CN111043458A - Electric lifting mobile tracking shooting holder and tracking shooting method - Google Patents
Electric lifting mobile tracking shooting holder and tracking shooting method Download PDFInfo
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- CN111043458A CN111043458A CN201911065777.5A CN201911065777A CN111043458A CN 111043458 A CN111043458 A CN 111043458A CN 201911065777 A CN201911065777 A CN 201911065777A CN 111043458 A CN111043458 A CN 111043458A
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- 230000007246 mechanism Effects 0.000 claims abstract description 67
- 230000033001 locomotion Effects 0.000 claims abstract description 28
- 238000001514 detection method Methods 0.000 claims abstract description 5
- 238000005070 sampling Methods 0.000 claims abstract description 3
- 230000001360 synchronised effect Effects 0.000 claims description 8
- 239000003638 chemical reducing agent Substances 0.000 claims description 7
- 230000005236 sound signal Effects 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 3
- 239000000284 extract Substances 0.000 claims description 2
- 230000003028 elevating effect Effects 0.000 description 12
- 238000010586 diagram Methods 0.000 description 5
- 238000003384 imaging method Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
- F16M11/046—Allowing translations adapted to upward-downward translation movement
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/08—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a vertical axis, e.g. panoramic heads
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
- F16M11/38—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other by folding, e.g. pivoting or scissors tong mechanisms
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B17/00—Details of cameras or camera bodies; Accessories therefor
- G03B17/56—Accessories
- G03B17/561—Support related camera accessories
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Accessories Of Cameras (AREA)
- Studio Devices (AREA)
Abstract
The invention discloses an electric lifting mobile tracking shooting holder, which comprises a tracking shooting holder and a host processing system. The tracking shooting pan-tilt comprises: the camera supporting platform is used for bearing a main camera; the precise lifting mechanism is used for precise lifting positioning and physical anti-shaking; the holder rotation platform is used for horizontally rotating the bearing precision lifting mechanism; the quick lifting mechanism is used for quickly lifting and positioning; and the vehicle body is moved for large-range moving tracking shooting. The host processing system is used for receiving the audio and video signals of the camera, sampling the video signals, detecting and positioning the video signals by using a target tracking algorithm, outputting control signals according to the detection and positioning results, and controlling the relative motion of the movable vehicle body, the precise lifting mechanism, the cradle head rotation platform, the rapid lifting mechanism and the camera to realize tracking shooting. The invention tracks and positions the motion amplitude and direction of the shooting target, and enhances the intelligent degree of tracking shooting by combining the multi-stage motion adjustment of the cradle head.
Description
Technical Field
The invention belongs to a mobile tripod head device, and particularly relates to an electric lifting mobile tracking shooting tripod head and a tracking shooting method.
Background
With the updating of the camera shooting technology, the shooting requirement is higher and higher, the traditional tripod head is generally fixed on a fixed mounting bracket, and basically has horizontal rotation and pitching freedom degrees, so that the simple shooting requirement can be met, but the requirement of large-range moving shooting of a shooting target is difficult to meet, and the shooting target is always focused on the center of a picture intelligently, for example, when the shooting target is quickly close to a camera or moves up and down, the traditional tripod head enables the shooting target to be positioned at the shooting center through horizontal and pitching adjustment, but because the tripod head is not movable, the poor imaging effects of the shooting target such as small and large shooting target, small and large and small imaging are inevitable; therefore, some handheld tracking shooting holders are gradually developed, such as those in OSMO (open service mobile phone), shadow and the like, but the products of the type can bear little load and are manually controlled, and the effects of heavy load, automatic tracking and the like cannot be well realized.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide an electric elevating mobile tracking shooting pan-tilt and a tracking shooting method, which adopt a solution of elevating mobile tracking shooting, can realize automatic tracking shooting, and has a shooting function that a target is always at the center of a shooting picture and the picture proportion is appropriate.
