TWI546605B - Mobile flash positioning system and method thereof - Google Patents

Description

Mobile flashing light positioning system and method thereof

The invention relates to a mobile flash lamp positioning system and a method thereof, in particular to a mobile flash lamp positioning for controlling a better flash distance between a multi-axis aircraft and a subject by using camera parameters and a flash output index. System and its methods.

In general, photographers need to pay attention to the distribution of light in the overall environment, in addition to the aperture size, shutter speed and light sensitivity coefficient. For example, in a high-light environment, images tend to produce high contrast, and in low-light environments, due to insufficient light, in order to properly expose the photo and reduce noise, it is necessary to fill the light with a flash or Light up.

The flash for shooting can be divided into internal flash (External Flash), external flash (External Flash) and off-camera flash (Off Camera Flash). The built-in flash refers to the built-in non-removable flash in the camera, and the external flash refers to the flash. The flash connected to the hot shoe above the camera, the advantage of the external flash is that you can choose different flash according to the needs of photography. Off-camera flash refers to the flash that is not fixed on the camera. The commonly used off-camera can be divided into wired and wireless. The advantage is that the degree of freedom of flash deployment is high, and can be placed differently according to user needs. Position and adjust the appropriate lighting direction and angle.

In the case of shooting with the flash, the distance between the flash and the subject is an important condition for determining the correct exposure. Generally, when using the off-camera flash, the preferred flash distance between the flash and the subject is calculated according to the camera parameters, and then the photographer moves the flash to the appropriate position and adjusts to an appropriate angle. However, if the various shooting parameters are re-adjusted during the shooting, the formula must be used to calculate the corresponding flash distance, and then the photographer can re-adjust the position of the flash to recalculate the distance in the rapidly changing environment of the shooting scene. And adjusting the position will greatly increase the difficulty for the photographer to shoot.

In view of this, the object of the present invention is to control the relative position between the flash and the object through the multi-axis aircraft, so that the flash can automatically calculate a better flash distance according to the shooting parameters, and by the preferred flash distance. Adjust the spacing between the flash and the subject appropriately.

In order to achieve the above object, the present invention provides a mobile flash lamp positioning system including a first positioner, a multi-axis aircraft equipped with a flash, a camera parameter extractor, and an arithmetic unit. The first positioner is disposed on the object and measures the first position information of the object. The flash-equipped multi-axis aircraft is provided with a flash parameter picker coupled to the flash and obtaining a flash output parameter of the flash, and a second positioner that measures the second position information of the flash. The camera parameter extractor is mounted on the camera device to capture the camera Shooting parameters within the device. The operator defines the first position information as an origin, and calculates a flash distance parameter having a better flash distance through the flash output parameter of the flash and the camera information, and controls the plurality of flash distance parameters through the flash distance parameter The axle aircraft is maintained at the preferred flash distance relative to the origin.

Further, the camera parameter extractor is provided with a third locator for measuring the third position information of the camera device.

Further, the operator obtains a distance parameter between the first locator and the second locator, and a signal azimuth parameter, and establishes a first position coordinate of the second locator relative to the first locator, and obtains The distance parameter between the first positioner and the third positioner and the signal azimuth parameter establish a second position coordinate of the third positioner relative to the first positioner.

Further, the operator obtains a distance parameter between the second locator and the first locator, and a signal azimuth parameter, and establishes a third position coordinate of the first locator relative to the second locator, and obtains The distance parameter between the second positioner and the third positioner and the signal azimuth parameter establish a fourth position coordinate of the third positioner relative to the second positioner.

Further, the operator obtains a distance parameter between the third locator and the first locator, and a signal azimuth parameter, and establishes a fifth position coordinate of the first locator relative to the third locator, and obtains The distance parameter between the third locator and the second locator and the signal azimuth parameter establish a sixth position coordinate of the second locator relative to the third locator.

Further, the arithmetic unit obtains the flash distance parameter by using the following formula: Dt=GN×( (ISO/100))÷F

Wherein, Dt is the flash distance parameter, GN is the flash output parameter when the sensitivity coefficient (ISO value) is 100, ISO is the sensitivity coefficient of the imaging device, and F is the aperture value of the imaging device. .

Further, the flash-equipped multi-axis aircraft includes an aircraft body, at least three rotor shafts disposed on the aircraft body and driven by an electric motor, and a setting portion disposed on the aircraft body for the flash.

Further, the device includes an off-camera flash trigger disposed on the camera, the flash-equipped multi-axis aircraft includes an off-camera flash receiver disposed on the set portion, and a off-camera flash receiver disposed on the off-camera The device is electrically connected to the hot shoe connected to the side of the flash, and the camera transmits a flash trigger command to the flash through the off-camera trigger.

Further, the flash-equipped multi-axis aircraft includes processing units respectively disposed on both sides of the vertical direction of the flash and coupled to an upper vertical array antenna and a lower vertical array antenna of the processing unit, and respectively disposed at the flash level A left horizontal array antenna and a right horizontal array antenna are connected to both sides of the processing unit.

Further, the setting portion includes a hot shoe provided for the off-camera flash receiver or the flash, a first rotating device disposed on the aircraft body to drive the hot shoe to rotate along the first plane by the motor, and a setting And a second rotating device that drives the hot shoe to rotate along a second plane by the motor body.

