CN107077155A - Imaging apparatus control method, system and equipment - Google Patents

Imaging apparatus control method, system and equipment Download PDF

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Publication number
CN107077155A
CN107077155A CN201680003159.6A CN201680003159A CN107077155A CN 107077155 A CN107077155 A CN 107077155A CN 201680003159 A CN201680003159 A CN 201680003159A CN 107077155 A CN107077155 A CN 107077155A
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CN
China
Prior art keywords
imaging device
user
hemisphere
processor
runing rest
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Granted
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CN201680003159.6A
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Chinese (zh)
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CN107077155B (en
Inventor
蓝求
周长兴
刘万启
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SZ DJI Osmo Technology Co Ltd
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SZ DJI Osmo Technology Co Ltd
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Publication of CN107077155A publication Critical patent/CN107077155A/en
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
    • G02B23/16—Housings; Caps; Mountings; Supports, e.g. with counterweight

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Studio Devices (AREA)
  • Accessories Of Cameras (AREA)

Abstract

A kind of imaging device control method, system and equipment, imaging device includes a head (101) and the camera device (102) being arranged on head (101), head (101) is used to drive camera device (102) to move with an at least runing rest (1013), and this method includes：Obtain the location parameter (S201) of imaging device；The runing rest (1013) of head (101) is adjusted according to location parameter, so that camera device (102) is parallel with earth's axis (S202)；The direction of rotation of runing rest (1013), and the rotary speed selected according to direction of rotation and user are determined, control runing rest (1013) is rotated (S203).For improving the accuracy adjusted to imaging device.

Description

Imaging apparatus control method, system and equipment
Technical field
The present invention relates to technical field of imaging, more particularly to a kind of imaging device control method, system and equipment.
Background technology
At present, with the continuous development of scientific technology, increasing astrophile participates in the shooting to starry sky.
When carrying out starry sky shooting, because star is usually fixed star, and the earth is planet so that the star of shooting generally goes out Existing conditions of streaking, causes the star chart shot more to obscure.In order to improve shooting effect, when shooting starry sky, usually using imaging Device eliminates conditions of streaking caused by earth rotation.In the prior art, shoot starry sky before, generally by user according to Regulation parameter (local latitude value, Polaris position etc.) and regulation experience, imaging device is adjusted manually, so that into As device can drive video camera to be rotated according to the opposite direction of earth rotation, and then eliminate and trailed caused by earth rotation Phenomenon.
However, in the prior art, user is difficult that imaging device is precisely adjusted according to regulation parameter and regulation experience Section, causes the degree of regulation of imaging device poor.
The content of the invention
The first aspect of the invention is to provide a kind of imaging device control method, system and equipment, for improve into The accuracy adjusted as device.
In a first aspect, the embodiment of the present invention provides a kind of imaging device control method, the imaging device includes a head And the camera device on head is arranged at, the head is used to drive the camera device to move with an at least runing rest, Methods described includes：
Obtain the location parameter of the imaging device；
The runing rest of the head is adjusted according to the location parameter, so that the camera device and the earth are certainly Shaft parallel；
Determine the direction of rotation of the runing rest, and the rotary speed selected according to the direction of rotation and user, control The runing rest is made to be rotated.
Second aspect, the embodiment of the present invention provides a kind of imaging device control system, and the imaging device includes a head And the camera device on head is arranged at, the head is used to drive the camera device to move with an at least runing rest, Including：
Acquisition module, the location parameter for obtaining the imaging device；
First adjustment module, for the runing rest of the head to be adjusted according to the location parameter, so that institute State camera device parallel with earth's axis；
First determining module, the direction of rotation for determining the runing rest；
Control module, for the rotary speed according to the direction of rotation and user's selection, controls the runing rest to enter Row rotation.
The third aspect, the embodiment of the present invention provides a kind of imaging device, including a head, is arranged at taking the photograph on the head As device, the head is used to drive the camera device to move with an at least runing rest, and processing is provided with the head Device and motor, wherein,
The processor is used for, and obtains the location parameter of the imaging device；
The motor is used for, runing rest of the location parameter acquired according to the processor to the head It is adjusted, so that the camera device is parallel with earth's axis；
The processor is additionally operable to, and determines the direction of rotation of the runing rest；
The motor is additionally operable to, and the rotation speed of the obtained direction of rotation and user's selection is determined according to the processor Degree, controls the runing rest to be rotated.
Fourth aspect, the embodiment of the present invention provides a kind of imaging device interactive device, including input equipment and display device, Wherein,
The display device is used for, and shows at least one operation instruction；
The input equipment is used for, and receives the object run instruction that user inputs according at least one described operation instruction；
The input equipment is additionally operable to, and sending the object run to the processor of the head indicates, so that the place Manage device to be indicated to control the motor of the head according to the object run so that the motor enters the runing rest of the head Row control.
5th aspect, the embodiment of the present invention provides a kind of imaging device control device, and imaging device includes a head, set It is used to drive the camera device to move with an at least runing rest in the camera device on head, the head, the imaging Control devices include processor and the memory for storing application program, and the processor is used to read the memory In application program, and perform following operation：
Obtain the location parameter of imaging device；
The runing rest for controlling the head according to the location parameter is adjusted, so that the camera device and the earth The axis of rotation is parallel；
Determine the direction of rotation of the runing rest；
The rotary speed selected according to the direction of rotation and user, controls the runing rest to be rotated.
Imaging apparatus control method provided in an embodiment of the present invention, system and equipment, when control device needs to fill imaging Put when being controlled, first according to the location parameter of imaging device, the runing rest of head is adjusted automatically for control device, with Make camera device parallel with earth's axis；And the direction of rotation according to runing rest and the rotary speed of user's selection, automatically Control runing rest is rotated so that runing rest can drive camera device to be revolved according to the opposite direction of earth rotation Turn, so eliminate by camera device progress starry sky shooting when as caused by earth rotation conditions of streaking.In this process, nothing Need user to be adjusted manually to imaging device according to regulation experience, realized by control device according to many kinds of parameters to imaging device It is adjusted, can not only improves the degree of regulation to imaging device, the regulation efficiency to imaging device can also be improved.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are this hairs Some bright embodiments, for those of ordinary skill in the art, without having to pay creative labor, can be with Other accompanying drawings are obtained according to these accompanying drawings.
The application scenarios schematic diagram for the imaging apparatus control method that Fig. 1 provides for the present invention；
The schematic flow sheet for the imaging apparatus control method that Fig. 2 provides for the present invention；
The schematic flow sheet to runing rest adjusting method that Fig. 3 provides for the present invention；
The schematic flow sheet for the determination direction of rotation method that Fig. 4 provides for the present invention；
The schematic flow sheet for the automatic star-seeking method that Fig. 5 provides for the present invention；
The structural representation one for the imaging device control system that Fig. 6 provides for the present invention；
The structural representation two for the imaging device control system that Fig. 7 provides for the present invention；
The structural representation one for the imaging device that Fig. 8 provides for the present invention；
The structural representation two for the imaging device that Fig. 9 provides for the present invention；
The structural representation for the imaging device interactive device that Figure 10 provides for the present invention；
The structural representation one for the imaging device control device that Figure 11 provides for the present invention；
The structural representation two for the imaging device control device that Figure 12 provides for the present invention.
Embodiment
Here exemplary embodiment will be illustrated in detail, its example is illustrated in the accompanying drawings.Following description is related to During accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawings represent same or analogous key element.Following exemplary embodiment Described in embodiment do not represent and the consistent all embodiments of the present invention.On the contrary, they be only with it is such as appended The example of the consistent apparatus and method of some aspects be described in detail in claims, the present invention.
The application scenarios schematic diagram for the imaging apparatus control method that Fig. 1 provides for the present invention.Refer to Fig. 1, including head 101st, camera device 102 and imaging device control device (not shown).Wherein, head 101 includes a shooting support 1011st, multiple motors 1012 and multiple runing rests 1013.Camera device 102 can be fixed on head by imaging support 1011 On 101, multiple motors 1012 can drive a corresponding runing rest 1013 to be rotated respectively.Optionally, the camera device 102 can be camera, the mobile phone for possessing camera function etc..Imaging device control device can be arranged on inside imaging device 101, Optionally, imaging device control device can be arranged in head 101.In this application, imaging device control device can be right The runing rest 1013 of head is adjusted, and imaging device control device can also control runing rest 1013 to be rotated, with Runing rest 1013 is set to drive camera device 102 to be rotated.Below, by specific embodiment, to the technology shown in the application Scheme describes in detail.
It is understood that the shooting support 1011 can also be omitted, the camera device 102 is directly in wherein described in one Runing rest 1013 is connected.
It should be noted that these specific embodiments can be combined with each other below, for same or analogous concept Or process may be repeated no more in certain embodiments.
The schematic flow sheet for the imaging apparatus control method that Fig. 2 provides for the present invention.Fig. 2 is referred to, this method can be wrapped Include：
S201, the location parameter for obtaining imaging device.
S202, according to location parameter the runing rest of head is adjusted, so that camera device is put down with earth's axis OK.