The specific technical scheme of the invention is as follows: the utility model provides a cloud platform is shot in electronic lift mobile tracking, includes:
the camera supporting platform is used for bearing a camera;
the precise lifting mechanism is carried with the camera supporting platform and is used for providing precise lifting adjustment for bearing the camera when the camera shakes when a shooting target moves up and down in a small amplitude or a moving vehicle body moves;
the holder rotation platform bears the precision lifting mechanism and is used for horizontally rotating the bearing precision lifting mechanism; the real-time cloud deck adjustment of camera shake caused by small-amplitude up and down movement of a shot target or movement of a moving vehicle body is carried out, so that the shot target is ensured to be focused on the center of a picture intelligently or the camera shake caused by movement of the camera is prevented from causing unclear imaging;
the fast lifting mechanism is used for providing fast lifting when a shooting target moves up and down fast, such as tracking shooting when standing up and squatting down;
the mobile vehicle body bears the rapid lifting mechanism and is used for providing rapid movement tracking shooting when a shooting target moves back and forth, left and right in a large range;
and the host processing system is used for receiving the audio and video signals of the camera, sampling the video signals, detecting and positioning the video signals by using a target tracking algorithm, and respectively transmitting output control signals to the mobile vehicle body, the precise lifting mechanism, the cradle head rotation platform, the rapid lifting mechanism and the camera according to the detection and positioning results so as to control the mobile vehicle body, the precise lifting mechanism, the cradle head rotation platform, the rapid lifting mechanism and the camera to perform relevant motion so as to realize tracking shooting.
And the client is used for displaying the current shooting picture transmitted by the host processing system and sending the shooting target to the host processing system.
Furthermore, the host processing system also encodes and encapsulates the received video and audio signals of the camera, stores the encoded and encapsulated video and audio signals locally through a hard disk interface, and transmits the encoded and encapsulated video and audio signals to a user through a WiFi network module so as to display a current shot picture.
Furthermore, when the shot object is quickly far away from the lens and quickly moves transversely, the movable vehicle body moves forwards, backwards, leftwards and rightwards according to the control of the host processing system, so that the camera tracks the shot object.
Furthermore, the quick lifting mechanism comprises a scissor mechanism and a driving device for driving the scissor mechanism to lift.
Furthermore, the driving device comprises a first motor, a worm wheel, a worm, a guide rod, a lead screw and a lead screw sliding block, wherein the lead screw and the guide rod are simultaneously installed on the upper base of the scissors mechanism, the lead screw sliding block is simultaneously installed on the guide rod and the lead screw, the lead screw is provided with the worm wheel, the worm and the lead screw are integrated, the worm wheel and the worm are in meshing transmission, and the worm wheel is installed on an output shaft of the first motor. The scissor mechanism is driven by the driving device to provide electric lifting, move, track and shoot the lifting of the tripod head quickly and stably. When the electric lifting mobile tracking shooting pan-tilt does not need to be used, the scissor fork mechanism can be retracted, and the quick lifting mechanism is protected.
Further, cloud platform rotation platform includes cloud platform base, cloud platform footstock, cloud platform motor, big band pulley, little band pulley, hold-in range, and cloud platform pedestal mounting is on quick elevating system's last base, and the platform motor is installed on cloud platform footstock, and little band pulley is installed in the pivot of cloud platform motor, and big band pulley is fixed on cloud platform base, rotates between cloud platform base and the cloud platform footstock to be connected, and pivot and big band pulley coaxial line, and little band pulley and big band pulley pass through the hold-in range and connect, realize synchronous accurate control.
Further, accurate elevating system includes second motor, harmonic speed reducer ware, accurate lead screw, bottom mount pad, top mount pad and accurate lead screw slider, top mount pad and bottom mount pad are fixed on the cloud platform footstock from last to down in proper order, and the both ends of accurate lead screw bear respectively on top mount pad and bottom mount pad, second motor and cloud platform footstock top fixed connection, and the second motor output shaft passes through the harmonic speed reducer ware and links to each other with accurate lead screw, and accurate lead screw slider cup joints on accurate lead screw, and accurate lead screw slider passes through the connecting block and is connected with camera supporting platform.
Further, camera supporting platform includes mounting panel and backup pad, and the mounting panel is installed on the connecting block, and backup pad fixed mounting is on the mounting panel. According to the needs of the field, the supporting plate of the camera supporting platform can be properly adjusted in height on the mounting plate of the camera supporting platform.
Furthermore, the host processing module comprises a host processing module, and a moving vehicle body control module, a cradle head control module, a camera control module and a WiFi network module which are respectively connected with the host processing module, wherein the moving vehicle body control module is connected with the moving vehicle body and is used for controlling the rotation of each Macnahme wheel so as to realize the front-back, left-right and oblique movement of the moving vehicle body; the holder control module is respectively connected with the first motor, the second motor and the holder motor and controls the positive and negative rotation of the motors; the camera control module is connected with the camera and controls the zooming of the focal length of the camera. On the other hand, the audio and video signals of the camera are encoded and packaged, stored locally through a hard disk interface and transmitted to a user through a WiFi network module to display a current shot picture.
