TWI691210B - System and method for image stabilizing panning shot - Google Patents

Abstract

A method for image stabilizing panning shot is adapted to a panning shot dock, for adjusting an image capturing direction of the panning dock toward an optical signal source. The optical signal source emits an optical positioning signal. The method comprises receiving the optical positioning signal by an optical signal receiving array, wherein each of the optical signal receiving units of the array respectively generates a receiving strength; comparing the receiving strengths, to obtaining the position of the optical signal source relative to the position of the array, so as to generate a turning signal accordingly; and transmitting the turning signal to the panning dock to adjust the image capturing direction of the panning dock toward the optical signal source.

Description

Follow-up shooting system with picture stabilization function and follow-up shooting method with picture stabilization function

The invention relates to video and video shooting, in particular to a tracking system with a picture stabilization function and a tracking method with a picture stabilization function.

Although several tracking technologies are currently being developed, smart phones can be driven by the base to track specific targets. However, when the specific target of the follow-up camera quickly deviates from the follow-up screen, the smartphone lacks the trackable target and cannot continue to follow the camera. Although some follow-up mechanisms have a search mode, the search mode is often only a blind search, which makes the chance of a search failure still high. In addition, if the follow-up mechanism accelerates the follow-up speed to prevent a specific target from leaving the follow-up frame, it will often overshoot. Excessive follow-up causes the smartphone to continue to swing during shooting to follow a specific target, causing the camera screen (especially dynamic video streaming) to shake significantly, so there is still a need to improve the follow-up method.

In view of the above problems, the present invention provides a tracking system with a picture stabilization function, which includes a remote control device and a tracking base. The remote control device has an encoding circuit; an optical signal source, which is electrically connected to the encoding circuit for emitting optical positioning signals; and a key set, which is electrically connected to the encoding circuit for being pressed to trigger the encoding circuit to drive the optical signal source to emit optical positioning Signal. The follow-up base includes a control chip; a steering module, which is electrically connected to the control chip, defines an image capturing direction on the steering module, and the control chip is used to control the steering module to turn and change the image capturing direction; and a light The signal receiving array has a plurality of optical signal receiving units. The optical signal receiving units are used to receive optical positioning signals and generate different receiving intensities for transmission to the control chip.

Wherein, the control chip compares the received intensity and analyzes the angle required to change the image capturing direction according to the distribution of the received intensity, generates a first turn signal, and sends a first turn signal to control the turning module to control the image capture The direction is closer to the position of the optical signal source.

In at least one embodiment, a tracking system with a picture stabilization function further includes a handheld mobile device, carried on the steering module, the handheld mobile device includes a microprocessor; a camera, electrically connected to the microprocessor, is used Capture the direction to shoot the camera picture and send it to the microprocessor; the microprocessor defines a plurality of sampling frames with different sizes in the camera picture and preloads one of the sampling frames; and the microprocessor changes according to the selection instruction Loaded sampling frame; memory unit, electrically connected to the microprocessor to store the camera image and the settings of the sampling frames; and touch display panel, electrically connected to the microprocessor to display the camera image , And can accept a touch operation as a selection command feedback to the microprocessor. The microprocessor recognizes the feature object in the camera screen. When the feature object exceeds the loaded sampling frame, the microprocessor sends a second steering signal to drive the steering module to change the image capturing direction, so that the feature object returns to the sampling frame.

In at least one embodiment, when multiple feature objects are identified, the microprocessor maintains the feature objects in the sampling frame.

In at least one embodiment, when multiple feature objects are identified, the microprocessor maintains the selected feature object in the sampling frame according to the selection instruction.

In at least one embodiment, the form of the optical signal receiving array is selected from a rectangular array, a circular array, a trapezoidal array, a cross array, and a combination of the foregoing arrays.

