WO2018035690A1

WO2018035690A1 - Method, system, and device for controlling imaging apparatus

Info

Publication number: WO2018035690A1
Application number: PCT/CN2016/096279
Authority: WO
Inventors: 蓝求; 周长兴; 刘万启
Original assignee: 深圳市大疆灵眸科技有限公司
Priority date: 2016-08-22
Filing date: 2016-08-22
Publication date: 2018-03-01
Also published as: CN107077155B; CN107077155A

Abstract

Provided are a method, system, and device for controlling an imaging apparatus. The imaging apparatus comprises a tripod head (101) and a photographic apparatus (102) disposed on the tripod head (101), wherein the tripod head (101) is used for driving the photographic apparatus (102) to move along with at least one rotating frame (1013). The method comprises: obtaining a position parameter of the imaging apparatus (S201); adjusting the rotating frame (1013) of the tripod head (101) according to the position parameter, such that the photographic apparatus (102) is parallel with the Earth's rotational axis (S202); and determining a rotation direction of the rotating frame (1013), and controlling the rotating frame (1013) to rotate according to the rotation direction and a user-selected rotation speed (S203). The invention improves the accuracy of adjusting an imaging apparatus.

Description

Imaging device control method, system and device

Technical field

The present invention relates to the field of imaging technologies, and in particular, to an imaging device control method, system, and device.

Background technique

At present, with the continuous development of science and technology, more and more astronomy enthusiasts are involved in the shooting of the stars.

When shooting in the sky, because the stars are usually stars, and the earth is a planet, the shooting stars usually have a tailing phenomenon, which makes the star maps blurred. In order to improve the shooting effect, when shooting a starry sky, an imaging device is usually used to eliminate the tailing caused by the rotation of the earth. In the prior art, before the starry sky is shot, the user usually adjusts the imaging device manually according to the adjustment parameters (local latitude value, Polaris position, etc.) and adjustment experience, so that the imaging device can drive the camera according to the rotation of the earth. The direction is rotated to eliminate the tailing caused by the rotation of the earth.

However, in the prior art, it is difficult for the user to accurately adjust the imaging device according to the adjustment parameters and the adjustment experience, resulting in poor adjustment accuracy of the imaging device.

Summary of the invention

A first aspect of the present invention is to provide an image forming apparatus control method, system and apparatus for improving the accuracy of adjustment of an image forming apparatus.

In a first aspect, an embodiment of the present invention provides an imaging device control method, where the imaging device includes a cloud platform and an imaging device disposed on the cloud platform, and the cloud platform is configured to drive the imaging device along with at least one rotating bracket Movement, the method includes:

Obtaining a position parameter of the imaging device;

Adjusting the rotating bracket of the pan/tilt according to the position parameter, so that the camera device is parallel to the earth rotation axis;

Determining a rotation direction of the rotating bracket, and according to the rotation direction and a rotation selected by a user Speed, controlling the rotating bracket to rotate.

In a second aspect, an embodiment of the present invention provides an imaging device control system, where the imaging device includes a cloud platform and an imaging device disposed on the cloud platform, and the cloud platform is configured to drive the imaging device along with at least one rotating bracket Sports, including:

An acquiring module, configured to acquire a position parameter of the imaging device;

a first adjustment module, configured to adjust the rotating bracket of the pan/tilt according to the position parameter, so that the camera device is parallel to the earth rotation axis;

a first determining module, configured to determine a rotation direction of the rotating bracket;

And a control module, configured to control the rotating bracket to rotate according to the rotation direction and a rotation speed selected by a user.

In a third aspect, an embodiment of the present invention provides an imaging apparatus, including a cloud platform, and an imaging device disposed on the cloud platform, wherein the cloud platform is configured to drive the camera device to move with at least one rotating bracket, a processor and a motor are arranged in the gimbal, wherein

The processor is configured to acquire a position parameter of the imaging device;

The motor is configured to adjust the rotating bracket of the pan/tilt according to the position parameter obtained by the processor, so that the camera device is parallel to the earth rotation axis;

The processor is further configured to determine a rotation direction of the rotating bracket;

The motor is further configured to control the rotating bracket to rotate according to the rotation direction determined by the processor and the rotation speed selected by the user.

In a fourth aspect, an embodiment of the present invention provides an imaging device interaction device, including an input device and a display device, where

The display device is configured to display at least one operation indication;

The input device is configured to receive a target operation indication input by the user according to the at least one operation indication;

The input device is further configured to send the target operation indication to a processor of the pan/tilt, so that the processor controls the motor of the pan/tilt according to the target operation indication, so that the motor pairs the The rotating bracket of the gimbal is controlled.

In a fifth aspect, an embodiment of the present invention provides an imaging device control device, where the imaging device includes a cloud platform, an imaging device disposed on the cloud platform, and the cloud platform is configured to drive the camera device to move with at least one rotating bracket. The imaging device control device includes a processor and a memory for storing an application a memory, the processor is configured to read an application in the memory and perform the following operations:

Obtaining a positional parameter of the imaging device;

Controlling the rotating bracket of the pan/tilt according to the position parameter to adjust, so that the camera device is parallel to the earth rotation axis;

Determining a rotation direction of the rotating bracket;

The rotating bracket is controlled to rotate according to the rotation direction and a rotation speed selected by the user.

The imaging device control method, system and device provided by the embodiment of the invention, when the control device needs to control the imaging device, the control device automatically adjusts the rotating bracket of the pan-tilt according to the position parameter of the imaging device, so that the camera device Parallel to the rotation axis of the earth; and according to the rotation direction of the rotating bracket and the rotation speed selected by the user, the rotation bracket is automatically controlled to rotate, so that the rotating bracket can drive the camera to rotate in the opposite direction of the rotation of the earth, thereby eliminating the starry sky through the camera device. The tailing caused by the rotation of the earth during shooting. In this process, the user does not need to manually adjust the imaging device according to the adjustment experience, and the control device adjusts the imaging device according to various parameters, which not only improves the adjustment precision of the imaging device, but also improves the adjustment efficiency of the imaging device. .

DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief description of the drawings used in the embodiments or the prior art description will be briefly described below. Obviously, the drawings in the following description It is a certain embodiment of the present invention, and other drawings can be obtained from those skilled in the art without any inventive labor.

1 is a schematic diagram of an application scenario of a method for controlling an imaging device according to the present invention;

2 is a schematic flow chart of a method for controlling an imaging device according to the present invention;

3 is a schematic flow chart of a method for adjusting a rotating bracket provided by the present invention;

4 is a schematic flow chart of a method for determining a rotation direction provided by the present invention;

FIG. 5 is a schematic flowchart diagram of an automatic star search method provided by the present invention; FIG.

6 is a schematic structural view 1 of an imaging device control system provided by the present invention;

FIG. 7 is a second schematic structural diagram of an imaging device control system according to the present invention; FIG.

Figure 8 is a schematic structural view 1 of an image forming apparatus provided by the present invention;

9 is a schematic structural view 2 of an image forming apparatus provided by the present invention;

FIG. 10 is a schematic structural diagram of an image forming apparatus interaction device according to the present invention; FIG.

11 is a schematic structural view 1 of an image forming apparatus control apparatus according to the present invention;

FIG. 12 is a second schematic structural diagram of an image forming apparatus control apparatus according to the present invention.

detailed description

Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. The following description refers to the same or similar elements in the different figures unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of devices and methods consistent with aspects of the invention as detailed in the appended claims.

FIG. 1 is a schematic diagram of an application scenario of a method for controlling an imaging device according to the present invention. Referring to FIG. 1, a pan/tilt head 101, an imaging device 102, and an imaging device control device (not shown) are included. The pan/tilt head 101 includes a camera mount 1011, a plurality of motors 1012, and a plurality of rotating brackets 1013. The imaging device 102 can be fixed on the platform 101 by the imaging bracket 1011, and the plurality of motors 1012 can respectively drive a corresponding rotating bracket 1013 for rotation. Optionally, the camera device 102 can be a camera, a mobile phone with an imaging function, or the like. The imaging device control device may be disposed inside the imaging device 101. Alternatively, the imaging device control device may be disposed in the pan/tilt head 101. In the present application, the imaging device control device can adjust the rotating bracket 1013 of the pan/tilt, and the imaging device control device can also control the rotating bracket 1013 to rotate, so that the rotating bracket 1013 drives the camera 102 to rotate. The technical solutions shown in the present application are described in detail below through specific embodiments.

It can be understood that the camera holder 1011 can also be omitted, and the camera device 102 is directly connected to one of the rotating brackets 1013.