S203, the direction of rotation for determining runing rest, and the rotary speed selected according to direction of rotation and user, control rotation Turn support to be rotated.
The executive agent of the embodiment of the present invention can be imaging device control device (hereinafter referred control device).It is optional , control device can be arranged on inside head；Control device can also be arranged on outside head, be such as located in camera device simultaneously It can be attached and communicate with head.
In actual application, control device can start execution Fig. 2 embodiments by following a variety of possible modes Shown method is controlled with realizing to imaging device.
A kind of feasible implementation：After control device receives preset instructions, start to perform shown in Fig. 2 embodiments Method imaging device is controlled with realizing.
Optionally, the preset instructions can input for user enabled instruction, start-up command of user's input etc..In reality In application process, the preset instructions can be set, the present invention is not especially limited to this according to actual needs.
Another feasible implementation：In imaging device running, when the operational factor of imaging device meets pre- If after condition, the method for starting to perform shown in Fig. 2 embodiments is controlled with realizing to imaging device.
Optionally, preparatory condition can be changed for the position of imaging device, imaging device and earth's axis it is uneven Row etc..In actual application, the preparatory condition can be set, the present invention is not especially limited to this according to actual needs.
It should be noted that control device can also start the method performed shown in Fig. 2 embodiments, this hair at other moment It is bright control device is performed shown in Fig. 2 embodiments method at the time of be not especially limited.
When control device needs to be controlled imaging device, control device obtains the location parameter of imaging device.Can Choosing, the location parameter can include the latitude value that imaging device is presently in position.Optionally, if being set inside imaging device There is global positioning system (Global Positioning System, abbreviation GPS) module, then control device can pass through imaging GPS module inside device obtains the latitude value that imaging device is presently in position.If being not provided with GPS moulds inside imaging device Block, then control device the latitude value that imaging device be presently in position can be obtained by the GPS module that is connected with imaging device； Optionally, the terminal device with GPS module can be connected with imaging device, and is obtained by the GPS module in terminal device Imaging device is taken to be presently in the latitude value of position, optionally, the terminal device can be the mobile phone with GPS module, flat board Computer etc..
After control device acquires location parameter, control device enters according to location parameter to the runing rest of head Row regulation, so that camera device is parallel with earth's axis.Optionally, after the position of imaging device is determined, imaging device Fixed with the relative position of earth's axis, then can according to the location parameter of imaging device to the elevation angle of runing rest and/or Course angle is adjusted, so that camera device is parallel with earth's axis.Optionally, the motor that control device can be into head Control instruction is sent, so that the elevation angle of runing rest and/or course angle are adjusted according to the control instruction received for motor, So that camera device is parallel with earth's axis.
Control device also determines the direction of rotation of runing rest.The direction of rotation it is identical with earth rotation direction or with Earth rotation is in opposite direction.Optionally, when imaging device is located at the Northern Hemisphere of the earth, direction of rotation and earth rotation direction phase Instead, when imaging device is located at the Southern Hemisphere of the earth, direction of rotation is identical with earth rotation direction.
Control device can also receive the rotary speed of user's selection.The rotary speed can be equal to the earth from rotating speed Degree, or 1/2nd of earth rotation speed.If for example, when only needing to shoot starry sky, will can rotate Speed is set to the rotational velocity of the earth, when if desired being shot to starry sky and ground object simultaneously, then can be by rotation speed Degree is set to 1/2nd of earth rotation speed.In actual application, rotation speed can be set according to actual needs Degree.And the rotary speed selected according to direction of rotation and user, control runing rest is rotated, so that runing rest drive is taken the photograph As device is rotated.
Imaging apparatus control method provided in an embodiment of the present invention, when control device needs to be controlled imaging device When, control device first according to the location parameter of imaging device, the runing rest of head is adjusted automatically, so that camera device It is parallel with earth's axis；And the direction of rotation according to runing rest and the rotary speed of user's selection, automatic control type rotating branch Frame is rotated so that runing rest can drive camera device to be rotated according to the opposite direction of earth rotation, and then is eliminated By camera device carry out starry sky shooting when as caused by earth rotation conditions of streaking.In this process, without user according to Regulation experience is adjusted manually to imaging device, is realized by control device according to many kinds of parameters and imaging device is adjusted, The degree of regulation to imaging device can be not only improved, the regulation efficiency to imaging device can also be improved.
, optionally, can be by following feasible implementation according to location parameter on the basis of embodiment illustrated in fig. 2 (S202 in embodiment illustrated in fig. 2) is adjusted to the runing rest of head, specifically, embodiment shown in Figure 3.
The schematic flow sheet to runing rest adjusting method that Fig. 3 provides for the present invention.Refer to Fig. 3, this method can be with Including：
S301, according to latitude value the elevation angle of runing rest is adjusted, so that angle of camera device and ground level etc. In latitude value.
S302, according to pre-configured orientation the course angle of runing rest is adjusted, so that camera device and earth's axis It is parallel.
In the embodiment shown in fig. 3, when control device needs that runing rest is adjusted, control device elder generation basis The elevation angle of runing rest is adjusted the latitude value that imaging device is presently in position, so that the folder of imaging device and ground level Angle is equal to the latitude value.Optionally, first camera device can be adjusted to parallel with ground level, then the elevation angle of runing rest is adjusted Section is to the latitude value, so that the angle of camera device and ground level is equal to the latitude value.Optionally, can also be in camera device Inertial measuring unit (Inertial measurement unit, abbreviation IMU) is set, and IMU can gather facing upward for camera device Angle, the elevation angle of camera device can be adjusted, until the elevation angle that IMU is collected, camera device is zero, you can so as to take the photograph As device is parallel with ground level.It is understood that the IMU may also be arranged on the runing rest 1013.
In other embodiments, it can also be detected by setting potentiometer in the rotating shaft of each motor by potentiometer The posture of camera device, such as elevation angle.
It is determined that the angle of camera device and ground level is presently in after the latitude value of position equal to imaging device, control The course angle of runing rest is adjusted always according to pre-configured orientation for device, so that runing rest is parallel with earth's axis.Should Pre-configured orientation is positive north orientation or positive south orientation.Optionally, the pre-configured orientation can pre-set for user, or in imaging What device was configured during setting.
It should be noted that course angle that can also be first to runing rest is adjusted, then the elevation angle of runing rest is entered Row regulation.Or, the elevation angle of runing rest and course angle can also be adjusted simultaneously, the present invention does not make specific limit to this It is fixed.
In above process, control device is presently in the latitude value and pre-configured orientation pair of position according to imaging device Runing rest is adjusted so that camera device is parallel with earth's axis, improves runing rest is adjusted accurate Degree.
On the basis of any one above-mentioned embodiment, optionally, it can determine to revolve by following feasible implementation Turn the direction of rotation (S203 in embodiment illustrated in fig. 2) of support, specifically, embodiment shown in Figure 4.
The schematic flow sheet for the determination direction of rotation method that Fig. 4 provides for the present invention.Fig. 4 is referred to, this method can be wrapped Include：
S401, determine the hemisphere that imaging device is currently located at.
S402, the hemisphere being currently located at according to imaging device, determine the direction of rotation of the runing rest of head.
In actual application, when control device it needs to be determined that during the direction of rotation of runing rest, control device is first true Determine the hemisphere that imaging device is currently located at, and the hemisphere being currently located at according to imaging device, determine the direction of rotation of runing rest. If specifically, imaging device is currently located at the Northern Hemisphere, it is determined that direction of rotation is in opposite direction with earth rotation；If imaging device is worked as Anteposition is in the Southern Hemisphere, it is determined that direction of rotation is identical with earth rotation direction.
In the embodiment shown in fig. 4, it can determine what imaging device was currently located at by following feasible implementation Hemisphere.
A kind of feasible implementation：According to location parameter, the hemisphere that imaging device is currently located at is determined.
In this kind of feasible implementation, control device can be according to the location parameter acquired, it is determined that imaging dress Put the hemisphere being currently located at.When the location parameter is the latitude value that imaging device is presently in position, control device can basis Imaging device is presently in the latitude value of position, determines the hemisphere that imaging device is currently located at.
In above process, control device directly can determine imaging device position according to the location parameter acquired In hemisphere, improve the speed and accuracy of hemisphere for determining that imaging device is currently located at.
Another feasible implementation：Obtain user preset, the hemisphere that imaging device is currently located at.
In this kind of feasible implementation, user can preset the hemisphere that imaging device is located in imaging device, with Make when control device needs to obtain the hemisphere that imaging device is currently located at, directly obtain user preset, imaging device is located at Hemisphere.Optionally, user can set the hemisphere that imaging device is located at when first time is using imaging device, so that into As the hemisphere that the imaging device that device is inputted to user is located at is preserved.Certainly, during user uses imaging device, The hemisphere that default imaging device is located at can also be modified.
