WO2016187983A1 - Smart tracking and shooting device - Google Patents

Smart tracking and shooting device Download PDF

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Publication number
WO2016187983A1
WO2016187983A1 PCT/CN2015/088584 CN2015088584W WO2016187983A1 WO 2016187983 A1 WO2016187983 A1 WO 2016187983A1 CN 2015088584 W CN2015088584 W CN 2015088584W WO 2016187983 A1 WO2016187983 A1 WO 2016187983A1
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WIPO (PCT)
Prior art keywords
main body
control module
main control
spheres
sensor
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PCT/CN2015/088584
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French (fr)
Chinese (zh)
Inventor
韩佳佳
丁磊
刘欢
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北京橙鑫数据科技有限公司
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Publication of WO2016187983A1 publication Critical patent/WO2016187983A1/en

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
    • H04N23/661—Transmitting camera control signals through networks, e.g. control via the Internet
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects

Definitions

  • the present invention relates to the field of photography and camera technology, and in particular, to an intelligent tracking and photographing device.
  • the camera technology is mainly used to record the related situation of the stationary subject
  • the photography technique is mainly used to record the related situation of the moving subject.
  • the subject is far away from the camera or camera device, it is often difficult to clearly record the relevant situation. Therefore, it is especially important to clearly record the moving subject away from the camera and camera.
  • a fully automatic tracking camera (soloshot) is proposed in the prior art, which is provided by a tripod base that can automatically swing the head according to the sensing signal and a can be worn on the arm.
  • the GPS positioning arm ring is constructed. Any camera that can use a standard tripod can be connected to the tripod base. The user first connects the camera to the tripod base, then the GPS positioning arm ring is worn on the arm, and the tripod base is automatically used.
  • the current GPS information then the user pairs the GPS positioning arm ring with the tripod base, and as the user moves (the distance required to move is within a certain distance, such as several hundred meters), the GPS positioning arm ring
  • the GPS information is sent to the camera in real time, and the camera automatically adjusts the shooting angle and speed to shoot according to the change of the geographical position.
  • the camera connected to the base of the tripod cannot be moved, the camera connected to the base of the tripod and the GPS positioning arm ring can only communicate within a predetermined distance, and the moving distance of the subject wearing the GPS positioning arm ring exceeds the pre-predetermined distance. When you set the distance, the camera will not be able to shoot it.
  • the invention provides an intelligent tracking and photographing device, which can realize tracking shooting of an arbitrarily moving subject.
  • the present invention provides an intelligent tracking photographing apparatus comprising: a main body of a device and a positioning label, wherein the main body of the apparatus is composed of a regular triangular pyramid and four spheres respectively embedded in four vertices of the regular triangular pyramid, each of which The ball is provided with two bearings with sensors, and the bearing is provided with a motor for controlling the rotation of the bearing, and the four faces of the device body are transparent lenses;
  • the main body of the device is provided with a main control module, a wireless WIFI module, a gravity sensor, and a main device Electric rotating camera in the center of the body;
  • the positioning tag is disposed on the photographic object, and is configured to send a signal to the positioning server through the wireless local area network according to the preset period, so that the positioning server acquires the position information of the photographic subject according to the intensity of the received signal and the time difference of the arrival of the signal, and then the photographic subject Location information is sent to the wireless WIFI module;
  • the wireless WIFI module is configured to receive location information of the photographic subject
  • the main control module is configured to control, when the distance between the device body and the photographic subject is within a first preset distance, according to the position information of the photographic object, to control the electric rotating camera to directly perform shooting, not in the first Controlling, by a predetermined distance, a direction signal of the gravity sensor to collect the main body of the device;
  • the gravity sensor is configured to collect a direction signal of the device body, and determine a surface parallel to the ground of the four faces of the device body according to the collected direction signal;
  • the main control module is further configured to control three spheres on a plane parallel to the ground to move into the first preset distance range, and control the rotation of the electric rotating camera to perform shooting.
  • the positive triangular pyramid is a regular tetrahedron, and when the direction signal collected by the gravity sensor changes, the gravity sensor is further configured to:
  • the main control module is further configured to re-control three spheres on a plane parallel to the ground to move into the first preset distance range.
  • each of the spheres is provided with two bearings with sensors, including:
  • the two bearings with sensors are perpendicular to each other, and the two bearings with sensors are tangent to the sphere;
  • the main control module is further configured to control three spheres on a plane parallel to the ground to move into the first preset distance range, including:
  • the main control module drives the bearing with the sensor to rotate by controlling a motor on the sensor bearing provided on the three spheres to move the three spheres into the first predetermined distance range.
  • the device body further includes:
  • An ultrasonic distance sensor for detecting whether there is an obstacle within a second predetermined distance in front of the moving sphere
  • the main control module is further configured to: when the ultrasonic distance sensor detects an obstacle in a second preset distance in front of the moving sphere, control the moving sphere to change the moving direction, and control the rotating of the electric rotating camera to perform Shooting.
  • the device body further includes:
  • a storage module configured to store a video file or image captured by the electric rotating camera
  • the main control module is further configured to send the video file or image stored by the storage module to the positioning server according to a fixed period, so that the terminal device obtains a video file or an image in real time by accessing the positioning server.
  • the device body further includes:
  • a voice module configured to receive a voice signal and parse the voice signal into voice information
  • the main control module is further configured to perform a corresponding operation according to the voice information.
  • the intelligent tracking and photographing device sets the positioning body on the photographic subject, sets the main body of the device as a regular triangular pyramid, and sets four spheres respectively embedded in the four vertices of the regular triangular pyramid, and two spheres are arranged on each spherical body.
  • the bearing with the sensor receives the position information of the object by the wireless WIFI module in the main body of the device, and the main control module in the main body of the device determines that the distance between the main body of the device and the object is not the first preset according to the position information of the object.
  • the direction signal of the gravity sensor acquisition device body is controlled, and the surface of the device body parallel to the ground is determined according to the collected direction signal, and then the main control module controls the movement of the three spheres on the surface parallel to the ground to drive the device body to move to Within the first preset distance range, and control the rotation of the electric rotating camera before shooting. This enables tracking shots of any moving subject.
  • FIG. 1 is a schematic structural view of a device main body of an intelligent tracking and photographing device of the present invention
  • FIG. 2 is a cross-sectional view showing an apex in the apparatus main body of the intelligent tracking and photographing device of the present invention
  • FIG. 3 is a schematic top plan view of a ball body and a bearing in the main body of the device of the intelligent tracking and photographing device of the present invention
  • FIG. 4 is a schematic diagram of a main control module controlling a sphere to change a moving direction in the intelligent tracking and photographing device of the present invention
  • FIG. 5 is a flow chart of the operation of the intelligent tracking and photographing device of the present invention.