It should be noted that the following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be described in some embodiments.

2 is a schematic flow chart of a method for controlling an imaging device according to the present invention. Referring to FIG. 2, the method may include:

S201. Acquire a position parameter of the imaging device.

S202. Adjust the rotating bracket of the pan/tilt according to the position parameter, so that the camera device is parallel to the earth rotation axis.

S203. Determine a rotation direction of the rotating bracket, and according to the rotation direction and a rotation speed selected by the user. Degree, control the rotating bracket to rotate.

The execution subject of the embodiment of the present invention may be an imaging device control device (hereinafter referred to as a control device). Optionally, the control device may be disposed inside the pan/tilt; the control device may also be disposed outside the pan/tilt, such as being disposed in the camera device and capable of connecting and communicating with the pan/tilt.

In an actual application process, the control device can initiate the method shown in the embodiment of FIG. 2 to realize the control of the imaging device by using various possible ways as follows.

A feasible implementation manner: after the control device receives the preset instruction, the method shown in the embodiment of FIG. 2 is started to implement the control of the imaging device.

Optionally, the preset instruction may be a startup instruction input by a user, a power-on instruction input by a user, or the like. In the actual application process, the preset instruction can be set according to actual needs, which is not specifically limited in the present invention.

Another possible implementation manner: during the operation of the imaging device, after the operating parameters of the imaging device satisfy the preset condition, the method shown in the embodiment of FIG. 2 is started to implement the control of the imaging device.

Optionally, the preset condition may be that the position of the imaging device changes, the imaging device is not parallel to the earth rotation axis, and the like. In the actual application process, the preset condition may be set according to actual needs, which is not specifically limited by the present invention.

It should be noted that the control device may also start the method shown in the embodiment of FIG. 2 at other times, and the present invention does not specifically limit the timing at which the control device performs the method shown in the embodiment of FIG. 2 .

When the control device needs to control the imaging device, the control device acquires the positional parameters of the imaging device. Optionally, the location parameter may include a latitude value of a location where the imaging device is currently located. Optionally, if a Global Positioning System (GPS) module is disposed inside the imaging device, the control device may acquire a latitude value of the current location of the imaging device by using a GPS module inside the imaging device. If the GPS module is not provided inside the imaging device, the control device may acquire the latitude value of the current location of the imaging device through the GPS module connected to the imaging device; optionally, the terminal device with the GPS module may be connected to the imaging device. The latitude value of the current location of the imaging device is obtained by using the GPS module in the terminal device. Optionally, the terminal device may be a mobile phone or a tablet computer with a GPS module.

After the control device acquires the position parameter, the control device adjusts the rotating bracket of the pan/tilt according to the position parameter, so that the camera device is parallel to the earth rotation axis. Optional when imaging device After the position is determined, the relative position of the imaging device and the earth's rotation axis is fixed, and the elevation angle and/or the heading angle of the rotating bracket can be adjusted according to the positional parameters of the imaging device, so that the camera device is parallel to the earth's rotation axis. Optionally, the control device can send a control command to the motor in the pan/tilt to adjust the elevation angle and/or the heading angle of the rotating bracket according to the received control command, so that the camera device is parallel to the earth rotation axis.

The control device also determines the direction of rotation of the rotating bracket. The direction of rotation is the same as the direction of rotation of the Earth or opposite to the direction of rotation of the Earth. Optionally, when the imaging device is located in the northern hemisphere of the earth, the direction of rotation is opposite to the direction of rotation of the earth. When the imaging device is located in the southern hemisphere of the earth, the direction of rotation is the same as the direction of rotation of the earth.

The control device can also receive the rotational speed selected by the user. The rotation speed can be equal to the rotation speed of the earth or one-half of the rotation speed of the earth. For example, if you only need to shoot the starry sky, you can set the rotation speed to the rotation speed of the earth. If you need to shoot the starry sky and ground objects at the same time, you can set the rotation speed to one-half of the earth's rotation speed. . In the actual application process, the rotation speed can be set according to actual needs. And according to the rotation direction and the rotation speed selected by the user, the rotation bracket is controlled to rotate, so that the rotating bracket drives the camera to rotate.

The imaging device control method provided by the embodiment of the invention, when the control device needs to control the imaging device, the control device automatically adjusts the rotating bracket of the pan-tilt according to the position parameter of the imaging device, so that the camera device and the earth rotation axis Parallel; according to the rotation direction of the rotating bracket and the rotation speed selected by the user, the rotating bracket is automatically controlled to rotate, so that the rotating bracket can drive the camera to rotate in the opposite direction of the rotation of the earth, thereby eliminating the earth when shooting through the camera The smearing caused by rotation. In this process, the user does not need to manually adjust the imaging device according to the adjustment experience, and the control device adjusts the imaging device according to various parameters, which not only improves the adjustment precision of the imaging device, but also improves the adjustment efficiency of the imaging device. .

On the basis of the embodiment shown in FIG. 2, optionally, the rotating bracket of the pan/tilt can be adjusted according to the positional parameter according to the feasible implementation manner (S202 in the embodiment shown in FIG. 2). Specifically, see The embodiment shown in Figure 3.

FIG. 3 is a schematic flow chart of a method for adjusting a rotating bracket provided by the present invention. Referring to FIG. 3, the method may include:

S301. Adjust an elevation angle of the rotating bracket according to the latitude value, so that the camera device and the ground plane The angle is equal to the latitude value.

S302. Adjust a heading angle of the rotating bracket according to a preset orientation, so that the camera device is parallel to the earth rotation axis.

In the embodiment shown in FIG. 3, when the control device needs to adjust the rotating bracket, the control device first adjusts the elevation angle of the rotating bracket according to the latitude value of the current position of the imaging device, so that the imaging device and the ground plane The angle is equal to the latitude value. Optionally, the camera device may be adjusted to be parallel to the ground plane, and then the elevation angle of the rotating bracket is adjusted to the latitude value, so that the angle between the camera device and the ground plane is equal to the latitude value. Optionally, an inertial measurement unit (IMU) may be disposed in the camera, and the IMU may collect the elevation angle of the camera, and may adjust the elevation angle of the camera until the elevation angle of the camera collected by the IMU. Zero, that is, the camera can be parallel to the ground plane. It can be understood that the IMU can also be disposed on the rotating bracket 1013.

In other embodiments, the posture of the imaging device such as the elevation angle or the like may be detected by a potentiometer by providing a potentiometer on the rotating shaft of each motor.

After determining that the angle between the camera and the ground plane is equal to the latitude value of the current position of the imaging device, the control device also adjusts the heading angle of the rotating bracket according to the preset orientation so that the rotating bracket is parallel to the earth rotation axis. The preset orientation is positive north or south. Optionally, the preset orientation may be preset by the user, or may be set during the setting process of the imaging device.

It should be noted that the heading angle of the rotating bracket can be adjusted first, and then the elevation angle of the rotating bracket can be adjusted. Alternatively, the elevation angle and the heading angle of the rotating bracket can be adjusted at the same time, which is not specifically limited in the present invention.

In the above process, the control device adjusts the rotating bracket according to the latitude value of the current position of the imaging device and the preset orientation, so that the camera device is parallel with the earth rotation axis, and the precision of adjusting the rotating bracket is improved.

On the basis of any of the above embodiments, optionally, the rotation direction of the rotating bracket can be determined by the following feasible implementation (S203 in the embodiment shown in FIG. 2). Specifically, refer to the implementation shown in FIG. example.

4 is a schematic flow chart of a method for determining a rotation direction provided by the present invention. Referring to FIG. 4, the method may include:

S401. Determine a hemisphere where the imaging device is currently located.

S402. Determine a rotation direction of the rotating bracket of the pan/tilt according to a hemisphere in which the imaging device is currently located.

In the actual application process, when the control device needs to determine the rotation direction of the rotating bracket, the control device first determines the hemisphere in which the imaging device is currently located, and determines the rotation direction of the rotating bracket according to the hemisphere in which the imaging device is currently located. Specifically, if the imaging device is currently located in the northern hemisphere, it is determined that the rotation direction is opposite to the rotation direction of the earth; if the imaging device is currently located in the southern hemisphere, it is determined that the rotation direction is the same as the rotation direction of the earth.

In the embodiment shown in Figure 4, the hemisphere in which the imaging device is currently located can be determined by the following possible implementations.

A feasible implementation: determining the hemisphere in which the imaging device is currently located based on the positional parameters.

