CN112648477B - Automatic tracking cradle head support and tracking method thereof - Google Patents

Automatic tracking cradle head support and tracking method thereof Download PDF

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Publication number
CN112648477B
CN112648477B CN202010639227.6A CN202010639227A CN112648477B CN 112648477 B CN112648477 B CN 112648477B CN 202010639227 A CN202010639227 A CN 202010639227A CN 112648477 B CN112648477 B CN 112648477B
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China
Prior art keywords
tracking
holder
control system
base
assembly
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CN202010639227.6A
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CN112648477A (en
Inventor
陈荣鑫
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Shenzhen Xunshi Photoelectric Co ltd
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Shenzhen Xunshi Photoelectric Co ltd
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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
    • 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
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04M—TELEPHONIC COMMUNICATION
    • H04M1/00—Substation equipment, e.g. for use by subscribers
    • H04M1/02—Constructional features of telephone sets
    • H04M1/04—Supports for telephone transmitters or receivers

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Studio Devices (AREA)

Abstract

The invention discloses an automatic tracking holder and a tracking method thereof, wherein the holder comprises a base and a holder connected with the base, the base comprises a base body and a target recognition device positioned on the base body, and the target recognition device comprises a lens positioned on the periphery of the base body and a sensor positioned in the base body; the holder comprises a holder body and a holder assembly, the holder assembly is connected to the upper end of the holder body, and the mobile terminal is mounted on the holder assembly; a driving component and a control system are arranged inside the base/holder, and the lens, the sensor and the driving component are electrically connected with the control system; the driving component drives the holder body to rotate relative to the base, and the horizontal tracking range of the holder body is 0-180 degrees. The holder bracket has a simple structure, and can automatically track a target in real time.

Description

Automatic tracking cradle head support and tracking method thereof
Technical Field
The invention relates to the technical field of cloud platforms, in particular to an automatic tracking cloud platform support and a tracking method thereof.
Background
In recent years, live broadcast and self-shooting markets are gradually expanded, and various live broadcast supports and self-shooting sticks come into play; but current live broadcast support or from rapping bar's direction all is through manual installation adjustment, when the user takes place the position change, still needs manual angle of adjustment, otherwise can surpass and shoot the picture, all has very big limitation, unable automatic tracking shoots the thing, and turned angle receives the restriction, and is very inconvenient when autodyning and live broadcast, and consequently current support equipment can't fully satisfy people's user demand.
Although some support equipment capable of tracking also exist in the prior art, the device is complex to use, needs to perform face recognition through an earphone provided with a signal transmitter, is very inconvenient to use, can only perform face tracking in a small range, has great limitation, and cannot meet the use requirements of people.
Disclosure of Invention
In view of the above-mentioned deficiencies of the prior art, the present invention provides an automatic tracking cradle head support and a tracking method thereof.
The invention is realized by the following technical scheme.
An automatic tracking holder support comprises a base and a holder connected with the base, wherein the base comprises a base body and a target recognition device positioned on the base body, and the target recognition device comprises a lens positioned on the periphery of the base body and a sensor positioned in the base body; the cradle head comprises a cradle head body and a bracket assembly, the bracket assembly is connected to the upper end of the cradle head body, and the mobile terminal is installed on the bracket assembly; a driving assembly and a control system are arranged inside the base/holder, and the lens, the sensor and the driving assembly are electrically connected with the control system; the drive assembly drives the holder body to rotate relative to the base, the horizontal tracking range of the holder body is 0-180 degrees, because the target recognition device is arranged on the base body, namely after the holder support is installed, the base body cannot rotate, the target recognition device cannot rotate, the field range of the lens is 0-180 degrees, when the tracked target moves, the lens and the sensor transmit signals to the control system, the control system controls the drive assembly to drive the holder body to rotate, automatic tracking is realized, the tracked target is always kept in the range of the camera of equipment such as a mobile phone, the live broadcast or self-shooting is more convenient and intelligent, and meanwhile, the target recognition device can be a human face recognition device.
As a further improvement of the present invention, the driving assembly includes a driving motor and a transmission assembly located in the base body, the transmission assembly is respectively connected with the driving motor and the holder body, and the driving motor drives the holder body to rotate forward or backward through the transmission assembly.
