CN107295244A - The track up control method and system of a kind of stabilizer - Google Patents
The track up control method and system of a kind of stabilizer Download PDFInfo
- Publication number
- CN107295244A CN107295244A CN201610225138.0A CN201610225138A CN107295244A CN 107295244 A CN107295244 A CN 107295244A CN 201610225138 A CN201610225138 A CN 201610225138A CN 107295244 A CN107295244 A CN 107295244A
- Authority
- CN
- China
- Prior art keywords
- axle
- track
- angle value
- pitch axis
- adjusted
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
-
- 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
Abstract
The present invention is applied to stabilizer field there is provided the track up control method and system of a kind of stabilizer, and the track up control method includes：The angle value of pitch axis, roll axle and course axle is obtained in real time；Track up mode instruction is received, and the stabilizer is entered track up pattern according to the track up mode instruction；The target location parameter of real-time reception photographic subjects；The angle value to be adjusted of the pitch axis, roll axle and course axle is calculated according to the angle value of the target location parameter and the pitch axis, roll axle and course axle；The angle of the pitch axis, roll axle and course axle is adjusted according to the angle value to be adjusted, so that the photographic subjects are in the optical center of the filming apparatus.Methods described makes that stabilizer has track up function and control method is simple, control accuracy is high, suitable for being widely popularized.
Description
Technical field
The invention belongs to the track up control method and system in stabilizer field, more particularly to a kind of stabilizer.
Background technology
Stabilizer is also known as hand-held head, and generally including one is used to fix mobile phone, digital camera, video camera etc.
The mounting seat of filming apparatus, the steady arm (being usually hand-held support bar) for supporting mounting seat and beginning
Pitch axis, roll axle and the course axle for keeping the filming apparatus not shake in the horizontal and vertical directions eventually,
Pitch axis, roll axle and course axle are driven with adjustment angle by corresponding motor, so as to ensure
The filming apparatus being fixed in mounting seat can keep stable.
However, stabilizer of the prior art generally only has keeps filming apparatus in the horizontal and vertical directions
Stabilization so that the function that the picture in camera lens is not shaken, needs when being tracked shooting to photographic subjects
User voluntarily rotates arm so that the alignment lenses photographic subjects of filming apparatus, due to human hand rotational angle and
There is larger error in speed, do not ensure that photographic subjects all the time in optical center.
The content of the invention
It is an object of the invention to provide the track up control method and system of a kind of stabilizer, it is intended to solves
Stabilizer of the prior art generally only has in the prior art keeps filming apparatus in the horizontal and vertical directions
Stabilization so that the function that the picture in camera lens is not shaken, needs when being tracked shooting to photographic subjects
User voluntarily rotates arm so that the alignment lenses photographic subjects of filming apparatus, due to human hand rotational angle and
There is larger error in speed, do not ensure that photographic subjects all the time the problem of optical center.
The present invention is achieved in that the track up control method for providing a kind of stabilizer, the stabilizer
Support bar and holding including the mounting seat for installing filming apparatus, for supporting the mounting seat is described
Pitch axis, roll axle and course axle that filming apparatus is not shaken in the horizontal and vertical directions, the tracking are clapped
Taking the photograph control method includes：
The angle value of pitch axis, roll axle and course axle is obtained in real time；
Track up mode instruction is received, and enters the stabilizer according to the track up mode instruction
Track up pattern；
The target location parameter of real-time reception photographic subjects；
According to being calculated the angle value of the target location parameter and the pitch axis, roll axle and course axle
The angle value to be adjusted of pitch axis, roll axle and course axle；
The angle of the pitch axis, roll axle and course axle is adjusted according to the angle value to be adjusted, so that institute
State the optical center that photographic subjects are in the filming apparatus.
In one embodiment, it is described according to the target location parameter and the pitch axis, roll axle and course
The angle value of axle calculates the operation of the angle value to be adjusted of the pitch axis, roll axle and course axle, specific bag
Include：
Obtain the optical center coordinate of the filming apparatus；
The relatively described mirror of photographic subjects is calculated according to the target location parameter and the optical center coordinate
The bias at head center；
The angle value to be adjusted of the pitch axis is calculated according to the vertical component of the bias；
The angle value to be adjusted of the roll axle and the course axle is calculated according to the horizontal component of the bias.