Optionally, when user needs the hemisphere that default imaging device is located in imaging device, it can pass through and be imaged dress The display interface put shows Southern Hemisphere check boxes and Northern Hemisphere check boxes, so that user can be with actual conditions, in display interface The corresponding check boxes input of hemisphere (Southern Hemisphere or by hemisphere) being currently located to imaging device obtains choosing operation.Certainly, Input frame can be shown by the display interface of imaging device, so that user inputs half that imaging device is located in input frame Ball.
In above process, user can preset the hemisphere that imaging device is located at according to actual conditions in imaging device, So that control device can directly obtain the hemisphere that the imaging device of user preset is located at, and then improve determination imaging device and work as Anteposition in hemisphere speed.
Another feasible implementation：According to the target geographic position of user preset, determine that imaging device is currently located at Hemisphere.
In this kind of feasible implementation, user can in imaging device goal-selling geographical position so that when control When device processed needs to obtain the hemisphere that imaging device is currently located at, can according to the target geographic position of user preset, it is determined that into The hemisphere being currently located at as device.Optionally, the geographical position can include country name, province name, city's name etc..Optionally, use Family can input target geographic position when first time is using imaging device, so that the target geographic that imaging device is inputted to user Position is preserved.Certainly, during user uses imaging device, default target address location can also be carried out Modification.
Optionally, when user needs the hemisphere that default imaging device is located in imaging device, it can pass through and be imaged dress The display interface put shows at least one address location, so that user can be according to actual conditions, to target in display interface What geographical position was inputted chooses operation.It is of course also possible to input frame be shown by the display interface of imaging device, so that user exists Target geographic position is inputted in input frame.
In above process, user can in imaging device goal-selling address location so that control device can root The hemisphere that is located at of imaging device of user preset is obtained according to target geographic position, and then improves determination imaging device and is currently located at Hemisphere speed.
On the basis of any one above-mentioned embodiment, the rotation speed selected in control device according to direction of rotation and user Degree, before control runing rest is rotated, control device also needs to first obtain the rotary speed of user's selection.Optionally, control Device processed can obtain the rotary speed that user selects by the feasible implementation of the following two kinds.
A kind of feasible implementation：The target screening-mode of user's input is received, and is determined according to target screening-mode Rotary speed.
In this kind of feasible implementation, mould can be shot by the display interface display at least one of imaging device Formula, and user is received according to display interface, choose operation to what target screening-mode was inputted.It is of course also possible to be filled by being imaged The display interface put shows input frame, so that user inputs target screening-mode in input frame.Optionally, screening-mode can be with Including starry sky screening-mode and ground starry sky mixing screening-mode etc..
After the target screening-mode that control device acquires user's input, control device is according to target screening-mode Determine rotary speed.Optionally, screening-mode and the corresponding relation of rotary speed can be pre-set, so that control device can be with According to target screening-mode and corresponding relation, the corresponding rotary speed of target screening-mode is determined.Optionally, if screening-mode is Starry sky screening-mode, it is determined that rotary speed is equal to earth rotation speed；If screening-mode is ground starry sky mixing screening-mode, Then determine that rotary speed is more than zero and less than the rotational velocity of the earth, optionally, rotary speed can be earth rotation speed 1/2nd.
In above process, the target screening-mode that control device can be inputted according to user determines rotary speed, the mesh Mark screening-mode is used for the screening-mode used during instruction user actual photographed, so as to determine obtained rotary speed and user's reality The screening-mode that border is shot improves control device and determines the accuracy of rotary speed, and then improve control device to meeting The accuracy controlled imaging device.
Another feasible implementation：Receive the rotary speed of user's input.
In this kind of feasible implementation, default input field can be shown by the display interface of imaging device, and connect Receive rotary speed of the user in default input field input.Optionally, can in order to avoid inappropriate rotary speed that user inputs To set the rotational velocity range that can be inputted in default input field, for example, the rotational velocity range can be 0 to 2 times of earth Rotational velocity.
In above process, when control device needs to use rotary speed, the rotation of user's input can directly be obtained Speed, improves the speed that control device obtains rotary speed.
In any one above-mentioned possible embodiment, after control device has been configured to imaging device, control Device processed can also control camera device to carry out automatic star-seeking, i.e. camera device is adjusted, so that the camera lens of camera device Target constellation just to needing to shoot.Specifically, embodiment shown in Figure 5.
The schematic flow sheet for the automatic star-seeking method that Fig. 5 provides for the present invention.Fig. 5 is referred to, this method can include：
S501, the mark for receiving the target constellation that user inputs.
S502, the positional information for identifying determination target constellation according to target constellation.
S503, according to positional information runing rest is adjusted, so that the camera lens of camera device is just to target constellation.
In the embodiment shown in fig. 5, after control device is provided with to imaging device, user can pass through imaging Camera device in device is shot to starry sky.When user needs to shoot target constellation, user can input mesh Mark the mark of constellation.Optionally, constellation input field can be shown by the display interface of imaging device, so that user can be in star The mark of target constellation is inputted in seat input field.
After user inputs the mark of target constellation, control device determines target constellation according to the mark of target constellation Positional information.Optionally, the positional information of each constellation can be preset in control device, so that control device can be at each The positional information of target constellation is obtained in the positional information of constellation.Optionally, can also be in the position of constellation if constellation is planet Preset that each moment is corresponding, constellation positional information in confidence breath.
After control device determination obtains the positional information of target constellation, control device is according to positional information to rotation branch Frame is adjusted, so that the camera lens of camera device is just to target constellation.Optionally, control device can be right according to positional information At least one angle in the angle of pitch, course angle and the roll angle of runing rest is adjusted, so that the camera lens of camera device Just to target constellation.
In above process, camera device can be adjusted automatically for control device, so that the camera lens of camera device is just To target constellation, the efficiency for seeking star is improved.
The structural representation one for the imaging device control system that Fig. 6 provides for the present invention.The imaging device control system can Think that imaging device is controlled, wherein, imaging device includes a head and the camera device being arranged on head, and head is used Moved in driving camera device with an at least runing rest.Fig. 6 is referred to, the imaging device control system can include：
Acquisition module 11, the location parameter for obtaining imaging device.
First adjustment module 12, for the runing rest of head to be adjusted according to location parameter, so that camera device It is parallel with earth's axis.
First determining module 13, the direction of rotation for determining runing rest.
Control module 14, for the rotary speed according to direction of rotation and user's selection, control runing rest is rotated.
Imaging device control system provided in an embodiment of the present invention can perform the technical side shown in above method embodiment Case, its realization principle and beneficial effect are similar, are no longer repeated herein.
In a kind of possible embodiment, acquisition module 11 specifically for：
Obtain the latitude value that imaging device is presently in position.
In alternatively possible embodiment, acquisition module 11 specifically for：
Latitude value is obtained by the global position system GPS module inside imaging device；
Or,
Latitude value is obtained by the GPS module being connected with imaging device.
The structural representation two for the imaging device control system that Fig. 7 provides for the present invention.On the basis of embodiment illustrated in fig. 6 On, Fig. 7 is referred to, the first determining module 13 includes the first determining unit 13-1 and the second determining unit 13-2, wherein,
First determining unit 13-1 is used for, and determines the hemisphere that imaging device is currently located at；
Second determining unit 13-2 is used for, and the hemisphere being currently located at according to imaging device determines the rotation side of runing rest To.
In alternatively possible embodiment, the first determining unit 13-1 specifically for：
According to location parameter, the hemisphere that imaging device is currently located at is determined；
Or,
Obtain user preset, the hemisphere that imaging device is currently located at；
Or,
According to the target geographic position of user preset, the hemisphere that imaging device is currently located at is determined.
In alternatively possible embodiment, the system also includes receiving module 15, wherein,
Receiving module 15 is used for, and user preset, half that imaging device is currently located at are obtained in the first determining unit 13-1 Before ball, the hemisphere that user's input imaging device is currently located at is received.
In alternatively possible embodiment, the system also includes display module 16, wherein,
Display module 16 is used for, and Southern Hemisphere check boxes and Northern Hemisphere check boxes are shown by the display interface of imaging device；
Accordingly, receiving module 15 is specifically for receiving user according to display interface, half be currently located to imaging device Ball input obtains choosing operation.
In alternatively possible embodiment, receiving module 15 is additionally operable to, in the first determining unit 13-1 according to user Default target geographic position, determines before the hemisphere that imaging device is currently located at, receives user's input target geographic position.
In alternatively possible embodiment, display module 16 is additionally operable to, and is shown by the display interface of imaging device At least one address location；
Accordingly, receiving module 15 is specifically for receiving user according to display interface, the choosing inputted to target geographic position Middle operation.
In alternatively possible embodiment, the second determining unit 13-2 specifically for：
If imaging device is located at the Northern Hemisphere, it is determined that direction of rotation is in opposite direction with earth rotation；
If imaging device is located at the Southern Hemisphere, it is determined that direction of rotation is identical with earth rotation direction.
In alternatively possible embodiment, the first adjustment module 12 includes the regulations of the first adjustment unit 12-1 and second Unit 12-2, wherein,
First adjustment unit 12-1 is used for, and the elevation angle of runing rest is adjusted according to latitude value, so that camera device It is equal to latitude value with the angle of ground level；
Second adjustment unit 12-2 is used for, and the course angle of runing rest is adjusted according to pre-configured orientation, so that shooting Device is parallel with earth's axis.
