CN109474783B - Environment light field acquisition system and method - Google Patents
Environment light field acquisition system and method Download PDFInfo
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- CN109474783B CN109474783B CN201811377054.4A CN201811377054A CN109474783B CN 109474783 B CN109474783 B CN 109474783B CN 201811377054 A CN201811377054 A CN 201811377054A CN 109474783 B CN109474783 B CN 109474783B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
- H04N23/661—Transmitting camera control signals through networks, e.g. control via the Internet
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
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Abstract
An environment light field acquisition system comprises a light field acquisition device and a client, wherein the light field acquisition device receives remote control of the client, provides a spherical shooting condition for a camera and realizes acquisition of an environment light field of a spherical surface with a variable radius; and the client is used for remotely controlling the horizontal angle rotation motion, the elevation angle rotation motion and the shooting of the light field acquisition device according to the operation of a user. The invention also provides an environmental light field acquisition method, which adopts the two-degree-of-freedom mechanical arm to mount the light field acquisition device of the camera, so that the camera moves according to a preset track, acquires images of different angles of a scene, provides an interface for remote control through web service, has variable acquisition spherical radius, fully-automatic shooting process and supports remote control, can reduce the operation difficulty of light field acquisition, reduce equipment cost and improve acquisition precision.
Description
Technical Field
The invention relates to the technical field of environmental light field acquisition, in particular to an environmental light field acquisition system and an environmental light field acquisition method.
Background
The light field acquisition and modeling technology is an important technology for three-dimensional digital modeling and reproduction of a real scene. And recording light information of each position and direction in a scene during light field acquisition, and generating a new image through digital processing according to the viewpoint and imaging model information during drawing. Compared with the traditional virtual reality modeling and drawing method for shooting the environment panoramic image, the light field model can provide experience of 6-degree-of-freedom roaming in a scene, has stronger immersion and space senses, and can provide visual space perception for a viewer; compared with the traditional three-dimensional geometric modeling and real-time drawing method, the light field acquisition and modeling method can show the real interaction between objects of different materials and light in the environment, and can vividly restore and reproduce real scenes. Therefore, the collected environment light field has wide application in the fields of movie and television entertainment, cultural transmission, cultural relic protection, smart cities and the like. In the prior art, there are several main ways for collecting the light field:
camera arrays, such as planar camera arrays and spherical camera arrays, generally use dozens to hundreds of cameras arranged in a certain manner, simultaneously acquire photos or videos of a scene from different positions, require special acquisition hardware, and are high in cost and large in size;
a special micro-lens array is added in front of the sensor to construct a special camera, so that light field images or videos in a certain range of a scene can be collected, only a light field in a smaller range can be collected, and the manufacturing cost of equipment is very high;
a single camera is moved, and images of objects or scenes are shot from multiple positions, so that the requirements on the operation skills of acquisition personnel are high, the acquisition time is long, and time and labor are wasted.
Disclosure of Invention
In order to solve the defects of the prior art, the invention provides an environmental light field acquisition system and an environmental light field acquisition method.
In order to achieve the above object, the present invention provides an ambient light field acquisition system, comprising a light field acquisition device and a client, wherein,
the light field acquisition device receives remote control of the client, provides a spherical shooting condition for the camera and realizes acquisition of an environment light field of a spherical surface with a variable radius;
and the client is used for remotely controlling the horizontal angle rotation motion, the elevation angle rotation motion and the shooting of the light field acquisition device according to the operation of a user.
Further, the client is an intelligent mobile terminal or a personal computer.
Further, the light field acquisition device comprises a supporting structure, a horizontal angle rotating structure, an elevation angle rotating structure, a numerical control unit and a communication interface unit, wherein,
the supporting structure raises the sphere center of the shooting spherical surface to the height of human eyes;
the horizontal angle rotating structure provides the rotating freedom degree of the horizontal plane for the light field acquisition device;
the elevation angle rotating structure provides the vertical plane rotating freedom degree for the light field acquisition device;
and the numerical control unit is used for carrying out information interaction with the client through the communication interface unit, receiving the client request and controlling the horizontal rotation and elevation rotation of the light field acquisition device and the shooting of a camera.
