WO2020063306A1 - Shooting monitoring device and gimbal system including same - Google Patents

Shooting monitoring device and gimbal system including same Download PDF

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Publication number
WO2020063306A1
WO2020063306A1 PCT/CN2019/104871 CN2019104871W WO2020063306A1 WO 2020063306 A1 WO2020063306 A1 WO 2020063306A1 CN 2019104871 W CN2019104871 W CN 2019104871W WO 2020063306 A1 WO2020063306 A1 WO 2020063306A1
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WO
WIPO (PCT)
Prior art keywords
connection interface
photographing
monitoring device
control command
ptz
Prior art date
Application number
PCT/CN2019/104871
Other languages
French (fr)
Chinese (zh)
Inventor
张元元
郑庆伟
廖广军
李泽
Original Assignee
桂林智神信息技术股份有限公司
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Publication of WO2020063306A1 publication Critical patent/WO2020063306A1/en

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    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00Television systems
    • H04N7/18Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16MFRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02Heads
    • F16M11/04Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16MFRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02Heads
    • F16M11/04Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • GPHYSICS
    • G03PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03BAPPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00Details of cameras or camera bodies; Accessories therefor
    • G03B17/56Accessories
    • G03B17/561Support related camera accessories
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60Control of cameras or camera modules

Definitions

  • the present invention relates to the field of photographing equipment, and in particular, to a photographing monitoring device and a PTZ system including the same.
  • the gimbal system is usually divided into a single-axis gimbal system and a multi-axis (including two-axis and three-axis) gimbal system.
  • the three-axis gimbal system is the most common.
  • the user fixes the photography equipment on the three-axis gimbal system. Control the rotation of the motor in the three axes of the gimbal system to control the movement of the photographic equipment in three directions, so as to realize the shooting of videos and photos.
  • the photographing device may move to a position where the user cannot directly observe its screen, resulting in the user being unable to know the effect of the currently shot video or picture.
  • a common method is to connect the photographing device to an external display device, and use the external display device to view the video or picture currently shot by the photographing device.
  • external display devices are often very expensive.
  • a photographing monitoring device is provided.
  • the shooting monitoring device includes a first connection interface, a second connection interface, a third connection interface, and a processing unit; the processing unit receives a video and / or picture from a photographing device via the first connection interface, and via the first connection interface A third connection interface sends the video and / or picture to a mobile device for display by the mobile device; the processing unit receives a control command from the mobile device via the third connection interface, and identifies the control command Is the camera control command or the PTZ system control command, the identified camera control command is sent to the camera via the first connection interface, and the recognized PTZ system control command is sent to the PTZ through the second connection interface. system.
  • the processing unit collects picture frames of the video from the photographing device at specific time intervals, encapsulates the captured picture frames and their sending time, and encapsulates the encapsulated picture frames via a third connection. Port to the mobile device.
  • the processing device further acquires relevant information of the photographing device from the photographing device via the first connection interface and / or from a master control of the PTZ system via the second connection interface.
  • the unit obtains the relevant information of the PTZ system, and the processing device sends the relevant information of the photographing device and / or the relevant information of the PTZ system to the mobile device via the third connection interface to be moved by the mobile device.
  • the device is displayed.
  • the above-mentioned shooting monitoring device further includes a storage unit, where the storage unit stores control protocols corresponding to multiple types of photographic equipment and control protocols corresponding to various types of PTZ systems; wherein the processing unit further Acquiring the model information of the photographic device via a first connection interface and / or acquiring the model information of the PTZ system from a main control unit via a second connection interface; wherein the processing unit is further based on the information in the storage unit
  • the control protocol corresponding to the photographic device converts the identified photographic device control command, and sends the converted photographic device control command to the photographic device via the first connection interface; the processing unit further according to the cloud in the storage unit
  • the control protocol corresponding to the platform system converts the identified PTZ system control command, and sends the converted PTZ system control command to the main control unit via the second connection interface.
  • the processing unit further merges all identified camera control commands in a specific period; the processing unit also filters out the identified PTZ system control commands from the identified PTZ system control commands. PTZ system control commands in conflicting states.
  • the shooting monitoring device is wirelessly or wiredly connected to the shooting device via the first connection interface; the shooting monitoring device is connected to a master control of the PTZ system through the second connection interface.
  • the unit is connected wirelessly or by wire; the shooting monitoring device is connected wirelessly or by wire with the mobile device via the third connection interface.
  • the shooting monitoring device further includes a fourth connection interface, wherein when the shooting monitoring device is disconnected from the mobile device via the third connection interface, the shooting monitoring device passes the fourth connection interface.
  • the connection interface is wirelessly or wiredly connected to the mobile device.
  • a PTZ system is also provided.
  • the gimbal system includes three axes, a connecting arm between the three axes, a photographic equipment connection part for fixing the photographic equipment connected to one of the axes, and a main control unit for controlling For the rotation of the three axes, the pan / tilt system further includes the above-mentioned shooting monitoring device.
  • the main control unit is located in the photographic equipment connection component, and the photographing monitoring equipment is located near the photographic equipment connection component and moves together with the photographic equipment connection component.
  • the present invention has the following beneficial effects:
  • the shooting monitoring device transmits the video or picture taken by the photographing device to the mobile device carried by the user in real time, and the mobile device displays the video or picture taken by the photographing device, which makes the user inconvenient or unable to watch the screen of the photographing device , Can know the shooting effect of the photography equipment in real time.
  • the user can control the photography equipment and the PTZ system through the mobile device in time based on the shooting effect, so that the photography equipment can shoot in the way the user expects, which not only facilitates the user ’s
  • the shooting also improves the user experience;
  • the mobile device carried by the user is used instead of the external display device to display the video or picture taken by the photography device, and the user does not need to purchase an external display device, which reduces the cost of shooting;
  • the shooting monitoring device Before the shooting monitoring device transmits the video or picture taken by the shooting device to the mobile device, the video is captured and packaged, so that the mobile device can obtain better playback effects, further improving the user experience; the shooting monitoring device also The current status of the photography equipment and the PTZ system can be sent to the mobile device for display, and the user can control the photography equipment and the PTZ system more accurately;
  • the shooting monitoring equipment stores control protocols for various types of photographing equipment and control protocols for various types of PTZ systems, making the scope of application of shooting monitoring equipment wider;
  • the shooting monitoring device is preferably located near the connecting part of the shooting device and the main control unit, so the data line between it and the shooting device will not affect the movement of the PTZ power unit, and the data line between it and the main control unit will not Affects the stabilization effect of the PTZ system.
  • FIG. 1 is a perspective view of a pan / tilt system according to an embodiment of the present invention
  • FIG. 2 is a schematic block diagram of the internal structure of the pan / tilt system shown in FIG. 1;
  • FIG. 3 is a schematic block diagram of an internal structure of a pan / tilt system according to another embodiment of the present invention.
  • mobile devices such as mobile phones, tablets, handheld laptops, and other electronic devices with display and computing and communication functions
  • mobile devices have become indispensable tools in people's daily lives, which usually have the function of displaying videos and pictures , And can be used as a remote control to control some electronic devices through wireless technology.
  • the inventor replaced the external display device with such a mobile device that people carry with them to reduce the cost of shooting, and uses the mobile device to monitor the video or picture shot by the shooting device and control the shooting.
  • a pan / tilt head system As shown in FIG. 1, the pan / tilt head system includes a pan / tilt power unit 11, a handle 12, and a shooting monitoring device 13.
  • the handle 12 is connected to the gimbal power device 11 (specifically, the shaft 114 of the gimbal power device 11).
  • the handle 12 has one or more human-machine interaction switches 121.
  • the human-machine interaction switch 121 transmits the PTZ control command generated by the user pressing / toggle / rotating the human-machine interaction switch 121 to the main control unit in the PTZ power unit 11, and the main control unit controls the movement of the PTZ power unit 11.
  • the pan / tilt power unit 11 includes a photographing device connecting member 111, shafts 112-114 (including a motor), a connecting arm between the shaft and the shaft, and an attitude plate 115.
  • the photographic equipment connection part 111 is connected to the shaft 112 and is used to fix the photographic equipment.
  • the photographic equipment connection part 111 is also provided with a main control unit (not shown in FIG. 1), which is sent by the handle 12 or the shooting monitoring device 13
  • the following gimbal control commands control the rotation of the shafts 112-114, the linkage device composed of the shafts 112-114 and the connecting arms between them, thereby causing the movement of the photographic equipment connection member 111, and the photographic equipment connection member 111 drives the photographic equipment Exercise.
  • the attitude plate 115 is connected to the photographic equipment connection part 111.
  • the attitude board 115 includes a plurality of sensors for sensing the attitude of the photographing device in real time and transmitting the sensed attitude information of the photographing device to the main control unit.
  • the photographing monitoring device 13 is connected to the pan / tilt power device 11, specifically, is connected to the photographing device connection part 111 of the pan / tilt power device 11.
  • the photographing monitoring device 13 also follows Exercise together.