In alternatively possible embodiment, pre-configured orientation is positive north orientation or positive south orientation.
In alternatively possible embodiment, the first adjustment unit 12-1 specifically for：
Camera device is adjusted, so that camera device is parallel with ground level；
The elevation angle of runing rest is adjusted to latitude value.
Inertial measuring unit IMU, accordingly, first are provided with alternatively possible embodiment, in camera device Adjustment unit 12-1 specifically for：
The elevation angle of camera device is adjusted, until the elevation angle that IMU is collected, camera device is zero, so that shooting Device is parallel with ground level.It is understood that the IMU may also be arranged on the runing rest 1013.
In other embodiments, it can also be detected by setting potentiometer in the rotating shaft of each motor by potentiometer The posture of camera device, such as elevation angle.
In alternatively possible embodiment, receiving module 15 is additionally operable to, and receives the rotary speed of user's input.
In alternatively possible embodiment, system also includes the second determining module 17, wherein,
Receiving module 15 is additionally operable to, and receives the target screening-mode of user's input；
Second determining module 17 is used for, and rotary speed is determined according to target screening-mode；
In alternatively possible embodiment, display module 16 is additionally operable to, and is shown by the display interface of imaging device At least one screening-mode；
Accordingly, receiving module 15 is specifically for receiving user and target screening-mode input being chosen in display interface Operation.
In alternatively possible embodiment, the second determining module 17 specifically for：
Obtain screening-mode and the corresponding relation of rotary speed；
According to target screening-mode and corresponding relation, the corresponding rotary speed of target screening-mode is determined.
In alternatively possible embodiment, the second determining module 17 specifically for：
If screening-mode is starry sky screening-mode, it is determined that rotary speed is equal to earth rotation speed；
If screening-mode is ground starry sky mixing screening-mode, it is determined that rotary speed is more than zero and less than the rotation of the earth Speed.
In alternatively possible embodiment, display module 16 is additionally operable to, and is shown by the display interface of imaging device Default input field；
Accordingly, receiving module 15 is specifically for receiving rotary speed of the user in default input field input.
In alternatively possible embodiment, receiving module 15 is additionally operable to, acquisition module 11 obtain rotary speed and Before the location parameter of imaging device, the enabled instruction of user's input is received, enabled instruction is used to indicate to start to imaging device It is controlled.
In alternatively possible embodiment, system also includes the 3rd determining module 18 and the second adjustment module 19, its In,
Receiving module 15 is additionally operable to, and in control module according to direction of rotation and rotary speed, control runing rest is revolved After turning, the mark of the target constellation of user's input is received；
3rd determining module 18 is used for, and the positional information of target constellation is determined according to the mark of target constellation；
Second adjustment module 19 is used for, and runing rest is adjusted according to positional information, so that the camera lens of camera device Just to target constellation.
In alternatively possible embodiment, the second adjustment module 19 specifically for：
According to positional information, at least one angle in the angle of pitch of camera device, course angle and roll angle is carried out Regulation, so that the camera lens of camera device is just to target constellation.
Imaging device control system provided in an embodiment of the present invention can perform the technical side shown in above method embodiment Case, its realization principle and beneficial effect are similar, are no longer repeated herein.
The structural representation one for the imaging device that Fig. 8 provides for the present invention.Fig. 8 is referred to, the imaging device includes head 101 and camera device 102.Wherein, head 101 includes a shooting support 1011, multiple motors 1012 and multiple runing rests 1013 and processor 1014.Camera device 102 can be fixed on head 101 by imaging support 1011.Processor 1014 can To send control instruction to motor 1012, so that motor 1012 drives runing rest 1013 to be rotated according to control instruction.Its In,
Processor 1014 is used for, and obtains the location parameter of imaging device；
Motor 1012 is used for, and the location parameter acquired according to processor 1014 is carried out to the runing rest 1013 of head Regulation, so that camera device 102 is parallel with earth's axis；
Processor 1014 is additionally operable to, and determines the direction of rotation of runing rest 1011；
Motor 1012 is additionally operable to, and the rotary speed of obtained direction of rotation and user's selection is determined according to processor 1014, Control runing rest 1011 is rotated.
It is understood that the shooting support 1011 can also be omitted, the camera device 102 is directly in wherein described in one Runing rest 1013 is connected.
Imaging device provided in an embodiment of the present invention can perform the technical scheme shown in above method embodiment, and it is realized Principle and beneficial effect are similar, are no longer repeated herein.
In a kind of possible embodiment, processor 1014 specifically for：
Obtain the latitude value that imaging device is presently in position.
The structural representation two for the imaging device that Fig. 9 provides for the present invention, on the basis of embodiment illustrated in fig. 8, please join See Fig. 9, imaging device also includes the first global position system GPS module 103；Optionally, the first CPS modules 103 can be set Put on head or camera device.
Accordingly, processor 1014 by the first GPS module specifically for obtaining latitude value.
The imaging device also includes communication interface 104, and processor 1014 is connected by communication interface with the second GPS module； Optionally, the communication interface 104 can be arranged on head 101.
Accordingly, processor 1014 by communication interface 104 specifically for being obtained, being collected by the second GPS module Latitude value.
It should be noted that imaging device can include the first GPS module 103 and communication interface 104 simultaneously, it can also wrap Include any one in the first GPS module 103 and communication interface 104.
In alternatively possible embodiment, processor 1014 specifically for：
Determine the hemisphere that imaging device is currently located at；
The hemisphere being currently located at according to imaging device, determines the direction of rotation of runing rest 1013.
In alternatively possible embodiment, processor 1014 specifically for：
According to location parameter, the hemisphere that imaging device is currently located at is determined；
Or,
Obtain user preset, the hemisphere that imaging device is currently located at；
Or,
According to the target geographic position of user preset, the hemisphere that imaging device is currently located at is determined.
In alternatively possible embodiment, imaging device also includes input equipment 105, wherein,
Input equipment 105 is used for, processor 1014 obtain user preset, hemisphere that imaging device is currently located at it Before, receive the hemisphere that user's input imaging device is currently located at.Optionally, when when camera device 102 is possesses camera function During the terminal devices such as mobile phone, input equipment 105 can be the input equipment in camera device 102.Certainly, input equipment 105 It can be the input equipment being arranged on head 101.
In alternatively possible embodiment, imaging device also includes display device 106, wherein,
Display device 106 is used for, display Southern Hemisphere check boxes and Northern Hemisphere check boxes；Optionally, when camera device 102 is When possessing the terminal devices such as the mobile phone of camera function, display device 106 can be the display screen in camera device 102.Certainly, show It can also be the display device being arranged on head 101 to show equipment 106.
Accordingly, input equipment 105 is specifically for receiving the content that user shows according to display device 106, imaging being filled The hemisphere input being currently located at is put to obtain choosing operation.
In alternatively possible embodiment, input equipment 105 is additionally operable to, in processor 1014 according to user preset Target geographic position, determines before the hemisphere that imaging device is currently located at, receives user's input target geographic position.
In alternatively possible embodiment, display device 106 is additionally operable to, and shows at least one address location；
Accordingly, input equipment 105 is specifically for receiving at least one address that user shows according to display device 106 Position, operation is chosen to what target geographic position was inputted.
In alternatively possible embodiment, processor 1014 specifically for：
If imaging device is located at the Northern Hemisphere, it is determined that direction of rotation is in opposite direction with earth rotation；
If imaging device is located at the Southern Hemisphere, it is determined that direction of rotation is identical with earth rotation direction.
In alternatively possible embodiment, motor 1012 specifically for：
The elevation angle of runing rest 1013 is adjusted the latitude value acquired according to processor 1014, so that shooting is filled Put 102 and be equal to latitude value with the angle of ground level；
The course angle of runing rest 1013 is adjusted according to pre-configured orientation, so that camera device 102 and earth rotation Axle is parallel.
In alternatively possible embodiment, pre-configured orientation is positive north orientation or positive south orientation.
In alternatively possible embodiment, motor 1012 specifically for：
Camera device 102 is adjusted, so that camera device 102 is parallel with ground level；
The elevation angle of runing rest 1013 is adjusted to latitude value.
In alternatively possible embodiment, inertial measuring unit IMU1021 is provided with camera device 102, accordingly , motor 1012 specifically for：
The elevation angle of camera device 102 is adjusted, until the elevation angle that IMU 1021 is collected, camera device 102 is Zero, so that camera device 102 is parallel with ground level.It is understood that the IMU may also be arranged on the runing rest 1013。
In other embodiments, it can also be detected by setting potentiometer in the rotating shaft of each motor by potentiometer The posture of camera device, such as elevation angle.
In alternatively possible embodiment, input equipment 105 is additionally operable to, true according to processor 1014 in motor 1012 Surely the direction of rotation obtained and the rotary speed of user's selection, before control runing rest 1013 is rotated, receive user defeated The target screening-mode entered；
Accordingly, processor 1014 is additionally operable to, and rotary speed is determined according to target screening-mode.