Further, the motor is connected to the processing unit, and the processing unit receives the electromagnetic wave signal received by the first positioner through the left horizontal array antenna and is received by the first positioner via the right horizontal array antenna. The electromagnetic wave signal is calculated to obtain a phase difference of the first electromagnetic wave, and the first rotating device is controlled to rotate along the first plane according to the phase difference of the first electromagnetic wave, and the processing unit is transmitted through the upper vertical array antenna The electromagnetic wave signal received by the first positioner and the electromagnetic wave signal received by the first positioner via the lower vertical array antenna calculate a phase difference of the second electromagnetic wave (phase And rotating the second rotating device along the second plane by the motor according to the second electromagnetic wave phase difference.

Further, the motor is connected to the processing unit, and the processing unit receives the electromagnetic wave signal received by the first positioner through the left horizontal array antenna and is received by the first positioner via the right horizontal array antenna. The electromagnetic wave signal calculates a first code offset step, and controls the first rotating device to rotate along the first plane according to the first code offset step, and the processing unit transmits the upper vertical array antenna Calculating a second code offset step by the electromagnetic wave signal received by the first positioner and the electromagnetic wave signal received by the first positioner via the lower vertical array antenna, and offset according to the second code The step is controlled by the motor to rotate the second rotating device along the second plane.

Further, the aircraft body is provided with a barometer, an ultrasonic sensor, an electronic compass, a GPS, a gravity sensor (G-sensor), and a gyroscope.

Another object of the present invention is to provide a mobile flash lamp positioning The method includes the steps of: measuring a first position information of the object by using a first positioner disposed on the object; and providing a second positioner on the multi-axis aircraft equipped with the flash, Detecting the second position information of the flash; capturing the shooting parameters in the camera device by using a camera parameter picker mounted on the camera; defining the first position information as an origin, and transmitting the flash through the flash a flash output parameter and the camera information to calculate a flash distance parameter having a better flash distance; and controlling the aircraft body to maintain the preferred flash distance relative to the origin by the flash distance parameter mobile.

Further, the camera parameter extractor is provided with a third locator for measuring the third position information of the camera device, and the first position information, the second position information, and the third position information are as follows Step obtaining: defining a position of the object as the first position information; establishing, by the distance parameter between the first positioner and the second positioner, and a signal azimuth parameter, the second positioner is opposite to the first positioner a first position coordinate of the positioner, and defining the first position coordinate as the second position information; establishing the first position by the distance parameter between the first positioner and the third positioner and the signal azimuth parameter a third position coordinate of the third positioner relative to the first positioner, and defining the second position coordinate as the third position information.

Further, the flash distance parameter is obtained by the following formula: Dt=GN×( (ISO/100)) ÷ F where Dt is the flash distance parameter, GN is the flash output parameter when the sensitivity coefficient (ISO value) is 100, ISO is the sensitivity coefficient of the camera, F It is the aperture value of the camera.

Further, the flash-equipped multi-axis aircraft includes an aircraft body, at least three rotor shafts disposed on the aircraft body and driven by an electric motor, and a setting portion disposed on the aircraft body for the flash.

Further, a horizontal array antenna on the left side and a horizontal array antenna on the right side are respectively disposed on two sides of the socket of the flash lamp, and an upper vertical array antenna and a lower vertical array antenna are respectively disposed on two sides of the flash socket. The flash unit adjusts the direction of the swing head by: the electromagnetic wave signal received by the first positioner through the left horizontal array antenna and the electromagnetic wave signal received by the first positioner via the right horizontal array antenna Obtaining a first electromagnetic wave phase difference, and controlling the flash to rotate along the first plane according to the first electromagnetic wave phase difference; and transmitting electromagnetic wave signals and signals received by the first positioner through the upper vertical array antenna The lower vertical array antenna calculates a phase difference of the second electromagnetic wave by the electromagnetic wave signal received by the first positioner, and controls the flash to rotate along the second plane according to the phase difference of the second electromagnetic wave.

Further, a left horizontal array antenna and a right horizontal array antenna are respectively disposed on two sides of the lamp holder in the horizontal direction, and the upper vertical array antenna and the lower vertical array antenna are respectively disposed on two sides of the lamp holder in the vertical direction. The flash unit adjusts the direction of the swing head by the electromagnetic wave signal received by the first positioner through the left horizontal array antenna and the electromagnetic wave signal received by the first positioner via the right horizontal array antenna. Calculating a first code offset step, and controlling the flash along the first code offset step Rotating the first plane; and calculating, by the upper vertical array antenna, the electromagnetic wave signal received by the first positioner and the electromagnetic wave signal received by the first positioner via the lower vertical array antenna to obtain a second code deviation Shifting the pitch and controlling the flash to rotate along the second plane in accordance with the second code offset step.

Therefore, several embodiments of the present invention have the following beneficial technical effects over the prior art:

1. The present invention controls the relative position between the flash and the subject through the multi-axis aircraft, thereby greatly reducing the difficulty for the photographer in shooting.