  • the intelligent tracking and photographing device of the present invention comprises: a device body and a positioning tag, wherein the positioning tag is disposed on the object, and the device body cooperates with the positioning tag to complete the tracking and shooting of the object, and the intelligent tracking device of the invention can track the object in real time.
  • the moving person or object can be moved at will, and the device body in the present invention is placed on the ground in use, and the positioning tag is disposed on the subject.
  • FIG. 1 is a schematic structural view of the main body of the intelligent tracking and photographing device of the present invention, as shown in FIG.
  • FIG. 2 is composed of a positive triangular pyramid and four spheres embedded in four vertices of a regular triangular pyramid.
  • FIG. 2 is a schematic cross-sectional view of an apex in the apparatus body of the intelligent tracking and photographing device of the present invention. As can be seen from FIG. 2, the sphere is embedded in the main body of the device. Inside the vertex. Each ball is provided with two bearings with sensors. The bearing is provided with a motor for controlling the rotation of the bearing, and the sensor for the bearing is used for obtaining the rotational speed of the bearing.
  • FIG. 3 is a ball body and a bearing in the main body of the intelligent tracking and photographing device of the present invention. In a top view, in FIG.
  • the bearing 2 with the sensor and the bearing 3 with the sensor are perpendicular to each other, and the bearing 2 with the sensor and the bearing 3 with the sensor are respectively tangent to the sphere 4.
  • the four faces of the device body are transparent lenses.
  • the main body of the device is provided with a main control module, a wireless WIFI module, a gravity sensor and an electric rotating camera 1 located at a central position of the main body of the device.
  • the positioning tag is disposed on the photographic object, and is configured to send a signal to the positioning server through the wireless local area network according to the preset period, so that the positioning server acquires the position information of the photographic subject according to the strength of the received signal and the time difference of the arrival of the signal.
  • the position information of the subject is sent to the wireless WIFI module.
  • the positioning tag in the present invention may be a Radio Frequency Identification (RFID) electronic tag, and the RFID tag is an active RFID tag.
  • RFID tag has a signal strength RSSI function, and each RFID tag corresponds to A unique ID number for easy software identification and data transfer.
  • the RFID electronic tag periodically transmits a wireless signal, including tag ID information, wireless sensing information, and alarm information to the wireless router RFID reader.
  • the wireless routing RFID reader receives the wireless signal transmitted by the RFID electronic tag and transmits the wireless signal to the positioning server. Then, the positioning server acquires the position information of the photographic subject according to the intensity of the received signal and the time difference of the arrival of the signal, and then transmits the position information of the photographic subject to the wireless WIFI module.
  • the wireless WIFI module is used to receive location information of the photographic subject.
  • the main control module is configured to control the electric rotating camera to directly shoot when the distance between the device body and the photographic subject is within the first preset distance according to the position information of the photographic subject, and control the gravity sensor when not within the first preset distance The direction signal of the main body of the device is collected.
  • the first preset distance is related to the performance and the angle of view of the electric camera, for example, it can be preset to 2 meters.
  • the gravity sensor is used to collect the direction signal of the main body of the device, and determines the plane parallel to the ground among the four faces of the main body of the device according to the collected direction signal. Specifically, the gravity sensor acquires XYZ data (the center of the coordinate axis is located at the center of the regular triangular pyramid), and according to the value of XYZ, it can be determined which face of the current device body is parallel to the ground.
  • the main control module is further configured to control three spheres on a plane parallel to the ground to move to a first preset distance range, And control the electric rotating camera to rotate before shooting.
  • the main control module controls the three spheres on the plane parallel to the ground to move to the first preset distance range, specifically: the main control module drives the bearing with the sensor by controlling the motor on the bearing with the sensor provided on the three spheres Rotate to move the three spheres within the first predetermined distance range.
  • the device body when the device body is moving, other fast moving objects (human or animal or sweeping robot, etc.) may knock over the main body of the device, and the positive triangular pyramid in the main body of the device is set to a regular tetrahedral structure because Set to four squares with the same regular tetrahedron, the device body can be flipped at will, the shooting angle and shooting effect are not affected.
  • the xyz data of the gravity sensor in the main body of the device changes, and the gravity sensor collects
  • the gravity sensor is further configured to: re-determine a plane parallel to the ground among the four faces of the device body according to the collected direction signal.
  • the main control module is further configured to re-control three spheres on a plane parallel to the ground to move within a first preset distance range.
  • the apparatus body further includes:
  • An ultrasonic distance sensor is used to detect whether there is an obstacle within a second predetermined distance in front of the moving sphere.
  • the second preset distance is smaller than the first preset distance
  • the main control module is further configured to control the moving sphere to change the moving direction when the obstacle is detected within the second preset distance in front of the moving sphere by the ultrasonic distance sensor, and control
  • the motorized rotating camera rotates before shooting.
  • 4 is a schematic diagram of the main control module controlling the sphere to change the moving direction in the intelligent tracking and photographing device of the present invention. As shown in FIG. 4, the black solid arrow is the direction in which the sphere advances, and the main control module rotates counterclockwise by controlling one of the bearings or Turn clockwise to control the movement of the ball back and forth.
  • FIG. 5 is a flowchart of the operation of the intelligent tracking and photographing device of the present invention. The working principle of the intelligent tracking and photographing device of the present invention is described in detail below with reference to FIG. 5, including:
  • the positioning tag sends a signal to the positioning server through the wireless local area network according to the preset period.
  • the positioning server acquires the position information of the shooting object according to the intensity of the received signal and the time difference of the arrival of the signal, and then the positioning server sends the position information of the shooting object to the wireless WIFI module.
  • the wireless WIFI module in the device body receives location information of the photographic subject.
  • the main control module determines, according to the position information of the photographic subject, whether the distance between the device body and the photographic subject is within the first preset distance. When it is within the first preset distance, S104 is executed, and when it is not within the first preset distance, S105 is performed.
  • the main control module controls the electric rotating camera to directly shoot.
  • the gravity sensor collects the direction signal of the main body of the device, and determines the main body of the device and the ground according to the collected direction signal Parallel faces.
  • the main control module drives the bearing with the sensor to rotate the motor on the sensor-equipped bearing disposed on the three spheres parallel to the ground surface, so that the three spheres move to drive the main body of the device to move to the object, and control The motorized rotating camera rotates before shooting.