The present invention also provides a kind of track up control system of stabilizer, and the stabilizer includes being used to install shooting
The mounting seat of device, the support bar for supporting the mounting seat and keep the filming apparatus in level and
Pitch axis, roll axle and the course axle do not shaken on vertical direction, the track up control system include：
Angle acquisition module, the angle value for obtaining pitch axis, roll axle and course axle in real time；
Target identification module, refers to for receiving track up mode instruction, and according to the track up pattern
Order makes the stabilizer enter track up pattern；
Communication module, the target location parameter for real-time reception photographic subjects；
Target computing module, for according to the target location parameter and the pitch axis, roll axle and course
The angle value of axle calculates the angle value to be adjusted of the pitch axis, roll axle and course axle；
Angle adjustment module, for adjusting the pitch axis, roll axle and boat according to the angle value to be adjusted
To the angle of axle, so that the photographic subjects are in the optical center of the filming apparatus.
In one embodiment, the target computing module, is specifically included：
Acquiring unit, the optical center coordinate for obtaining the filming apparatus；
First computing unit, described in being calculated according to the target location parameter and the optical center coordinate
The bias of the relatively described optical center of photographic subjects；
Second computing unit, for calculating the to be adjusted of the pitch axis according to the vertical component of the bias
Angle value；
3rd computing unit, for calculating the roll axle and the boat according to the horizontal component of the bias
To the angle value to be adjusted of axle.
The track up control method and system of stabilizer provided by the present invention, compared with prior art, its
Beneficial effect is：
By obtaining the target location parameter of photographic subjects and the angle value of pitch axis, roll axle and course axle,
And the angle value to be adjusted of pitch axis, roll axle and course axle is calculated according to the parameter of acquisition, with according to described
The angle of angle value adjustment pitch axis to be adjusted, roll axle and course axle, can be such that photographic subjects are shooting all the time
The optical center of device, makes stabilizer have a track up function, and control method is simple, control accuracy is high,
Suitable for being widely popularized.
Brief description of the drawings
Fig. 1 is the FB(flow block) of the track up control method for the stabilizer that one embodiment of the invention is provided；
Fig. 2 is the idiographic flow block diagram for the operation S104 that one embodiment of the invention is provided；
Fig. 3 is the idiographic flow block diagram for the operation S204 that one embodiment of the invention is provided；
Fig. 4 is the structured flowchart of the track up control system for the stabilizer that one embodiment of the invention is provided；
Fig. 5 is the concrete structure block diagram for the target computing module 104 that one embodiment of the invention is provided；
Fig. 6 is the concrete structure block diagram for the angle adjustment module 105 that one embodiment of the invention is provided；
Fig. 7 is the structured flowchart of the track up control system for the stabilizer that another embodiment of the present invention is provided.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with accompanying drawing and reality
Example is applied, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only
To explain the present invention, it is not intended to limit the present invention.
The present invention relies on stabilizer realization, and the stabilizer includes：For install filming apparatus mounting seat,
For supporting the support bar of the mounting seat and keeping the filming apparatus not tremble in the horizontal and vertical directions
Dynamic pitch axis, roll axle and course axle；It is corresponding, the stabilizer also include respectively with the pitch axis,
Roll axle and course axle connect one to one, to be driven control to the pitch axis, roll axle and course axle
Pitch axis motor, roll axle motor and the course axle motor of system.
Pitch axis motor is mainly used in controlling the luffing angle of the pitch axis in the vertical direction, so that
Pacify filming apparatus and produce component motion on vertical direction；Roll axle motor is mainly used in controlling the roll
Axle move angle in the horizontal direction, so that filming apparatus produces the component motion in horizontal direction；Course axle
Motor is mainly used in controlling the rotational angle of the course axle in the horizontal direction, so that filming apparatus can
Rotation in the horizontal direction.
In the present embodiment, the movement angle of the pitch axis and the roll axle can be carried out according to actual needs
Set, the rotational angle of course axle in the horizontal direction is 360 °.
Fig. 1 is the FB(flow block) of the track up control method of stabilizer provided in an embodiment of the present invention.
As shown in figure 1, the track up control method for the stabilizer that the present embodiment is provided, including：
Operate S101：The angle value of pitch axis, roll axle and course axle is obtained in real time.
In a particular application, the angle Value Data of pitch axis, roll axle and course axle is driven by corresponding pitch axis
Dynamic motor, roll axle motor and course axle motor are provided.
Operate S102：Track up mode instruction is received, and the stabilization is made according to track up instruction
Device enters track up pattern.