2. The present invention can establish the relative positional relationship between the photographer, the subject, and the flash by three points, and quickly adjust the position of the multi-axis aircraft by using a tablet or a voice command, thereby adjusting to a better shooting distance and location. The angle of shooting required.

3. The present invention automatically controls the oscillating direction of the flash by means of a horizontal antenna array and a vertical antenna array, thereby positioning to a preferred lighting angle.

100‧‧‧Mobile flashing light positioning system

20‧‧‧ Subjects

21‧‧‧First positioner

30‧‧‧Multi-axis aircraft equipped with flash

31‧‧‧flash

311‧‧‧First rotating device

312‧‧‧Second rotating device

313‧‧‧Detector

314‧‧‧ hot boots

3131‧‧‧left horizontal array antenna

3132‧‧‧Right horizontal array antenna

3133‧‧‧Upper vertical array antenna

3134‧‧‧Lower vertical array antenna

32‧‧‧Off-camera flash receiver

33‧‧‧Second positioner

34‧‧‧Processing unit

35‧‧‧Aircraft main body

36‧‧‧flash parameter picker

40‧‧‧ camera

41‧‧‧ Camera Parameter Reader

42‧‧‧third positioner

43‧‧‧Off-machine flash trigger

50‧‧‧Operator

51‧‧‧Processing unit

52‧‧‧ storage unit

S101-S104‧‧‧Steps

Dt‧‧‧ preferred flash distance

θ ₁ ‧‧‧ zenith angle

azimuth θ ₂ ‧‧‧

DH1‧‧‧Distance

DH2‧‧‧Distance

DH3‧‧‧Distance

DH4‧‧‧Distance

FIG. 1 is a block diagram of a mobile flash lamp positioning system of the present invention.

FIG. 2 is a schematic view showing the use state of the mobile flash lamp positioning system of the present invention (1).

FIG. 3 is a schematic view showing the use state of the mobile flash lamp positioning system of the present invention (2).

4 is an appearance view of a multi-axis aircraft equipped with a flash lamp according to the present invention. intention.

FIG. 5 is a schematic flow chart of a method for positioning a mobile flash lamp according to the present invention.

Figure 6 is a schematic view of the horizontal swing of the flash lamp of the present invention.

Figure 7 is a schematic view of the vertical oscillating head of the flash lamp of the present invention.

The detailed description and technical contents of the present invention will now be described with reference to the drawings. In addition, the drawings are not intended to limit the scope of the present invention, and the proportions thereof are not intended to limit the scope of the present invention.

The invention provides a mobile flash lamp positioning system, which mainly adopts the low noise and stable characteristics of the multi-axis aircraft, and precisely controls the flash to properly maintain a better flash distance from the object, thereby winding Line the subject to adjust the direction and angle of the photographer's desired light.

Please refer to FIG. 1 , which is a block diagram of the mobile flashing light positioning system of the present invention. As shown in the figure, the mobile flashing light positioning system 100 of the present invention mainly includes a first positioning device 21 and a plurality of flashing lights. The axlecraft 30, a camera parameter extractor 41, and an operator 50 coupled to the apparatus.

The first locator 21 is disposed on the object 20, and can be a wearable computer or a data transmission and reception function. The processing device is configured to be worn by the subject 20, thereby locating the position of the subject 20 to measure the first position information of the subject 20. More specifically, the first locator 21 can be a mobile device, a smart eyeglass, a smart watch, or the like. Through the antenna module on the first locator 21, the distance parameter and the signal azimuth parameter can be measured by the obtained signal. The distance parameter is obtained by time synchronization of the entire system, using the time of signal transmission to the reception to estimate the distance acquisition or by the Received Signal Strength Indication (RSSI).

The multi-axis aircraft 30 is used for carrying an off-camera flash 31. The multi-axis aircraft 30 includes an off-camera flash receiver 32, a second positioner 33, a processing unit 34, and a flash parameter picker. 36. The off-camera flash receiver 32 includes a signal receiving module and a hot shoe (not shown) connected to the signal receiving module. The hot shoe can be installed by the photographer according to requirements. The machine flash 31 (with other details of the multi-axis aircraft 30, as will be explained in more detail later). A positioner corresponding to the flash 31 is disposed on the multi-axis aircraft 30, and the second positioner 33 is configured to position the flash 31 to measure the second position information of the flash 31. The second locator 33 is a signal transceiving device having an antenna array module. The antenna module can measure the distance parameter and the signal azimuth parameter through the obtained signal. The processing unit 34 is coupled to the flash output index adjuster on the flash 31 by the hot shoe 314 and obtains the flash output parameter of the flash 31, and the flash output parameter is set by a wireless transmission unit (not shown). It is passed back to the computing unit 50 for calculating the preferred flash distance.

The camera parameter extractor 41 is mounted on the imaging device 40 to capture imaging parameters in the imaging device 40. The camera device 40 is provided with a third positioner 42 and an off-camera trigger 43 for positioning the position of the camera device 40 to measure the third position information of the camera device 40. The third positioner 42 is a signal transceiver device having an antenna module. The antenna array module can measure the distance parameter and the signal azimuth parameter through the obtained signal.