  • the ultrasonic distance sensor detects whether there is an obstacle in the second preset distance in front of the moving sphere, and if so, executes S108; if not, continues to move to the subject.
  • the main control module controls the moving sphere to change the moving direction, and controls the electric rotating camera to rotate before shooting.
  • the device body further includes: a storage module, configured to store a video file or an image captured by the electric rotating camera, and the main control module is further configured to send the video file or image stored by the storage module to the positioning server according to a fixed period, so that the terminal device Get video files or images in real time by accessing the location server.
  • a terminal device refers to a terminal device that can access a wireless network or a mobile data network.
  • the device body further includes: a voice module, configured to receive the voice signal and parse the voice signal into voice information.
  • the main control module is further configured to perform corresponding operations according to the voice information. For example, the voice message is to track a certain tag, start, pause or end, or turn the camera left/right/up/down, and so on.
  • the intelligent tracking and photographing device sets the positioning body on the photographic subject, sets the main body of the device as a regular triangular pyramid, and sets four spheres respectively embedded in the four vertices of the regular triangular pyramid, and two spheres are arranged on each spherical body.
  • the bearing with the sensor receives the position information of the object by the wireless WIFI module in the main body of the device, and the main control module in the main body of the device determines that the distance between the main body of the device and the object is not the first preset according to the position information of the object.
  • the direction signal of the main body of the gravity sensor is controlled, the plane parallel to the ground is determined according to the collected direction signal, and then the main control module controls the three spheres on the plane parallel to the ground to move to the first preset distance Within the range, and control the electric rotary camera to rotate before shooting. This enables tracking shots of any moving subject.
  • the aforementioned program can be stored in a computer readable storage medium.
  • the program when executed, performs the steps including the foregoing method embodiments; and the foregoing storage medium includes various media that can store program codes, such as a ROM, a RAM, a magnetic disk, or an optical disk.

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Abstract

Provided is a smart tracking and shooting device, comprising a device main body and a locating tag. The device main body is formed by a regular triangular pyramid and four spheres respectively embedded into four vertexes of the regular triangular pyramid. Each sphere is provided with two bearings having a sensor. The device main body is provided with a main control module, a wireless WIFI module, a gravity sensor and an electric rotating camera therein. The locating tag is arranged on a shooting object. The wireless WIFI module receives position information of the shooting object. When determining, according to the position information of the shooting object, that a distance between the device main body and the shooting object is not within a first preset distance range, the main control module controls the gravity sensor to determine, according to an acquired direction signal, a surface of the device main body parallel to the ground, controls three spheres on the surface to move so as to drive the device main body to move into the first preset distance range, and controls the electric rotating camera to rotate and shoot. The present invention realizes tracking and shooting of any moving shooting object.

Description

智能跟踪拍摄装置Intelligent tracking camera 技术领域Technical field
本发明涉及摄影、摄像技术领域，尤其涉及一种智能跟踪拍摄装置。The present invention relates to the field of photography and camera technology, and in particular, to an intelligent tracking and photographing device.
背景技术Background technique
随着摄影、摄像技术的发展，人类能够方便地将自己看到的景象拍摄下来，进而与他人分享。其中，摄像技术主要用于记录静止的拍摄对象的相关情况，而摄影技术主要用于记录移动的拍摄对象的相关情况。在实际应用中，当拍摄对象远离摄影、摄像设备时，往往难于对其相关情况进行清晰记录，因此，如何对远离摄影、摄像设备的移动拍摄对象进行清晰记录显得尤为重要。With the development of photography and video technology, human beings can easily capture the scenes they see and share them with others. Among them, the camera technology is mainly used to record the related situation of the stationary subject, and the photography technique is mainly used to record the related situation of the moving subject. In practical applications, when the subject is far away from the camera or camera device, it is often difficult to clearly record the relevant situation. Therefore, it is especially important to clearly record the moving subject away from the camera and camera.
为了解决上述问题，现有技术中提出了一种全自动跟踪拍摄器(soloshot)，该全自动跟踪拍摄器由一个可以根据传感信号自动摆头的三脚架底座和一只可以佩戴在手臂上的GPS定位臂环构成，任何可以使用标准三脚架的摄像机都可以连到三脚架底座上，使用者首先将摄像机连到三脚架底座上，然后将GPS定位臂环戴在手臂上，三脚架底座便会自动获取使用者当前的GPS信息，然后使用者将GPS定位臂环与三脚架底座进行信号配对，随着使用者进行移动(移动的距离要求在一定距离范围内，如几百米)，GPS定位臂环上的GPS信息就会实时地发送到摄像机上，摄像机再根据地理位置的变动自动调整拍摄角度和速度进行拍摄。In order to solve the above problem, a fully automatic tracking camera (soloshot) is proposed in the prior art, which is provided by a tripod base that can automatically swing the head according to the sensing signal and a can be worn on the arm. The GPS positioning arm ring is constructed. Any camera that can use a standard tripod can be connected to the tripod base. The user first connects the camera to the tripod base, then the GPS positioning arm ring is worn on the arm, and the tripod base is automatically used. The current GPS information, then the user pairs the GPS positioning arm ring with the tripod base, and as the user moves (the distance required to move is within a certain distance, such as several hundred meters), the GPS positioning arm ring The GPS information is sent to the camera in real time, and the camera automatically adjusts the shooting angle and speed to shoot according to the change of the geographical position.
但是，由于连接三脚架底座的摄像机不能移动，而连接三脚架底座的摄像机和GPS定位臂环之间只能在预设的一定距离内才能进行通信，当佩戴GPS定位臂环的拍摄对象移动距离超出预设距离时，摄像机将无法对其进行拍摄。However, since the camera connected to the base of the tripod cannot be moved, the camera connected to the base of the tripod and the GPS positioning arm ring can only communicate within a predetermined distance, and the moving distance of the subject wearing the GPS positioning arm ring exceeds the pre-predetermined distance. When you set the distance, the camera will not be able to shoot it.
发明内容Summary of the invention
本发明提供一种智能跟踪拍摄装置，可实现对任意移动的拍摄对象进行跟踪拍摄。The invention provides an intelligent tracking and photographing device, which can realize tracking shooting of an arbitrarily moving subject.