The invention also provides a tracking method with a picture stabilizing function, which is suitable for making the image capturing direction of a tracking base approach an optical signal source, and the optical signal source is used to send out an optical positioning signal; the method includes the following steps: An optical signal receiving array receives the optical positioning signal, and a plurality of optical signal receiving units of the optical signal receiving array respectively generate the receiving intensity; comparing the receiving intensity, the optical signal source of the optical positioning signal is analyzed relative to the light according to the receiving intensity The position of the signal receiving array generates a first turn signal; and the first turn signal is sent to control the tracking base, so that the image capturing direction approaches the position of the optical signal source.

In at least one embodiment, a tracking method with a picture stabilization function further includes establishing a communication link with a handheld mobile device; wherein, the handheld mobile device uses a camera to capture a camera image along the image capturing direction and generates a second turn signal to Follow-up base, the follow-up base is used to carry a handheld mobile device, and receives the first turn signal or the second turn signal to change the image capture direction; the handheld mobile device defines multiple samples with different sizes in the camera screen Frame, and preload one of the sampling frames; and identify the characteristic object in the camera screen with the handheld mobile device, and when the characteristic object exceeds the loaded sampling frame, the handheld mobile device sends a second turn signal to drive the tracking base Change the image capture direction to restore the feature object to the sampling frame.

In at least one embodiment, the tracking method with the image stabilization function further includes inputting a selection instruction, so that the handheld mobile device changes the loaded sampling frame according to the selection instruction.

In at least one embodiment, when multiple feature objects are identified, the feature objects are maintained in the sampling frame.

In at least one embodiment, when multiple feature objects are identified, the microprocessor maintains the selected feature object in the sampling frame according to the selection instruction.

The invention receives the optical positioning signal through the optical coding receiving array, can effectively increase the receiving angle of view, avoid the search failure, and can ensure that the characteristic objects that need to be followed are kept in the camera screen. In addition, in at least one embodiment, a sampling frame that can be quickly set can avoid excessive follow-up shooting and solve the problem of unstable shaking of the camera image.

Referring to FIG. 1, it is a tracking system with a picture stabilization function disclosed in an embodiment of the present invention, for performing a tracking method with a picture stabilization function. The tracking system with a picture stabilization function includes a tracking base 200 and a remote control device 300. The panning base 200 has a variable image capturing direction. The hand-held mobile device 100 is carried on the follow-up base 200 for shooting the camera frame M in the image capturing direction, and the hand-held mobile device 100 can control the follow-up base 200 to rotate to change the image capture of the hand-held mobile device 100 Direction while continuing to follow the feature A. The follow-up base 200 can change the image capturing direction by itself, so that the image capturing direction approaches the remote control device 300. In other words, the tracking base 200 can search the remote control device 300 by itself, so that the image capturing direction of the handheld mobile device 300 approaches the remote control device 300, and the handheld mobile device 300 can recognize the characteristic object A, and further control the tracking base The seat 200 maintains the characteristic object A within the specified range in the imaging screen M.

As shown in FIGS. 1 and 2, the remote control device 300 has an encoding circuit 310, an optical signal source 330 and a key set 320.

The optical signal source 330 is electrically connected to the encoding circuit 310 for emitting the optical positioning signal S. In an embodiment, the optical signal source 330 may be a single optical code transmitting unit or an optical code transmitting array. The button group 320 is electrically connected to the encoding circuit 310 for being pressed to trigger the encoding circuit 310 to drive the optical signal source 330 to emit an optical positioning signal S for tracking with the camera base 200.

As shown in FIGS. 1 and 2, the tracking base 200 includes a control chip 210, a second communication interface 220, a steering module 230 and an optical signal receiving array 240.

As shown in FIGS. 1 and 2, the second communication interface 220 is electrically connected to the control chip 210 and establishes a communication link with the first communication interface 150 of the handheld mobile device 100, so that the control chip 210 of the follow-up base 200 and The handheld mobile device 100 establishes a communication link, and receives the second turn signal from the handheld mobile device 100 and transmits it to the control chip 210.

As shown in FIGS. 1 and 2, the steering module 230 is electrically connected to the control chip 210, and the steering module 230 defines the image capturing direction. At the same time, the steering module 230 is used to carry the handheld mobile device 100, so that the handheld mobile device 100 can shoot the camera frame M along the image capturing direction. The control chip 210 drives the steering module 230 to change the image capturing direction according to the second turn signal or the first turn signal, thereby changing the range covered by the camera frame M.

