TW425487B - Apparatus and method of controlling pan/tilt camera - Google Patents

Abstract

Disclosed are apparatus and method of controlling a Pan/Tilt camera by rotating the camera directly to the positional coordinate of a target so that the pan/tilt camera may track and selectively photograph a face portion of the object intellectually. The controlling method comprises the steps of calculating a rotatory direction and a rotatory angle of the camera by using a central point of a camera screen and a central point of the target captured in the camera screen; and driving the pan motor and the tilt motor according to the timer interrupt signal having a regular cycle and rotating the camera on the basis of a predetermined rotating speed and the calculated rotatory direction and rotatory angle. Therefore, the apparatus and method make processing of software and the rotatory speed of the camera for tracking the target captured in the camera screen faster.

Description

4254 8 7 V. Explanation (l) *, = Tilt camera, camera device and various types of control level / tilt camera installation. The present invention provides-the screen of the camera, identification-on the screen of the camera and Method 'is used to virtually divide the camera, and rotate the camera to be recognized by controlling the horizontal and / or vertical position of the object to be shot. The actuator can be rotated horizontally and / or the camera can be panned / tilted. Intelligently chase the coordinates from the position of the 0 target, so, hole. Long selectively photographs a target's face for camera applications such as unmanned surveillance systems, video phones; 'on different occasions, there are more and more functions to the desired direction. Therefore, for rotating cameras existing The horizontal / tilt camera system @ 求 达 each bears ^ ~ The controller used by more than one horse to change the direction of the camera is rotated left / right or up / down. Use the scanning and detection methods, and watch the screen when the user wants to adjust the lens to drag the screen in the screen of the camera & to = the position in the viewfinder screen, wire or wireless remote control 'two separate controls ^ two $, Center 'This method uses a target position to rotate left / right or up / down: two or more motors, according to this, however, this pan / tilt y controls each X-axis and y-axis drive system separately It is difficult to move smoothly with the use of individual control switches; moreover, this type of camera is turned 2 ', which makes the camera unable to turn to capture the movement of the target. It takes time to change the direction., _ · Φ ±. The teaching surface of the y-axis drive motor and the y-axis drive motor are controlled separately, and the two groups should have one — J is called a no-lamp. In addition, Xi Zhimai's 425487 in order to automatically control the camera V. Description of the invention (2) There is still a disadvantage that controlling the two sets of software of the two motors individually reduces the processing speed.

Therefore, the present invention is designed to overcome the problems of the above-mentioned conventional devices. The main purpose of the present invention is to provide a device and method for controlling a pan / tilt camera, which measures the position of the target's face in the screen of the camera viewfinder, and directly adjusts the direction of the camera to capture the target's face so that it is located at the center of the screen In this way, the camera can rotate with the movement of the target face to take pictures of the face D Θ intelligently. In order to achieve this, an embodiment of the present invention provides a method for controlling the left / right or up / down rotation of the pan / tilt camera. Use a horizontal motor (X-axis drive) to rotate left / right, a horizontal motor drive circuit, a pitch motor (y-axis drive) to rotate up / down, and a pitch motor drive circuit, and use a separate reduction mechanism to Mechanically combine two motors; the above method also includes when the camera captures the motion of the target, 'generating a regular interrupt signal with a regular cycle; using the center point of the camera screen and the #center point captured into the screen of the camera to calculate the rotation direction of the camera And rotation angle J: The timer interrupt signal of the regular cycle of f drives the horizontal motor and _, .. * ^ Λ Pre-rotation speed, calculated rotation direction and angle as the reference to rotate the camera. In order to achieve this, Da Gong F1R, level / tilt camera left / right or 丄 $-the embodiment provides a method to control κh V you m right Α down rotation, through the lean circuit,-tilt motor up / down rotation : Rotation, -water movement through the deceleration mechanism to turn machinery; turn excitement :: drive circuit of the pitch motor; very mechanically combine multiple cameras with the above two motors, and

Stomach 6 p. 2548-5-Description of the invention (3), the camera captures the eye: the signal; uses the camera screen center%: captures into:% of the set s "the center point of the camera to calculate the rotation of the camera; the camera screen The timer interrupt signal of the regular loop comes; degrees; the camera is rotated according to the reference. "The direction and angle of the rotation are up to iii and the two embodiments. The calculation step of the rotation angle can be passed through the rain horse ί ;: The mechanism determines the detailed rotation angle to set the level and "Rotate the camera": To: "the ticket center detected by the camera screen is identified as the turn point of the camera, and the camera screen is virtually subdivided into the camera ef The number of rotation steps for the rotation angle of the field. = The control step may include: initializing the motor and its variable settings ^ receiving and analyzing external instructions; in order to receive the instruction, if receiving = when the direction change instruction is received, 'each rotation can be turned Photography, so use the center of the screen and the center of the screen of the camera according to the current state of the horizontal motor and the pitch motor to set the number of steps (pcnt) and the rotation of the tilt motor. And / or (Tent); and / or during the receiving command, if a motor speed adjustment command is received, 'the rotation speed of each camera is adjusted by setting the rotation speeds of the pan and tilt motors to new values. Command reception and analysis Steps 玎 include: selectively receiving instructions to match each camera by checking the camera identification code; analyzing the received instructions; determining whether the analyzed instructions are-direct direction change instructions; and / or right analyzed 4a When the order is not a direct direction change,