Track up in the present invention is specifically referred to：When stabilizer enters track up pattern, if shooting mesh
Target position changes the optical center for making photographic subjects be not located at filming apparatus, the pitch axis driving electricity of stabilizer
Machine, roll axle motor and course axle motor will the corresponding pitch axis of drive control, roll axle and
The angle value of course axle changes, so as to install the camera lens tracking of the filming apparatus in the mounting seat of stabilizer
The change in location movement of photographic subjects, so as to ensure that photographic subjects are in the optical center of filming apparatus.
In a particular application, the stabilizer also includes common screening-mode, burst mode, power saving shooting mould
Other mode of operations such as formula.
In this embodiment, the common screening-mode is specifically referred to：It is current that filming apparatus can only shoot its camera lens
The photographic subjects being aligned, when user needs to shoot other targets, then need to manually change filming apparatus
The direction that camera lens is aligned.
The burst mode is specifically referred to：When stabilizer control filming apparatus performs photographing operation, dress is shot
Multiple pictures can be continuously shot in the implementation procedure that once photo taking is operated within the default period by putting.
The power saving screening-mode is specifically referred to：When the stabilizer enters power saving screening-mode, if user
Any operation is not performed to filming apparatus by stabilizer within the default period, stabilizer will control to shoot
Device enters resting state.By taking touch-screen mobile phone as an example, when from touch-screen mobile phone as filming apparatus, if with
Family does not perform any operation by stabilizer within the default period to touch-screen mobile phone, then stabilizer will be controlled
The display screen of touch-screen mobile phone enters black state.
Operate S103：The target location parameter of real-time reception photographic subjects.
In the present embodiment, camera lens or image of the photographic subjects that the target location parameter refers in filming apparatus
Changes in coordinates value on display interface.Target location parameter is by filming apparatus according to shooting mesh in preset time period
Continuous changes in coordinates value is marked in camera lens or image display interfaces to determine.
In a particular application, the preset time period can be configured according to actual needs, be specifically dependent upon use
The track up precision that family is required.
In the present embodiment, the acquisition cycle of the target location parameter is 50ms/ (acquisition in i.e. 1 second
20 changes in coordinates values).
The rational acquisition cycle for setting target location parameter can reduce the amount of calculation and floating number of filming apparatus
Computing, improve filming apparatus itself performance, while also improve by target location parameter pass to stabilization
Issuable message transmission rate during device.
In one embodiment, operation before S103 with also including：
Link order is received, and communication connection is set up according to the link order and the filming apparatus.
In a particular application, the communication connection mode between the stabilizer and the filming apparatus can be base
In the wired connection mode of communication cable or based on bluetooth, WiFi or other wireless communication technologys
Radio connection.
In one embodiment, the track up control method also includes：
When receiving photographing instruction, the pitch axis, the roll axle and the course axle is controlled to stop moving
Move and trigger the filming apparatus and perform photographing operation；
When receiving support bar telescoping instruction, the support bar is controlled to stretch；
Receive disconnect instruction when, disconnect and the filming apparatus between communication connection.
Operate S104：According to the target location parameter and the angle of the pitch axis, roll axle and course axle
Value calculates the angle value to be adjusted of the pitch axis, roll axle and course axle.
In a particular application, the angle value to be adjusted of obtained pitch axis, roll axle and course axle is calculated
Think 0, that is, represent that the coordinate of photographic subjects in one direction need not be adjusted.
Operate S105：The angle of the pitch axis, roll axle and course axle is adjusted according to the angle value to be adjusted
Degree, so that the photographic subjects are in the optical center of the filming apparatus.
In a particular application, when filming apparatus be the mobile phone with display interface (be usually LCDs),
During the equipment such as flat board, digital camera, video camera, the implication of the optical center equivalent can also be not understood as
The center of display interface.
Fig. 2 is the FB(flow block) of the track up control method for the stabilizer that one embodiment of the invention is provided.
As shown in Fig. 2 the present embodiment is the further refinement to operating S104, operation S104 is specifically included：
Operate S201：Obtain the optical center coordinate of the filming apparatus.
In one embodiment, also include before operation S201：
Rectangular co-ordinate is set up using the left side vertical edge and downside horizontal edge of the lens area of the filming apparatus as reference axis
System.
In a particular application, can also be the origin of coordinates by the central point of the camera lens, with through the coordinate
Origin is respectively with the left and right sides vertical edge of the lens area, horizontal edge parallel two axis in both sides are up and down
Reference axis sets up rectangular coordinate system.
Operate S202：The photographic subjects are calculated according to the target location parameter and the optical center coordinate
The bias of relatively described optical center.
In the present embodiment, the bias be photographic subjects with respect to optical center offset amount and vertically
The vector of bias.
