CN107077155A

CN107077155A - Imaging apparatus control method, system and equipment

Info

Publication number: CN107077155A
Application number: CN201680003159.6A
Authority: CN
Inventors: 蓝求; 周长兴; 刘万启
Original assignee: SZ DJI Osmo Technology Co Ltd
Current assignee: SZ DJI Osmo Technology Co Ltd
Priority date: 2016-08-22
Filing date: 2016-08-22
Publication date: 2017-08-18
Anticipated expiration: 2036-08-22
Also published as: CN107077155B; WO2018035690A1

Abstract

A kind of imaging device control method, system and equipment, imaging device includes a head (101) and the camera device (102) being arranged on head (101), head (101) is used to drive camera device (102) to move with an at least runing rest (1013), and this method includes：Obtain the location parameter (S201) of imaging device；The runing rest (1013) of head (101) is adjusted according to location parameter, so that camera device (102) is parallel with earth's axis (S202)；The direction of rotation of runing rest (1013), and the rotary speed selected according to direction of rotation and user are determined, control runing rest (1013) is rotated (S203).For improving the accuracy adjusted to imaging device.

Description

Imaging device control method, system and equipment

Technical Field

The present invention relates to the field of imaging technologies, and in particular, to a method, a system, and an apparatus for controlling an imaging device.

Background

At present, with the continuous development of scientific technology, more and more astronomical fans participate in the shooting of starry sky.

When starry sky shooting is carried out, the shooting stars are usually fixed stars, and the earth is a planet, so that the shooting stars usually have a trailing phenomenon, and the shooting star map is fuzzy. In order to improve the photographing effect, when photographing a space, an imaging device is generally used to eliminate a smear phenomenon caused by rotation of the earth. In the prior art, before shooting a starry sky, a user manually adjusts an imaging device according to adjustment parameters (a local latitude value, a north star position and the like) and adjustment experience, so that the imaging device can drive a camera to rotate in a direction opposite to the rotation direction of the earth, and a trailing phenomenon caused by the rotation of the earth is eliminated.

However, in the prior art, it is difficult for a user to perform precise adjustment on the imaging device according to the adjustment parameters and the adjustment experience, resulting in poor adjustment accuracy of the imaging device.

Disclosure of Invention

A first aspect of the present invention is to provide an imaging device control method, system and apparatus for improving accuracy of adjustment of an imaging device.

In a first aspect, an embodiment of the present invention provides a method for controlling an imaging apparatus, where the imaging apparatus includes a pan-tilt and a camera apparatus disposed on the pan-tilt, and the pan-tilt is configured to drive the camera apparatus to move along with at least one rotating support, where the method includes:

acquiring position parameters of the imaging device;

adjusting a rotating bracket of the holder according to the position parameters so as to enable the camera device to be parallel to the earth rotation axis;

and determining the rotating direction of the rotating bracket, and controlling the rotating bracket to rotate according to the rotating direction and the rotating speed selected by the user.

In a second aspect, an embodiment of the present invention provides an imaging device control system, where the imaging device includes a pan-tilt and a camera device disposed on the pan-tilt, and the pan-tilt is configured to drive the camera device to move along with at least one rotating support, and includes:

an acquisition module for acquiring a position parameter of the imaging device;

the first adjusting module is used for adjusting the rotating support of the holder according to the position parameters so as to enable the camera device to be parallel to the earth rotation axis;

a first determination module for determining a direction of rotation of the rotating gantry;

and the control module is used for controlling the rotating bracket to rotate according to the rotating direction and the rotating speed selected by the user.

In a third aspect, an embodiment of the present invention provides an imaging apparatus, including a holder and a camera device disposed on the holder, where the holder is configured to drive the camera device to move along with at least one rotating support, and a processor and a motor are disposed in the holder, where,

the processor is used for acquiring the position parameters of the imaging device;

the motor is used for adjusting the rotating support of the holder according to the position parameters obtained by the processor so as to enable the camera device to be parallel to the earth rotation axis;

the processor is further configured to determine a direction of rotation of the rotating gantry;

the motor is also used for controlling the rotating bracket to rotate according to the rotating direction determined by the processor and the rotating speed selected by the user.

In a fourth aspect, embodiments of the present invention provide an imaging apparatus interaction device, including an input device and a display device, wherein,

the display device is used for displaying at least one operation instruction;

the input device is used for receiving a target operation instruction input by a user according to the at least one operation instruction;

the input device is further configured to send the target operation instruction to a processor of the cradle head, so that the processor controls a motor of the cradle head according to the target operation instruction, and the motor controls a rotating bracket of the cradle head.

In a fifth aspect, an embodiment of the present invention provides an imaging device control apparatus, where an imaging device includes a holder, and an imaging device disposed on the holder, where the holder is configured to drive the imaging device to move along with at least one rotating support, the imaging device control apparatus includes a processor and a memory for storing an application program, and the processor is configured to read the application program in the memory and execute the following operations:

acquiring position parameters of an imaging device;

controlling a rotating bracket of the holder to adjust according to the position parameters so that the camera device is parallel to the earth rotation axis;

determining a direction of rotation of the rotating gantry;

and controlling the rotating bracket to rotate according to the rotating direction and the rotating speed selected by the user.

According to the imaging device control method, the imaging device control system and the imaging device control equipment, when the imaging device needs to be controlled by the control device, the control device automatically adjusts the rotating support of the holder according to the position parameters of the imaging device, so that the camera device is parallel to the earth rotation axis; and automatically controlling the rotating bracket to rotate according to the rotating direction of the rotating bracket and the rotating speed selected by a user, so that the rotating bracket can drive the camera device to rotate according to the direction opposite to the rotation of the earth, and further the trailing phenomenon caused by the rotation of the earth when the camera device is used for starry sky shooting is eliminated. In the process, a user does not need to manually adjust the imaging device according to adjustment experience, the control device adjusts the imaging device according to various parameters, and therefore the adjustment precision of the imaging device can be improved, and the adjustment efficiency of the imaging device can be improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic view of an application scenario of a control method of an imaging apparatus according to the present invention;

FIG. 2 is a flow chart illustrating a method for controlling an image forming apparatus according to the present invention;

FIG. 3 is a schematic flow chart of a method for adjusting a rotating bracket according to the present invention;

FIG. 4 is a schematic flow chart of a method for determining a rotational direction according to the present invention;

FIG. 5 is a schematic flow chart of an automatic star finding method according to the present invention;

FIG. 6 is a first schematic structural diagram of a control system of an imaging device according to the present invention;

FIG. 7 is a second schematic structural diagram of a control system of an imaging device according to the present invention;

FIG. 8 is a first schematic structural diagram of an imaging device according to the present invention;

FIG. 9 is a second schematic structural diagram of an imaging apparatus according to the present invention;

FIG. 10 is a schematic structural diagram of an imaging device interaction apparatus provided by the present invention;

FIG. 11 is a first schematic structural diagram of an imaging device control apparatus according to the present invention;

fig. 12 is a second schematic structural diagram of the control device of the imaging apparatus according to the present invention.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the invention, as detailed in the appended claims.