In this feasible implementation, the control device may determine the hemisphere in which the imaging device is currently located according to the obtained positional parameters. When the position parameter is the latitude value of the current position of the imaging device, the control device may determine the hemisphere in which the imaging device is currently located according to the latitude value of the current position of the imaging device.

In the above process, the control device can directly determine the hemisphere in which the imaging device is located based on the acquired position parameters, and improve the speed and accuracy of determining the hemisphere in which the imaging device is currently located.

Another possible implementation manner is to obtain a hemisphere preset by the user and the imaging device is currently located.

In this feasible implementation, the user can preset the hemisphere in which the imaging device is located in the imaging device, so that when the control device needs to acquire the hemisphere where the imaging device is currently located, the user-preset hemisphere in which the imaging device is located is directly acquired. Just fine. Alternatively, the user may set the hemisphere in which the imaging device is located when the imaging device is used for the first time, so that the imaging device saves the hemisphere in which the imaging device input by the user is located. Of course, in the process of using the imaging device by the user, the hemisphere in which the preset imaging device is located can also be modified.

Optionally, when the user needs to preset the hemisphere in which the imaging device is located in the imaging device, the southern hemisphere check box and the northern hemisphere check box may be displayed through the display interface of the imaging device, so that the user can actually view the imaging device in the display interface. The selected box in the hemisphere (south hemisphere or hemisphere) currently in the input is selected. Of course, the input box can also be displayed through the display interface of the imaging device, so that the user inputs the hemisphere in which the imaging device is located in the input box.

In the above process, the user can preset the hemisphere in which the imaging device is located in the imaging device according to actual conditions, so that the control device can directly acquire the hemisphere in which the user-preset imaging device is located, thereby improving the hemisphere in which the imaging device is currently located. speed.

Yet another feasible implementation manner: determining the hemisphere in which the imaging device is currently located according to the target geographic location preset by the user.

In this feasible implementation, the user may preset the target geographic location in the imaging device, so that when the control device needs to acquire the hemisphere where the imaging device is currently located, the imaging device may be determined according to the target geographic location preset by the user. Located in the hemisphere. Optionally, the geographic location may include a country name, a province name, a market name, and the like. Optionally, the user may input the target geographic location when the imaging device is used for the first time, so that the imaging device saves the target geographic location input by the user. Of course, in the process of using the imaging device by the user, the preset target address position can also be modified.

Optionally, when the user needs to preset the hemisphere in which the imaging device is located in the imaging device, at least one address position may be displayed through the display interface of the imaging device, so that the user can input the target geographic location in the display interface according to actual conditions. Selected operation. Of course, the input box can also be displayed through the display interface of the imaging device, so that the user inputs the target geographic location in the input box.

In the above process, the user can preset the target address position in the imaging device, so that the control device can acquire the hemisphere in which the user-preset imaging device is located according to the target geographic location, thereby improving the speed of determining the hemisphere in which the imaging device is currently located.

On the basis of any of the above embodiments, before the control device controls the rotating bracket to rotate according to the rotation direction and the rotation speed selected by the user, the control device also needs to first acquire the rotation speed selected by the user. Optionally, the control device can obtain the rotation speed selected by the user by the following two feasible implementation manners.

A feasible implementation manner: receiving a target shooting mode input by a user, and determining a rotation speed according to the target shooting mode.

In this feasible implementation manner, at least one shooting mode may be displayed through a display interface of the imaging device, and a selection operation input by the user to the target shooting mode according to the display interface may be received. Of course, the input box can also be displayed through the display interface of the imaging device, so that the user inputs the target shooting mode in the input box. Optionally, the shooting mode may include a star shooting mode, and a ground star hybrid shooting mode.

After the control device acquires the target photographing mode input by the user, the control device determines the rotational speed according to the target photographing mode. Optionally, the correspondence between the shooting mode and the rotation speed may be preset, so that the control device can determine the rotation speed corresponding to the target shooting mode according to the target shooting mode and the corresponding relationship. Optionally, if the shooting mode is the star shooting mode, determine the rotation speed, etc. The rotation speed of the earth; if the shooting mode is the ground-sky hybrid shooting mode, it is determined that the rotation speed is greater than zero and less than the rotation speed of the earth. Alternatively, the rotation speed may be one-half of the rotation speed of the earth.

In the above process, the control device may determine the rotation speed according to the target shooting mode input by the user, the target shooting mode is used to indicate the shooting mode used by the user when actually shooting, so that the determined rotation speed and the shooting mode actually captured by the user are The compliance improves the accuracy of the control device determining the rotational speed, thereby improving the accuracy of the control device for controlling the imaging device.

Another possible implementation: receiving the rotational speed of the user input.

In this feasible implementation, the preset input field can be displayed through the display interface of the imaging device, and the rotational speed input by the user in the preset input field can be received. Optionally, in order to avoid an inappropriate rotation speed input by the user, an input rotation speed range may be set in the preset input field, for example, the rotation speed range may be 0 to 2 times the earth rotation speed.

In the above process, when the control device needs to use the rotation speed, the rotation speed input by the user can be directly obtained, and the speed at which the control device acquires the rotation speed is improved.

In any one of the above possible implementation manners, after the control device sets the imaging device, the control device may further control the camera device to perform automatic star search, that is, adjust the camera device to make the lens of the camera device face up. The target constellation that needs to be shot. Specifically, please refer to the embodiment shown in FIG. 5.

FIG. 5 is a schematic flow chart of an automatic star finder method provided by the present invention. Referring to FIG. 5, the method may include:

S501. Receive an identifier of a target constellation input by a user.

S502. Determine location information of the target constellation according to the identifier of the target constellation.

S503. Adjust the rotating bracket according to the position information, so that the lens of the imaging device faces the target constellation.

In the embodiment shown in FIG. 5, after the control device sets the imaging device, the user can shoot the starry sky through the camera device in the imaging device. When the user needs to shoot the target constellation, the user can input the identity of the target constellation. Optionally, the constellation input field may be displayed through the display interface of the imaging device, so that the user can input the identifier of the target constellation in the constellation input field.

After the user inputs the identification of the target constellation, the control device determines the location information of the target constellation according to the identification of the target constellation. Optionally, the location information of each constellation may be preset in the control device. So that the control device can acquire the position information of the target constellation in the position information of each constellation. Optionally, if the constellation is a planet, the location information of the constellation corresponding to each moment may be preset in the location information of the constellation.

After the control device determines the position information of the target constellation, the control device adjusts the rotating bracket according to the position information so that the lens of the camera device faces the target constellation. Optionally, the control device may adjust at least one of a pitch angle, a heading angle, and a roll angle of the rotating bracket according to the position information, so that the lens of the camera device faces the target constellation.

In the above process, the control device can automatically adjust the camera device so that the lens of the camera device faces the target constellation, improving the efficiency of the star search.

FIG. 6 is a schematic structural diagram 1 of an image forming apparatus control system according to the present invention. The imaging device control system can control the imaging device, wherein the imaging device includes a cloud platform and an imaging device disposed on the pan/tilt, and the pan/tilt is used to drive the camera device to move with the at least one rotating bracket. Referring to FIG. 6, the imaging device control system may include:

The obtaining module 11 is configured to acquire a position parameter of the imaging device.

The first adjustment module 12 is configured to adjust the rotating bracket of the pan/tilt according to the position parameter, so that the camera device is parallel to the earth rotation axis.

The first determining module 13 is configured to determine a rotation direction of the rotating bracket.

The control module 14 is configured to control the rotating bracket to rotate according to the rotation direction and the rotation speed selected by the user.

The imaging device control system provided by the embodiment of the present invention can perform the technical solutions shown in the foregoing method embodiments, and the implementation principles and beneficial effects thereof are similar, and details are not described herein.

In a possible implementation manner, the obtaining module 11 is specifically configured to:

Obtain the latitude value of the current location of the imaging device.

In another possible implementation manner, the obtaining module 11 is specifically configured to:

Obtaining latitude values through a global positioning system GPS module inside the imaging device;

or,

The latitude value is acquired by a GPS module connected to the imaging device.

FIG. 7 is a second schematic structural diagram of an imaging device control system according to the present invention. On the basis of the embodiment shown in FIG. 6, referring to FIG. 7, the first determining module 13 includes a first determining unit 13-1 and a second determining unit 13-2, wherein

The first determining unit 13-1 is configured to determine a hemisphere in which the imaging device is currently located;

The second determining unit 13-2 is configured to determine the rotation direction of the rotating bracket according to the hemisphere in which the imaging device is currently located.