The steering module 230 usually includes one or more motors, necessary gear boxes, and a clamp 232. The clamp 232 is used to clamp the handheld mobile device 100 to carry the handheld mobile device 100 on the steering module 230.

As shown in FIGS. 1, 2 and 3, the optical signal receiving array 240 is electrically connected to the control chip 210 and rotates synchronously with the steering module 230, especially the fixture 232. The optical signal receiving array 240 has a plurality of optical signal receiving units for receiving the optical positioning signal S, and forms different receiving intensities according to different distances and angles received by each, and generates a receiving intensity distribution, which is transmitted to the control chip 210. Generally speaking, the closer the optical positioning signal S is to the direct light signal receiving unit, the stronger the receiving strength. The control chip 210 compares the received intensity distribution and analyzes the angle required to change the image capturing direction according to the received intensity distribution to generate a first steering signal and sends a first steering signal to control the steering module 230 to make the image capturing direction The position toward the optical signal source 330 approaches. Therefore, the camera screen M of the handheld mobile device 100 has an opportunity to let the target carrying the remote control device 300 into the lens.

As shown in FIG. 3, the method of analyzing the angle required to change the image capturing direction according to the reception intensity distribution is as follows.

A threshold group 241 may be defined in the middle area of the optical signal receiving array 240, and the optical signal receiving unit in the threshold group 241 is set such that the receiving intensity must exceed the threshold value, which is the desired receiving intensity distribution, that is, turning to the module 230. The image capturing direction defined at the time is closer to the optical signal source 330 of the remote control device 300. If at least one of the reception strength of the optical signal receiving unit in the threshold group 241 does not reach the threshold value, the optical signal is converted according to the position of the optical signal receiving unit in the optical signal receiving array 240 and the receiving strength of other optical signal receiving units The receiving array 240 turns (that is, the turning module 230 turns) to a direction with a higher receiving intensity until the receiving intensity of the optical signal receiving unit in the threshold group 241 all reaches the threshold. The range of the threshold group 241 is related to the sensitivity. The smaller the range of the threshold group 241, the higher the sensitivity, even if the image capturing direction is closer to the optical signal source 330.

As shown in FIGS. 4 to 9, the square rectangular array in FIG. 3 and the planar configuration are only examples. The form of the optical signal receiving array 240 may be a long rectangular array, a ring array (including a ring and a polygon frame), Trapezoidal arrays (including triangles), cross arrays, and combinations of the aforementioned arrays can be placed on curved surfaces to increase the angle that can be received. The fixture 232 of the optical signal receiving array 240 fixed to the steering module 230 in FIG. 3 is also an example, as long as the receiving surface of the optical signal receiving array 240 can rotate synchronously with the image capturing direction defined by the steering module 230.

Referring to FIGS. 1 and 10, the handheld mobile device 100 of the present invention may be an electronic device such as a smart phone, a tablet computer, etc., which has a camera and a video recording function and can establish a communication link with the tracking base 200.

As shown in FIGS. 1 and 10, the handheld mobile device 100 is carried on the steering module 230, and the handheld mobile device 100 includes a microprocessor 110, a camera 120, a memory unit 130, a touch display panel 140 and a first communication interface 150.

As shown in FIGS. 1 and 10, the camera 120, the memory unit 130 and the touch display panel 140 are electrically connected to the microprocessor 110. The camera 120 is used to shoot the camera frame M in the image capturing direction and transmit it to the microprocessor 110 for transmission to the memory unit 130 to store the camera frame M.

As shown in FIGS. 10 and 11, the microprocessor 110 defines a plurality of sampling frames F with different sizes in the camera image M, and preloads one of the sampling frames F.

As shown in FIG. 10, the memory unit 130 is used to store not only the camera screen M but also the operating system and necessary photographic applications, and the memory unit 130 stores the setting value of the sampling frame F for the microprocessor 110 Load execution for follow-up mode.