  • the shooting monitoring device 13 is also connected to the photography device and the mobile device, and is used to transmit the video captured by the photography device to the mobile device for display, and to control the photography device and the cloud according to the control instruction sent by the mobile device. Control system. The following describes the shooting monitoring device 13 with reference to FIG. 2:
  • the shooting monitoring device 13 includes a USB interface 131, a UART interface 132, a WiFi module 133, and a processing unit 134.
  • the USB interface 131 of the shooting monitoring device 13 is used to connect the camera 14 and the UART interface 132 is used to connect the PTZ power unit 11.
  • the main control unit 1111 and the WiFi module 133 are used to connect the mobile device 15.
  • the workflow of the shooting monitoring device 13 includes: the shooting monitoring device 13 receives a video captured by the shooting device 14 in real time (the video is composed of continuous picture frames) via the USB interface 131; the USB interface 131 transmits the video to the processing unit 134, And the processing unit 134 transmits the video wirelessly (via the WiFi connection) to the mobile device 15 via the WiFi module 133, so that the user can watch the video shot by the photographing device 14 in real time on the mobile device 15 (where the viewing effect is not affected) Next, the mobile device may discard some picture frames sent by the shooting monitoring device 13). If the user desires to adjust the shooting effect according to the video being watched, the mobile device 15 can send related control commands to the shooting monitoring device 13.
  • the control command can be a camera control command or a PTZ system control command.
  • the former is used to adjust the camera 14 parameters or control some operations of the photography device 14 (for example, stop shooting, start shooting, etc.), and the latter is used to change the working mode of the PTZ system (including follow mode, full follow mode, fast follow mode, lock mode) , On / Off operation of the gimbal system, or adjust the attitude of the gimbal system to control camera movement, etc.
  • the shooting monitoring device 13 receives a control command from the mobile device 15 via the WiFi module 133, and the WiFi module 133 transmits the control command to the processing unit 134.
  • the processing unit 134 is configured to identify whether the control command is a camera control command or a PTZ system control command.
  • the camera control command is sent to the camera 14 via the USB interface 131, and the camera 14 Adjust its parameters or perform other operations according to the camera control command; if it is recognized as a PTZ system control command, send the PTZ system control command to the main control unit 1111 in the PTZ power unit 11 via the UART interface 132.
  • the control unit 1111 controls the rotation of the axes 112-114 according to the control commands of the gimbal system to realize the movement of the photographing device 14 desired by the user, adjusts the control parameters of the gimbal to enter the working mode desired by the user, or performs some other operating.
  • the user can know the current shooting effect of the photographing device 14 through the mobile device 15 and can control the photographing device 15 and the PTZ system through the mobile device 14 so that the photographing device 14 can shoot in the manner desired by the user , Not only reduces the cost required to purchase an external display device, but also facilitates the user's shooting work.
  • the shooting monitoring device 13 is located near the photographing device connecting part 111 and the main control unit 1111, so the USB data cable between it and the photographing device 14 will not affect the movement of the PTZ power unit 11, and it is in communication with the main control unit 1111 The data lines between the two will not pass through the shafts 112-114 and connecting arms and other components, so it will not affect the stability of the gimbal system.
  • the processing unit 134 directly captures the video captured by the photographing device 14 and sent via the USB interface 131 to the mobile device 15 through the WiFi module 133.
  • the WiFi connection since the WiFi connection has delay fluctuations, it will affect the mobile device 15 displays the video (ie continuous picture frames) it receives.
  • the processing unit 134 collects picture frames in the video at a certain time interval (such as 40 milliseconds), and encapsulates the collected picture frames so that the encapsulated picture frame includes its sending time, Finally, the encapsulated picture frame is sent to the mobile device 15 via the WiFi module 133.
  • the mobile device 15 After receiving the encapsulated picture frame, the mobile device 15 first decapsulates to obtain the sending time of the picture frame, and selects the time and duration of the picture frame to be displayed on the screen according to the sending time of the picture frame, so as to target the current WiFi environment. A better video playback effect is obtained.
  • the processing unit 134 transmits only a part of the collected picture frames (as described above, collected every 40 milliseconds) to the mobile device 15 for display, which reduces the effect without affecting the display effect. This reduces the burden of WiFi connection and further improves the video playback effect on the mobile device 14.
  • each picture frame or captured picture in a video taken by the device generally includes parameter information when the photographic device 14 captures the picture frame or picture.
  • the mobile device 15 also extracts the parameter information of the photographic device 14 from the received picture frame and displays it to the user along with the picture frame, so the user can know some of the current parameter information of the photographic device 14.
  • the processing unit 134 can obtain it in real time via the USB interface 131 Some other related information (such as power, etc.) of the photography device 14 is transmitted to the mobile device 15 via the WiFi module 133 for display to the user. Specifically, the processing unit 134 sends a request to the photography device 14 via the USB interface 131 and receives the return of the photography device 134. Information.
  • the attitude board 115 in the PTZ power unit 11 can sense the attitude of the photographing device 14 in real time and transmit the sensed attitude information to the main control unit 1111.
  • the processing unit 134 The attitude information of the photography device 14 and some other related information of the PTZ system, such as the current working mode and current power of the PTZ system, can also be obtained from the main control unit 1111 via the UART interface 132. Then the processing unit 134 via the WiFi module 133 transmits the relevant information of the PTZ system to the mobile device 15 for display to the user. In this way, in addition to knowing the current shooting effect, the user can also know the current status of the photography device 14 and the PTZ system, so that it can issue correct control commands, which further facilitates the user's shooting work.
  • the photographing device control command sent by the user through the mobile device 15 may only be applicable to some photographing devices currently on the market, and the photographing monitoring device 13 belongs to a part of the PTZ system.
  • the shooting monitoring device 13 may also be an electronic device independent of the PTZ system. Since the existing PTZ system usually provides a data interface to its main control unit, the existing PTZ system can be passed through the data interface. (UART interface)
  • An external shooting monitoring device 13 ie, a UART interface 132 connected to the shooting monitoring device 13
  • the PTZ system control command sent by the user through the mobile device 15 in the above embodiment may also be incompatible with the existing PTZ system.
  • FIG. 3 shows an embodiment for solving this problem.
  • the shooting monitoring device 13 further includes a storage unit 135.
  • the storage unit 135 stores control protocols corresponding to various types of photographing equipment and control protocols corresponding to various types of PTZ systems.
  • the processing unit 134 After receiving the control command from the mobile device 15, the processing unit 134, in addition to identifying whether the control command is a photographic device control command or a PTZ system control command, also needs to convert the control command according to the control protocol stored in the storage unit 135 to Make the converted control command compatible with the current photography device 14 and the PTZ system, and finally send the converted control command to the photography device 14 or the main control unit 1111 in the PTZ power unit 11.
  • the processing unit 134 acquires the model information of the photographing device 14 via the USB interface 131 and from the main control via the UART interface 132
  • the unit 1111 obtains model information of the PTZ system, and these model information may be stored in the storage unit 135.
  • the processor 134 When receiving a control command from the mobile device 15 via the WiFi module 133, the processor 134 first recognizes whether the control command is a camera control command or a PTZ system control command. If it is recognized as a camera control command, the processor 134 retrieves the command from the storage device.
  • the unit 135 searches the control protocol corresponding to the model information of the current photographing device 14 and converts the photographing device control command into a control command compatible with the current photographing device 14 according to the found control protocol; if it is identified as a PTZ system control command Then, the processor 134 searches the storage unit 135 for a control protocol corresponding to the model information of the current PTZ system, and converts the PTZ system control command into a control command compatible with the current PTZ system according to the found control protocol. Finally, the processing unit 134 transmits the converted camera control command or the PTZ system control command to the camera 14 or the main control unit 1111 via the USB interface 131 or the UART interface 132, respectively. Since the shooting monitoring device 13 is compatible with a variety of photographing devices and PTZ systems, its applicability and practicability are also high.
  • the data transmission between the shooting monitoring device 13 and the shooting device 14 and before the shooting monitoring device 13 and the main control unit 1111 of the PTZ system may be bidirectional, so there is competition in the connection channel, and Users generally expect that they can watch the video captured by the photography device 14 in real time on the mobile device 15 and that the photography device 14 and the PTZ system can respond to their control commands in a timely manner.
  • the processing unit 134 performs a merge operation on the photographic device control commands sent to the photographic device 14 for a period of time (for example, first receives a control command that sets ISO to 100, and then in If a control command with the ISO set to 200 is received within this time period, the processing unit 134 retains only the control command with the ISO set to 200), and sends the combined camera control command to the camera 14 according to the combined information.
  • the effect obtained by the control command is the same as that obtained according to the multiple control commands in the period of time; at the same time, a read optimization operation is performed on the video (continuous picture frames) received from the photographing device 14.
  • the processing unit 134 may also perform a filtering operation on the PTZ system control commands sent to the main control unit 1111. For example, according to the obtained current relevant information of the PTZ system, filter out some controls that conflict with the current state of the PTZ system. Command (for example, the current working mode of the PTZ system is the lock mode, and the PTZ system control command instructs to raise the photographing device 14 in the pitch direction).
  • the current working mode of the PTZ system is the lock mode
  • the PTZ system control command instructs to raise the photographing device 14 in the pitch direction.