As a further improvement of the invention, the transmission assembly comprises a bearing, a driving gear and a driven gear which are fixed on the upper end of the base body through a bearing cover, the driving gear is coaxially connected with a rotating shaft of the driving motor, the driving gear is meshed with the driven gear, a central shaft part of the driven gear is matched with an inner ring of the bearing, a boss which is matched with the inner ring of the bearing is arranged at the lower end of the holder body, the boss is fixedly connected with the inner ring of the bearing/the driven gear, and the driven gear drives the boss to rotate so as to further drive the whole holder body to rotate.
As a further improvement of the present invention, the control system includes a control button located at the periphery of the base body, and a battery assembly and a control board located in the base body, the control board is connected with the battery assembly, and the control button is connected with the control board.
As a further improvement of the present invention, the support assembly includes a support arm and a connecting plate, an upper end of the support arm is connected to the connecting plate, and a lower end of the support arm is connected to the holder body. The connecting plate is used for being connected with mobile terminal such as cell phone stand or cell-phone, and the connecting plate can rotate along with the cloud platform body, further drives mobile terminal such as cell-phone and rotates, realizes the automatic tracking to people or article.
As a further improvement of the present invention, the lower end of the support arm is connected to the pan/tilt head body through a first locking screw, the upper end surface of the pan/tilt head body is provided with a threaded hole and a positioning hole, the first locking screw passes through the lower end of the support portion and then is connected to the threaded hole, the lower surface of the lower end of the support arm is provided with a positioning pin corresponding to the positioning hole, the first locking screw realizes locking and fixing of the support arm and the pan/tilt head body, and the positioning pin and the positioning hole can ensure that the support assembly and the pan/tilt head body rotate integrally, and in other cases, the lower end of the support arm can also be integrally connected to the pan/tilt head body.
As a further improvement of the present invention, a connection hole is provided at an upper end of the support arm, the second locking screw passes through the connection hole and is connected to the connection plate, and the connection plate can rotate relative to the support arm, that is, the connection plate can rotate relative to the support arm with an axis of the second locking screw as an axis, so as to adjust an elevation angle of a terminal device such as a mobile phone.
As a further improvement of the present invention, an accommodating cavity is provided at one end of the connecting plate, a rotating motor is fixed in the accommodating cavity, a main shaft of the rotating motor is fixedly connected with the upper end of the supporting arm, the rotating motor is electrically connected with the control system, and the rotating motor can drive the connecting plate to rotate relative to the supporting arm, so as to adjust the elevation angle.
A tracking method of an automatically tracked pan-tilt support comprises the following steps:
a. acquiring data by using a dot-matrix surface sensor, pre-storing face data of a tracking target or an object model in other shapes, presetting a horizontal central point of the surface sensor as a fixed original point, and reserving anti-shaking regional allowance;
b. when the tracking target moves in the field of view of the lens and exceeds the margin of the area, the area sensor acquires data and then performs image recognition with prestored data to determine the position proportion of the tracking target corresponding to the central dot in the horizontal plane;
c. the area sensor transmits a signal to the control system, the control system calculates the proportion of the position of the tracking target in the total view field, calculates the horizontal rotation angle by combining the step number of the total stroke of the holder, and sends the signal to the driving motor;
d. the driving motor rotates for a certain angle under the control of the control system, and automatic tracking of a tracked target is realized.
A tracking method of an automatic tracking cradle head support comprises the following steps:
a. acquiring data by using a dot-matrix surface sensor, pre-storing face data of a tracking target or an object model in other shapes, presetting a central point of the surface sensor as a fixed original point, and reserving anti-shaking regional allowance;
b. when the tracking target moves in the field of view of the lens and exceeds the margin of the area, the area sensor acquires data and then performs image recognition with prestored data to respectively determine the position proportion of the tracking target on the horizontal plane and the vertical plane corresponding to the central dot;
c. the surface sensor transmits a signal to the control system, the control system calculates the proportion of the position of the tracking target in the total view field, and the horizontal adjustment angle and the elevation adjustment angle are respectively calculated by combining the step number of the total stroke of the holder;
d. the control system sends a signal to the driving motor to enable the driving motor to rotate to a horizontal adjusting angle, and the control system sends a signal to the rotating motor to enable the rotating motor to rotate to an elevation angle adjusting angle.