Further, the numerical control unit comprises a motor control module, a camera control module and a power supply unit, wherein,
the motor control module controls horizontal rotation and elevation rotation of the light field acquisition device;
the camera control module controls the camera to temporarily shoot at each level;
the power supply unit supplies power to the motor and the driver of the motor.
Further, the supporting structure comprises a telescopic bottom bracket and a door-shaped bracket, and supporting and installing spaces are provided for the horizontal angle rotating structure and the elevation angle rotating structure.
Further, horizontal angle revolution mechanic includes, horizontal angle rotating electrical machines, spirit level, horizontal rotating platform, wherein, horizontal angle rotating electrical machines with the spirit level fixed mounting in horizontal rotating platform's upper surface, power supply unit place in horizontal rotating platform upper surface, in the middle of bearing structure's the door type support.
Furthermore, the horizontal rotating platform further comprises an upper shell of the horizontal rotating platform, a gearwheel, a pinion, a middle shaft, a bearing, a self-locking nut washer, a bearing, a lower shell of the horizontal rotating platform and a bottom bracket adapter, wherein,
the bottom support adapter, the lower shell of the horizontal rotating table and the large gear are fixed together and are installed on the telescopic bottom support through the bottom support adapter;
the bearing is clamped at one side close to the outside in the lower shell of the horizontal rotating table and is nested between the middle shaft and the large gear;
the upper shell of the horizontal rotation platform is fixed on the middle shaft, the horizontal angle rotating motor is installed on the upper surface of the upper shell of the horizontal rotation platform, and the gear is installed on a rotating shaft of the horizontal angle rotating motor.
Furthermore, the elevation angle rotating structure comprises an elevation angle rotating motor, a motor mounting plate, a small belt wheel, a synchronous belt, a large belt wheel, a connecting shaft, a rotating arm, a linear guide rail, a telescopic arm, a camera fixing connecting piece, a camera fixing module and a camera,
the small belt wheel, the synchronous belt and the large belt wheel jointly form a speed reduction ratio 1: 5, providing enough torque force for the rotating arm;
the connecting shaft piece fixes the rotating arm and the large belt wheel; the two ends of the rotating arm are respectively provided with the linear guide rail;
the telescopic arm is mounted on the linear guide rail, and the camera fixing module is mounted at the tail end of the telescopic arm through the camera fixing connecting piece;
the small belt wheel drives the gear belt and the large belt wheel to form a kinematic pair, and then the rotary motion of the large belt wheel is coaxially transmitted to the rotating arm through the connecting shaft piece, so that the camera at the tail end of the arm can move along a circular track of a vertical plane.
In order to achieve the above object, the present invention further provides a light field collecting method, comprising the steps of,
the client receives the input of a user and sets acquisition range parameters;
the client side collects the running state information of the light field collecting device;
and the light field acquisition device receives the remote control of the client, adjusts the horizontal rotation angle and the elevation rotation angle and acquires the light field.
Further, the acquisition range parameters include azimuth interval, elevation interval, azimuth acquisition range, and elevation acquisition range.
Further, the running state information of the light field acquisition device comprises the current position of the motor, the speed, the sensor input, the acquisition completion percentage and the predicted remaining time.
Furthermore, the light field acquisition device receives remote control of the client, adjusts the horizontal rotation angle and the elevation rotation angle, and performs light field acquisition, including:
azimuth interval according to user-given sampling
And elevation angle interval
And azimuth angle acquisition range
And elevation angle acquisition range
The inner layer and the outer layer circularly control the rotation of the mechanical arm;
the inner layer circulates, the horizontal azimuth angle is adjusted, and each layer rotates together
Second, odd layers each time rotating horizontally
Degree, each horizontal rotation degree of the even layers; the outer layer circularly adjusts the elevation angle and rotates together
One time, one rotation
Degree; and when the motor rotates in place, initiating a camera shutter command request, and entering the next cycle.
