CN111928080A - Intelligent following shooting pan-tilt and control method - Google Patents

Abstract

The invention relates to an intelligent follow-up shooting pan-tilt, which comprises a body base, a horizontal rotating base, a horizontal rotating shell, a longitudinal rotating bracket and a camera; the horizontal rotating base and the body base form a coaxial rotational connection; A longitudinally rotating drive motor is fixedly connected, and its power output end is fixedly connected with a horizontal axis, and the horizontal axis is fixed by the vertical column and the vertical rotating bracket whose surface is spherical; the center surface of the spherical outer surface of the vertical rotating bracket is provided with a clamping slot; A battery and a control circuit board are fixedly connected to the horizontal rotating base, and the front end of the horizontal rotating base is provided with a camera; the horizontal rotating shell is buckled and fixed on the upper end of the horizontal rotating base, and a hole is opened at the top, and the spherical outer surface of the vertical rotating bracket is located in the horizontal rotating shell. inside the top hole of the body. The invention realizes real-time object tracking, face tracking, motion control, etc., solves the problem that a single user can perform panoramic video, video recording, photographing, and live broadcast, and liberates the user's hands.

Description

A kind of intelligent follow-up shooting PTZ and control method

technical field

The invention relates to the technical field of intelligent communication, in particular to an intelligent follow-up shooting pan-tilt and a control method.

Background technique

With the rapid development of mobile communication technology and the popularization of the fifth generation digital communication (5G) era, mobile terminals have become a necessity in people's daily life. Taking pictures, videos, etc., in order to ensure the perfect video during live broadcast, video recording and other operations, this series of operations can only be carried out under manual hand-held control, or can only be carried out by asking someone to help with shooting, many scenes are very difficult. It is difficult to completely release the hands, especially when going out to take pictures, live broadcasts, and video recording, etc. This is a problem that needs to be solved very much.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to provide an intelligent follow-up shooting pan/tilt and a control method, which can be conveniently placed in different places, capture the picture through the device's own camera, and drive the video recording installed on it. Or the playback device can adjust an angle synchronously, so that the device can always follow the person being photographed, or keep the video playback device within the viewer's field of vision and achieve the best angle.

In order to solve the above-mentioned technical problems, the present invention is realized in the following manner: an intelligent follow-up shooting pan/tilt according to the present invention includes a body base, a horizontal rotation base, a horizontal rotation shell, a vertical rotation bracket and a camera; the horizontal rotation The base and the base of the fuselage form a coaxial rotational connection, the horizontal rotation drive motor is fixedly connected to the horizontal rotation base, and the flat shaft output end of the horizontal rotation drive motor is arranged vertically, and is inserted and fixed with the center of the base of the fuselage; the horizontal rotation A longitudinal rotating drive motor is fixedly connected to the base, and its power output end is fixedly connected with a horizontal axis, and the horizontal axis is fixed by the vertical column and the vertical rotating bracket whose surface is spherical; There is a card slot; a battery and a control circuit board are fixedly connected to the horizontal rotating base, and a camera is arranged at the front end of the horizontal rotating base; The outer surface is located inside the top hole of the horizontally rotating housing.

Preferably, one end of the horizontal shaft away from the power output end of the longitudinally rotating drive motor forms a rotatable connection with a support, and the support is inserted and fixed on the horizontal rotating base.

Preferably, a fixing bracket is detachably and fixedly connected at the middle position of the card slot.

Preferably, a power switch and a charging port are arranged behind the horizontally rotating base; and a bottom support is fixedly connected to the bottom of the body base.

Preferably, the outermost edge of the bottom of the horizontal rotating base is provided with an annular clamping table, and the top edge of the base of the fuselage is provided with an annular clamping groove, and the annular clamping table can be clamped in the annular clamping groove and rotate along the annular clamping groove; An annular boss is arranged at the bottom center of the rotating base, and the outer ring of the bearing is clamped in the center hole of the annular boss; the center of the base of the fuselage is provided with a central boss of the base, and the inner ring of the bearing is clamped and fixed to the central boss of the base On the outer cylindrical surface; a vertical shaft is fixed coaxially on the upper end face of the center boss of the base of the fuselage base, and a flat hole is arranged in the center of the vertical shaft, and the flat shaft output end of the horizontal rotation drive motor is inserted and fixed in the flat hole.

Preferably, the bottom center of the base of the fuselage is embedded with a nut that can be connected to the expansion bracket, and the center of the slot of the longitudinal rotation bracket is embedded with a nut that can be connected to the expansion bracket.