In another possible implementation manner, the first determining unit 13-1 is specifically configured to:

Determining a hemisphere in which the imaging device is currently located according to the positional parameter;

or,

Obtaining a hemisphere preset by the user and the imaging device is currently located;

or,

The hemisphere in which the imaging device is currently located is determined according to the target geographic location preset by the user.

In another possible implementation, the system further includes a receiving module 15

The receiving module 15 is configured to receive a hemisphere in which the user inputs the imaging device is located before the first determining unit 13-1 acquires the hemisphere preset by the user and the imaging device is currently located.

In another possible implementation, the system further includes a display module 16, wherein

The display module 16 is configured to display a southern hemisphere check box and a northern hemisphere check box through a display interface of the imaging device;

Correspondingly, the receiving module 15 is specifically configured to: the receiving user obtains a selected operation on the hemisphere input currently located by the imaging device according to the display interface.

In another possible implementation manner, the receiving module 15 is further configured to: before the first determining unit 13-1 determines the hemisphere where the imaging device is currently located, according to the target geographic location preset by the user, and receive the user input target geographic location.

In another possible implementation, the display module 16 is further configured to display at least one address location by using a display interface of the imaging device;

Correspondingly, the receiving module 15 is specifically configured to receive a selected operation input by the user to the target geographic location according to the display interface.

In another possible implementation manner, the second determining unit 13-2 is specifically configured to:

If the imaging device is located in the northern hemisphere, it is determined that the direction of rotation is opposite to the direction of rotation of the earth;

If the imaging device is located in the southern hemisphere, it is determined that the direction of rotation is the same as the direction of rotation of the earth.

In another possible implementation manner, the first adjustment module 12 includes a first adjustment unit 12-1 and a second adjustment unit 12-2, where

The first adjusting unit 12-1 is configured to adjust the elevation angle of the rotating bracket according to the latitude value, so that The angle between the camera device and the ground plane is equal to the latitude value;

The second adjusting unit 12-2 is configured to adjust the heading angle of the rotating bracket according to the preset orientation so that the camera device is parallel to the earth rotation axis.

In another possible implementation manner, the preset orientation is a positive north direction or a south direction.

In another possible implementation manner, the first adjusting unit 12-1 is specifically configured to:

Adjusting the camera to make the camera parallel to the ground plane;

Adjust the elevation angle of the swivel bracket to the latitude value.

In another possible embodiment, the inertial measurement device IMU is disposed in the camera device. Correspondingly, the first adjustment unit 12-1 is specifically configured to:

The elevation angle of the camera is adjusted until the elevation angle of the camera is zero, so that the camera is parallel to the ground plane. It can be understood that the IMU can also be disposed on the rotating bracket 1013.

In another possible implementation manner, the receiving module 15 is further configured to receive a rotation speed input by the user.

In another possible implementation, the system further includes a second determining module 17, wherein

The receiving module 15 is further configured to receive a target shooting mode input by the user;

The second determining module 17 is configured to determine a rotation speed according to the target shooting mode;

In another possible implementation manner, the display module 16 is further configured to display at least one shooting mode by using a display interface of the imaging device;

Correspondingly, the receiving module 15 is specifically configured to receive a selection operation of the user inputting the target shooting mode on the display interface.

In another possible implementation manner, the second determining module 17 is specifically configured to:

Obtaining a correspondence between a shooting mode and a rotation speed;

The rotation speed corresponding to the target shooting mode is determined according to the target shooting mode and the corresponding relationship.

If the shooting mode is the star shooting mode, it is determined that the rotation speed is equal to the earth rotation speed;

If the shooting mode is the ground star hybrid shooting mode, it is determined that the rotation speed is greater than zero and less than the earth's rotation speed.

In another possible implementation manner, the display module 16 is further configured to display a preset input field through a display interface of the imaging device;

Correspondingly, the receiving module 15 is specifically configured to receive a rotation speed input by the user in the preset input field.

In another possible implementation manner, the receiving module 15 is further configured to: before the acquiring module 11 acquires the rotational speed and the positional parameter of the imaging device, receive a start command input by the user, and the start command is used to instruct to initiate control of the imaging device. .

In another possible implementation, the system further includes a third determining module 18 and a second adjusting module 19, wherein

The receiving module 15 is further configured to: after the control module controls the rotating bracket to rotate according to the rotation direction and the rotation speed, receive an identifier of the target constellation input by the user;

The third determining module 18 is configured to determine location information of the target constellation according to the identifier of the target constellation;

The second adjustment module 19 is configured to adjust the rotating bracket according to the position information so that the lens of the imaging device faces the target constellation.

In another possible implementation manner, the second adjustment module 19 is specifically configured to:

Based on the position information, at least one of a pitch angle, a heading angle, and a roll angle of the camera is adjusted such that the lens of the camera is facing the target constellation.

FIG. 8 is a first schematic structural view of an image forming apparatus according to the present invention. Referring to FIG. 8, the imaging device includes a pan/tilt head 101 and an imaging device 102. The pan/tilt head 101 includes an imaging bracket 1011, a plurality of motors 1012, a plurality of rotating brackets 1013, and a processor 1014. The imaging device 102 can be fixed to the platform 101 via the imaging stand 1011. The processor 1014 can send a control command to the motor 1012 to cause the motor 1012 to drive the rotating bracket 1013 to rotate according to the control command. among them,

The processor 1014 is configured to acquire a position parameter of the imaging device.

The motor 1012 is configured to adjust the rotating bracket 1013 of the pan/tilt according to the position parameter obtained by the processor 1014, so that the camera device 102 is parallel to the earth rotation axis;

The processor 1014 is further configured to determine a rotation direction of the rotating bracket 1011;

The motor 1012 is further configured to control the rotating bracket 1011 to rotate according to the determined rotation direction and the user-selected rotation speed determined by the processor 1014.

It can be understood that the camera holder 1011 can also be omitted, and the camera device 102 is directly One of the rotating brackets 1013 is connected.

The imaging device provided by the embodiment of the present invention can perform the technical solutions shown in the foregoing method embodiments, and the implementation principles and beneficial effects thereof are similar, and details are not described herein.

In a possible implementation, the processor 1014 is specifically configured to:

Obtain the latitude value of the current location of the imaging device.

FIG. 9 is a second schematic structural diagram of an imaging device according to the present invention. Referring to FIG. 9 , the imaging device further includes a first global positioning system GPS module 103; optionally, the first The CPS module 103 can be disposed on a pan/tilt or a camera.

Correspondingly, the processor 1014 is specifically configured to acquire a latitude value by using the first GPS module.

The imaging device further includes a communication interface 104, and the processor 1014 is coupled to the second GPS module via a communication interface; optionally, the communication interface 104 can be disposed on the platform 101.

Correspondingly, the processor 1014 is specifically configured to acquire the latitude value obtained by the second GPS module through the communication interface 104.

It should be noted that the imaging device may include the first GPS module 103 and the communication interface 104 at the same time, and may also include any one of the first GPS module 103 and the communication interface 104.

In another possible implementation, the processor 1014 is specifically configured to:

Determining the hemisphere in which the imaging device is currently located;

The direction of rotation of the rotating bracket 1013 is determined according to the hemisphere in which the imaging device is currently located.

or,

In another possible implementation, the imaging device further includes an input device 105, wherein

The input device 105 is configured to receive a hemisphere in which the user inputs the imaging device is currently located before the processor 1014 acquires a hemisphere preset by the user and the imaging device is currently located. Optionally, when the camera device 102 is a terminal device such as a mobile phone having an imaging function, the input device 105 may be an input device in the camera device 102. Of course, the input device 105 can also be an input device disposed on the platform 101.

In another possible implementation, the imaging device further includes a display device 106, wherein

The display device 106 is configured to display the southern hemisphere check box and the northern hemisphere check box. Optionally, when the camera device 102 is a terminal device such as a mobile phone with an imaging function, the display device 106 may be a display screen in the camera device 102. Of course, the display device 106 can also be a display device disposed on the pan/tilt head 101.

Correspondingly, the input device 105 is specifically configured to receive, according to the content displayed by the display device 106, the selected operation of the hemisphere input currently located by the imaging device.

In another possible implementation manner, the input device 105 is further configured to receive the user input target geographic location before the processor 1014 determines that the imaging device is currently located in the hemisphere according to the target geographic location preset by the user.

In another possible implementation, the display device 106 is further configured to display at least one address location;

Correspondingly, the input device 105 is specifically configured to receive a selected operation input by the user to the target geographic location according to at least one address location displayed by the display device 106.