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V. Description of the invention (4) Whether the analyzed command is a motor speed adjustment command. By designating the target center point detected by the camera as a turning horse, and the direction designation function of the target point, the motor control steps of the building I that can execute the direct direction change instruction may include: By interrupting the signal at each timing with a predetermined cycle In the middle, the number of steps of the rod-level motor (pcnt) and the idle speed of the horizontal motor (Pi, refer to the horizontal motor drive pulse state value (pstate) and horizontal mafar direction (Pdir) to check whether the horizontal motor is driven forward or backward) ; &Quot; ^ Motion: In each timing interruption signal with a predetermined cycle, I the number of steps of the tilt motor (Tcnt) and the value of the idle speed of the pitch motor (Tidle). ) And the pitching direction I (T dir) to drive the pitching motor forward or backward; the% motor control step may include independently driving the horizontal and pitching motors, or continuously driving the horizontal and pitching motors. / / The horizontal motor driving step includes: In the female horizontal motor-driven pulse wave cycle (P cyc 1 e), check the horizontal • motor rotation steps (Pent) and the horizontal motor idle speed value (Pid le), to determine the delay time to the next pulse, thereby determining whether to drive the horizontal motor when adjusting the speed of the horizontal motor; refer to the levels classified by the horizontal motor driving pulse and the direction of rotation of the horizontal motor (pd ir) Motor drive pulse state value (Pstate) to output a series of motor drive pulse waves to drive the horizontal motor forward or backward; check the horizontal motor drive pulse state value (Pstate) to find the horizontal motor drive pulse cycle (pcyc 1) e) the termination time, and at the beginning of the termination time

Page 8 425487 发明, description of the invention (5) Initialize the horizontal motor drive pulse state value (Pstate) and horizontal motor idle speed value (Pidle) 'Update the horizontal motor rotation steps (pcnt) and store the current position of the horizontal motor ( PUst). The pitch motor drive steps include: In each pitch motor drive pulse wave cycle (Tcyc 1 e), check the pitch motor rotation steps (Tent) and pitch motor idle speed value (Tidle) to determine the delay to the next pulse wave Time to determine whether to drive the pitch motor when adjusting the rotation speed of the pitch motor; refer to the pitch motor drive pulse wave value (Tstate) classified by the pitch motor drive pulse wave and the pitch motor rotation direction (Td 丨 r). Output a (series of motor-driven pulses to drive the pitch motor forward or backward; check the value of the state of the pitch-motor pulse (T state) to find the end time of the pitch-motor-driven pulse cycle (Tcy c 1 e), And at the end time, initialize the pitch motor drive pulse state value (Tstate) and pitch motor idle speed value (Tidle) 'Update the pitch motor rotation steps and store the current position of the pitch motor (Tlast). &Quot; To achieve the above purpose, this An embodiment of the invention provides a device for controlling the left / right or up / down rotation of a grasshopper of a water-drying / tilt camera, using a horizontal horse ^ (X-axis drive ) Rotate left / right, a horizontal motor drive circuit, a pitch {卩 motor (y sleeve drive) up / down rotation, and a pitch motor drive circuit, and; 赉 ,, mechanically combine the two through individual reduction mechanisms A motor, the above-mentioned device further comprises: a timer, which is used to generate an interrupt signal with a regular cycle to drive the horizontal motor and the pitch motor at each predetermined time;

4 254 8 7 V. Description of the invention (6) Generate: Program memory device (read-only memory) 'is used to store the number of motor rotation steps in a series of motor interrupt signals generated by the timer, and continuously Drive the horizontal motor or pitch motor to meet the motor's rotation direction and predetermined speed; Yuri: ii; device (circle 'is used to store the camera control identification code, and obtained by using the center point of the camera screen and the target center point Calculate the direction and rotation of the camera. The motor driver program is used to meet the timer interrupt signal; the required data for the horizontal motor or the pitch motor is used to store the main processor to drive a second data storage device (nvra execution After the motor driver program, the data is stored in the main processor. Second, the data stored in the main processor or the pitch motor is at the time. The port is: (letter "S232"), which is used to provide sending / receiving drought and road center. Allows the main processor to communicate with the outside. The receiving main processor can store the camera's detailed rotation level and the rotation distance of the pitch motor. Once ^ 2, the preset matches the camera's detailed rotation angle. The degree of rotation = Ί, the screen is subdivided into ^,., And the calculation of the rotation in the screen of the wheel of the knife: can be identified in the center of the target of the measurement: # / 数 hunting the screen of this camera to 4 M @, turn the camera's Target point. Two / female. ^ As shown in the figure] 'The device of the present invention includes: = left / right or up / down rotating camera 18〇; one for making the camera left / old shovel ^ road 16〇; turn right Horizontal motor 161 and its driving power