According to the system and the method for acquiring the environmental light field, the light field acquisition device of the camera is mounted by the two-degree-of-freedom mechanical arm, so that the camera moves according to the preset track, images of different angles of a scene are acquired, an interface is provided through web service for remote control, the acquisition spherical radius is variable, the shooting process is fully automatic, remote control is supported, the difficulty of light field acquisition operation is reduced, the equipment cost is reduced, and the acquisition precision is improved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of a remote control environment light field acquisition system according to the present invention;
FIG. 2 is a schematic perspective view of a light field collecting device according to the present invention;
FIG. 3 is a side view of a light field collection device according to the present invention;
FIG. 4 is a schematic view of a horizontal rotation stage of the light field collection device according to the present invention;
fig. 5 is a flowchart of an ambient light field acquisition method according to the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
Fig. 1 is a schematic structural diagram of a remote control environment light field acquisition system according to the present invention, and as shown in fig. 1, the remote control environment light field acquisition system of the present invention comprises a light field acquisition device 10 and a client 20, wherein,
and the light field acquisition device 10 receives the control of the remote client 20, provides a spherical shooting condition for the camera, and realizes the high-efficiency acquisition of the environmental light field of the spherical surface with variable radius.
A client 20 for implementing a Web service-based remote control microservice; the Web-based HTML5 static page provides a remote control user interface for a user, submits a request to the remote control microservice of the light field acquisition device 10 according to the operation of the user, and remotely controls the movement and shooting of the light field acquisition device 10. Preferably, the client 20 of the present invention is an intelligent mobile terminal or a personal computer, including a smart phone, a tablet computer, and the like.
The motion of the light field acquisition device 10 includes a horizontal angular rotational motion, and an elevation rotational motion.
The light field acquisition device 10 of the present invention comprises a support structure, a horizontal angle rotation structure, an elevation angle rotation structure, a numerical control unit, and a communication interface unit, wherein,
and the supporting structure raises the sphere center of the shooting spherical surface to be near the height of human eyes.
And the horizontal angle rotating structure provides the rotation freedom degree of the horizontal plane for the structures of the light field acquisition device except the bottom supporting structure.
The elevation angle rotating structure comprises a telescopic mechanical arm and a camera fixing device, and can provide the mechanical arm and the camera fixing device with the rotation freedom degree of a vertical plane.
The horizontal angle rotating structure and the elevation angle rotating structure are matched with each other, a spherical shooting condition is provided for the camera, and high-efficiency spherical environment light field collection with variable radius is achieved.
And the numerical control unit receives a request of the remote client 20 through the communication interface unit, and controls horizontal rotation, elevation rotation and shooting of the camera of the light field acquisition device 10.
The numerical control unit of the present invention comprises:
the invention relates to a motor control module, which uses an embedded control terminal as a main control chip, transmits motion control instructions to two stepping motor drivers for controlling different directions through an RS485 bus, and controls the horizontal rotation and the elevation rotation of a light field acquisition device 10.
The camera control module uses the embedded control terminal, leads out a DuPont wire from a general input/output port, and triggers the shutter by using a level trigger camera controller. The camera control module controls the camera to temporarily take a photograph at each level.
The power supply unit uses the storage battery as a main power supply to supply power to the motor and the driver thereof. Meanwhile, after the voltage of the storage battery is reduced by the voltage reduction module, the embedded control terminal and the camera are respectively charged.
Fig. 2 is a schematic perspective view of a light field collecting device according to the present invention, fig. 3 is a side view of an ambient light field collecting device according to the present invention, as shown in fig. 2-3, the light field collecting device of the present invention comprises a telescopic bottom bracket 1, a camera fixing module 2, a camera fixing connector 3, a horizontal angle rotating motor 4, a telescopic arm 5, an elevation angle rotating motor 6, a linear guide 7, a camera 8, a large pulley 9, a synchronous belt 11, a gate bracket 12, a power supply 13, a level gauge 14, a horizontal rotating table 15, a motor mounting plate 16, a rotating arm 17, a connecting shaft 18, and a small pulley 19, wherein,
the telescopic bottom support 1 and the door-shaped support 12 form a supporting mechanism of the light field acquisition device, the telescopic bottom support 1 adopts a surveying and mapping tripod, and the door-shaped support 12 adopts three aluminum profiles. The main function of the supporting structure is to raise the center of the shooting sphere to the height of human eyes, and provide supporting and installing space for the parts of the horizontal angle rotating part and the elevation angle rotating part.