In alternatively possible embodiment, input equipment 105 is additionally operable to：
Receive the rotary speed of user's input.
In alternatively possible embodiment, display device 106 is additionally operable to, at least one screening-mode of display；
Accordingly, input equipment 105 is used to receive user according at least one shooting mould shown in display device 106 Formula, operation is chosen to what target screening-mode was inputted.
In alternatively possible embodiment, processor 1014 specifically for：
Obtain screening-mode and the corresponding relation of rotary speed；
According to target screening-mode and corresponding relation, the corresponding rotary speed of target screening-mode is determined.
In alternatively possible embodiment, if screening-mode be starry sky screening-mode, processor 1014 specifically for, Determine that rotary speed is equal to earth rotation speed；
If screening-mode is ground starry sky mixing screening-mode, processor 1014 is specifically for determining that rotary speed is more than Zero and less than the earth rotational velocity.
In alternatively possible embodiment, display device 106 is additionally operable to, and default input is shown by display interface Column；
Accordingly, input equipment 105 is additionally operable to, and receives rotary speed of the user in default input field input.
In alternatively possible embodiment, input equipment 105 is additionally operable to, processor 1014 obtain rotary speed and Before the location parameter of imaging device, the enabled instruction of user's input is received, enabled instruction is used to indicate to start to imaging device It is controlled.
In alternatively possible embodiment, input equipment 105 is additionally operable to, in motor 1012 according to direction of rotation and rotation Rotary speed, after control runing rest 1013 is rotated, receives the mark of the target constellation of user's input；
Processor 1014 is additionally operable to, and the positional information of target constellation is determined according to the mark of target constellation；
Motor 1012 is additionally operable to, and camera device 102 is adjusted the positional information acquired according to processor 1014, So that the camera lens of camera device 102 is just to target constellation.
In alternatively possible embodiment, motor 1012 specifically for：According to positional information, to runing rest 1013 The angle of pitch, course angle and roll angle at least one angle be adjusted so that the camera lens of camera device 102 is just right Target constellation.
Imaging device provided in an embodiment of the present invention can perform the technical scheme shown in above method embodiment, and it is realized Principle and beneficial effect are similar, are no longer repeated herein.
The structural representation for the imaging device interactive device that Figure 10 provides for the present invention.Figure 10 is referred to, including display is set Standby 21 and input equipment 22, wherein,
Display device 21 is used for, and shows at least one operation instruction；
Input equipment 22 is used for, and receives the object run instruction that user inputs according at least one operation instruction；
Input equipment 22 is additionally operable to, and sending object run to the processor of head indicates, so that processor is grasped according to target Make the motor for indicating to control head so that motor is controlled to the runing rest of head.
In a kind of possible embodiment, at least one control indicates to include at least one in following indicate：
Enabled instruction, seek star instruction, rotary speed option, southern hemisphere and northern hemisphere option, geographical position option, screening-mode choosing .
In alternatively possible embodiment, display device 21 specifically for：
At least one operation instruction that reception processing device is sent；
Show at least one operation instruction.
Imaging device interactive device shown in the embodiment of the present invention can be arranged in imaging device, it is possible to filled with imaging Other parts in putting are attached communication.
The structural representation one for the imaging device control device that Figure 11 provides for the present invention, the imaging device control device is used It is controlled in imaging device, wherein, imaging device includes a head, the camera device being arranged on head, the head For driving the camera device to be moved with an at least runing rest.Figure 11 is referred to, the imaging device control device includes place Manage device 31, memory 32 and communication bus 33.Wherein, memory 32 is used to store application program, and communication bus 33 is used to realize Communication connection between element, processor 31 is used to read the application program in the memory 32, and performs following operation：
Obtain the location parameter of imaging device；
The runing rest for controlling the head according to the location parameter is adjusted, so that the camera device and the earth The axis of rotation is parallel；
Determine the direction of rotation of the runing rest；
The rotary speed selected according to the direction of rotation and user, controls the runing rest to be rotated.
Imaging device control device provided in an embodiment of the present invention can perform the technical side shown in above method embodiment Case, its realization principle and beneficial effect are similar, are no longer repeated herein.
In a kind of possible embodiment, the processor 31 specifically for：
Obtain the latitude value that the imaging device is presently in position.
In alternatively possible embodiment, the processor 31 specifically for：
The latitude value is obtained by the global position system GPS module inside the imaging device；
Or,
The latitude value is obtained by the GPS module being connected with the imaging device.
In alternatively possible embodiment, the processor 31 specifically for：
Determine the hemisphere that the imaging device is currently located at；
The hemisphere being currently located at according to imaging device, determines the direction of rotation of the runing rest.
In alternatively possible embodiment, the processor 31 specifically for：
According to the location parameter, the hemisphere that the imaging device is currently located at is determined；
Or,
Obtain user preset, the hemisphere that the imaging device is currently located at；
Or,
According to the target geographic position of the user preset, the hemisphere that the imaging device is currently located at is determined.
The structural representation two for the imaging device control device that Figure 12 provides for the present invention, in the base of embodiment illustrated in fig. 11 On plinth, Figure 12 is referred to, the imaging device control device also includes input equipment 34, and accordingly, the processor 31 is specific For：
Before the processor 31 obtains user preset, the hemisphere that the imaging device is currently located at, by described Input equipment 34 receives the user and inputs the hemisphere that the imaging device is currently located at.
Optionally, the input equipment 34 can also be the input equipment in imaging device.
In alternatively possible embodiment, the imaging device control device also includes display device 35, accordingly, The processor 31 is additionally operable to：
Southern Hemisphere check boxes and Northern Hemisphere check boxes are shown by the display device 35；
The content that user shows according to the display device 35 is received by the input equipment 34, to the imaging device The hemisphere input being currently located at obtains choosing operation.
Optionally, the display device 35 can also be the display device in imaging device.
In alternatively possible embodiment, the processor 31 is additionally operable to：
In target geographic position of the processor 31 according to user preset, the imaging device is currently located at half is determined Before ball, the user is received by the input equipment 34 and inputs the target geographic position.
In alternatively possible embodiment, the processor 31 is additionally operable to：
At least one address location is shown by the display device 35；
The content that user shows according to the display device 35 is received by the input equipment 34, to the target geographic What position was inputted chooses operation.
In alternatively possible embodiment, the processor 31 specifically for：
If the imaging device is located at the Northern Hemisphere, it is determined that the direction of rotation and the earth rotation are in opposite direction；
If the imaging device is located at the Southern Hemisphere, it is determined that the direction of rotation is identical with the earth rotation direction.
In alternatively possible embodiment, the processor 31 specifically for：
The elevation angle for controlling the runing rest according to the latitude value is adjusted, so that the camera device and ground level Angle be equal to the latitude value；
The course angle for controlling the runing rest according to pre-configured orientation is adjusted, so that the camera device and the earth are certainly Shaft parallel.
In alternatively possible embodiment, the pre-configured orientation is positive north orientation or positive south orientation.
In alternatively possible embodiment, the processor 31 specifically for：
The camera device is controlled to be adjusted, so that the camera device is parallel with the ground level；
The elevation angle of the runing rest is controlled to be adjusted, so that the elevation angle of the runing rest is equal to the latitude value.
In alternatively possible embodiment, inertial measuring unit IMU is provided with the camera device, accordingly, The processor 31 specifically for：
The elevation angle of the camera device is controlled to be adjusted, until the elevation angle of the IMU the is collected camera device It is zero, so that the camera device is parallel with the ground level.
In alternatively possible embodiment, the processor 31 is additionally operable to, and institute is received by the input equipment 34 State the rotary speed of user's input.
In alternatively possible embodiment, the processor 31 is additionally operable to：
The target screening-mode that user inputs is received by the input equipment 34；
The rotary speed is determined according to the target screening-mode.
In alternatively possible embodiment, the processor 31 is additionally operable to：
At least one screening-mode is shown by the display device 35；
The content that user shows according to the display device 35 is received by the input equipment 34, the target is shot What pattern was inputted chooses operation.
In alternatively possible embodiment, the processor 31 specifically for：
Obtain screening-mode and the corresponding relation of rotary speed；
According to the target screening-mode and the corresponding relation, the corresponding rotation speed of the target screening-mode is determined Degree.
In alternatively possible embodiment, the processor 31 specifically for：
If the screening-mode is starry sky screening-mode, it is determined that the rotary speed is equal to the earth rotation speed；
If the screening-mode is ground starry sky mixing screening-mode, it is determined that the rotary speed is more than zero and less than institute State the rotational velocity of the earth.
In alternatively possible embodiment, the processor 31 is additionally operable to：
Pass through the default input field of the display device 35 display；
The rotary speed that user inputs in the default input field is received by the input equipment 34.
In alternatively possible embodiment, the processor 31 is additionally operable to, and rotation speed is obtained in the processor 31 Before the location parameter of degree and imaging device, the enabled instruction that user inputs, the startup are received by the input equipment 34 Instruct and the imaging device is controlled for indicating to start.