Compared with the prior art, the invention has the beneficial effects that: the base is provided with a target recognition device, the target recognition device can detect face data of a user or appearance parameters of objects in a lens field of view, the moving information of a target is transmitted to the control system, the control system analyzes and calculates the information, then the driving motor is controlled to rotate, the driving motor drives the holder to rotate through the driving gear and the driven gear, the holder can rotate according to the moving of the target, automatic tracking in the horizontal direction is achieved, the mounting plate can be provided with a camera, a mobile phone, a flat panel and other shooting equipment, the shooting equipment on the mounting plate also rotates along with the moving of the target along with the rotating of the holder, the shooting equipment fixed on the mounting plate is enabled to be right opposite to the target in real time, the shooting equipment is convenient to shoot and shoot, and the use is very convenient.
The mounting panel pass through the angle of elevation adjustment subassembly with the cloud platform is connected, the angle of elevation adjustment subassembly can be for rotating motor or locking screw, and when the ascending motion of vertical side appears at the target promptly, adjustment subassembly can drive the mounting panel rotates on vertical side, carries out the regulation of angle of elevation promptly, realizes following the target rotation in two directions and adjusts, and the design is more humanized, better serves in the user.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is an overall structural view of a first embodiment of the present invention;
FIG. 2 is a front view of the first embodiment of the present invention;
FIG. 3 is a view showing the internal structure of the base in accordance with the first embodiment of the present invention;
fig. 4 is a structural view of a holder body according to a first embodiment of the present invention;
FIG. 5 is an overall structural view of a second embodiment of the present invention;
fig. 6 is a view showing a configuration of a pan/tilt head according to a second embodiment of the present invention;
FIG. 7 is an exploded view of a bracket assembly according to a second embodiment of the present invention;
FIG. 8 is a structural view of a support arm according to a second embodiment of the present invention;
fig. 9 is a partial explosion structure view of a tripod head according to a third embodiment of the present invention;
FIG. 10 is a schematic diagram of a tracking method according to a first embodiment of the present invention;
fig. 11 is a schematic diagram of a tracking method according to a third embodiment of the present invention.
Detailed Description
The technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without any inventive step, are within the scope of the present invention.
The invention is described in further detail below by means of specific embodiments and with reference to the attached drawings.
The first embodiment:
an automatic tracking holder for a pan/tilt/zoom (PTZ) platform comprises a base 1 and a pan/tilt head 2 connected with the base 1, wherein the base 1 comprises a base body 11 and a target recognition device 12 positioned on the base body, and the target recognition device 12 comprises a lens 121 positioned on the periphery of the base body 11 and a sensor 122 positioned inside the base body 11; the holder 2 comprises a holder body 21 and a support assembly 22, the support assembly 22 is connected to the upper end of the holder body 21, and the mobile terminal is mounted on the support assembly 22; a driving assembly and a control system are arranged inside the base 1, and the lens 121, the sensor 122 and the driving assembly are all electrically connected with the control system; the driving assembly drives the holder body 21 to rotate relative to the base 1, the horizontal tracking range of the holder body 21 is 0-180 degrees, the target recognition device 12 is arranged on the base body 11, namely after the holder support is installed, the base body 11 cannot rotate, and the target recognition device 12 cannot rotate, so that the view field range of the lens 121 is 0-180 degrees, when the tracked target moves, the lens 121 and the sensor 122 transmit signals to the control system, the control system controls the driving assembly to drive the holder body 21 to rotate, automatic tracking is realized, the tracked target is always kept in the camera range of equipment such as a mobile phone and a camera, the live broadcast or self-shooting is more convenient and intelligent, and meanwhile, the target recognition device can be a human face recognition device.
The base 1 comprises a bottom plate and a shell, wherein the bottom plate is connected with the shell through a buckle and is positioned below the shell; the casing with be provided with between the bottom plate and hold control system and drive assembly's cavity, whole automatic tracking's cloud platform support can place base 1 on putting the thing mesa when using, also can set up standard screw socket in base 1's bottom, installs at live light filling lamp middle part through inserting the cooperation. In other cases, the drive assembly may also be arranged within the cavity of the head 2.
Drive assembly is including being located drive motor 111 and drive assembly in the base body 11, drive assembly respectively with drive motor 111 with cloud platform body 21 is connected, and drive motor 111 drives cloud platform body 21 through drive assembly and carries out forward or reverse rotation.