Page 10 4 2S4 3 7 $, invention description (7) a tilt motor for turning the camera up / down 丨 7 丨 and its driving circuit 170; and in order to reduce the speed of the motors 161, 171, and mechanically combine the motor 161 1 7 1 horizontal gear 1 6 2 and pitch gear 丨 7 2 ^ In addition, the device of the present invention further includes: a timer 11 0, which is used to generate an interrupt signal with a regular cycle at each predetermined time to drive Horizontal motor 161 or pitch motor 171; a read-only note, body 1 20, used to store a series of timers in each! !! 〇 Calculate the number of rotation steps per-ma Jian in the break signal and control the horizontal motor i 6i

Q = Tilt motor 171 in accordance with the direction of rotation and the motor's predetermined rotation speed; V% A main processor 1 00, used to store the camera control identification code, by = center point of the camera screen and the target center captured into the camera screen Point, J specifies an external command to calculate the camera rotation direction and rotation angle, = executes the motor driver program stored in the read-only memory 120, in order to meet the% state 1 1 0 interrupt signal; Qin lc Ϊ Ϊ, machine storage Take S memory 1-4, which is used to store the data required for the main processor 1 0 0 to drive the horizontal motor 16 1 or the pitch motor 1 7 1; 墦 different code I '随 tt casually access the memory 1 5 . It is used to store the second data with camera 1 and the data about the current position of the main processor 100's execution motor drive, the horizontal motor 161 or the pitch motor 171. A data transceiver 130 is included, such as a UART or a serial port / receiver port and path, so that the main processor 1000 can communicate with the outside.

The 11th I 4 25 4 8 7 V. Description of the invention (8) ^^^ ------------ At this time, the master consists of 1 3 0 and an external master: "It can be executed independently and through data Transceiver host computer 30 refers to human computer 30 connection; so 'the main processor can control the camera's movement according to the external processor 100 should read? In the present invention, the main direct direction change / eight sub-camera control The identification code, in order to execute the external rotation angle as a reference 7 The main processor 1 0 0 stores the details of the camera; the level of the camera and the rotation distance of the pitch motor are the number of rotation steps. In the camera screen where the camera rotates in detail: i ::;: Dash 'the main processor can be identified in the subdivided camera center; moving the camera: the target of the camera's screen to determine whether the screen coordinates are on the screen And change the distance between the changed coordinates of the target. Moreover, the host-computer 30 may include a direction change discriminator (not shown in the figure) to improve the camera rotation instruction and the corresponding Camera identification code to the main processor 1 00 to make the camera move and calculate The same distance. Each pan / tilt drive motor and reduction gear includes a stepper motor and a gearbox. In particular, the stepper motor rotates by 8. 8 / pulse multiplied by left / right 24G pulse / sec and up / Down 80 pulses / second to match the X-axis rotation steps left / right 240 steps and y-axis rotation steps up / down 80 steps, so that the motor rotates every 2 times! At this time, the gearbox starts with The ratio of 1/4 8 reduces the rotation of the stepping motor, and the driving torque of the camera becomes 672 g. Cm (maximum), so that the pan / tilt camera is left / right 90 ° / sec and up / down 30 ° / sec. Rotate at a regular speed, and the driving torque can be adjusted to match the number of rotation steps on the screen that has been subdivided.

Page 12 4 25 5. Description of the invention (9) For example, the center point of the pan / tilt camera 180 is-the reference for driving the camera. When the power is turned on, the pan / tilt camera 180 will go to the reference point. The machine can then be turned as desired by the user. In this field, when the camera is sent from Gongwei, the camera identification code has the initial η η, 0 0. However, the camera identification code can be changed according to external instructions ... from x, g to FF, all horizontal / tilt cameras ΐδο are A universal set identification code and a unique camera identification code can be identified, the giant identification © tegng / series, shown], the host computer "controls the logic to determine whether the target coordinates on the screen move step S 3 1; distance Juice ;: 3 shadows, the distance from the center coordinate of the screen to the target's moving coordinates is converted into the camera's indexing coordinates (step S 3 2, 杳 turn: =? = Positional coordinates replace the camera's current position, and check the Within the range of the camera's rotation distance (step S34, showing the camera seat = within the rotation distance, 'beijing' corrects the index coordinate and then refers to the camera = the index coordinate within the rotation distance 1 immediately indicates ~ very automatic (steps S36, S37 ). In the process: 丨 * See Figure 3 not]] is the signal of the main processor / tilt in the 11th W :: Fang Ming / 2 Taitu: Control the water puppet according to the camera rotation instructions ~ Examples include / 'Ming Control Level' Tilt Camera