The computing unit 50 includes a processing unit 51 and a storage unit 52 connected to the processing unit 51. In this embodiment, the processing unit 51 and the storage unit 52 may be configured together as a single chip, and may be disposed on the first positioner 21, the camera parameter extractor 41, or the multi-axis aircraft 30, or may be Together, they constitute a computer or processor, such as a personal computer, workstation, host computer, mobile device, tablet or other type of computer or processor, and are not limited in their scope.

In this embodiment, the processing unit 51 can be coupled to the storage unit 52. The processing unit 51 is, for example, a central processing unit (CPU), or other programmable general purpose or special purpose microprocessor (Microprocessor), digital signal processor (DSP), Programmable controllers, Application Specific Integrated Circuits (ASICs), Programmable Logic Devices (PLDs), or other similar devices or combinations of these devices. In the present embodiment, the processing unit 51 is configured to load a program in the storage unit 52 to complete the positioning procedure and control the multi-axis aircraft 30 to move to a designated position.

The following is a detailed description of the implementation method of the present invention. Please refer to FIG. 2 and FIG. 3, which are schematic diagrams of the use state of the mobile flashlight positioning system of the present invention (1) and a schematic diagram of the use state (2). as the picture shows: The first positioner 21 measures the first position information of the object 20; the second positioner 33 measures the second position information of the flash 31; the third positioner The 42th position information of the imaging device 40 is measured. After the operator 50 obtains the first location information, the second location information, and the third location information, the computing device 50 first defines the first location information as an origin P, wherein the origin may also be defined. The second location information or the third location information is not limited in the present invention. At the same time, the computing device 50 obtains the flash output parameter of the flash 31 by wirelessly connecting to the flash parameter extractor 36, and acquires the imaging parameters of the camera parameter extractor 41. A flash distance parameter having a better flash distance is calculated by the flash output parameter and the shooting parameter.

The preferred flashing distance refers to a formula obtained by a built-in formula or according to a preset by a user, and the preferred spacing between the flashes corresponding to the object 20 is obtained according to the flash output parameter and the camera parameter. The subject 20 is properly exposed to the needs of the photographer.

In this embodiment, the preferred flash distance can be calculated according to the formula of the correct exposure distance, and the formula is as follows:

Among them, Dt is the flash distance parameter, GN is the flash output parameter when the sensitivity coefficient (ISO value) is 100, and ISO is the sensitivity system of the imaging device 40. The number F is the aperture value of the imaging device.

With the first positioner 21 as the origin P(0, 0, 0), the operator 50 will limit the range in which the multi-axis aircraft 30 moves, so that the flash 31 on the multi-axis aircraft 30 and the object 20 are The spacing is maintained at a preferred flash distance Dt, meaning that the target coordinate (x, y, z) must conform to the following formula:

At this time, the multi-axis aircraft 30 will be controlled by the arithmetic unit 50, with the position of the first positioner 21 as a center point, and moved relative to the first positioner 21 on a track whose pitch is the preferred flash distance Dt. When the multi-axis aircraft 30 is away from the track and the difference from the preferred flash distance Dt is greater than a preset threshold, the operator 50 will recalculate by using the position of the first positioner 21 as a reference point. The target coordinates move the multi-axis aircraft 30 to the target coordinates, thereby maintaining the flash 31 and the subject 20 at an appropriate distance.

The first location information, the second location information, and the third location information are obtained in the following manner. First, the position of the first locator 21 is first set as the origin (the origin is the first position information). The operator 50 establishes the second positioner 33 relative to the first positioner 21 by measuring the distance parameter between the first positioner 21 and the second positioner 33 and the signal azimuth parameter. a position coordinate (ie, second position information), measuring a distance parameter between the first positioner 21 and the third positioner 42 and a signal azimuth parameter, establishing a relative position of the third positioner 42 relative to the first positioner a second position coordinate of 21 (ie, third position information), whereby the subject 20, the camera device 40, and the flash 31 can be determined Relative positional relationship (as shown in Figure 3).

In another embodiment, the first location information, the second location information, and the third location information are obtained in the following manner. First, the position of the second positioner 33 is first set as the origin. The operator 50 establishes the first positioner 21 relative to the second positioner 33 by measuring the distance parameter between the second positioner 33 and the first positioner 21 and the signal azimuth parameter. a three-position coordinate, measuring a distance parameter between the second locator 33 and the third locator 42 and a signal azimuth parameter, establishing a fourth position coordinate of the third locator 42 relative to the second locator 33, Thereby, the relative positional relationship between the subject 20, the imaging device 40, and the flash 31 can be determined (as shown in FIG. 3).

In another embodiment, the first location information, the second location information, and the third location information are obtained in the following manner. First, the position of the third positioner 42 is first set as the origin. The operator 50 establishes the first positioner 21 relative to the third positioner 42 by measuring the distance parameter between the first positioner 21 and the third positioner 42 and the signal azimuth parameter. a five-position coordinate, measuring a distance parameter between the second locator 33 and the third locator 42 and a signal azimuth parameter, establishing a sixth position coordinate of the second locator 33 relative to the third locator 42 Thereby, the relative positional relationship between the subject 20, the imaging device 40, and the flash 31 can be determined (as shown in FIG. 3).

The positioning scheme described above may employ related technologies such as Radio Frequency Identification (RFID), Bluetooth, Zigbee, etc., and is not limited in the present invention.

