CN110913146B - Fixed-point linkage shooting method for rail car and holder - Google Patents
Fixed-point linkage shooting method for rail car and holder Download PDFInfo
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- CN110913146B CN110913146B CN201911424772.7A CN201911424772A CN110913146B CN 110913146 B CN110913146 B CN 110913146B CN 201911424772 A CN201911424772 A CN 201911424772A CN 110913146 B CN110913146 B CN 110913146B
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- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
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Abstract
The invention provides a method for fixed-point linkage shooting of a rail car and a pan-tilt, which comprises a runnable rail car, a pan-tilt and a control system, wherein the pan-tilt is installed on the runnable rail car and can provide motion control in the horizontal direction and the vertical direction, and a KXWELL interaction protocol is supported. The invention can be applied to places such as meetings, education, entertainment activities and the like by linking the rail car and the holder, realizes automatic linked shooting, expresses rich lens effects, has simple function realization and convenient operation, does not occupy a large amount of resources of an embedded system, and can increase the lens language expression mode of the rail robot.
Description
Technical Field
The invention relates to the technical field of rail car motion control, in particular to a method for fixed-point linkage shooting of a rail car and a holder.
Background
The shooting of broadcasting and TV industry, education industry and entertainment industry all need the drizzle of expression of camera lens language exquisite, and automatic fixed point linkage processing algorithm will be through the horizontal vertical motor of railcar and cloud platform, carries out the linkage tracking to the point of setting for, how accurately track to the point of setting in the tracking process, and the point of setting linkage algorithm has brought great challenge.
The prior rail car cradle head realizes the aim of motion synthesis by using a motion synthesis method in the process of realizing fixed-point tracking and realizing the simultaneous control of the rail car, the horizontal direction of the cradle head and the vertical direction of the cradle head, and the effect is artificial control and can cause the phenomena of uniform running part, jittering of shot pictures, deviation of tracking and the like.
Therefore, it is necessary to invent a method for fixed-point linkage shooting of a rail car and a pan-tilt to solve the above problems.
Disclosure of Invention
The invention aims to provide a method for fixed-point linkage shooting of a rail car and a holder, and aims to solve the technical problem.
In order to solve the technical problems, the invention adopts the following technical scheme:
a method for fixed point linked shooting of a rail car and a pan/tilt head, comprising a rail car which can be operated, a pan/tilt head mounted thereon and a control system, wherein the pan/tilt head can provide motion control in horizontal and vertical directions, and supports KXWELL's interaction protocol, the method comprising:
detecting the running state of the rail car;
firstly, a control system sets a target point to be fixed-point tracked, and when the rail car is in a running state, if the automatic linkage control algorithm of the holder completes linkage calculation, the horizontal and vertical directions of the holder are driven to move through a calculation result, so that fixed-point tracking/shooting effects are realized; if the cradle head does not track to the set target point, tracking is achieved through a preset fixed point linkage tracking algorithm, and the cradle head runs to the target point under the driving of the algorithm;
when the cradle head is static, the cradle head can be controlled and operated independently, and once the rail car starts to run, the tracking running distance and angle are calculated and determined again according to the fixed point linkage tracking algorithm.
Preferably, the step of performing linkage tracking through a preset fixed point position tracking algorithm includes: when the fixed-point linkage shooting effect is needed, the fixed-point position is set by using the control system, the position information is stored and used as the basis of algorithm operation, and the horizontal and vertical deflection distances of the pan-tilt are calculated in the moving process of the rail car, so that the fixed-point linkage algorithm control effect is realized.
Preferably, if the fixed point linkage tracking algorithm is not completed, the tracking by the preset fixed point linkage tracking algorithm includes: and acquiring the current position of the rail car, the horizontal and vertical current position of the holder, and calculating the movement deflection distance and angle according to different rail car positions and horizontal and vertical positions of the holder.