Fig. 1 is a schematic view of an application scenario of the imaging device control method provided by the present invention. Referring to fig. 1, the apparatus includes a pan/tilt head 101, an image capturing device 102, and an imaging device control device (not shown). The cradle head 101 includes a camera support 1011, a plurality of motors 1012, and a plurality of rotating supports 1013. The camera device 102 can be fixed on the pan/tilt head 101 by the camera support 1011, and the plurality of motors 1012 can respectively drive a corresponding rotating support 1013 to rotate. Alternatively, the image capturing device 102 may be a camera, a mobile phone with an image capturing function, or the like. The imaging device control device may be provided inside the imaging device 101, and alternatively, the imaging device control device may be provided in the pan/tilt head 101. In this application, imaging device controlling means can adjust the rotating bracket 1013 of cloud platform, and imaging device controlling means can also control rotating bracket 1013 and rotate to make rotating bracket 1013 drive camera device 102 and rotate. The technical solutions shown in the present application will be described in detail below by specific examples.

It is understood that the camera support 1011 can be omitted and the camera device 102 can be directly connected to one of the rotation supports 1013.

It should be noted that the following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

Fig. 2 is a schematic flow chart of a control method of an imaging device according to the present invention. Referring to fig. 2, the method may include:

s201, acquiring position parameters of the imaging device.

S202, adjusting a rotating support of the holder according to the position parameters so as to enable the camera device to be parallel to the earth rotation axis.

S203, determining the rotating direction of the rotating bracket, and controlling the rotating bracket to rotate according to the rotating direction and the rotating speed selected by the user.

The execution subject of the embodiment of the present invention may be an image forming apparatus control apparatus (hereinafter simply referred to as a control apparatus). Optionally, the control device may be arranged inside the pan/tilt head; the control device can also be arranged outside the holder, such as in the camera device and can be connected and communicated with the holder.

In practical applications, the control device may initiate the method shown in the embodiment of fig. 2 to implement the control of the imaging device in a plurality of possible ways as follows.

One possible implementation is: after the control device receives the preset instruction, the method shown in the embodiment of fig. 2 is started to be executed to realize the control of the imaging device.

Optionally, the preset instruction may be a start instruction input by a user, a power-on instruction input by the user, or the like. In the actual application process, the preset instruction may be set according to actual needs, which is not specifically limited in the present invention.

Another possible implementation: during the operation of the imaging device, after the operation parameters of the imaging device satisfy the preset conditions, the method shown in the embodiment of fig. 2 is started to be executed to realize the control of the imaging device.

Alternatively, the preset condition may be that the position of the imaging device is changed, the imaging device is not parallel to the earth rotation axis, and the like. In the actual application process, the preset condition may be set according to actual needs, which is not specifically limited by the present invention.

It should be noted that the control device may also start to execute the method shown in the embodiment of fig. 2 at other times, and the present invention does not specifically limit the time when the control device executes the method shown in the embodiment of fig. 2.

When the control device needs to control the imaging device, the control device acquires the position parameters of the imaging device. Alternatively, the position parameter may comprise a latitude value of the current position of the imaging device. Optionally, if a Global Positioning System (GPS) module is disposed inside the imaging device, the control device may obtain the latitude value of the current position of the imaging device through the GPS module inside the imaging device. If the imaging device is not internally provided with the GPS module, the control device can acquire the latitude value of the current position of the imaging device through the GPS module connected with the imaging device; optionally, the terminal device with the GPS module may be connected to the imaging device, and the latitude value of the current position of the imaging device is obtained through the GPS module in the terminal device, and optionally, the terminal device may be a mobile phone with the GPS module, a tablet computer, or the like.

After the control device obtains the position parameters, the control device adjusts the rotating support of the holder according to the position parameters so as to enable the camera device to be parallel to the earth rotation axis. Optionally, after the position of the imaging device is determined, the relative position of the imaging device and the earth rotation axis is fixed, and the elevation angle and/or the heading angle of the rotating bracket can be adjusted according to the position parameter of the imaging device, so that the camera device is parallel to the earth rotation axis. Optionally, the control device may send a control command to a motor in the pan/tilt head, so that the motor adjusts the elevation angle and/or the heading angle of the rotating support according to the received control command, so that the camera device is parallel to the earth rotation axis.

The control device also determines the direction of rotation of the rotating gantry. The rotation direction is the same as the direction of the earth rotation or opposite to the direction of the earth rotation. Optionally, when the imaging device is located in the northern hemisphere of the earth, the rotation direction is opposite to the earth rotation direction, and when the imaging device is located in the southern hemisphere of the earth, the rotation direction is the same as the earth rotation direction.

The control means may also receive a user selected rotational speed. The rotation speed may be equal to or one-half of the rotation speed of the earth. For example, the rotation speed may be set to the rotation speed of the earth when only the starry sky needs to be imaged, or may be set to one-half the rotation speed of the earth when both the starry sky and the ground object need to be imaged. In practical applications, the rotation speed can be set according to practical requirements. And controlling the rotating bracket to rotate according to the rotating direction and the rotating speed selected by the user so that the rotating bracket drives the camera device to rotate.

According to the imaging device control method provided by the embodiment of the invention, when the control device needs to control the imaging device, the control device automatically adjusts the rotating support of the holder according to the position parameters of the imaging device so as to enable the camera device to be parallel to the earth rotation axis; and automatically controlling the rotating bracket to rotate according to the rotating direction of the rotating bracket and the rotating speed selected by a user, so that the rotating bracket can drive the camera device to rotate according to the direction opposite to the rotation of the earth, and further the trailing phenomenon caused by the rotation of the earth when the camera device is used for starry sky shooting is eliminated. In the process, a user does not need to manually adjust the imaging device according to adjustment experience, the control device adjusts the imaging device according to various parameters, and therefore the adjustment precision of the imaging device can be improved, and the adjustment efficiency of the imaging device can be improved.

On the basis of the embodiment shown in fig. 2, optionally, the rotating support of the pan/tilt head may be adjusted according to the position parameter through the following feasible implementation manner (S202 in the embodiment shown in fig. 2), specifically, please refer to the embodiment shown in fig. 3.

Fig. 3 is a schematic flow chart of a method for adjusting a rotating bracket according to the present invention. Referring to fig. 3, the method may include:

s301, adjusting the elevation angle of the rotary support according to the latitude value so that the included angle between the camera device and the ground plane is equal to the latitude value.

S302, adjusting the course angle of the rotating support according to the preset direction so that the camera device is parallel to the earth rotation axis.

In the embodiment shown in fig. 3, when the control device needs to adjust the rotating bracket, the control device first adjusts the elevation angle of the rotating bracket according to the latitude value of the current position of the imaging device, so that the included angle between the imaging device and the ground plane is equal to the latitude value. Optionally, the camera device may be adjusted to be parallel to the ground plane, and then the elevation angle of the rotating bracket may be adjusted to the latitude value, so that the included angle between the camera device and the ground plane is equal to the latitude value. Optionally, an Inertial measurement unit (IMU for short) may be further disposed in the image pickup device, and the IMU may acquire an elevation angle of the image pickup device and may adjust the elevation angle of the image pickup device until the elevation angle of the image pickup device acquired by the IMU is zero, that is, the image pickup device may be parallel to the ground plane. It is understood that the IMU may also be disposed on the rotational support 1013.

In another embodiment, a potentiometer may be provided on the rotating shaft of each motor, and the potentiometer may be used to detect the attitude, such as the elevation angle, of the imaging device.

After the included angle between the camera device and the ground plane is determined to be equal to the latitude value of the current position of the imaging device, the control device also adjusts the course angle of the rotating support according to the preset azimuth so as to enable the rotating support to be parallel to the earth rotation axis. The predetermined orientation is either a true north or a true south. Alternatively, the preset orientation may be preset by the user, or may be set during the setting process of the imaging device.

