CN111765350A

CN111765350A - Intelligent control full-automatic rotating holder of digital camera and panoramic shooting method thereof

Info

Publication number: CN111765350A
Application number: CN202010549565.0A
Authority: CN
Inventors: 俞铁阶; 周建斌
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-06-16
Filing date: 2020-06-16
Publication date: 2020-10-13

Abstract

The invention provides an automatic shooting device of panoramic photos, which is different from the prior rotary tripod head and has the important innovation that data communication can be generated between a digital camera (101) and a full-automatic rotary tripod head (105), mutual detection and control are realized, and the stop and rotation of the rotary tripod head (105) are automatically controlled by a shutter opening and closing signal, so that the missing shooting of the camera or the idling of the rotary tripod head are effectively prevented; the automatic control cloud platform (105) enables the camera to carry out interval shooting according to a preset angle. When the high-speed shutter is used for shooting, unprecedented functions and effects of visual non-pause rotary shooting are realized; if the occasion needs long time exposure, the actual shutter speed of the camera can automatically and directly control the stay time needed in the operation process, and an unexpected full-automatic synchronization effect can be obtained. The control technology of rapid recoil and braking of the motor is adopted, so that the rotation inertia is eliminated instantly, and the rotating camera is rapidly in a stable state for shooting, thereby obtaining the picture effect with high definition.

Description

Intelligent control full-automatic rotating holder of digital camera and panoramic shooting method thereof

Technical Field

The invention belongs to the technical field of panoramic photography in the photography industry, and relates to an intelligent control automatic rotating tripod head of a digital camera and a panoramic photography method thereof.

Background

According to the prior art, high-grade digital single lens reflex cameras cannot directly shoot 360-degree high-quality panoramic photos. And the panoramic photography method is absolutely applicable to urban panorama, large-scale building scene, great celebration activities, large group photo, indoor and outdoor high-definition image quality. The intelligent control full-automatic rotating pan-tilt of a digital camera and a panoramic shooting method thereof are a dream expected by photographers.

Although some mobile phones already have the function of taking panoramic photographs, the panoramic photographs with high image quality and high definition for commercial use cannot be obtained at present due to the influence of a plurality of factors such as pixels, an imaging system and the like.

In order to obtain a high-quality and high-definition panoramic photograph, a photographer generally adopts a method of rotating a ring-shot piece. The method is characterized in that a plurality of continuous adjacent images with a group of mutually overlapped photos at two sides are shot on a single scene, and then the shot photos are combined into a panoramic wide-angle photo. To implement this method, the following methods are often used:

carrying out handheld shooting: the shooting method is greatly influenced by human factors, and a user needs to hold the camera by hand and shoot a desired scene by moving the arm to rotate after the panoramic picture is shot. All photos are difficult to be on the same horizontal plane, the distance between every two laminated sheets is difficult to control, the synthesized image is distorted, and the shooting success rate is low.

Shooting by using a common manual rotating holder: the problem of level uniformity is solved, but the angle uniformity control of each sheet is difficult to achieve.

Shooting by using a manual indexing cradle head: the horizontal problem is solved, and the control problem of a part of rotation angles is also solved. But still in full manual control.

Shooting by using an electric pan-tilt: the problems of horizontal control, angle control and automatic rotation are solved, but automatic shooting control over the camera is difficult to carry out, and automatic joint control over the camera cannot be realized; in order to eliminate the inertia of the rotating holder in the rotation process, waiting for the camera to release the shutter for shooting, the camera stays for more than one second every time when shooting, the time is wasted on a shooting site, and the panoramic shooting speed is directly influenced; some also require adjustment of cumbersome menus to match the shutter speed of the camera, which can result in failure if the photographer forgets to adjust or mis-adjust.

In the above-mentioned manual pan-tilt and electric pan-tilt, the pause time of the rotation cannot be determined by the camera shutter or can be automatically matched with the speed of the camera shutter, and the data communication and mutual detection control between the digital camera and the automatic rotation pan-tilt cannot be realized.

Disclosure of Invention

In view of the above, in order to overcome the defects in the prior art, the present invention provides an intelligent control full-automatic rotating pan/tilt head for a digital camera and a panoramic shooting method thereof.