As shown in FIGS. 10 and 11, the touch display panel 140 is electrically connected to the microprocessor 110 for displaying the camera image M, and can receive touch operation feedback to the microprocessor 110 and can accept touch operation to do The selection command is fed back to the microprocessor 110.

As shown in FIGS. 10 and 11, the microprocessor 110 can change the loaded sampling frame F according to the selection instruction. The method of inputting the selection command can be as shown in FIG. 11, displaying a selection list L independently or pop-up displayed in the camera screen M, and displaying the options of sampling frames F of different sizes from small to large, for the user to touch the display panel Choose from 140.

As shown in FIGS. 1 and 10, the first communication interface 150 is electrically connected to the microprocessor 110 for establishing a communication link. The first communication interface 150 may be a wired communication interface, such as a USB interface, or a wireless communication interface, such as Bluetooth, RF communication interface, and Wi-Fi interface (supporting Wi-Fi Direct).

As shown in FIG. 1, FIG. 2 and FIG. 10, the different buttons of the button group 320 are used to trigger the encoding circuit 310 to send out other optically encoded signals, such as the start and end of the shooting function, the start and stop of the follow-up mode, and a single photo The captured shutter and the like are received through the follow-up base 200, and then transmitted to the handheld mobile device 100 through the first communication interface 150 and the second communication interface 220, so as to operate the related functions of the handheld mobile device 100 through the remote control device 300. In addition, the selection command is not necessarily generated by the touch display panel 140. The encoding circuit 310 can pre-store multiple numbers, each number corresponding to a sampling frame F, using the buttons of the button group 320 to continue pressing, different samples can be issued in a cyclic manner The selection instruction or number of the frame F causes the handheld mobile device 100 to load the corresponding sampling frame F.

As shown in FIGS. 12 and 13, the optical signal source 330 is provided along with the feature object A. Therefore, when the image capturing direction approaches the optical signal source 330, the feature object A usually enters the camera screen M.

As shown in FIGS. 13 and 14, at this time, if the handheld mobile device 100 enables the follow-up mode, the microprocessor 110 preloads one of the sampling frames F and continuously recognizes the feature object A. When the feature object A exceeds the loaded sampling frame F, the microprocessor 110 sends a second steering signal to drive the steering module 230 to change the image capturing direction, so that the feature object A returns to the sampling frame F.

As shown in FIG. 15, if the feature object A continues to move in the camera frame M, and the feature object A continues to be located in the sampling frame F, the image capturing direction does not change. In this way, compared with continuous tracking In terms of the manner of the feature object A, the imaging screen M in the embodiment of the present invention can maintain relative stability, and the shooting direction can be changed only when the feature object A is displaced by a large distance.

As shown in FIG. 16, when multiple people enter the lens at the same time, each person's face will be recognized as the characteristic object A, so that the microprocessor 110 recognizes multiple characteristic objects A at the same time. At this time, the microprocessor 110 can adjust the magnification so that all of the characteristic objects A are maintained in the sampling frame F, or, according to the selection instruction, the selected characteristic objects A are maintained in the sampling frame F.

As shown in FIG. 17, the tracking method with image stabilization function of the present invention is suitable for making the image capturing direction of the tracking base 200 approach the optical signal source 330, and the optical signal source 330 is used to emit an optical positioning signal S; method Contains the following steps.

The optical signal receiving array 240 receives the optical positioning signal S to generate a receiving intensity distribution, as shown in step S110.

The control chip 210 analyzes the angle required to change the image capturing direction according to the received intensity distribution, and generates a first turn signal, as shown in step S120.

The control chip 210 sends a first turn signal to control the tracking base 200, so that the image capturing direction approaches the position of the optical signal source 330, as shown in step S130.

As described above, when the image capturing direction approaches the optical signal source 330, the characteristic object A usually enters the camera screen M. At this time, the handheld mobile device 100 can start the follow-up mode, and at the same time, through the operation of the remote control device 300, the tracking base 200 can also stop the function of tracking the optical signal source 330.

