CN109547702A - A kind of light draws photography machine people's system - Google Patents
A kind of light draws photography machine people's system Download PDFInfo
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- CN109547702A CN109547702A CN201811522852.1A CN201811522852A CN109547702A CN 109547702 A CN109547702 A CN 109547702A CN 201811522852 A CN201811522852 A CN 201811522852A CN 109547702 A CN109547702 A CN 109547702A
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- draws
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/73—Circuitry for compensating brightness variation in the scene by influencing the exposure time
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/74—Circuitry for compensating brightness variation in the scene by influencing the scene brightness using illuminating means
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Stroboscope Apparatuses (AREA)
- Studio Devices (AREA)
Abstract
The embodiment of the present invention provides a kind of light and draws photography machine people's system, including robot body, user terminal and camera, and the user terminal is communicated to connect with robot body and camera respectively.User terminal includes that light draws plate module and shooting setup module, robot body receives the camera parameter of user terminal uploads and pre-rendered image data is parsed, the flashing of LED lamp band and the movement on chassis are controlled according to parsing result, are cooperated the exposure sync of camera to carry out light and are drawn photography.In the pre-rendered pattern of user terminal and camera parameter can be arranged in user, and pattern data and camera parameter are then uploaded to robot body, light can be carried out and draw.Allow users to the complicated light drawing case of more convenient completion.It solves in the prior art, the technical issues of photographer needs hand-held light source to depict light drawing case in space, and can't see the track that light source was retouched when hand-held light source depicting pattern, and operation difficulty is higher and easy failure.
Description
Technical field
The present embodiments relate to New Media Art design fields more particularly to a kind of light to draw photography machine people's system.
Background technique
Light draws photography, also light is made to draw.As the term suggests any light source is all i.e. using the drawing of light as the photographic work of creation means
It can be used as a part of imaging effect.Using the motion track of camera long exposure mode photographic light sources, creativity can be given full play to
It uses up in three dimensions and draws arbitrary image.Light draws photography and is derived from human motion laboratory in 1889, later gradually by
Artist is as a kind of creation medium.As photographic equipment is more more and more universal, photography art becomes more and more popular, and light, which draws photography, to be become
A kind of novel camera style with artistry.
Traditional light is drawn in photography, and photographer sets time exposure for camera first, shutter is then opened, in shutter
In the time of opening, light drawing case is depicted in space with hand-held light source, is finally presented in the photo of shooting, operated
Journey is complicated, more demanding to the operation skill of photographer.Also, photographer often sees when hand-held light source depicting pattern
The track retouched less than light source, it may be said that be therefore often to attempt the effect of multiple just available satisfaction at " blind picture ".
Summary of the invention
Photography is drawn for traditional light, light drawing case is depicted in space with hand-held light source, is finally presented on the photograph of shooting
In piece, operation difficulty is higher and the defect of easy failure.The embodiment of the present invention provides a kind of light and draws photography machine people's system, is
User provides completely new light and draws photography embodiment.
The embodiment of the present invention provides a kind of light and draws photography machine people's system, including robot body, user terminal and camera,
The user terminal is communicated to connect with robot body and camera respectively；
The user terminal includes that light draws plate module and shooting setup module, and the light draws plate module for drawing image number
According to the shooting setup module is for being arranged camera parameter and controlling camera, when the camera parameter includes at least shutter
Between；
The robot body includes shell, chassis, LED lamp band and control module, and the bottom of shell is fixed on the chassis
Portion, the LED lamp band are installed on the side of the shell, and the control module is installed in shell, respectively with chassis and LED lamp
Band connection, the image data and camera parameter that the control module is used to receive user terminal uploads are parsed, according to parsing
As a result the flashing of LED lamp band and the movement on chassis are controlled, cooperates the exposure sync of camera to carry out light and draws photography.
Wherein, the LED lamp band is fixed on the one side of shell, the length of the LED lamp band along the short transverse of shell
It is corresponding with the height of described image data.
Wherein, the control module is specifically used for:
The image data and camera parameter for receiving user terminal uploads, obtain height, width and the pixel of image data
Information, and obtain the shutter exposure time of camera；
The length of LED lamp band is corresponding with the height of image data；The movement on chassis is scaled with the width of image data
Distance calculates the movement speed on chassis using the shutter exposure time of camera as the traveling time on chassis；
The flashing of LED lamp band is controlled according to the Pixel Information of image data, and according to the traveling time on chassis, moving distance
And movement speed, the movement on chassis is controlled, cooperates the exposure sync of camera to carry out light and draws photography.