It should be noted that, the course angle of the rotating bracket may be adjusted first, and then the elevation angle of the rotating bracket may be adjusted. Alternatively, the elevation angle and the heading angle of the rotating support may be adjusted at the same time, which is not particularly limited by the present invention.

In the process, the control device adjusts the rotating support according to the latitude value of the current position of the imaging device and the preset azimuth, so that the camera device is parallel to the earth rotation shaft, and the accuracy of adjusting the rotating support is improved.

On the basis of any of the above embodiments, optionally, the rotation direction of the rotating bracket may be determined by the following feasible implementation manner (S203 in the embodiment shown in fig. 2), specifically, please refer to the embodiment shown in fig. 4.

Fig. 4 is a schematic flow chart of a method for determining a rotation direction according to the present invention. Referring to fig. 4, the method may include:

s401, determining the hemisphere where the imaging device is located currently.

S402, determining the rotating direction of the rotating support of the holder according to the hemisphere where the imaging device is located currently.

In an actual application process, when the control device needs to determine the rotation direction of the rotating support, the control device first determines the hemisphere where the imaging device is currently located, and determines the rotation direction of the rotating support according to the hemisphere where the imaging device is currently located. Specifically, if the imaging device is currently located in the northern hemisphere, the rotation direction is determined to be opposite to the earth rotation direction; and if the imaging device is currently positioned in the southern hemisphere, determining that the rotation direction is the same as the earth rotation direction.

In the embodiment shown in fig. 4, the hemisphere in which the imaging device is currently located may be determined by the following possible implementation.

One possible implementation is: based on the location parameters, the hemisphere in which the imaging device is currently located is determined.

In this possible implementation, the control device may determine the hemisphere in which the imaging device is currently located according to the acquired position parameters. When the position parameter is the latitude value of the current position of the imaging device, the control device may determine the hemisphere where the imaging device is currently located according to the latitude value of the current position of the imaging device.

In the process, the control device can directly determine the hemisphere where the imaging device is located according to the acquired position parameters, so that the speed and the accuracy of determining the hemisphere where the imaging device is located at present are improved.

Another possible implementation: and acquiring a hemisphere preset by a user and in which the imaging device is currently positioned.

In this possible implementation manner, the user may preset the hemisphere where the imaging device is located in the imaging device, so that when the control device needs to acquire the hemisphere where the imaging device is currently located, the user may directly acquire the hemisphere where the imaging device is located and the hemisphere preset by the user is located. Alternatively, the user may set the hemisphere in which the imaging device is located when the imaging device is used for the first time, so that the imaging device saves the hemisphere in which the imaging device is located, which is input by the user. Of course, during the process of using the imaging device by the user, the preset hemisphere where the imaging device is located can be modified.

Optionally, when the user needs to preset the hemisphere where the imaging device is located in the imaging device, the southern hemisphere selection frame and the northern hemisphere selection frame may be displayed on the display interface of the imaging device, so that the user may input the selection frame corresponding to the hemisphere (the southern hemisphere or the hemispherical subject) where the imaging device is currently located in the display interface according to the actual situation to obtain the selection operation. Of course, the input box may also be displayed through the display interface of the imaging device, so that the user inputs the hemisphere where the imaging device is located in the input box.

In the process, the user can preset the hemisphere where the imaging device is located in the imaging device according to actual conditions, so that the control device can directly acquire the hemisphere where the imaging device preset by the user is located, and the speed of determining the hemisphere where the imaging device is located at present is further improved.

Yet another possible implementation: and determining the hemisphere where the imaging device is currently located according to the target geographical position preset by the user.

In this possible implementation manner, the user may preset a target geographic position in the imaging device, so that when the control device needs to acquire the hemisphere where the imaging device is currently located, the hemisphere where the imaging device is currently located may be determined according to the target geographic position preset by the user. Alternatively, the geographic location may include a country name, a province name, a city name, and the like. Alternatively, the user may input the target geographic location when the imaging device is used for the first time, so that the imaging device saves the target geographic location input by the user. Of course, the preset target address position may be modified during the use of the imaging apparatus by the user.

Optionally, when the user needs to preset the hemisphere where the imaging device is located in the imaging device, at least one address location may be displayed through a display interface of the imaging device, so that the user may input a selection operation for the target geographic location in the display interface according to an actual situation. Of course, the input box may also be displayed through the display interface of the imaging device so that the user inputs the target geographical position in the input box.

In the process, the user can preset the target address position in the imaging device, so that the control device can acquire the hemisphere where the imaging device preset by the user is located according to the target geographical position, and the speed of determining the hemisphere where the imaging device is located currently is improved.

On the basis of any of the above embodiments, before the control device controls the rotating bracket to rotate according to the rotating direction and the rotating speed selected by the user, the control device needs to acquire the rotating speed selected by the user. Alternatively, the control device may obtain the rotation speed selected by the user through two possible implementations as follows.

One possible implementation is: and receiving a target shooting mode input by a user, and determining the rotation speed according to the target shooting mode.

In this possible implementation manner, at least one shooting mode may be displayed through a display interface of the imaging apparatus, and a selection operation input by a user for a target shooting mode according to the display interface is received. Of course, the input box may also be displayed through the display interface of the imaging apparatus so that the user inputs the target photographing mode in the input box. Optionally, the shooting mode may include a starry sky shooting mode, a ground starry sky mixed shooting mode, and the like.

After the control means acquires the target photographing mode input by the user, the control means determines the rotation speed according to the target photographing mode. Alternatively, a correspondence between the shooting mode and the rotation speed may be preset, so that the control device may determine the rotation speed corresponding to the target shooting mode according to the target shooting mode and the correspondence. Optionally, if the shooting mode is a starry sky shooting mode, determining that the rotation speed is equal to the earth rotation speed; if the shooting mode is the ground starry sky hybrid shooting mode, the rotation speed is determined to be greater than zero and smaller than the rotation speed of the earth, and optionally, the rotation speed may be one half of the rotation speed of the earth.

In the above process, the control device may determine the rotation speed according to a target shooting mode input by the user, where the target shooting mode is used to indicate a shooting mode used by the user when actually shooting, so that the determined rotation speed corresponds to the shooting mode actually shot by the user, thereby improving accuracy of determining the rotation speed by the control device, and further improving accuracy of controlling the imaging device by the control device.

Another possible implementation: a rotational speed input by a user is received.

In this possible implementation, the preset input field may be displayed through a display interface of the imaging apparatus, and the rotation speed input by the user in the preset input field may be received. Alternatively, in order to avoid an inappropriate rotation speed input by the user, an inputtable rotation speed range may be set in the preset input field, and for example, the rotation speed range may be 0 to 2 times the earth rotation speed.

In the process, when the control device needs to use the rotation speed, the rotation speed input by the user can be directly acquired, and the speed of acquiring the rotation speed by the control device is improved.

In any of the above possible embodiments, after the control device sets the imaging device, the control device may further control the image capturing device to perform automatic star finding, that is, adjust the image capturing device so that the lens of the image capturing device is directly opposite to the target constellation to be captured. Specifically, please refer to the embodiment shown in fig. 5.

Fig. 5 is a schematic flow chart of an automatic star finding method provided by the present invention. Referring to fig. 5, the method may include:

and S501, receiving the identification of the target constellation input by the user.

And S502, determining the position information of the target constellation according to the identification of the target constellation.

And S503, adjusting the rotating support according to the position information so that the lens of the camera device is just opposite to the target constellation.