第一方面，本发明提供一种智能跟踪拍摄装置，包括：装置主体和定位标签，所述装置主体由一正三棱锥和分别嵌入所述正三棱锥的四个顶点内的四个球体构成，每一球体上设置有两个带传感器的轴承，所述轴承上设置有控制所述轴承转动的马达，所述装置主体的四个面为透明的镜头；In a first aspect, the present invention provides an intelligent tracking photographing apparatus comprising: a main body of a device and a positioning label, wherein the main body of the apparatus is composed of a regular triangular pyramid and four spheres respectively embedded in four vertices of the regular triangular pyramid, each of which The ball is provided with two bearings with sensors, and the bearing is provided with a motor for controlling the rotation of the bearing, and the four faces of the device body are transparent lenses;
所述装置主体内部设置有主控模块、无线WIFI模块、重力传感器和位于所述装置主 体中心位置的电动旋转摄像头；The main body of the device is provided with a main control module, a wireless WIFI module, a gravity sensor, and a main device Electric rotating camera in the center of the body;
所述定位标签设置在拍摄对象上，用于按照预设周期通过无线局域网向定位服务器发送信号，以使定位服务器根据接收的信号的强度和信号到达的时间差获取拍摄对象的位置信息后将拍摄对象的位置信息发送给所述无线WIFI模块；The positioning tag is disposed on the photographic object, and is configured to send a signal to the positioning server through the wireless local area network according to the preset period, so that the positioning server acquires the position information of the photographic subject according to the intensity of the received signal and the time difference of the arrival of the signal, and then the photographic subject Location information is sent to the wireless WIFI module;
所述无线WIFI模块用于接收所述拍摄对象的位置信息；The wireless WIFI module is configured to receive location information of the photographic subject;
所述主控模块用于根据所述拍摄对象的位置信息判断所述装置主体与拍摄对象之间的距离在第一预设距离内时，控制所述电动旋转摄像头直接进行拍摄，不在所述第一预设距离内时，控制所述重力传感器采集所述装置主体的方向信号；The main control module is configured to control, when the distance between the device body and the photographic subject is within a first preset distance, according to the position information of the photographic object, to control the electric rotating camera to directly perform shooting, not in the first Controlling, by a predetermined distance, a direction signal of the gravity sensor to collect the main body of the device;
所述重力传感器用于采集所述装置主体的方向信号，并根据采集的方向信号确定所述装置主体的四个面中与地面平行的面；The gravity sensor is configured to collect a direction signal of the device body, and determine a surface parallel to the ground of the four faces of the device body according to the collected direction signal;
所述主控模块还用于控制与地面平行的面上的三个球体移动到所述第一预设距离范围内，并控制所述电动旋转摄像头旋转后再进行拍摄。The main control module is further configured to control three spheres on a plane parallel to the ground to move into the first preset distance range, and control the rotation of the electric rotating camera to perform shooting.
进一步地，所述正三棱锥为正四面体，所述重力传感器采集的方向信号发生变化时，所述重力传感器还用于：Further, the positive triangular pyramid is a regular tetrahedron, and when the direction signal collected by the gravity sensor changes, the gravity sensor is further configured to:
根据采集的方向信号重新确定所述装置主体的四个面中与地面平行的面；Re-determining a plane parallel to the ground of the four faces of the device body according to the collected direction signal;
所述主控模块还用于重新控制与地面平行的面上的三个球体移动到所述第一预设距离范围内。The main control module is further configured to re-control three spheres on a plane parallel to the ground to move into the first preset distance range.
进一步地，所述每一球体上设置有两个带传感器的轴承，包括：Further, each of the spheres is provided with two bearings with sensors, including:
两个带传感器的轴承互相垂直，两个带传感器的轴承与球体相切；The two bearings with sensors are perpendicular to each other, and the two bearings with sensors are tangent to the sphere;
所述主控模块还用于控制与地面平行的面上的三个球体移动到所述第一预设距离范围内，包括：The main control module is further configured to control three spheres on a plane parallel to the ground to move into the first preset distance range, including:
所述主控模块通过控制所述三个球体上设置的带传感器的轴承上的马达驱动所述带传感器的轴承转动，以使所述三个球体移动到所述第一预设距离范围内。The main control module drives the bearing with the sensor to rotate by controlling a motor on the sensor bearing provided on the three spheres to move the three spheres into the first predetermined distance range.
进一步地，所述装置主体内部还包括：Further, the device body further includes:
超声波距离传感器，用于检测移动的球体前方第二预设距离内是否有障碍物；An ultrasonic distance sensor for detecting whether there is an obstacle within a second predetermined distance in front of the moving sphere;
所述主控模块还用于在所述超声波距离传感器检测到移动的球体前方第二预设距离内有障碍物时，控制移动的球体改变移动方向，并控制所述电动旋转摄像头旋转后再进行拍摄。The main control module is further configured to: when the ultrasonic distance sensor detects an obstacle in a second preset distance in front of the moving sphere, control the moving sphere to change the moving direction, and control the rotating of the electric rotating camera to perform Shooting.
进一步地，所述装置主体还包括：Further, the device body further includes:
存储模块，用于存储所述电动旋转摄像头拍摄的视频文件或图像； a storage module, configured to store a video file or image captured by the electric rotating camera;
所述主控模块还用于按照固定周期向所述定位服务器发送所述存储模块存储的视频文件或图像，以使终端设备通过访问所述定位服务器实时获取视频文件或图像。The main control module is further configured to send the video file or image stored by the storage module to the positioning server according to a fixed period, so that the terminal device obtains a video file or an image in real time by accessing the positioning server.
进一步地，所述装置主体还包括：Further, the device body further includes:
语音模块，用于接收语音信号并将所述语音信号解析成语音信息；a voice module, configured to receive a voice signal and parse the voice signal into voice information;
所述主控模块还用于根据所述语音信息执行相应的操作。The main control module is further configured to perform a corresponding operation according to the voice information.