Wherein, the flashing for controlling LED lamp band according to the Pixel Information of image data specifically includes:
Using pixel as the width unit of image, it is assumed that flashing is primary when LED lamp band movement each pixel distance, then led dodges
The width of bright number=image data；The led single flash time=pixel/chassis movement speed.
Wherein, one end of the robot body is equipped with three-dimensional visual sensor, and the three-dimensional visual sensor is used for
Robot body ambient enviroment is identified, and automatic obstacle-avoiding.
Wherein, the shooting setup module is connect with three-dimensional visual sensor, and the shooting setup module is also used to, setting
The avoidance mode of robot body, the avoidance mode include getting around barrier and stopping to wait.
Wherein, the shooting setup module is also connected with chassis, and the shooting setup module is also used to be arranged chassis
Route mode, the route mode include straight line, S type curve, figures or rectangle route.
Wherein, the control module of the robot body includes processor and control panel；The processor is installed on shell
Interior, described control panel one end is connect by USB interface with processor, and the other end connects LED lamp band；The processor is for receiving
The image data and camera parameter of user terminal uploads are parsed, generate for control LED lamp band first control signal and
For controlling the second control signal on chassis, the movement on chassis is controlled according to second control signal, and first control signal is passed
Transport to control panel；The control panel is used to control the flashing of LED lamp band according to first control signal.
Wherein, the control panel is specifically used for:
According to first control signal control LED lamp band in several LED lamps bright light color, bright light brightness, bright light sequence and
Lighting time, with cooperate chassis movement and camera exposure carry out light draw.
Wherein, the control panel is Arduino control panel.
Light provided in an embodiment of the present invention draws photography machine people's system, and robot body receives the camera of user terminal uploads
Parameter and pre-rendered image data are parsed, and the flashing of LED lamp band and the movement on chassis are controlled according to parsing result,
The exposure sync of cooperation camera carries out light and draws photography.In the pre-rendered pattern of user terminal and camera parameter can be arranged in user,
Then pattern data and camera parameter are uploaded to robot body, light can be carried out and drawn, drawing photography with traditional light need to hold
Light source depicts light drawing case in space, and operating process complexity is compared, and light provided in an embodiment of the present invention draws photography machine people
The complicated light drawing case of the completion that system can allow user more convenient.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the structural schematic diagram that photography machine people's system is drawn according to light provided in an embodiment of the present invention；
In figure, 1. robot bodies, 11. shells；12. chassis；13.led light bar；14. control module；15. 3D vision
Sensor；
2. user terminal；21. light draws plate module；22. shooting setup module；
3. camera.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
It should be noted that in the description of the embodiment of the present invention, the terms "include", "comprise" or its any other change
Body is intended to non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wrapped
Those elements are included, but also including other elements that are not explicitly listed, or further includes for this process, method, article
Or the element that equipment is intrinsic.Term " first ", is used for description purposes only " second ", is not understood to indicate or imply
Relative importance.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that wrapping
Include in the process, method, article or equipment of the element that there is also other identical elements.The instruction such as term " on ", "lower"
Orientation or positional relationship be based on the orientation or positional relationship shown in the drawings, be merely for convenience of description the present invention and simplification retouch
It states, rather than the device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation,
Therefore it is not considered as limiting the invention.Unless otherwise clearly defined and limited, term " installation ", " connected ", " company
Connect " it shall be understood in a broad sense, for example, it may be being fixedly connected, it may be a detachable connection, or be integrally connected；It can be machine
Tool connection, is also possible to be electrically connected；It can be directly connected, two members can also be can be indirectly connected through an intermediary
Connection inside part.For the ordinary skill in the art, above-mentioned term can be understood in this hair as the case may be
Concrete meaning in bright.
Since existing light draws camera work, photographer needs to set time exposure for camera first, then open
Shutter depicts light drawing case with hand-held light source in space, is finally presented on the photo of shooting within the time that shutter is opened
In the middle, operating process is complicated, more demanding to the operation skill of photographer.Also, photographer is in hand-held light source depicting pattern
When, it often can't see the track that light source was retouched, it may be said that be often to attempt multiple just available satisfaction at " blind picture "
Effect.