In the embodiment shown in fig. 5, after the control device completes the setting of the imaging device, the user can shoot the starry sky through the camera device in the imaging device. When the user needs to shoot the target constellation, the user can input the identification of the target constellation. Optionally, the constellation input field may be displayed through a display interface of the imaging device, so that a user may input an identification of a target constellation in the constellation input field.

After the user inputs the identification of the target constellation, the control device determines the position information of the target constellation according to the identification of the target constellation. Optionally, the position information of each constellation may be preset in the control device, so that the control device may obtain the position information of the target constellation from the position information of each constellation. Optionally, if the constellation is a planet, the position information of the constellation corresponding to each time may be preset in the position information of the constellation.

After the control device determines to obtain the position information of the target constellation, the control device adjusts the rotating support according to the position information so that the lens of the camera device is over against the target constellation. Optionally, the control device may adjust at least one of a pitch angle, a course angle, and a roll angle of the rotating support according to the position information, so that the lens of the imaging device is directly opposite to the target constellation.

In the process, the control device can automatically adjust the camera device so that the lens of the camera device is over against the target constellation, and the star finding efficiency is improved.

Fig. 6 is a first schematic structural diagram of a control system of an imaging device according to the present invention. The imaging device control system can control the imaging device, wherein the imaging device comprises a holder and a camera device arranged on the holder, and the holder is used for driving the camera device to move along with at least one rotating support. Referring to fig. 6, the image forming apparatus control system may include:

and the acquisition module 11 is used for acquiring the position parameters of the imaging device.

And the first adjusting module 12 is used for adjusting the rotating support of the holder according to the position parameters so as to enable the camera device to be parallel to the earth rotation axis.

A first determining module 13 for determining the rotation direction of the rotating bracket.

And the control module 14 is used for controlling the rotating bracket to rotate according to the rotating direction and the rotating speed selected by the user.

The imaging device control system provided by the embodiment of the present invention can implement the technical solutions shown in the above method embodiments, and the implementation principles and beneficial effects thereof are similar, and are not described herein again.

In a possible implementation, the obtaining module 11 is specifically configured to:

and acquiring the latitude value of the current position of the imaging device.

In another possible implementation, the obtaining module 11 is specifically configured to:

acquiring a latitude value through a Global Positioning System (GPS) module in the imaging device;

or,

the latitude value is acquired by a GPS module connected with the imaging device.

Fig. 7 is a schematic structural diagram of a second imaging device control system provided by the present invention. On the basis of the embodiment shown in fig. 6, please refer to fig. 7, the first determining module 13 comprises a first determining unit 13-1 and a second determining unit 13-2, wherein,

the first determination unit 13-1 is configured to determine a hemisphere in which the imaging device is currently located;

the second determination unit 13-2 is adapted to determine the direction of rotation of the rotating gantry depending on the hemisphere in which the imaging device is currently located.

In another possible implementation, the first determining unit 13-1 is specifically configured to:

determining the hemisphere where the imaging device is currently located according to the position parameters;

or,

acquiring a hemisphere preset by a user and in which an imaging device is currently located;

or,

and determining the hemisphere where the imaging device is currently located according to the target geographical position preset by the user.

In another possible embodiment, the system further comprises a receiving module 15, wherein,

the receiving module 15 is configured to receive a user input of the hemisphere where the imaging device is currently located before the first determining unit 13-1 obtains the hemisphere where the imaging device is currently located and which is preset by the user.

In another possible embodiment, the system further comprises a display module 16, wherein,

the display module 16 is configured to display the south hemisphere selection frame and the north hemisphere selection frame through a display interface of the imaging device;

correspondingly, the receiving module 15 is specifically configured to receive a selection operation input by a user on a hemisphere where the imaging device is currently located according to the display interface.

In another possible embodiment, the receiving module 15 is further configured to receive a user input target geographic position before the first determining unit 13-1 determines the hemisphere where the imaging device is currently located according to the target geographic position preset by the user.

In another possible embodiment, the display module 16 is further configured to display at least one address location through a display interface of the imaging device;

correspondingly, the receiving module 15 is specifically configured to receive a selection operation input by the user on the target geographic location according to the display interface.

In another possible implementation, the second determining unit 13-2 is specifically configured to:

if the imaging device is positioned in the northern hemisphere, determining that the rotation direction is opposite to the earth rotation direction;

and if the imaging device is positioned in the southern hemisphere, determining that the rotation direction is the same as the earth rotation direction.

In another possible embodiment, the first conditioning module 12 includes a first conditioning unit 12-1 and a second conditioning unit 12-2, wherein,

the first adjusting unit 12-1 is used for adjusting the elevation angle of the rotating bracket according to the latitude value so that the included angle between the camera device and the ground plane is equal to the latitude value;

the second adjusting unit 12-2 is used for adjusting the course angle of the rotating bracket according to the preset orientation so that the camera device is parallel to the earth rotation axis.

In another possible embodiment, the preset orientation is a positive north or a positive south.

In another possible embodiment, the first adjusting unit 12-1 is specifically configured to:

adjusting the camera device to enable the camera device to be parallel to the ground plane;

the elevation angle of the rotating support is adjusted to a latitude value.

In another possible embodiment, an inertial measurement unit IMU is provided in the camera device, and accordingly, the first adjustment unit 12-1 is specifically configured to:

and adjusting the elevation angle of the camera device until the elevation angle of the camera device acquired by the IMU is zero, so that the camera device is parallel to the ground plane. It is understood that the IMU may also be disposed on the rotational support 1013.

In another possible embodiment, the receiving module 15 is further configured to receive a rotation speed input by a user.

In another possible embodiment, the system further comprises a second determination module 17, wherein,

the receiving module 15 is further configured to receive a target shooting mode input by a user;

the second determining module 17 is used for determining the rotating speed according to the target shooting mode;

in another possible embodiment, the display module 16 is further configured to display at least one shooting mode through a display interface of the imaging device;

correspondingly, the receiving module 15 is specifically configured to receive a selection operation of the user on the display interface for inputting the target shooting mode.

In another possible implementation, the second determining module 17 is specifically configured to:

acquiring the corresponding relation between the shooting mode and the rotating speed;

and determining the rotating speed corresponding to the target shooting mode according to the target shooting mode and the corresponding relation.

if the shooting mode is a starry sky shooting mode, determining that the rotation speed is equal to the earth rotation speed;

and if the shooting mode is a ground starry sky mixed shooting mode, determining that the rotation speed is greater than zero and smaller than the rotation speed of the earth.

In another possible embodiment, the display module 16 is further configured to display a preset input field through a display interface of the imaging device;

correspondingly, the receiving module 15 is specifically configured to receive the rotation speed input by the user in the preset input field.

In another possible embodiment, the receiving module 15 is further configured to receive a start instruction input by a user before the acquiring module 11 acquires the rotation speed and the position parameter of the imaging apparatus, where the start instruction is used to instruct starting to control the imaging apparatus.

In another possible embodiment, the system further comprises a third determination module 18 and a second adjustment module 19, wherein,

the receiving module 15 is further configured to receive the identifier of the target constellation input by the user after the control module controls the rotating bracket to rotate according to the rotating direction and the rotating speed;

the third determining module 18 is configured to determine the location information of the target constellation according to the identifier of the target constellation;

the second adjusting module 19 is configured to adjust the rotating bracket according to the position information, so that the lens of the image capturing apparatus directly faces the target constellation.

In another possible embodiment, the second adjusting module 19 is specifically configured to:

and adjusting at least one of a pitch angle, a course angle and a roll angle of the camera device according to the position information so as to enable a lens of the camera device to be over against the target constellation.