As shown in FIG. 18, after the handheld mobile device 100 starts the tracking mode, the tracking base 200 and the handheld mobile device 100 establish a communication link with each other, and the handheld mobile device 100 shoots the camera frame M along the image capturing direction with the camera 120.

The handheld mobile device 100 defines a plurality of sampling frames F with different sizes in the camera frame M, and preloads one of the sampling frames F, as shown in step S210. If a selection command is input, the loaded sampling frame F is changed according to the selection command, as shown in steps S220 and S230.

The feature object A is identified on the camera screen M, as shown in step S240. When the feature object A exceeds the loaded sampling frame F, the handheld mobile device 100 sends a second steering signal to drive the steering module 230 to change the image capturing direction, so that the feature object A returns to the sampling frame F, as shown in steps S250 and S260 .

Similarly, when a plurality of feature objects A are identified in step S240, the handheld mobile device 100 can adjust the magnification so that all of the feature objects A are maintained in the sampling frame F, or, according to a selection command, the selected object The feature A is maintained in the sampling frame F.

The invention receives the optical positioning signal S through the optical coding receiving array, which can effectively increase the receiving angle of view, avoid the search failure, and can ensure that the characteristic object A to be photographed is maintained in the camera screen M. The sampling frame F, which can be set quickly, can avoid excessive follow-up and solve the problem of unstable shaking of the camera screen M.

100: handheld mobile device

110: Microprocessor

120: camera

130: memory unit

140: Touch display panel

150: the first communication interface

200: follow-up base

210: control chip

220: Second communication interface

230: steering module

232: Fixture

240: Optical signal receiving array

241: Threshold group

300: Remote control device

310: coding circuit

320: key set

330: Optical signal source

M: Camera screen

A: Featured objects

F: sampling frame

L: selection list

S: optical positioning signal

S110-S130, S210-S260: steps

FIG. 1 is a system schematic diagram of a tracking system with a picture stabilization function in an embodiment of the present invention. 2 is a circuit block diagram of a remote control device and a tracking base in an embodiment of the present invention. 3 is a schematic diagram of a threshold group of a plurality of optical signal receiving units of an optical signal receiving array in an embodiment of the present invention. 4 to 9 are optical signal receiving arrays in different array forms in the embodiment of the present invention. 10 is a circuit block diagram of a handheld mobile device and a tracking base in an embodiment of the present invention. FIG. 11 is a schematic diagram of a plurality of sampling frames and a selection list on a sampling screen in an embodiment of the present invention. 12 and 13 are schematic diagrams of tracking the optical signal source in an embodiment of the present invention. 14 and 15 are schematic diagrams of maintaining the characteristic object in the sampling frame in the embodiment of the present invention. 16 is a schematic diagram of tracking multiple characteristic objects in an embodiment of the present invention. FIG. 17 is a flowchart of a follow-up shooting method with a picture stabilization function of the present invention. 18 is another flow chart of the follow-up shooting method with picture stabilization function of the present invention.

200: follow-up base

210: control chip

220: Second communication interface

230: steering module

240: Optical signal receiving array

300: Remote control device

310: coding circuit

320: key set

330: Optical signal source

Claims (10)