Therefore, the embodiment of the invention provides a kind of light to draw photography machine people's system, and robot body receives user terminal
The camera parameter of upload and pre-rendered image data are parsed, according to parsing result control LED lamp band flashing and
The movement on chassis cooperates the exposure sync of camera to carry out light and draws photography.User in the pre-rendered pattern of user terminal and can set
Camera parameter is set, pattern data and camera parameter are then uploaded to robot body, light can be carried out and drawn.It allows users to more
Add and is conveniently accomplished complicated light drawing case.It solves in the prior art, photographer needs hand-held light source to depict in space
Light drawing case, and can't see the track that light source was retouched when hand-held light source depicting pattern, operation difficulty is higher and the skill of easy failure
Art problem.
Fig. 1 is the structural schematic diagram that photography machine people's system is drawn according to light provided in an embodiment of the present invention.Referring to Fig.1, light
Drawing photography machine people's system includes robot body 1, user terminal 2 and camera 3, the user terminal 2 respectively with robot sheet
Body 1 and camera 3 communicate to connect；
The user terminal 2 includes that light draws plate module 21 and shooting setup module 22, and the light draws plate module 21 for drawing
Imaged data, for camera parameter to be arranged and controls camera, the camera parameter includes at least the shooting setup module 22
Shutter exposure time；
The robot body 1 includes shell 11, chassis 12, LED lamp band 13 and control module 14, and the chassis 12 is fixed
In the bottom of shell 11, the LED lamp band 13 is installed on the side of the shell 11, and the control module 14 is installed on shell 11
It is interior, it is connect respectively with chassis 12 and LED lamp band 13, the control module 14 is used to receive the image data of the upload of user terminal 2
It is parsed with camera parameter, the flashing of LED lamp band 13 and the movement on chassis 12 is controlled according to parsing result, cooperation camera 3
Exposure sync carries out light and draws photography.
Specifically, in the present embodiment, it includes robot body 1, user terminal 2 and camera 3 that light, which draws photography machine people's system,
User terminal 2 is communicated to connect with robot body 1 and camera 3 respectively by 3G network, 4G network or wireless wifi.Wherein, it uses
Family terminal 2 includes computer, mobile phone and tablet computer.User terminal 2 includes that light draws plate module 21 and shooting setup module 22, is used
It is a mapping program that the light of family terminal 2, which draws plate module 21, and the toolbar of mapping program provides brush, erasing rubber, color version, inserts
Enter shape, can additionally be externally introduced jpg png picture.Wherein, brush and erasing rubber can choose thickness.Color
Version can support RGB color, be inserted into preset shape.User terminal 2 draws plate module 21 by light being capable of pre-rendered figure
As data.Shooting setup module 22 is established wireless telecommunications with camera 3 and is connect, for camera parameter to be arranged and controls camera 3, camera
Parameter includes at least shutter exposure time.Camera parameter further includes aperture, the parameters such as iso.Wherein, camera 3 is in shutter
Interior fixed setting.Image data and camera parameter can be uploaded to the control module 14 of robot body 1 by user terminal 2.
Robot body 1 includes shell 11, chassis 12, LED lamp band 13 and control module 14, and shell 11 is fixed on chassis 12
Bottom, the movement of robot body 1 is driven by chassis 12, is fixed on the LED lamp band of 1 side of robot body to drive
13 is mobile.LED lamp band 13, which refers to, to be assembled in multiple LED lamps on band-like FPC (flexible circuit board) or PCB hardboard, and lamp is formed
Band.Control module 14 is installed in shell 11, is electrically connected respectively with chassis 12 and LED lamp band 13.In the time that camera 3 exposes
Interior, control module 14 receives the image data that user terminal 2 uploads and camera parameter is parsed, and is controlled according to parsing result
The flashing of LED lamp band 13 and the movement on chassis 12, the exposure sync of cooperation camera 3 carry out light and draw photography.The present embodiment by
In the time that camera 3 exposes, robot body 1, which carries light source (LED lamp band) and controls its movement progress light, draws photography, instead of existing
There is photographer in technology to hold light source in the technical solution for describing light drawing case.It is more complicated to allow users to more convenient completion
Light drawing case.