The horizontal angle rotating motor 4, the power supply 13, the level 14 and the horizontal rotating platform 15 form a horizontal angle rotating structure of the light field acquisition device, the horizontal angle rotating motor 4 and the level 14 are fixedly arranged on the upper surface of the horizontal rotating platform 15, and the power supply 13 is arranged on the upper surface of the horizontal rotating platform and in the middle of the door-shaped support 12.
The elevation angle rotating structure of the light field acquisition device comprises an elevation angle rotating motor 6, a motor mounting plate 16, a small belt wheel 19, a synchronous belt 11, a large belt wheel 9, a connecting shaft 18, a rotating arm 17, a linear guide rail 7, a telescopic arm 5, a camera fixing connecting piece 3, a camera fixing module 2 and a camera 8. The small pulley 19, the timing belt 11, and the large pulley 9 together constitute a reduction ratio 1: 5, providing enough torque force for the rotating arm. The coupling 18 fixes the rotation axis of the rotation arm 17 coaxially with the large pulley 9. 2 linear guide 7 are fixedly installed at the two ends of the arm of the rotating arm 17, a telescopic arm 5 is installed on a self-locking sliding block of the linear guide 7, and a camera fixing module 2 is installed at the tail end of the telescopic arm 5 through a camera fixing connecting piece 3. The self-locking sliding block on the linear guide rail 7 can be manually adjusted in position to achieve the effect of extending the telescopic arm 5 to different positions, and the camera fixing module 2 has the functions of freely mounting and dismounting a camera. When the elevation angle rotating motor 6 starts to move, the small belt wheel 19 drives the gear belt 11 and the large belt wheel 9 to form a kinematic pair, and then the rotary motion of the large belt wheel 9 is coaxially transmitted to the rotating arm 17 through the connecting shaft 18, so that the camera 8 at the tail end of the arm can move along a circular track of a vertical plane.
On the rotating arm 17, a positioning photoelectric sensor (not shown in the figure) is further mounted, and the position of the rotating arm is determined as an initial position at each initialization.
Fig. 4 is a schematic structural view of a horizontal rotation stage of a light field collecting device according to the present invention, as shown in fig. 3, the horizontal rotation stage of the light field collecting device of the present invention comprises an upper shell 24 of the horizontal rotation stage, a large gear 23, a small gear 25, a middle shaft 22, a bearing 26, a self-locking nut washer 21, a bearing 20, a lower shell 27 of the horizontal rotation stage, and a bottom bracket adaptor 28, wherein,
the bottom bracket adapter 28, the lower housing 27 of the horizontal rotation stage and the large gear 23 are fixed together by screws and the parts are mounted to the telescopic bottom bracket 1 by the bottom bracket adapter 28. The bearing 20 is clamped at the inner outer side of the lower shell and bears the longitudinal torque force of the rotation of the device. The bearing 26 for bearing the transverse torque force is nested between the middle shaft 22 and the large gear 23 through interference fit, and the self-locking nut washer 21 further fastens the bearing 26 at the fixed position of the middle shaft 22. The upper shell 24 is fixed on the middle shaft 22 through four screw holes in the middle, the horizontal angle rotating motor 4 is inversely installed on the upper surface of the upper shell 24, and the gear 25 is installed on the rotating shaft of the motor on the other side, so that the installation of the horizontal rotating platform 15 is completed. When the horizontal angle rotating motor rotates, the small gear 25 and the large gear 23 generate relative motion to drive the horizontal angle rotating motor 4, the upper shell 24, the middle shaft 22 and all structures arranged on the upper shell to generate horizontal rotation around the circular central shaft of the large gear.
After the position of the telescopic arm 5 is fixed, the camera 8 can move on a spherical surface with a fixed radius through the matching motion of the horizontal angle rotating structure and the elevation angle rotating structure, so that the behavior of acquiring the spherical environmental light field is realized.