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The handle initializes the motor and its changes. Order to wait for the peripheral equipment to receive the direct direction and analyze the external instructions S201 ~ S204); the change command and the motor speed adjustment command (if the direct direction change is received, whether to stop; By receiving = heart command, the center point of the target in the level / tilt motor state is checked, and the center point and the steering wheel angle calculated when the two motors stop are produced: the direction and angle of the camera rotation; use 厪 来 6 and 疋Number of steps of horizontal motor rotation (Pent) and number of steps of pitch motor rotation (Tent); control the subroutine of the level / tilt motor to meet the timing interruption signal with a regular cycle (steps S205 ~ S208); if received ' The motor speed adjustment command sets the rotation speed of the pan / tilt motor to a new value (steps S209 to S211); the above-mentioned direct direction change command waiting to be received includes: by checking the camera identification code from the outside to selectively receive Instructions (not shown in the figure) that are compatible with each camera, analyze the received instructions (step S 2 02); determine whether the analyzed instructions are direct direction changes Command (step 5203); determine whether the analyzed command is a motor speed adjustment command (step

5204). Moreover, the direct direction change instruction can be executed by the direction designation function to specify the center point of the target found by the camera as the motor's commutation order. "The target signal process described above" may have another embodiment, including Withered

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V. Description of the invention (11) A rotation direction and angle calculation step The center and point angle of the target captured by the camera; the use of the camera's center point and the skin to calculate the camera's rotation direction and a motor control step, according to a regular cycle The timer drives the horizontal motor and the pitch motor, and rotates the camera at a predetermined speed and a reference of the rotation direction and rotation angle. # 〇 In the embodiment of the present invention, the rotation angle calculation step is to set the horizontal and vertical rotation distances by the detailed rotation angles predetermined by the two motors and the reduction gear, and in order to identify the center point of the target found in the camera screen It becomes the target point of the camera rotation, and the screen of the camera is subdivided into the number of rotation steps to meet the detailed rotation angle of the camera. [Please refer to Figure 4], the motor control step may include: " by checking the number of water T motor rotation steps (Pent) and its idle speed value (pidle) in each timer interrupt signal with a predetermined cycle ), To drive the horizontal motor forward or backward with reference to the horizontal motor drive pulse state value (Ps tat e) and horizontal motor rotation direction (Pdir) '(step "丨 了-丨 ~ S217 ~ 13); In the Sri Lankan signal of a timer with a predetermined cycle, check the number of steps of the pitch motor (Tent) and the idle speed of the pitch motor O 'id 1 e), and refer to the value of the pulse state (Tstat; e) of the pitch motor drive and the pitch motor Turn direction (Tdir) to drive the pitch motor forward or backward (steps S217-21 to S217-33). When the timer interrupt signal is generated, the 'horizontal motor drive step is executed' The horizontal motor drive step includes the following steps:

Page 15 V. Description of the invention (12) '----- In each horizontal motor driving pulse cycle (Pcycle), check the number of horizontal motor rotation steps (Pent) and its idle speed value (pidle) to determine Go to the next. Delay time of the secondary drive pulse, and use this to determine whether to drive the horizontal motor when adjusting the rotation of the horizontal motor (steps S217-! ~ S217_5 and §217_13); drive the pulse state value (Pstate) by referring to the horizontal motor And its rotation f direction (Pdir) to input a series of motor-driven pulses to drive the horizontal motor forward or backward (steps S217-7, S217-8); check the state of the horizontal motor-driven pulse wave (pstate) by 彳 5¾ To find the end time of the horizontal motor drive cycle, and initialize the horizontal motor's driving pulse state value (pstate) and idle speed value (pid 1 e), update the horizontal motor rotation steps (Pent) 'and save Current position of the horizontal motor (Plast) (steps S217-9, S217-11). When the timer interrupt signal is generated, the pitch motor drive step is executed. The pitch motor drive step includes the following steps: In each pitch motor drive pulse wave cycle (Tcy c 1 e), check the pitch motor rotation steps (Tent). And idle speed value (Tidle), to determine the delay time to the next drive pulse, and to determine whether to drive the pitch motor when adjusting the pitch motor speed (steps S217-21 ~ S217-25 and S217-33); borrow A series of motor-driven pulses are output by referring to the value of the pulse state (T sta ΐ e) and the direction of rotation (Td ir) of the pitch motor to drive the pitch motor forward or backward (steps S217-27, S217-28); Check the state of the pitch motor drive pulse state (Tstate) 'to find the end time of the pitch motor drive cycle, and initialize the pitch motor drive pulse state value (T state) and idle speed value (T id 1 e) at the end time. ,