Light provided in an embodiment of the present invention draws photography machine people's system, and robot body receives the camera of user terminal uploads
Parameter and pre-rendered image data are parsed, and the flashing of LED lamp band and the movement on chassis are controlled according to parsing result,
The exposure sync of cooperation camera carries out light and draws photography.In the pre-rendered pattern of user terminal and camera parameter can be arranged in user,
Then pattern data and camera parameter are uploaded to robot body, light can be carried out and drawn.It allows users to more convenient complete
At complicated light drawing case.It solving in the prior art, photographer needs hand-held light source to depict light drawing case in space, and
It can't see the track that light source was retouched when hand-held light source depicting pattern, the technical issues of operation difficulty is higher and easy failure.
On the basis of the above embodiments, the LED lamp band 13 is fixed on the one of shell 11 along the short transverse of shell 11
The length of side, the LED lamp band 13 is corresponding with the height of described image data.
It should be noted that a plurality of LED lamp band can also be fixed on robot body, it is separately fixed at robot body not
With side, the present embodiment for LED lamp band number with no restriction.
As shown in Figure 1, the one side of robot body 1 is perpendicular to ground in the present embodiment.It should be noted that machine
The side of human body can also be obliquely installed, herein with no restrictions.LED lamp band 13 is fixed on outside along the short transverse of shell 11
The one side of shell 11 keeps several LED lamps on LED lamp band 13 evenly distributed vertically.For example, light is drawn and is described in plate module 21
Image is dimensioned to 144*500, unit cm, i.e. the height of image data is 144cm, then LED lamp band is by 144 LED lamps
It connects and composes, and the length of LED lamp band is also 144cm.LED lamp band has corresponded to a column image data, and each LED lamp has corresponded to one
One pixel of column image data.
On the basis of the various embodiments described above, control module 14 is specifically used for:
The image data and camera parameter that user terminal 2 uploads are received, height, width and the pixel of image data are obtained
Information, and obtain the shutter exposure time of camera 3；
The length of LED lamp band 13 is corresponding with the height of image data；Chassis 12 is scaled with the width of image data
Moving distance calculates the movement speed on chassis 12 using the shutter exposure time of camera 3 as the traveling time on chassis 12；
The flashing of LED lamp band 13 is controlled according to the Pixel Information of image data, and according to the traveling time on chassis 12, movement
Distance and movement speed, control the movement on chassis 12, and the exposure sync of cooperation camera 3 carries out light and draws photography.
Wherein, it is specifically included according to the flashing that the Pixel Information of image data controls LED lamp band: using pixel as the width of image
Spend unit, it is assumed that flashing is primary when LED lamp band movement each pixel distance, then led flashing times=image data width；
The led single flash time=pixel/chassis movement speed.
Specifically, control module 14 receives the image data of the upload of user terminal 2 and camera parameter is parsed, and parses
Journey specifically includes: the length of LED lamp band 13 is corresponding with the height of image data；Using the width of image data as the shifting on chassis 12
Dynamic distance calculates the movement speed on chassis 12 using the shutter exposure time of camera 3 as the traveling time on chassis 12, i.e. chassis is moved
Dynamic distance=chassis movement speed × camera shutter time for exposure.Parsing has obtained height, width and the pixel of image data
Information has also obtained traveling time, moving distance and the movement speed on chassis 12.Then, in the time of 3 shutter of camera
It is interior, the flashing of LED lamp band 13 is controlled according to the Pixel Information of image data.Wherein, control LED lamp band 13 flashing be specifically
Refer to, controls the bright light color of several LED lamps in LED lamp band 13, bright light brightness, bright light sequence and lighting time.According to chassis 12
Traveling time, moving distance and the movement on movement speed control chassis 12, the synchronous light that carries out of cooperation camera 3 draws photography.
On the basis of the various embodiments described above, one end of the robot body 1 is equipped with three-dimensional visual sensor 15, institute
Three-dimensional visual sensor 15 is stated for identifying to 1 ambient enviroment of robot body, and automatic obstacle-avoiding.