Preferably, the control circuit board includes an MCU, a power management module, an image processing module, a motor drive module, and a Bluetooth module; the power management module and the MCU form a communication connection for power supply control, power on/off and charging; the camera and the MCU It forms a communication connection with the image processing module for real-time image transmission coordinate feedback; the image processing module forms a communication connection with the MCU to process the image data fed back by the camera and make judgments; the motor drive module forms a communication connection with the MCU, The MCU sends the feedback data of the image processing module to the motor drive module, and then controls the horizontal rotation drive motor and the vertical rotation drive motor to perform rotation; the Bluetooth module forms a communication connection with the MCU, and the Bluetooth module is used for external electronic devices to form communication, and is used for freezing Photo, video, page up and down, volume increase and decrease.

The control method of the present invention is as follows:

Step 1: Turn on the power switch, the power management module supplies power to the system, the camera of the gimbal enters the working mode after initialization, and the visual image of the camera is EFGH;

Step 2: The camera feeds back the image in the visible image to the image processing module, and the image processing module divides the visible image into a grid, and determines that the center of the captured object image ABCD is O, and establishes an initial point coordinate centered on O;

Step 3: When the image center of the captured object is shifted from 0 to ⁰¹ , the camera calculates the moving distance OO1 by feeding back the moving position image ^of the object to the image processing module for analysis, and the MCU calculates the moving distance OO1 according to the distance ^OO1 fed back by the graphics processing module And the Pythagorean theorem calculates that the lateral displacement of the object is O ¹ I and the longitudinal displacement is OI;

Step 4: The MCU records the moving time of the object when the object moves, and calculates the moving speed v of the object through the moving distance of the object and the time required to move to the distance;

Step 5: According to the value of O ¹ I and the moving speed v of the object, the MCU can calculate the angle and rotation speed that the horizontal rotation drive motor needs to drive the horizontal rotation base to rotate in order to keep the movement synchronous with the displacement of the object; The moving speed v can calculate the angle and rotation speed that the longitudinal rotation drive motor needs to drive the longitudinal rotation bracket to rotate in order to keep synchronous movement with the object displacement;

Step 6: The MCU feeds back the above calculated values to the motor drive module, and the motor drive module sends a signal to the horizontal rotation drive motor and the longitudinal rotation drive motor to control the horizontal rotation drive motor and the longitudinal rotation drive motor to move synchronously, thus realizing the installation in the vertical direction. Real-time tracking function of electronic equipment in the card slot of the rotating bracket;

Step 7: When the gimbal starts the automatic camera function, the Bluetooth module needs to be turned on first, and the gimbal and the electronic device complete the Bluetooth connection; turn on the camera of the electronic device, when the object to be captured moves to the range ABCD of the captured image and stays there , the MCU starts timing, and when the object remains frozen and does not move for ≥ t seconds, the bluetooth module of the gimbal will send an instruction to the shutter button of the electronic device to realize the automatic photographing function.

Positive effects of the present invention: an intelligent follow-up shooting pan/tilt and control method according to the present invention realizes real-time object follow-up, face follow-up and motion control, etc. Live broadcast, liberate the hands of users, and keep them in the C position at all times.

Description of drawings

The present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

Fig. 1 is the structural representation of the present invention;

Fig. 2 is the structural representation of the present invention;

Fig. 3 is the exploded structure schematic diagram of the present invention;

Fig. 4 is the exploded structure schematic diagram of the present invention;

Fig. 5 is the structural representation of the present invention;

Fig. 6 is the structure schematic diagram of fuselage base;

Fig. 7 is the control system schematic diagram of the present invention;

Figure 8 is a schematic diagram of a camera capture screen;

FIG. 9 is a schematic diagram of a picture captured by a camera after the object moves.

In the figure, 1 vertical rotation bracket, 2 horizontal rotation shell, 3 horizontal rotation base, 4 body base, 5 camera, 6 fixed bracket, 7 card slot, 8 horizontal axis, 9 support, 10 vertical rotation drive motor, 11 Power switch, 12 horizontal rotation drive motors, 13 charging ports, 14 bottom feet, 15 ring card tables, 16 vertical shafts, 17 ring card slots, 18 flat shaft output ends, 19 bearings, 20 base center bosses, 21 batteries.