In another possible implementation, the motor 1012 is specifically configured to:

Adjusting the elevation angle of the rotating bracket 1013 according to the latitude value obtained by the processor 1014, so that the angle between the imaging device 102 and the ground plane is equal to the latitude value;

The heading angle of the rotating bracket 1013 is adjusted according to a preset orientation so that the camera 102 is parallel to the earth's rotation axis.

Adjusting the camera device 102 to make the camera device 102 parallel to the ground plane;

The elevation angle of the rotating bracket 1013 is adjusted to a latitude value.

In another possible implementation, the camera device 102 is provided with an inertial measurement device IMU 1021. Accordingly, the motor 1012 is specifically configured to:

The elevation angle of the camera device 102 is adjusted until the elevation angle of the camera device 102 acquired by the IMU 1021 is zero to make the camera device 102 parallel to the ground plane. It can be understood that the IMU It is also possible to provide the rotating bracket 1013.

In another possible implementation, the input device 105 is further configured to receive a target input by the user before controlling the rotating bracket 1013 to rotate according to the rotation direction determined by the processor 1014 and the rotation speed selected by the user. mode;

Correspondingly, the processor 1014 is further configured to determine the rotation speed according to the target shooting mode.

In another possible implementation, the input device 105 is further configured to:

Receives the rotational speed of the user input.

In another possible implementation manner, the display device 106 is further configured to display at least one shooting mode;

Correspondingly, the input device 105 is configured to receive a selection operation input by the user to the target shooting mode according to at least one shooting mode displayed in the display device 106.

Obtaining a correspondence between a shooting mode and a rotation speed;

In another possible implementation manner, if the shooting mode is a star shooting mode, the processor 1014 is specifically configured to determine that the rotation speed is equal to the earth rotation speed;

If the shooting mode is the ground star hybrid shooting mode, the processor 1014 is specifically configured to determine that the rotation speed is greater than zero and less than the rotation speed of the earth.

In another possible implementation manner, the display device 106 is further configured to display a preset input field through the display interface;

Correspondingly, the input device 105 is further configured to receive a rotation speed input by the user in the preset input field.

In another possible implementation, the input device 105 is further configured to: before the processor 1014 acquires the rotational speed and the positional parameter of the imaging device, receive a start command input by the user, and the start command is used to instruct to initiate control of the imaging device. .

In another possible implementation, the input device 105 is further configured to: after the motor 1012 controls the rotating bracket 1013 to rotate according to the rotation direction and the rotation speed, receive an identifier of the target constellation input by the user;

The processor 1014 is further configured to determine location information of the target constellation according to the identifier of the target constellation;

The motor 1012 is further configured to adjust the camera 102 according to the position information acquired by the processor 1014 such that the lens of the camera 102 faces the target constellation.

In another possible implementation, the motor 1012 is specifically configured to: adjust at least one of a pitch angle, a heading angle, and a roll angle of the rotating bracket 1013 according to the position information, so as to make the lens of the camera 102 Right to the target constellation.

FIG. 10 is a schematic structural diagram of an image forming apparatus interaction device according to the present invention. Referring to FIG. 10, a display device 21 and an input device 22 are included, wherein

The display device 21 is configured to display at least one operation indication;

The input device 22 is configured to receive a target operation indication input by the user according to the at least one operation indication;

The input device 22 is further configured to send a target operation indication to the processor of the pan/tilt, so that the processor controls the motor of the pan/tilt head according to the target operation instruction, so that the motor controls the rotating bracket of the pan/tilt head.

In a possible implementation manner, the at least one control indication comprises at least one of the following indications:

Start command, star search command, rotation speed option, north and south hemisphere options, geographic location options, shooting mode options.

In another possible implementation manner, the display device 21 is specifically configured to:

Receiving at least one operation indication sent by the processor;

At least one operational indication is displayed.

The imaging device interaction device shown in the embodiment of the present invention may be disposed in the imaging device and may be in connection communication with other components in the imaging device.

11 is a schematic structural diagram 1 of an image forming apparatus control apparatus for controlling an imaging apparatus, wherein the imaging apparatus includes a cloud platform, a camera device disposed on the cloud platform, and the cloud The stage is configured to drive the camera to move with the at least one rotating bracket. Referring to FIG. 11, the image forming apparatus control apparatus includes a processor 31, a memory 32, and a communication bus 33. The memory 32 is used to store an application, the communication bus 33 is used to implement a communication connection between components, and the processor 31 is configured to read an application in the memory 32 and perform the following operations:

Obtaining a positional parameter of the imaging device;

Determining a rotation direction of the rotating bracket;

The imaging device control device provided by the embodiment of the present invention can perform the technical solutions shown in the foregoing method embodiments, and the implementation principles and beneficial effects thereof are similar, and details are not described herein.

In a possible implementation, the processor 31 is specifically configured to:

Obtaining a latitude value of the current location of the imaging device.

In another possible implementation, the processor 31 is specifically configured to:

Acquiring the latitude value by a global positioning system GPS module inside the imaging device;

or,

The latitude value is acquired by a GPS module connected to the imaging device.

Determining a hemisphere in which the imaging device is currently located;

The direction of rotation of the rotating bracket is determined according to the hemisphere in which the imaging device is currently located.

Determining, according to the position parameter, a hemisphere in which the imaging device is currently located;

or,

Determining the hemisphere in which the imaging device is currently located according to the target geographic location preset by the user.

12 is a schematic structural diagram 2 of an image forming apparatus control apparatus according to the present invention. On the basis of the embodiment shown in FIG. 11, referring to FIG. 12, the image forming apparatus control apparatus further includes an input device 34, and correspondingly, the processing The device 31 is specifically configured to:

Before the processor 31 acquires a hemisphere preset by the user and the imaging device is currently located, the input device 34 receives the hemisphere in which the user inputs the imaging device.

Alternatively, the input device 34 can also be an input device in an imaging device.

In another possible implementation, the imaging device control device further includes a display device 35. Correspondingly, the processor 31 is further configured to:

Displaying a southern hemisphere check box and a northern hemisphere check box by the display device 35;

Receiving, by the input device 34, the content displayed by the user according to the display device 35, the hemispherical input in which the imaging device is currently located is selected.

Optionally, the display device 35 can also be a display device in the imaging device.

In another possible implementation manner, the processor 31 is further configured to:

Before the processor 31 determines the hemisphere in which the imaging device is currently located according to the target geographic location preset by the user, the user inputs the target geographic location through the input device 34.

Displaying at least one address location by the display device 35;

A selection operation input to the target geographic location by the user according to the content displayed by the display device 35 is received by the input device 34.

If the imaging device is located in the northern hemisphere, determining that the direction of rotation is opposite to the direction of rotation of the earth;

Adjusting an elevation angle of the rotating bracket according to the latitude value to adjust, so that an angle between the camera device and a ground plane is equal to the latitude value;

The heading angle of the rotating bracket is controlled according to a preset orientation so that the camera device is parallel to the earth rotation axis.

In another possible implementation manner, the preset orientation is a positive north direction or a positive south direction.

Controlling the camera device to perform adjustment so that the camera device is parallel to the ground plane;

The elevation angle of the rotating bracket is controlled to adjust such that the elevation angle of the rotating bracket is equal to the latitude value.

In another possible implementation, the camera device is provided with an inertial measurement device IMU. Correspondingly, the processor 31 is specifically configured to:

The elevation angle of the camera device is controlled to be adjusted until the elevation angle of the camera device collected by the IMU is zero, so that the camera device is parallel to the ground plane.

In another possible implementation, the processor 31 is further configured to receive the rotation speed of the user input through the input device 34.

Receiving, by the input device 34, a target shooting mode input by a user;

The rotation speed is determined according to the target shooting mode.

Displaying at least one shooting mode by the display device 35;

A selection operation input to the target photographing mode by the user according to the content displayed by the display device 35 is received by the input device 34.

Obtaining a correspondence between a shooting mode and a rotation speed;

Determining a rotation speed corresponding to the target shooting mode according to the target shooting mode and the corresponding relationship.

If the shooting mode is a starry sky shooting mode, determining that the rotation speed is equal to the earth rotation speed;

If the shooting mode is a ground star hybrid shooting mode, it is determined that the rotation speed is greater than zero and less than the rotation speed of the earth.

Displaying a preset input field by the display device 35;

The rotation speed input by the user in the preset input field is received by the input device 34.