In the present embodiment, three-dimensional visual sensor 15 uses ULBrainTMM-32 three-dimensional visual sensor,
ULBrainTMVSLAM chip algorithm built in M-32 three-dimensional visual sensor can realize that swift nature mentions to front end depth data
It takes and obtains accurate location posture information.And then 1 ambient enviroment of robot body is identified, and automatic obstacle-avoiding.
On the basis of the various embodiments described above, the shooting setup module 22 is connect with three-dimensional visual sensor 15, described
Shooting setup module 22 is also used to, and the avoidance mode of robot body 1 is arranged, and the avoidance mode includes getting around barrier and stopping
Stay waiting.
Wherein, the avoidance mode of robot body 1 includes getting around barrier and stopping to wait.Getting around barrier includes around preceding
It moves and in rear movement, the present embodiment, " preceding " is oriented with camera 3.It stops to wait and refers to stop when detecting barrier,
It is further continued for moving after barrier leaves.Preferably, the present embodiment setting avoidance mode is around preceding movement.The avoidance of robot
Mode may be set to be around rear movement or stop waiting, in the embodiment of the present invention with no restriction to this.
On the basis of the various embodiments described above, the shooting setup module 22 is also connected with chassis 12, and the shooting is set
The route mode that module 22 is also used to be arranged chassis 12 is set, the route mode includes straight line, S type curve, figures or square
Shape route.It should be noted that route mode is not limited only to this.
Specifically, in the embodiment of the present invention, the route on chassis 12 can be arranged by user terminal 2.If user terminal 2 is not
The route mode on chassis 12 is set.Then the mobile route on chassis 12 is parsed by the control module 14 of robot body 1 and is generated.
On the basis of the various embodiments described above, the control module 14 of the robot body 1 includes processor and control panel；
The processor is installed in shell 11, and described control panel one end is connect by USB interface with processor, and the other end connects led
Light bar 13；The processor is used to receive the image data of the upload of user terminal 2 and camera parameter is parsed, and generates for controlling
The first control signal of LED lamp band 13 processed and second control signal for controlling chassis 12, control according to second control signal
The movement on chassis 12, and first control signal is transmitted to control panel；The control panel according to first control signal for controlling
The flashing of LED lamp band 13.
Specifically, in the present embodiment, the control module 14 of robot body 1 includes processor and control panel；The processing
Device is installed in shell 11, and control panel one end is connect by USB interface with processor, and the other end connects LED lamp band 13.LED lamp
Behavior with 13 is controlled by control panel.Processor receives the image data that user terminal 2 uploads and camera parameter is parsed, and solves
Analysis process includes obtaining height, width and the Pixel Information of image data, and obtain the shutter exposure time of camera 3；Processing
Device generates the first control signal for controlling LED lamp band 13 according to the Pixel Information of image data, and by first control signal
It is transmitted to control panel, control panel controls the flashing of LED lamp band 13 according to first control signal.Processor is by the length of LED lamp band 13
It spends corresponding with the height of image data；Using the width of image data as the moving distance on chassis 12, when with the shutter of camera 3
Between be chassis 12 traveling time, calculate chassis 12 movement speed.To generate the second control letter for controlling chassis 12
Number, and according to the movement on second control signal control chassis 12.Chassis 12 drives LED lamp band 13 mobile, cooperates the exposure of camera 3
The synchronous light that carries out draws photography.
Control panel is specifically used for controlling the bright light color of several LED lamps in LED lamp band 13, bright light according to first control signal
Brightness, bright light sequence and lighting time, with cooperate chassis 12 movement and camera 3 exposure carry out light draw.Wherein, control panel is
Arduino control panel, Arduino control panel be using ATmega single-chip microcontroller as the singlechip control panel of control core, on plate in addition to
Outside ATmega328 minimum system circuit, voltage regulator circuit is further comprised, USB turns serial port circuit.Arduino control panel is connect by USB
Mouth connection processor.