The invention is different from the prior rotary cradle head, and has the important innovation that the digital camera and the digital camera intelligently control the full-automatic rotary cradle head to generate data communication and mutually detect and control, thereby effectively preventing the digital camera from missing shooting or idling the automatic rotary cradle head. In the process of panoramic shooting, the stop and rotation of the full-automatic rotating cradle head are automatically controlled by a shutter opening and closing signal of the digital camera. During the pause period, the digital camera is ensured to stably obtain the image digital information for splicing and synthesizing the panoramic photo, and the image digital information is transmitted to the portable computer for background processing, so that the quality of the panoramic shot picture is improved. The method for panoramic shooting by intelligently controlling the full-automatic rotating holder by the digital camera realizes intelligent full-automatic control of panoramic shot photos, simplifies operation, avoids manual operation errors from being damaged, and obtains unexpected full-automatic synchronization effect.

The invention is realized by the following technical scheme:

the digital camera is fixed on a digital camera fixing support at the top of the automatic rotating holder, and the pitching angle fixing knob can be used for adjusting the pitching or bending angle of the digital camera.

The digital camera intelligent control full-automatic rotating tripod head comprises an automatic rotating tripod head and an automatic rotating tripod head controller, wherein a data exchange transceiving processing module, a wireless remote control receiving module, a digital camera shutter speed detection module, a digital camera shooting control module, a driving motor control module, a pause time control module and an angle control module which are in data communication with the digital camera are arranged in a full-automatic control circuit board in the digital camera intelligent control full-automatic rotating tripod head; the driving motor is fixed in the shell, and the driving motor is decelerated by a motor gearbox and drives the automatic rotating holder and the digital camera to rotate by taking the central shaft as a circle center through a motor output main shaft.

The digital camera is connected with a data exchange transceiving processing module of the digital camera intelligent control full-automatic rotating tripod head through a shutter control line and a shutter signal PC synchronous line, and the digital camera intelligent control full-automatic rotating tripod head generate data exchange communication and are mutually controlled.

The digital camera intelligently controls an automatic control program for panoramic photo shooting to be written in an internal memory of the full-automatic rotating tripod head, the full-automatic control is to stop and rotate the automatic rotating tripod head, the digital camera is controlled to shoot after instant stopping according to a set shooting angle, the whole shooting process of the digital camera is controlled to act, and a shutter opening and closing trigger signal of the digital camera controls instant starting and rotating of the automatic rotating tripod head.

The method for panoramic shooting comprises the following steps:

before starting an instruction to start panoramic photography, the total angle and the single angle of the digital camera to be rotated are preset.

After starting the instruction of starting panoramic shooting, the driving motor control module controls the bracket of the automatic rotating holder to drive the digital camera to rotate at a constant speed, and the digital camera is started to shoot when the digital camera rotates to a preset single angle; after the digital camera takes one picture, the driving motor controls the digital camera to continue to operate, and the digital camera takes a group of panoramic pictures at a preset single angle interval within a preset total angle.

When the digital camera shoots, the opening and closing time of the shutter of the digital camera automatically controls the stay time of the driving motor in operation, and when the digital camera shoots, in order to improve the definition of a picture, the shutter speed detection module of the digital camera detects the actual shutter speed and time when the digital camera shoots, and judges whether the driving control module of the driving motor is required to wait for pause or the pause time is required to stabilize and automatically rotate the cradle head so that the digital camera shoots a stable picture, so as to ensure that the digital camera can uniformly and stably obtain high-quality images for splicing and synthesizing a panoramic picture, thereby improving the picture quality and the working efficiency of panoramic shooting and realizing intelligent full-automatic control.

When a preset total angle is reached or a panoramic shooting finishing instruction is started in the midway of operation, the driving motor controls the automatic rotating holder to stop rotating, controls the digital camera to stop shooting, and terminates the operation program;

and a group of panoramic photos shot by the digital camera is stored in a memory card of the digital camera for splicing processing by later-stage or other equipment to generate the panoramic photos.

The invention relates to an intelligent control full-automatic rotating pan-tilt of a digital camera, which is controlled to start and stop and other actions by a panel control button or a wireless remote controller.

