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

Intelligent following shooting pan-tilt and control method Download PDF

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Publication number
CN111928080A
CN111928080A CN202010958133.5A CN202010958133A CN111928080A CN 111928080 A CN111928080 A CN 111928080A CN 202010958133 A CN202010958133 A CN 202010958133A CN 111928080 A CN111928080 A CN 111928080A
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CN
China
Prior art keywords
base
horizontal rotating
horizontal
longitudinal
mcu
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Pending
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CN202010958133.5A
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Chinese (zh)
Inventor
胡琪
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Shenzhen Zhongzhi Innovation Technology Co ltd
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Shenzhen Zhongzhi Innovation Technology Co ltd
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Priority to CN202010958133.5A priority Critical patent/CN111928080A/en
Publication of CN111928080A publication Critical patent/CN111928080A/en
Pending legal-status Critical Current

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/08—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a vertical axis, e.g. panoramic heads
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules

Abstract

The invention relates to an intelligent following shooting pan-tilt, which comprises a body base, a horizontal rotating shell, a longitudinal rotating support and a camera, wherein the body base is provided with a horizontal rotating shaft; the horizontal rotating base and the machine body base form coaxial line rotating connection; 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. The invention realizes real-time object following, face following, motion control and the like, and solves the problems that a user can perform panoramic video, video recording, photographing and live broadcasting by one person and liberates the hands of the user.