  • the PTZ system and the shooting monitoring device 13 provided by the present invention can also display the picture (photograph) taken by the photographing device 14 on the mobile device 15.
  • the processing unit 134 may be connected to the photography device 14 through UART technology or other wired data transmission technologies, and the processing unit 134 may also be connected to the photography device 14 through wireless technology.
  • the processing unit 134 may also be connected to the main control unit 1111 in the PTZ power device 11 through a wired connection such as USB, SPI, or the like through a wireless connection.
  • the processing unit 134 may also be connected to the mobile device 15 through other wireless communication technologies, or connected to the mobile device 15 using two wireless communication technologies (such as WiFi and Bluetooth).
  • processing The unit 134 preferentially chooses to connect with the mobile device 15 by using its WiFi module 133. When it detects that the WiFi connection is disconnected, it uses the Bluetooth module to connect to the mobile device 15. After detecting that the WiFi connection is connected again, it uses the WiFi module 133 to connect with the mobile device. The device 15 is connected.
  • the processing unit 134 may also communicate with the mobile device through a wired connection.
  • the shooting monitoring device 13 provides another USB interface (different from the USB interface 131), and the processing unit 134 is connected to the mobile device via the USB interface.
  • the main control unit 1111 is located in the photographing equipment connection part 111 of the pan / tilt power unit 11, and the photographing monitoring device 13 is connected to the photographing equipment connection part 111.
  • the advantage of this structure is that the data line between the shooting monitoring device 13 and the main control unit 1111 will not hinder the movement of the pan / tilt power unit 11 and will not pass through the shafts 112-114 and connecting arms and other components, so it will not Cause interference to some of these components, and affect the stability of the PTZ system.
  • the photographing monitoring device 13 may not be connected to the photographing device connection member 111, and is located near the photographing device connection member 111 and moves with the photographing device connection member 111.
  • the main control unit 1111 may also be located in the handle 12 or other positions of the PTZ system, and the shooting monitoring device 13 may also be located in the PTZ system. Various locations.
  • the above method can be implemented by hardware, software, firmware, middleware, pseudo code, hardware description language, or any combination thereof.
  • the program code or code segments used to perform a task may be stored in a machine or computer-readable medium, such as a storage medium, such as a non-transitory storage medium, a processing unit This task can be performed.
  • the program storage medium may be any non-transitory storage medium, such as magnetic (e.g., a floppy disk or hard disk) or optical (e.g., a compact disk read-only memory or "CD ROM"), and may be read-only or randomly accessed.
  • the transmission medium may be a twisted pair, coaxial cable, optical fiber, or some other suitable transmission medium known in the art. Example embodiments are not limited by these aspects of any given implementation.

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  • Mechanical Engineering (AREA)
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Abstract

The invention provides a shooting monitoring device and a gimbal system including same. The shooting monitoring device comprises a first connection interface, a second connection interface, a third connection interface and a processing unit; the processing unit receives video and/or picture from a photographing device via the first connection interface, and sends the video and/or picture to a mobile device for display via the third connection interface. The processing unit also receives a control command from the mobile device via the third connection interface, identifies whether the control command is a photographing device control command or a gimbal system control command, sends the identified photographing device control command to the photographing device via the first connection interface, and sends the identified gimbal system control command to the gimbal system via the second connection interface. The invention enables the user to know the shooting effect of the photographing device in real time, and facilitates the shooting work of the user.

Description

拍摄监控设备以及包括其的云台系统Shooting monitoring equipment and PTZ system including the same 技术领域Technical field
本发明涉及拍摄器材领域,尤其涉及一种拍摄监控设备以及包括其的云台系统。The present invention relates to the field of photographing equipment, and in particular, to a photographing monitoring device and a PTZ system including the same.
背景技术Background technique
目前,已有越来越多的用户使用云台系统来辅助摄影设备(如相机、摄像机等)进行视频和图片的拍摄。云台系统通常分为单轴云台系统和多轴(包括双轴和三轴)云台系统,其中以三轴云台系统最为常见,用户将摄影设备固定在三轴云台系统上,通过控制云台系统三轴内电机的转动来控制摄影设备在三个方向上的运动,从而实现视频和照片的拍摄。At present, more and more users use the PTZ system to assist photography equipment (such as cameras, camcorders, etc.) for video and picture shooting. The gimbal system is usually divided into a single-axis gimbal system and a multi-axis (including two-axis and three-axis) gimbal system. The three-axis gimbal system is the most common. The user fixes the photography equipment on the three-axis gimbal system. Control the rotation of the motor in the three axes of the gimbal system to control the movement of the photographic equipment in three directions, so as to realize the shooting of videos and photos.
在使用云台系统控制摄影设备运动的过程中,摄影设备可能会移动到用户无法直接观测其屏幕的位置,导致用户无法获知当前拍摄的视频或图片的效果。为了解决这一问题,目前常见的做法是将摄影设备连接一个外置的显示装置,通过该外置的显示装置来查看摄影设备当前拍摄的视频或图片。然而,这种外置的显示装置往往非常昂贵。In the process of using the PTZ system to control the movement of the photographing device, the photographing device may move to a position where the user cannot directly observe its screen, resulting in the user being unable to know the effect of the currently shot video or picture. In order to solve this problem, a common method is to connect the photographing device to an external display device, and use the external display device to view the video or picture currently shot by the photographing device. However, such external display devices are often very expensive.
此外,在一些拍摄场景下,还可能需要将云台系统连同摄影设备放置在特定的位置进行拍摄,在这种情况下,除了无法获知摄影设备当前拍摄的视频或图片的效果,用户还可能难以对摄影设备以及云台进行控制操作。In addition, in some shooting scenarios, it may be necessary to place the PTZ system together with the photography equipment at a specific location for shooting. In this case, in addition to not being able to know the effect of the video or picture currently captured by the photography equipment, it may be difficult for users Control the photography equipment and gimbal.
发明内容Summary of the Invention
为了克服上述现有技术的缺陷,根据本发明的一个实施例,提供一种拍摄监控设备。In order to overcome the shortcomings of the prior art described above, according to an embodiment of the present invention, a photographing monitoring device is provided.
所述拍摄监控设备包括第一连接接口、第二连接接口、第三连接接口和处理单元;所述处理单元经由所述第一连接接口接收来自摄影设备的视频和/或图片,并且经由所述第三连接接口将所述视频和/或图片发送至移动设备以由所述移动设备显示;所述处理单元经由所述第三连接接口接收 来自所述移动设备的控制命令,识别所述控制命令是摄影设备控制命令还是云台系统控制命令,将识别出的摄影设备控制命令经由第一连接接口发送至所述摄影设备,将识别出的云台系统控制命令经由第二连接接口发送至云台系统。The shooting monitoring device includes a first connection interface, a second connection interface, a third connection interface, and a processing unit; the processing unit receives a video and / or picture from a photographing device via the first connection interface, and via the first connection interface A third connection interface sends the video and / or picture to a mobile device for display by the mobile device; the processing unit receives a control command from the mobile device via the third connection interface, and identifies the control command Is the camera control command or the PTZ system control command, the identified camera control command is sent to the camera via the first connection interface, and the recognized PTZ system control command is sent to the PTZ through the second connection interface. system.
上述拍摄监控设备中,所述处理单元按照特定的时间间隔对来自摄影设备的视频进行图片帧采集,将采集到的图片帧及其发送时间进行封装,并且将封装后的图片帧经由第三连接口发送至所述移动设备。In the above-mentioned shooting monitoring device, the processing unit collects picture frames of the video from the photographing device at specific time intervals, encapsulates the captured picture frames and their sending time, and encapsulates the encapsulated picture frames via a third connection. Port to the mobile device.
上述拍摄监控设备中,所述处理设备还经由所述第一连接接口从所述摄影设备获取所述摄影设备的相关信息和/或经由所述第二连接接口从所述云台系统的主控单元获取所述云台系统的相关信息,所述处理设备将所述摄影设备的相关信息和/或所述云台系统的相关信息经由所述第三连接接口发送至移动设备以由所述移动设备显示。In the above-mentioned shooting monitoring device, the processing device further acquires relevant information of the photographing device from the photographing device via the first connection interface and / or from a master control of the PTZ system via the second connection interface. The unit obtains the relevant information of the PTZ system, and the processing device sends the relevant information of the photographing device and / or the relevant information of the PTZ system to the mobile device via the third connection interface to be moved by the mobile device. The device is displayed.