Further, the digital camera intelligent control full-automatic rotating cradle head further comprises:

in order to achieve the function and effect of the digital camera intelligently controlling the full-automatic rotating tripod head to realize continuous rotating shooting without pause visually when the digital camera shoots by using a high-speed shutter, the invention adopts a control technology of rapid recoil and braking of a motor, so that the rotating digital camera can quickly get rid of rotating inertia and immediately shoot in a stable state, and the shooting work is quickly completed while a high-definition picture effect is obtained. The key point of the design of the automatic control rotating holder is that the invention is a novel automatic control rotating holder. The invention is realized as follows:

under the normal outdoor illumination condition, the shutter speed of the digital camera is more than 1/100 seconds, the pause time data of the automatic control rotating holder is basically equal to the shutter speed, and the driving motor of the automatic control rotating holder is driven to be started by high pulse and braked by reverse negative pulse.

If the night scene is shot or the illumination is insufficient and other occasions needing long-time exposure are needed, the invention can automatically match and control the retention time required by the automatic rotating holder in the shooting process according to the actual shutter speed of the digital camera for the long-time exposure, so that the retention time is completely matched and synchronized with the exposure time required by the digital camera. The invention is realized as follows:

the negative pulse generated when the automatic rotating holder stops triggers the digital camera to open the shutter for shooting, the long-time exposure of the digital camera is completed, and the negative pulse signal generated when the shutter is closed triggers the driving circuit of the driving motor to continue to operate. Therefore, the photographer can concentrate on the shooting work without considering setting the stay shooting time of the digital camera. The unexpected full-automatic synchronization effect is obtained.

Description of the drawings:

FIG. 1: the invention discloses a structural schematic diagram of a digital camera intelligent control full-automatic rotating pan-tilt;

FIG. 2: the invention discloses a digital camera intelligent control full-automatic rotating pan-tilt and a control panel schematic diagram thereof;

FIG. 3: is a work flow diagram in the embodiment of the invention;

FIG. 4: the flow chart of the processing method for non-stop rotation shooting and automatic shutter speed matching in the embodiment of the invention is schematic

FIG. 5: is a schematic diagram of a wireless remote control transmitter in an embodiment of the invention.

In the figure:

101-digital camera; 102-digital camera bottom quick-install plate;

103-digital camera angle adjusting locking knob; 104-digital camera mount;

105 — automatic rotation pan-tilt; 106-output spindle of motor;

107-Motor gearbox; 108-Wireless Transmit-receive antenna;

109-drive motor; 110 — automatic rotating pan-tilt controller;

111-rotation angle detector; 112-full automatic control circuit board;

113-shutter control line; 114-shutter signal PC sync line;

115-bottom tripod fixing screw hole;

301 — total angle counter; 302-single angle counter;

303 — automatic rotating pan-tilt; 304-digital camera

305 — total angle counter display screen; 306 — total angle counter preset display screen;

307-Single Angle counter display; 308-single angle counter preset display screen;

309-number of shots counter

401 — data exchange transceiving processing module; 402-wireless remote control receiving module;

403-digital camera shutter speed detection module; 404-digital camera shooting control module;

405 — drive motor control module; 406 — angle control module;

407-pause time control Module;

501-wireless remote control transmitter; 502-Power switch; 503 — a transmit antenna.

Detailed Description

To facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

At present, a smart phone can easily take a panoramic photo, but due to the influence of a plurality of factors such as a lens, an imager, an arithmetic unit and the like, the current technology cannot output a high-pixel and high-image-quality panoramic photo for commercial use. The existing technology cannot shoot 360-degree panoramic photos, but the digital single-lens reflex cameras or digital mini single cameras with higher pixel quality are formed. Therefore, in this embodiment, a digital camera with high image quality is selected as a shooting tool, and full-automatic intelligent control is adopted to shoot a plurality of photos in a panorama, and a huge panorama photo is spliced in a later stage.

As shown in fig. 1, the digital camera intelligently controls the full-automatic rotating tripod head to be fixed on a photographic tripod 116 through a bottom tripod fixing screw hole 115.

The driving motor control module 405 inside controls the driving motor 109 to operate, and the driving motor is decelerated by the motor gearbox 107 to drive the automatic rotating pan-tilt 105 to rotate around the motor output spindle 106, the digital camera fixing support 104 is fixed at the top of the shell of the automatic rotating pan-tilt 105, the digital camera 101 is fixed on the support through the digital camera bottom quick-mounting plate 102, and the support can be adjusted in certain overlooking or overlooking angles through the digital camera support adjusting angle locking knob 103, so that the digital camera 101 can shoot in a pitching angle. In this embodiment, when the driving motor 109 operates, the automatic rotating cradle head 105 and the digital camera 101 above the cradle head are driven together, so that rotation at any angle can be realized under the control of the driving motor 109, and the digital camera 101 can realize uniform rotation and interval shooting in the rotating process, thereby providing a guarantee for the digital camera 101 to uniformly acquire images for splicing and synthesizing panoramic photos in the panoramic shooting process. The driving motor 109 of the present embodiment is preferably a stepping motor.