Operate S203：The angle value to be adjusted of the pitch axis is calculated according to the vertical component of the bias.
In a particular application, if the bias of the photographic subjects in the vertical direction is 0, the pitching
The angle value to be adjusted of axle is 0.
In one embodiment, the scope of the angle value to be adjusted of the pitch axis is 0~180 °.
Operate S204：Waiting for the roll axle and the course axle is calculated according to the horizontal component of the bias
Adjusting angle angle value.
In a particular application, if the bias of the photographic subjects in the horizontal direction is 0, the roll
The angle value to be adjusted of axle is 0.
In one embodiment, the scope of the angle value to be adjusted of the roll axle is 0~180 °.
In a particular application, when photographic subjects are rotated relative to optical center occurred level, deviateed according to described
The horizontal component of amount in the horizontal direction calculates the angle to be adjusted of the course axle.
In one embodiment, the scope of the angle value to be adjusted of the course axle is 0~360 °.
In actual applications, the course axle can also continue the rotation times of track up target level as needed
Meaning angle.
Fig. 3 is the FB(flow block) of the track up control method for the stabilizer that another embodiment of the present invention is provided.
As shown in figure 3, the present embodiment is the further refinement to operating S204, operation S204 is specifically included：
Operate S301：The angle value to be adjusted of the roll axle is calculated according to the horizontal component of the bias.
Operate S302：Judge whether the angle value to be adjusted of the roll axle is more than the adjustable of the roll axle
Angle threshold.
In a particular application, operation S302 refers to, when horizontal displacement mistake of the photographic subjects with respect to optical center
Greatly so that roll axle is adjusted even if the adjustable angle according to maximum can not also make photographic subjects be located at mirror
The situation at head center.At this time, it may be necessary to rotate the course axle, stabilizer is set to control in the camera lens of filming apparatus
The heart realigns photographic subjects.
Adjustable angle threshold value in the present embodiment is the maximum adjustable angle for referring to roll axle.
Operate S303：If (if the angle value to be adjusted of i.e., described roll axle be more than the roll axle can
Adjustment angle threshold value), then the angle to be adjusted of the course axle is calculated according to the horizontal component of the bias
Value.
In the present embodiment, the horizontal component of the bias in operation S303 refers to that photographic subjects are relative
The horizontal component of optical center.
Fig. 4 is the structured flowchart of the track up control system of stabilizer provided in an embodiment of the present invention.
As shown in figure 4, the track up control system for the stabilizer that the present embodiment is provided, including：
Angle acquisition module 101, the angle value for obtaining pitch axis, roll axle and course axle in real time.
In a particular application, can be by being arranged on pitch axis motor, roll spindle motor and course spindle motor
In multiple attitude detection plates detect pitch axis, the tilt data of roll axle and course axle and by corresponding
Processor is converted into corresponding angle value.In pitch axis motor, roll spindle motor and course spindle motor
Settable independent driving processor, the angle acquisition module 101 can be to each independent driving processing
Device carries out the functional unit in the primary processor of Comprehensive Control.
Target identification module 102, for receiving track up mode instruction, and according to the track up mould
Formula instruction makes the stabilizer enter track up pattern.
In a particular application, the target identification module 102 can be the function in the primary processor of stabilizer
Unit or the model selection rocking bar or Mechanical course button being arranged on steady arm.
In one embodiment, the target identification module 102 is five that can shake and press down on up and down
To rocking bar, five kinds of mode of operations for selecting the stabilizer for user.
Communication module 103, the target location parameter for real-time reception photographic subjects.
In a particular application, the functional unit searched in the primary processor that book communication module 103 can be stabilizer
Can also be the wire communication module based on communication cable, or based on bluetooth, WiFi or other radio communications
The wireless communication module of technology.
In one embodiment, the communication module 103 is additionally operable to receive link order, with according to the connection
Instruction is set up with the filming apparatus and communicated to connect.
In the present embodiment, the stabilizer is logical by what is set up between its communication module and the filming apparatus
Letter is connected as bluetooth connection.
In one embodiment, the communication module 103 be additionally operable to receive disconnect instruction when, according to
The communication connection disconnected between instruction disconnection and the filming apparatus.
Target computing module 104, for according to the target location parameter and the pitch axis, roll axle and
The angle value of course axle calculates the angle value to be adjusted of the pitch axis, roll axle and course axle.