本发明提供的智能跟踪拍摄装置，通过将定位标签设置在拍摄对象上，将装置主体设置为正三棱锥，并设置分别嵌入正三棱锥的四个顶点内的四个球体，每一球体上设置有两个带传感器的轴承，由装置主体中的无线WIFI模块接收拍摄对象的位置信息，装置主体中的主控模块根据拍摄对象的位置信息判断出装置主体与拍摄对象之间的距离不在第一预设距离内时，控制重力传感器采集装置主体的方向信号，根据采集的方向信号确定装置主体与地面平行的面，然后主控模块控制与地面平行的面上的三个球体移动从而带动装置主体移动到第一预设距离范围内，并控制电动旋转摄像头旋转后再进行拍摄。从而可实现对任意移动的拍摄对象进行跟踪拍摄。The intelligent tracking and photographing device provided by the invention sets the positioning body on the photographic subject, sets the main body of the device as a regular triangular pyramid, and sets four spheres respectively embedded in the four vertices of the regular triangular pyramid, and two spheres are arranged on each spherical body. The bearing with the sensor receives the position information of the object by the wireless WIFI module in the main body of the device, and the main control module in the main body of the device determines that the distance between the main body of the device and the object is not the first preset according to the position information of the object. When the distance is within, the direction signal of the gravity sensor acquisition device body is controlled, and the surface of the device body parallel to the ground is determined according to the collected direction signal, and then the main control module controls the movement of the three spheres on the surface parallel to the ground to drive the device body to move to Within the first preset distance range, and control the rotation of the electric rotating camera before shooting. This enables tracking shots of any moving subject.
附图说明DRAWINGS
为了更清楚地说明本发明或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the present invention or the technical solutions in the prior art, a brief description of the drawings used in the embodiments or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are Some of the embodiments of the invention may be obtained by those of ordinary skill in the art in view of the drawings without departing from the scope of the invention.
图1为本发明智能跟踪拍摄装置的装置主体的结构示意图；1 is a schematic structural view of a device main body of an intelligent tracking and photographing device of the present invention;
图2为本发明智能跟踪拍摄装置的装置主体中一顶点的剖面示意图；2 is a cross-sectional view showing an apex in the apparatus main body of the intelligent tracking and photographing device of the present invention;
图3为本发明智能跟踪拍摄装置的装置主体中球体与轴承的俯视结构示意图；3 is a schematic top plan view of a ball body and a bearing in the main body of the device of the intelligent tracking and photographing device of the present invention;
图4为本发明智能跟踪拍摄装置中主控模块控制球体改变移动方向的原理图；4 is a schematic diagram of a main control module controlling a sphere to change a moving direction in the intelligent tracking and photographing device of the present invention;
图5为本发明智能跟踪拍摄装置工作的流程图。FIG. 5 is a flow chart of the operation of the intelligent tracking and photographing device of the present invention.
具体实施方式detailed description
为使本发明的目的、技术方案和优点更加清楚，下面将结合本发明中的附图，对本发明中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。 The present invention will be clearly and completely described in the following with reference to the accompanying drawings in the present invention. It is obvious that the described embodiments are a part of the embodiments of the present invention. Instead of all the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.
本发明的智能跟踪拍摄装置包括：装置主体和定位标签，其中，定位标签设置在拍摄对象上，装置主体结合定位标签共同完成对拍摄对象的跟踪拍摄，本发明的智能跟踪拍摄装置可以实时跟踪自行移动的人或物，可以随意移动，使用时将本发明中的装置主体放在地面上，定位标签设置在拍摄对象上。下面结合附图来详细说明本发明的智能跟踪拍摄装置的结构组成和工作原理，图1为本发明智能跟踪拍摄装置的装置主体的结构示意图，如图1所示，从外观上看，装置主体由一正三棱锥和分别嵌入正三棱锥的四个顶点内的四个球体构成，图2为本发明智能跟踪拍摄装置的装置主体中一顶点的剖面示意图，从图2可知，球体嵌入在装置主体的顶点内部。每一球体上设置有两个带传感器的轴承，轴承上设置有控制轴承转动的马达，轴承上的传感器用于获取轴承的转速，图3为本发明智能跟踪拍摄装置的装置主体中球体与轴承的俯视结构示意图，图3中，带传感器的轴承2和带传感器的轴承3互相垂直，带传感器的轴承2和带传感器的轴承3分别与球体4相切。装置主体的四个面为透明的镜头。装置主体内部设置有主控模块、无线WIFI模块、重力传感器和位于所述装置主体中心位置的电动旋转摄像头1。The intelligent tracking and photographing device of the present invention comprises: a device body and a positioning tag, wherein the positioning tag is disposed on the object, and the device body cooperates with the positioning tag to complete the tracking and shooting of the object, and the intelligent tracking device of the invention can track the object in real time. The moving person or object can be moved at will, and the device body in the present invention is placed on the ground in use, and the positioning tag is disposed on the subject. The structural composition and working principle of the intelligent tracking and photographing device of the present invention will be described in detail below with reference to the accompanying drawings. FIG. 1 is a schematic structural view of the main body of the intelligent tracking and photographing device of the present invention, as shown in FIG. 2 is composed of a positive triangular pyramid and four spheres embedded in four vertices of a regular triangular pyramid. FIG. 2 is a schematic cross-sectional view of an apex in the apparatus body of the intelligent tracking and photographing device of the present invention. As can be seen from FIG. 2, the sphere is embedded in the main body of the device. Inside the vertex. Each ball is provided with two bearings with sensors. The bearing is provided with a motor for controlling the rotation of the bearing, and the sensor for the bearing is used for obtaining the rotational speed of the bearing. FIG. 3 is a ball body and a bearing in the main body of the intelligent tracking and photographing device of the present invention. In a top view, in FIG. 3, the bearing 2 with the sensor and the bearing 3 with the sensor are perpendicular to each other, and the bearing 2 with the sensor and the bearing 3 with the sensor are respectively tangent to the sphere 4. The four faces of the device body are transparent lenses. The main body of the device is provided with a main control module, a wireless WIFI module, a gravity sensor and an electric rotating camera 1 located at a central position of the main body of the device.