The second purpose of the invention is to provide a tracking shooting method of the electric lifting mobile tracking shooting pan-tilt, which comprises the following steps:
s100: extracting characteristics:
s101: the camera is started and transmits images to a client interface for display in a wireless mode;
s102: a user manually selects a shooting target in a display interface of a client, and a host processing system extracts features according to the selected target;
s200: and (3) motion prediction:
s201: after the extracted features are obtained, predicting the position of a shooting target in the next frame of image by adopting a generative observation model or a discriminant observation model;
s202: converting the shooting target position in the picture to a world coordinate position, and transmitting the world coordinate position to a holder control module;
s203: extracting the characteristics of a new frame in the video, and circularly performing the processes of the steps S201 to S203;
s300: and (3) motion control:
s301: the holder control module judges the distance between the world coordinate positions of the upper frame and the lower frame;
s302: when the norm of the coordinate difference of the two frame positions in the horizontal or vertical direction is smaller than a set threshold value, adjusting the holder rotation platform, the camera focusing or the precision lifting mechanism in real time;
s303: when the norm of the coordinate difference of the two frame positions in the vertical direction is greater than a set threshold value, the rapid lifting mechanism is adjusted in real time;
s304: when the norm of the coordinate difference of the two frame positions in the horizontal direction is greater than a set threshold value, the moving vehicle body is adjusted in real time, and meanwhile, the precise lifting mechanism is adjusted in motion to prevent the camera from shaking.
Compared with the prior art, the invention has the beneficial effects that:
1. automatic moving tracking shooting is adopted, and the effect of tracking and shooting a target in real time in a motion scene is achieved.
2. The fast and slow lifting adjusting device for two times is used, so that the position of the camera can be adjusted more conveniently, efficiently and accurately, and the picture can be prevented from shaking when the integral holder moves.
3. Double-motor quick lifting adjusting devices are selected, lifting power is more sufficient, quick lifting stability is stronger, and stability of a support structure of the parallelogram is guaranteed.
4. The Macnahme wheel is configured as a wheel of the movable vehicle body, so that the large-range fast tracking shooting in all directions is conveniently realized.
Drawings
FIG. 1 is an overall structure diagram of an electric elevating mobile tracking shooting pan-tilt;
FIG. 2 is a disassembled rear view of the electric elevating mobile tracking shooting pan-tilt;
FIG. 3 is a partial structure view of a fast lifting mechanism of the electric lifting mobile tracking shooting pan-tilt;
FIG. 4 is a block diagram of a specific structure of a host processing system of the electric elevating mobile tracking shooting pan-tilt;
FIG. 5 is a schematic diagram of a main board structure of a host processing system of the electric elevating mobile tracking shooting pan-tilt;
in the figure: the device comprises a movable vehicle body 1, a lower base 2, a parallelogram mechanism 3, an upper base 4, a tripod head base 5, a tripod head top base 6, a mounting plate 7, a supporting plate 8, a first motor 9, a guide rod mounting base, a small belt wheel 11, a tripod head motor 12, a bottom mounting base 13, a lead screw sliding block 14, a top mounting base 15, a second motor 16, a harmonic reducer 17, a precise lead screw 18, a large belt wheel 19, a synchronous belt 20, a Macnam wheel 21, a guide rod 22, a lead screw sliding block 23, a lead screw 24, a worm wheel 25, a worm 26 and a lead screw mounting base 27.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1-3, an electric elevating mobile tracking shooting pan-tilt comprises a mobile car body, a fast elevating mechanism, a pan-tilt rotation platform, a precise elevating mechanism, a camera supporting platform, a host processing system and a client. The rapid lifting mechanism is carried on the moving vehicle body, the tripod head rotation platform is carried on the rapid lifting mechanism, the precise lifting mechanism is carried on the tripod head rotation platform, the camera supporting platform is carried on the precise lifting mechanism, and the camera is arranged on the camera supporting platform. The client is wirelessly connected with the host processing system.