上述拍摄监控设备中,还包括存储单元,所述存储单元存储有与多种型号的摄影设备对应的控制协议,以及与多种型号的云台系统对应的控制协议;其中,所述处理单元还经由第一连接接口获取所述摄影设备的型号信息和/或经由第二连接接口从主控单元获取所述云台系统的型号信息;其中,所述处理单元还根据所述存储单元中所述摄影设备对应的控制协议转换识别出的摄影设备控制命令,并且将转换后的摄影设备控制命令经由第一连接接口发送至所述摄影设备;所述处理单元还根据所述存储单元中所述云台系统对应的控制协议转换识别出的云台系统控制命令,并且将转换后的云台系统控制命令经由第二连接接口发送至所述主控单元。The above-mentioned shooting monitoring device further includes a storage unit, where the storage unit stores control protocols corresponding to multiple types of photographic equipment and control protocols corresponding to various types of PTZ systems; wherein the processing unit further Acquiring the model information of the photographic device via a first connection interface and / or acquiring the model information of the PTZ system from a main control unit via a second connection interface; wherein the processing unit is further based on the information in the storage unit The control protocol corresponding to the photographic device converts the identified photographic device control command, and sends the converted photographic device control command to the photographic device via the first connection interface; the processing unit further according to the cloud in the storage unit The control protocol corresponding to the platform system converts the identified PTZ system control command, and sends the converted PTZ system control command to the main control unit via the second connection interface.
上述拍摄监控设备中,所述处理单元还对特定时段内所有识别出的摄影设备控制命令进行合并处理;所述处理单元还从识别出的云台系统控制命令中过滤掉与当前云台系统的状态相冲突的云台系统控制命令。In the above-mentioned shooting monitoring device, the processing unit further merges all identified camera control commands in a specific period; the processing unit also filters out the identified PTZ system control commands from the identified PTZ system control commands. PTZ system control commands in conflicting states.
上述拍摄监控设备中,所述拍摄监控设备经由所述第一连接接口与所述摄影设备无线或有线地连接;所述拍摄监控设备经由所述第二连接接口与所述云台系统的主控单元无线或有线地连接;所述拍摄监控设备经由所述第三连接接口与所述移动设备无线或有线地连接。In the above-mentioned shooting monitoring device, the shooting monitoring device is wirelessly or wiredly connected to the shooting device via the first connection interface; the shooting monitoring device is connected to a master control of the PTZ system through the second connection interface. The unit is connected wirelessly or by wire; the shooting monitoring device is connected wirelessly or by wire with the mobile device via the third connection interface.
上述拍摄监控设备中,所述拍摄监控设备还包括第四连接接口,其中,所述拍摄监控设备在其经由所述第三连接接口与所述移动设备的连接断开时,经由所述第四连接接口与所述移动设备无线或有线地连接。In the above-mentioned shooting monitoring device, the shooting monitoring device further includes a fourth connection interface, wherein when the shooting monitoring device is disconnected from the mobile device via the third connection interface, the shooting monitoring device passes the fourth connection interface. The connection interface is wirelessly or wiredly connected to the mobile device.
根据本发明的一个实施例,还提供一种云台系统。According to an embodiment of the present invention, a PTZ system is also provided.
所述云台系统包括三个轴、所述三个轴之间的连接臂、连接到其中一个轴的用于固定摄影设备的摄影设备连接部件以及主控单元,所述主控单元用于控制所述三个轴的转动,所述云台系统还包括上述拍摄监控设备。The gimbal system includes three axes, a connecting arm between the three axes, a photographic equipment connection part for fixing the photographic equipment connected to one of the axes, and a main control unit for controlling For the rotation of the three axes, the pan / tilt system further includes the above-mentioned shooting monitoring device.
上述云台系统中,所述主控单元位于所述摄影设备连接部件内,所述拍摄监控设备位于所述摄影设备连接部件附近并且随所述摄影设备连接部件一起运动。In the above pan / tilt head system, the main control unit is located in the photographic equipment connection component, and the photographing monitoring equipment is located near the photographic equipment connection component and moves together with the photographic equipment connection component.
与现有技术相比,本发明具有如下的有益效果:Compared with the prior art, the present invention has the following beneficial effects:
1.拍摄监控设备将摄影设备拍摄的视频或图片实时地传输至用户随身携带的移动设备,由移动设备显示摄影设备拍摄的视频或图片,使得用户在不方便或者无法观看摄影设备屏幕的情况下,能够实时获知摄影设备的拍摄效果,另外,用户能够基于拍摄效果及时地通过移动设备对摄影设备和云台系统进行控制,从而使摄影设备以用户期望的方式进行拍摄,这不仅方便了用户的拍摄工作还提高了用户体验;1. The shooting monitoring device transmits the video or picture taken by the photographing device to the mobile device carried by the user in real time, and the mobile device displays the video or picture taken by the photographing device, which makes the user inconvenient or unable to watch the screen of the photographing device , Can know the shooting effect of the photography equipment in real time. In addition, the user can control the photography equipment and the PTZ system through the mobile device in time based on the shooting effect, so that the photography equipment can shoot in the way the user expects, which not only facilitates the user ’s The shooting also improves the user experience;
2.利用用户随身携带的移动设备代替外置的显示装置来显示摄影设备拍摄的视频或图片,用户无需购买外置的显示装置,降低了拍摄的成本;2. The mobile device carried by the user is used instead of the external display device to display the video or picture taken by the photography device, and the user does not need to purchase an external display device, which reduces the cost of shooting;
3.拍摄监控设备在将摄影设备拍摄的视频或图片传输至移动设备之前,对视频进行采集和封装处理,使得移动设备端能够获得较好的播放效果,进一步提高了用户体验;拍摄监控设备还可以将摄影设备和云台系统的当前状态发送至移动设备进行显示,用户能够更为准确地控制摄影设备和云台系统;3. Before the shooting monitoring device transmits the video or picture taken by the shooting device to the mobile device, the video is captured and packaged, so that the mobile device can obtain better playback effects, further improving the user experience; the shooting monitoring device also The current status of the photography equipment and the PTZ system can be sent to the mobile device for display, and the user can control the photography equipment and the PTZ system more accurately;
4.拍摄监控设备存储有关于各种型号的摄影设备的控制协议以及各种型号的云台系统的控制协议,使得拍摄监控设备的适用范围较广;4. The shooting monitoring equipment stores control protocols for various types of photographing equipment and control protocols for various types of PTZ systems, making the scope of application of shooting monitoring equipment wider;
5.拍摄监控设备优选位于摄影设备连接部件以及主控单元附近,因此其与摄影设备之间的数据线不会影响云台动力装置的运动,并且其与主控单元之间的数据线不会影响云台系统的增稳效果。5. The shooting monitoring device is preferably located near the connecting part of the shooting device and the main control unit, so the data line between it and the shooting device will not affect the movement of the PTZ power unit, and the data line between it and the main control unit will not Affects the stabilization effect of the PTZ system.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
以下参照附图对本发明实施例作进一步说明,其中:The embodiments of the present invention are further described below with reference to the drawings, in which:
图1是根据本发明一个实施例的云台系统的立体图;1 is a perspective view of a pan / tilt system according to an embodiment of the present invention;
图2是图1所示的云台系统的内部结构示意框图;2 is a schematic block diagram of the internal structure of the pan / tilt system shown in FIG. 1;
图3是根据本发明另一个实施例的云台系统的内部结构示意框图。3 is a schematic block diagram of an internal structure of a pan / tilt system according to another embodiment of the present invention.
具体实施方式detailed description
为了使本发明的目的,技术方案及优点更加清楚明白,以下结合附图通过具体实施例对本发明进一步详细说明。应当理解,此处所描述的具体实施例仅用以解释本发明,并不用于限定本发明。In order to make the objectives, technical solutions, and advantages of the present invention clearer, the following further describes the present invention in detail through specific embodiments with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.
当前,移动设备(如手机、平板电脑、手持笔记本电脑、其他具有显示屏和计算及通信功能的电子设备等)已成为人们日常生活中必不可少的工具,其通常具有显示视频和图片的功能,并且能够作为遥控器通过无线技术来操纵一些电子设备。有鉴于此,发明人将人们随身携带的这种移动设备代替上述外置的显示装置,以降低拍摄成本,使用该移动设备来监视摄影设备拍摄的视频或图片并且对拍摄进行控制。At present, mobile devices (such as mobile phones, tablets, handheld laptops, and other electronic devices with display and computing and communication functions) have become indispensable tools in people's daily lives, which usually have the function of displaying videos and pictures , And can be used as a remote control to control some electronic devices through wireless technology. In view of this, the inventor replaced the external display device with such a mobile device that people carry with them to reduce the cost of shooting, and uses the mobile device to monitor the video or picture shot by the shooting device and control the shooting.
为实现这一目的,根据本发明的一个实施例提供一种云台系统,如图1所示,该云台系统包括云台动力装置11、手柄12以及拍摄监控设备13。To achieve this, according to an embodiment of the present invention, a pan / tilt head system is provided. As shown in FIG. 1, the pan / tilt head system includes a pan / tilt power unit 11, a handle 12, and a shooting monitoring device 13.
在图1所示的云台系统中,手柄12与云台动力装置11(具体地,与云台动力装置11的轴114)相连接。手柄12具有一个或多个人机交互开关121,用户在握持手柄12时,可以通过按压/拨动/旋转人机交互开关121来实现对云台动力装置11的相应控制,其中,人机交互开关121将由用户按压/拨动/旋转人机交互开关121产生的云台控制命令传输至云台动力装置11中的主控单元,由主控单元控制云台动力装置11的运动。In the gimbal system shown in FIG. 1, the handle 12 is connected to the gimbal power device 11 (specifically, the shaft 114 of the gimbal power device 11). The handle 12 has one or more human-machine interaction switches 121. When the user holds the handle 12, the user can press / dial / rotate the human-machine interaction switch 121 to achieve corresponding control of the PTZ power unit 11. Among them, the human-machine interaction switch 121 transmits the PTZ control command generated by the user pressing / toggle / rotating the human-machine interaction switch 121 to the main control unit in the PTZ power unit 11, and the main control unit controls the movement of the PTZ power unit 11.