Description

Intelligent following shooting pan-tilt and control method
Technical Field
The invention relates to the technical field of intelligent communication, in particular to an intelligent following shooting pan-tilt and a control method.
Background
With the rapid development of mobile communication technology, the fifth generation digital communication (5G) era begins to popularize, mobile terminals have become necessities of people in daily life, people increasingly have deeper dependence on electronic products such as mobile phones, such as live broadcast, small screen refreshing, photographing, video recording and the like, in order to ensure the perfection of videos in the operation processes of live broadcast, video recording and the like, the series of operations can be carried out only by manual hand-held operation, or can be carried out only by finding people to take photos with help, and the complete release of both hands in scenes is difficult to achieve, particularly outgoing photographing, outdoor live broadcast, video recording and the like, which is a problem to be solved.
Disclosure of Invention
The invention aims to solve the technical problem of providing an intelligent following shooting pan-tilt and a control method thereof, which can be conveniently placed in different places, capture pictures through a camera of the equipment, drive video recording or playing equipment installed on the equipment to synchronously adjust an angle, always enable the equipment to follow shot people or keep the video playing equipment in the visual field range of a viewer, and achieve the optimal angle.
In order to solve the technical problem, the invention is realized as follows: the invention relates to an intelligent following shooting cloud deck which comprises a machine body base, a horizontal rotating shell, a longitudinal rotating support and a camera, wherein the machine body base is provided with a horizontal rotating shell; 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.
Preferably, one end of the transverse 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 inserted manner.
Preferably, the middle position of the clamping groove is detachably and fixedly connected with a fixed support.
Preferably, 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.
Preferably, the outermost edge of the bottom of the horizontal rotating base is provided with an annular clamping table, the top edge 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.
Preferably, a nut capable of being connected with the expanded support is embedded in the center of the bottom of the machine 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.
Preferably, 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.
The control method of the invention 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.
The invention has the following positive effects: the invention relates to an intelligent following shooting pan-tilt and a control method thereof, which realize real-time object following, face following, motion control and the like, and solve the problems that a user can perform panoramic video, video recording, shooting and live broadcasting by one person, liberate the two hands of the user and keep C-position at the moment.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of the present invention;
FIG. 3 is a schematic view of an exploded structure of the present invention;
FIG. 4 is a schematic view of an exploded structure of the present invention;
FIG. 5 is a schematic structural view of the present invention;
FIG. 6 is a schematic view of the structure of the fuselage base;
FIG. 7 is a schematic view of the control system of the present invention;
FIG. 8 is a schematic view of a camera capturing a picture;
fig. 9 is a schematic diagram of a camera capturing picture after the object moves.
In the figure, a vertical rotating bracket 1, a horizontal rotating shell 2, a horizontal rotating base 3, a machine body base 4, a camera 5, a fixed bracket 6, a clamping groove 7, a horizontal shaft 8, a support 9, a vertical rotating driving motor 10, a power switch 11, a horizontal rotating driving motor 12, a charging port 13, a bottom supporting leg 14, an annular clamping table 15, a vertical shaft 16, an annular clamping groove 17, a flat shaft output end 18, a bearing 19, a base center boss 20 and a battery 21 are arranged.
Detailed Description
As shown in fig. 1 to 6, the intelligent following shooting pan-tilt of the present invention comprises a body base 4, a horizontal rotating base 3, a horizontal rotating shell 2, a longitudinal rotating support 1 and a camera 5; the horizontal rotating base 3 and the machine body base 4 form coaxial line rotating connection, a horizontal rotating driving motor 12 is fixedly connected to the horizontal rotating base 3, and a flat shaft output end 18 of the horizontal rotating driving motor 12 is arranged in the vertical direction and is fixedly inserted into the center of the machine body base 4; a longitudinal rotation driving motor 10 is fixedly connected to the horizontal rotation base 3, a power output end of the horizontal rotation driving motor is transversely and fixedly connected with a transverse shaft 8, and the transverse shaft 8 is fixed with a longitudinal rotation support 1 with a spherical surface through an upright post; a clamping groove 7 is formed in the central plane of the spherical outer surface of the longitudinal rotating bracket 1; the battery 21 and the control circuit board are fixedly connected to the horizontal rotating base 3, and the front end of the horizontal rotating base 3 is provided with the camera 5; the horizontal rotating shell 2 is fastened and fixed at the upper end of the horizontal rotating base 3, the top of the horizontal rotating base is provided with a hole, and the spherical outer surface of the longitudinal rotating support 1 is positioned at the inner side of the hole at the top of the horizontal rotating shell 2.
Specifically, one end of the transverse shaft 8, which is far away from the power output end of the longitudinal rotation driving motor 10, is rotatably connected with a support 9, and the support 9 is fixedly inserted on the horizontal rotation base 3.
Specifically, the middle position of the clamping groove 7 is detachably and fixedly connected with a fixed support 6.
Specifically, a power switch 11 and a charging port 13 are arranged behind the horizontal rotating base 3; the bottom of the body mount 4 is fixedly connected with a bottom foot 14 for preventing the body mount from rotating.
Specifically, an annular clamping table 15 is arranged at the outermost side edge of the bottom of the horizontal rotating base 3, an annular clamping groove 17 is arranged at the top edge of the machine body base 4, and the annular clamping table 15 can be clamped in the annular clamping groove 17 and rotates along the annular clamping groove 17; an annular boss is arranged at the center of the bottom of the horizontal rotating base 3, and the outer ring of the bearing 19 is clamped in the center hole of the annular boss; a base center boss 20 is arranged at the center of the machine body base 4, and an inner ring of the bearing 19 is clamped and fixed on the outer cylindrical surface of the base center boss 20; the upper end surface of a base center boss 20 of the machine body base 4 is coaxially and fixedly connected with a vertical shaft 16, a flat hole is formed in the center of the vertical shaft 16, and a flat shaft output end 18 of the horizontal rotation driving motor 12 is inserted and fixed in the flat hole.
Specifically, a nut which can be connected with an expanded support is embedded in the center of the bottom of the machine body base 4, and a nut which can be connected with the expanded support is embedded in the center of the clamping groove 7 of the longitudinal rotating support 1.
Specifically, as shown in fig. 7, the control circuit board includes 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 5 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 5; 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 12 and the longitudinal rotation driving motor 10 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.
As shown in fig. 8 and 9, the working process of the present invention is:
the power switch 11 is started, the power management module supplies power to the system, the camera 5 of the holder enters a working mode after initialization, and a visible picture of the camera 5 is EFGH.
The camera 5 feeds back the image in the visual picture to the image processing module, the image processing module performs meshing on the visual picture, determines the center of the captured object image ABCD as O, and establishes the initial point coordinate with the O as the center.
The center of the image of the captured object is shifted from O to O1When (at this time the object moves to A)1B1C1D1Position), the camera feeds back the position image of the object movement to the image processing module for analysis, and then calculates the movement distance OO1The 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; MCU records object movement when object movesThe moving time, namely calculating 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; 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; 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 move synchronously, so that the real-time follow-up shooting function of the electronic equipment installed in the clamping groove of the longitudinal rotation support is realized.
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, starting timing by the MCU, and when the object keeps a fixed frame and does not move for more than or equal to 5 seconds (the set value can be modified as required), the Bluetooth module of the holder can issue an instruction to a shutter key of the electronic equipment to realize the automatic photographing function.
The foregoing is only illustrative of some functional and structural principles of an intelligent tracking shooting pan-tilt related to the present invention, and since it will be easy for those skilled in the art to make several modifications on the basis, the present specification does not intend to limit the intelligent tracking shooting pan-tilt to the specific mechanisms and applications illustrated or described, and therefore all the modifications and equivalents that may be utilized are within the scope of the present invention.
The embodiments described by referring to the drawings are exemplary and intended to be used for explaining the present application and are not to be construed as limiting the present application. In the description of the present 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", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on the orientations and positional relationships shown in the drawings, merely for convenience in describing the present application and for simplicity in description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be considered as limiting the present application. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise. In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral connections; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate. In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. The first feature being "under," "below," and "beneath" the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is at a lesser level 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.
CN202010958133.5A 2020-09-14 2020-09-14 Intelligent following shooting pan-tilt and control method Pending CN111928080A (en)

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Application Number Priority Date Filing Date Title
CN202010958133.5A CN111928080A (en) 2020-09-14 2020-09-14 Intelligent following shooting pan-tilt and control method

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Application Number Priority Date Filing Date Title
CN202010958133.5A CN111928080A (en) 2020-09-14 2020-09-14 Intelligent following shooting pan-tilt and control method

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CN111928080A true CN111928080A (en) 2020-11-13

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113055514A (en) * 2021-02-07 2021-06-29 深圳市慧眼视讯电子有限公司 Human body following cradle head and control method thereof
WO2022160868A1 (en) * 2021-01-27 2022-08-04 浙江凡后科技有限公司 Intelligent gimbal

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022160868A1 (en) * 2021-01-27 2022-08-04 浙江凡后科技有限公司 Intelligent gimbal
CN113055514A (en) * 2021-02-07 2021-06-29 深圳市慧眼视讯电子有限公司 Human body following cradle head and control method thereof

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