In a particular application, the target computing module 104 can be write in the primary processor of stabilizer
Algorithm routine, can also internal write-in algorithm routine dedicated computing chip or respectively with it is foregoing
The calculating core of independent driving processor connection in pitch axis motor, roll spindle motor and course spindle motor
Piece.
Angle adjustment module 105, for adjusting the pitch axis, roll axle according to the angle value to be adjusted
And the angle of course axle, so that the photographic subjects are all the time in the optical center of the filming apparatus.
In a particular application, the angle adjustment module 105 can be the function in the primary processor of stabilizer
Independent drive in unit or foregoing pitch axis motor, roll spindle motor and course spindle motor
Dynamic processor.
Fig. 5 is the concrete structure block diagram for the target computing module 104 that one embodiment of the invention is provided.
As shown in figure 5, the present embodiment is the further refinement to target computing module 104, in the present embodiment
In, target computing module 104 is specifically included：
Acquiring unit 201, the optical center coordinate for obtaining the filming apparatus.
In the present embodiment, the acquiring unit 201 is the target computing module being connected with communication module 103
Functional unit in 104.
First computing unit 202, for according to the target location parameter and optical center coordinate calculating
The bias of the relatively described optical center of the photographic subjects.
Second computing unit 203, for calculating treating for the pitch axis according to the vertical component of the bias
Adjusting angle angle value.
3rd computing unit 204, for calculating the roll axle and institute according to the horizontal component of the bias
State the angle value to be adjusted of course axle.
In the present embodiment, target computing module 104 is the primary processor of the stabilizer, and first calculates single
First 202, second computing unit 203 and the 3rd computing unit 204 are the function list in the primary processor
Member.
Fig. 6 is the concrete structure block diagram for the angle adjustment module 105 that one embodiment of the invention is provided.
As shown in fig. 6, the present embodiment is the further refinement to angle adjusting module 105, in the present embodiment
In, angle adjustment module 105 is specifically included：
First computation subunit 301, for calculating the roll axle according to the horizontal component of the bias
Angle value to be adjusted.
In a particular application, the first computation subunit 301 can be the work(in the primary processor of the stabilizer
Driving processor in energy unit or roll spindle motor.
Judgment sub-unit 303, for judging whether the angle value to be adjusted of the roll axle is more than the roll
The adjustable angle threshold value of axle.
Second computation subunit 304, if the angle value to be adjusted for the roll axle is more than the roll axle
Adjustable angle threshold value, then the angle to be adjusted of the course axle is calculated according to the horizontal component of the bias
Angle value.
In a particular application, the second computation subunit 304 can be the work(in the primary processor of the stabilizer
Driving processor in energy unit or course spindle motor.
In one embodiment, the track up system of the stabilizer, in addition to：
Take pictures control module, for when receiving photographing instruction, controlling the pitch axis, the roll axle
Stop movement with the course axle and trigger the filming apparatus to take pictures；
Extension and contraction control module, for when receiving support bar telescoping instruction, controlling the support bar to stretch.
In a particular application, the control module of taking pictures can be the function mould in the General controller of the stabilizer
Block, which can also be arranged on the steady arm of stabilizer, to be used to quickly trigger the mechanical button that the filming apparatus is taken pictures；
The extension and contraction control module can be that the functional module in the General controller of the stabilizer can also be used to trigger
The flexible mechanical button of the support bar.
Fig. 7 is the structured flowchart of the track up control system for the stabilizer that another embodiment of the present invention is provided.
As shown in fig. 7, the track up control system 100 for the stabilizer that the present embodiment is provided, including：
Primary processor 110, communication interface 120, memory 130 and communication bus 140：
Wherein primary processor 110, communication interface 120, memory 130 are completed mutually by communication bus 140
Between communication；
The communication interface 120, for being communicated with filming apparatus；
The primary processor 110, for configuration processor 131；
The memory 130, for depositing described program 131；
Described program 131 includes：
Angle acquisition module 10, the angle value for obtaining pitch axis, roll axle and course axle in real time；
Target identification module 20, is instructed for receiving track up mode instruction, and according to the track up
The stabilizer is set to enter track up pattern；
Communication module 30, the target location parameter for real-time reception photographic subjects；
Target computing module 40, for according to the target location parameter and the pitch axis, roll axle and boat
The angle value to be adjusted of the pitch axis, roll axle and course axle is calculated to the angle value of axle；
Angle adjustment module 50, for according to the angle value to be adjusted adjust the pitch axis, roll axle and
The angle of course axle, so that the photographic subjects are in the optical center of the filming apparatus.