云台动力装置11包括摄影设备连接部件111、轴112-114(包括电机)、轴与轴之间的连接臂以及姿态板115。摄影设备连接部件111与轴112相连接并且用于固定摄影设备,摄影设备连接部件111的内部还设置有主控单元(图1未示出),主控单元根据手柄12或者拍摄监控设备13发送来的云台控制命令控制轴112-114的转动,轴112-114以及它们之间的连接臂所构成的联动装置进而造成摄影设备连接部件111的运动,并由摄影设备连接部件111带动摄影设备进行运动。姿态板115与摄影设备连接部件111相连接,当摄影设备连接部件111带动摄影设备运动时,姿态板115也随之一起运动。姿态板115包括多个传感器,用于实时感测摄影设备的姿态并且将所感测的摄影设备的姿态信息传输至主控单元。The pan / tilt power unit 11 includes a photographing device connecting member 111, shafts 112-114 (including a motor), a connecting arm between the shaft and the shaft, and an attitude plate 115. The photographic equipment connection part 111 is connected to the shaft 112 and is used to fix the photographic equipment. The photographic equipment connection part 111 is also provided with a main control unit (not shown in FIG. 1), which is sent by the handle 12 or the shooting monitoring device 13 The following gimbal control commands control the rotation of the shafts 112-114, the linkage device composed of the shafts 112-114 and the connecting arms between them, thereby causing the movement of the photographic equipment connection member 111, and the photographic equipment connection member 111 drives the photographic equipment Exercise. The attitude plate 115 is connected to the photographic equipment connection part 111. When the photographic equipment connection part 111 drives the photographic equipment to move, the attitude plate 115 also moves together. The attitude board 115 includes a plurality of sensors for sensing the attitude of the photographing device in real time and transmitting the sensed attitude information of the photographing device to the main control unit.
拍摄监控设备13与云台动力装置11相连接,具体地,与云台动力装置11的摄影设备连接部件111相连接,当摄影设备连接部件111带动摄影设备运动时,拍摄监控设备13也随之一起运动。除了云台动力装置11,拍摄监控设备13还与摄影设备以及移动设备相连接,用于将摄影设备拍 摄的视频传输至移动设备进行显示,并且根据移动设备发送来的控制指令对摄影设备和云台系统进行控制。下面参照图2对拍摄监控设备13展开描述:The photographing monitoring device 13 is connected to the pan / tilt power device 11, specifically, is connected to the photographing device connection part 111 of the pan / tilt power device 11. When the photographing device connection part 111 drives the photographing device to move, the photographing monitoring device 13 also follows Exercise together. In addition to the PTZ power unit 11, the shooting monitoring device 13 is also connected to the photography device and the mobile device, and is used to transmit the video captured by the photography device to the mobile device for display, and to control the photography device and the cloud according to the control instruction sent by the mobile device. Control system. The following describes the shooting monitoring device 13 with reference to FIG. 2:
拍摄监控设备13包括USB接口131、UART接口132、WiFi模块133和处理单元134,其中,拍摄监控设备13的USB接口131用于连接摄影设备14,UART接口132用于连接云台动力装置11中的主控单元1111,并且WiFi模块133用于连接移动设备15。拍摄监控设备13的工作流程包括:拍摄监控设备13经由USB接口131接收摄影设备14实时捕获并发送来的视频(该视频由连续的图片帧构成);USB接口131将视频传输至处理单元134,并且处理单元134经由WiFi模块133将视频无线(通过WiFi连接)传输至移动设备15,由此,用户可以在移动设备15上观看摄影设备14实时拍摄的视频(其中,在不影响观看效果的情况下,移动设备可以丢弃拍摄监控设备13发送来的一些图片帧)。如果用户根据观看的视频期望调整拍摄效果,则可以通过移动设备15向拍摄监控设备13发送相关的控制命令,控制命令可以是摄影设备控制命令或者是云台系统控制命令,前者用于调节摄影设备14的参数或者控制摄影设备14的一些操作(例如,停止拍摄、开始拍摄等等),而后者用于改变云台系统的工作模式(包括跟随模式、全跟随模式、快速跟随模式、锁定模式)、对云台系统进行开/关操作、或者调整云台系统的姿态以控制相机的运动等。拍摄监控设备13经由WiFi模块133接收来自移动设备15的控制命令,并且WiFi模块133将控制命令传输至处理单元134。处理单元134用于识别该控制命令是摄影设备控制命令还是云台系统控制命令,如果识别为摄影设备控制命令,则将该摄影设备控制命令经由USB接口131发送至摄影设备14,则摄影设备14根据该摄影设备控制命令调节其参数或者执行其他操作;如果识别为云台系统控制命令,则将该云台系统控制命令经由UART接口132发送至云台动力装置11中的主控单元1111,主控单元1111根据云台系统控制命令控制轴112-114的转动从而实现用户所期望的摄影设备14的运动,调节云台控制参数进入用户所期望的工作模式,或者执行其他一些对云台系统的操作。The shooting monitoring device 13 includes a USB interface 131, a UART interface 132, a WiFi module 133, and a processing unit 134. The USB interface 131 of the shooting monitoring device 13 is used to connect the camera 14 and the UART interface 132 is used to connect the PTZ power unit 11. The main control unit 1111 and the WiFi module 133 are used to connect the mobile device 15. The workflow of the shooting monitoring device 13 includes: the shooting monitoring device 13 receives a video captured by the shooting device 14 in real time (the video is composed of continuous picture frames) via the USB interface 131; the USB interface 131 transmits the video to the processing unit 134, And the processing unit 134 transmits the video wirelessly (via the WiFi connection) to the mobile device 15 via the WiFi module 133, so that the user can watch the video shot by the photographing device 14 in real time on the mobile device 15 (where the viewing effect is not affected) Next, the mobile device may discard some picture frames sent by the shooting monitoring device 13). If the user desires to adjust the shooting effect according to the video being watched, the mobile device 15 can send related control commands to the shooting monitoring device 13. The control command can be a camera control command or a PTZ system control command. The former is used to adjust the camera 14 parameters or control some operations of the photography device 14 (for example, stop shooting, start shooting, etc.), and the latter is used to change the working mode of the PTZ system (including follow mode, full follow mode, fast follow mode, lock mode) , On / Off operation of the gimbal system, or adjust the attitude of the gimbal system to control camera movement, etc. The shooting monitoring device 13 receives a control command from the mobile device 15 via the WiFi module 133, and the WiFi module 133 transmits the control command to the processing unit 134. The processing unit 134 is configured to identify whether the control command is a camera control command or a PTZ system control command. If it is recognized as a camera control command, the camera control command is sent to the camera 14 via the USB interface 131, and the camera 14 Adjust its parameters or perform other operations according to the camera control command; if it is recognized as a PTZ system control command, send the PTZ system control command to the main control unit 1111 in the PTZ power unit 11 via the UART interface 132. The control unit 1111 controls the rotation of the axes 112-114 according to the control commands of the gimbal system to realize the movement of the photographing device 14 desired by the user, adjusts the control parameters of the gimbal to enter the working mode desired by the user, or performs some other operating.
利用上述云台系统,用户能够通过移动设备15获知摄影设备14当前的拍摄效果,并且能够通过移动设备14对摄影设备15和云台系统进行控制,从而使摄影设备14以用户期望的方式进行拍摄,不仅减少了购买外 置显示装置所需的费用而且方便了用户的拍摄工作。拍摄监控设备13位于摄影设备连接部件111以及主控单元1111的附近,因此其与摄影设备14之间的USB数据线不会影响到云台动力装置11的运动,并且其与主控单元1111之间的数据线不会穿过轴112-114以及连接臂等部件,因此不会影响云台系统的增稳效果。By using the above-mentioned PTZ system, the user can know the current shooting effect of the photographing device 14 through the mobile device 15 and can control the photographing device 15 and the PTZ system through the mobile device 14 so that the photographing device 14 can shoot in the manner desired by the user , Not only reduces the cost required to purchase an external display device, but also facilitates the user's shooting work. The shooting monitoring device 13 is located near the photographing device connecting part 111 and the main control unit 1111, so the USB data cable between it and the photographing device 14 will not affect the movement of the PTZ power unit 11, and it is in communication with the main control unit 1111 The data lines between the two will not pass through the shafts 112-114 and connecting arms and other components, so it will not affect the stability of the gimbal system.