The driving assembly comprises a bearing 113 fixed at the upper end of the base body 11 through a bearing cover, a driving gear 114 and a driven gear 115, the driving gear 114 is coaxially connected with a rotating shaft of the driving motor 111, the driving gear 114 is engaged with the driven gear 115, a central shaft part of the driven gear 115 is in interference fit with an inner ring of the bearing 113, the driven gear 115 can drive the inner ring of the bearing 113 to rotate when rotating, a through hole matched with the bearing 113 is further arranged above the housing, namely the diameter of the through hole is slightly larger than that of the inner ring of the bearing 113, a boss 211 matched with the inner ring of the bearing 113 is arranged at the lower end of the holder body 21, the through hole extending into the upper part of the housing of the boss 211 is matched with the inner ring of the bearing 113, so that the driven gear 114 drives the boss 211 to rotate, and further drives the whole holder body 21 to rotate, in addition, a plug hole and a screw hole can be arranged on the lower surface of the shaft part of the boss 211, a plug shaft and a through hole matched with the screw hole matched with the plug shaft are arranged on the upper surface of the driven gear 115, and the plug shaft are connected and fixed through holes.
The holder body 21 comprises an upper end cover and a lower end cover; the upper end cover with the lower extreme cover passes through the buckle to be connected and the upper end cover with be provided with between the lower extreme cover and hold target identification device 12's cavity, specifically speaking, target identification device 12 is face identification device, boss 211 sets up on the lower extreme cover of cloud platform body 21.
The control system comprises a control key 31 positioned on the periphery of the base body 11, and a battery assembly 32 and a control panel 33 positioned in the base body 11, wherein the control panel 33 is connected with the battery assembly 32, and the control key 32 is connected with the control panel 33. The control panel is provided with a computing chip, the control key 31 is positioned in a front through hole of the shell of the base 1, the back of the base 1 is provided with a charging port, and the battery component 21 supplies power for the driving motor 111, the control panel 33 and the target recognition device 12.
The support assembly 22 includes a support arm 221 and a connection plate 222, an upper end of the support arm 221 is connected to the connection plate 222, and a lower end of the support arm 221 is connected to the holder body 21. The connecting plate 222 is used for being connected with a mobile terminal such as a mobile phone support or a mobile phone, the connecting plate 222 rotates along with the holder body 21, the lens 121 is located on the front face of the holder body 21, and the connecting plate 222 is also located on the front face of the holder body 21, so that when the lens 121 detects a face or an object of the object, the connecting plate 222 can be rotated to a position right opposite to the object. The target recognition device 12 performs real-time detection and automatic tracking.
In this embodiment, the supporting arm 221 is fixedly connected to the connecting plate 222, and the elevation angle of the connecting plate 222 is fixed, that is, the target can only be tracked in the horizontal plane, and the tracking method of the cradle head support for automatic tracking in this embodiment includes:
acquiring data by using a dot-matrix surface sensor 122, such as a COMS image sensor, pre-storing face data of a tracking target or an object model in other shapes, presetting a horizontal central point of the surface sensor 122 as a fixed origin, and reserving a monitoring anti-shaking regional allowance upwards in the horizontal direction X; when the tracked target moves beyond the allowance in the field range of the lens 121, the area sensor 122 collects data and then performs image recognition with prestored data to determine the position proportion of the tracked target corresponding to the central dot in the horizontal plane; the area sensor 122 transmits a signal to the control system, the control system calculates the proportion of the position f of the tracking target in the total view field 2 x (f + J), calculates the horizontal rotation angle by combining the step number of the total stroke of the holder, and sends the signal to the driving motor 111; the driving motor 111 rotates a certain angle under the control of the control system, and automatic tracking of a tracking target is realized. In the tracking algorithm, the angle of α can be calculated by using the fixed total view field angle γ and according to the position of the target on the sensor 122, and the rotation angle of the driving motor 111 can be controlled in an angle manner, so as to realize the automatic tracking function. This follower type is limited by the field width of the lens 121, and can realize automatic tracking of 180 degrees horizontally. Because the control direction is an angular direction vector, stepless position tracking can be realized.
Second embodiment:
the second embodiment differs from the first embodiment in the manner of connection between the support arm 221 and the connecting plate 222 and the pan/tilt head body 21, and the rest of the structure is identical.