In alternatively possible embodiment, the processor 31 is additionally operable to：
In the processor 31 according to the direction of rotation and the rotary speed, the runing rest is controlled to be rotated Afterwards, the mark for the target constellation that user inputs is received by the input equipment 34；
The positional information of the target constellation is determined according to the mark of the target constellation；
The runing rest is controlled to be adjusted according to the positional information, so that the camera lens of the camera device is just to institute State target constellation.
In alternatively possible embodiment, the processor 31 specifically for：
According to the positional information, at least one in the angle of pitch, course angle and the roll angle of the camera device is controlled Individual angle is adjusted, so that the camera lens of the camera device is just to the target constellation.
Imaging device control device provided in an embodiment of the present invention can perform the technical side shown in above method embodiment Case, its realization principle and beneficial effect are similar, are no longer repeated herein.
One of ordinary skill in the art will appreciate that：Realizing all or part of step of above method embodiment can pass through Programmed instruction related hardware is completed, and foregoing program can be stored in a computer read/write memory medium, the program Upon execution, the step of including above method embodiment is performed；And foregoing storage medium includes：ROM, RAM, magnetic disc or light Disk etc. is various can be with the medium of store program codes.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to The technical scheme described in foregoing embodiments can so be modified, or which part or all technical characteristic are entered Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology The scope of scheme.

Claims (95)

1. a kind of imaging device control method, the imaging device includes a head and the camera device being arranged on head, The head is used to drive the camera device to move with an at least runing rest, it is characterised in that methods described includes：
Obtain the location parameter of the imaging device；
The runing rest of the head is adjusted according to the location parameter, so that the camera device and earth's axis It is parallel；
The direction of rotation of the runing rest, and the rotary speed selected according to the direction of rotation and user are determined, institute is controlled Runing rest is stated to be rotated.
2. according to the method described in claim 1, it is characterised in that the location parameter for obtaining imaging device, including：
Obtain the latitude value that the imaging device is presently in position.
3. method according to claim 2, it is characterised in that the acquisition imaging device is presently in the latitude of position Angle value, including：
The latitude that the imaging device is presently in position is obtained by the global position system GPS module inside the imaging device Angle value；
Or,
The latitude value that the imaging device is presently in position is obtained by the GPS module being connected with the imaging device.
4. according to the method described in claim 1, it is characterised in that the direction of rotation for determining the runing rest, including：
Determine the hemisphere that the imaging device is currently located at；
The hemisphere being currently located at according to imaging device, determines the direction of rotation of the runing rest.
5. method according to claim 4, it is characterised in that determine the hemisphere that the imaging device is currently located at, including：
According to the location parameter, the hemisphere that the imaging device is currently located at is determined；
Or,
Obtain user preset, the hemisphere that the imaging device is currently located at；
Or,
According to the target geographic position of the user preset, the hemisphere that the imaging device is currently located at is determined.
6. method according to claim 5, it is characterised in that the acquisition user preset, the imaging device it is current Before the hemisphere being located at, in addition to：
Receive the user and input the hemisphere that the imaging device is currently located at.
7. method according to claim 6, it is characterised in that it is current that the reception user inputs the imaging device The hemisphere being located at, including：
Southern Hemisphere check boxes and Northern Hemisphere check boxes are shown by the display interface of the imaging device；
User is received according to the display interface, the hemisphere input being currently located to the imaging device obtains choosing operation.
8. method according to claim 5, it is characterised in that the target geographic position according to user preset, it is determined that Before the hemisphere that the imaging device is currently located at, in addition to：
Receive the user and input the target geographic position.
9. method according to claim 8, it is characterised in that the reception user inputs the geographical position, including：
At least one address location is shown by the display interface of the imaging device；
User is received according to the display interface, operation is chosen to what the target geographic position was inputted.
10. the method according to claim any one of 4-9, it is characterised in that described to be currently located at according to imaging device Hemisphere, determines the direction of rotation of the runing rest, including：
If the imaging device is located at the Northern Hemisphere, it is determined that the direction of rotation and the earth rotation are in opposite direction；
If the imaging device is located at the Southern Hemisphere, it is determined that the direction of rotation is identical with the earth rotation direction.
11. the method according to claim any one of 2-10, it is characterised in that according to the location parameter to the head Runing rest be adjusted, including：
The elevation angle of the runing rest is adjusted according to the latitude value, so that the angle of the camera device and ground level Equal to the latitude value；
The course angle of the runing rest is adjusted according to pre-configured orientation, so that the camera device is put down with earth's axis OK.
12. method according to claim 11, it is characterised in that the pre-configured orientation is positive north orientation or positive south orientation.
13. the method according to claim 11 or 12, it is characterised in that described that branch is rotated to described according to the latitude value The elevation angle of frame is adjusted, so that the angle of the camera device and ground level is equal to the latitude value, including：
The camera device is adjusted, so that the camera device is parallel with the ground level；
The elevation angle of the runing rest is adjusted to the latitude value.
14. method according to claim 13, it is characterised in that be provided with inertial measuring unit in the camera device IMU, accordingly, the camera device is adjusted, so that the camera device is parallel with the ground level, including：
The elevation angle of the camera device is adjusted, until the elevation angle that the IMU is collected, the camera device is zero, So that the camera device is parallel with the ground level.
15. the method according to claim any one of 1-14, it is characterised in that described according to the direction of rotation and user The rotary speed of selection, before the control runing rest is rotated, in addition to：
The target screening-mode of user's input is received, and the rotary speed is determined according to the target screening-mode；
Or,
Receive the rotary speed of user's input.
16. method according to claim 15, it is characterised in that the screening-mode of the reception user input, including：
Pass through at least one screening-mode of display interface display of the imaging device；
User is received according to the display interface, operation is chosen to what the target screening-mode was inputted.
17. the method according to claim 15 or 16, it is characterised in that described that institute is determined according to the target screening-mode Rotary speed is stated, including：
Obtain screening-mode and the corresponding relation of rotary speed；
According to the target screening-mode and the corresponding relation, the corresponding rotary speed of the target screening-mode is determined.
18. the method according to claim any one of 15-17, it is characterised in that described to be determined according to the screening-mode The rotary speed, including：
If the screening-mode is starry sky screening-mode, it is determined that the rotary speed is equal to the earth rotation speed；
If the screening-mode is ground starry sky mixing screening-mode, it is determined that the rotary speed is more than zero and less than describedly The rotational velocity of ball.
19. method according to claim 15, it is characterised in that receive the rotary speed of user's input, bag Include：
Default input field is shown by the display interface of the imaging device；
Receive the rotary speed of the user in the default input field input.
20. the method according to claim any one of 1-19, it is characterised in that the acquisition rotary speed and imaging device Location parameter before, in addition to：
The enabled instruction of user's input is received, the enabled instruction is used to indicate to start to be controlled the imaging device.
21. the method according to claim any one of 1-20, it is characterised in that described according to the direction of rotation and described Rotary speed, after the control runing rest is rotated, in addition to：
Receive the mark of the target constellation of user's input；
The positional information of the target constellation is determined according to the mark of the target constellation；
The runing rest is adjusted according to the positional information, so that the camera lens of the camera device is just to the target Constellation.
22. method according to claim 21, it is characterised in that it is described according to the positional information to the camera device It is adjusted, so that the camera lens of the camera device is just to the target constellation, including：
According to the positional information, at least one angle in the angle of pitch, course angle and the roll angle of the shooting support It is adjusted, so that the camera lens of the camera device is just to the target constellation.
23. a kind of imaging device control system, the imaging device includes a head and the camera device being arranged on head, The head is used to drive the camera device to move with an at least runing rest, it is characterised in that including：
Acquisition module, the location parameter for obtaining the imaging device；
First adjustment module, for the runing rest of the head to be adjusted according to the location parameter, so that described take the photograph As device is parallel with earth's axis；
First determining module, the direction of rotation for determining the runing rest；
Control module, for the rotary speed according to the direction of rotation and user's selection, controls the runing rest to be revolved Turn.
24. system according to claim 23, it is characterised in that the acquisition module specifically for：
Obtain the latitude value that the imaging device is presently in position.
25. system according to claim 24, it is characterised in that the acquisition module specifically for：
The latitude value is obtained by the global position system GPS module inside the imaging device；
Or,
The latitude value is obtained by the GPS module being connected with the imaging device.
26. system according to claim 23, it is characterised in that first determining module include the first determining unit and Second determining unit, wherein,
First determining unit is used for, and determines the hemisphere that the imaging device is currently located at；
Second determining unit is used for, and the hemisphere being currently located at according to imaging device determines the rotation side of the runing rest To.
27. system according to claim 26, it is characterised in that first determining unit specifically for：
According to the location parameter, the hemisphere that the imaging device is currently located at is determined；
Or,
Obtain user preset, the hemisphere that the imaging device is currently located at；
Or,
According to the target geographic position of the user preset, the hemisphere that the imaging device is currently located at is determined.