在上述实施例中,处理单元134将摄影设备14实时捕获并经由USB接口131发送来的视频通过WiFi模块133直接发送给移动设备15,然而,由于WiFi连接具有延时波动性,会影响移动设备15显示其接收到的视频(即连续的图片帧)。在一个优选的实施例中,处理单元134按照一定的时间间隔(如40毫秒)采集视频中的图片帧,并且对采集到的的图片帧进行封装,使得封装后的图片帧包括其发送时间,最后将封装后的图片帧经由WiFi模块133发送给移动设备15。移动设备15在接收到封装后的图片帧后,首先解封装得到图片帧的发送时间,并且根据图片帧的发送时间选择该图片帧在其屏幕上显示的时间以及持续时间,从而针对当前WiFi环境得到一个较好的视频播放效果,另外,处理单元134仅将采集的一部分图片帧(如上所述,每40毫秒采集一次)经封装传输至移动设备15进行显示,在不影响显示效果的同时减轻了WiFi连接的负担,进一步提升了移动设备14端的视频播放效果。In the above embodiment, the processing unit 134 directly captures the video captured by the photographing device 14 and sent via the USB interface 131 to the mobile device 15 through the WiFi module 133. However, since the WiFi connection has delay fluctuations, it will affect the mobile device 15 displays the video (ie continuous picture frames) it receives. In a preferred embodiment, the processing unit 134 collects picture frames in the video at a certain time interval (such as 40 milliseconds), and encapsulates the collected picture frames so that the encapsulated picture frame includes its sending time, Finally, the encapsulated picture frame is sent to the mobile device 15 via the WiFi module 133. After receiving the encapsulated picture frame, the mobile device 15 first decapsulates to obtain the sending time of the picture frame, and selects the time and duration of the picture frame to be displayed on the screen according to the sending time of the picture frame, so as to target the current WiFi environment. A better video playback effect is obtained. In addition, the processing unit 134 transmits only a part of the collected picture frames (as described above, collected every 40 milliseconds) to the mobile device 15 for display, which reduces the effect without affecting the display effect. This reduces the burden of WiFi connection and further improves the video playback effect on the mobile device 14.
对于现有的各种摄影设备而言,其拍摄的视频中的每一图片帧或者拍摄的图片通常包含摄影设备14捕获该图片帧或图片时的参数信息,在一个优选实施例中,移动设备15还从接收的图片帧中提取摄影设备14的参数信息并且连同图片帧一并展示给用户,用户因此可以获知摄影设备14当前的一些参数信息,另外,处理单元134可以经由USB接口131实时获取摄影设备14的一些其他相关信息(如电量等)并且经由WiFi模块133传输至移动设备15以展示给用户,具体地,处理单元134经由USB接口131向摄影设备14发送请求并且接收摄影设备134返回的信息。此外,如上文所述,云台动力装置11中的姿态板115能够实时感测摄影设备14的姿态并且将感测到的姿态信息传输至主控单元1111,在本实施例中,处理单元134还可以经由UART接口132从主控单元1111获取摄影设备14的姿态信息以及云台系统的一些其他的相关信息,如云台系统的当前工作模式、当前电量等等,随后处理单元134经由WiFi模块133将云台系统的相关信息传输至移动设备15以展示给用户。这样,用户除了获知当前的 拍摄效果,还能获知摄影设备14和云台系统的当前状态,从而能够发出正确的控制命令,这进一步方便了用户的拍摄工作。For various existing photography devices, each picture frame or captured picture in a video taken by the device generally includes parameter information when the photographic device 14 captures the picture frame or picture. In a preferred embodiment, the mobile device 15 also extracts the parameter information of the photographic device 14 from the received picture frame and displays it to the user along with the picture frame, so the user can know some of the current parameter information of the photographic device 14. In addition, the processing unit 134 can obtain it in real time via the USB interface 131 Some other related information (such as power, etc.) of the photography device 14 is transmitted to the mobile device 15 via the WiFi module 133 for display to the user. Specifically, the processing unit 134 sends a request to the photography device 14 via the USB interface 131 and receives the return of the photography device 134. Information. In addition, as described above, the attitude board 115 in the PTZ power unit 11 can sense the attitude of the photographing device 14 in real time and transmit the sensed attitude information to the main control unit 1111. In this embodiment, the processing unit 134 The attitude information of the photography device 14 and some other related information of the PTZ system, such as the current working mode and current power of the PTZ system, can also be obtained from the main control unit 1111 via the UART interface 132. Then the processing unit 134 via the WiFi module 133 transmits the relevant information of the PTZ system to the mobile device 15 for display to the user. In this way, in addition to knowing the current shooting effect, the user can also know the current status of the photography device 14 and the PTZ system, so that it can issue correct control commands, which further facilitates the user's shooting work.
在上述的实施例中,用户通过移动设备15发送的摄影设备控制命令可能只适用于目前市场上的部分摄影设备,并且拍摄监控设备13属于云台系统的一部分。然而,拍摄监控设备13也可以是独立于云台系统的电子设备,由于现有的云台系统通常提供有数据接口连接到其主控单元,因此可以将现有的云台系统通过该数据接口(UART接口)外接拍摄监控设备13(即连接到拍摄监控设备13的UART接口132)来实现本发明的目的。在这种情况下,上述实施例中用户通过移动设备15发送的云台系统控制命令也可能与现有的云台系统不兼容。图3示出了解决这一问题的实施例,如图3所示,拍摄监控设备13还包括存储单元135。存储单元135存储有与各种型号的摄影设备对应的控制协议以及与各种型号的云台系统对应的控制协议。处理单元134在接收到来自移动设备15的控制命令后,除了识别所述控制命令是摄影设备控制命令还是云台系统控制命令,还要根据存储单元135中存储的控制协议将控制命令进行转换以使得转换后的控制命令与当前的摄影设备14以及云台系统相兼容,最后将转换后的控制命令发送给摄影设备14或云台动力装置11中的主控单元1111。In the above embodiment, the photographing device control command sent by the user through the mobile device 15 may only be applicable to some photographing devices currently on the market, and the photographing monitoring device 13 belongs to a part of the PTZ system. However, the shooting monitoring device 13 may also be an electronic device independent of the PTZ system. Since the existing PTZ system usually provides a data interface to its main control unit, the existing PTZ system can be passed through the data interface. (UART interface) An external shooting monitoring device 13 (ie, a UART interface 132 connected to the shooting monitoring device 13) is connected externally to achieve the purpose of the present invention. In this case, the PTZ system control command sent by the user through the mobile device 15 in the above embodiment may also be incompatible with the existing PTZ system. FIG. 3 shows an embodiment for solving this problem. As shown in FIG. 3, the shooting monitoring device 13 further includes a storage unit 135. The storage unit 135 stores control protocols corresponding to various types of photographing equipment and control protocols corresponding to various types of PTZ systems. After receiving the control command from the mobile device 15, the processing unit 134, in addition to identifying whether the control command is a photographic device control command or a PTZ system control command, also needs to convert the control command according to the control protocol stored in the storage unit 135 to Make the converted control command compatible with the current photography device 14 and the PTZ system, and finally send the converted control command to the photography device 14 or the main control unit 1111 in the PTZ power unit 11.
具体地,拍摄监控设备13在连接到摄影设备14以及云台动力装置11中的主控单元1111之后,其处理单元134经由USB接口131获取摄影设备14的型号信息并且经由UART接口132从主控单元1111获取云台系统的型号信息,这些型号信息可以存储在存储单元135中。当经由WiFi模块133接收到来自移动设备15的控制命令时,处理器134首先识别该控制命令是摄影设备控制命令还是云台系统控制命令,如果识别为摄影设备控制命令,则处理器134从存储单元135中查找当前摄影设备14的型号信息所对应的控制协议,并且根据查找到的控制协议将摄影设备控制命令转换为与当前的摄影设备14兼容的控制命令;如果识别为云台系统控制命令,则处理器134从存储单元135中查找当前云台系统的型号信息所对应的控制协议,并且根据查找到的控制协议将云台系统控制命令转换为与当前的云台系统兼容的控制命令。最后,处理单元134将转换后的摄影设备控制命令或者云台系统控制命令分别经由USB接口131或者UART接口132传输至摄影设备14或主控单元1111。由于拍摄监控设备13能够与多种摄影设备和云台系统兼容,因此其适用性和实用性也很高。Specifically, after the photographing monitoring device 13 is connected to the photographing device 14 and the main control unit 1111 in the pan / tilt power unit 11, its processing unit 134 acquires the model information of the photographing device 14 via the USB interface 131 and from the main control via the UART interface 132 The unit 1111 obtains model information of the PTZ system, and these model information may be stored in the storage unit 135. When receiving a control command from the mobile device 15 via the WiFi module 133, the processor 134 first recognizes whether the control command is a camera control command or a PTZ system control command. If it is recognized as a camera control command, the processor 134 retrieves the command from the storage device. The unit 135 searches the control protocol corresponding to the model information of the current photographing device 14 and converts the photographing device control command into a control command compatible with the current photographing device 14 according to the found control protocol; if it is identified as a PTZ system control command Then, the processor 134 searches the storage unit 135 for a control protocol corresponding to the model information of the current PTZ system, and converts the PTZ system control command into a control command compatible with the current PTZ system according to the found control protocol. Finally, the processing unit 134 transmits the converted camera control command or the PTZ system control command to the camera 14 or the main control unit 1111 via the USB interface 131 or the UART interface 132, respectively. Since the shooting monitoring device 13 is compatible with a variety of photographing devices and PTZ systems, its applicability and practicability are also high.