The upper end and the lower tip of support arm 221 are round platform shape design, the lower tip round platform of support arm 221 pass through first locking screw 4 with cloud platform body 21 connects, the up end of cloud platform body 21 is equipped with screw hole 212 and locating hole 213, first locking screw 4 passes behind the through-hole on the tip round platform under the supporting part 211 with screw hole 212 is connected, be equipped with on the lower surface of the lower tip of support arm 221 with locating hole 213's the locating pin 223 that corresponds, first locking screw 4 realizes that the locking of support arm 221 and cloud platform body 21 is fixed, and support assembly 22 and the integrative rotation of cloud platform body 21 can be guaranteed to locating pin 223 and locating hole 213, under other circumstances, the lower extreme of support arm 221 also can be connected with cloud platform body 21 an organic whole, be equipped with anti-skidding groove on the first locking screw 4, convenience of customers locks.
Preferably, end surfaces (i.e., circular truncated cone portions) of the upper end portion and the lower end portion are perpendicular to each other, and the upper end portion and the lower end portion respectively form an angle of 45 ° with the support arm 221. The upper end and the lower end are perpendicular to each other, so that the base 1 and the connecting plate 222 are in a horizontal state, and the bracket assembly 22 has a reasonable structure and is not easy to tip over.
In the second embodiment, a circular truncated cone at the upper end of the supporting arm 221 is provided with a connecting hole, the second locking screw 5 passes through the connecting hole to be connected with the connecting plate 222, and the connecting plate 222 can rotate relative to the supporting arm 221, that is, the connecting plate 222 can rotate relative to the supporting arm 221 with the axis of the second locking screw 5 as an axis, so that the adjustment of the elevation angle of the terminal device such as a mobile phone is realized, the range of the rotation angle set in the vertical direction is 0-60 °, but the adjustment of the elevation angle can only be manually adjusted, and automatic tracking cannot be realized in the vertical direction. Therefore, the tracking method of the pan/tilt/support stand for automatic tracking of the present embodiment is the same as that of the first embodiment.
The third embodiment:
the third embodiment is different from the first embodiment in the connection manner between the support arm 221 and the connection plate 222, and the rest of the structure is the same.
An accommodating cavity 224 is formed in one end of the connecting plate 222, a rotating motor 225 is fixed in the accommodating cavity 224, a spindle of the rotating motor 225 is fixedly connected with the upper end of the supporting arm 221, the rotating motor 225 is electrically connected with the control system, and the rotating motor 225 can drive the connecting plate 222 to rotate relative to the supporting arm 221 to adjust the elevation angle.
In this embodiment, the supporting arm 221 is rotatably connected to the connecting plate 222 through the rotating motor 225, and the elevation angle of the connecting plate 222 can also be automatically adjusted, that is, the pan/tilt head 2 can track the target in the horizontal and vertical planes, and the tracking method of the pan/tilt head support for automatic tracking in this embodiment is as follows:
data are collected by using a dot matrix type surface sensor 122, such as a COMS image sensor, face data of a tracked target or an object model with other shapes are prestored, the central point of the surface sensor 122 is preset as a fixed origin, and a monitoring anti-shaking area allowance is reserved in a central area XY; when the tracking target moves and appears in the field of view of the lens 121, the area sensor 122 acquires data and then performs image recognition with prestored data to respectively determine a direction vector f of the tracking target deviating in the horizontal X direction and a direction vector e of the tracking target deviating in the vertical Y direction, namely, a position proportion of a corresponding central dot; the surface sensor 122 transmits the signal to the control system, the control system respectively calculates the proportion of the position of the tracking target in the total field of view 2X (f + J) in the X direction and 2X (e + k) in the total field of view in the Y direction, and respectively calculates the horizontal adjustment angle and the elevation adjustment angle by combining the step number of the total stroke of the holder; the control system sends a signal to the driving motor to enable the driving motor to rotate to a horizontal adjusting angle, and the control system sends a signal to the rotating motor to enable the rotating motor to rotate to an elevation angle adjusting angle. In the tracking algorithm, the angle of alpha and the angle of vertical total view field gamma can be calculated by using a fixed horizontal total view field angle beta according to the position of the target on the sensor, and the vertical offset angle can be calculated in the same way. The rotation angles of the driving motor 111 and the rotating motor 225 are controlled in an angle mode, and the automatic tracking function in two directions is realized.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention.

Claims (9)

1. The utility model provides an automatic cloud platform support of tracking, including the base, with the cloud platform that the base is connected, its characterized in that: the base comprises a base body and a target recognition device positioned on the base body, wherein the target recognition device comprises a lens positioned on the periphery of the base body and a sensor positioned in the base body; the sensor is a dot-matrix surface sensor, human face data of a tracking target or an object model in other shapes is prestored, the central point of the surface sensor is preset as a fixed original point, and anti-shaking area allowance is reserved; the cradle head comprises a cradle head body and a support assembly, the support assembly is connected to the upper end of the cradle head body, the mobile terminal is installed on the support assembly, the support assembly comprises a support arm and a connecting plate, the upper end of the support arm is connected with the connecting plate, and the lower end of the support arm is connected with the cradle head body; a driving assembly and a control system are arranged in the base/holder, the lens, the sensor and the driving assembly are electrically connected with the control system, the area sensor transmits signals to the control system, and the control system calculates the proportion of the position of a tracking target in a total view field and calculates a rotation angle; the driving assembly receives the signal of the control system and drives the holder body to rotate relative to the base, and the horizontal tracking range of the holder body is 0-180 degrees.
2. The automatically tracking pan-tilt stand of claim 1, wherein: the driving assembly comprises a driving motor and a transmission assembly, the driving motor and the transmission assembly are located in the base body, and the transmission assembly is connected with the driving motor and the holder body respectively.
3. The automatically tracking pan-tilt stand of claim 2, wherein: the transmission assembly comprises a bearing, a driving gear and a driven gear, wherein the bearing, the driving gear and the driven gear are fixed at the upper end of the base body through a bearing cover, the driving gear is coaxially connected with a rotating shaft of the driving motor, the driving gear is meshed with the driven gear, a central shaft part of the driven gear is matched with an inner ring of the bearing, a boss matched with the inner ring of the bearing is arranged at the lower end of the holder body, and the boss is fixedly connected with the inner ring of the bearing/the driven gear.
4. An automatically tracking pan-tilt stand according to any one of claims 1-3, characterized in that: the control system comprises a control key positioned on the periphery of the base body, a battery assembly and a control panel, wherein the battery assembly and the control panel are positioned in the base body, the control panel is connected with the battery assembly, and the control key is connected with the control panel.
5. The automatically tracking pan-tilt stand of claim 1, wherein: the lower tip of support arm pass through first locking screw with this body coupling of cloud platform, the up end of cloud platform body is equipped with screw hole and locating hole, first locking screw pass behind the lower tip of support arm with the screw hole is connected, be equipped with on the lower surface of the lower tip of support arm with the locating pin that the locating hole corresponds.
6. The automatically tracking pan-tilt stand of claim 5, wherein: the upper end of support arm is equipped with the connecting hole, the second locking screw pass through the connecting hole with the connecting plate is connected, the connecting plate can be relative the support arm rotates.
7. The automatically tracking pan-tilt stand of claim 5, wherein: one end of the connecting plate is provided with a containing cavity, a rotating motor is fixed in the containing cavity, a main shaft of the rotating motor is fixedly connected with the upper end part of the supporting arm, and the rotating motor is electrically connected with the control system.
8. A method of tracking an automatically tracked pan-tilt-support according to any one of claims 1-6, characterized in that: a. collecting data by using a dot matrix type surface sensor; b. when the tracking target moves beyond the margin of the area in the field of view of the lens, the area sensor acquires data and then performs image recognition with prestored data to determine the position proportion of the tracking target corresponding to the central dot in the horizontal plane; c. the area sensor transmits a signal to the control system, the control system calculates the proportion of the position of the tracking target in the total view field, calculates the horizontal rotation angle by combining the step number of the total stroke of the holder, and sends the signal to the driving motor; d. the driving motor rotates for a certain angle under the control of the control system to drive the holder to rotate so as to realize automatic tracking of a tracked target.
9. A tracking method of an automatically tracked pan-tilt support according to claim 7, characterized in that: a. collecting data by using a dot matrix type surface sensor; b. when the tracking target moves in the field of view of the lens and exceeds the regional allowance, the area sensor acquires data and then performs image recognition with prestored data to respectively determine the position proportion of the tracking target in the horizontal and vertical upward corresponding central dots; c. the surface sensor transmits a signal to the control system, the control system calculates the proportion of the position of the tracking target in the total view field, and the horizontal adjustment angle and the elevation adjustment angle are respectively calculated by combining the step number of the total stroke of the holder; d. the control system sends a signal to the driving motor to enable the driving motor to rotate to drive the holder to rotate to a horizontal adjusting angle, and the control system sends a signal to the rotating motor to enable the rotating motor to rotate to an elevation angle adjusting angle.
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