Detailed ways

As shown in FIG. 1 to FIG. 6 , an intelligent follow-up shooting pan/tilt according to the present invention includes a body base 4 , a horizontal rotating base 3 , a horizontal rotating shell 2 , a vertical rotating bracket 1 and a camera 5 ; the horizontal rotating base 3 and the fuselage base 4 to form a coaxial rotational connection, the horizontal rotation drive motor 12 is fixedly connected to the horizontal rotation base 3, and the flat shaft output end 18 of the horizontal rotation drive motor 12 is arranged vertically, and is in the center of the fuselage base 4. Plug and fix; the horizontal rotation base 3 is fixedly connected with a longitudinal rotation drive motor 10, and its power output end is fixedly connected with a transverse shaft 8, and the transverse shaft 8 is fixed by the vertical column and the longitudinal rotation bracket 1 whose surface is spherical; the longitudinal The center surface of the spherical outer surface of the rotating bracket 1 is provided with a card slot 7; the horizontal rotating base 3 is fixedly connected with a battery 21 and a control circuit board, and the front end of the horizontal rotating base 3 is provided with a camera 5; It is connected and fixed on the upper end of the horizontal rotating base 3 , the top of which is open, and the spherical outer surface of the longitudinal rotating bracket 1 is located inside the top hole of the horizontal rotating housing 2 .

Specifically, one end of the horizontal shaft 8 away from the power output end of the longitudinally rotating drive motor 10 forms a rotational connection with the support 9 , and the support 9 is inserted and fixed on the horizontal rotating base 3 .

Specifically, a fixing bracket 6 is detachably and fixedly connected at the middle position of the card slot 7 .

Specifically, a power switch 11 and a charging port 13 are arranged behind the horizontal rotating base 3 ; bottom legs 14 are fixedly connected to the bottom of the body base 4 to prevent the body base from rotating.

Specifically, the outermost edge of the bottom of the horizontal rotating base 3 is provided with an annular clamping table 15, and the top edge of the body base 4 is provided with an annular clamping groove 17. The groove 17 rotates; the bottom center position of the horizontal rotating base 3 is provided with an annular boss, and the outer ring of the bearing 19 is clamped in the center hole of the annular boss; the center of the fuselage base 4 is provided with a base center boss 20, The inner ring of the bearing 19 is clamped and fixed on the outer cylindrical surface of the center boss 20 of the base; the upper end surface of the center boss 20 of the base of the fuselage base 4 is fixedly connected with the vertical shaft 16 coaxially, and the center of the vertical shaft 16 is provided with a flat hole, The flat shaft output end 18 of the horizontal rotation drive motor 12 is inserted and fixed in the flat hole.

Specifically, the bottom center of the fuselage base 4 is embedded with a nut that can be connected to the expansion bracket, and the center of the slot 7 of the longitudinal rotation bracket 1 is embedded with a nut that can be connected to the expansion bracket.

Specifically, as shown in FIG. 7 , the control circuit board includes an MCU, a power management module, an image processing module, a motor drive module, and a Bluetooth module; the power management module forms a communication connection with the MCU, which is used for power supply control, switching on and off the machine and charging; the camera 5 forms a communication connection with the MCU and the image processing module for real-time image transmission coordinate feedback; the image processing module forms a communication connection with the MCU for processing the image data fed back by the camera 5 and making judgments; the motor The drive module and the MCU form a communication connection, and the MCU sends the feedback data of the image processing module to the motor drive module, and then controls the horizontal rotation drive motor 12 and the longitudinal rotation drive motor 10 to perform rotation; the Bluetooth module forms a communication connection with the MCU, and the Bluetooth module uses It forms communication with external electronic devices, and is used for freeze-frame photography, video recording, page up and down, volume addition and subtraction.

As shown in Figure 8, Figure 9, the working process of the present invention is:

The power switch 11 is turned on, the power management module supplies power to the system, the camera 5 of the gimbal enters the working mode after initialization, and the visible image of the camera 5 is EFGH.

The camera 5 feeds back the image in the visible image to the image processing module, and the image processing module divides the visible image into a grid, determines the center of the captured object image ABCD as 0, and establishes the initial point coordinates centered at 0.