The numerical control unit of the invention uses an embedded control terminal as a main controller, and motion control is carried out on two stepping motors by a stepping motor driver. The embedded control terminal transmits control signals to the stepping motor drivers through the RS485 communication bus, so that the stepping motor drivers respectively drive the stepping motors which are controlled by the embedded control terminal. The two stepping motors are driven to respectively drive the vertical plane and the horizontal plane to move. The specific movement mode is as follows: the stepping motor drives the vertical surface direction horizontal rotating platform to move for 5 degrees and then the horizontal surface direction moves. Two mechanical arm structures are used in the horizontal plane direction, 5 degrees are taken as a unit, the movement is from the initial position to the vertical direction, and each basic unit is used for controlling the camera to shoot once through the embedded control terminal.
The invention modifies the special controller for the camera to a certain extent. The specific modification scheme is that the low level position of a four-pin light touch switch below the camera special controller is led out to be connected with GND of the embedded type micro terminal, and meanwhile, the high level pin is led out to be connected with a general input/output interface of the embedded type micro terminal. So that the shutter trigger of the camera specific controller is controlled by the embedded control terminal. In order to prevent the problem that the camera stops shooting due to insufficient electric quantity in the shooting process, a 24V-5V direct current voltage reduction module is used for charging the camera after the voltage reduction processing is carried out on the storage battery.
In the embodiment, the embedded control terminal used in the invention is Raspberry Pi 3B, and the shooting device used in the invention is Gopro Hero 5.
Fig. 5 is a flowchart of an ambient light field acquisition method according to the present invention, and the ambient light field acquisition method of the present invention will be described in detail with reference to fig. 5.
First, in step 501, the client 10 initializes, starts, stops, and sets acquisition range parameters.
In this step, the client 10 writes a script using JavaScript, and when the user clicks a function button such as start, stop, etc. in the user interface, connects the acquisition control Web service with the xmlprc client library according to the parameters set by the user and the required device action, and initiates a control request.
In step 502, the client 10 acquires the operation state information of the light field acquisition device 20.
In this step, the client 10 initiates a status query request to the acquisition control Web service at a certain time interval to obtain the running status information of the current motor, such as position, speed, sensor input, etc.; if the collection process is in progress, the collection completion percentage and the estimated remaining time are inquired at the same time.
In step 502, the light field acquisition device 20 receives and analyzes the remote control command from the client 10, and adjusts the horizontal rotation angle and the elevation rotation angle according to the acquisition range parameters given by the user to perform light field acquisition.
In this step, the optical field acquisition device 20 controls the mechanical arm to rotate and adjusts the azimuth angle and the elevation angle according to the azimuth angle interval, the elevation angle interval, the azimuth angle acquisition range and the elevation angle acquisition range of the sample given by the user.
The embodiment of the invention provides a remote control environment light field acquisition method, which comprises the following steps:
two threads are realized, wherein the thread 1 is a motor and camera communication thread, and the thread 2 is a control logic thread;
the embedded system and the VDSM motor driver are realized in the thread 1 based on a serial port communication python program, after a user instruction is obtained, the instruction is decomposed and translated into instruction character strings of initialization, parameter setting, enabling, accelerated rotation, uniform rotation, decelerated rotation, shutdown and the like according to a motor driver protocol;
sending a command character string specified by a user to each motor driver through a serial port, and then synchronously reading a feedback byte stream of the motor drivers;
analyzing a feedback byte stream of the VDSM motor driver according to a motor driving communication protocol to obtain the current running states of the motor, such as position, speed, sensor input and the like;
storing the running state of each motor in a thread-safe data structure;
and a communication python program between the embedded system and the TTL camera shutter release control circuit is realized in the thread 1, after a shutter instruction of the control logic program is obtained, a high-level control signal is sent to the TTL control circuit through a serial port, a given time is kept, a low-level signal is recovered, and a shutter is triggered.