具体来说，定位标签设置在拍摄对象上，用于按照预设周期通过无线局域网向定位服务器发送信号，以使定位服务器根据接收的信号的强度和信号到达的时间差获取拍摄对象的位置信息后将拍摄对象的位置信息发送给无线WIFI模块。其中，本发明中的定位标签可以是射频识别(Radio Frequency Ident ification，以下简称：RFID)电子标签，RFID电子标签是一种有源RFID标签，标签具有信号强度RSSI功能，每一个RFID标签都对应着唯一的ID号，便于软件识别和数据传输。具体地，RFID电子标签周期性发送无线信号，包括标签ID信息、无线传感信息及告警信息给无线路由RFID读写器。无线路由RFID读写器接收RFID电子标签发送的无线信号并将无线信号传送给定位服务器。接着定位服务器根据接收的信号的强度和信号到达的时间差获取拍摄对象的位置信息，然后将拍摄对象的位置信息发送给无线WIFI模块。无线WIFI模块用于接收拍摄对象的位置信息。主控模块用于根据拍摄对象的位置信息判断装置主体与拍摄对象之间的距离在第一预设距离内时，控制电动旋转摄像头直接进行拍摄，不在第一预设距离内时，控制重力传感器采集装置主体的方向信号。其中，第一预设距离与电动摄像头的性能和视角有关，例如可预设为2米。重力传感器用于采集装置主体的方向信号，并根据采集的方向信号确定装置主体的四个面中与地面平行的面。具体地，重力传感器采集到XYZ数据(坐标轴的中心位于正三棱锥的中心)，根据XYZ的值，可以判断出当前装置主体哪个面与地面平行。主控模块还用于控制与地面平行的面上的三个球体移动到第一预设距离范围内， 并控制电动旋转摄像头旋转后再进行拍摄。主控模块控制与地面平行的面上的三个球体移动到第一预设距离范围内，具体为：主控模块通过控制三个球体上设置的带传感器的轴承上的马达驱动带传感器的轴承转动，以使三个球体移动到第一预设距离范围内。Specifically, the positioning tag is disposed on the photographic object, and is configured to send a signal to the positioning server through the wireless local area network according to the preset period, so that the positioning server acquires the position information of the photographic subject according to the strength of the received signal and the time difference of the arrival of the signal. The position information of the subject is sent to the wireless WIFI module. The positioning tag in the present invention may be a Radio Frequency Identification (RFID) electronic tag, and the RFID tag is an active RFID tag. The tag has a signal strength RSSI function, and each RFID tag corresponds to A unique ID number for easy software identification and data transfer. Specifically, the RFID electronic tag periodically transmits a wireless signal, including tag ID information, wireless sensing information, and alarm information to the wireless router RFID reader. The wireless routing RFID reader receives the wireless signal transmitted by the RFID electronic tag and transmits the wireless signal to the positioning server. Then, the positioning server acquires the position information of the photographic subject according to the intensity of the received signal and the time difference of the arrival of the signal, and then transmits the position information of the photographic subject to the wireless WIFI module. The wireless WIFI module is used to receive location information of the photographic subject. The main control module is configured to control the electric rotating camera to directly shoot when the distance between the device body and the photographic subject is within the first preset distance according to the position information of the photographic subject, and control the gravity sensor when not within the first preset distance The direction signal of the main body of the device is collected. The first preset distance is related to the performance and the angle of view of the electric camera, for example, it can be preset to 2 meters. The gravity sensor is used to collect the direction signal of the main body of the device, and determines the plane parallel to the ground among the four faces of the main body of the device according to the collected direction signal. Specifically, the gravity sensor acquires XYZ data (the center of the coordinate axis is located at the center of the regular triangular pyramid), and according to the value of XYZ, it can be determined which face of the current device body is parallel to the ground. The main control module is further configured to control three spheres on a plane parallel to the ground to move to a first preset distance range, And control the electric rotating camera to rotate before shooting. The main control module controls the three spheres on the plane parallel to the ground to move to the first preset distance range, specifically: the main control module drives the bearing with the sensor by controlling the motor on the bearing with the sensor provided on the three spheres Rotate to move the three spheres within the first predetermined distance range.
其中，当装置主体在移动的过程中，其他快速移动的物体(人或者动物或者扫地机器人等)可能会碰翻本装置主体，此时将装置主体中的正三棱锥设置为正四面体结构，因为设置为四个面相同的正四面体，可以实现装置主体随意的翻转，拍摄角度和拍摄效果不受影响，具体地，本装置主体中的重力传感器的xyz数据发生变化，此时重力传感器采集的方向信号发生变化，重力传感器采集的方向信号发生变化时，所述重力传感器还用于：根据采集的方向信号重新确定所述装置主体的四个面中与地面平行的面。所述主控模块还用于重新控制与地面平行的面上的三个球体移动到第一预设距离范围内。Wherein, when the device body is moving, other fast moving objects (human or animal or sweeping robot, etc.) may knock over the main body of the device, and the positive triangular pyramid in the main body of the device is set to a regular tetrahedral structure because Set to four squares with the same regular tetrahedron, the device body can be flipped at will, the shooting angle and shooting effect are not affected. Specifically, the xyz data of the gravity sensor in the main body of the device changes, and the gravity sensor collects When the direction signal changes, and the direction signal collected by the gravity sensor changes, the gravity sensor is further configured to: re-determine a plane parallel to the ground among the four faces of the device body according to the collected direction signal. The main control module is further configured to re-control three spheres on a plane parallel to the ground to move within a first preset distance range.
为解决现有技术中拍摄对象与全自动跟踪拍摄器之间出现障碍物遮挡时导致无法拍摄的问题，在上述实施例的基础上，进一步地，装置主体内部还包括：In order to solve the problem that the occlusion of the obstacle between the photographic subject and the fully automatic tracking camera in the prior art is unobtrusive, the apparatus body further includes:
超声波距离传感器，用于检测移动的球体前方第二预设距离内是否有障碍物。第二预设距离比第一预设距离小，主控模块还用于在超声波距离传感器检测到移动的球体前方第二预设距离内有障碍物时，控制移动的球体改变移动方向，并控制电动旋转摄像头旋转后再进行拍摄。图4为本发明智能跟踪拍摄装置中主控模块控制球体改变移动方向的原理图，如图4所示，黑色实线箭头是球体前进的方向，主控模块通过控制其中一个轴承逆时针转动或顺时针转动，可以控制球体前后左右的移动。An ultrasonic distance sensor is used to detect whether there is an obstacle within a second predetermined distance in front of the moving sphere. The second preset distance is smaller than the first preset distance, and the main control module is further configured to control the moving sphere to change the moving direction when the obstacle is detected within the second preset distance in front of the moving sphere by the ultrasonic distance sensor, and control The motorized rotating camera rotates before shooting. 4 is a schematic diagram of the main control module controlling the sphere to change the moving direction in the intelligent tracking and photographing device of the present invention. As shown in FIG. 4, the black solid arrow is the direction in which the sphere advances, and the main control module rotates counterclockwise by controlling one of the bearings or Turn clockwise to control the movement of the ball back and forth.
图5为本发明智能跟踪拍摄装置工作的流程图，下面结合图5来详细说明本发明智能跟踪拍摄装置的工作原理，包括：FIG. 5 is a flowchart of the operation of the intelligent tracking and photographing device of the present invention. The working principle of the intelligent tracking and photographing device of the present invention is described in detail below with reference to FIG. 5, including:
S101、将定位标签设置在拍摄对象上。S101. Set a positioning label on the photographic subject.