It is apparent to those skilled in the art that, for convenience and simplicity of description, foregoing description
System, the specific work process of device and unit, may be referred to the corresponding process in preceding method embodiment,
It will not be repeated here.
In several embodiments provided herein, it should be understood that disclosed system, device and side
Method, can be realized by another way.For example, device embodiment described above is only schematic
, for example, the division of the module, only a kind of division of logic function, can there is another when actually realizing
Outer dividing mode, such as multiple module or components can combine or be desirably integrated into another system, or
Some features can be ignored, or not perform.Another, shown or discussed coupling or straight each other
It can be the INDIRECT COUPLING or communication link of device or unit by some communication interfaces to connect coupling or communication connection
Connect, can be electrical, machinery or other forms.
The unit illustrated as separating component can be or may not be it is physically separate, as
The part that unit is shown can be or may not be physical location, you can with positioned at a place, or
It can also be distributed on multiple NEs.It can select according to the actual needs therein some or all of
Unit realizes the purpose of this embodiment scheme.
In addition, each functional module or unit in each embodiment of the invention can be integrated in a processing mould
In block or unit, can also individually it be physically present, can also two or more be integrated.
If the function realized using in the form of software function module or unit and as independent production marketing or
In use, can be stored in a computer read/write memory medium.Understood based on such, the present invention
The part that is substantially contributed in other words to prior art of technical scheme or the part of the technical scheme can
To be embodied in the form of software product, the computer software product is stored in a storage medium, bag
Some instructions are included to so that a computer equipment (can be personal computer, server, or network
Equipment etc.) perform all or part of operation of each of the invention embodiment methods described.And foregoing storage is situated between
Matter includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), deposit at random
Access to memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can to store journey
The medium of sequence code.
Presently preferred embodiments of the present invention is these are only, is not intended to limit the invention, it is all the present invention's
Any modifications, equivalent substitutions and improvements made within spirit and principle etc., should be included in the guarantor of the present invention
Within the scope of shield.
Claims (10)
1. a kind of track up control method of stabilizer, the stabilizer includes being used to install filming apparatus
Mounting seat, the support bar for supporting the mounting seat and the holding filming apparatus are in horizontally and vertically side
Pitch axis, roll axle and the course axle do not shaken upwards, it is characterised in that the track up control method
Including：
The angle value of pitch axis, roll axle and course axle is obtained in real time；
Track up mode instruction is received, and enters the stabilizer according to the track up mode instruction
Track up pattern；
The target location parameter of real-time reception photographic subjects；
According to being calculated the angle value of the target location parameter and the pitch axis, roll axle and course axle
The angle value to be adjusted of pitch axis, roll axle and course axle；
The angle of the pitch axis, roll axle and course axle is adjusted according to the angle value to be adjusted, so that institute
State the optical center that photographic subjects are in the filming apparatus.
2. track up control method as claimed in claim 1, it is characterised in that described according to the mesh
The angle value of cursor position parameter and the pitch axis, roll axle and course axle calculates the pitch axis, roll axle
And the operation of the angle value to be adjusted of course axle, specifically include：
Obtain the optical center coordinate of the filming apparatus；
The relatively described mirror of photographic subjects is calculated according to the target location parameter and the optical center coordinate
The bias at head center；
The angle value to be adjusted of the pitch axis is calculated according to the vertical component of the bias；
The angle value to be adjusted of the roll axle and the course axle is calculated according to the horizontal component of the bias.
3. track up control method as claimed in claim 2, it is characterised in that described according to described inclined
From amount horizontal component calculate the roll axle and the course axle angle value to be adjusted operation, specific bag
Include：
The angle value to be adjusted of the roll axle is calculated according to the horizontal component of the bias；
Judge whether the angle value to be adjusted of the roll axle is more than the adjustable angle threshold value of the roll axle；
If so, then calculating the angle value to be adjusted of the course axle according to the horizontal component of the bias.
4. track up control method as claimed in claim 1, it is characterised in that the real-time reception is clapped
Take the photograph before the operation of target location parameter of target, in addition to：
Link order is received, and communication connection is set up according to the link order and the filming apparatus.
5. track up control method as claimed in claim 4, it is characterised in that the track up control
Method processed also includes：
When receiving photographing instruction, the pitch axis, the roll axle and the course axle is controlled to stop moving
Move and trigger the filming apparatus and perform photographing operation；
When receiving support bar telescoping instruction, the support bar is controlled to stretch；
Receive disconnect instruction when, disconnect and the filming apparatus between communication connection.