As shown in fig. 1, the data exchange transceiving processing module 401 of the fully automatic control circuit board 112 in the digital camera 101 and the automatic rotating pan/tilt head controller 110 are connected via the camera shutter control line 113 and the shutter signal PC synchronization line 114, and perform data communication and mutual control therebetween.

The photographing steps of the panorama photographing method of the present invention are briefly described as follows:

step ST 1: the digital camera 101 is fixed to the digital camera fixing bracket 104 with the handle at the top in a vertical state, so that the shot pictures are obtained in a vertical state, the largest long-side pixel of the digital camera can be obtained from the top and the bottom, and the final panoramic picture can be obtained as a panoramic picture with higher pixels, wherein the height of the panoramic picture is based on the original long-side pixel of the digital camera.

Step ST 2: a shutter control line 113 and a shutter signal PC sync line 114 connecting the digital camera 101 and the automatic rotation pan/tilt head.

Step ST 3: the power of the digital camera 101 is turned on, and the digital camera 101 is brought into focus and placed in a manual focus state.

Step ST 4: and turning on a power switch 502 of the intelligent control digital camera full-automatic rotating cradle head and the wireless remote control transmitter 501, and turning the automatic rotating cradle head 106 to the starting position of shooting.

Step ST 5: before starting an instruction to start panoramic photography, the total angle counter 301 on the automatic rotation pan/tilt head controller 110 sets the total angle to be photographed, for example, 120 degrees, and causes the total angle counter preset display screen 306 to display "120".

Step ST 6: the single angle counter 302 on the automatic rotary pan/tilt head controller 110 presets a single angle, e.g., 15 degrees, at which each picture is taken, depending on the angle of view of the camera lens focal length, causing the single angle counter to preset the display screen 308 to display "15". The data can be stored in the angle setting memory, and can still be stored after power failure, and cannot be lost.

Step ST 7: when a start button on a control panel of the automatic rotating pan-tilt controller 110 or a start button on the panoramic shooting wireless remote control transmitter 501 is pressed, the wireless remote control transmitter 501 sends out a wireless magnetic wave of a shooting start signal through the transmitting antenna 503, and the wireless signal transceiving antenna 108 of the automatic rotating pan-tilt controller 110 sends the received signal to the wireless remote control receiving module 402 for processing, that is, an instruction of starting panoramic shooting is started, so as to perform panoramic shooting.

Step ST 8: (see fig. 3 and fig. 4), after receiving the signal for starting shooting, the wireless remote control receiving module 402 in the automatic rotating pan/tilt controller 110 makes the total angle counter 301 and the single-angle counter 302 return to zero simultaneously and controls the digital camera 101 to shoot the first photo, when the digital camera shutter speed detecting module 403 detects that the digital camera 101 shutter is closed through the data exchange transceiving processing module 401, the pause time controlling module 407 controls the driving motor 109 to drive the automatic rotating pan/tilt 105 and the digital camera 101 to rotate at a constant speed, and simultaneously the total angle counter 301 and the single-angle counter 302 start counting according to the actual operating angle of the data detected by the rotation angle detector 111, when the single-angle counter 302 reaches a predetermined angle and the display screen 307 of the single-angle counter is consistent with the preset display screen 308 of the single-angle counter, if the preset angle is 15 degrees, the single-sheet angle counter 302 automatically returns to zero, the driving motor 109 is controlled by the angle control module 405 to be braked and stopped rapidly, and the digital camera shooting control module 404 controls the digital camera 101 to shoot a picture; and circulating the steps until the total angle counter display screen 305 of the total angle counter 301 reaches the preset angle and is consistent with the value of the total angle counter preset display screen 306, for example, the preset 120 degrees, the driving motor 109 stops rotating, and the digital camera 101 takes the last picture, so that the shooting process of a group of panoramic pictures is completed.