A follow-up system with picture stabilization function includes: a remote control device with: an encoding circuit; an optical signal source, electrically connected to the encoding circuit, for emitting an optical positioning signal; and a key set, electronic Is connected to the encoding circuit for being pressed to trigger the encoding circuit to drive the optical signal source to send out the optical positioning signal; and a tracking base, including: a control chip; a steering module, electrically connected to the A control chip, an image capturing direction is defined on the steering module, and the control chip is used to control the steering module to steer and change the image capturing direction; and an optical signal receiving array is arranged on the steering module , And is electrically connected to the control chip and rotates synchronously with the steering module, wherein the optical signal receiving array has a plurality of optical signal receiving units for receiving the optical positioning signal, and according to the respective distance and angle Different, forming different multiple receiving intensities for transmission to the control chip; wherein, an intermediate area of the optical signal receiving array defines a threshold group, and the control chip analyzes each of the optical signal receiving units in the threshold group Whether the received intensity exceeds a threshold value; wherein, when at least one of the received intensity of the plurality of optical signal receiving units in the threshold group does not reach the threshold value, the control chip generates a first turn signal, and Issue the first A steering signal controls the steering module to turn in the direction where the receiving intensity is higher until all the receiving intensities of the optical signal receiving units in the threshold group all reach the threshold. The follow-up system with picture stabilization as described in claim 1 further includes a handheld mobile device carried by the steering module. The handheld mobile device includes: a microprocessor; a camera, electrically connected to the micro The processor is used to shoot a camera frame along the image capturing direction and transmit it to the microprocessor; the microprocessor defines a plurality of sampling frames with different sizes in the camera frame and preloads the sampling frames One of them, and the microprocessor changes the loaded sampling frame according to a selection instruction; a memory unit, electrically connected to the microprocessor, for storing the camera image and the setting values of the sampling frames; and A touch display panel, electrically connected to the microprocessor, for displaying the camera image, and accepting a touch operation as the selection command to feed back to the microprocessor; wherein, the microprocessor is used for the camera Identify a feature object on the screen, when the feature object exceeds the loaded sampling frame, the microprocessor sends a second turn signal to drive the turn module to change the image capturing direction, so that the feature object returns to the sampling frame in. The follow-up system with a picture stabilization function according to claim 2, wherein, when a plurality of the characteristic objects are recognized, the microprocessor maintains the characteristic objects in the sampling frame. The follow-up system with a picture stabilization function as described in claim 2, wherein, when a plurality of the characteristic objects are recognized, the microprocessor maintains the selected characteristic objects in the sampling frame according to a selection instruction . The tracking system with a picture stabilization function according to claim 1, wherein the form of the optical signal receiving array is selected from a rectangular array, a ring array, a trapezoid array, a cross array, and a combination of the foregoing arrays. A tracking method with picture stabilization function is suitable for making an image capturing direction of a tracking base approach an optical signal source, which is used to send out an optical positioning signal; the method includes the following steps: An optical signal receiving array receives the optical positioning signal to generate a receiving intensity distribution; wherein, the optical signal receiving array has a plurality of optical signal receiving units for receiving the optical positioning signal, and according to the respective distances and angles received, Forming a plurality of different receiving intensities to generate the receiving intensity distribution; defining a threshold group in an intermediate area of the optical signal receiving array, and analyzing whether each of the receiving intensity of each of the optical signal receiving units in the threshold group exceeds one Threshold value; when at least one of the plurality of reception strengths of the plurality of optical signal receiving units in the threshold group does not reach the threshold value, a first turn signal is generated to rotate the light signal receiving array to turn to each of the reception strengths The higher direction until all the receiving strengths of the optical signal receiving units in the threshold group all reach the threshold value. The follow-up shooting method with a picture stabilization function as described in claim 6 further includes: establishing a communication link with a handheld mobile device; wherein, the tracking base is used to carry the handheld mobile device, and the handheld mobile device uses a The camera shoots a camera frame along an image capture direction; the handheld mobile device defines a plurality of sampling frames with different sizes in the camera frame, and preloads one of the sampling frames; and The handheld mobile device is used to identify a characteristic object in the camera screen. When the characteristic object exceeds the loaded sampling frame, the handheld mobile device sends a second turn signal to drive the follow-up base to change the image capturing direction To return the feature to the sampling frame. The follow-up shooting method with the image stabilization function as described in claim 7, further includes: inputting a selection command to make the handheld mobile device change the loaded sampling frame according to the selection command. The follow-up shooting method with a picture stabilization function according to claim 6, wherein when a plurality of the characteristic objects are recognized, the characteristic objects are maintained in the sampling frame. The follow-up shooting method with a picture stabilization function as described in claim 6, wherein, when a plurality of the characteristic objects are recognized, the selected characteristic objects are maintained in the sampling frame according to a selection instruction.

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