posture sensors.
Preferably, chase after in shooting system above-mentioned, the attitude information includes：
The attitude velocity information and attitude angle information of the camera lens optical axis.
Preferably, chase after in shooting system above-mentioned, the shooting system that chases after also includes：
Operation control unit, the operation control unit be used for man-machine interaction, show shooting image, conversion photographed scene,
Choose photographic subjects, records photographing image and send operation instruction signal.
Preferably, chase after in shooting system above-mentioned, the operation control unit includes：
Display, the display are used for man-machine interaction and show shooting image.
Preferably, chase after in shooting system above-mentioned, the operation control unit also includes：
Camcording system, the Camcording system are used to change photographed scene, choose photographic subjects and records photographing image.
Preferably, chase after in shooting system above-mentioned, the operation control unit also includes：
Operate interface unit, the operate interface unit are connected with the servo control unit, for the servo control
Unit transfer operation command signal processed.
By foregoing description, one kind that the present invention is provided chases after shooting system, and for image capture device, this chases after shooting system
Including：Image detection and processing unit, servo control unit and biaxial movement unit；The camera lens of described image collecting device and institute
State image detection to be fixed on the biaxial movement unit with processing unit；The biaxial movement unit is in shooting image mistake
The attitude information of the camera lens optical axis is obtained in journey；Described image is detected to be used to obtain the position letter of photographic subjects with processing unit
Breath；The servo control unit is for according to the attitude information and/or the positional information, the regulation biaxial movement unit
Motion, so that photographic subjects described in the sensing real-time tracing of the camera lens optical axis.
That is, in shooting process, when carrier movement causes image to rock, by camera lens optical axis attitude information
Acquisition and process, adjust biaxial movement unit moved, make the sensing real-time tracing photographic subjects of the camera lens optical axis, such as when
When carrier is moved downward, the corresponding opposite direction of biaxial movement unit can be adjusted and moved, then camera lens can just regarded
The sensing real-time tracing photographic subjects of axle, and then shooting line-of-sight stabilization can be made, when shooting is tracked, by shooting mesh
The process of target positional information, can adjust the corresponding motion of biaxial movement unit, the sensing of the camera lens optical axis is followed the trail of to shooting
Realization of goal chases after shooting function.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Inventive embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, can be with basis
The accompanying drawing of offer obtains other accompanying drawings.
Fig. 1 is a kind of structural representation for chasing after shooting system provided in an embodiment of the present invention；
Fig. 2 is the structural representation of biaxial movement unit provided in an embodiment of the present invention；
Fig. 3 is the principle schematic of servo control unit provided in an embodiment of the present invention；
Fig. 4 is the structural representation that another kind provided in an embodiment of the present invention chases after shooting system.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
According to background technology, when mobile vehicle is during motion, picture pick-up device can occur to rock accordingly, clap
The process of taking the photograph pickaback or need to be manually adjusted and shoots with video-corder visual angle and shot by artificial, demand, labor intensity and the behaviour to shooting personnel
High requirement is required for as technical ability, and as the inevitable shooting picture of manual operation can occur shake, diplopia and scene
The problems such as missing.
Even if in prior art means, being improved by way of the software and hardware combinings such as electronic steady image, pre-sampling filtering
The quality of filmed image, reduces operation difficulty.But these technological means are built upon sacrificing picture visual field or detector performance
On the basis of, do not fully play out the ability of image detecting.
In order to solve the above problems, embodiments provide one kind and chase after shooting system, this chases after shooting system includes：Image is visited
Survey and processing unit, servo control unit and biaxial movement unit；The camera lens of described image collecting device and described image detection
It is fixed on the biaxial movement unit with processing unit.
The biaxial movement unit is for obtaining the attitude information of the camera lens optical axis during shooting image.
Described image is detected to be used to obtain the positional information of photographic subjects with processing unit.
The servo control unit is transported for according to the attitude information and/or the positional information, adjusting the twin shaft
Moving cell is moved, so that photographic subjects described in the sensing real-time tracing of the camera lens optical axis.