In another possible implementation manner, the processor 31 is further configured to receive, by the input device 34, a startup instruction input by a user, before the processor 31 acquires a rotation speed and a position parameter of the imaging device. The start command is used to instruct to initiate control of the imaging device.

After the processor 31 controls the rotation of the rotating bracket according to the rotation direction and the rotation speed, receiving, by the input device 34, an identifier of a target constellation input by a user;

Determining location information of the target constellation according to the identifier of the target constellation;

The rotating bracket is controlled to adjust according to the position information such that the lens of the camera device faces the target constellation.

And adjusting at least one of a pitch angle, a heading angle, and a roll angle of the image pickup device according to the position information to adjust a lens of the image pickup device to face the target constellation.

A person skilled in the art can understand that all or part of the steps of implementing the above method embodiments may be completed by using hardware related to the program instructions. The foregoing program may be stored in a computer readable storage medium, and the program is executed when executed. The foregoing steps include the steps of the foregoing method embodiments; and the foregoing storage medium includes: a medium that can store program codes, such as a ROM, a RAM, a magnetic disk, or an optical disk.

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

An imaging device control method, the imaging device comprising a cloud platform and an imaging device disposed on the cloud platform, wherein the cloud platform is configured to drive the camera device to move with the at least one rotating bracket, wherein the method include:

Obtaining a position parameter of the imaging device;

Adjusting the rotating bracket of the pan/tilt according to the position parameter, so that the camera device is parallel to the earth rotation axis;

Determining a rotation direction of the rotating bracket, and controlling the rotating bracket to rotate according to the rotating direction and a rotation speed selected by a user.
The method according to claim 1, wherein the acquiring the positional parameters of the imaging device comprises:

Obtaining a latitude value of the current location of the imaging device.
The method according to claim 2, wherein the obtaining the latitude value of the current location of the imaging device comprises:

Obtaining, by a global positioning system GPS module inside the imaging device, a latitude value of a location where the imaging device is currently located;

or,

A latitude value of a position at which the imaging device is currently located is acquired by a GPS module connected to the imaging device.
The method of claim 1 wherein said determining a direction of rotation of said rotating bracket comprises:

Determining a hemisphere in which the imaging device is currently located;

The direction of rotation of the rotating bracket is determined according to the hemisphere in which the imaging device is currently located.
The method of claim 4, wherein determining the hemisphere in which the imaging device is currently located comprises:

Determining, according to the position parameter, a hemisphere in which the imaging device is currently located;

or,

Obtaining a hemisphere preset by the user and the imaging device is currently located;

or,

Determining the hemisphere in which the imaging device is currently located according to the target geographic location preset by the user.
The method according to claim 5, wherein the obtaining the user-preset hemisphere in which the imaging device is currently located further comprises:

Receiving the user inputs a hemisphere in which the imaging device is currently located.
The method according to claim 6, wherein said receiving said user inputting a hemisphere in which said imaging device is currently located comprises:

Displaying a southern hemisphere check box and a northern hemisphere check box through a display interface of the imaging device;

The receiving user obtains a selected operation on the hemisphere input in which the imaging device is currently located according to the display interface.
The method according to claim 5, wherein the determining, before the hemisphere that the imaging device is currently located, according to the target geographic location preset by the user, further comprising:

Receiving the user input to the target geographic location.
The method according to claim 8, wherein the receiving user inputting the geographic location comprises:

Displaying at least one address location by a display interface of the imaging device;

Receiving a selection operation input by the user to the target geographic location according to the display interface.
The method according to any one of claims 4-9, wherein the determining the rotation direction of the rotating bracket according to the hemisphere in which the imaging device is currently located comprises:

If the imaging device is located in the northern hemisphere, determining that the direction of rotation is opposite to the direction of rotation of the earth;

If the imaging device is located in the southern hemisphere, it is determined that the direction of rotation is the same as the direction of rotation of the earth.
The method according to any one of claims 2 to 10, wherein the rotating bracket of the pan/tilt is adjusted according to the position parameter, comprising:

Adjusting an elevation angle of the rotating bracket according to the latitude value, so that an angle between the camera device and a ground plane is equal to the latitude value;

The heading angle of the rotating bracket is adjusted according to a preset orientation such that the camera device is parallel to the earth rotation axis.
The method of claim 11 wherein said predetermined orientation is a positive north or a positive south.
The method according to claim 11 or 12, wherein said according to said weft The elevation value adjusts the elevation angle of the rotating bracket such that the angle between the camera and the ground plane is equal to the latitude value, including:

Adjusting the camera device such that the camera device is parallel to the ground plane;

Adjusting the elevation angle of the rotating bracket to the latitude value.
The method according to claim 13, wherein the camera device is provided with an inertial measurement device IMU, and correspondingly, the camera device is adjusted such that the camera device is parallel to the ground plane, including :

The elevation angle of the imaging device is adjusted until the elevation angle of the imaging device acquired by the IMU is zero, so that the imaging device is parallel to the ground plane.
The method according to any one of claims 1 to 14, wherein the controlling the rotating bracket to rotate according to the rotation direction and the rotation speed selected by the user further comprises:

Receiving a target shooting mode input by a user, and determining the rotation speed according to the target shooting mode;

or,

Receiving the rotational speed of the user input.
The method according to claim 15, wherein the receiving a shooting mode input by a user comprises:

Displaying at least one shooting mode through a display interface of the imaging device;

Receiving a selection operation input by the user to the target shooting mode according to the display interface.
The method according to claim 15 or 16, wherein the determining the rotation speed according to the target shooting mode comprises:

Obtaining a correspondence between a shooting mode and a rotation speed;

Determining a rotation speed corresponding to the target shooting mode according to the target shooting mode and the corresponding relationship.
The method according to any one of claims 15-17, wherein the determining the rotation speed according to the shooting mode comprises:

If the shooting mode is a starry sky shooting mode, determining that the rotation speed is equal to the earth rotation speed;

If the shooting mode is a ground star hybrid shooting mode, it is determined that the rotation speed is greater than zero and less than the rotation speed of the earth.
The method of claim 15 wherein receiving the rotational speed of the user input comprises:

Displaying a preset input field through a display interface of the imaging device;

The rotation speed input by the user in the preset input field is received.
The method according to any one of claims 1 to 19, wherein before the obtaining the rotational speed and the positional parameter of the imaging device, the method further comprises:

A start command input by the user is received, the start command being used to instruct to initiate control of the imaging device.
The method according to any one of claims 1 to 20, further comprising: after controlling the rotation of the rotating bracket according to the rotation direction and the rotation speed, further comprising:

Receiving an identifier of a target constellation input by a user;

Determining location information of the target constellation according to the identifier of the target constellation;

The rotating bracket is adjusted according to the position information such that the lens of the imaging device faces the target constellation.
The method according to claim 21, wherein the adjusting the camera device according to the position information such that the lens of the camera device faces the target constellation comprises:

And adjusting at least one of a pitch angle, a heading angle, and a roll angle of the image capturing bracket according to the position information, so that a lens of the imaging device faces the target constellation.
An imaging device control system, comprising: a cloud platform and an imaging device disposed on the cloud platform, wherein the cloud platform is configured to drive the camera device to move with the at least one rotating bracket, and the method includes:

An acquiring module, configured to acquire a position parameter of the imaging device;

a first adjustment module, configured to adjust the rotating bracket of the pan/tilt according to the position parameter, so that the camera device is parallel to the earth rotation axis;

a first determining module, configured to determine a rotation direction of the rotating bracket;

And a control module, configured to control the rotating bracket to rotate according to the rotation direction and a rotation speed selected by a user.
The system of claim 23, wherein the obtaining module is specifically configured to:

Obtaining a latitude value of the current location of the imaging device.
The system according to claim 24, wherein the obtaining module is specifically configured to:

Acquiring the latitude value by a global positioning system GPS module inside the imaging device;

or,

The latitude value is acquired by a GPS module connected to the imaging device.
The system according to claim 23, wherein the first determining module comprises a first determining unit and a second determining unit, wherein

The first determining unit is configured to determine a hemisphere in which the imaging device is currently located;

The second determining unit is configured to determine a rotation direction of the rotating bracket according to a hemisphere in which the imaging device is currently located.
The system of claim 26, wherein the first determining unit is specifically configured to:

Determining, according to the position parameter, a hemisphere in which the imaging device is currently located;

or,

Obtaining a hemisphere preset by the user and the imaging device is currently located;

or,

Determining the hemisphere in which the imaging device is currently located according to the target geographic location preset by the user.
The system of claim 27, wherein the system further comprises a receiving module, wherein