Control logic for light field acquisition in thread 2, according to the azimuth interval of the user-given sample
And elevation angle interval
And azimuth angle acquisition range
And elevation angle acquisition range
Controlling the mechanical arm to rotate by using a double circulation; the inner layer circularly adjusts the horizontal azimuth angle, and each layer rotates together
Second, odd layers each time rotating horizontally
Degree, even numberEach horizontal rotation degree of the layer; the outer layer circularly adjusts the elevation angle and rotates together
One time, one rotation
Degree; each rotation initiates a rotation instruction request to the thread 1, and then the motor state stored in the thread safety state data structure is read, and the motor rotation is waited for; when the motor rotates in place, a camera shutter instruction request is sent to the thread 1, then a plurality of times of shutter time (for example, 3 times of shutter time) is waited, and the camera enters the next cycle after finishing picture acquisition.
The embodiment of the invention provides a method for packaging an acquisition control program interface into Web service, which comprises the following steps:
establishing Web service by using an xmlrpc server module of python 3 on an embedded system;
allowing a cross-domain CORS request in the server-side program setting to allow a Web client-side page to be directly called;
registering logic interfaces initialized, set the rotating acquisition range and interval, started and stopped in the remote control program as a Web service remote call function;
and starting the Web service, and monitoring a network designated port p 0.
The embodiment of the invention provides a method for remotely controlling a Web user interface by a collection device, which comprises the following steps:
constructing a static user interface page by using HTML (hypertext markup language), wherein the class comprises input HTML controls for starting, stopping, setting acquisition range parameters and the like, and various operation state indication controls of an acquisition device;
writing a script by using JavaScript, and connecting an acquisition control Web service by using an xmlprc client library to initiate a control request according to parameters set by a user and required device actions when the user clicks functional buttons such as start and stop in a user interface; initiating a state query request to an acquisition control Web service at a certain time interval in a JavaScript script to obtain running state information such as the position, the speed, the sensor input and the like of the current motor; if the acquisition process is in progress, the acquisition completion percentage and the estimated remaining time are inquired at the same time;
updating a corresponding system state indication control in a client HTML page;
and starting nginx or similar Web server programs in the embedded system, monitoring an HTTP default 80 port, and issuing the user interface page as a default page.
The invention discloses a remote control environment light field acquisition system and a remote control environment light field acquisition method. The light field acquisition device realizes the light field acquisition function of the spherical surface of a small number of cameras through the rotation of two degrees of freedom, and an operator can log in an operation webpage by using a mobile phone or a computer to remotely operate the device. The mechanical arm can accurately acquire the light field information of the environment under the control of the embedded control terminal.
Those of ordinary skill in the art will understand that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (11)
1. An environment light field acquisition system comprises a light field acquisition device and a client, and is characterized in that,
the light field acquisition device receives remote control of the client, provides a spherical shooting condition for the camera and realizes acquisition of an environment light field of a spherical surface with a variable radius;
the light field acquisition device comprises an elevation angle rotating structure, and the elevation angle rotating structure provides the light field acquisition device with the rotating freedom degree of a vertical plane;
the elevation angle rotating structure comprises an elevation angle rotating motor, a motor mounting plate, a small belt wheel, a synchronous belt, a large belt wheel, a connecting shaft piece, a rotating arm, a linear guide rail, a telescopic arm, a camera fixing connecting piece, a camera fixing module and a camera,
the small belt wheel, the synchronous belt and the large belt wheel jointly form a speed reduction ratio 1: 5, providing enough torque force for the rotating arm;
the connecting shaft piece fixes the rotating arm and the large belt wheel; the two ends of the rotating arm are respectively provided with the linear guide rail;
the telescopic arm is mounted on the linear guide rail, and the camera fixing module is mounted at the tail end of the telescopic arm through the camera fixing connecting piece;
the small belt wheel drives the gear belt and the large belt wheel to form a kinematic pair, and then the rotary motion of the large belt wheel is coaxially transmitted to the rotary arm through the connecting shaft piece, so that the camera at the tail end of the arm can move along a circular track of a vertical plane;
and the client is used for remotely controlling the horizontal angle rotation motion, the elevation angle rotation motion and the shooting of the light field acquisition device according to the operation of a user.