在上述的实施例中,拍摄监控设备13与摄影设备14之间以及拍摄监控设备13与云台系统的主控单元1111之前的数据传输都有可能是双向的,因此连接通道中存在竞争,而用户通常期望其能够在移动设备15上实时地观看摄影设备14采集的视频并且期望摄影设备14以及云台系统能够及时地对其控制命令做出反应。有鉴于此,在一个优选的实施例中,处理单元134对发送至摄影设备14的摄影设备控制命令在一段时间内做合并操作(例如,首先接收到将ISO设置为100的控制命令,随后在该时间段内接收到将ISO设置为200的控制命令,则处理单元134仅保留将ISO设置为200的控制命令),并将合并后得到的摄影设备控制命令发送至摄影设备14,根据合并后的控制命令得到的效果与根据所述一段时间内的多个控制命令得到的效果相同;同时对从摄影设备14接收的视频(连续的图片帧)进行读取优化操作。处理单元134也可以对发送至主控单元1111的云台系统控制命令进行过滤操作,例如,根据所获取的云台系统的当前相关信息,过滤掉一些与当前云台系统的状态存在冲突的控制命令(例如,云台系统的当前工作模式是锁定模式,而云台系统控制命令指示将摄影设备14在俯仰方向进行抬高)。本领域技术人员应理解,也可以对连接通道采用其他分时复用技术来实现上述实时显示和及时控制的目的。In the above embodiment, the data transmission between the shooting monitoring device 13 and the shooting device 14 and before the shooting monitoring device 13 and the main control unit 1111 of the PTZ system may be bidirectional, so there is competition in the connection channel, and Users generally expect that they can watch the video captured by the photography device 14 in real time on the mobile device 15 and that the photography device 14 and the PTZ system can respond to their control commands in a timely manner. In view of this, in a preferred embodiment, the processing unit 134 performs a merge operation on the photographic device control commands sent to the photographic device 14 for a period of time (for example, first receives a control command that sets ISO to 100, and then in If a control command with the ISO set to 200 is received within this time period, the processing unit 134 retains only the control command with the ISO set to 200), and sends the combined camera control command to the camera 14 according to the combined information. The effect obtained by the control command is the same as that obtained according to the multiple control commands in the period of time; at the same time, a read optimization operation is performed on the video (continuous picture frames) received from the photographing device 14. The processing unit 134 may also perform a filtering operation on the PTZ system control commands sent to the main control unit 1111. For example, according to the obtained current relevant information of the PTZ system, filter out some controls that conflict with the current state of the PTZ system. Command (for example, the current working mode of the PTZ system is the lock mode, and the PTZ system control command instructs to raise the photographing device 14 in the pitch direction). Those skilled in the art should understand that other time-sharing multiplexing technologies can also be adopted for the connection channel to achieve the above-mentioned purposes of real-time display and timely control.
应理解,尽管上文以视频为例展开描述,然而本发明提供的云台系统以及拍摄监控设备13也可以在移动设备15上实现对摄影设备14所拍摄的图片(照片)的显示。除了USB连接,处理单元134可以通过UART技术或者其他有线数据传输技术与摄影设备14连接,处理单元134也可以通过无线技术与摄影设备14连接。类似地,处理单元134也可以通过诸如USB、SPI等有线连接方式或者通过无线连接方式与云台动力装置11中的主控单元1111连接。It should be understood that although the video is described above as an example, the PTZ system and the shooting monitoring device 13 provided by the present invention can also display the picture (photograph) taken by the photographing device 14 on the mobile device 15. In addition to the USB connection, the processing unit 134 may be connected to the photography device 14 through UART technology or other wired data transmission technologies, and the processing unit 134 may also be connected to the photography device 14 through wireless technology. Similarly, the processing unit 134 may also be connected to the main control unit 1111 in the PTZ power device 11 through a wired connection such as USB, SPI, or the like through a wireless connection.
处理单元134除了通过WiFi模块133与移动设备15连接,其也可以通过其他无线通信技术与移动设备15连接,或者采用两种无线通信技术(如WiFi和蓝牙)与移动设备15连接,例如,处理单元134优先选择利用其WiFi模块133与移动设备15连接,当检测到WiFi连接断开时,再利用蓝牙模块与移动设备15连接,等检测到WiFi连接再次连接上之后,利用WiFi模块133与移动设备15连接。此外,处理单元134也可以通过有线连接的方式与移动设备通信。例如,拍摄监控设备13提供(与USB接口131不同的)另一个USB接口,处理单元134经由该USB接口与移动 设备连接。In addition to being connected to the mobile device 15 through the WiFi module 133, the processing unit 134 may also be connected to the mobile device 15 through other wireless communication technologies, or connected to the mobile device 15 using two wireless communication technologies (such as WiFi and Bluetooth). For example, processing The unit 134 preferentially chooses to connect with the mobile device 15 by using its WiFi module 133. When it detects that the WiFi connection is disconnected, it uses the Bluetooth module to connect to the mobile device 15. After detecting that the WiFi connection is connected again, it uses the WiFi module 133 to connect with the mobile device. The device 15 is connected. In addition, the processing unit 134 may also communicate with the mobile device through a wired connection. For example, the shooting monitoring device 13 provides another USB interface (different from the USB interface 131), and the processing unit 134 is connected to the mobile device via the USB interface.
在上述实施例中,主控单元1111位于云台动力装置11的摄影设备连接部件111内,并且拍摄监控设备13与摄影设备连接部件111相连接。这种结构的好处在于,拍摄监控设备13与主控单元1111之间的数据线不会阻碍云台动力装置11的运动,并且不会穿过轴112-114以及连接臂等部件,因此不会对其中一些部件造成干扰,以及影响云台系统的增稳效果。应理解,拍摄监控设备13也可以不与摄影设备连接部件111相连接,其位于摄影设备连接部件111附近并且随摄影设备连接部件111一起运动。另外,在不考虑线束成本以及数据线是否影响云台系统运动的情况下,主控单元1111也可能位于手柄12内或者云台系统的其他位置,并且拍摄监控设备13也可以位于云台系统的各个位置。In the above embodiment, the main control unit 1111 is located in the photographing equipment connection part 111 of the pan / tilt power unit 11, and the photographing monitoring device 13 is connected to the photographing equipment connection part 111. The advantage of this structure is that the data line between the shooting monitoring device 13 and the main control unit 1111 will not hinder the movement of the pan / tilt power unit 11 and will not pass through the shafts 112-114 and connecting arms and other components, so it will not Cause interference to some of these components, and affect the stability of the PTZ system. It should be understood that the photographing monitoring device 13 may not be connected to the photographing device connection member 111, and is located near the photographing device connection member 111 and moves with the photographing device connection member 111. In addition, without considering the cost of the wiring harness and whether the data line affects the movement of the PTZ system, the main control unit 1111 may also be located in the handle 12 or other positions of the PTZ system, and the shooting monitoring device 13 may also be located in the PTZ system. Various locations.
本领域技术人员还应理解,尽管一些示例实施例被描述为处理单元或者方法被描绘为流程图。虽然流程图将操作表述为顺序处理,但是许多操作可以并行、同时或同步地执行。此外,操作的顺序可以重新排列。处理可以在它们的操作完成时终止,但是也可以具有并未包括在图中的另外的步骤。该处理可以对应于方法、功能、过程、子例程、子程序等。Those skilled in the art will also appreciate that although some example embodiments are described as processing units or methods are depicted as flowcharts. Although flowcharts describe operations as sequential processing, many operations can be performed in parallel, simultaneously, or simultaneously. In addition, the order of operations can be rearranged. Processes may terminate when their operations are completed, but may also have additional steps not included in the figure. This processing may correspond to a method, a function, a procedure, a subroutine, a subroutine, and the like.
上述方法可以由硬件、软件、固件、中间件、伪代码、硬件描述语言或者它们的任意组合来实施。当以软件、固件、中间件或伪代码实施时,用来执行任务的程序代码或代码分段可以被存储在机器或计算机可读介质中,诸如存储介质,诸如非瞬态存储介质,处理单元可以执行该任务。The above method can be implemented by hardware, software, firmware, middleware, pseudo code, hardware description language, or any combination thereof. When implemented in software, firmware, middleware, or pseudocode, the program code or code segments used to perform a task may be stored in a machine or computer-readable medium, such as a storage medium, such as a non-transitory storage medium, a processing unit This task can be performed.
还应注意到,软件实施的示例实施例的方面通常在一些形式的程序存储介质上进行编码或者在一些类型的传输介质上实施。程序存储介质可以是任意的非瞬态存储介质,诸如磁性(例如,软盘或硬盘)或光学(例如,紧凑盘只读存储器或“CD ROM”),并且可以是只读的或随机访问的。类似地,传输介质可以是双绞线、同轴线缆、光纤,或者本领域已知的一些其它适当传输介质。示例实施例并不被任何给定实施方式的这些方面所限制。It should also be noted that aspects of the example embodiments of software implementations are typically encoded on some form of program storage media or implemented on some types of transmission media. The program storage medium may be any non-transitory storage medium, such as magnetic (e.g., a floppy disk or hard disk) or optical (e.g., a compact disk read-only memory or "CD ROM"), and may be read-only or randomly accessed. Similarly, the transmission medium may be a twisted pair, coaxial cable, optical fiber, or some other suitable transmission medium known in the art. Example embodiments are not limited by these aspects of any given implementation.
虽然本发明已经通过优选实施例进行了描述,然而本发明并非局限于这里所描述的实施例,在不脱离本发明范围的情况下还包括所做出的各种改变以及变化。Although the present invention has been described through preferred embodiments, the present invention is not limited to the embodiments described herein, and includes various changes and modifications made without departing from the scope of the present invention.

Claims (9)

  1. 一种用于云台系统的拍摄监控设备(13),包括第一连接接口(131)、第二连接接口(132)、第三连接接口(133)和处理单元(134);A shooting monitoring device (13) for a pan / tilt system, comprising a first connection interface (131), a second connection interface (132), a third connection interface (133), and a processing unit (134);
    所述处理单元(134)经由所述第一连接接口(131)接收来自摄影设备(14)的视频和/或图片,并且经由所述第三连接接口(133)将所述视频和/或图片发送至移动设备(15)以由所述移动设备(15)显示;The processing unit (134) receives a video and / or picture from a photographing device (14) via the first connection interface (131), and sends the video and / or picture via the third connection interface (133) Sent to a mobile device (15) for display by said mobile device (15);
    所述处理单元(134)经由所述第三连接接口(133)接收来自所述移动设备(15)的控制命令,识别所述控制命令是摄影设备控制命令还是云台系统控制命令,将识别出的摄影设备控制命令经由第一连接接口(131)发送至所述摄影设备(14),将识别出的云台系统控制命令经由第二连接接口(132)发送到云台系统。The processing unit (134) receives a control command from the mobile device (15) via the third connection interface (133), and recognizes whether the control command is a photographing device control command or a PTZ system control command, and will identify The control command of the photographing device is sent to the photographing device (14) via the first connection interface (131), and the identified control command of the pan / tilt head system is transmitted to the pan / tilt head system via the second connection interface (132).
  2. 根据权利要求1所述的拍摄监控设备(13),其中,所述处理单元(134)按照特定的时间间隔对来自摄影设备(14)的视频进行图片帧采集,将采集到的图片帧及其发送时间进行封装,并且将封装后的图片帧经由第三连接口(133)发送至所述移动设备(15)。The shooting monitoring device (13) according to claim 1, wherein the processing unit (134) performs picture frame collection on the video from the photographing device (14) at a specific time interval, and collects the collected picture frames and their The sending time is used for encapsulation, and the encapsulated picture frame is sent to the mobile device (15) via the third connection port (133).
  3. 根据权利要求1或2所述的拍摄监控设备(13),所述处理设备(134)还经由所述第一连接接口(131)从所述摄影设备(14)获取所述摄影设备(14)的相关信息和/或经由所述第二连接接口(132)从所述云台系统的主控单元(1111)获取所述云台系统的相关信息,所述处理设备(134)将所述摄影设备(14)的相关信息和/或所述云台系统的相关信息经由所述第三连接接口(133)发送至移动设备(15)以由所述移动设备(15)显示。The photographing monitoring device (13) according to claim 1 or 2, wherein the processing device (134) further acquires the photographing device (14) from the photographing device (14) via the first connection interface (131). And / or acquire the relevant information of the PTZ system from the main control unit (1111) of the PTZ system via the second connection interface (132), and the processing device (134) The related information of the device (14) and / or the related information of the PTZ system are sent to a mobile device (15) via the third connection interface (133) for display by the mobile device (15).
  4. 根据权利要求1或2所述的拍摄监控设备(13),还包括存储单元(135),所述存储单元(135)存储有与多种型号的摄影设备对应的控制协议,与多种型号的云台系统对应的控制协议;The shooting monitoring device (13) according to claim 1 or 2, further comprising a storage unit (135), wherein the storage unit (135) stores a control protocol corresponding to a plurality of models of photographing equipment, and a plurality of models of Control protocol corresponding to the PTZ system;
    其中,所述处理单元(134)还经由第一连接接口(131)获取所述摄影设备(14)的型号信息和/或经由第二连接接口(132)从所述云台系统的主控单元(1111)获取所述云台系统的型号信息;Wherein, the processing unit (134) further obtains model information of the photographing device (14) via a first connection interface (131) and / or a main control unit of the PTZ system via a second connection interface (132). (1111) acquiring model information of the pan / tilt system;
    其中,所述处理单元(134)还根据所述存储单元(135)中所述摄影设备(14)对应的控制协议转换识别出的摄影设备控制命令,并且将转换后的摄影设备控制命令经由第一连接接口(131)发送至所述摄影设备(14);所述处理单元(134)还根据所述存储单元(135)中所述云台系统对应的控制协议转换识别出的云台系统控制命令,并且将转换后的云台系统控制命令经由第二连接接口(132)发送至所述主控单元(1111)。Wherein, the processing unit (134) further converts the identified photographic equipment control command according to the control protocol corresponding to the photographic equipment (14) in the storage unit (135), and passes the converted photographic equipment control command via the first A connection interface (131) is sent to the photographing device (14); the processing unit (134) further converts the identified PTZ system control according to a control protocol corresponding to the PTZ system in the storage unit (135) And send the converted PTZ system control command to the main control unit (1111) via the second connection interface (132).
  5. 根据权利要求1或2所述的拍摄监控设备(13),其中,所述处理单元(134)还对特定时段内所有识别出的摄影设备控制命令进行合并;所述处理单元(134)还从识别出的云台系统控制命令中过滤掉与当前云台系统的状态相冲突的云台系统控制命令。The photographing monitoring device (13) according to claim 1 or 2, wherein the processing unit (134) further merges all identified photographing device control commands within a specific period; the processing unit (134) further The identified PTZ system control commands are filtered out from the PTZ system control commands that conflict with the current state of the PTZ system.
  6. 根据权利要求1或2所述的拍摄监控设备(13),其中,所述拍摄监控设备(13)经由所述第一连接接口(131)与所述摄影设备(14)无线或有线地连接;所述拍摄监控设备(13)经由所述第二连接接口(131)与所述云台系统的主控单元(1111)无线或有线地连接;所述拍摄监控设备(13)经由所述第三连接接口(133)与所述移动设备(15)无线或有线地连接。The photographing monitoring device (13) according to claim 1 or 2, wherein the photographing monitoring device (13) is connected to the photographing device (14) wirelessly or by wire via the first connection interface (131); The shooting monitoring device (13) is connected to the main control unit (1111) of the PTZ system wirelessly or by wire via the second connection interface (131); the shooting monitoring device (13) is connected via the third The connection interface (133) is connected with the mobile device (15) wirelessly or by wire.
  7. 根据权利要求6所述的拍摄监控设备(13),其中,所述拍摄监控设备(13)还包括第四连接接口,其中,所述拍摄监控设备(13)在其经由所述第三连接接口(133)与所述移动设备(15)的连接断开时,经由所述第四连接接口与所述移动设备(15)无线或有线地连接。The shooting monitoring device (13) according to claim 6, wherein the shooting monitoring device (13) further comprises a fourth connection interface, and wherein the shooting monitoring device (13) passes the third connection interface therebetween. (133) When the connection with the mobile device (15) is disconnected, the mobile device (15) is wirelessly or wiredly connected via the fourth connection interface.
  8. 一种云台系统,包括三个轴(112,113,114)、所述三个轴(112,113,114)之间的连接臂、连接到其中一个轴(112)的用于固定摄影设备(14)的摄影设备连接部件(111)以及主控单元(1111),所述主控单元(1111)用于控制所述三个轴(112,113,114)的转动,所述云台系统还包括:A gimbal system includes three axes (112, 113, 114), a connecting arm between the three axes (112, 113, 114), and a photographic equipment connection component for fixing the photographic equipment (14) connected to one of the axes (112). (111) and a main control unit (1111), where the main control unit (1111) is used to control the rotation of the three axes (112, 113, 114), and the pan / tilt system further includes:
    如权利要求1-7中任一项所述的拍摄监控设备(13)。The photographing monitoring device (13) according to any one of claims 1-7.
  9. 根据权利要求8所述的云台系统,其中,所述主控单元(1111) 位于所述摄影设备连接部件(111)内,所述拍摄监控设备(13)位于所述摄影设备连接部件(111)附近并且随所述摄影设备连接部件(111)一起运动。The gimbal system according to claim 8, wherein the main control unit (1111) is located in the photographic equipment connection part (111), and the photographing monitoring device (13) is located in the photographic equipment connection part (111) ) And move with the photographic equipment connection part (111).
PCT/CN2019/104871 2018-09-29 2019-09-09 Shooting monitoring device and gimbal system including same WO2020063306A1 (en)

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