When the image center of the captured object moves from O to O ¹ (at this time the object moves to the A ¹ B ¹ C ¹ D ¹ position), the camera calculates the moving distance by feeding back the image of the moving position of the object to the image processing module for analysis. OO ¹ , the MCU calculates the horizontal displacement of the object as O ¹ I and the vertical displacement as OI according to the distance OO ¹ fed back by the graphics processing module and the Pythagorean theorem; The time it takes to move to this distance calculates the moving speed v of the object; the MCU can calculate the moving speed v of the object according to the value of O ¹ I and the moving speed v of the object. The rotation angle and rotation speed; the MCU can calculate the angle and rotation speed that the longitudinal rotation drive motor needs to drive the longitudinal rotation bracket to rotate in order to keep synchronous movement with the object displacement according to the value of OI and the speed v of the object movement; the MCU calculates the above calculated value Feedback to the motor drive module, the motor drive module will send a signal to the horizontal rotation drive motor and the longitudinal rotation drive motor to control the synchronous movement of the horizontal rotation drive motor and the longitudinal rotation drive motor, so as to realize the electronic device installed in the slot of the longitudinal rotation bracket. The real-time tracking function of the device.

When the gimbal starts the automatic camera function, the bluetooth module needs to be turned on first, and the gimbal and the electronic device complete the Bluetooth connection; the camera of the electronic device is turned on, and when the object to be captured moves to the range ABCD of the captured image and stays there, the MCU starts Timing, when the object remains frozen and does not move for more than 5 seconds (the setting value can be modified as needed), the bluetooth module of the gimbal will send an instruction to the shutter button of the electronic device to realize the automatic photographing function.

The above only illustrates some functional and structural principles of an intelligent follow-up camera related to the present invention. Since it is easy for those skilled in the same technical field to make some modifications on this basis, this specification is not intended to be used. To limit the intelligent follow-up shooting pan/tilt described in the present invention to the specific mechanism and scope of application shown or described, all corresponding modifications and equivalents that may be used belong to the protection scope of the patent of the present invention.

The embodiments described with reference to the accompanying drawings are exemplary and are intended to explain the present application, but should not be construed as limiting the present application. In the description of this application, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", " Rear, left, right, vertical, horizontal, top, bottom, inside, outside, clockwise, counterclockwise, etc. The relationship is based on the orientation or positional relationship shown in the drawings, only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore It should not be construed as a limitation on this application. In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be understood as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature delimited with "first" and "second" may expressly or implicitly include one or more of that feature. In the description of this application, "several" and "plurality" mean two or more, unless otherwise expressly and specifically defined. In this application, unless otherwise expressly specified and limited, terms such as "installation", "connected", "connected", "fixed" and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrally connected; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be an internal connection between two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances. In this application, unless otherwise expressly specified and limited, a first feature "on" or "under" a second feature may include direct contact between the first and second features, or may include the first and second features Not directly but through additional features between them. Moreover, the first feature being "above", "over" and "above" the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is level higher than the second feature. The first feature being "below", "below" and "below" the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is level less than the second feature.

Claims (8)

1. The utility model provides a shooting cloud platform is followed to intelligence which characterized in that: the device comprises a machine body base, a horizontal rotating shell, a longitudinal rotating support and a camera; the horizontal rotating base and the machine body base form coaxial line rotating connection, a horizontal rotating driving motor is fixedly connected to the horizontal rotating base, and the flat shaft output end of the horizontal rotating driving motor is arranged in the vertical direction and is fixedly inserted into the center of the machine body base; a longitudinal rotation driving motor is fixedly connected to the horizontal rotation base, a power output end of the horizontal rotation base is transversely and fixedly connected with a transverse shaft, and the transverse shaft is fixed with a longitudinal rotation support with a spherical surface through an upright post; a clamping groove is formed in the central plane of the spherical outer surface of the longitudinal rotating support; the battery and the control circuit board are fixedly connected to the horizontal rotating base, and the front end of the horizontal rotating base is provided with a camera; the horizontal rotating shell is fastened and fixed at the upper end of the horizontal rotating base, the top of the horizontal rotating shell is provided with a hole, and the spherical outer surface of the longitudinal rotating support is positioned on the inner side of the top hole of the horizontal rotating shell.

2. The intelligent follow-up shooting pan-tilt according to claim 1, characterized in that: the end of the cross shaft, which is far away from the power output end of the longitudinal rotation driving motor, is rotatably connected with the support, and the support is fixedly connected to the horizontal rotation base in an inserting mode.

3. The intelligent follow-up shooting pan-tilt according to claim 1, characterized in that: the middle position of the clamping groove is detachably and fixedly connected with a fixed support.

4. The intelligent follow-up shooting pan-tilt according to claim 1, characterized in that: a power switch and a charging port are arranged behind the horizontal rotating base; the bottom of the machine body base is fixedly connected with a bottom supporting leg.