Fig. 8 is a schematic structural diagram of an imaging device according to the first embodiment of the present invention. Referring to fig. 8, the imaging apparatus includes a pan/tilt head 101 and a camera 102. The cradle head 101 includes a camera support 1011, a plurality of motors 1012, a plurality of rotation supports 1013, and a processor 1014. The camera device 102 may be fixed to the pan/tilt head 101 by a camera bracket 1011. The processor 1014 may send control instructions to the motor 1012 to cause the motor 1012 to drive the rotation support 1013 for rotation in accordance with the control instructions. Wherein,

the processor 1014 is configured to obtain a position parameter of the imaging device;

the motor 1012 is used for adjusting the rotating support 1013 of the pan/tilt head according to the position parameters obtained by the processor 1014, so that the camera device 102 is parallel to the rotation axis of the earth;

the processor 1014 is further operable to determine a direction of rotation of the rotating bracket 1011;

the motor 1012 is also used to control the rotation of the rotating bracket 1011 according to the rotation direction determined by the processor 1014 and the rotation speed selected by the user.

The imaging device provided by the embodiment of the present invention can implement the technical solutions shown in the above method embodiments, and the implementation principles and beneficial effects are similar, which are not described herein again.

In one possible implementation, the processor 1014 is specifically configured to:

and acquiring the latitude value of the current position of the imaging device.

Fig. 9 is a schematic structural diagram of an imaging apparatus according to a second embodiment of the present invention, and referring to fig. 9, the imaging apparatus further includes a first global positioning system GPS module 103 based on the embodiment shown in fig. 8; alternatively, the first CPS module 103 may be provided on a pan/tilt head or a camera.

Accordingly, the processor 1014 is particularly configured to acquire a latitude value via the first GPS module.

The imaging device further comprises a communication interface 104 through which the processor 1014 interfaces with a second GPS module; alternatively, the communication interface 104 may be provided on the pan/tilt head 101.

Accordingly, the processor 1014 is specifically configured to obtain, via the communication interface 104, the latitude value acquired by the second GPS module.

It should be noted that the imaging apparatus may include both the first GPS module 103 and the communication interface 104, or may include any one of the first GPS module 103 and the communication interface 104.

In another possible implementation, the processor 1014 is specifically configured to:

determining a hemisphere in which the imaging device is currently located;

the direction of rotation of the rotating support 1013 is determined based on the hemisphere in which the imaging device is currently located.

or,

In another possible embodiment, the imaging apparatus further comprises an input device 105, wherein,

the input device 105 is configured to receive a user input into the hemisphere where the imaging apparatus is currently located before the processor 1014 obtains the user-preset hemisphere where the imaging apparatus is currently located. Alternatively, when the image capturing apparatus 102 is a terminal device such as a mobile phone having an image capturing function, the input device 105 may be an input device in the image capturing apparatus 102. Of course, the input device 105 may also be an input device provided on the pan/tilt head 101.

In another possible embodiment, the imaging apparatus further comprises a display device 106, wherein,

the display device 106 is used for displaying the southern hemisphere selection frame and the northern hemisphere selection frame; alternatively, when the camera 102 is a terminal device such as a mobile phone with a camera function, the display device 106 may be a display screen in the camera 102. Of course, the display device 106 may also be a display device disposed on the pan/tilt head 101.

Accordingly, the input device 105 is specifically configured to receive a selection operation input by the user on the hemisphere where the imaging apparatus is currently located according to the content displayed by the display device 106.

In another possible embodiment, the input device 105 is further configured to receive a user input target geographic location before the processor 1014 determines the hemisphere where the imaging apparatus is currently located according to the user preset target geographic location.

In another possible embodiment, the display device 106 is further configured to display at least one address location;

correspondingly, the input device 105 is specifically configured to receive a selection operation input by the user on the target geographic location according to at least one address location displayed by the display device 106.

In another possible embodiment, the motor 1012 is specifically configured to:

adjusting the elevation angle of the rotary support 1013 according to the latitude value obtained by the processor 1014 so that the included angle between the camera device 102 and the ground plane is equal to the latitude value;

the heading angle of the rotating support 1013 is adjusted according to a preset orientation so that the camera 102 is parallel to the earth's rotation axis.

In another possible embodiment, the motor 1012 is specifically configured to:

adjusting the camera device 102 to make the camera device 102 parallel to the ground plane;

the elevation angle of the rotating support 1013 is adjusted to a latitude value.

In another possible embodiment, an inertial measurement unit IMU1021 is provided in the camera 102, and accordingly, the motor 1012 is specifically configured to:

the elevation of the camera 102 is adjusted until the elevation of the camera 102, as acquired by the IMU1021, is zero, such that the camera 102 is parallel to the ground plane. It is understood that the IMU may also be disposed on the rotational support 1013.

In another possible embodiment, the input device 105 is further configured to receive a user input of a target shooting mode before the motor 1012 controls the rotation of the rotating support 1013 according to the determined rotation direction and the user-selected rotation speed by the processor 1014;

accordingly, the processor 1014 is further configured to determine a rotation speed according to the target shooting mode.

In another possible implementation, the input device 105 is further configured to:

a rotational speed input by a user is received.

In another possible embodiment, the display device 106 is further configured to display at least one shooting mode;

accordingly, the input device 105 is configured to receive a selection operation input by the user for a target shooting mode according to at least one shooting mode displayed in the display device 106.

In another possible embodiment, if the shooting mode is a starry sky shooting mode, the processor 1014 is specifically configured to determine that the rotation speed is equal to the earth rotation speed;

if the shooting mode is the ground-star hybrid shooting mode, the processor 1014 is specifically configured to determine that the rotation speed is greater than zero and less than the rotation speed of the earth.

In another possible implementation, the display device 106 is further configured to display a preset input field through the display interface;

accordingly, the input device 105 is further configured to receive a rotation speed input by the user in the preset input field.

In another possible embodiment, the input device 105 is further configured to receive a start instruction input by a user before the processor 1014 obtains the rotation speed and the position parameter of the imaging apparatus, the start instruction being used to instruct start of controlling the imaging apparatus.

In another possible embodiment, the input device 105 is further configured to receive the user-input identification of the target constellation after the motor 1012 controls the rotation support 1013 to rotate according to the rotation direction and the rotation speed;

processor 1014 is further configured to determine location information of the target constellation based on the identification of the target constellation;

the motor 1012 is further configured to adjust the camera 102 according to the position information obtained by the processor 1014, so that the lens of the camera 102 faces the target constellation.

In another possible embodiment, the motor 1012 is specifically configured to: according to the position information, at least one of the pitch angle, the course angle, and the roll angle of the rotating support 1013 is adjusted so that the lens of the imaging device 102 is directly opposite to the target constellation.

Fig. 10 is a schematic structural diagram of an imaging device interaction apparatus provided by the present invention. Referring to fig. 10, a display device 21 and an input device 22 are included, wherein,

the display device 21 is used for displaying at least one operation instruction;

the input device 22 is used for receiving a target operation instruction input by a user according to at least one operation instruction;

the input device 22 is further configured to send a target operation instruction to the processor of the pan/tilt head, so that the processor controls the motor of the pan/tilt head according to the target operation instruction, so that the motor controls the rotating bracket of the pan/tilt head.

In one possible embodiment, the at least one control indication comprises at least one of the following:

a start command, a star finding command, a rotation speed option, a north-south hemisphere option, a geographical position option, and a shooting mode option.

In another possible implementation, the display device 21 is specifically configured to:

receiving at least one operation instruction sent by a processor;

at least one operation indication is displayed.