That is, in shooting process, when carrier movement causes image to rock, by camera lens optical axis attitude information
Acquisition and process, adjust biaxial movement unit moved, make the sensing real-time tracing photographic subjects of the camera lens optical axis, such as when
When carrier is moved downward, the corresponding opposite direction of biaxial movement unit can be adjusted and moved, then camera lens can just regarded
The sensing real-time tracing photographic subjects of axle, and then shooting line-of-sight stabilization can be made, when shooting is tracked, by shooting mesh
The process of target positional information, can adjust the corresponding motion of biaxial movement unit, the sensing of the camera lens optical axis is followed the trail of to shooting
Realization of goal chases after shooting function.
By foregoing description, this chases after shooting system and photographic subjects can be carried out in the case where mobile vehicle is moved
Follow the trail of and shoot, can solve, because the image that carrier movement causes rocks problem, to improve the degree of stability and quality of image document.
The application for chasing after shooting system is greatly reduced the labor intensity of filming image personnel, reduces mobile vehicle motion conditions figure below
As the operation difficulty of collecting device.
For more detailed explanation, the embodiment of the present invention is described further with reference to Figure of description.
With reference to Fig. 1, Fig. 1 is a kind of structural representation for chasing after shooting system provided in an embodiment of the present invention, the embodiment of the present invention
Shooting system is chased after there is provided one kind, this chases after shooting system includes：
Image detection and processing unit 11, servo control unit 12 and biaxial movement unit 13；Described image collecting device
Camera lens and described image detection be fixed on the biaxial movement unit 13 with processing unit 11.
The biaxial movement unit 13 is for obtaining the attitude information of the camera lens optical axis during shooting image.
Wherein, with reference to Fig. 2, Fig. 2 is the structural representation of biaxial movement unit provided in an embodiment of the present invention, the twin shaft
Moving cell 13 includes：
Optical axis supporting arrangement 21, the camera lens of described image collecting device and described image detection are fixed on processing unit 11
On the optical axis supporting arrangement 21.
Attitude transducer 22, the attitude transducer 22 is for obtaining the appearance of the camera lens optical axis during shooting image
State information.The attitude transducer 22 includes but is not limited to six axle sensors.
Azimuth-drive motor and pitching motor 23, the azimuth-drive motor and pitching motor 23 are used to drive the optical axis supporting arrangement
21 motions, so that photographic subjects described in the sensing real-time tracing of the camera lens optical axis.
The attitude information includes：The attitude velocity information and attitude angle information of the camera lens optical axis.That is, working as
During motion, the camera lens optical axis can also corresponding motion to mobile vehicle occur, then how make the finger of the camera lens optical axis
To photographic subjects described in real-time tracing, it is necessary to entered by the attitude velocity information and attitude angle information to the camera lens optical axis
Row analyzing and processing.
With reference to Fig. 3, Fig. 3 is the principle schematic of servo control unit provided in an embodiment of the present invention, the SERVO CONTROL
Unit 12 is processed for Kalman filtering and information calibration and transformation of criterion are carried out to the attitude information, by taking speed anti-
Feedback, the line-of-sight stabilization control principle of gesture feedback double loop closed loop control, and correct with reference to delayed advancing algorithm, with the orientation
, used as drive mechanism, adjusting the optical axis supporting arrangement 21 carries out anti-interference compensation campaign and target tracking fortune for motor and pitching motor
It is dynamic, and then photographic subjects described in making the sensing real-time tracing of the camera lens optical axis, the photographic subjects is protected in picture is shot
It is fixed to keep steady.
For example when mobile vehicle itself lower section banking motion to the left, can be by adjusting 21 phase of optical axis supporting arrangement
It is corresponding to be moved to upper right side, fall the impact that mobile vehicle rocks the sensing to the camera lens optical axis equivalent to compensation, protect
The sensing for having demonstrate,proved the camera lens optical axis with photographic subjects described in real-time tracing, and then can make shooting line-of-sight stabilization.Wherein, institute
Stating image detection is used to obtain the positional information of photographic subjects with processing unit 11.