If the outdoor scene is normally in sufficient light, the shutter of the digital camera 101 is opened and closed faster, and the pause time control module 407 controls the driving motor control module 405 to make the driving motor 109 perform the non-stop rotation shooting mode specific to the present invention. In order to generate the function and effect of non-stop rotation shooting, the invention adopts the technology of rapid recoil braking of the motor, so that the rotating digital camera 101 can quickly get rid of the inertia of rotation when needing to do stop shooting, and immediately carry out shooting in a stable state, thereby obtaining the picture effect with high definition.

If the light is dark on site, the exposure amount of a certain time is needed after the shutter of the digital camera 101 is opened, the shooting is completed in a state of several seconds to several minutes or even longer, at this time, the digital camera shutter speed detection module 403 detects that the digital camera 101 is still in the shutter open state, and the command pause time control module 407 controls the driving motor control module 405 to brake the driving motor 109 and to be in a stop waiting state; only when the digital camera shutter speed detection module 403 detects that the shutter exposure of the digital camera 101 is completed and the shutter is closed, the instruction is issued to allow the driving motor control module 405 to control the driving motor 109 to continue to operate, so that the retention time in the operation process is fully automatically controlled by the actual shutter speed of the digital camera 101. The photographer can concentrate on shooting without considering setting the stay time of the transfer.

In short, the time for the digital camera 101 to stably shoot after the automatic rotation of the pan/tilt head 117 is stopped is automatically determined by the shutter speed of the digital camera 101. The automatic rotation pan/tilt head 105 stops operating when the shutter of the digital camera 101 is opened, and the automatic rotation pan/tilt head 105 operates immediately when the shutter is closed.

Step ST 9: the automatic rotating pan-tilt controller 110 is provided with a shooting number counter 309, which counts the actual shooting number in real time to immediately detect whether the digital camera 101 has shooting action, thereby effectively preventing missed shooting.

Step ST 10: the digital camera 101 automatically stores a plurality of images captured between the start of panoramic shooting and the end of panoramic shooting in a memory card of the digital camera 101 during shooting, and after the shooting is completed, data can be input into a computer for splicing and panoramic photos can be generated.

Step ST 11: after finishing each panoramic shooting, the automatic rotating cradle head rotates back to the initial shooting position in an automatic return or manual rotation mode so as to prepare for the next panoramic shooting.

By using the device and method for panoramic shooting provided by the embodiment, the original manual rotation of a photographer is changed into full-automatic control for controlling the angle, the pause time and the like in the panoramic shooting process, so that the digital camera 101 can uniformly acquire high-quality images for splicing and synthesizing panoramic photos, and the quality of the panoramic shot pictures is effectively improved. The panoramic shooting method has the advantages that the quality of the picture is improved, the panoramic shooting is simpler and more convenient, and the user experience is effectively improved.

The embodiments described above are preferred embodiments of the present invention, and are not intended to limit the present invention, and any obvious alternative is within the scope of the present invention without departing from the spirit of the present invention.

Claims

1. Digital camera intelligent control full-automatic rotation cloud platform includes: an automatic rotating pan-tilt (105) and an automatic rotating pan-tilt controller (110); the system is characterized in that the digital camera (101) is fixed on a fixed bracket (104) at the upper part of an automatic rotating holder (105), and a driving motor (109) is arranged inside an automatic rotating holder controller (110); the driving motor (109) decelerates through a motor gearbox (107) and drives the automatic rotating pan-tilt (105) and the digital camera (101) to rotate through a motor output main shaft (106); the automatic rotating pan-tilt controller (110) is internally provided with a full-automatic control circuit board (112) which is in signal connection with the digital camera (101) through a shutter control line (113) and a shutter signal PC synchronous line (114); the control signal sent by the digital camera shooting control module (404) is transmitted to the digital camera (101) by the shutter control line (113) through the data exchange transceiving processing module (403); the digital signals of the shutter opening and closing sent by the digital camera (101) are transmitted to a data exchange transceiving processing module (401) in a full-automatic control circuit board (112) through a shutter signal PC synchronous line (114) and sent to a digital camera shooting control module (404) after operation processing, after the error code detection of the digital signal of the opening and closing of the shutter of the digital camera (101) by the shutter speed detection module (403), respectively sent to a driving motor control module (405), an angle control module (406) and a pause time control module (407); the driving motor control module (405) is used for accurately controlling the running and the stopping of the driving motor (109) by carrying out secondary operation on the received digital signals of the angle control module (406) and the stopping time control module (407) to generate two digital signals of 'motor stopping' and 'motor running'; after the information of the opening and closing state of the shutter of the digital camera (101) is acquired by the data exchange transceiving processing module (401), the full-automatic control rotating holder is controlled to stay for the time for the digital camera (101) to shoot in the operation process; the driving motor control module (405) is provided with a current recoil control device for rapidly braking the motor, when the command of stopping running is received, the current recoil control device immediately outputs reverse pulse current, the motor rapidly stops rotating and brakes, the rotating inertia of the automatic rotating pan-tilt (105) and the digital camera (101) is instantly eliminated, so that the camera which is changed from rotating to stopping rapidly enters a stable state for shooting, and a high-definition dynamic picture is obtained; the digital camera shooting control module (404) generates a shooting number counter (309) for controlling the camera to shoot the Nth picture, and immediately detects whether the digital camera (101) has shooting action, thereby effectively preventing missed shooting and counting.