The imaging device interaction equipment shown in the embodiment of the invention can be arranged in the imaging device and can be connected and communicated with other components in the imaging device.

Fig. 11 is a first schematic structural diagram of an imaging device control apparatus according to the present invention, where the imaging device control apparatus is configured to control an imaging device, where the imaging device includes a holder and a camera device disposed on the holder, and the holder is configured to drive the camera device to move along with at least one rotating support. Referring to fig. 11, the image forming apparatus control device includes a processor 31, a memory 32, and a communication bus 33. The memory 32 is used for storing application programs, the communication bus 33 is used for realizing communication connection among elements, and the processor 31 is used for reading the application programs in the memory 32 and executing the following operations:

acquiring position parameters of an imaging device;

determining a direction of rotation of the rotating gantry;

The imaging device control apparatus provided in the embodiment of the present invention may implement the technical solutions shown in the above method embodiments, and the implementation principles and beneficial effects thereof are similar, and are not described herein again.

In a possible implementation, the processor 31 is specifically configured to:

and acquiring the latitude value of the current position of the imaging device.

In another possible implementation, the processor 31 is specifically configured to:

acquiring the latitude value through a Global Positioning System (GPS) module inside the imaging device;

or,

and acquiring the latitude value through a GPS module connected with the imaging device.

determining a hemisphere in which the imaging device is currently located;

and determining the rotating direction of the rotating bracket according to the hemisphere where the imaging device is located currently.

determining a hemisphere in which the imaging device is currently located according to the position parameter;

or,

acquiring a hemisphere preset by a user and in which the imaging device is currently located;

or,

Fig. 12 is a schematic structural diagram of a second imaging device control apparatus provided by the present invention, referring to fig. 12 on the basis of the embodiment shown in fig. 11, the imaging device control apparatus further includes an input device 34, and correspondingly, the processor 31 is specifically configured to:

the user input of the hemisphere in which the imaging apparatus is currently located is received through the input device 34 before the processor 31 acquires the hemisphere in which the imaging apparatus is currently located, which is preset by the user.

Alternatively, the input device 34 may be an input device in the imaging apparatus.

In another possible embodiment, the imaging device control apparatus further includes a display apparatus 35, and accordingly, the processor 31 is further configured to:

displaying the southern hemisphere selection frame and the northern hemisphere selection frame through the display device 35;

and receiving the content displayed by the user according to the display device 35 through the input device 34, and inputting the hemisphere where the imaging device is currently located to obtain the selected operation.

Alternatively, the display device 35 may be a display device in an imaging apparatus.

In another possible implementation, the processor 31 is further configured to:

the target geographical position input by the user is received through the input device 34 before the processor 31 determines the hemisphere where the imaging apparatus is currently located according to the target geographical position preset by the user.

In another possible implementation, the processor 31 is further configured to:

displaying at least one address location via the display device 35;

and receiving a selection operation input by the user according to the content displayed by the display device 35 on the target geographic position through the input device 34.

if the imaging device is located in the northern hemisphere, determining that the rotation direction is opposite to the earth rotation direction;

controlling the elevation angle of the rotating bracket to be adjusted according to the latitude value, so that the included angle between the camera device and the ground plane is equal to the latitude value;

and controlling the course angle of the rotating support to be adjusted according to a preset direction so as to enable the camera device to be parallel to the earth rotation axis.

In another possible embodiment, the preset orientation is a north or south orientation.

controlling the camera device to adjust so that the camera device is parallel to the ground plane;

controlling the elevation angle of the rotating bracket to be adjusted so that the elevation angle of the rotating bracket is equal to the latitude value.

In another possible embodiment, an inertial measurement unit IMU is disposed in the image capturing device, and accordingly, the processor 31 is specifically configured to:

and controlling the elevation angle of the camera device to be adjusted until the elevation angle of the camera device, acquired by the IMU, is zero, so that the camera device is parallel to the ground plane.

In another possible embodiment, the processor 31 is further configured to receive the rotation speed input by the user through the input device 34.

In another possible implementation, the processor 31 is further configured to:

receiving a target photographing mode input by a user through the input device 34;

determining the rotation speed according to the target photographing mode.

In another possible implementation, the processor 31 is further configured to:

displaying at least one photographing mode through the display device 35;

and receiving the selection operation input by the user according to the content displayed by the display device 35 and the target shooting mode through the input device 34.

In another possible implementation, the processor 31 is further configured to:

displaying a preset input field through the display device 35;

the rotation speed input by the user in the preset input field is received through the input device 34.

In another possible embodiment, the processor 31 is further configured to receive, through the input device 34, a start instruction input by a user before the processor 31 acquires the rotation speed and the position parameter of the imaging apparatus, where the start instruction is used to instruct start of controlling the imaging apparatus.

In another possible implementation, the processor 31 is further configured to:

after the processor 31 controls the rotating bracket to rotate according to the rotating direction and the rotating speed, receiving the identification of the target constellation input by the user through the input device 34;

determining the position information of the target constellation according to the identification of the target constellation;

and controlling the rotating support to adjust according to the position information so that the lens of the camera device is over against the target constellation.

and controlling at least one of a pitch angle, a course angle and a roll angle of the camera device to be adjusted according to the position information so as to enable a lens of the camera device to be over against the target constellation.

Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method of an imaging device, the imaging device comprises a holder and a camera device arranged on the holder, the holder is used for driving the camera device to move along with at least one rotating bracket, and the method comprises the following steps:

acquiring position parameters of the imaging device;

2. The method of claim 1, wherein said obtaining positional parameters of an imaging device comprises:

and acquiring the latitude value of the current position of the imaging device.

3. The method of claim 2, wherein the obtaining the latitude value of the current position of the imaging device comprises:

acquiring a latitude value of a current position of the imaging device through a Global Positioning System (GPS) module in the imaging device;

or,

and acquiring the latitude value of the current position of the imaging device through a GPS module connected with the imaging device.

4. The method of claim 1, wherein the determining the direction of rotation of the rotating gantry comprises:

determining a hemisphere in which the imaging device is currently located;

5. The method of claim 4, wherein determining the hemisphere in which the imaging device is currently located comprises:

or,

6. The method of claim 5, wherein the obtaining a hemisphere in front of which the imaging device is currently located and preset by a user, further comprises:

receiving the user input into a hemisphere where the imaging device is currently located.

7. The method of claim 6, wherein said receiving the user input for the hemisphere in which the imaging device is currently located comprises:

displaying a south hemisphere selection frame and a north hemisphere selection frame through a display interface of the imaging device;

and receiving input of a user on the hemisphere where the imaging device is currently located according to the display interface to obtain a selected operation.

8. The method of claim 5, wherein determining the hemisphere in front of which the imaging device is currently located according to the target geographic location preset by the user further comprises:

receiving the user input of the target geographic location.

9. The method of claim 8, wherein receiving the user input the geographic location comprises:

displaying at least one address location through a display interface of the imaging device;

and receiving the selection operation input by the user to the target geographic position according to the display interface.

10. The method of any of claims 4-9, wherein determining the rotational direction of the rotating gantry based on the hemisphere in which the imaging device is currently located comprises:

11. Method according to any one of claims 2 to 10, wherein adjusting the rotational support of the head according to the position parameter comprises:

adjusting the elevation angle of the rotating bracket according to the latitude value so that the included angle between the camera device and the ground plane is equal to the latitude value;

and adjusting the course angle of the rotating support according to a preset direction so as to enable the camera device to be parallel to the earth rotation axis.