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V. Description of the invention (13) Updating the pitch motor rotation step (Tlast) (step S217 At this time, the individual step driving steps are performed. As a horizontal motor driving step Figure 5 is a shape example of the present invention, in which the two pulses and the motor Driving pulse wave. If P2 is in the range of tO ~ t3, the driving pulse wave is classified into pulse wave cycle. When the output of delayed wave includes the output of delayed wave, then t 〇, the expected value of Pcycle. The computer or main control unit is not shown in the diagram. The middle motor-driven pulse wave is completely phased. Figure 6'7 shows M (xl, yl). The main processor of the camera uses the stroke (| X2-X1 |) and the center point of the y-axis screen (0,0). The calculated distance of displacement shown in Figure 8 above shows the maximum HTent in a regular interval, and stores the pitch motors -29, S217-31). 2 process to make the horizontal motor driving step and the tilting horse ^ In the present invention, the tilting motor driving step can be operated independently, continuously or sequentially. The pulse waves P1 and P2 of the motor-driven pulse wave and its variables defined in the figure are provided for each pole of the motor to rotate clockwise. When the pulse signal pi, for example, 'tO, t1, t2, and t3 are used There will be four states. P c y c 1 e represents the variables of the horizontal motor driving motor driving, and the horizontal motor driving pulses 11 ′ 12 and 13 indicate. P c nt appears to be driven by the fact that Pent is controlled by a substantial control camera. "But pitch motor drive pulse is the same as level" is not shown here. Out 'If the center coordinate of the camera of the present invention is the center coordinate of the captured target is T (x2, y2), calculate the x-axis displacement between the two coordinates of the screen (丨 y 2-y 1 |); Making the target at the center point (χ 2, y 2) of the 1-moving target is equivalent to leaving. Within the range where the camera can be rotated, after being subdivided and rotated, it is located in the rectangular area of its center.

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5. Description of the invention (ii) The field is different from the display of the camera viewfinder screen. Left / right or top / bottom two cameras within the maximum rotation range ^ so that the heart can be in the required part. ’To show what you want on the screen. However, the operation and computer control of the present invention will be explained with the concept of the above operations and functions. The horizontal / tilt cameras are connected horizontally and the system is described as an example. 〇 First of all, the most unique feature of the pan / tilt camera according to the present invention is a direct-direction addressable function. Assume that the center point of the camera is M (xl, yl). If the coordinates of the target are T (x2, y2), the host computer's direction change determiner finds the target on the screen and calculates the signal from the signal process in Figure 2. Displacement from M to T. Moreover, in order to rotate the camera to T (x2, y2), the host computer generates a direct direction change instruction to the main processor. At this time, the X-axis and y-axis drivers independently drive the camera so that the camera can directly rotate on the shortest path.

To achieve this, the stepping motor of the present invention uses a step motor, which can precisely control the rotation angle = in order to meet the number of rotation steps of the motor rotating 2 times per second, the stepping motor rotates 18 times. / Pulse multiplied by left / right 24 pps and up / down 80 pps. The speed reducer includes a gear box, which can reduce the speed of the stepper motor by a ratio of 1/48 'and the driving torque of the camera becomes 672§ · cm (maximum value). So the pan / tilt camera can be 90. / Sec (left / right) and 30. Angular speed rotation per second (up / down). In particular, in the state of left / right 24o steps and 0.375 ° / steps, the horizontal motor can rotate the camera within a distance of left / right ± 90 ° through the reduction gear; at the same time, it is up / down 8o. With the number of steps and 0 · 3 7 5 ° / steps, through the reduction device, the pitch motor can

Page 18 4 2548 7 V. Description of the invention (15) ~ ~ The camera rotates within a distance of up / down ± 30 =. To quickly determine the direction of the camera's rotation, first specify the horizontal and vertical rotation of the camera through the detailed angle of the stepping motor. The camera screen is divided by the number of rotation steps to enable the fine rotation of the camera. Angle, so that the center point found on the camera screen can be identified as the target coordinate for turning the camera. $… See through—Picture: The signal processing of the control of the pan / tilt motor is not controlled by Ji Ji communication, and is transmitted to the main processor 100 # mi # 二 二 i: order to execute according to an external computer. In addition, the host processor 100 is used to store the data, and the second processor is a wide n% processor 11. The signal that controls the start of the pan / tilt motor is consistent with the interrupt signal generated by the 1 10 cycle. The number (S2: t 'ϊίΐ! 100 is required to drive the variables of the motor (S201), the camera identification code is checked from the outside, and the appropriate instructions for each motor (S2 () 2) are analyzed, and the instructions are analyzed. Whether or not it is a direct direction change instruction (_). This JLΪ instruction is composed of a direction specifying function to reach the target of the rotation. As the result of the judgment, if the point and the center point of the target are 'the main processor 100 can rotate The number of steps plus t'Tcnt) (lake, lake) rotation angle, and then set as shown in "6" when the target is found, then the main processor 10. Calculate with xl-x2-Pcnt and yl-y2 = Tcn1; Turn step Zhao and Tent as the timer interrupt signal. At this time, run ^ and then transmit P such that the symbol +/- is transmitted

P.19 4 25 4 9 Description of the invention (16) The timer interrupt signal is used as the direction sign of the camera on pdir and Tdir. As mentioned above, “When setting Pdir, pent, Tdir and Tent, the timer interrupt signal starts to drive the motor; at this time, the motor speed is determined according to Prate.” Prate is formulated as an independent indicator for the pan / tilt camera.

Moreover, in order to continuously drive the horizontal motor or the tilt motor and rotate the camera until the target center point is located at the screen center point, the timer performs a signal processing to drive the motor to meet the timer interrupt signal with a regular cycle. At this time, the speed of each motor is based on the preset speeds (Prate, Trate). The motor drive signal processing step receives a variable to specify the rotation direction of the horizontal motor, a variable to specify the rotation angle of the stepper motor, and a variable to adjust the camera speed from an external setting, so that the horizontal motor can be turned to the desired direction.

As shown in FIG. 4, step S217-1 determines whether to drive the horizontal motor by checking the number of rotation steps (Pent). If the number of rotation steps is 0, the main processor 1 0 0 determines that it is no longer necessary to drive the motor and stop the soil driving work; if the number of rotation steps is not 0 ', the main processor 1 0 0 drives the motor until the number of rotation steps is 0 . At this time 'that is, when the motor drive pulse wave output is terminated in step S217-11, the update of Pcnt is performed D. Then, in steps S 2 1 7-3 and S 2 1 7-5' The wave cycle calculates the horizontal motor idle speed value to adjust the horizontal motor speed.

Page 20 4 254 8 7 Five 'invention description (π) Step S217-7 refers to the horizontal motor drive pulse wave state value (Pstate) and motor rotation direction classified by tO, tl, t2, t3 to output a series of pulse waves Signal to horizontal motor. The motor is driven forward or backward based on the pulse signal. Step S21 7-9 updates the horizontal motor drive pulse wave state value (P state) used in S2 17-7 and keeps it at a distance between 10 and 13; therefore, Pstate uses tO-tl- t2-t3-t0-tl-t2 ..., so change. ❹ Step S21 7-1 1 Initialize the Pstate to tO at the end time of the horizontal motor drive pulse cycle (pcyci e), and overwrite Prate to Pidie to initialize the Pi die. Furthermore, S2 17-11 updates pcnt to comply with the termination of a drive cycle, and then stores the current position (p 1 as t) of the horizontal motor in non-volatile random access memory. Here, the function "P1 d 1 e calculates each timer interruption" to adjust the cycle of the driving motor, and thereby adjust the motor speed. Steps S2 17-21 to S2 17-33 for driving the pitch motor are the same as those for driving the horizontal motor, and they can be connected on the two sides or behind the horizontal motor driving process. Clipping is performed by virtually dividing regular intervals, quickly chasing the captured target, and at the position of the target ', the camera directly tracks the target and uses image recognition software and increases the camera speed. Camera screen, the present invention can quickly be divided into screens of the camera to detect the goal and turn to the target, its advantages are: make the process simple, improve the process ^

Although the present invention is disclosed in the above embodiments, it is not intended to limit the present invention.

425 4 B 7 V. Description of the invention (18) The invention, anyone who is familiar with this skill can make some modifications and retouching without departing from the spirit and scope of the invention. Therefore, the scope of protection of the invention should be treated as a patent The scope defined shall prevail.

I Page 22 4 25 4 8 Simple description of the method 1 Figure 1 is a brief block diagram showing the structure of the device for controlling the pan / tilt camera of the present invention 0 Figure 2 is a flowchart for explaining if a computer host generates a camera [The signal processing that determines the mask element when turning the command. Figure 3 is a flowchart. It is used to illustrate the signal processing of the main processor in Figure 1 to illustrate the method of controlling the level / tilt camera of the present invention. Figure 4-Flow chart J is used to explain the signal processing of the motor driving subroutine □ Figure 5 is used to illustrate the motor driving pulse wave and its defined variables in the present invention, and waveform examples are shown in Figures 6 to 8 A display example explaining the concept of the position of the screen of the camera that has been subdivided into regular intervals and its direct orientation change function. 30-- external host computer 10 0- main processor 110- timer 120- read-only memory 130- data transceiver 140- static random access memory 150- non-volatile random access memory 160- horizontal motor drive Circuit 161-horizontal motor 162-horizontal gear 170--pitch motor

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Claims (1)

4 254 8 7 1. A control method, which uses one of its driving circuits; one of its driving circuits; the control method includes the following steps: when the camera captures the ring, the timer interrupts the capture of the target, the center point is reached according to the above timing, and rotates with a preset rotation reference. Camera 2, if applying camera left / right or up / recognized by two motors and the center point of deceleration and vertical rotation distance as a rotation angle, camera 3, if applying camera left / right or up / rotate at each with horizontal motor Step status value and rotation in each of the pan / tilt cameras with left / right or up / down rotation of the pan / tilt camera, left / right rotation of the horizontal motor (X-axis drive) and up / down rotation The motor (7 axial drive is mechanically combined with the two motors through the mitigating device, and the steps are as follows: Up and down 5: When the movement of the eyeballs '' generates a regular Xunguang # 亚 Utilize the center point of the camera screen and the juice from the arrest. Calculate the direction and angle of the camera's rotation; interrupt signals to drive and control the increasing speed of the horizontal motor and the calculated direction and rotation of the camera. The method of controlling the rotation in the horizontal / tilt shooting described above, in which the rotation angle calculation step sets the water 4 by the detailed rotation angle determined by the device. The detailed rotation screen of the camera virtually divides the number of rotation steps. The method for controlling rotation under pan / tilt shooting described in the first scope of the patent, wherein the motor control step includes: a timer interrupt signal of a predetermined cycle, by checking the number and idle The speed value refers to the direction of the horizontal motor drive pulse wave to drive the horizontal motor forward or backward. In the timer interrupt signal of the predetermined cycle, the check pulse and idling fan value are used to refer to the pitch motor drive pulse wave. 425487 6. Scope of patent application ---- State value and rotation direction ’to drive the pitch motor forward or backward. 4. The method for controlling left / right or up / down rotation of the pan / tilt camera as described in item 3 of the scope of patent application, wherein the motor control step further includes independently driving the horizontal motor and the tilt motor. f 5. The method of controlling the level / tilt shooting as described in item 3 of the scope of the patent application = the method of left / right or up / down rotation, wherein the motor control step further includes driving the horizontal motor and the pitch motor continuously. Θ Η] / Right like: Controlling level 7 as described in item 3, Tilt photography: method of rotation 'where the horizontal motor drive step is included in each horizontal motor drive pulse cycle, check the number: rapid speed value', decided to Next time driving pulse = turn: bad "determines whether to drive the water chestnut when adjusting the speed of the horizontal motor · Asia: Measure the value of the pulse state of the horizontal motor driving pulse to drive the horizontal motor forward or backward: Use a private horizontal motor Drive pulse, end of drive pulse cycle 、,, — Μ, + water motor value and idle speed value, update the current position of the state number initialized at the end time. Horizontal motor rotation steps and store the level The motor level camera 1 / two surround control level / tilt photography described in the following: the method of movement, in which the pitch motor drive step includes each pitching horse to make coffee 4 / number of steps and idle speed value 'to also wave During the installation, check the delay time from the rotation of the horizontal motor to the next drive pulse, and Page 26 4 254 8 7 ^^ 7 ^ Patent range,-'*-This is used to determine whether the pitch motor is driven when adjusting the pitching seam rotation speed; $ Test the pitch motor drive pulse wave value and rotation direction to output Air string: The motor drives the pulse wave to drive the pitch motor forward or backward: ^ Check the state value of the arterial wave of the pitch motor to find out the end time of the pitch ring of the pitch motor, and initialize the state value and the speed value at the end time, and update The pitch motor rotates in steps and stores the position of the pitch motor. 8. A method for controlling the left / right or up / down rotation of the pan / tilt camera 'is to use water for left / right rotation through a data transceiver Θ without the motor and its driving circuit, one for more than / down rotation The pitching motor and its paralysis circuit are mechanically connected to a plurality of camera disks and two motors through a deceleration device, and are connected to each other in parallel by a data transceiver. The above method includes the following steps: J Shi Zai = Machine captures a target During the movement, a regular cycle of 为% is generated as an interruption signal, and the center point and the center point of the camera screen are used to calculate the rotation direction and angle; * Drive the horizontal motor and the pitch motor by $ = consistent with the law The cycle timer interrupts the signal to control the motor, and rotates the camera based on the preset speed and the calculated rotation direction and angle. ^ The camera's heart point is identified as the target point for rotating photography, and according to the camera details = Page 27 The detailed rotation angle determined by the deceleration setting is used to set ΐϊ: Straight motion distance, i. In order to virtually divide the number of rotation steps in the camera screen, the angle of the patent application, and the angle of the projector screen. The camera's patent range of $ 8 includes the control of level / tilt: or the method of up / down rotation, in which, the motor control step bag = the dagger motor and its peripherals; receive external analysis and analysis; After receiving the direct change command in the command, for the camera's use, the number of rotation steps of the + motor and the pitch motor is based on the center point of the horizontal motor and the pitch motor at the time and the center point of the target. ^ 1 1. The method for controlling the left / right or up / down rotation of the pan / tilt camera as described in item 9 of the scope of the patent application a "> — ^ ^ A method that can be activated, wherein the motor control step further includes When I received the motor speed adjustment command in the received command, I adjusted the rotation speed of each camera by setting the rotation speed of the horizontal motor and the pitch motor. 12 The method for controlling the pan / tilt camera left /. Right or up / down rotation as described in claim 10 of the patent scope, wherein the instruction receiving and analyzing steps include: selectively checking the camera identification code Receive commands that match each camera and analyze the received commands; determine whether the analyzed command is a direct direction change command; if the analyzed command is not a direct direction change command, & determine whether the analyzed command is the motor speed Adjustment instructions. 42548 7 VI. Scope of patent application ___ 1 3, such as the left / right or up / down rotation of the tilt camera in the scope of patent application, the control level / tilt will allow Sun to perform a function with a specified direction, The center point of the direct direction change finger is designated as the rotation motor to target the camera to be found. 1 、 As mentioned in the patent application, tilting the camera to the left / right or up / down to turn the control level / tilt as described in the item. 'Among them, the motor control step is the number of horizontal motor rotation steps and idling fan value for each predetermined cycle, ^ = broken letter, in which the state value and the rotation direction are checked to drive the leather 22: water% motor drive The pulse wave has a predetermined cycle each: forward or backward; pitch motor rotation steps and idle speed value, table = number, by checking the state value and rotation direction, two * elevation motor drive pulse wave U, as requested Patent Fans advance or retreat. : The method of camera left / right or up / down rotation, pan / tilt control the horizontal horse, reach and pitch motor drive steps. Steps for motor control: 66. The method of turning brakes / movers left / right or up / down as described in item 14 of the scope of patent application, including tilt, ', level motor and pitch motor Driving steps. ', 1 step with tilt-up Hz, as described in item 14 of the scope of the patent application, the method of controlling the level / pitch 4 = left / right or up / down rotation', wherein the level 4 two-step motor: the moving wave cycle Check the rotation speed of the horizontal motor to determine the delay time until the next drive pulse. 425487 6. The scope of the patent application is used to determine whether to drive the horizontal motor when adjusting the speed of the horizontal motor. Refer to the horizontal motor drive pulse. State value and direction of rotation to output a series of motor-driven pulses to drive the horizontal motor forward or backward; by checking the state value of the horizontal motor-driven pulse wave to find the end time of the horizontal motor-driven pulse cycle, and at the end time Initialize the state value and idle speed value 'to update the number of rotation steps of the horizontal motor and store the current position of the horizontal motor. 18. The method for controlling the pan / tilt camera left / right or up / down rotation as described in item 10 of the scope of patent application, wherein the pitch motor driving step includes: in each pitch motor driving pulse wave cycle, Check the number of rotation steps and idle speed of the pitch and tilt motors to determine the delay time to the next drive pulse, and determine whether to drive the pitch motor when adjusting the speed of the pitch motor; refer to the value of the pulse state of the pitch motor drive and Rotate the direction to output a series of motor-driven pulses to drive the pitch motor forward or backward; find out the end time of the pitch motor-driven pulse cycle by checking the value of the state of the pulse motor drive pulse, and initialize the state at the end time The rotation speed and idle speed value update the number of rotation steps of the pitch motor, and store the current position of the pitch. 1 9. A device for controlling the left / right or up / down rotation of the pan / tilt camera is to use a horizontal motor (χ-axis drive) and its driving circuit for left / right rotation; The pitch motor (y-axis drive) and its drive circuit; and the two motors are mechanically combined through a reduction gear. The above devices include: ~ In the storage target, the rotation angle of the target device is consistent with that of the fixed device. The flat motor is used to improve the rotation range of the target. At every predetermined time, the level is up and down, and β is stored in the rotation step 'Pitching Uda to the camera's heart point' and used to store 4 2 5 4 8 7弋 Timer, use the real life ~ clever use of the j-law cycle to move _ operation: ΐ type storage device Ίο 唬 唬 舛 舛 舛 舛 nt motor, 'only drive the horizontal fixed rotation ^ build or ~ main processor Use the camera roll ^; the camera rotation direction and the motor drive program to-the first data storage or pitch motor required after the second data storage ^ moving program, the water-data transceiver, ~ # device can communicate with the outside 2 〇 For example, if you apply for the camera's left / right or top / camera fine rotation angle as the base distance; the number of virtual rotation steps of the camera screen; when the driving horse rotates the number of steps, thereby 'in the eyes of the camera can be identified, The interrupt signal is provided by the motor; each of the series of motor driver programs generated by Shouyi the following day, combined with the motor's rotation direction and pre-control identification code, and executed by the specific external command to be stored in the read-only memory Body break signal Store the data of the main processor driving level horse in the current position of the main processor's execution motor or pitch motor; for the send / receive port and path to enable the main level / pitch 1 control device described in item ^ 9, the main processor stores Based on the level of the camera and the rotation distance of the pitch motor, the center of the target captured on the screen of the subdivided camera can be distinguished according to the detailed rotation angle of the camera