The receiving module is configured to receive, before the first determining unit acquires a hemisphere preset by the user that the imaging device is currently located, the user inputs a hemisphere in which the imaging device is currently located.
The system of claim 28, wherein the system further comprises a display module, wherein

The display module is configured to display a southern hemisphere check box and a northern hemisphere check box through a display interface of the imaging device;

Correspondingly, the receiving module is specifically configured to: receive, by the user according to the display interface, a selected operation on a hemisphere input currently located by the imaging device.
The system of claim 29, wherein

The receiving module is further configured to: before the first determining unit determines, according to a target geographic location preset by the user, the hemisphere that the imaging device is currently located, and receive the user inputting the target ground Location.
The system according to claim 30, wherein the display module is further configured to display at least one address location through a display interface of the imaging device;

Correspondingly, the receiving module is specifically configured to receive a selection operation that is input by the user to the target geographic location according to the display interface.
The system according to any one of claims 26 to 31, wherein the second determining unit is specifically configured to:

If the imaging device is located in the northern hemisphere, determining that the direction of rotation is opposite to the direction of rotation of the earth;

If the imaging device is located in the southern hemisphere, it is determined that the direction of rotation is the same as the direction of rotation of the earth.
The system according to claim 23, wherein said first adjustment module comprises a first adjustment unit and a second adjustment unit, wherein

The first adjusting unit is configured to adjust an elevation angle of the rotating bracket according to the latitude value, so that an angle between the imaging device and a ground plane is equal to the latitude value;

The second adjusting unit is configured to adjust a heading angle of the rotating bracket according to a preset orientation, so that the camera device is parallel to the earth rotation axis.
The system of claim 33 wherein said predetermined orientation is a positive north or a positive south.
The system according to claim 34, wherein the first adjusting unit is specifically configured to:

Adjusting the camera device such that the camera device is parallel to the ground plane;

Adjusting the elevation angle of the rotating bracket to the latitude value.
The system according to claim 35, wherein the camera device is provided with an inertial measurement device IMU, and correspondingly, the first adjustment unit is specifically configured to:

The elevation angle of the imaging device is adjusted until the elevation angle of the imaging device acquired by the IMU is zero, so that the imaging device is parallel to the ground plane.
A system according to any of claims 29-36, characterized in that

The receiving module is further configured to receive the rotation speed input by the user.
The system of claim 37, wherein said system further comprises a second Fixed module, where

The receiving module is further configured to receive a target shooting mode input by a user;

The second determining module is configured to determine the rotation speed according to the target shooting mode.
The system of claim 38, wherein

The display module is configured to display at least one shooting mode through a display interface of the imaging device;

Correspondingly, the receiving module is specifically configured to receive a selection operation of the user inputting the target shooting mode on the display interface.
The system of claim 38, wherein the second determining module is specifically configured to:

Obtaining a correspondence between a shooting mode and a rotation speed;

Determining a rotation speed corresponding to the target shooting mode according to the target shooting mode and the corresponding relationship.
The system according to any one of claims 38 to 40, wherein the second determining module is specifically configured to:

If the shooting mode is a starry sky shooting mode, determining that the rotation speed is equal to the earth rotation speed;

If the shooting mode is a ground star hybrid shooting mode, it is determined that the rotation speed is greater than zero and less than the rotation speed of the earth.
The system of claim 39, wherein

The display module is further configured to display a preset input field by using a display interface of the imaging device;

Correspondingly, the receiving module is specifically configured to receive the rotation speed input by the user in the preset input field.
A system according to any of claims 29-42, wherein

The receiving module is further configured to: before the acquiring module acquires the rotation speed and the position parameter of the imaging device, receive a startup instruction input by the user, where the startup instruction is used to instruct to initiate control of the imaging device.
The system according to any one of claims 23 to 43, wherein the system further comprises a third determining module and a second adjusting module, wherein

The receiving module is further configured to: at the control module, according to the rotation direction and the rotation speed Degree, after controlling the rotating bracket to rotate, receiving an identifier of a target constellation input by a user;

The third determining module is configured to determine location information of the target constellation according to the identifier of the target constellation;

The second adjustment module is configured to adjust the rotating bracket according to the position information such that a lens of the imaging device faces the target constellation.
The system of claim 44, wherein the second adjustment module is specifically configured to:

And adjusting at least one of a pitch angle, a heading angle, and a roll angle of the image pickup device according to the position information such that a lens of the image pickup device faces the target constellation.
An imaging device, comprising: a cloud platform; an imaging device disposed on the cloud platform, wherein the cloud platform is configured to drive the camera device to move with at least one rotating bracket, and the cloud platform is provided with processing And motor, among them,

The processor is configured to acquire a position parameter of the imaging device;

The motor is configured to adjust the rotating bracket of the pan/tilt according to the position parameter obtained by the processor, so that the camera device is parallel to the earth rotation axis;

The processor is further configured to determine a rotation direction of the rotating bracket;

The motor is further configured to control the rotating bracket to rotate according to the rotation direction determined by the processor and the rotation speed selected by the user.
The image forming apparatus according to claim 46, wherein said processor is specifically configured to:

Obtaining a latitude value of the current location of the imaging device.
The imaging device according to claim 47, wherein said imaging device further comprises a first global positioning system GPS module;

Correspondingly, the processor is specifically configured to acquire the latitude value by using the first GPS module.
The image forming apparatus according to claim 47, wherein said image forming apparatus further comprises a communication interface, said processor being connected to said second GPS module through said communication interface;

Correspondingly, the processor is specifically configured to acquire, by the communication interface, the latitude value obtained by the second GPS module.
The image forming apparatus according to claim 46, wherein said processor is specifically used to:

Determining a hemisphere in which the imaging device is currently located;

The direction of rotation of the rotating bracket is determined according to the hemisphere in which the imaging device is currently located.
The image forming apparatus according to claim 50, wherein the processor is specifically configured to:

Determining, according to the position parameter, a hemisphere in which the imaging device is currently located;

or,

Obtaining a hemisphere preset by the user and the imaging device is currently located;

or,

Determining the hemisphere in which the imaging device is currently located according to the target geographic location preset by the user.
The image forming apparatus according to claim 51, wherein said image forming apparatus further comprises an input device, wherein

The input device is configured to receive, before the processor acquires a hemisphere preset by the user that the imaging device is currently located, the user inputs a hemisphere in which the imaging device is currently located.
The image forming apparatus according to claim 52, wherein said image forming apparatus further comprises a display device, wherein

The display device is configured to display a southern hemisphere check box and a northern hemisphere check box;

Correspondingly, the input device is specifically configured to: receive, according to the content displayed by the display device, the selected operation of the hemisphere input currently located by the imaging device.
The image forming apparatus according to claim 53, wherein

The input device is further configured to: before the processor determines, according to a target geographic location preset by the user, the hemisphere that the imaging device is currently located, and receive the user inputting the target geographic location.
The image forming apparatus according to claim 54, wherein

The display device is further configured to display at least one address location;

Correspondingly, the input device is specifically configured to: receive a selection operation input by the user according to the at least one address location displayed by the display device, and input the target geographic location.
The image forming apparatus according to any one of claims 50 to 55, wherein the processor is specifically configured to:

If the imaging device is located in the northern hemisphere, determining that the direction of rotation is opposite to the direction of rotation of the earth;

If the imaging device is located in the southern hemisphere, it is determined that the direction of rotation is the same as the direction of rotation of the earth.
The image forming apparatus according to any one of claims 47 to 56, wherein the motor is specifically used for:

Adjusting an elevation angle of the rotating bracket according to the latitude value obtained by the processor, so that an angle between the camera device and a ground plane is equal to the latitude value;

The heading angle of the rotating bracket is adjusted according to a preset orientation such that the camera device is parallel to the earth rotation axis.
The image forming apparatus according to claim 57, wherein said predetermined orientation is a normal north direction or a south direction.
The image forming apparatus according to claim 57 or 58, wherein the motor is specifically used for:

Adjusting the camera device such that the camera device is parallel to the ground plane;

Adjusting the elevation angle of the rotating bracket to the latitude value.
The imaging device according to claim 59, wherein the imaging device is provided with an inertial measurement device IMU, and correspondingly, the motor is specifically used for:

The elevation angle of the imaging device is adjusted until the elevation angle of the imaging device acquired by the IMU is zero, so that the imaging device is parallel to the ground plane.
The image forming apparatus according to claim 54, wherein