12. The method of claim 11, wherein the preset orientation is a positive north or a positive south.

13. The method according to claim 11 or 12, wherein the adjusting the elevation angle of the rotating stand according to the latitude value so that the included angle between the camera device and the ground plane is equal to the latitude value comprises:

adjusting the camera device to make the camera device parallel to the ground plane;

adjusting an elevation angle of the rotating bracket to the latitude value.

14. The method of claim 13, wherein an Inertial Measurement Unit (IMU) is provided in the camera device, and wherein adjusting the camera device to be parallel to the ground plane comprises:

and adjusting the elevation angle of the camera device until the elevation angle of the camera device acquired by the IMU is zero, so that the camera device is parallel to the ground plane.

15. The method according to any one of claims 1-14, wherein before controlling the rotating bracket to rotate according to the rotating direction and a user-selected rotating speed, further comprising:

receiving a target shooting mode input by a user, and determining the rotating speed according to the target shooting mode;

or,

receiving the rotational speed of the user input.

16. The method of claim 15, wherein receiving the user input of the shooting mode comprises:

displaying at least one shooting mode through a display interface of the imaging device;

and receiving the selection operation input by the user to the target shooting mode according to the display interface.

17. The method according to claim 15 or 16, wherein the determining the rotation speed according to the target photographing mode comprises:

18. The method according to any one of claims 15-17, wherein said determining the rotation speed according to the photographing mode comprises:

19. The method of claim 15, wherein receiving the rotational speed of the user input comprises:

displaying a preset input field through a display interface of the imaging device;

and receiving the rotation speed input by the user in the preset input field.

20. The method of any of claims 1-19, wherein prior to acquiring the rotational speed and the positional parameters of the imaging device, further comprising:

and receiving a starting instruction input by a user, wherein the starting instruction is used for indicating the starting to control the imaging device.

21. The method according to any one of claims 1-20, wherein after controlling the rotating support to rotate according to the rotating direction and the rotating speed, further comprising:

receiving an identification of a target constellation input by a user;

and adjusting the rotating support according to the position information so that the lens of the camera device is over against the target constellation.

22. The method of claim 21, wherein adjusting the camera device according to the position information so that a lens of the camera device is directly facing the target constellation comprises:

and adjusting at least one of a pitch angle, a course angle and a roll angle of the camera shooting support according to the position information so as to enable a lens of the camera shooting device to be over against the target constellation.

23. The utility model provides an imaging device control system, imaging device includes a cloud platform and sets up the camera device on the cloud platform, the cloud platform is used for the drive camera device moves along with an at least rotating support, its characterized in that includes:

an acquisition module for acquiring a position parameter of the imaging device;

24. The system of claim 23, wherein the acquisition module is specifically configured to:

and acquiring the latitude value of the current position of the imaging device.

25. The system of claim 24, wherein the acquisition module is specifically configured to:

or,

26. The system of claim 23, wherein the first determination module comprises a first determination unit and a second determination unit, wherein,

the first determining unit is used for determining the hemisphere where the imaging device is located currently;

the second determining unit is configured to determine a rotation direction of the rotating bracket according to a hemisphere in which the imaging device is currently located.

27. The system of claim 26, wherein the first determining unit is specifically configured to:

or,

28. The system of claim 27, further comprising a receiving module, wherein,

the receiving module is configured to receive the user input of the hemisphere where the imaging device is currently located before the first determining unit obtains the hemisphere where the imaging device is currently located and is preset by the user.

29. The system of claim 28, further comprising a display module, wherein,

the display module is used for displaying the south hemisphere selection frame and the north hemisphere selection frame through a display interface of the imaging device;

correspondingly, the receiving module is specifically configured to receive a selection operation input by a user on a hemisphere where the imaging device is currently located according to the display interface.

30. The system of claim 29,

the receiving module is further configured to receive the target geographic position input by the user before the first determining unit determines the hemisphere where the imaging device is currently located according to the target geographic position preset by the user.

31. The system of claim 30, wherein the display module is further configured to display at least one address location via a display interface of the imaging device;

correspondingly, the receiving module is specifically configured to receive a selection operation input by a user on the target geographic position according to the display interface.

32. The system according to any of claims 26-31, wherein the second determining unit is specifically configured to:

33. The system of claim 23, wherein the first conditioning module comprises a first conditioning unit and a second conditioning unit, wherein,

the first adjusting unit is used for adjusting the elevation angle of the rotating bracket according to the latitude value so that the included angle between the camera device and the ground plane is equal to the latitude value;

the second adjusting unit is used for adjusting the course angle of the rotating support according to a preset direction so as to enable the camera device to be parallel to the earth rotation axis.

34. The system of claim 33, wherein the preset orientation is a positive north or a positive south.

35. The system of claim 34, wherein the first adjustment unit is specifically configured to:

adjusting an elevation angle of the rotating bracket to the latitude value.

36. The system according to claim 35, characterized in that an inertial measurement unit IMU is provided in said camera means, said first adjustment unit being in particular configured to:

37. The system of any one of claims 29-36,

the receiving module is further configured to receive the rotational speed input by the user.

38. The system of claim 37, further comprising a second determination module, wherein,

the receiving module is also used for receiving a target shooting mode input by a user;

the second determining module is used for determining the rotating speed according to the target shooting mode.

39. The system of claim 38,

the display module is used for displaying at least one shooting mode through a display interface of the imaging device;

correspondingly, the receiving module is specifically configured to receive a selection operation of the user on the display interface for the target shooting mode input.

40. The system of claim 38, wherein the second determination module is specifically configured to:

41. The system according to any one of claims 38 to 40, wherein the second determination module is specifically configured to:

42. The system of claim 39,

the display module is further used for displaying a preset input field through a display interface of the imaging device;

correspondingly, the receiving module is specifically configured to receive the rotation speed input by the user in the preset input field.

43. The system of any one of claims 29-42,

the receiving module is further configured to receive a start instruction input by a user before the obtaining module obtains the rotation speed and the position parameter of the imaging device, where the start instruction is used to instruct start of controlling the imaging device.

44. The system of any one of claims 23-43, further comprising a third determination module and a second adjustment module, wherein,

the receiving module is further configured to receive an identifier of a target constellation input by a user after the control module controls the rotating bracket to rotate according to the rotating direction and the rotating speed;

the third determining module is configured to determine location information of the target constellation according to the identifier of the target constellation;

the second adjusting module is used for adjusting the rotating support according to the position information so that the lens of the camera device is over against the target constellation.

45. The system of claim 44, wherein the second adjustment module is specifically configured to:

46. An imaging device, which is characterized by comprising a holder and a camera device arranged on the holder, wherein the holder is used for driving the camera device to move along with at least one rotating bracket, a processor and a motor are arranged in the holder, wherein,

47. The imaging apparatus of claim 46, wherein the processor is specifically configured to:

and acquiring the latitude value of the current position of the imaging device.

48. The imaging apparatus of claim 47, further comprising a first Global Positioning System (GPS) module;

correspondingly, the processor is specifically configured to acquire the latitude value through the first GPS module.

49. The imaging device of claim 47, further comprising a communication interface through which the processor interfaces with a second GPS module;

correspondingly, the processor is specifically configured to obtain the latitude value acquired by the second GPS module through the communication interface.

50. The imaging apparatus of claim 46, wherein the processor is specifically configured to:

determining a hemisphere in which the imaging device is currently located;

51. The imaging apparatus of claim 50, wherein the processor is specifically configured to:

or,

52. The imaging apparatus of claim 51, further comprising an input device, wherein,

the input device is used for receiving the user input of the hemisphere where the imaging device is located before the processor obtains the hemisphere where the imaging device is located and preset by the user.