6. a kind of track up control system of stabilizer, the stabilizer includes being used to install filming apparatus
Mounting seat, the support bar for supporting the mounting seat and the holding filming apparatus are in horizontally and vertically side
Pitch axis, roll axle and the course axle do not shaken upwards, it is characterised in that the track up control system
Including：
Angle acquisition module, the angle value for obtaining pitch axis, roll axle and course axle in real time；
Target identification module, refers to for receiving track up mode instruction, and according to the track up pattern
Order makes the stabilizer enter track up pattern；
Communication module, the target location parameter for real-time reception photographic subjects；
Target computing module, for according to the target location parameter and the pitch axis, roll axle and course
The angle value of axle calculates the angle value to be adjusted of the pitch axis, roll axle and course axle；
Angle adjustment module, for adjusting the pitch axis, roll axle and boat according to the angle value to be adjusted
To the angle of axle, so that the photographic subjects are in the optical center of the filming apparatus.
7. track up control system as claimed in claim 6, it is characterised in that the target calculates mould
Block, is specifically included：
Acquiring unit, the optical center coordinate for obtaining the filming apparatus；
First computing unit, described in being calculated according to the target location parameter and the optical center coordinate
The bias of the relatively described optical center of photographic subjects；
Second computing unit, for calculating the to be adjusted of the pitch axis according to the vertical component of the bias
Angle value；
3rd computing unit, for calculating the roll axle and the boat according to the horizontal component of the bias
To the angle value to be adjusted of axle.
8. track up control system as claimed in claim 7, it is characterised in that the described 3rd calculates single
Member, is specifically included：
First computation subunit, for according to the horizontal component of the bias calculate the roll axle wait adjust
Whole angle value；
Judgment sub-unit, for judging whether the angle value to be adjusted of the roll axle is more than the roll axle
Adjustable angle threshold value；
Second computation subunit, if for the roll axle angle value to be adjusted be more than the roll axle can
Adjustment angle threshold value, then calculate the angle value to be adjusted of the course axle according to the horizontal component of the bias.
9. track up control system as claimed in claim 8, it is characterised in that the communication module is also
Communicated to connect for receiving link order, and being set up according to the link order and the filming apparatus.
10. track up control system as claimed in claim 9, it is characterised in that the track up control
System processed also includes：
Take pictures control module, for when receiving photographing instruction, controlling the pitch axis, the roll axle
Stop mobile with the course axle and trigger the filming apparatus execution photographing operation；
Extension and contraction control module, for when receiving support bar telescoping instruction, controlling the support bar to stretch；
The communication module be additionally operable to receive disconnect instruction when, disconnect and the filming apparatus between
Communication connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610225138.0A CN107295244A (en) | 2016-04-12 | 2016-04-12 | The track up control method and system of a kind of stabilizer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610225138.0A CN107295244A (en) | 2016-04-12 | 2016-04-12 | The track up control method and system of a kind of stabilizer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107295244A true CN107295244A (en) | 2017-10-24 |
Family
ID=60093688
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610225138.0A Pending CN107295244A (en) | 2016-04-12 | 2016-04-12 | The track up control method and system of a kind of stabilizer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107295244A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108259703A (en) * | 2017-12-31 | 2018-07-06 | 深圳市秦墨科技有限公司 | A kind of holder with clapping control method, device and holder |
| CN108683854A (en) * | 2018-07-02 | 2018-10-19 | 羊晓东 | A kind of stabilizer of included Image Acquisition camera |
| CN110149476A (en) * | 2018-06-21 | 2019-08-20 | 深圳市浩瀚卓越科技有限公司 | A kind of time-lapse photography method, apparatus, system and terminal device |
| CN110719392A (en) * | 2019-11-08 | 2020-01-21 | 广州酷狗计算机科技有限公司 | Movable image pickup apparatus, image pickup control method, control apparatus, and storage medium |