The input device is further configured to receive a target shooting mode input by the user before the motor controls the rotation of the rotating bracket according to the rotation direction determined by the processor and the rotation speed selected by the user;

Correspondingly, the processor is further configured to determine the rotation speed according to the target shooting mode.
The image forming apparatus according to claim 61, wherein said input device is further configured to:

Receiving the rotational speed of the user input.
The image forming apparatus according to claim 61, wherein

The display device is further configured to display at least one shooting mode;

Correspondingly, the input device is configured to receive a selection operation input by the user according to the at least one beat mode displayed by the display device.
The image forming apparatus according to claim 61, wherein the processor is specifically configured to:

Obtaining a correspondence between a shooting mode and a rotation speed;

Determining a rotation speed corresponding to the target shooting mode according to the target shooting mode and the corresponding relationship.
An image forming apparatus according to any one of claims 61 to 64, wherein

If the shooting mode is a starry sky shooting mode, the processor is specifically configured to determine that the rotation speed is equal to the earth rotation speed;

If the shooting mode is a ground star hybrid shooting mode, the processor is specifically configured to determine that the rotation speed is greater than zero and less than the rotation speed of the earth.
The image forming apparatus according to claim 63 or 64, wherein

The display device is further configured to display a preset input field through the display interface;

Correspondingly, the input device is further configured to receive the rotation speed input by the user in the preset input field.
The image forming apparatus according to claim 53, wherein

The input device is further configured to receive, after the processor acquires the rotational speed and the positional parameter of the imaging device, a start command input by the user, the start command being used to instruct to initiate control of the imaging device.
The image forming apparatus according to claim 53, wherein

The input device is further configured to: after the motor controls the rotation of the rotating bracket according to the rotation direction and the rotation speed, receive an identifier of a target constellation input by a user;

The processor is further configured to determine location information of the target constellation according to the identifier of the target constellation;

The motor is further configured to adjust the rotating bracket according to the position information obtained by the processor, so that the lens of the camera device faces the target constellation.
The image forming apparatus according to claim 68, wherein the motor is specifically configured to: adjust at least one of a pitch angle, a heading angle, and a roll angle of the image pickup device according to the position information So that the lens of the camera device faces the target constellation.
An imaging device interaction device, comprising: an input device and a display device, among them,

The display device is configured to display at least one operation indication;

The input device is configured to receive a target operation indication input by the user according to the at least one operation indication;

The input device is further configured to send the target operation indication to a processor of the pan/tilt, so that the processor controls the motor of the pan/tilt according to the target operation indication, so that the motor pairs the The rotating bracket of the gimbal is controlled.
The imaging device interaction apparatus according to claim 70, wherein said at least one control indication comprises at least one of the following indications:

Start command, star search command, rotation speed option, north and south hemisphere options, geographic location options, shooting mode options.
The image forming apparatus interaction device according to claim 70 or 71, wherein the display device is specifically configured to:

Receiving the at least one operation indication sent by the processor;

The at least one operational indication is displayed.
An imaging device control device, the imaging device comprising a cloud platform, an imaging device disposed on the cloud platform, the cloud platform for driving the camera device to move with the at least one rotating bracket, wherein the imaging device controls The device includes a processor and a memory for storing an application, the processor for reading an application in the memory and performing the following operations:

Obtaining a positional parameter of the imaging device;

Controlling the rotating bracket of the pan/tilt according to the position parameter to adjust, so that the camera device is parallel to the earth rotation axis;

Determining a rotation direction of the rotating bracket;

The rotating bracket is controlled to rotate according to the rotation direction and a rotation speed selected by the user.
The device according to claim 73, wherein the processor is specifically configured to:

Obtaining a latitude value of the current location of the imaging device.
The device according to claim 74, wherein the processor is specifically configured to:

Acquiring the latitude value by a global positioning system GPS module inside the imaging device;

Or,

The latitude value is acquired by a GPS module connected to the imaging device.
The device according to claim 73, wherein the processor is specifically configured to:

Determining a hemisphere in which the imaging device is currently located;

The direction of rotation of the rotating bracket is determined according to the hemisphere in which the imaging device is currently located.
The device according to claim 76, wherein the processor is specifically configured to:

Determining, according to the position parameter, a hemisphere in which the imaging device is currently located;

or,

Obtaining a hemisphere preset by the user and the imaging device is currently located;

or,

Determining the hemisphere in which the imaging device is currently located according to the target geographic location preset by the user.
The device according to claim 77, wherein the imaging device control device further comprises an input device, and correspondingly, the processor is specifically configured to:

Receiving, by the input device, the user inputs a hemisphere in which the imaging device is currently located before the processor acquires a hemisphere preset by the user and the imaging device is currently located.
The device according to claim 78, wherein the imaging device control device further comprises a display device, and correspondingly, the processor is further configured to:

Displaying a southern hemisphere check box and a northern hemisphere check box by the display device;

Receiving, by the input device, the content displayed by the user according to the display device, the hemisphere input currently located by the imaging device is selected.
The device according to claim 79, wherein the processor is further configured to:

And determining, by the input device, the user to input the target geographic location by the input device before the processor determines, according to a target geographic location preset by the user, the hemisphere currently located by the imaging device.
The device according to claim 80, wherein the processor is further configured to:

Displaying at least one address location by the display device;

Receiving, by the input device, a selection operation input by the user according to the content displayed by the display device to the target geographic location.
The device according to any one of claims 76-81, wherein the processor is specifically configured to:

If the imaging device is located in the northern hemisphere, determining that the direction of rotation is opposite to the direction of rotation of the earth;

If the imaging device is located in the southern hemisphere, it is determined that the direction of rotation is the same as the direction of rotation of the earth.
The device according to claim 73, wherein the processor is specifically configured to:

Adjusting an elevation angle of the rotating bracket according to the latitude value to adjust, so that an angle between the camera device and a ground plane is equal to the latitude value;

The heading angle of the rotating bracket is controlled according to a preset orientation so that the camera device is parallel to the earth rotation axis.
The apparatus of claim 83 wherein said predetermined orientation is a positive north or a positive south.
The device according to claim 84, wherein the processor is specifically configured to:

Controlling the camera device to perform adjustment so that the camera device is parallel to the ground plane;

The elevation angle of the rotating bracket is controlled to adjust such that the elevation angle of the rotating bracket is equal to the latitude value.
The device according to claim 85, wherein the camera device is provided with an inertial measurement device IMU, and correspondingly, the processor is specifically configured to:

The elevation angle of the camera device is controlled to be adjusted until the elevation angle of the camera device collected by the IMU is zero, so that the camera device is parallel to the ground plane.
Apparatus according to any of claims 79-86, wherein said processor is further operative to receive said rotational speed of said user input via said input device.
The device according to claim 87, wherein the processor is further configured to:

Receiving, by the input device, a target shooting mode input by a user;

The rotation speed is determined according to the target shooting mode.
The device of claim 88, wherein the processor is further configured to:

Displaying at least one shooting mode by the display device;

A selection operation input to the target shooting mode by the user according to the content displayed by the display device is received by the input device.
The device according to claim 88, wherein the processor is specifically configured to:

Obtaining a correspondence between a shooting mode and a rotation speed;

Determining a rotation speed corresponding to the target shooting mode according to the target shooting mode and the corresponding relationship.
The device according to any one of claims 88 to 90, wherein the processor is specifically configured to:

If the shooting mode is a starry sky shooting mode, determining that the rotation speed is equal to the earth rotation speed;

If the shooting mode is a ground star hybrid shooting mode, it is determined that the rotation speed is greater than zero and less than the rotation speed of the earth.
The device according to claim 89, wherein the processor is further configured to:

Displaying a preset input field by the display device;

The rotation speed input by the user in the preset input field is received by the input device.
Apparatus according to any of claims 79-92, characterized in that

The processor is further configured to receive, by the input device, a start command input by a user, where the start command is used to initiate activation of the image forming device, before the processor acquires a rotational speed and a position parameter of the imaging device control.
The device according to any one of claims 78-93, wherein the processor is further configured to:

After the processor controls the rotation of the rotating bracket according to the rotation direction and the rotation speed, receiving, by the input device, an identifier of a target constellation input by a user;

Determining location information of the target constellation according to the identifier of the target constellation;

The rotating bracket is controlled to adjust according to the position information such that the lens of the camera device faces the target constellation.
The device according to claim 94, wherein the processor is specifically configured to:

And adjusting at least one of a pitch angle, a heading angle, and a roll angle of the image pickup device according to the position information to adjust a lens of the image pickup device to face the target constellation.