53. The imaging apparatus of claim 52, further comprising a display device, wherein,

the display equipment is used for displaying the southern hemisphere selection frame and the northern hemisphere selection frame;

correspondingly, the input device is specifically configured to receive a selection operation input by a user on a hemisphere where the imaging apparatus is currently located according to the content displayed by the display device.

54. The imaging apparatus of claim 53,

the input device is further configured to receive a target geographic location input by a user before the processor determines a hemisphere in which the imaging apparatus is currently located according to the target geographic location preset by the user.

55. The imaging apparatus of claim 54,

the display device is further configured to display at least one address location;

correspondingly, the input device is specifically configured to receive a selection operation input by a user on the target geographic location according to the at least one address location displayed by the display device.

56. The imaging apparatus of any of claims 50-55, wherein the processor is specifically configured to:

57. The imaging apparatus of any one of claims 47-56, wherein the motor is specifically configured to:

adjusting the elevation angle of the rotating bracket according to the latitude value obtained by the processor, so that the included angle between the camera device and the ground plane is equal to the latitude value;

58. The imaging apparatus of claim 57, wherein the predetermined orientation is a true north or a true south.

59. The imaging apparatus of claim 57 or 58, wherein the motor is specifically configured to:

adjusting an elevation angle of the rotating bracket to the latitude value.

60. The imaging apparatus according to claim 59, wherein an inertial measurement unit IMU is provided in the camera apparatus, and wherein the motor is in particular configured to:

61. The imaging apparatus of claim 54,

the input device is further used for receiving a target shooting mode input by a user before the motor controls the rotating bracket to rotate according to the rotating direction determined by the processor and the rotating speed selected by the user;

correspondingly, the processor is further configured to determine the rotation speed according to the target shooting mode.

62. The imaging apparatus of claim 61, wherein the input device is further configured to:

receiving the rotational speed of the user input.

63. The imaging apparatus of claim 61,

the display device is further used for displaying at least one shooting mode;

correspondingly, the input device is used for receiving the selection operation input by the user to the target shooting mode according to at least one shooting mode displayed by the display device.

64. The imaging apparatus of claim 61, wherein the processor is specifically configured to:

65. The imaging apparatus of any one of claims 61-64,

if the shooting mode is a starry sky shooting mode, the processor is specifically configured to determine that the rotation speed is equal to the earth rotation speed;

if the shooting mode is a ground starry sky hybrid shooting mode, the processor is specifically configured to determine that the rotation speed is greater than zero and less than the rotation speed of the earth.

66. The imaging apparatus of claim 63 or 64,

the display equipment is also used for displaying a preset input field through a display interface;

correspondingly, the input device is further used for receiving the rotation speed input by the user in the preset input field.

67. The imaging apparatus of claim 53,

the input device is further used for receiving a starting instruction input by a user before the processor acquires the rotation speed and the position parameter of the imaging device, and the starting instruction is used for instructing to start controlling the imaging device.

68. The imaging apparatus of claim 53,

the input device is further used for receiving the identification of the target constellation input by the user after the motor controls the rotating bracket to rotate according to the rotating direction and the rotating speed;

the processor is further configured to determine location information of the target constellation according to the identifier of the target constellation;

the motor is further used for adjusting the rotating support according to the position information obtained by the processor, so that the lens of the camera device is opposite to the target constellation.

69. The imaging apparatus of claim 68, wherein the motor is specifically configured to: and adjusting at least one of a pitch angle, a course angle and a roll angle of the camera device according to the position information so as to enable a lens of the camera device to be over against the target constellation.

70. An imaging apparatus interaction device, comprising an input device and a display device, wherein,

the display device is used for displaying at least one operation instruction;

71. The imaging apparatus interaction device of claim 70, wherein the at least one control directive comprises at least one of:

72. An imaging device interaction device according to claim 70 or 71, wherein said display device is specifically configured to:

receiving the at least one operation instruction sent by the processor;

and displaying the at least one operation indication.

73. An imaging device control apparatus, an imaging device includes a holder, a camera device disposed on the holder, the holder is used for driving the camera device to move along with at least one rotating bracket, the imaging device control apparatus includes a processor and a memory used for storing an application program, the processor is used for reading the application program in the memory and executing the following operations:

acquiring position parameters of an imaging device;

determining a direction of rotation of the rotating gantry;

74. The device of claim 73, wherein the processor is specifically configured to:

and acquiring the latitude value of the current position of the imaging device.

75. The device of claim 74, wherein the processor is specifically configured to:

or,

76. The device of claim 73, wherein the processor is specifically configured to:

determining a hemisphere in which the imaging device is currently located;

77. The device of claim 76, wherein the processor is specifically configured to:

or,

78. The apparatus according to claim 77, wherein the imaging device control apparatus further comprises an input apparatus, and wherein the processor is further configured to:

and before the processor acquires the hemisphere, in which the imaging device is currently located, preset by a user, the input of the user into the hemisphere, in which the imaging device is currently located, is received through the input device.

79. The apparatus of claim 78, wherein the imaging device control apparatus further comprises a display apparatus, and wherein the processor is further configured to:

displaying the southern hemisphere selection frame and the northern hemisphere selection frame through the display device;

and receiving the content displayed by the user according to the display equipment through the input equipment, and inputting the hemisphere where the imaging device is currently located to obtain the selected operation.

80. The device of claim 79, wherein the processor is further configured to:

and receiving the target geographic position input by the user through the input equipment before the processor determines the hemisphere where the imaging device is currently located according to the target geographic position preset by the user.

81. The device of claim 80, wherein the processor is further configured to:

displaying, by the display device, at least one address location;

and receiving the selection operation input by the user to the target geographic position according to the content displayed by the display equipment through the input equipment.

82. The device of any one of claims 76 to 81, wherein the processor is specifically configured to:

83. The device of claim 73, wherein the processor is specifically configured to:

84. The apparatus according to claim 83, wherein the preset orientation is a positive north or a positive south.

85. The device of claim 84, wherein the processor is specifically configured to:

86. The apparatus according to claim 85, wherein the camera is provided with an inertial measurement unit IMU, and wherein the processor is further configured to:

87. The device of any of claims 79-86, wherein the processor is further configured to receive the rotational speed of the user input via the input device.

88. The device of claim 87, wherein the processor is further configured to:

receiving a target shooting mode input by a user through the input device;

determining the rotation speed according to the target photographing mode.

89. The device of claim 88, wherein the processor is further configured to:

displaying at least one shooting mode through the display device;

and receiving the selection operation input by the user in the target shooting mode according to the content displayed by the display equipment through the input equipment.

90. The device of claim 88, wherein the processor is further configured to:

91. The device of any one of claims 88-90, wherein the processor is specifically configured to:

92. The device of claim 89, wherein the processor is further configured to:

displaying a preset input field through the display equipment;

and receiving the rotation speed input by the user in the preset input field through the input device.

93. The apparatus of any one of claims 79 to 92,

the processor is further configured to receive a start instruction input by a user through the input device before the processor acquires the rotation speed and the position parameter of the imaging apparatus, wherein the start instruction is used for instructing to start controlling the imaging apparatus.

94. The device of any one of claims 78-93, wherein the processor is further configured to:

after the processor controls the rotating bracket to rotate according to the rotating direction and the rotating speed, receiving the identification of the target constellation input by the user through the input device;

95. The device of claim 94, wherein the processor is further configured to: