KR101850535B1 - System and method for picture taking based on UWB wireless communication - Google Patents

Abstract

The image photographing apparatus interlocked with the tag apparatus receives the subject position information from the tag apparatus and calculates the motor control value for controlling the movement of the motor mounted on the image camera based on the subject position information. A control signal is transmitted to the motor so that the motor operates based on the motor control value. The image camera captures an object, and the tag device attaches to the object and calculates the object position information based on a signal transmitted from the signal transmission apparatus.

Description

TECHNICAL FIELD [0001] The present invention relates to a UWB wireless communication system,

The present invention relates to an ultra wideband wireless communication based imaging system and method of operation.

Due to the development of smart devices and social networks, the culture of uploading and sharing UCC (User Created Contents) which are one-person lectures or performances such as YouTube (Youtube) and blogs is spreading rapidly. In this case, when users take a picture of the image contents alone, there is a limit to photographing a desired image without confirming the position of the subject and using an assistant force to photograph the image.

In order to overcome these limitations, it is required to develop a device capable of following a subject automatically, tracking the subject automatically, and capturing an image of the subject.

Accordingly, the present invention provides an ultra-wideband wireless communication-based image capturing system and an operation method capable of automatically capturing an image of a subject alone by tracking a subject automatically.

According to another aspect of the present invention, there is provided a method of operating a photographing apparatus,

Receiving subject position information from the tag device; Calculating a motor control value for controlling the movement of the motor mounted on the image camera based on the subject position information; And transmitting a control signal to the motor so that the motor is operated on the basis of the motor control value, wherein the image camera photographs the subject, the tag device is attached to the subject, 1 signal transmitting apparatus and the signal transmitted from the second signal transmitting apparatus.

Wherein the step of calculating the control value comprises: calculating a first motor control value for moving the image camera in a first direction based on the subject position information; Calculating a second motor control value for moving the image camera in a second direction; And controlling the motor to move the image camera in at least one direction of the first direction or the second direction based on the calculated first motor control value and the second motor control value.

Wherein the subject position information is calculated on the basis of a distance between each signal transmitting apparatus and the tag apparatus, and the distance is calculated based on either the arrival time or the arrival angle of a transmission signal transmitted from the first signal transmitting apparatus and the second sending apparatus Can be calculated.

Wherein the first signal transmitting apparatus is installed in a peripheral object of the subject, the second signal transmitting apparatus is provided adjacent to the image capturing apparatus, and the subject position information is transmitted from the first signal transmitting apparatus Calculating a first distance between the tag device and the first signal transmitting device based on any one of an arrival time or an arrival angle of the sending signal and calculating an arrival time or arrival angle of the sending signal transmitted from the second signal sending device A second distance between the tag device and the image photographing device is calculated based on the first distance and the second distance, and the positional coordinates of the subject can be grasped by triangulating the first distance and the second distance.

According to another aspect of the present invention, there is provided a system for capturing an image of a subject,

At least one signal transmitting apparatus for transmitting a signal; And a tag device for confirming the position of the subject of the subject based on a signal transmitted from the signal transmission device, wherein the tag device comprises: a processor for checking the position of the subject based on the transmission signal; And a communication interface for receiving the transmission signal and transmitting the position of the subject to the image photographing device so as to photograph the subject based on the position of the subject, and the communication interface is connected to the signal transmission device and the UWB Communication.

The system may further include a sensor for collecting sensing information about the object.

The signal transmitting apparatus includes: a processor for transmitting a signal to the tag apparatus; And a power supply unit for supplying power to the processor.

The image capturing apparatus includes: a main body for storing a video camera; At least one motor for controlling movement of the main body; A memory for storing a program; And a processor for executing the program in cooperation with the motor and the memory, wherein the processor is configured to receive the position of the subject calculated by the tag device, to control the motor based on the received position of the subject, Can be calculated.

According to another aspect of the present invention, there is provided a system for capturing an image of a subject,

A main body mounted on an image camera for capturing an image and moving based on a control signal; A first processor for controlling the body to control the position of the image camera; And a second processor mounted on a tag device attached to a subject and calculating a position of the subject of the subject, wherein the second processor checks the position of the subject based on a transmission signal transmitted by at least one of the signal transmission devices , The first processor generates a control signal for controlling the movement of the main body based on the position of the subject transferred from the second processor.

Wherein the tag device further comprises a sensor for collecting sensing information about a subject and the second processor confirms moving direction information and moving speed information of the subject of the subject based on the sensing information, And the moving speed information may be included in the subject position information.

According to the present invention, it is possible to easily capture an image of a subject alone by tracking a subject, which is a subject who intends to generate image content, without using auxiliary photographing personnel, using a position tracking technique based on UWB wireless communication technology.

FIG. 1 is an exemplary diagram illustrating an environment in which an image capturing system according to an embodiment of the present invention is applied.
2 is a structural view of a video photographing apparatus according to an embodiment of the present invention.
3 is a structural diagram of a signal transmission apparatus according to an embodiment of the present invention.
4 is a structural view of a tag device according to an embodiment of the present invention.
5 is a flowchart illustrating a method of photographing an image according to an embodiment of the present invention.
6 is an exemplary view of an additional installation of the image capturing system according to the embodiment of the present invention.
7 is an exemplary diagram of a video imaging system according to an embodiment of the present invention.
8 is an exemplary diagram for calculating a motor control value according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and similar parts are denoted by like reference characters throughout the specification.

Throughout the specification, when an element is referred to as "comprising ", it means that it can include other elements as well, without excluding other elements unless specifically stated otherwise.

Hereinafter, an image capturing system and method using ultra-wideband wireless communication based location tracking according to an embodiment of the present invention will be described with reference to the drawings.

FIG. 1 is an exemplary diagram illustrating an environment in which an image capturing system according to an embodiment of the present invention is applied.

As shown in FIG. 1, the image capturing system includes a position tracking device 10 for tracking the position of a subject through UWB wireless communication, an image capturing device 10 for capturing an image of the subject based on position information of the subject tracked by the position tracking device 10, And an image capturing device 300 for capturing an image. The position tracking device 10 includes a tag device 200 (also referred to as a " tag ") carried by a subject and a tag device 200 attached to a peripheral object of the subject so that the tag device 200 can track its position And at least one first signal transmitting apparatus 100-1 to 100-4. In the embodiment of the present invention, the tag apparatus 200 and one or more first signal transmitting apparatuses 100-1 to 100-4 can perform ultra wide band (UWB) communication. The wireless communication scheme may be varied in design, but an embodiment of the present invention will be described by taking UWB communication as an example.

One or more first signal transmitting apparatuses 100-1 to 100-4 are provided at arbitrary positions previously set in an object (for example, a column, a wall, a ceiling, etc.) around the subject. Also, at least one second signal transmitting apparatus 100-5 is installed at a position where the image capturing apparatus 300 is located. In the embodiment of the present invention, only one signal transmitting apparatus is shown for convenience of explanation. The second signal transmitting apparatus 100-5 installed at the position of the image capturing apparatus 300 can also perform UWB communication with the tag apparatus 200 and can transmit the UWB image data to the image capturing apparatus 100-5 based on the second signal transmitting apparatus 100-5, It is possible to grasp the position information of the mobile terminal 300.

The signal transmitting apparatus 100 including the first signal transmitting apparatuses 100-1 to 100-4 and the second signal transmitting apparatus 100-5 transmits a wireless signal to the tag apparatus 200 carried by the object . The communication distance between the signal transmitting apparatus 100 and the tag apparatus 200 is 200 to 300 m, and the error range is 2 cm.

Depending on the number of the signal transmission apparatuses 100 installed, the tag apparatus 200 can calculate not only the 2D coordinates of the object and the image pickup apparatus 300, but also the 3D coordinates. Since the tag device 200 can calculate the 2D coordinates or the 3D coordinates by various methods, the present invention is not limited to any one method. However, for convenience of explanation, do.

The configuration and the transmission method of the signal transmission apparatus 100 for transmitting signals are already known, and a detailed description thereof will be omitted in the embodiment of the present invention. In addition, the signal transmitting apparatus 100 may be installed at various positions according to the system design, and thus is not limited to any one position.

In the tag device 200, tag device identification information is set. In order to receive a signal output from the signal transmitting apparatus 100 through the UWB wireless communication with the signal transmitting apparatus 100, the tag apparatus 200 includes a communication module.

Based on the received signal, the tag apparatus 200 calculates the position coordinates of the subject and the position of the image capturing apparatus 300, and calculates the position coordinates of the tag apparatus 200 and the coordinates of the image capturing apparatus To the image capturing apparatus 300 as location information including the location information. Here, since the tag device 200 has a subject, the position of the tag device 200 can be regarded as the position of the subject.

At this time, the tag device 200 further includes various sensors such as a gyro sensor, an acceleration sensor, and a direction sensor. Therefore, not only the position coordinates of the subject holding the tag device 200 but also the motion angle, acceleration, and direction of the subject are provided to the image capturing apparatus 300 as position information of the subject.

The image capturing apparatus 300 is connected to the image capturing apparatus 300 on the basis of the position information of the tag apparatus 200 received from the tag apparatus 200 via wireless communication, that is, And controls the position of the video camera 320. And captures an image of a subject holding the tag device 200 at a controlled position. To this end, the image capturing apparatus 300 is embodied such that a video camera 320 (for example, a smart phone or a small camera) capable of capturing an image of a subject can be mounted on the body 310. The main body 310 includes a motor for controlling the position of the video camera 320. [

The application or software of the present invention includes instructions for performing the operations described with reference to the drawings in the present invention. The memory stores instructions for executing the application of the present invention, or temporarily stores instructions by loading the instructions from the storage device. The processor executes the instructions of the present invention by executing instructions stored in memory or loaded.

In this environment, the structure of the image capturing apparatus 300 for capturing an image of a subject will be described with reference to FIG.

2 is a structural view of a video photographing apparatus according to an embodiment of the present invention.

2, the image capturing apparatus 300 includes a main body 310 and an image camera 320 mounted on the main body 310. As shown in FIG. In the embodiment of the present invention, the image capturing apparatus 300 includes only the main body 310 for convenience of explanation.

The main body 310 includes a processor 311, a communication interface 312, a memory 313, a motor 314 and a power supply unit 315.

The processor 311 receives the positional information transmitted from the tag device 200 via the communication interface 312. The position information includes identification information of the tag device 200, position coordinates of the tag device, distance d between the image camera 320 and the subject, angle (?) Information, and the like. The positional coordinates of the subject and the positional coordinates of the image capturing device are determined in accordance with the number of the signal transmitting apparatuses 100 in two dimensions (x-coordinate And y coordinates), or may include position coordinates of three dimensions (x coordinate, y coordinate, z coordinate).

The processor 311 calculates the motor control value of the motor for rotating the position of the image camera 320 based on the position coordinates of the subject and the distance d and angle information between the subject and the subject. Here, the motor control value includes a first motor control value for moving the image camera 320 up and down, and a second motor control value for moving the image camera 320 to the left and right. The method of calculating the motor control value based on the positional coordinates of the subject can be calculated by various methods, so that the detailed description is omitted in the embodiment of the present invention. And transmits a control signal generated based on the calculated motor control value to the motor 314.

Here, the processor 311 obtains the positional coordinates of the subject based on the radio signal arrival time or the radio signal arrival angle for the radio signal between the signal transmitting apparatus 100 and the tag apparatus 200. To this end, at least one second signal transmitting apparatus 100-5 is installed at a position of the image capturing apparatus 300 on which the image camera 320 is mounted, and one or more first signal transmitting apparatuses 100-1 to 100- -4 are provided at predetermined positions on an object (for example, a column, a wall, a ceiling, etc.) in the vicinity of the subject.

The processor 311 can calculate the coordinates of the tag device 200 of the subject through the subject position information confirmed by the one or more first signal transmitting devices 100-1 to 100-4. In addition, the positional coordinates of the image capturing apparatus can be obtained based on the position information of the image camera 320 confirmed by the second signal transmitting apparatus 100-5. The distance and angle between the tag apparatus 200 and the image photographing apparatus 300 on which the image camera 320 is mounted can be calculated through the coordinates of the image capturing apparatus and the coordinates of the object position of the tag apparatus 200. [

Based on the distance and angle information thus calculated, the processor 311 generates a motor control signal for controlling the motor 314. The processor 311 controls the tag device 200 to calculate a first motor control value for moving the image pickup device 300 up and down and a second motor control value for moving the image pickup device 300 to the left and right, And the position coordinates of the image photographing apparatus can be calculated by various methods.

The motor 314 moves the image camera 320 mounted on the main body 310 by a control signal from the processor 311 according to a PID (Proportional Integral Derivative) control technique. When the speed information is inputted by the remote user, the motor 314 can move the image photographing apparatus 300 according to the input speed information.

Here, the motor 314 is implemented as a step motor so as to move the image camera 320 up and down and left and right by rotating the image camera 320 together with the drive shaft in the motor at a preset angle or step As an example. A tilt step motor (hereinafter referred to as a "first motor") capable of moving the video camera 320 in a first direction (up or down or vertical) and a video camera 320 in a second direction (Hereinafter referred to as " second motor ") capable of moving by a motor.

In the present invention, two motors (first motor and second motor) are separately implemented in the image pickup apparatus 300, respectively, but they are replaced with a single motor capable of performing both functions of the two motors It is possible.

 The processor 311, the motor 314, and the image camera 320 are powered by the power supply 315. In the embodiment of the present invention, the power supply unit 315 includes a constant power supply that always supplies power through a micro USB or an adapter, and a battery power supply that supplies power when the power is always turned off through the battery. As an example. In this case, the battery power source includes a booster circuit capable of supplying a 5V power source, and the power supply unit 315 may be configured in various ways, so that it is not limited to any one form.

The video camera 320 captures an image of a subject. The image camera 320 is interlocked with the motor 314, and the position of the image camera 320 is moved up, down, left, and right based on the control by the motor 314. The image of the subject is stored in the memory 313. The memory 313 stores instructions for executing the application of the present invention, or temporarily stores an instruction from the storage device. The processor executes the instructions of the present invention by executing instructions stored in memory or loaded.

On the other hand, a tag apparatus 200 for providing subject position information to the image capturing apparatus 300 and a signal transmitting apparatus 100 for transmitting a signal for calculating the position of the subject of the tag apparatus 200 are shown in Figs. 3 and 4 .

FIG. 3 is a structural diagram of a signal transmission apparatus according to an embodiment of the present invention, and FIG. 4 is a structural diagram of a tag apparatus according to an embodiment of the present invention.

As shown in FIG. 3, the signal transmitting apparatus 100 includes a power supply unit 110 and a processor 120. 4, the tag device 200 includes a processor 210, a communication interface 220, a memory 230, and a sensor 240. [

First, the processor 120 of the signal transmitting apparatus 100 including the first signal transmitting apparatuses 100-1 to 100-4 and the second signal transmitting apparatus 100-5 is provided from the power providing unit 110 And generates a signal to be transmitted to the tag device 200. [ The method by which the processor 120 generates a signal for transmitting to the tag device 200 can be performed by various methods, and therefore, the present invention is not limited to any one method. Also, the form of the generated signal is not limited to any one form.

The processor 120 transmits the generated signal. At this time, the signal is transmitted to the tag device 200 through the UWB wireless communication, and the signal is transmitted according to a preset cycle. Here, the preset period is not limited to any one period.

The processor 210 of the tag device 200 receives the signal from the signal transmission device 100 and generates position information of the subject by calculating the position coordinates of the subject and the positional coordinates of the image photographing device, The synchronization between the tag device 200 and the signal transmission device 100 is started when the RFID tag 200 is positioned on the front side of the video camera 320. Here, the synchronization start time is described as an example in which synchronization is started by an external input, but it is not necessarily limited thereto.

The processor 210 receives a signal transmitted in a predetermined cycle from the plurality of signal transmitting apparatuses 100. [ Sensing information of a subject collected through various types of sensors 240 (for example, a gyro sensor, an acceleration sensor, a direction sensor, etc.) included in the tag device 200 is also collected.

The processor 210 determines the first distance between the tag device 200 and the first signal transmission devices 100-1 to 100-4 based on the signal received from the first signal transmission devices 100-1 to 100-4, . At the same time, the processor 210 calculates the second distance between the tag device 200 and the second signal transmission apparatus 100-5 based on the signal received from the second signal transmission apparatus 100-5. The processor 210 calculates the distance between the tag apparatus 200 and the signal transmission apparatus 100 and the distance between the tag apparatus 200 and the signal transmission apparatus 100 by using the radio signal strength or the transmission / reception time difference of the signal received from the signal transmission apparatus 100, (300) and the tag device (200).

The processor 210 determines the position coordinates of the image camera 320 and the position coordinates of the subject using the calculated first distance and the second distance using triangulation. The processor 210 calculates the relative position coordinates of the tag apparatus 200 based on the position coordinates of the image camera 320. The method of calculating the relative positional coordinates of the tag device 200 based on the positional coordinates of the image camera 320 can be performed by various methods, and thus the embodiments of the present invention are not limited to any one method.

A method of calculating the distance between the tag device 200 and the signal transmission device 100, a method of calculating the distance between the image capturing device 300 and the tag device 200, The surveying technique is already known, and a detailed description thereof will be omitted in the embodiment of the present invention.

The position information calculated by the processor 210 is transmitted to the image capturing apparatus 300 through the communication interface 220. The position information includes position coordinates of the tag device, distance d and angle information between the image camera 320 and the subject, and identification information of the tag device 200, Movement direction information and moving speed information of the subject, which is information, can be included.

With reference to FIG. 5, a method of tracking an object position and capturing an image using the ultra-wideband wireless communication through the above-described image capturing system will be described.

5 is a flowchart illustrating a method of photographing an image according to an embodiment of the present invention.

As shown in FIG. 5, the signal transmitting apparatus 100 installed at a plurality of locations and the tag apparatus 200 having a subject transmit and receive signals through UWB wireless communication (S100). The tag device 200 also collects sensing information using various types of sensors included in the tag device (S110). In the embodiment of the present invention, only one signal transmitting apparatus 100 is shown for the sake of convenience. However, a minimum signal transmitting apparatus 100 capable of calculating position information through triangulation is installed in the tag apparatus 200 .

The tag apparatus 200 checks the position of the subject and the position of the image capturing apparatus 300 based on the signal received in step S100 and the sensing information collected by the sensors in step S110, The position information of the tag device 200, and the position information including the sensing information (S120). The position information generated in step S120 is transmitted to the image capturing apparatus 300 according to a preset period (S130).

In step S120, the tag apparatus 200 stores and manages location information on the plurality of signal transmitting apparatuses 100 and the image capturing apparatus 300 to generate location information. The distance between the tag device 200 and the signal transmission device 100 and the distance between the tag device 200 and the signal transmission device 100 are calculated based on the signal reception strength received from the signal transmission device 100 or the signal reception time difference received in step S100 The distance between the image pickup device 300 and the tag device 200 is calculated.

When the distance between the tag apparatus 200 and the signal transmitting apparatus 100 and the distance between the image capturing apparatus 300 and the tag apparatus 200 are calculated, the tag apparatus 200 calculates the distance information, 100 and the position information of the image capturing apparatus 300 are triangulated. Then, the position of the tag device 200 and the position of the image capturing device 300 are calculated, and position coordinates are generated and included in the position information. The method of calculating the position of the tag apparatus 200 and the position of the image capturing apparatus 300 by triangulation is already known, and a detailed description thereof will be omitted in the embodiment of the present invention.

The image capturing apparatus 300 receiving the position information tracks the position of the subject holding the tag apparatus 200 and calculates the motor control value so that the image camera 320 of the main body can be positioned toward the subject. Then, the body is moved by controlling the first motor and the second motor, and the main body 310 mounted on the base of the main body is moved up and down and left and right (S140), and the image of the subject is photographed (S150).

At this time, in step S140, it is possible to receive speed information from the outside in the process of controlling the main body 310 to move up, down, left, and right. This is to control the motor speed at which the remote user moves body 310 to a desired speed. Accordingly, the image capturing apparatus 300 may further utilize the speed information in the process of calculating the motor control value to control the position of the main body 310.

The process of calculating the motor control value will be described first with reference to FIG.

8 is an exemplary diagram for calculating a motor control value according to an embodiment of the present invention.

As shown in FIG. 8, it is assumed that two first signal transmitting apparatuses 100-1 and 100-2 and one second signal transmitting apparatus 100-5 are installed. Synchronization between the tag device 200 and the signal transmission devices starts when the subject having the tag device 200 is positioned at the front face (1) of the image camera 320. At this time, since the synchronization starts at the front of the image camera 320, the angle? Between the image camera 320 and the subject is 0 degrees.

After synchronization, the tag device 200 measures the distance through signal transmission / reception with each of the signal transmission devices 100-1, 100-2, and 100-5. Here, the distance between the first first signal transmission apparatus 100-1 and the tag apparatus 200 is d1, the distance between the first signal transmission apparatus 100-2 and the tag apparatus 200 is d2, It is assumed that the distance between the tag device 200 and the second first signal transmission device 100-5, that is, the distance between the tag device 200 and the image pickup device 300 is d3. Then, the processor 210 of the tag device 200 grasps the position of the subject and the camera position through d1, d2 and d3.

When the subject moves from the first position (1) to the second position (2), the processor 210 calculates the position coordinates (x, y) of the tag device 200 (X1, y2) of the relative position coordinates (x1, y2). The method of calculating the relative position coordinates of the tag device 200 based on the positional coordinates of the image camera 320 may be performed by the processor 210 in various manners. Therefore, in the embodiment of the present invention, I do not explain.

Accordingly, the processor 210 can obtain the distance d and the angle [theta] between the image camera 320 and the subject. The processor 210 transmits the position coordinates of the tag apparatus 200, the distance between the image camera 320 and the subject, and the angle information to the image capturing apparatus 300.

The image capturing apparatus 300 calculates a motor control value for controlling the motor based on distance and angle information with respect to the object. Then, based on the calculated motor control value, a control signal for controlling the motor is generated to control the motor, using the PID calculation method. That is, the motor speed is controlled so as to move faster as the angle value?, Which is the angle information with respect to the subject, is larger, and the smaller the? Value, the slower the motor speed. And controls the zoom in / zoom out of the camera according to the value d, which is distance information.

On the other hand, suppose, for example, that the image capturing method will be described, for example, when the practitioner jumps in the figure skating practice area and senses the image when practicing the action.

Then, the tag device 200 carried by the practitioner confirms the position of the practitioner by coordinates with the signal transmission device 100 installed in various parts of the figure skating driving range by transmitting / receiving signals through UWB communication. Sensing information such as an advancing direction, an advancing speed, and a movement angle of the practitioner is also collected through the various types of sensors included in the tag device 200.

The tag apparatus 200 transmits position information including the position of the practitioner, various sensing information, and identification information of the tag apparatus 200 to the image capturing apparatus 300. The image capturing apparatus 300 senses the operation of the practitioner on the basis of the received position information and captures the operation of the practitioner using the image camera 320 included in the image capturing apparatus 300. [

At this time, if there is a control signal (for example, zoom in or zoom out) for the image camera 320 inputted from the outside, the image photographing apparatus 300 controls the image camera 320, . Such a video shooting system can be applied to various fields such as broadcasting station, lecture, sports, family video, and animal video, so that a subject can be tracked and a video can be captured.

6, a supplementary installation that helps a user to capture a variety of images by tracking a subject when capturing an image of the subject through the image capturing system will be described with reference to FIG. 6. An embodiment of the image capturing apparatus 300 7.

FIG. 6 is an exemplary view of an additional installation of the image capturing system according to an embodiment of the present invention, and FIG. 7 is an exemplary view of an image capturing system according to an embodiment of the present invention.

6, the image capturing system may be combined with the additional fixtures 400 according to the embodiment of the present invention so that a subject can be tracked along with a preset motion of the subject to photograph various dynamic images by the subject alone Or helps focus the subject.

The supplementary installation 400 may be implemented in various forms such as a sliding mechanism, a circular shape, a C shape, a vertical shape, and a horizontal shape so that the image capturing system can move left and right or move up and down. The image capturing apparatus 300 coupled to the supplementary fixture 400 has a switch (not shown) at both ends of the supplementary fixture in order to grasp the origin position of the body 310.

When the main body 310 moves to both ends of the supplementary installation 400, the motor is stopped via the switch and the main body 310 is moved to the home position. Then, by tracking the subject based on the calculated position information based on the movement of the subject, the subject can be photographed by moving left or right or up and down on the supplementary fixture.

7 (a) through 7 (c), the image capturing apparatus 300 may be implemented in various forms. As shown in (a), the image capturing apparatus 300 may include a video camera 320 ) Can be mounted.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, It belongs to the scope of right.

Claims (16)

A method of operating a video image photographing apparatus interlocked with a tag device,
Receiving subject position information from the tag device;
Calculating a motor control value for controlling the movement of the motor mounted on the image camera based on the subject position information; And
Transmitting a control signal to the motor so that the motor is operated on the basis of the motor control value
Lt; / RTI >
Wherein the video camera captures the subject, the tag device is attached to the subject, and the tag device transmits signals transmitted on the basis of the UWB wireless communication in at least one or more first signal transmitting apparatuses and signals transmitted from the second signal transmitting apparatus And calculating the subject position information based on the signal transmitted on the basis of the UWB wireless communication and transmitting the calculated subject position information to the image capturing apparatus. The method according to claim 1,
Wherein the step of calculating the control value comprises:
Calculating a first motor control value for moving the image camera in a first direction based on the subject position information calculated by the tag device;
Calculating a second motor control value for moving the image camera in a second direction; And
Controlling the motor to move the image camera in at least one direction of the first direction or the second direction based on the calculated first motor control value and the second motor control value
≪ / RTI > 3. The method of claim 2,
The subject position information may include:
Calculating a distance based on a distance between each signal transmitting apparatus and the tag apparatus,
Wherein the distance is calculated based on any one of arrival time or arrival angle of a transmission signal transmitted from the first signal transmitting apparatus and the second transmitting apparatus to the tag. The method of claim 3,
Wherein the first signal transmitting apparatus is installed in a surrounding object of the subject and the second signal transmitting apparatus is installed adjacent to the image capturing apparatus,
The subject position information may include:
Calculates a first distance between the tag device and the first signal transmitting device based on any one of an arrival time or an arrival angle of a transmission signal transmitted from the first signal transmission device, Calculating a second distance between the tag device and the image photographing device based on an arrival time or an arrival angle of an outgoing signal,
And determining the positional coordinates of the subject by triangulating the first distance and the second distance. A system for capturing an image of a subject, the system comprising:
At least one signal transmitting apparatus for transmitting a signal based on UWB radio communication; And
And a tag device for confirming the position of the subject of the subject based on the signal transmitted by the signal transmission device
Lt; / RTI >
Wherein the tag device is attached to the subject,
Wherein the tag device identifies the position of the subject based on the at least one transmission signal; And
A communication interface for receiving the transmission signal and transmitting the position of the object to the image capturing apparatus so as to capture the image by tracking the object based on the confirmed position of the object,
And an image capturing system. 6. The method of claim 5,
A sensor for collecting sensing information about the subject,
Further comprising: The method according to claim 6,
Wherein the processor confirms moving direction information and moving speed information of a subject of the subject based on sensing information collected by the sensor and includes the detected moving direction information and moving speed information in the subject position information. 6. The method of claim 5,
The signal transmitting apparatus includes:
A processor for sending a signal to the tag device; And
A power supply unit for supplying power to the processor;
And an image capturing system. 9. The method of claim 8,
Wherein the signal transmitting apparatus includes at least one first signal transmitting apparatus provided in a peripheral object of the subject and a second signal transmitting apparatus provided adjacent to the image capturing apparatus. 6. The method of claim 5,
Wherein the tag device is attached to the subject. 6. The method of claim 5,
The image capturing apparatus includes:
A main body for mounting a video camera;
At least one motor for controlling movement of the main body;
A memory for storing a program; And
A processor for executing the program in cooperation with the motor and the memory,
Lt; / RTI >
The processor comprising:
And a motor control value for calculating the motor control value for controlling the motor based on the received position of the subject. A system for capturing an image of a subject, the system comprising:
A main body mounted on an image camera for capturing an image and moving based on a control signal;
A first processor for controlling the body to control the position of the image camera; And
A second processor mounted on a tag device attached to a subject and calculating the position of the subject of the subject;
Lt; / RTI >
Wherein the second processor checks and calculates the position of the subject based on a transmission signal transmitted by the at least one signal transmission device based on the UWB wireless communication,
Wherein the first processor generates a control signal for controlling the movement of the main body based on the position of the subject transmitted from the second processor of the tag. 13. The method of claim 12,
The signal transmitting apparatus includes:
At least one first signal transmission device provided in a peripheral object of the subject, and at least one second signal transmission device provided adjacent to the video camera. 14. The method of claim 13,
Wherein the second processor comprises:
Calculating a first distance between the tag device and the first signal transmitting device on the basis of an arrival time or an arrival angle of a sending signal transmitted from the first signal transmitting device, Calculating a second distance between the tag device and the video camera on the basis of the arrival time or arrival angle, calculating the distance between the tag device and the signal transmission device by triangulation based on the first distance and the second distance, An image capturing system that confirms the position of a subject based on a distance. 14. The method of claim 13,
The tag device includes:
A sensor that collects sensing information about a subject
Further comprising:
Wherein the second processor confirms moving direction information and moving speed information of a subject of the subject based on the sensing information and includes the detected moving direction information and moving speed information in the subject position information. 13. The method of claim 12,
Wherein the first processor comprises:
Calculating a first motor control value for moving the image camera in a first direction based on the position of the subject, calculating a second motor control value for moving the image camera in a second direction, And moving the image camera in at least one direction of the first direction or the second direction based on the motor control value and the second motor control value.

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