Referring to FIG. 2, when the relative position between the subject 20, the imaging device 40, and the flash 31 is confirmed, the first, second, and third position information can be displayed on the operator 50. Displayed on the screen. The operator 50 can set the connection between the first location information and the third location information as the first reference vector. In this case, the operator 50 can use the first reference vector as a reference to transmit the preferred flash. The distance Dt, and the two angle values (zenith angle θ ₁ , azimuth angle θ ₂ ) establish precise target coordinates, causing the multi-axis aircraft 30 to move to a position designated by the user.

The target coordinate can be obtained by the following formula: (x = Dtsin θ ₁ cos θ ₂ , y = Dtsin θ ₁ sin θ ₂ , z = Dtcos θ ₁ )

Where Dt is the preferred flash distance, θ ₁ is the zenith angle, and θ ₂ is the azimuth angle.

For example, based on the connection between the subject 20 and the imaging device 40 (ignoring the elevation angle problem, the connection between the first position information and the third position information is the x-axis), the user can touch, By voice inputting the zenith angle θ ₁ and the azimuth angle θ ₂ , an accurate coordinate can be determined, and the multi-axis aircraft 30 is controlled to move to the corresponding target coordinate.

For a detailed structure of the multi-axis aircraft 30 of the present invention, please refer to FIG. 4, which is a schematic diagram of the appearance of the multi-axis aircraft 30 equipped with a flashlight according to the present invention. As shown in the figure, the multi-axis aircraft 30 equipped with a flash lamp mainly includes There is an aircraft main body 35, at least three rotor shafts disposed on the aircraft main body 35 and driven by an electric motor, and a setting portion (not shown) provided on the aircraft main body 35 for the flash lamp 31. In the present embodiment, a four-axis aircraft is disclosed, but the present invention is not limited to this single embodiment. The aircraft body 35 is provided with an off-camera flash receiver 32, and a heat source coupled to the off-camera flash receiver 32 and corresponding to the setting portion for connecting to the side of the flash unit 31. Boots 314. When the photographer presses the shooting button on the camera device 40, the off-camera trigger 43 transmits a trigger command to the off-camera flash receiver 32, and the flash lamp receiver 32 activates the flash lamp 31 to compensate. Light. The other part of the multi-axis aircraft 30 further includes the aforementioned flash lamp 31, the second positioner 33, the flash parameter picker 36, and the like provided on the aircraft main body 35.

In order to accurately control the moving direction of the multi-axis aircraft 30, the multi-axis aircraft 30 includes a barometer, an ultrasonic sensor, an electronic compass, a GPS, a G-sensor, and a gyroscope. None of the above contents are shown.

The second locator 33 can receive the manipulation command transmitted by the computing unit 50 to the processing unit 34 in addition to the function of transmitting and receiving signals to obtain the second location information function. When receiving the manipulation command of the operator 50, the processing unit 34 measures the moving direction and distance of the aircraft body 35 to be moved through the device, and the functions of each device are as follows: the aircraft body can be measured by a barometer The height of 35 can also be calculated by the electronic compass or GPS to calculate the horizontal position of the aircraft body 35, and the coordinates obtained by the GPS are used as reference values to reduce errors. The ultrasonic sensor is disposed on the circumferential side of the aircraft body 35 to prevent the aircraft body 35 from colliding with adjacent objects during flight. The gravity sensor (G-sensor) is disposed on the aircraft body 35 to measure whether the aircraft body 35 maintains horizontal flight. The gyro is used to confirm the flight direction of the aircraft main body 35 or to be mounted on the flash 31 to measure the angle at which the flash 31 rotates.

Hereinafter, the mobile flash lamp positioning method of the present invention is described with reference to a flowchart: Referring to FIG. 5, it is a schematic flowchart of the mobile flash lamp positioning method of the present invention, as shown in the figure: The mobile flash positioning method includes the following steps: at the beginning, the first position information of the subject 20 is measured by the first positioner 21 disposed on the subject 20, and transmitted to the operator. 50 (step S101). The second position information of the flash unit 31 is measured by the second positioner 33 provided on the multi-axis aircraft 30 on which the flash is mounted, and transmitted to the arithmetic unit 50 (step S102). The camera parameter extractor 41 is mounted on the camera device 40 to capture the shooting parameters in the camera device 40, and the third positioner 42 is used to measure the third position information and transmit it to the camera. The arithmetic unit 50 (step S103). The above three steps can be carried out simultaneously, and the order of operation thereof is not limited in the present invention. The operator 50 receives the above information, defines the first location information as the origin, and obtains a preferred flash distance by using the following formula (step S104):

Wherein, Dt is the flash distance parameter, GN is the flash output parameter when the sensitivity coefficient (ISO value) is 100, ISO is the sensitivity coefficient of the imaging device, and F is the aperture value of the imaging device. .