2. The ambient light field acquisition system according to claim 1, wherein the client is a smart mobile terminal or a personal computer.
3. The ambient light field acquisition system according to claim 1, wherein the light field acquisition device further comprises a support structure, a horizontal angular rotation structure, a numerical control unit, and a communication interface unit, wherein,
the supporting structure raises the sphere center of the shooting spherical surface to the height of human eyes;
the horizontal angle rotating structure provides the rotating freedom degree of the horizontal plane for the light field acquisition device;
and the numerical control unit is used for carrying out information interaction with the client through the communication interface unit, receiving the client request and controlling the horizontal rotation and elevation rotation of the light field acquisition device and the shooting of a camera.
4. The ambient light field acquisition system according to claim 3 wherein the numerical control unit comprises a motor control module, a camera control module and a power supply unit, wherein,
the motor control module controls horizontal rotation and elevation rotation of the light field acquisition device;
the camera control module controls the camera to temporarily shoot at each level;
the power supply unit supplies power to the motor and the driver of the motor.
5. The ambient light field acquisition system according to claim 3 wherein the support structure, including a telescoping bottom bracket and a gantry bracket, provides support and mounting space for the horizontal and elevation rotation structures.
6. The ambient light field collection system according to claim 4, wherein the horizontal rotation structure comprises a horizontal rotation motor, a level meter, and a horizontal rotation platform, wherein the horizontal rotation motor and the level meter are fixedly mounted on an upper surface of the horizontal rotation platform, and the power supply unit is disposed between the upper surface of the horizontal rotation platform and the door-shaped support of the support structure.
7. The ambient light field acquisition system of claim 5 wherein the horizontal rotation stage further comprises a horizontal rotation stage upper housing, a bull gear, a pinion gear, a central shaft, a bearing, a self-locking nut washer, a bearing, a horizontal rotation stage lower housing, a bottom bracket adapter, wherein,
the bottom support adapter, the lower shell of the horizontal rotating table and the large gear are fixed together and are installed on the telescopic bottom support through the bottom support adapter;
the bearing is clamped at one side close to the outside in the lower shell of the horizontal rotating table and is nested between the middle shaft and the large gear;
the upper shell of the horizontal rotation platform is fixed on the middle shaft, the horizontal angle rotating motor is installed on the upper surface of the upper shell of the horizontal rotation platform, and the gear is installed on a rotating shaft of the horizontal angle rotating motor.
8. An ambient light field acquisition method applied to the ambient light field acquisition system according to any one of claims 1 to 7, comprising the steps of:
the client receives the input of a user and sets acquisition range parameters;
the client side collects the running state information of the light field collecting device;
and the light field acquisition device receives the remote control of the client, adjusts the horizontal rotation angle and the elevation rotation angle and acquires the light field.
9. The ambient light field acquisition method according to claim 8, wherein the acquisition range parameters include azimuth interval, elevation interval, azimuth acquisition range, and elevation acquisition range.
10. The ambient light field acquisition method according to claim 8 wherein the operational status information of the light field acquisition device includes current motor position, speed, sensor input, acquisition completion percentage, and estimated time remaining.
11. The method for acquiring the ambient light field according to claim 8, wherein the step of receiving the remote control of the client by the light field acquisition device, adjusting the horizontal rotation angle and the elevation rotation angle, and performing the light field acquisition comprises:
azimuth interval according to user-given sampling
And elevation angle interval
And azimuth angle acquisition range
And elevation angle acquisition range
The inner layer and the outer layer circularly control the rotation of the mechanical arm;
the inner layer circulates, the horizontal azimuth angle is adjusted, and each layer rotates together
Second, odd layers each time rotating horizontally
Degree, each horizontal rotation degree of the even layers; the outer layer circularly adjusts the elevation angle and rotates together
One time, one rotation
Degree; and when the motor rotates in place, initiating a camera shutter command request, and entering the next cycle.
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| CN116449642B (en) * | 2023-06-19 | 2023-08-29 | 清华大学 | Immersion type light field intelligent sensing calculation system, method and device |
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