28. system according to claim 27, it is characterised in that the system also includes receiving module, wherein,
The receiving module is used for, first determining unit obtain user preset, the imaging device is currently located at Before hemisphere, receive the user and input the hemisphere that the imaging device is currently located at.
29. system according to claim 28, it is characterised in that the system also includes display module, wherein,
The display module is used for, and shows that Southern Hemisphere check boxes and the Northern Hemisphere are chosen by the display interface of the imaging device Frame；
Accordingly, the receiving module is specifically for receiving user according to the display interface, to the imaging device present bit In hemisphere input obtain choosing operation.
30. system according to claim 29, it is characterised in that
The receiving module is additionally operable to, in target geographic position of first determining unit according to user preset, it is determined that described Before the hemisphere that imaging device is currently located at, receive the user and input the target geographic position.
31. system according to claim 30, it is characterised in that the display module is additionally operable to, is filled by the imaging The display interface put shows at least one address location；
Accordingly, the receiving module is specifically for user is according to the display interface for reception, defeated to the target geographic position What is entered chooses operation.
32. the system according to claim any one of 26-31, it is characterised in that second determining unit specifically for：
If the imaging device is located at the Northern Hemisphere, it is determined that the direction of rotation and the earth rotation are in opposite direction；
If the imaging device is located at the Southern Hemisphere, it is determined that the direction of rotation is identical with the earth rotation direction.
33. system according to claim 23, it is characterised in that first adjustment module include the first adjustment unit and Second adjustment unit, wherein,
First adjustment unit is used for, and the elevation angle of the runing rest is adjusted according to the latitude value, so that described The angle of camera device and ground level is equal to the latitude value；
Second adjustment unit is used for, and the course angle of the runing rest is adjusted according to pre-configured orientation, so that described Camera device is parallel with earth's axis.
34. system according to claim 33, it is characterised in that the pre-configured orientation is positive north orientation or positive south orientation.
35. system according to claim 34, it is characterised in that first adjustment unit specifically for：
The camera device is adjusted, so that the camera device is parallel with the ground level；
The elevation angle of the runing rest is adjusted to the latitude value.
36. system according to claim 35, it is characterised in that be provided with inertial measuring unit in the camera device IMU, accordingly, first adjustment unit specifically for：
The elevation angle of the camera device is adjusted, until the elevation angle that the IMU is collected, the camera device is zero, So that the camera device is parallel with the ground level.
37. the system according to claim any one of 29-36, it is characterised in that
The receiving module is additionally operable to, and receives the rotary speed of user's input.
38. the system according to claim 37, it is characterised in that the system also includes the second determining module, wherein,
The receiving module is additionally operable to, and receives the target screening-mode of user's input；
Second determining module is used for, and the rotary speed is determined according to the target screening-mode.
39. the system according to claim 38, it is characterised in that
The display module is used for, and at least one screening-mode is shown by the display interface of the imaging device；
Accordingly, the receiving module is specifically for receiving user and the target screening-mode being inputted in the display interface Choose operation.
40. the system according to claim 38, it is characterised in that second determining module specifically for：
Obtain screening-mode and the corresponding relation of rotary speed；
According to the target screening-mode and the corresponding relation, the corresponding rotary speed of the target screening-mode is determined.
41. the system according to claim any one of 38-40, it is characterised in that second determining module specifically for：
If the screening-mode is starry sky screening-mode, it is determined that the rotary speed is equal to the earth rotation speed；
If the screening-mode is ground starry sky mixing screening-mode, it is determined that the rotary speed is more than zero and less than describedly The rotational velocity of ball.
42. the system according to claim 39, it is characterised in that
The display module is additionally operable to, and default input field is shown by the display interface of the imaging device；
Accordingly, the receiving module is specifically for receiving the rotary speed of the user in the default input field input.
43. the system according to claim any one of 29-42, it is characterised in that
The receiving module is additionally operable to, and before the location parameter that the acquisition module obtains rotary speed and imaging device, is connect The enabled instruction of user's input is received, the enabled instruction is used to indicate to start to be controlled the imaging device.
44. the system according to claim any one of 23-43, it is characterised in that the system also includes the 3rd and determines mould Block and the second adjustment module, wherein,
The receiving module is additionally operable to, and in the control module according to the direction of rotation and the rotary speed, control is described After runing rest is rotated, the mark of the target constellation of user's input is received；
3rd determining module is used for, and the positional information of the target constellation is determined according to the mark of the target constellation；
Second adjustment module is used for, and the runing rest is adjusted according to the positional information, so that the shooting The camera lens of device is just to the target constellation.
45. system according to claim 44, it is characterised in that second adjustment module specifically for：
According to the positional information, at least one angle in the angle of pitch of the camera device, course angle and roll angle It is adjusted, so that the camera lens of the camera device is just to the target constellation.
46. a kind of imaging device, it is characterised in that including a head, the camera device being arranged on the head, the head For driving the camera device to be moved with an at least runing rest, processor and motor are provided with the head, wherein,
The processor is used for, and obtains the location parameter of the imaging device；
The motor is used for, and the location parameter acquired according to the processor is carried out to the runing rest of the head Regulation, so that the camera device is parallel with earth's axis；
The processor is additionally operable to, and determines the direction of rotation of the runing rest；
The motor is additionally operable to, and the rotary speed of the obtained direction of rotation and user's selection is determined according to the processor, The runing rest is controlled to be rotated.
47. imaging device according to claim 46, it is characterised in that the processor specifically for：
Obtain the latitude value that the imaging device is presently in position.
48. imaging device according to claim 47, it is characterised in that the imaging device also includes the first global location System GPS module；
Accordingly, the processor by the first GPS module specifically for obtaining the latitude value.
49. imaging device according to claim 47, it is characterised in that the imaging device also includes communication interface, institute Processor is stated to be connected with the second GPS module by the communication interface；
Accordingly, the processor by the communication interface specifically for being obtained, being collected by second GPS module The latitude value.
50. imaging device according to claim 46, it is characterised in that the processor specifically for：
Determine the hemisphere that the imaging device is currently located at；
The hemisphere being currently located at according to imaging device, determines the direction of rotation of the runing rest.
51. imaging device according to claim 50, it is characterised in that the processor specifically for：
According to the location parameter, the hemisphere that the imaging device is currently located at is determined；
Or,
Obtain user preset, the hemisphere that the imaging device is currently located at；
Or,
According to the target geographic position of the user preset, the hemisphere that the imaging device is currently located at is determined.
52. imaging device according to claim 51, it is characterised in that the imaging device also includes input equipment, its In,
The input equipment is used for, the processor obtain user preset, hemisphere that the imaging device is currently located at it Before, receive the user and input the hemisphere that the imaging device is currently located at.
53. imaging device according to claim 52, it is characterised in that the imaging device also includes display device, its In,
The display device is used for, display Southern Hemisphere check boxes and Northern Hemisphere check boxes；
Accordingly, the input equipment is specifically for receiving the content that user shows according to the display device, to the imaging The hemisphere input that device is currently located at obtains choosing operation.
54. imaging device according to claim 53, it is characterised in that
The input equipment is additionally operable to, in target geographic position of the processor according to user preset, determines the imaging dress Put before the hemisphere being currently located at, receive the user and input the target geographic position.
55. imaging device according to claim 54, it is characterised in that
The display device is additionally operable to, and shows at least one address location；
Accordingly, the input equipment is specifically for receiving user at least one ground according to being shown the display device Location position, operation is chosen to what the target geographic position was inputted.
56. the imaging device according to claim any one of 50-55, it is characterised in that the processor specifically for：
If the imaging device is located at the Northern Hemisphere, it is determined that the direction of rotation and the earth rotation are in opposite direction；
If the imaging device is located at the Southern Hemisphere, it is determined that the direction of rotation is identical with the earth rotation direction.
57. the imaging device according to claim any one of 47-56, it is characterised in that the motor specifically for：
The elevation angle of the runing rest is adjusted the latitude value acquired according to the processor, so that described take the photograph As the angle of device and ground level is equal to the latitude value；
The course angle of the runing rest is adjusted according to pre-configured orientation, so that the camera device is put down with earth's axis OK.
58. imaging device according to claim 57, it is characterised in that the pre-configured orientation is positive north orientation or positive south orientation.
59. the imaging device according to claim 57 or 58, it is characterised in that the motor specifically for：
The camera device is adjusted, so that the camera device is parallel with the ground level；
The elevation angle of the runing rest is adjusted to the latitude value.
60. imaging device according to claim 59, it is characterised in that inertia measurement dress is provided with the camera device Put IMU, accordingly, the motor specifically for：
The elevation angle of the camera device is adjusted, until the elevation angle that the IMU is collected, the camera device is zero, So that the camera device is parallel with the ground level.
61. imaging device according to claim 54, it is characterised in that
The input equipment is additionally operable to, the direction of rotation and the user's choosing for determining to obtain according to the processor in the motor The rotary speed selected, before the control runing rest is rotated, receives the target screening-mode of user's input；
Accordingly, the processor is additionally operable to, and the rotary speed is determined according to the target screening-mode.
62. imaging device according to claim 61, it is characterised in that the input equipment is additionally operable to：
Receive the rotary speed of user's input.
63. imaging device according to claim 61, it is characterised in that
The display device is additionally operable to, at least one screening-mode of display；
Accordingly, the input equipment is used to receive at least one bat pattern that user shows according to the display device, to institute That states the input of target screening-mode chooses operation.
64. imaging device according to claim 61, it is characterised in that the processor specifically for：
Obtain screening-mode and the corresponding relation of rotary speed；
According to the target screening-mode and the corresponding relation, the corresponding rotary speed of the target screening-mode is determined.
65. the imaging device according to claim any one of 61-64, it is characterised in that
If the screening-mode is starry sky screening-mode, the processor is specifically for determining that the rotary speed is equal to described Earth rotation speed；
If the screening-mode is ground starry sky mixing screening-mode, the processor is specifically for determining the rotary speed More than zero and less than the rotational velocity of the earth.
66. the imaging device according to claim 63 or 64, it is characterised in that
The display device is additionally operable to, and default input field is shown by display interface；
Accordingly, the input equipment is additionally operable to, and receives the rotary speed of the user in the default input field input.
67. imaging device according to claim 53, it is characterised in that
The input equipment is additionally operable to, and before the location parameter that the processor obtains rotary speed and imaging device, is received The enabled instruction of user's input, the enabled instruction is used to indicate to start to be controlled the imaging device.
68. imaging device according to claim 53, it is characterised in that
The input equipment is additionally operable to, described in, according to the direction of rotation and the rotary speed, being controlled described in the motor After runing rest is rotated, the mark of the target constellation of user's input is received；
The processor is additionally operable to, and the positional information of the target constellation is determined according to the mark of the target constellation；
The motor is additionally operable to, and the runing rest is adjusted the positional information acquired according to the processor, with Make the camera lens of the camera device just to the target constellation.
69. imaging device according to claim 68, it is characterised in that the motor specifically for：According to the position Information, at least one angle in the angle of pitch of the camera device, course angle and roll angle is adjusted, so that institute The camera lens of camera device is stated just to the target constellation.
70. a kind of imaging device interactive device, it is characterised in that including input equipment and display device, wherein,
The display device is used for, and shows at least one operation instruction；
The input equipment is used for, and receives the object run instruction that user inputs according at least one described operation instruction；
The input equipment is additionally operable to, and sending the object run to the processor of the head indicates, so that the processor Indicated to control the motor of the head according to the object run so that the motor controls the runing rest of the head System.
71. imaging device interactive device according to claim 70, it is characterised in that at least one described control indicates bag Include at least one in following indicate：
Enabled instruction, seek star instruction, rotary speed option, southern hemisphere and northern hemisphere option, geographical position option, screening-mode option.
72. the imaging device interactive device according to claim 70 or 71, it is characterised in that the display device is specifically used In：
Receive at least one described operation instruction that the processor is sent；
At least one described operation instruction of display.
73. a kind of imaging device control device, imaging device includes a head, the camera device being arranged on head, the cloud Platform is used to drive the camera device to move with an at least runing rest, it is characterised in that the imaging device control device bag Processor and the memory for storing application program are included, the processor is used to read the application program in the memory, And perform following operation：
Obtain the location parameter of imaging device；
The runing rest for controlling the head according to the location parameter is adjusted, so that the camera device and earth rotation Axle is parallel；
Determine the direction of rotation of the runing rest；
The rotary speed selected according to the direction of rotation and user, controls the runing rest to be rotated.
74. the equipment according to claim 73, it is characterised in that the processor specifically for：
Obtain the latitude value that the imaging device is presently in position.
75. the equipment according to claim 74, it is characterised in that the processor specifically for：
The latitude value is obtained by the global position system GPS module inside the imaging device；
Or,
The latitude value is obtained by the GPS module being connected with the imaging device.
76. the equipment according to claim 73, it is characterised in that the processor specifically for：
Determine the hemisphere that the imaging device is currently located at；
The hemisphere being currently located at according to imaging device, determines the direction of rotation of the runing rest.
77. the equipment according to claim 76, it is characterised in that the processor specifically for：
According to the location parameter, the hemisphere that the imaging device is currently located at is determined；
Or,
Obtain user preset, the hemisphere that the imaging device is currently located at；
Or,
According to the target geographic position of the user preset, the hemisphere that the imaging device is currently located at is determined.
78. the equipment according to claim 77, it is characterised in that the imaging device control device is also set including input It is standby, accordingly, the processor specifically for：
Before the processor obtains user preset, the hemisphere that the imaging device is currently located at, set by the input It is standby to receive the hemisphere that user's input imaging device is currently located at.
79. the equipment according to claim 78, it is characterised in that the imaging device control device is also set including display Standby, accordingly, the processor is additionally operable to：
Southern Hemisphere check boxes and Northern Hemisphere check boxes are shown by the display device；
The content that user shows according to the display device is received by the input equipment, the imaging device is currently located at Hemisphere input obtain choosing operation.
80. the equipment according to claim 79, it is characterised in that the processor is additionally operable to：
In target geographic position of the processor according to user preset, determine hemisphere that the imaging device is currently located at it Before, the user is received by the input equipment and inputs the target geographic position.
81. the equipment according to claim 80, it is characterised in that the processor is additionally operable to：
At least one address location is shown by the display device；
The content that user shows according to the display device is received by the input equipment, the target geographic position is inputted Choose operation.
82. the equipment according to claim any one of 76-81, it is characterised in that the processor specifically for：
If the imaging device is located at the Northern Hemisphere, it is determined that the direction of rotation and the earth rotation are in opposite direction；
If the imaging device is located at the Southern Hemisphere, it is determined that the direction of rotation is identical with the earth rotation direction.
83. the equipment according to claim 73, it is characterised in that the processor specifically for：
The elevation angle for controlling the runing rest according to the latitude value is adjusted, so that the folder of the camera device and ground level Angle is equal to the latitude value；
The course angle for controlling the runing rest according to pre-configured orientation is adjusted, so that the camera device and earth's axis It is parallel.
84. the equipment according to claim 83, it is characterised in that the pre-configured orientation is positive north orientation or positive south orientation.
85. the equipment according to claim 84, it is characterised in that the processor specifically for：
The camera device is controlled to be adjusted, so that the camera device is parallel with the ground level；
The elevation angle of the runing rest is controlled to be adjusted, so that the elevation angle of the runing rest is equal to the latitude value.
86. the equipment according to claim 85, it is characterised in that be provided with inertial measuring unit in the camera device IMU, accordingly, the processor specifically for：
The elevation angle of the camera device is controlled to be adjusted, until the elevation angle that the IMU is collected, the camera device is Zero, so that the camera device is parallel with the ground level.
87. the equipment according to claim any one of 79-86, it is characterised in that the processor is additionally operable to, by described Input equipment receives the rotary speed of user's input.
88. the equipment according to claim 87, it is characterised in that the processor is additionally operable to：
The target screening-mode that user inputs is received by the input equipment；
The rotary speed is determined according to the target screening-mode.
89. the equipment according to claim 88, it is characterised in that the processor is additionally operable to：
At least one screening-mode is shown by the display device；
The content that user shows according to the display device is received by the input equipment, the target screening-mode is inputted Choose operation.
90. the equipment according to claim 88, it is characterised in that the processor specifically for：
Obtain screening-mode and the corresponding relation of rotary speed；
According to the target screening-mode and the corresponding relation, the corresponding rotary speed of the target screening-mode is determined.
91. the equipment according to claim any one of 88-90, it is characterised in that the processor specifically for：
If the screening-mode is starry sky screening-mode, it is determined that the rotary speed is equal to the earth rotation speed；
If the screening-mode is ground starry sky mixing screening-mode, it is determined that the rotary speed is more than zero and less than describedly The rotational velocity of ball.
92. the equipment according to claim 89, it is characterised in that the processor is additionally operable to：
Default input field is shown by the display device；
The rotary speed that user inputs in the default input field is received by the input equipment.
93. the equipment according to claim any one of 79-92, it is characterised in that
The processor is additionally operable to, and before the location parameter that the processor obtains rotary speed and imaging device, passes through institute The enabled instruction that input equipment receives user's input is stated, the enabled instruction is used to indicate to start to control the imaging device System.
94. the equipment according to claim any one of 78-93, it is characterised in that the processor is additionally operable to：
In the processor according to the direction of rotation and the rotary speed, after the control runing rest is rotated, The mark for the target constellation that user inputs is received by the input equipment；
The positional information of the target constellation is determined according to the mark of the target constellation；
The runing rest is controlled to be adjusted according to the positional information, so that the camera lens of the camera device is just to the mesh Mark constellation.
95. the equipment according to claim 94, it is characterised in that the processor specifically for：
According to the positional information, at least one angle in the angle of pitch, course angle and the roll angle of the camera device is controlled Degree is adjusted, so that the camera lens of the camera device is just to the target constellation.
CN201680003159.6A 2016-08-22 2016-08-22 Imaging apparatus control method, system and equipment Expired - Fee Related CN107077155B (en)

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