Preferably, the method further comprises: when the rail car does not move, the cradle head is controlled independently, once the rail car starts to operate and is in a fixed point linkage mode, a fixed point linkage algorithm is called to calculate the horizontal and vertical deflection distance and angle of the cradle head, and then the KXWELL is used for real-time linkage control.
Preferably, the operable rail car comprises a processor, an FPGA and a memory, wherein the processor is used for logic control and running an embedded program, the FPGA is used for motor control, and the memory is used for storing motion and configuration data and storing the running program of the FPGA.
Preferably, the control system comprises a processor and a memory, wherein the processor realizes the KXWELL logic control, issues a control protocol instruction of the KXWELL, configures the fixed-point linkage and enters an operation mode.
Preferably, the cradle head comprises a processor, a memory and an FPGA, and the steps of the method are implemented when the embedded software program is executed.
Preferably, the computing device includes a memory and a processor, where the memory stores an embedded program, and the processor implements the steps of the tracking fixed-point linkage method when executing the embedded program.
The invention has the beneficial effects that:
(1) according to the invention, through the running state information of the rail car, when the rail car is in a running state, if the fixed point linkage tracking algorithm is completed, the cradle head is driven to deflect through the calculation data, so that the fixed point linkage tracking is realized, and when the rail car stops, the cradle head can be controlled independently without influencing the re-entering of the fixed point linkage tracking mode, so that the linkage processing decision of the rail and the cradle head is determined, the automatic linkage control is realized, and the ideal shooting effect is achieved.
(2) The invention can be applied to places such as meetings, education, entertainment activities and the like by linking the rail car and the holder, realizes automatic linked shooting, expresses rich lens effects, has simple function realization and convenient operation, does not occupy a large amount of resources of an embedded system, and can increase the lens language expression mode of the rail robot.
Drawings
FIG. 1 is a simplified connection diagram of the whole system of the present invention, an application environment of fixed point linkage tracking;
FIG. 2 is a track and railcar of the present invention, an algorithm processing and control mechanism;
FIG. 3 is a track car system with a cradle head according to the present invention, which is the operation and execution equipment of the whole algorithm;
FIG. 4 is a controller for implementation of the algorithm set-up of the present invention;
FIG. 5 is a schematic diagram of an algorithm implementation according to the present invention;
FIG. 6 is a logic control flow of the algorithm of the present invention.
Detailed Description
The present invention will be further described with reference to specific embodiments for the purpose of facilitating an understanding of technical means, characteristics of creation, objectives and functions realized by the present invention, but the following embodiments are only preferred embodiments of the present invention, and are not intended to be exhaustive. Based on the embodiments in the implementation, other embodiments obtained by those skilled in the art without any creative efforts belong to the protection scope of the present invention. The experimental methods in the following examples are conventional methods unless otherwise specified, and materials, reagents and the like used in the following examples are commercially available unless otherwise specified.
The invention provides a method for fixed-point linkage shooting of a rail car and a pan-tilt, which can be applied to an application environment shown in figure 1, wherein the rail car and the pan-tilt comprise a movable rail and a pan-tilt installed on the rail car, the pan-tilt is driven by the rail car to move along the rail, and the pan-tilt can control the movement in the horizontal direction and the vertical direction; the rail car and the pan-tilt need to support a KXWELL control protocol, and a camera does not limit;
in one embodiment, as shown in fig. 6, a method for tracking a fixed point of a track car and a pan/tilt head in a linkage manner is provided, which is described by taking the method as an example applied to the track car and the pan/tilt head shown in fig. 3, and includes the following steps:
102, firstly setting two points to be fixed-point tracked by a control system, wherein the center point of a tripod head camera picture at the two points is one point, and calculating the position A' in the graph 5 by an algorithm 1 to serve as the basis for the calculation of the whole linkage algorithm;
105, detecting the running condition of the rail car;
106, when the rail car runs, if the rail car calculates the running condition of the pan-tilt according to the fixed point linkage tracking algorithm, driving the pan-tilt to move to reach the target position according to the calculation result;
105, when the rail car does not run, detecting whether the command is a pan-tilt motion execution command, and if so, transmitting the command to the pan-tilt to execute corresponding motion; once the rail car moves, the normal operation of the holder is interrupted, and the fixed-point linkage operation is started unless the control equipment controls the exit of the fixed-point linkage mode;
in one embodiment, a fixed point linkage tracking mode is entered, when the rail car is in a motion state, the pan-tilt is in linkage operation, and if the control equipment sends a pan-tilt control command, linkage tracking is interrupted to execute artificial control action;
specifically, in the fixed point linkage tracking process, according to the positions of the rail car and the cradle head, according to an algorithm 2, as shown in fig. 5, the distance from the position P of the rail car to a fixed point a serves as the hypotenuse of the right triangle, the distance from a projection point a' of the fixed point position on the rail to the position P of the rail car serves as one of the straight sides of the right triangle, the angles θ and Φ are obtained through the position calculation of the cradle head, the position of the point a is determined through the algorithm 1 when the point a is set, the running direction of the cradle head in the next step is calculated through the algorithm 2 in real time, and finally, the algorithm result is transmitted to the cradle head through a KXWELL interaction protocol for execution;
in one embodiment, if the cradle head does not track to a set target point, tracking is realized through a preset fixed point linkage tracking algorithm, and the cradle head moves to the target point under the driving of the algorithm; if the fixed point linkage tracking algorithm is not completed, acquiring the current position of the rail car, the horizontal position and the vertical current position of a holder by a preset fixed point linkage tracking algorithm tracking step, and calculating the movement deflection distance and angle according to different rail car positions and horizontal and vertical positions of the holder;
in one embodiment, the executable railcar includes a processor, an FPGA and a memory, wherein the FPGA is an FPGA chip, the processor is configured to perform logic control and execute an embedded program, the embedded program is set by an embedded C program, the embedded C program is stored in an MCU, and a motion execution program is stored in an IC of a FLASH property, and when the embedded C program is executed, the embedded C program may include the processes of the embodiments of the above methods, the FPGA is configured to perform motor control, and the memory is configured to store motion and configuration data and store an operation program of the FPGA;
in one embodiment, the control system comprises a processor and a memory, wherein the processor realizes KXWELL logic control, issues control protocol instructions of KXWELL, configures fixed-point linkage and enters an operation mode, wherein the KXWELL is a KXWELL pan-tilt controller and is of a type KX-PH 460S;
in one embodiment, the pan/tilt head includes a processor, a memory, and an FPGA, and executes the embedded software program, where the embedded software program is set by an embedded C program, the embedded C program is stored in an MCU, and the motion execution program is stored in an IC of a FLASH property, and the embedded C program may include the processes of the embodiments of the methods described above when executed;
in one embodiment, a computing device includes a memory and a processor, the memory stores an embedded program, and the processor implements the steps of the tracking fixed point linkage method when executing the embedded program.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of indirect description, all possible combinations of the technical features in the above embodiments are not described, however, as long as there is no contradiction between the combinations of the technical features, the combinations should be considered as the scope of the description; the KXWELL protocol involved in the above embodiments is not intended to limit the rights of the present application, and the communication protocol between products can be flexibly customized; the FPGA related to the above embodiments is not limited by the right of the present application, the FPGA is only an execution mechanism of an algorithm calculation result, and is not limited by the right of the present application, and the motor drive can adjust a drive scheme for different types of motors.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the preferred embodiments of the present invention are described in the above embodiments and the description, and are not intended to limit the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (3)