2. The intelligent controlled fully automatic rotating pan/tilt head of digital camera according to claim 1, characterized in that: the total angle counter (301) and the single-sheet angle counter (302) are respectively provided with a rotation angle detector (111) which is connected with a full-automatic control circuit board (112) in the automatic rotation holder controller (110); before starting an instruction for starting panoramic shooting, presetting a total angle and a single angle number which need to be rotated, starting an instruction for controlling the digital camera (101) to shoot when the digital camera (101) rotates to every preset single angle, and stopping the automatic rotating cradle head (105) when the total angle number reaches the preset number; the operation and the stop of the total angle counter (301), the single-angle counter (302), the automatic rotating cradle head (105) and the shooting of the digital camera (101) are all controlled and operated according to the preset work flow.

3. The intelligent controlled fully automatic rotating pan/tilt head of digital camera according to claim 1, characterized in that: the shutter speed of the digital camera (101) is detected by a shutter speed detection module (403) of the digital camera in an automatic rotating pan-tilt controller (110), the still time required by the digital camera (101) for shooting is automatically calculated, the driving motor (109) is controlled to operate and stop, enough safe pause time is left during shooting of the digital camera (101), and shooting is carried out in a stable state.

4. The intelligent controlled fully automatic rotating pan/tilt head of digital camera according to claim 1, characterized in that: by adopting the control technology of rapid recoil braking of the motor, the rotating digital camera (101) can quickly get rid of the rotating inertia and immediately take a picture in a stable state, thereby generating the function and effect of non-stop rotating shooting and obtaining the picture effect with high definition.

5. The intelligent controlled fully automatic rotating pan/tilt head of digital camera according to claim 1, characterized in that: a shutter control line (113) and a shutter signal PC synchronous line (114) are connected between the automatic rotating pan-tilt controller (110) and the digital camera (101).

6. The intelligent controlled fully automatic rotating pan/tilt head of digital camera according to claim 1, characterized in that: a data exchange transceiving processing module (401) and a wireless remote control receiving module (402) are arranged in the automatic rotating holder controller (110); digital signals of the shutter opening and closing, the stop time during the operation of the driving motor (109), the shooting angle and the number of shooting sheets of the digital camera (101) are transmitted in two directions through the data exchange transceiving processing module (401), and information and control signals are mutually exchanged.

7. The method for intelligently controlling the panoramic shooting of the full-automatic rotating holder by using the digital camera comprises the following steps:

s1: after the digital camera intelligently controls the full-automatic rotating pan-tilt to start the panoramic shooting instruction, the driving motor control module (405) controls the digital camera (101) to rotate at a constant speed;

s2: the digital camera (101) starts to shoot at a preset single angle interval, and the time of opening and closing a shutter during shooting can automatically control the stay time of the driving motor (109) in operation;

s3: the digital camera (101) and the automatic rotating holder controller (110) generate data communication and are mutually controlled;

s4: under the outdoor shooting condition with strong light in the daytime, the shutter speed of the digital camera (101) is about one hundredth of a second, the automatic rotating pan-tilt controller (110) instructs the stop time of the driving motor (109) in operation to control the shooting to be finished under the state of about two hundredths of a second, the exposure time is half of the camera stop time, and the shooting feeling of 'no stop' is realized due to the extremely short stop time;

s5: the shooting night scene requires long exposure time, the automatic rotating holder controller (110) instructs the dwell time control in the operation of the driving motor (109) to complete the shooting under the state of several seconds to several minutes or even longer, and the specific dwell time is the dwell time required in the full-automatic control operation process of the actual shutter speed of the digital camera (101).