定位标签按照预设周期通过无线局域网向定位服务器发送信号，定位服务器根据接收的信号的强度和信号到达的时间差获取拍摄对象的位置信息，然后定位服务器将拍摄对象的位置信息发送给无线WIFI模块。The positioning tag sends a signal to the positioning server through the wireless local area network according to the preset period. The positioning server acquires the position information of the shooting object according to the intensity of the received signal and the time difference of the arrival of the signal, and then the positioning server sends the position information of the shooting object to the wireless WIFI module.
S102、装置主体内的无线WIFI模块接收拍摄对象的位置信息。S102. The wireless WIFI module in the device body receives location information of the photographic subject.
S103、主控模块根据拍摄对象的位置信息判断装置主体与拍摄对象之间的距离是否在第一预设距离内。在第一预设距离内时，执行S104，不在第一预设距离内时，执行S105。S103. The main control module determines, according to the position information of the photographic subject, whether the distance between the device body and the photographic subject is within the first preset distance. When it is within the first preset distance, S104 is executed, and when it is not within the first preset distance, S105 is performed.
S104、主控模块控制电动旋转摄像头直接进行拍摄。S104. The main control module controls the electric rotating camera to directly shoot.
S105、控制重力传感器采集装置主体的方向信号。S105. Control a direction signal of the gravity sensor acquisition device body.
重力传感器采集装置主体的方向信号，并根据采集的方向信号确定装置主体与地面 平行的面。The gravity sensor collects the direction signal of the main body of the device, and determines the main body of the device and the ground according to the collected direction signal Parallel faces.
S106、主控模块通过控制与地面平行的面的三个球体上设置的带传感器的轴承上的马达驱动带传感器的轴承转动，以使三个球体移动进而带动装置主体向拍摄对象移动，并控制电动旋转摄像头旋转后再进行拍摄。S106. The main control module drives the bearing with the sensor to rotate the motor on the sensor-equipped bearing disposed on the three spheres parallel to the ground surface, so that the three spheres move to drive the main body of the device to move to the object, and control The motorized rotating camera rotates before shooting.
S107、三个球体移动进而带动装置主体移动的过程中，超声波距离传感器检测移动的球体前方第二预设距离内是否有障碍物，若有，执行S108；若无，继续向拍摄对象移动。S107: During the movement of the three spheres to drive the main body of the device, the ultrasonic distance sensor detects whether there is an obstacle in the second preset distance in front of the moving sphere, and if so, executes S108; if not, continues to move to the subject.
S108、主控模块控制移动的球体改变移动方向，并控制电动旋转摄像头旋转后再进行拍摄。S108. The main control module controls the moving sphere to change the moving direction, and controls the electric rotating camera to rotate before shooting.
S109、三个球体移动进而带动装置主体移动到预设距离范围内后，停止移动，完成跟踪。S109: After the three spheres move to drive the main body of the device to move within a preset distance range, the movement is stopped and the tracking is completed.
进一步地，装置主体还包括：存储模块，用于存储电动旋转摄像头拍摄的视频文件或图像，主控模块还用于按照固定周期向定位服务器发送存储模块存储的视频文件或图像，以使终端设备通过访问定位服务器实时获取视频文件或图像。终端设备指的是可以接入无线网络或移动数据网络的终端设备。Further, the device body further includes: a storage module, configured to store a video file or an image captured by the electric rotating camera, and the main control module is further configured to send the video file or image stored by the storage module to the positioning server according to a fixed period, so that the terminal device Get video files or images in real time by accessing the location server. A terminal device refers to a terminal device that can access a wireless network or a mobile data network.
进一步地，装置主体还包括：语音模块，用于接收语音信号并将语音信号解析成语音信息。主控模块还用于根据语音信息执行相应的操作。例如：语音信息为跟踪某一个标签，开始、暂停或结束，或者，向左/向右/向上/向下转动摄像头，等等。Further, the device body further includes: a voice module, configured to receive the voice signal and parse the voice signal into voice information. The main control module is further configured to perform corresponding operations according to the voice information. For example, the voice message is to track a certain tag, start, pause or end, or turn the camera left/right/up/down, and so on.
本发明提供的智能跟踪拍摄装置，通过将定位标签设置在拍摄对象上，将装置主体设置为正三棱锥，并设置分别嵌入正三棱锥的四个顶点内的四个球体，每一球体上设置有两个带传感器的轴承，由装置主体中的无线WIFI模块接收拍摄对象的位置信息，装置主体中的主控模块根据拍摄对象的位置信息判断出装置主体与拍摄对象之间的距离不在第一预设距离内时，控制重力传感器采集装置主体的方向信号，根据采集的方向信号确定装置主体与地面平行的面，然后主控模块控制与地面平行的面上的三个球体移动到第一预设距离范围内，并控制电动旋转摄像头旋转后再进行拍摄。从而可实现对任意移动的拍摄对象进行跟踪拍摄。The intelligent tracking and photographing device provided by the invention sets the positioning body on the photographic subject, sets the main body of the device as a regular triangular pyramid, and sets four spheres respectively embedded in the four vertices of the regular triangular pyramid, and two spheres are arranged on each spherical body. The bearing with the sensor receives the position information of the object by the wireless WIFI module in the main body of the device, and the main control module in the main body of the device determines that the distance between the main body of the device and the object is not the first preset according to the position information of the object. When the distance is within, the direction signal of the main body of the gravity sensor is controlled, the plane parallel to the ground is determined according to the collected direction signal, and then the main control module controls the three spheres on the plane parallel to the ground to move to the first preset distance Within the range, and control the electric rotary camera to rotate before shooting. This enables tracking shots of any moving subject.
本领域普通技术人员可以理解：实现上述各方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成。前述的程序可以存储于一计算机可读取存储介质中。该程序在执行时，执行包括上述各方法实施例的步骤；而前述的存储介质包括：ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。 One of ordinary skill in the art will appreciate that all or part of the steps to implement the various method embodiments described above may be accomplished by hardware associated with the program instructions. The aforementioned program can be stored in a computer readable storage medium. The program, when executed, performs the steps including the foregoing method embodiments; and the foregoing storage medium includes various media that can store program codes, such as a ROM, a RAM, a magnetic disk, or an optical disk.
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。 Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, and are not intended to be limiting; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that The technical solutions described in the foregoing embodiments may be modified, or some or all of the technical features may be equivalently replaced; and the modifications or substitutions do not deviate from the technical solutions of the embodiments of the present invention. range.