1. A method for fixed point linked shooting of a rail car and a pan/tilt head, comprising a rail car which can be operated, a pan/tilt head mounted thereon and a control system, wherein the pan/tilt head can provide motion control in horizontal and vertical directions, and supports KXWELL's interaction protocol, the method comprising:
detecting the running state of the rail car;
firstly, a control system sets a target point to be fixed-point tracked, and when the rail car is in a running state, if the automatic linkage control algorithm of the holder completes linkage calculation, the horizontal and vertical directions of the holder are driven to move through a calculation result, so that fixed-point tracking/shooting effects are realized; if the cradle head does not track to the set target point, tracking is achieved through a preset fixed point linkage tracking algorithm, and the cradle head runs to the target point under the driving of the algorithm;
when the cradle head is static, the cradle head can be controlled and operated independently, and once the rail car starts to run, the tracking running distance and angle are calculated and determined again according to the fixed point linkage tracking algorithm;
the step of linkage tracking through a preset fixed point position tracking algorithm comprises the following steps: when the fixed-point linkage shooting effect is needed, the control system is utilized to set the fixed-point position, the position information is stored and used as the basis of the algorithm operation, and the horizontal and vertical deflection distances of the pan-tilt are calculated in the moving process of the rail car, so that the fixed-point linkage algorithm control effect is realized;
if the fixed point linkage tracking algorithm is not completed, the tracking step through the preset fixed point linkage tracking algorithm comprises the following steps: acquiring the current position of the rail car, the horizontal and vertical current positions of the holder, and calculating the movement deflection distance and angle according to the positions of different rail cars and the horizontal and vertical positions of the holder;
the method further comprises the following steps: when the rail car does not move, the cradle head is controlled independently, once the rail car starts to operate and is in a fixed point linkage mode, a fixed point linkage algorithm is called to calculate the horizontal and vertical deflection distance and angle of the cradle head, and then the KXWELL is used for real-time linkage control;
the operable rail car comprises a processor, an FPGA and a memory, wherein the processor is used for logic control and running an embedded program, the FPGA is used for motor control, and the memory is used for storing motion and configuration data and storing the running program of the FPGA;
the control system comprises a processor and a memory, wherein the processor realizes the KXWELL logic control, issues a control protocol instruction of the KXWELL, configures fixed-point linkage and enters an operation mode.
2. A pan-tilt comprising a processor, a memory, an FPGA, implementing the method steps of claim 1 when executing an embedded software program.
3. A computing device comprising a memory storing an embedded program and a processor executing the embedded program to perform the steps of the method of claim 1.
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| CN201911424772.7A CN110913146B (en) | 2019-12-31 | 2019-12-31 | Fixed-point linkage shooting method for rail car and holder |
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| CN201911424772.7A CN110913146B (en) | 2019-12-31 | 2019-12-31 | Fixed-point linkage shooting method for rail car and holder |
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| CN102176161A (en) * | 2011-01-27 | 2011-09-07 | 华北电力大学 | Flight simulation system facing to power line polling |
| CN208112777U (en) * | 2017-12-25 | 2018-11-16 | 河南新汉普影视技术有限公司 | A kind of curtain class system based on synchronous recording |
| CN209283362U (en) * | 2019-03-08 | 2019-08-20 | 南宁鸿轩影视科技有限公司 | A kind of Multifunctional camera railcar |
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| CN104469292B (en) * | 2014-11-27 | 2017-09-19 | 国网上海市电力公司 | A kind of posture self-correcting monopod video camera control device and its method |
| CN206726243U (en) * | 2017-03-10 | 2017-12-08 | 周艳 | Indoor moving video tracking positioning auxiliary filming apparatus |
| FR3078159B1 (en) * | 2018-02-22 | 2020-03-13 | Alstom Transport Technologies | RAIL VEHICLE SUB-CHASSIS INSPECTION METHOD AND DEVICE |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102176161A (en) * | 2011-01-27 | 2011-09-07 | 华北电力大学 | Flight simulation system facing to power line polling |
| CN208112777U (en) * | 2017-12-25 | 2018-11-16 | 河南新汉普影视技术有限公司 | A kind of curtain class system based on synchronous recording |
| CN209283362U (en) * | 2019-03-08 | 2019-08-20 | 南宁鸿轩影视科技有限公司 | A kind of Multifunctional camera railcar |
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