Light provided in an embodiment of the present invention draws photography machine people's system, by receive user terminal uploads camera parameter with
And pre-rendered image data is parsed, and the flashing of LED lamp band and the movement on chassis are controlled according to parsing result, cooperates phase
The exposure sync of machine carries out light and draws photography.In the pre-rendered pattern of user terminal and camera parameter can be arranged in user, then will
Pattern data and camera parameter are uploaded to robot body, can carry out light and draw, and draw photography with traditional light and need to hold light source and exist
Light drawing case is depicted in space, operating process complexity is compared, and light provided in an embodiment of the present invention draws photography machine people's system energy
The complicated light drawing case of the completion for enough allowing user more convenient.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. a kind of light draws photography machine people's system, which is characterized in that including robot body, user terminal and camera, the use
Family terminal is communicated to connect with robot body and camera respectively；
The user terminal includes that light draws plate module and shooting setup module, and the light draws plate module and is used for drawing image data,
For the shooting setup module for camera parameter to be arranged and controls camera, the camera parameter includes at least shutter exposure time；
The robot body includes shell, chassis, LED lamp band and control module, and the bottom of shell, institute are fixed in the chassis
State the side that LED lamp band is installed on the shell, the control module is installed in shell, and respectively with chassis and LED lamp band
Connection；The image data and camera parameter that the control module is used to receive user terminal uploads are parsed, and are tied according to parsing
Fruit controls the flashing of LED lamp band and the movement on chassis, cooperates the exposure sync of camera to carry out light and draws photography.
2. light according to claim 1 draws photography machine people's system, which is characterized in that height of the LED lamp band along shell
The one side of shell is fixed in degree direction, and the length of the LED lamp band is corresponding with the height of described image data.
3. light according to claim 2 draws photography machine people's system, which is characterized in that the control module is specifically used for:
The image data and camera parameter for receiving user terminal uploads, obtain height, width and the Pixel Information of image data,
And obtain the shutter exposure time of camera；
The length of LED lamp band is corresponding with the height of image data；The moving distance on chassis is scaled with the width of image data,
Using the shutter exposure time of camera as the traveling time on chassis, the movement speed on chassis is calculated；
The flashing of LED lamp band is controlled according to the Pixel Information of image data, and according to the traveling time on chassis, moving distance and shifting
Dynamic speed, controls the movement on chassis, cooperates the exposure sync of camera to carry out light and draws photography.
4. light according to claim 3 draws photography machine people's system, which is characterized in that the pixel according to image data
The flashing of information control LED lamp band specifically includes:
Using pixel as the width unit of image, it is assumed that flashing is primary when LED lamp band movement each pixel distance, then led flashing time
The width of number=image data；The led single flash time=pixel/chassis movement speed.
5. light according to claim 1 draws photography machine people's system, which is characterized in that pacify one end of the robot body
Equipped with three-dimensional visual sensor, the three-dimensional visual sensor is used to identify robot body ambient enviroment, and automatic
Avoidance.
6. light according to claim 5 draws photography machine people's system, which is characterized in that the shooting setup module and three-dimensional
Visual sensor connection, the shooting setup module are also used to, and the avoidance mode of robot body, the avoidance mode packet is arranged
It includes to get around barrier and stop and wait.
7. light according to claim 6 draws photography machine people's system, which is characterized in that the shooting setup module also with bottom
Disk is connected, and the shooting setup module is also used to be arranged the route mode on chassis, and the route mode includes straight line, S type song
Line, figures or rectangle route.
8. light according to claim 1 draws photography machine people's system, which is characterized in that the control mould of the robot body
Block includes processor and control panel；The processor is installed in shell, and described control panel one end passes through USB interface and processor
Connection, the other end connect LED lamp band；
The image data and camera parameter that the processor is used to receive user terminal uploads are parsed, and are generated for controlling
The first control signal of LED lamp band and second control signal for controlling chassis control chassis according to second control signal
Movement, and first control signal is transmitted to control panel；The control panel is used to control LED lamp band according to first control signal
Flashing.
9. light according to claim 8 draws photography machine people's system, which is characterized in that the control panel is specifically used for:
The bright light color of several LED lamps in LED lamp band, bright light brightness, bright light sequence and bright light are controlled according to first control signal
Time, with cooperate chassis movement and camera exposure carry out light draw.
10. light according to claim 8 or claim 9 draws photography machine people's system, which is characterized in that the control panel is
Arduino control panel.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811522852.1A CN109547702B (en) | 2018-12-13 | 2018-12-13 | Optical drawing and photographing robot system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811522852.1A CN109547702B (en) | 2018-12-13 | 2018-12-13 | Optical drawing and photographing robot system |
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| CN201811522852.1A Active CN109547702B (en) | 2018-12-13 | 2018-12-13 | Optical drawing and photographing robot system |
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