Claims (6)

  1. 一种智能跟踪拍摄装置，其特征在于，包括：装置主体和定位标签，所述装置主体由一正三棱锥和分别嵌入所述正三棱锥的四个顶点内的四个球体构成，每一球体上设置有两个带传感器的轴承，所述轴承上设置有控制所述轴承转动的马达，所述装置主体的四个面为透明的镜头；An intelligent tracking and photographing device, comprising: a device body and a positioning tag, wherein the device body is composed of a regular triangular pyramid and four spheres respectively embedded in four vertices of the regular triangular pyramid, each sphere is arranged There are two bearings with sensors, the bearing is provided with a motor for controlling the rotation of the bearing, and the four faces of the device body are transparent lenses;
    所述装置主体内部设置有主控模块、无线WIFI模块、重力传感器和位于所述装置主体中心位置的电动旋转摄像头；The main body of the device is provided with a main control module, a wireless WIFI module, a gravity sensor and an electric rotating camera located at a central position of the main body of the device;
    所述定位标签设置在拍摄对象上，用于按照预设周期通过无线局域网向定位服务器发送信号，所述定位服务器根据接收的信号的强度和信号到达的时间差获取拍摄对象的位置信息后将拍摄对象的位置信息发送给所述无线WIFI模块；The positioning tag is disposed on the photographic object, and is configured to send a signal to the positioning server through the wireless local area network according to a preset period, and the positioning server acquires the position information of the photographic subject according to the intensity of the received signal and the time difference of the arrival of the signal, and then the photographic subject Location information is sent to the wireless WIFI module;
    所述无线WIFI模块用于接收所述拍摄对象的位置信息；The wireless WIFI module is configured to receive location information of the photographic subject;
    所述主控模块用于根据所述拍摄对象的位置信息判断所述装置主体与拍摄对象之间的距离在第一预设距离内时，控制所述电动旋转摄像头直接进行拍摄，不在所述第一预设距离内时，控制所述重力传感器采集所述装置主体的方向信号；The main control module is configured to control, when the distance between the device body and the photographic subject is within a first preset distance, according to the position information of the photographic object, to control the electric rotating camera to directly perform shooting, not in the first Controlling, by a predetermined distance, a direction signal of the gravity sensor to collect the main body of the device;
    所述重力传感器用于采集所述装置主体的方向信号，并根据采集的方向信号确定所述装置主体的四个面中与地面平行的面；The gravity sensor is configured to collect a direction signal of the device body, and determine a surface parallel to the ground of the four faces of the device body according to the collected direction signal;
    所述主控模块还用于控制与地面平行的面上的三个球体移动到所述第一预设距离范围内，并控制所述电动旋转摄像头旋转后再进行拍摄。The main control module is further configured to control three spheres on a plane parallel to the ground to move into the first preset distance range, and control the rotation of the electric rotating camera to perform shooting.
  2. 根据权利要求1所述的智能跟踪拍摄装置，其特征在于，所述正三棱锥为正四面体，所述重力传感器采集的方向信号发生变化时，所述重力传感器还用于：The intelligent tracking and photographing device according to claim 1, wherein the positive triangular pyramid is a regular tetrahedron, and when the direction signal collected by the gravity sensor changes, the gravity sensor is further configured to:
    根据采集的方向信号重新确定所述装置主体的四个面中与地面平行的面；Re-determining a plane parallel to the ground of the four faces of the device body according to the collected direction signal;
    所述主控模块还用于重新控制与地面平行的面上的三个球体移动到所述第一预设距离范围内。The main control module is further configured to re-control three spheres on a plane parallel to the ground to move into the first preset distance range.
  3. 根据权利要求1所述的智能跟踪拍摄装置，其特征在于，所述每一球体上设置有两个带传感器的轴承，包括：The intelligent tracking and photographing apparatus according to claim 1, wherein each of the spheres is provided with two bearings with sensors, including:
    两个带传感器的轴承互相垂直，两个带传感器的轴承与球体相切；The two bearings with sensors are perpendicular to each other, and the two bearings with sensors are tangent to the sphere;
    所述主控模块还用于控制与地面平行的面上的三个球体移动到所述第一预设距离范围内，包括：The main control module is further configured to control three spheres on a plane parallel to the ground to move into the first preset distance range, including:
    所述主控模块通过控制所述三个球体上设置的带传感器的轴承上的马达驱动所述带传感器的轴承转动，以使所述三个球体移动到所述第一预设距离范围内。The main control module drives the bearing with the sensor to rotate by controlling a motor on the sensor bearing provided on the three spheres to move the three spheres into the first predetermined distance range.
  4. 根据权利要求3所述的智能跟踪拍摄装置，其特征在于，所述装置主体内部还包 括：The intelligent tracking photographing apparatus according to claim 3, wherein the apparatus main body is further provided include:
    超声波距离传感器，用于检测移动的球体前方第二预设距离内是否有障碍物；An ultrasonic distance sensor for detecting whether there is an obstacle within a second predetermined distance in front of the moving sphere;
    所述主控模块还用于在所述超声波距离传感器检测到移动的球体前方第二预设距离内有障碍物时，控制移动的球体改变移动方向，并控制所述电动旋转摄像头旋转后再进行拍摄。The main control module is further configured to: when the ultrasonic distance sensor detects an obstacle in a second preset distance in front of the moving sphere, control the moving sphere to change the moving direction, and control the rotating of the electric rotating camera to perform Shooting.
  5. 根据权利要求3或4所述的智能跟踪拍摄装置，其特征在于，所述装置主体还包括：The intelligent tracking and photographing apparatus according to claim 3 or 4, wherein the apparatus main body further comprises:
    存储模块，用于存储所述电动旋转摄像头拍摄的视频文件或图像；a storage module, configured to store a video file or image captured by the electric rotating camera;
    所述主控模块还用于按照固定周期向所述定位服务器发送所述存储模块存储的视频文件或图像，以使终端设备通过访问所述定位服务器实时获取视频文件或图像。The main control module is further configured to send the video file or image stored by the storage module to the positioning server according to a fixed period, so that the terminal device obtains a video file or an image in real time by accessing the positioning server.
  6. 根据权利要求3或4所述的智能跟踪拍摄装置，其特征在于，所述装置主体还包括：The intelligent tracking and photographing apparatus according to claim 3 or 4, wherein the apparatus main body further comprises:
    语音模块，用于接收语音信号并将所述语音信号解析成语音信息；a voice module, configured to receive a voice signal and parse the voice signal into voice information;
    所述主控模块还用于根据所述语音信息执行相应的操作。 The main control module is further configured to perform a corresponding operation according to the voice information.
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