That is, in order to realize shooting the tracking of mobile target, being obtained with processing unit 11 by described image detection
The positional information of photographic subjects is taken, the positional information is sent to into the servo control unit 12, the servo control unit 12
Control loop with image recognition, by using position deviation recognizer and position loop loop control theory to the bat
Take the photograph target to be tracked, using the azimuth-drive motor and pitching motor 23 as drive mechanism, adjust the optical axis supporting arrangement 21
Motion, makes the optical axis supporting arrangement 21 move to photographic subjects position.
For example, in the automobile for shooting a traveling, the automobile is shot at the first moment, described image is detected and place
Reason unit 11 gets the first position information of the automobile, after automobile is started running, the detection of the second moment described image with
Processing unit 11 gets the second position information of the automobile, and the processing unit in described image detection and processing unit 11 is to the
One positional information and second position information are analyzed process, and result is sent to the servo-control system, described
Servo-control system is processed to the first position information and the second position information, with the azimuth-drive motor and pitching
Motor adjusts the optical axis supporting arrangement 21 and moves as drive mechanism, makes 21 motion tracking of optical axis supporting arrangement extremely should
Automobile is in the position at the second moment, and then realizes tracking shooting.
Described image detection is included with processing unit 11：It can be seen that zoom optical imaging system, cmos sensor and image
Tracking process circuit.Wherein, optical system bore is 60mm, and zooming range is 25mm～700mm.It should be noted that described
The ingredient of image detection and processing unit is simultaneously not construed as limiting.
On the basis of the embodiment of the present invention, with reference to Fig. 4, Fig. 4 chases after shooting system for another kind provided in an embodiment of the present invention
Structural representation, the shooting system that chases after also includes：
Operation control unit 41, the operation control unit 41 are used for man-machine interaction, show that shooting image, conversion shoot field
Scape, selection photographic subjects, records photographing image and transmission operation instruction signal.
The operation control unit 41 includes：
Display, the display are used for man-machine interaction and show shooting image.
Wherein, the display includes：Touch display screen, for showing shooting image and data message.Technology can be realized
Personnel are sent instructions or the operation such as modification to system data up and down in the touch display screen.
Camcording system, the Camcording system are used to change photographed scene, choose photographic subjects and records photographing image.
The Camcording system includes：Memorizer, for shooting image real time record.Journey can be stored in the Camcording system
Sequence, realizes conversion photographed scene by technical staff's operation, chooses the functions such as photographic subjects.
Operate interface unit, the operate interface unit are connected with the servo control unit, for the servo control
Unit transfer operation command signal processed.That is, the servo control unit 12 can also receive the operation control unit
41 operation instruction signal, to complete the sight line adjustment action under manual intervention.
Intelligent operation rocking bar, for technical staff's control manually to the optical axis supporting arrangement 21.
By foregoing description, this chases after shooting system and photographic subjects can be carried out in the case where mobile vehicle is moved
Follow the trail of and shoot, can solve, because the image that carrier movement causes rocks problem, to improve the degree of stability and quality of image document.
The application for chasing after shooting system is greatly reduced the labor intensity of filming image personnel, reduces mobile vehicle motion conditions figure below
As the operation difficulty of collecting device.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or using the present invention.
Various modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized without departing from the spirit or scope of the present invention in other embodiments.Therefore, the present invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope for causing.
Claims (9)
1. one kind chases after shooting system, for image capture device, it is characterised in that the shooting system that chases after includes：Image detection and place
Reason unit, servo control unit and biaxial movement unit；The camera lens of described image collecting device and described image detection and process
Unit is fixed on the biaxial movement unit；
The biaxial movement unit is for obtaining the attitude information of the camera lens optical axis during shooting image；
Described image is detected to be used to obtain the positional information of photographic subjects with processing unit；
The servo control unit is for according to the attitude information and/or the positional information, the regulation biaxial movement list
Unit's motion, so that photographic subjects described in the sensing real-time tracing of the camera lens optical axis.
2. it is according to claim 1 to chase after shooting system, it is characterised in that the biaxial movement unit includes：
Optical axis supporting arrangement, the camera lens of described image collecting device and described image detection are fixed on the optical axis with processing unit
On supporting arrangement；
Attitude transducer, the attitude transducer is for obtaining the attitude information of the camera lens optical axis during shooting image.
3. it is according to claim 2 to chase after shooting system, it is characterised in that the biaxial movement unit also includes：
Azimuth-drive motor and pitching motor, the azimuth-drive motor and the pitching motor are used to drive the optical axis supporting arrangement fortune
It is dynamic, so that photographic subjects described in the sensing real-time tracing of the camera lens optical axis.
4. it is according to claim 2 to chase after shooting system, it is characterised in that the attitude transducer is sensed for six axle athletic postures
Device.
5. it is according to claim 2 to chase after shooting system, it is characterised in that the attitude information includes：
The attitude velocity information and attitude angle information of the camera lens optical axis.
6. it is according to claim 1 to chase after shooting system, it is characterised in that the shooting system that chases after also includes：
Operation control unit, the operation control unit are used for man-machine interaction, show shooting image, conversion photographed scene, choose
Photographic subjects, records photographing image and transmission operation instruction signal.
7. it is according to claim 6 to chase after shooting system, it is characterised in that the operation control unit includes：
Display, the display are used for man-machine interaction and show shooting image.
8. it is according to claim 7 to chase after shooting system, it is characterised in that the operation control unit also includes：
Camcording system, the Camcording system are used to change photographed scene, choose photographic subjects and records photographing image.
9. it is according to claim 8 to chase after shooting system, it is characterised in that the operation control unit also includes：
Operate interface unit, the operate interface unit are connected with the servo control unit, for the SERVO CONTROL list
First transfer operation command signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611220989.2A CN106534703A (en) | 2016-12-26 | 2016-12-26 | Image chasing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611220989.2A CN106534703A (en) | 2016-12-26 | 2016-12-26 | Image chasing system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106534703A true CN106534703A (en) | 2017-03-22 |
Family
ID=58338862
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611220989.2A Pending CN106534703A (en) | 2016-12-26 | 2016-12-26 | Image chasing system |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20080055028A (en) * | 2006-12-14 | 2008-06-19 | 삼성테크윈 주식회사 | Digital image processing device capable of controlling attitude thereof and method of photographing self-image using the same |
| CN103034247A (en) * | 2012-12-04 | 2013-04-10 | 浙江天地人科技有限公司 | Controlling method and controlling device for remote monitoring system |
| CN204350179U (en) * | 2014-12-17 | 2015-05-20 | 河南中光学集团有限公司 | A kind of gyro steady picture rotation table device |
| CN205249351U (en) * | 2015-08-20 | 2016-05-18 | 天津中翔腾航科技有限公司 | Cloud platform controller is stabilized to vision |
| CN105744163A (en) * | 2016-02-23 | 2016-07-06 | 湖南拓视觉信息技术有限公司 | Video camera and video recording method performing tracking focusing based on depth information |
-
2016
- 2016-12-26 CN CN201611220989.2A patent/CN106534703A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20080055028A (en) * | 2006-12-14 | 2008-06-19 | 삼성테크윈 주식회사 | Digital image processing device capable of controlling attitude thereof and method of photographing self-image using the same |
| CN103034247A (en) * | 2012-12-04 | 2013-04-10 | 浙江天地人科技有限公司 | Controlling method and controlling device for remote monitoring system |
| CN204350179U (en) * | 2014-12-17 | 2015-05-20 | 河南中光学集团有限公司 | A kind of gyro steady picture rotation table device |
| CN205249351U (en) * | 2015-08-20 | 2016-05-18 | 天津中翔腾航科技有限公司 | Cloud platform controller is stabilized to vision |
| CN105744163A (en) * | 2016-02-23 | 2016-07-06 | 湖南拓视觉信息技术有限公司 | Video camera and video recording method performing tracking focusing based on depth information |
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