In order to accurately locate the orientation of the flash 31, please refer to "FIG. 6" and "FIG. 7" below, and the technique of the oscillating head of the flash 31 will be described in detail. The flash-equipped multi-axis aircraft 30 includes a first rotating device 311 disposed on the aircraft body 35 to drive the hot shoe 314 to rotate along a first plane by a motor, and a motor disposed on the aircraft body 35 to be driven by the motor. Hot shoe 314 along A second rotating device 312 that rotates in a second plane. The first rotating device 311 rotates the flash 31 on a horizontal surface by a motor (as shown in FIG. 6 ), and the second rotating device 312 drives the flash 31 to rotate relative to the aircraft body 35 by a motor (as shown in the figure). 7)).

In order to calculate the oscillating direction of the flashing lamp 31, a detector 313 electrically connected to the processing unit 34 is disposed correspondingly on the peripheral side of the flashing lamp 31, and the detector 313 is sleeved on the flashing lamp for 31 weeks. On the side, the detector 313 can also be implemented as an antenna of the second locator 33, and includes a left horizontal array antenna 3131 and a right horizontal array antenna 3132 respectively disposed on two sides of the flash 31 in the horizontal direction, and a setting An upper side vertical array antenna 3133 and a lower side vertical array antenna 3134 of the processing unit 34 are connected to both sides of the flash lamp 31 in the vertical direction.

The detector 313 can adjust the rotation direction and the rotation angle of the flash 31 through the phase difference of the electromagnetic wave by the signal transmitted from the first positioner 21. As shown in FIG. 6 , when the left horizontal array antenna 3131 and the right horizontal array antenna 3132 receive the electromagnetic wave signals of the first positioner 21, the time of the two horizontal array antennas is synchronized and the time difference parameter Δt is substituted. The wavelength parameter λ is calculated as a reference value to obtain a first electromagnetic wave phase difference φ ₁ (phase difference) between the left horizontal array antenna 3131 and the right horizontal array antenna 3132, and the first electromagnetic wave phase difference can be obtained by the following formula :φ ₁ =2π(△t/λ)

By the first electromagnetic wave phase difference φ ₁ , the angle at which the flash lamp 31 should be rotated can be obtained by conversion, and the direction in which the flash lamp 31 should be rotated can be determined by the positive or negative value of the first electromagnetic wave phase difference φ ₁ . Assuming that the electromagnetic wave signal obtained by the right horizontal array antenna 3132 is positive with respect to the first electromagnetic wave phase difference φ ₁ between the electromagnetic wave signals obtained by the left horizontal array antenna 3131, the first positioner 21 to the left horizontal array antenna are determined. The distance DH1 of the 3131 is smaller than the distance DH2 of the right horizontal array antenna 3132, and the processing unit 34 controls the first rotating device 311 to rotate in the direction of the left horizontal array antenna 3131; otherwise, the first electromagnetic wave phase difference φ ₁ is If the value is negative, the distance DH2 of the first locator 21 to the right horizontal array antenna 3132 is smaller than the distance DH1 of the left horizontal array antenna 3131. The processing unit 34 controls the first rotating device 311 to the right horizontal array antenna. The direction of 3132 is rotated.

As shown in FIG. 7 , when the upper vertical array antenna 3133 and the lower vertical array antenna 3134 receive the electromagnetic wave signal of the first positioner 21, the time of the two vertical array antennas is synchronized and the time difference parameter Δt is substituted. And calculating the second electromagnetic wave phase difference φ ₂ (phase difference) between the upper vertical array antenna 3133 and the lower vertical array antenna 3134 by using the wavelength parameter λ as a reference value, wherein the second electromagnetic wave phase difference is The formula is obtained: φ ₂ = 2π(△t/λ)

By the second electromagnetic wave phase difference φ ₂ , the angle at which the flash lamp 31 should be rotated can be obtained by conversion, and the direction in which the flash lamp 31 should be rotated can be determined by the positive or negative value of the second electromagnetic wave phase difference φ ₂ . Assuming that the electromagnetic wave signal obtained by the lower vertical array antenna 3134 is positive with respect to the second electromagnetic wave phase difference φ ₂ between the electromagnetic wave signals obtained by the upper vertical array antenna 3133, the first positioner 21 to the upper vertical array are determined. The distance DH3 of the antenna 3133 is smaller than the distance DH4 of the lower vertical array antenna 3134. The processing unit 34 controls the second rotating device 312 to rotate in the direction of the upper vertical array antenna 3133. Otherwise, the second electromagnetic wave phase difference φ ₂ is a negative value, the first locator 21 to the lower side of the vertical array antenna 3134 DH3 distance smaller than the distance of the upper vertical array antenna DH4 3133, the processing unit 34 controls the second rotating means 312, to the lower The direction of the side vertical array antenna 3134 is rotated.

In addition to the method of controlling the swaying of the strobe by the phase difference, in another embodiment, the transmitted message may also be transmitted by the code division multiple access (CDMA) in the electromagnetic wave signal. Modulating the obtained code string and synchronizing the time of the two horizontal array antennas, thereby calculating the code offset step (ie, the time difference parameter) between the same codes, and adjusting the flash 31 by the code offset pitch The specific rotation of the rotation direction and the rotation angle is as follows: the processing unit 34 transmits the electromagnetic wave signal received by the first positioner 21 through the left horizontal array antenna 3131 and the first horizontal array antenna 3132 via the right horizontal array antenna 3132. The electromagnetic wave signal received by the locator 21 calculates a first code offset step between the same code, and obtains an angle at which the flash 31 should rotate and a direction of rotation according to the first code offset step. The motor is controlled to drive the first rotating device 311 to rotate along the first plane to a target direction. On the other hand, the processing unit 34 is transmitted through the upper vertical array antenna 3133. The electromagnetic wave signal received by the locator 21 and the electromagnetic wave signal received by the first locator 21 via the lower vertical array antenna 3134 calculate a second code offset step between the same codes, and according to the The two code offset steps obtain the angle at which the flash 31 should rotate and the direction of rotation, thereby controlling the motor to rotate the second rotating device 312 along the second plane to the target direction.

In summary, the present invention controls the relative position between the flash and the subject through the multi-axis aircraft, thereby greatly reducing the difficulty for the photographer in shooting. In addition, the present invention can establish the relative positional relationship between the photographer, the subject, and the flash by three points, and quickly adjust the position of the multi-axis aircraft by using a tablet or a voice command, thereby adjusting to a better shooting distance and location. The angle of shooting required. Furthermore, the present invention automatically controls the oscillating direction of the flash by means of a horizontal antenna array and a vertical antenna array, thereby positioning to a preferred illuminating angle.

The present invention has been described in detail above, but the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Variations and modifications are still within the scope of the patents of the present invention.

20‧‧‧ Subjects

21‧‧‧First positioner

30‧‧‧Multi-axis aircraft equipped with flash

33‧‧‧Second positioner

40‧‧‧ camera

42‧‧‧third positioner

43‧‧‧Off-machine flash trigger

50‧‧‧Operator

Dt‧‧‧ preferred flash distance

θ ₁ ‧‧‧ zenith angle

θ ₂ ‧‧‧ azimuth

Claims (20)

A mobile flashing light positioning system includes: a first positioner disposed on a subject and measuring first position information of the object; and a multi-axis aircraft equipped with a flash, provided with a a flash parameter picker coupled to the flash and obtaining a flash output parameter of the flash, and a second positioner for measuring the second position information of the flash; a camera parameter extractor mounted to the camera The camera captures the shooting parameters in the camera device; and an operator defines the first position information as an origin, and calculates a flash light distance through the flash output parameter of the flash and the shooting parameter. The flash distance parameter is controlled by the flash distance parameter to maintain the preferred flash distance between the multi-axis aircraft and the origin. The mobile flash lamp positioning system of claim 1, wherein the camera parameter extractor is provided with a third positioner that measures third position information of the camera device. The mobile flash lamp positioning system of claim 2, wherein the operator obtains a distance parameter between the first positioner and the second positioner and a signal azimuth parameter to establish the second position. Relative to the first position coordinate of the first positioner, and obtaining a distance parameter between the first positioner and the third positioner, and a signal azimuth parameter, establishing a third positioner relative to the first positioner Second position coordinates. The mobile flash lamp positioning system of claim 2, wherein the operator obtains a distance parameter between the second positioner and the first positioner and a signal azimuth parameter to establish the first positioning. A third position coordinate of the second positioner is obtained, and a distance parameter between the second positioner and the third positioner and a signal azimuth parameter are obtained, and the third positioner is opposite to the second positioner. The fourth position coordinates. The mobile flash lamp positioning system of claim 2, wherein the operator obtains a distance parameter between the third positioner and the first positioner and a signal azimuth parameter to establish the first positioning. a fifth position coordinate of the third positioner, and obtaining a distance parameter between the third positioner and the second positioner, and a signal azimuth parameter, establishing a position of the second positioner relative to the third positioner The sixth position coordinates. The mobile flash lamp positioning system according to claim 1, wherein the operation unit obtains the flash distance parameter by using the following formula: Dt=GN×( (ISO/100)) ÷ F where Dt is the flash distance parameter, GN is the flash output parameter when the sensitivity coefficient (ISO value) is 100, ISO is the sensitivity coefficient of the camera, F It is the aperture value of the camera. The mobile flashlight positioning system of claim 1, wherein the flash-equipped multi-axis aircraft includes an aircraft body, at least three rotor shafts disposed on the aircraft body and driven by an electric motor, and a setting A setting portion for the flash is provided on the main body of the aircraft. The mobile flash lamp positioning system of claim 7, further comprising an off-camera flash trigger disposed on the camera, the flash-equipped multi-axis aircraft including a set on the setting portion An off-camera flash receiver, and a hot shoe disposed on the off-camera flash receiver and electrically connected to the flash side connector, the camera device transmits a flash trigger command to the off-camera flash trigger to The flash. The mobile flash lamp positioning system of claim 7, wherein the flash-equipped multi-axis aircraft includes a processing unit respectively disposed on both sides of the flash vertical direction and coupled to an upper vertical array of the processing unit. An antenna and a lower vertical array antenna, and a left horizontal array antenna and a right horizontal array antenna respectively disposed on two sides of the flash horizontal direction and coupled to the processing unit. The mobile flashing light positioning system of claim 9, wherein the setting portion comprises a hot shoe provided for the off-camera flash receiver or the flash, and the hot shoe is disposed on the main body of the aircraft by the motor a first rotating device that rotates along a first plane, and a second rotating device that is disposed on the aircraft body to drive the hot shoe to rotate along a second plane by a motor. The mobile flash lamp positioning system of claim 10, wherein the motor is connected to the processing unit, and the processing unit transmits electromagnetic wave signals received by the first positioner through the left horizontal array antenna. Calculating a phase difference of the first electromagnetic wave by the electromagnetic wave signal received by the first positioner via the right horizontal array antenna, and according to the first electromagnetic wave phase The position difference is controlled by the motor to rotate the first rotating device along the first plane, and the processing unit transmits the electromagnetic wave signal received by the first positioner through the upper vertical array antenna and the vertical array antenna via the lower side The electromagnetic wave signal received by the first positioner calculates a phase difference of the second electromagnetic wave, and the second rotating device is controlled to rotate along the second plane by the motor according to the second electromagnetic wave phase difference. The mobile flash lamp positioning system of claim 10, wherein the motor is connected to the processing unit, and the processing unit transmits electromagnetic wave signals received by the first positioner through the left horizontal array antenna. Calculating, by the right horizontal array antenna, the first code offset step by the electromagnetic wave signal received by the first positioner, and controlling the first rotating device along the first code offset step according to the first code The first plane rotates, and the processing unit calculates the electromagnetic wave signal received by the first positioner through the upper vertical array antenna and the electromagnetic wave signal received by the first positioner via the lower vertical array antenna. The second code offsets the pitch and controls the second rotating device to rotate along the second plane by the motor in accordance with the second code offset step. The mobile flash lamp positioning system according to claim 1, wherein the aircraft body is provided with a barometer, an ultrasonic sensor, an electronic compass, a GPS, a gravity sensor (G-sensor), and a gyroscope. . A mobile flash lamp positioning method includes the following steps: measuring first position information of the object by using a first positioner disposed on the object; The second position information of the flash is measured by a second positioner disposed on the multi-axis aircraft equipped with the flash; and the camera parameter picker mounted on the image capturing device is used to capture the inside of the camera Shooting parameters; defining the first position information as an origin, and calculating a flash distance parameter having a better flash distance through the flash output parameter of the flash and the camera information; and controlling the flash distance parameter The aircraft body is moved between the origins to maintain the preferred flash distance. The mobile strobe positioning method according to claim 14, wherein the camera parameter extractor is provided with a third locator for measuring the third position information of the camera device, the first position information, The second location information and the third location information are obtained by: defining a location of the object as the first location information; and using a distance parameter between the first locator and the second locator, And a signal azimuth parameter, establishing a first position coordinate of the second positioner relative to the first positioner, and defining the first position coordinate as the second position information; by the first positioner and the third position The distance parameter between the device and the signal azimuth parameter establishes a second position coordinate of the third positioner relative to the first positioner, and defines the second position coordinate as the third position information. The mobile flash lamp positioning method according to claim 14, wherein the flash distance parameter is obtained by the following formula: Dt=GN×( (ISO/100)) ÷ F where Dt is the flash distance parameter, GN is the flash output parameter when the sensitivity coefficient (ISO value) is 100, ISO is the sensitivity coefficient of the camera, F It is the aperture value of the camera. The mobile flash lamp positioning method of claim 14, wherein the flash-equipped multi-axis aircraft includes an aircraft body, at least three rotor shafts disposed on the aircraft body and driven by an electric motor, and a rotor shaft A setting portion of the aircraft body for the flash. The mobile flash lamp positioning method according to claim 14, wherein the horizontal side of the lamp holder is provided with a left horizontal array antenna and a right horizontal array antenna, and the flash lamp holder has two vertical directions. The side is respectively provided with an upper vertical array antenna and a lower vertical array antenna, and the flash adjusts the swing direction by: the electromagnetic wave signal received by the first positioner through the left horizontal array antenna and the horizontal level passing through the right side The array antenna calculates a phase difference of the first electromagnetic wave by the electromagnetic wave signal received by the first positioner, and controls the flash to rotate along the first plane according to the phase difference of the first electromagnetic wave; and transmits the vertical array through the upper side The second electromagnetic wave phase difference is calculated by the electromagnetic wave signal received by the first positioner and the electromagnetic wave signal received by the first positioner via the lower vertical array antenna, and according to the second The electromagnetic wave phase difference controls the flash to rotate along the second plane. The mobile flash lamp positioning method according to claim 14, wherein the horizontal side of the lamp holder is provided with a left horizontal array antenna and a right horizontal array antenna, and the flash lamp holder has two vertical directions. The side is respectively provided with an upper vertical array antenna and a lower vertical array antenna, and the flash adjusts the swing direction by: the electromagnetic wave signal received by the first positioner through the left horizontal array antenna and the horizontal level passing through the right side The array antenna calculates a first code offset step from the electromagnetic wave signal received by the first locator, and controls the flash to rotate along the first plane according to the first code offset step; and transmits the upper vertical array The electromagnetic wave signal received by the first positioner and the electromagnetic wave signal received by the first positioner via the lower vertical array antenna are used to calculate a second code offset step, and according to the second code offset The shift step controls the flash to rotate along the second plane. A computer-readable recording medium of a built-in program, which can be completed as described in any one of claims 14 to 19.