5. The intelligent follow-up shooting pan-tilt according to claim 1, characterized in that: the edge of the outermost side of the bottom of the horizontal rotating base is provided with an annular clamping table, the edge of the top of the machine body base is provided with an annular clamping groove, and the annular clamping table can be clamped in the annular clamping groove and rotates along the annular clamping groove; an annular boss is arranged at the center of the bottom of the horizontal rotating base, and a bearing outer ring is clamped in a center hole of the annular boss; a base center boss is arranged at the center of the machine body base, and the bearing inner ring is clamped and fixed on the outer cylindrical surface of the base center boss; the upper end surface of a base center boss of the machine body base is coaxially and fixedly connected with a vertical shaft, a flat hole is formed in the center of the vertical shaft, and the flat shaft output end of the horizontal rotation driving motor is inserted and fixed in the flat hole.

6. The intelligent follow-up shooting pan-tilt according to claim 1, characterized in that: the novel multifunctional aircraft is characterized in that a nut capable of being connected with the expanded support is embedded in the center of the bottom of the aircraft body base, and a nut capable of being connected with the expanded support is embedded in the center of the clamping groove of the longitudinal rotating support.

7. The intelligent follow-up shooting pan-tilt according to claim 1, characterized in that: the control circuit board comprises an MCU, a power management module, an image processing module, a motor driving module and a Bluetooth module; the power management module is in communication connection with the MCU and is used for power supply control, startup and shutdown and charging; the camera is in communication connection with the MCU and the image processing module and is used for feeding back transmission coordinates of real-time images; the image processing module is in communication connection with the MCU and is used for processing and judging image data fed back by the camera; the motor driving module is in communication connection with the MCU, and the MCU sends data fed back by the image processing module to the motor driving module so as to control the horizontal rotation driving motor and the longitudinal rotation driving motor to rotate; the Bluetooth module is in communication connection with the MCU, is used for being externally connected with electronic equipment to form communication, and is used for stop-motion photographing, video recording, page turning up and down and volume increasing and decreasing.

8. A control method of an intelligent following shooting pan-tilt is characterized in that: the method comprises the following steps:

step 1: starting a power switch, supplying power to a system by a power management module, initializing a camera of a holder, and entering a working mode, wherein a visible picture of the camera is EFGH;

step 2: the camera feeds back an image in the visual picture to the image processing module, the image processing module performs meshing on the visual picture, determines the center of an captured object image ABCD as O, and establishes an initial point coordinate with the O as the center;

and step 3: the center of the image of the captured object is shifted from O to O¹In the process, the camera feeds back the position image of the object movement to the image processing module for analysis, and then calculates the OO (out of aperture) of the movement distance¹The MCU feeds back OO distance according to the graphic processing module¹And calculating the transverse displacement of the object to be O by the Pythagorean theorem¹I and the longitudinal displacement is OI;

and 4, step 4: the MCU records the moving time of the object when the object moves, and calculates the moving speed v of the object according to the moving distance of the object and the time required for the object to move to the distance;

and 5: MCU according to O¹The value of I and the moving speed v of the object can calculate the angle and the rotating speed of the horizontal rotating base which needs to be driven by the horizontal rotating driving motor to rotate in order to keep synchronous motion with the displacement of the object; the MCU can calculate the angle and the rotating speed of the longitudinal rotating support which needs to be driven by the longitudinal rotating driving motor to rotate in order to keep synchronous motion with the displacement of the object according to the numerical value of the OI and the moving speed v of the object;

step 6: the MCU feeds the calculated values back to the motor driving module, the motor driving module sends signals to the horizontal rotation driving motor and the longitudinal rotation driving motor, and the horizontal rotation driving motor and the longitudinal rotation driving motor are controlled to synchronously move, so that the real-time follow-up shooting function of the electronic equipment arranged in the clamping groove of the longitudinal rotation support is realized;

and 7: when the cradle head starts the automatic photographing function, firstly, the Bluetooth module needs to be started, and the cradle head is connected with the electronic equipment in a Bluetooth mode; and starting a camera of the electronic equipment, when an object to be captured moves to the range ABCD of the captured image and stays, the MCU starts timing, and when the object keeps a fixed frame and does not move for more than or equal to t seconds, the Bluetooth module of the holder sends an instruction to a shutter key of the electronic equipment, so that the automatic photographing function is realized.

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