| CN111656403A (en) * | 2019-06-27 | 2020-09-11 | 深圳市大疆创新科技有限公司 | Method and device for tracking target and computer storage medium |
| WO2022143022A1 (en) * | 2020-12-30 | 2022-07-07 | 深圳市大疆创新科技有限公司 | Control method and apparatus based on image collection apparatus, and control method and apparatus for gimbal |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140313346A1 (en) * | 2013-04-17 | 2014-10-23 | Aver Information Inc. | Tracking shooting system and method |
| CN203902847U (en) * | 2014-04-18 | 2014-10-29 | 深圳市大疆创新科技有限公司 | Carrying platform of load, photographing device and aircraft |
| CN105184776A (en) * | 2015-08-17 | 2015-12-23 | 中国测绘科学研究院 | Target tracking method |
| CN105443956A (en) * | 2015-12-26 | 2016-03-30 | 武汉智能鸟无人机有限公司 | Handheld pan-tilt with tracking function |
| CN205142372U (en) * | 2015-11-30 | 2016-04-06 | 吕衍荣 | Automatic shooting device of cell -phone |
-
2016
- 2016-04-12 CN CN201610225138.0A patent/CN107295244A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140313346A1 (en) * | 2013-04-17 | 2014-10-23 | Aver Information Inc. | Tracking shooting system and method |
| CN203902847U (en) * | 2014-04-18 | 2014-10-29 | 深圳市大疆创新科技有限公司 | Carrying platform of load, photographing device and aircraft |
| CN105184776A (en) * | 2015-08-17 | 2015-12-23 | 中国测绘科学研究院 | Target tracking method |
| CN205142372U (en) * | 2015-11-30 | 2016-04-06 | 吕衍荣 | Automatic shooting device of cell -phone |
| CN105443956A (en) * | 2015-12-26 | 2016-03-30 | 武汉智能鸟无人机有限公司 | Handheld pan-tilt with tracking function |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108259703A (en) * | 2017-12-31 | 2018-07-06 | 深圳市秦墨科技有限公司 | A kind of holder with clapping control method, device and holder |
| CN110149476A (en) * | 2018-06-21 | 2019-08-20 | 深圳市浩瀚卓越科技有限公司 | A kind of time-lapse photography method, apparatus, system and terminal device |
| CN108683854A (en) * | 2018-07-02 | 2018-10-19 | 羊晓东 | A kind of stabilizer of included Image Acquisition camera |
| CN111656403A (en) * | 2019-06-27 | 2020-09-11 | 深圳市大疆创新科技有限公司 | Method and device for tracking target and computer storage medium |
| CN110719392A (en) * | 2019-11-08 | 2020-01-21 | 广州酷狗计算机科技有限公司 | Movable image pickup apparatus, image pickup control method, control apparatus, and storage medium |
| CN110719392B (en) * | 2019-11-08 | 2021-10-29 | 广州酷狗计算机科技有限公司 | Movable image pickup apparatus, image pickup control method, control apparatus, and storage medium |
| WO2022143022A1 (en) * | 2020-12-30 | 2022-07-07 | 深圳市大疆创新科技有限公司 | Control method and apparatus based on image collection apparatus, and control method and apparatus for gimbal |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107295244A (en) | The track up control method and system of a kind of stabilizer | |
| US10866492B2 (en) | Method and system for controlling tracking photographing of stabilizer | |
| JP6704014B2 (en) | Omnidirectional stereoscopic photography of mobile devices | |
| CN107911621B (en) | Panoramic image shooting method, terminal equipment and storage medium | |
| CN103841332B (en) | Panorama scene is shot and the mobile device of browsing, system and method | |
| CN110719392B (en) | Movable image pickup apparatus, image pickup control method, control apparatus, and storage medium | |
| CN108574825B (en) | Method and device for adjusting pan-tilt camera | |
| US9304591B2 (en) | Gesture control | |
| US20200358958A1 (en) | Imaging device, and method and apparatus for controlling the imaging device | |
| CN104159016B (en) | Cloud platform control system, method and device | |
| US20110085017A1 (en) | Video Conference | |
| CN108881724B (en) | Image acquisition method, device, equipment and storage medium | |
| EP3321776B1 (en) | Operation input device and operation input method | |
| CN107439001B (en) | Angle adjusting method of shooting module component and head-mounted display equipment | |
| WO2014031357A1 (en) | Adaptive visual output based on change in distance of a mobile device to a user | |
| WO2020051831A1 (en) | Control method of handheld gimbal, handheld gimbal, and handheld device | |
| US11845007B2 (en) | Perspective rotation method and apparatus, device, and storage medium | |
| CN111885406A (en) | Smart television control method and device, rotatable television and readable storage medium | |
| CN109714525A (en) | Photographic device, system, the control method of photographic device and storage medium | |
| CN112866627A (en) | Three-dimensional video monitoring method and related equipment | |
| CN108604010B (en) | Method for correcting drift in a device and device | |
| US20120287160A1 (en) | Display device and rotation method of same | |
| CN109996005B (en) | Focus correction method and device | |
| CN107995486A (en) | A kind of camera bearing calibration and device | |
| CN104601883B (en) | A kind of method and device of image taking |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |