CN106921833A - A kind of filming control method, device and dynamic track up equipment - Google Patents
A kind of filming control method, device and dynamic track up equipment Download PDFInfo
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- CN106921833A CN106921833A CN201710207223.9A CN201710207223A CN106921833A CN 106921833 A CN106921833 A CN 106921833A CN 201710207223 A CN201710207223 A CN 201710207223A CN 106921833 A CN106921833 A CN 106921833A
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- 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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/12—Target-seeking control
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- 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
- H04N23/64—Computer-aided capture of images, e.g. transfer from script file into camera, check of taken image quality, advice or proposal for image composition or decision on when to take image
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- 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
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
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- Automation & Control Theory (AREA)
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Abstract
This application provides a kind of filming control method, device and dynamic track up equipment, the method and device are applied to dynamic track up equipment, and dynamic track up equipment includes motion module and the taking module being arranged in motion module.The method and device are specially the shooting open command of response user, and control taking module starts to shoot subject；When subject is moved, location parameter of the subject relative to taking module is obtained；Control motion module to be directed to subject pursuit movement according to location parameter, and control taking module that shooting is persistently tracked to subject.Because motion module can substitute cameraman and shooting is tracked to subject according to the change in location pursuit movement of subject such that it is able to solve the problems, such as that under artificial style of shooting shooting task cannot be completed under dangerous scene.
Description
Technical field
The application is related to robotics, more specifically to a kind of filming control method, device and dynamic with
Track capture apparatus.
Background technology
Track up refers to level at the uniform velocity mobile camera in shooting process so that subject appears in shooting all the time
Method in picture, for example to the sportsman on sports ground, to moved in scenic spot visitor, the vehicles in motion are carried out
Shooting etc. belong to track up.These track ups are typically necessary artificial participation, for example, must be carried by photographer and taken the photograph
Camera follows subject to move, and is sometimes that cameraman is placed on railcar, rocking arm or the vehicles to realize to shot
The track up of object.
But inventor has found, the track up under some scenes and environment is not suitable for artificial participation, such as high
Altitude, extremely hot environment, narrow, volcanic earthquake etc., bring great danger can to the photographer for carrying video camera, and
Even shooting task cannot be completed under dangerous scene.
The content of the invention
In view of this, the application provides a kind of filming control method, device and dynamic track up equipment, for shot
Object is tracked shooting, to solve the problems, such as that under artificial style of shooting shooting task cannot be completed under dangerous scene.
To achieve these goals, it is proposed that scheme it is as follows：
A kind of filming control method, is applied to dynamic track up equipment, and the dynamic track up equipment includes motion
Module and the taking module being arranged in the motion module, the filming control method include step：
The shooting open command of user is responded, controls the taking module to start to shoot subject；
When the subject is moved, location parameter of the subject relative to the taking module is obtained；
Control the motion module to be directed to the subject pursuit movement according to the location parameter, and control the bat
Take the photograph module and shooting persistently is tracked to the subject.
Optionally, the location parameter includes the one kind or whole in the first parameter and the second parameter, wherein：
First parameter includes space position parameter and motion vector parameters；
Second parameter includes movement velocity parameter.
It is optionally, described to control the motion module to be directed to the subject pursuit movement according to the location parameter,
Including：
Kinematic parameter is determined according to the location parameter；
The motion module is controlled to be tracked motion to the subject according to the kinematic parameter.
Optionally, the kinematic parameter is including part or all of in move distance, the direction of motion and movement angle.
Optionally, the control taking module is persistently tracked shooting to the subject, including：
Angle parameter of the subject relative to the taking module is determined according to the location parameter；
The taking module is controlled to be tracked shooting towards the subject according to the angle parameter.
A kind of imaging control device, is applied to dynamic track up equipment, and the dynamic track up equipment includes motion
Module and the taking module being arranged in the motion module, the imaging control device include：
Start control module, the shooting open command for responding user controls the taking module to start to shot right
As being shot；
Parameter acquisition module, for when the subject is moved, obtaining the subject relative to the shooting
The location parameter of module；
Pursuit movement module, for controlling the motion module to be tracked for the subject according to the location parameter
Motion；
Track up module, for the tracing control module control the motion module for the subject with
In track motion process, the taking module is controlled persistently to be tracked shooting to the subject.
Optionally, the location parameter includes the one kind or whole in the first parameter and the second parameter, wherein：
First parameter includes space position parameter and motion vector parameters；
Second parameter includes movement velocity parameter.
Optionally, the pursuit movement module includes：
Kinematic parameter determining unit, for determining kinematic parameter according to the location parameter；
Pursuit movement control unit, for controlling the motion module to enter the subject according to the kinematic parameter
Line trace campaign.
Optionally, the kinematic parameter is including part or all of in move distance, the direction of motion and movement angle.
Optionally, the track up module includes：
Angle parameter determining unit, for determining the subject relative to the shooting mould according to the location parameter
The angle parameter of block；
Track up control unit, for controlling the taking module towards the subject according to the angle parameter
It is tracked shooting.
A kind of dynamic track up equipment, including motion module, taking module, the taking module are arranged on the motion
In module；
Also include imaging control device as described above.
It can be seen from above-mentioned technical scheme that, this application discloses a kind of filming control method, device and dynamic tracking
Capture apparatus, the method and device are applied to dynamic track up equipment, and dynamic track up equipment includes motion module and sets
Put the taking module in motion module.The method and device are specially the shooting open command of response user, and control shoots mould
BOB(beginning of block) shoots to subject；When subject is moved, obtain subject and join relative to the position of taking module
Number；Control motion module to be directed to subject pursuit movement according to location parameter, and control taking module persistently to subject
It is tracked shooting.Because motion module can be according to the change in location pursuit movement of subject, and taking module is in motion
While being moved towards subject under module drive, additionally it is possible to shooting is tracked to subject, when the institute of subject
Place's environment or itself it is more dangerous for personnel when, it becomes possible to substitute cameraman and shooting be tracked to subject,
So as to solve the problems, such as that under artificial style of shooting shooting task cannot be completed under dangerous scene.
Brief description of the drawings
In order to illustrate more clearly of the embodiment of the present application or technical scheme of the prior art, below will be to embodiment or existing
The 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
Some embodiments of application, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
A kind of flow chart of filming control method embodiment that Fig. 1 is provided for the application；
The flow chart of another filming control method that Fig. 1 a are provided for the application；
A kind of structured flowchart of imaging control device embodiment that Fig. 2 is provided for the application；
The structured flowchart of another imaging control device embodiment that Fig. 2 a are provided for the application.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present application, the technical scheme in the embodiment of the present application is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only some embodiments of the present application, rather than whole embodiments.It is based on
Embodiment in the application, 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 the application protection.
Embodiment one
A kind of flow chart of filming control method embodiment that Fig. 1 is provided for the present invention.
The filming control method that the present embodiment is provided is applied to dynamic track up equipment, the dynamic track up equipment energy
Enough to carry out lasting track up to subject under the control of this filming control method, the dynamic track up equipment is at least wrapped
Motion module and taking module are included, the taking module is arranged in motion module.
Motion module can be understood as anthropomorphic robot, wheel type movement platform, sporting flying platform or aquatic sports and put down
The equipment such as platform, such as exercise stress, unmanned plane, model airplane, ship model, for carrying the shooting model on level land, mountain region, aerial
Or motion of lasting or short time waterborne.
The taking module can be understood as being operated in the shooting such as camera, video camera, camera in visible-range and set
It is standby, or be operated in infrared light district, ultraviolet region, even all kinds of x-rays, gamma-rays, cosmic ray are detected
Sensor；The detecting devices for being interpreted as that there are other detection modes, such as microphone can also be extended.The taking module is by connecting
The equipment of connecing is fixed in above-mentioned motion module, can be moved to subject under the drive of motion module, and can automatically or
The direction of person's change under the control of other equipment itself.
As shown in figure 1, the filming control method that the present embodiment is provided is used to carry out above-mentioned motion module and taking module
Control, specific step is as described below：
S101：Start to shoot subject according to open command control taking module is shot.
When under the scene of shooting required for above-mentioned dynamic track up equipment is placed in, if now user is sent to clap
Open command is taken the photograph, then responds the instruction, and control taking module to start to shoot subject according to the instruction.
In this step, it is possible to which the taking module can not be met to subject in itself and not towards subject
The purpose for being shot, now also includes being adjusted the shooting angle of the taking module according to the direction regulating command of user input
To just to the subject, so that taking module effectively carries out clapping photo, video even recording to subject.
S102：Obtain location parameter of the subject relative to taking module.
After taking module starts to shoot, subject is possible to meeting transferring position, and this position is included relative to bat
Distance, height, the Orientation differences of module are taken the photograph, the velocity variations being both under motion state are additionally included in.
Change in location for accurate description subject relative to taking module, the location parameter includes the first parameter or the
It is part or all of in two parameters.Wherein the first parameter includes space position parameter and motion vector parameters, space position parameter
It is that, with the spatial position change of taking module or previously selected origin, the space position parameter can be described with x, y, z；And
Motion vector parameters are that, with the direction of motion of taking module or previously selected origin, can typically be retouched with dx, dy, dz
State.
The second parameter preferred movement speed parameter in location parameter, the i.e. subject are relative to taking module or pre-
First the speed data of selected origin, including absolute speed, is represented with v, can also include that speed between the two becomes
Change, can typically be represented with dv or a, the numerical value can be understood as acceleration between the two.
S103：Shooting is tracked to subject according to above-mentioned location parameter.
Here track up include two layers of meaning, one refer to motion module according to above-mentioned location parameter to subject
Pursuit movement, to be close to the subject；Secondly refer to taking module according to above-mentioned location parameter subject is carried out with
Track shoots, and specifically refers to no matter how the position of subject converts, and the direction of module shot always points to the subject.
It is true according to the location parameter first when controlling motion module to be directed to subject pursuit movement according to location parameter
Determine kinematic parameter, kinematic parameter here refers to the amount that motion module needs to move, and specifically includes move distance, the direction of motion
With it is part or all of in movement angle, by taking the direction of motion as an example, the direction refers to front and rear, a left side for motion needed for motion module
Right, upper inferior direction.The process for determining kinematic parameter is the process that coordinate transform is carried out according to location parameter.
Then, it is determined that after the kinematic parameter of motion module, control the motion module to be moved according to kinematic parameter, can
To be directly to be moved to subject, if exist in the middle of both or produce interfering object, this process also includes root
Path planning is carried out according to the kinematic parameter and location parameter, it is close to the subject to avoid the interfering object with realization.
In addition, the kinematic parameter can also include speed parameter, i.e., the movement velocity according to subject determines motion mould
Movement velocity needed for block, and control the motion module that motion is tracked to subject with the speed parameter.
When controlling taking module to be tracked shooting to subject according to location parameter, it is contemplated that subject is in place
Putting when changing it can also change relative to the camera angle of taking module, therefore, in control motion module to shot
While object is tracked motion, the change control taking module according to the angle is tracked shooting.
The process of specific track up is to determine angle of the subject relative to taking module according to location parameter first
Parameter, is also to carry out coordinate transform according to the locus of the location parameter and taking module to obtain during specific determination.Then, exist
After obtaining the angle parameter, according to the angle parameter control taking module by its camera angle, such as camera lens direction towards the quilt
Object is taken the photograph, so as to realize being tracked subject the purpose of shooting.
From above-mentioned technical proposal as can be seen that this application provides a kind of filming control method, the method is applied to dynamic
Track up equipment, dynamic track up equipment includes motion module and the taking module being arranged in motion module.The method
The shooting open command of user is specially responded, control taking module starts to shoot subject；When subject fortune
When dynamic, location parameter of the subject relative to taking module is obtained；Motion module is controlled for shot right according to location parameter
Image tracing is moved, and controls taking module that shooting is persistently tracked to subject.Because motion module can be according to shot
The change in location pursuit movement of object, and taking module towards subject under motion module drives while moving, moreover it is possible to
It is enough that shooting is tracked to subject, when the local environment of subject or itself the more danger for personnel,
Cameraman can just be substituted shooting is tracked to subject such that it is able to solved under artificial style of shooting under dangerous scene
The problem of shooting task cannot be completed.
In addition, while stating track up in realization, this filming control method also comprises the following steps, such as Fig. 1 a institutes
Show：
When the dynamic track up equipment is tracked shooting to subject, other instructions according to user make right
The action of answering property, the adjust instruction, the out code that such as respond user input, control motion module stop motion and leave shot
Object, and control the taking module to stop shooting simultaneously.
Guidance command receiver module can also be set in the dynamic track up equipment, the module is used to pass through wireless parties
Formula is received including adjust instruction, the out code even guidance commands such as foregoing shooting open command, so that dynamic track up
Device adapts to relatively hazardous shooting environmental.
Embodiment two
A kind of structured flowchart of imaging control device embodiment that Fig. 2 is provided for the present invention.
The imaging control device that the present embodiment is provided is applied to dynamic track up equipment, the dynamic track up equipment energy
Enough to carry out lasting track up to subject under the control of this filming control method, the dynamic track up equipment is at least wrapped
Motion module and taking module are included, the taking module is arranged in motion module.
Motion module can be understood as anthropomorphic robot, wheel type movement platform, sporting flying platform or aquatic sports and put down
The equipment such as platform, such as exercise stress, unmanned plane, model airplane, ship model, for carrying the shooting model on level land, mountain region, aerial
Or motion of lasting or short time waterborne.
The taking module can be understood as being operated in the shooting such as camera, video camera, camera in visible-range and set
It is standby, or be operated in infrared light district, ultraviolet region, even all kinds of x-rays, gamma-rays, cosmic ray are detected
Sensor；The detecting devices for being interpreted as that there are other detection modes, such as microphone can also be extended.The taking module is by connecting
The equipment of connecing is fixed in above-mentioned motion module, can be moved to subject under the drive of motion module, and can automatically or
The direction of person's change under the control of other equipment itself.
As shown in Fig. 2 the imaging control device that the present embodiment is provided is used to carry out above-mentioned motion module and taking module
Control, specifically includes startup control module 10, parameter acquisition module 20, pursuit movement module 30 and track up module 40.
Starting control module is used to start to shoot subject according to shooting open command control taking module.
When under the scene of shooting required for above-mentioned dynamic track up equipment is placed in, if now user is sent to clap
Open command is taken the photograph, then responds the instruction, and control taking module to start to shoot subject according to the instruction.
At the beginning of motion module and taking module are activated, it is possible to the taking module in itself and not towards subject,
The purpose shot to subject can not be met, now also include being clapped this according to the direction regulating command of user input
The shooting angle regulation of module is taken the photograph to just to the subject, so that taking module effectively carries out bat photo, video to subject
Even record.
Parameter acquisition module is used to obtain location parameter of the subject relative to taking module.
After taking module starts to shoot, subject is possible to meeting transferring position, and this position is included relative to bat
Distance, height, the Orientation differences of module are taken the photograph, the velocity variations being both under motion state are additionally included in.
Change in location for accurate description subject relative to taking module, the location parameter includes the first parameter or the
It is part or all of in two parameters.Wherein the first parameter includes space position parameter and motion vector parameters, space position parameter
It is that, with the spatial position change of taking module or previously selected origin, the space position parameter can be described with x, y, z；And
Motion vector parameters are that, with the direction of motion of taking module or previously selected origin, can typically be retouched with dx, dy, dz
State.
The second parameter preferred movement speed parameter in location parameter, the i.e. subject are relative to taking module or pre-
First the speed data of selected origin, including absolute speed, is represented with v, can also include that speed between the two becomes
Change, can typically be represented with dv or a, the numerical value can be understood as acceleration between the two.
Pursuit movement module is used to control motion module according to above-mentioned location parameter to subject pursuit movement, to lean on
The nearly subject；Track up module is used to control taking module to be tracked subject bat according to above-mentioned location parameter
Take the photograph, specifically refer to no matter how the position of subject converts, the direction of module shot always points to the subject.
Pursuit movement module specifically includes kinematic parameter order unit 31 and pursuit movement control unit 32, the module according to
When location parameter control motion module is directed to subject pursuit movement, kinematic parameter determining unit is used for according to the location parameter
Determine kinematic parameter, kinematic parameter here refers to the amount that motion module needs to move, and specifically includes move distance, motion side
To with movement angle in it is part or all of, by taking the direction of motion as an example, the direction refer to motion needed for motion module it is front and rear,
Left and right, upper inferior direction.The process for determining kinematic parameter is the process that coordinate transform is carried out according to location parameter.
Pursuit movement control unit is used for after the kinematic parameter that kinematic parameter determining unit determines motion module, and control should
Motion module is moved according to kinematic parameter, can directly be moved to subject, if both in the middle of exist or
When producing interfering object, this process also includes carrying out path planning according to the kinematic parameter and location parameter, to realize avoiding
The interfering object is close to the subject.
In addition, the kinematic parameter can also include speed parameter, i.e., the movement velocity according to subject determines motion mould
Movement velocity needed for block, and control the motion module that motion is tracked to subject with the speed parameter.
When track up module controls taking module to be tracked shooting to subject according to location parameter, it is contemplated that
Subject when position changes its can also be changed relative to the camera angle of taking module, therefore, control transport
While dynamic model block is tracked motion to subject, the change control taking module according to the angle is tracked shooting.
The track up module specifically includes angle parameter determining unit 41 and track up control unit 42, angle parameter
Determining unit is used to determine angle parameter of the subject relative to taking module according to location parameter, is also root during specific determination
Coordinate transform is carried out according to the locus of the location parameter and taking module to obtain；Track up control unit is used in angle ginseng
After number determining units obtain the angle parameter, taking module is controlled by its camera angle, the side of such as camera lens according to the angle parameter
To towards the subject, so as to realize being tracked subject the purpose of shooting.
From above-mentioned technical proposal as can be seen that this application provides a kind of imaging control device, the device is applied to dynamic
Track up equipment, dynamic track up equipment includes motion module and the taking module being arranged in motion module.The device
The shooting open command of user is specially responded, control taking module starts to shoot subject；When subject fortune
When dynamic, location parameter of the subject relative to taking module is obtained；Motion module is controlled for shot right according to location parameter
Image tracing is moved, and controls taking module that shooting is persistently tracked to subject.Because motion module can be according to shot
The change in location pursuit movement of object, and taking module towards subject under motion module drives while moving, moreover it is possible to
It is enough that shooting is tracked to subject, when the local environment of subject or itself the more danger for personnel,
Cameraman can just be substituted shooting is tracked to subject such that it is able to solved under artificial style of shooting under dangerous scene
The problem of shooting task cannot be completed.
In addition, while stating track up in realization, this imaging control device be additionally operable to respond the adjust instruction of user,
Out code etc., controls motion module stop motion and leaves subject, and controls the taking module to stop shooting simultaneously.
Guidance command receiver module 50 can also be set in the dynamic track up equipment, as shown in Figure 2 a, the module
For wirelessly receiving including adjust instruction, the out code even guidance commands such as foregoing shooting open command, so that
Dynamic track up device is set to adapt to relatively hazardous shooting environmental.
Embodiment three
Present embodiments provide a kind of dynamic track up equipment, the equipment includes that the dynamic track up equipment can be
Lasting track up is carried out to subject under the control of this filming control method, the dynamic track up equipment at least includes fortune
Dynamic model block and taking module, the taking module are arranged in motion module.
Motion module can be understood as anthropomorphic robot, wheel type movement platform, sporting flying platform or aquatic sports and put down
The equipment such as platform, such as exercise stress, unmanned plane, model airplane, ship model, for carrying the shooting model on level land, mountain region, aerial
Or motion of lasting or short time waterborne.
The taking module can be understood as being operated in the shooting such as camera, video camera, camera in visible-range and set
It is standby, or be operated in infrared light district, ultraviolet region, even all kinds of x-rays, gamma-rays, cosmic ray are detected
Sensor；The detecting devices for being interpreted as that there are other detection modes, such as microphone can also be extended.The taking module is by connecting
The equipment of connecing is fixed in above-mentioned motion module, can be moved to subject under the drive of motion module, and can automatically or
The direction of person's change under the control of other equipment itself.
In addition, also including the shooting control dress for being controlled to motion module and taking module respectively in the present embodiment
Put.
The imaging control device is specially the shooting open command of response user, and control taking module starts to subject
Shot；When subject is moved, location parameter of the subject relative to taking module is obtained；According to location parameter control
Motion module processed is directed to subject pursuit movement, and controls taking module that shooting is persistently tracked to subject.Due to
Motion module can be according to the change in location pursuit movement of subject, and taking module direction under motion module drive is shot
While object motion, additionally it is possible to shooting is tracked to subject, when the local environment of subject or itself is right
When more dangerous for personnel, it becomes possible to substitute cameraman and shooting is tracked to subject such that it is able to solve artificial bat
Taking the photograph under mode cannot complete the problem of shooting task under dangerous scene.
Each embodiment is described by the way of progressive in this specification, and what each embodiment was stressed is and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.To the upper of the disclosed embodiments
State bright, professional and technical personnel in the field is realized or use the application.To various modifications of these embodiments to ability
Be will be apparent for the professional and technical personnel in domain, generic principles defined herein can not depart from the application's
In the case of spirit or scope, realize in other embodiments.Therefore, the application be not intended to be limited to it is shown in this article these
Embodiment, and it is to fit to the most wide scope consistent with principles disclosed herein and features of novelty.
Claims (10)
1. a kind of filming control method, is applied to dynamic track up equipment, and the dynamic track up equipment includes motion mould
Block and the taking module being arranged in the motion module, it is characterised in that the filming control method includes step：
The shooting open command of user is responded, controls the taking module to start to shoot subject；
When the subject is moved, location parameter of the subject relative to the taking module is obtained；
Control the motion module to be directed to the subject pursuit movement according to the location parameter, and control the shooting mould
Block is persistently tracked shooting to the subject.
2. filming control method as claimed in claim 1, it is characterised in that the location parameter includes the first parameter and second
One kind or whole in parameter, wherein：
First parameter includes space position parameter and motion vector parameters；
Second parameter includes movement velocity parameter.
3. filming control method as claimed in claim 1, it is characterised in that described that the fortune is controlled according to the location parameter
Dynamic model block is directed to the subject pursuit movement, including：
Kinematic parameter is determined according to the location parameter；
The motion module is controlled to be tracked motion to the subject according to the kinematic parameter.
4. filming control method as claimed in claim 3, it is characterised in that the kinematic parameter includes move distance, motion
It is part or all of in direction and movement angle.
5. filming control method as claimed in claim 1, it is characterised in that the control taking module is persistently to described
Subject is tracked shooting, including：
Angle parameter of the subject relative to the taking module is determined according to the location parameter；
The taking module is controlled to be tracked shooting towards the subject according to the angle parameter.
6. a kind of imaging control device, is applied to dynamic track up equipment, and the dynamic track up equipment includes motion mould
Block and the taking module being arranged in the motion module, it is characterised in that the imaging control device includes：
Start control module, the shooting open command for responding user controls the taking module to start to enter subject
Row shoots；
Parameter acquisition module, for when the subject is moved, obtaining the subject relative to the taking module
Location parameter；
Pursuit movement module, for controlling the motion module to track fortune for the subject according to the location parameter
It is dynamic；
Track up module, for controlling the motion module to track fortune for the subject in the tracing control module
During dynamic, the taking module is controlled persistently to be tracked shooting to the subject.
7. imaging control device as claimed in claim 6, it is characterised in that the location parameter includes the first parameter and second
One kind or whole in parameter, wherein：
First parameter includes space position parameter and motion vector parameters；
Second parameter includes movement velocity parameter.
8. imaging control device as claimed in claim 6, it is characterised in that the pursuit movement module includes：
Kinematic parameter determining unit, for determining kinematic parameter according to the location parameter；
Pursuit movement control unit, for according to the kinematic parameter control the motion module subject is carried out with
Track is moved.
9. imaging control device as claimed in claim 6, it is characterised in that the track up module includes：
Angle parameter determining unit, for determining the subject relative to the taking module according to the location parameter
Angle parameter；
Track up control unit, for being carried out towards the subject according to the angle parameter control taking module
Track up.
10. a kind of dynamic track up equipment, including motion module, taking module, the taking module is arranged on the motion
In module, it is characterised in that also including the imaging control device as described in any one of claim 6~9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710207223.9A CN106921833A (en) | 2017-03-31 | 2017-03-31 | A kind of filming control method, device and dynamic track up equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710207223.9A CN106921833A (en) | 2017-03-31 | 2017-03-31 | A kind of filming control method, device and dynamic track up equipment |
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| CN106921833A true CN106921833A (en) | 2017-07-04 |
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| CN201710207223.9A Pending CN106921833A (en) | 2017-03-31 | 2017-03-31 | A kind of filming control method, device and dynamic track up equipment |
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| CN (1) | CN106921833A (en) |
Cited By (2)
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