According to the invention of the scheme, the moving vehicle body comprises a moving vehicle body 1 and a Minam wheel 21. Each McNam wheel is directly connected with a low-speed servo motor and is arranged at the bottom of the movable vehicle body 1, and the motors are controlled by a host processing system; the Macnam wheel is used as a traveling wheel, so that the integral cradle head can conveniently move back and forth and left and right, and when a shooting target moves in a large range, the shooting target can be quickly moved, tracked and shot; when the shooting object rapidly approaches to and leaves from the lens and rapidly moves transversely, the movable vehicle body moves forwards, backwards, leftwards and rightwards according to the control of the host processing system.
According to the invention of the scheme, the rapid lifting mechanism is used for providing rapid up-and-down movement for the shooting target, such as tracking shooting when standing up and squatting down; the device comprises a scissor mechanism and a driving device for driving the scissor mechanism to lift, wherein the driving device enables the scissor mechanism to provide electric lifting, move, track and rapidly and stably lift a shooting tripod head. The scissor mechanism comprises an upper base 4, a lower base 2 and a parallelogram mechanism 3 arranged between the upper base 4 and the lower base 2. The driving device comprises a first motor 9, a worm wheel 25, a worm 26, a guide rod 22, a lead screw 24 and a lead screw slider 23, wherein the lead screw 24 and the guide rod 22 are simultaneously installed on the upper base 4 of the scissors mechanism, the lead screw slider is simultaneously installed on the guide rod 22 and the lead screw 24, the lead screw 24 is provided with the worm wheel 25, the worm wheel 25 is in meshing transmission with the worm 26, and the worm wheel 25 is installed on an output shaft of the first motor 9.
Specifically, the lower base 2 is mounted on the movable vehicle body 1 in a bolt connection mode, two groups of first motors 9 are mounted on the upper base 4 in a flange connection mode, the motors realize speed reduction through worm gears and worms, the worm 26 and the lead screw 24 are integrated, two ends of the lead screw 24 are respectively mounted on the upper base 4 through two groups of guide rod mounting seats 10, two ends of the guide rod 22 are respectively mounted on the upper base 4 through two groups of lead screw mounting seats 27, the parallelogram mechanisms 3 are divided into two groups, one end of the parallelogram mechanism 3 is mounted on the lead screw 24 and the guide rail 22, the other end of the parallelogram mechanism is mounted on the lower base 2 and can freely slide on the lower base 2, and the upper base 4 is connected with the holder rotation platform base 5; the two groups of motors rotate simultaneously at the same speed in different directions according to lifting requirements, act on two different lead screws through the reduction of the worm gear and the worm, the two lead screws act on one supporting point at one end of the parallelogram mechanism 3, the whole electric lifting mobile tracking shooting pan-tilt is lifted quickly and stably, and self-locking positioning can be realized when the lifting is stopped; when the electric lifting mobile tracking shooting tripod head is not needed to be used, the parallelogram mechanism 3 can be retracted, and the quick lifting mechanism is protected.
According to the invention of the scheme, the holder rotation platform comprises a holder base 5, a holder top seat, a holder motor 12, a large belt wheel 19, a small belt wheel 11 and a synchronous belt 20, and is used for horizontal rotation; the tripod head base 5 is arranged on the upper base 4 in a bolt connection mode, the tripod head motor 12 of the tripod head rotation platform is arranged on the tripod head top seat 6 in a flange connection mode, the motor 12 is connected with the small belt pulley 11, the large belt pulley 19 is arranged at the bottom of the tripod head top seat 6 through a bearing and a bearing output shaft arranged on the tripod head top seat 6, the small belt pulley 11 and the large belt pulley 19 are connected through the synchronous belt 20 to realize synchronous accurate control, and the large belt pulley 19 is connected with the tripod head base 5 through a bolt; the motor 12 drives the small belt wheel 11, the small belt wheel 11 drives the large belt wheel 19 through the synchronous belt 20, the large belt wheel 19 is fixedly connected with the holder base 5, and the holder top base 6 starts to rotate.
According to the invention of the scheme, the precision lifting mechanism comprises a second motor 16, a harmonic reducer 17, a precision screw 18, a bottom mounting seat 13, a precision screw top mounting seat and a precision screw sliding block 17, and is used for real-time pan-tilt adjustment of camera shake caused by small-amplitude up-and-down movement of a shooting target or movement of a moving vehicle body, so that the shooting target is ensured to be intelligently focused on the center of a picture or the situation that the camera shake causes unclear imaging when moving is prevented; second motor 16 and 6 top flange joint of cloud platform footstock, top mount pad and bottom mount pad are fixed on the cloud platform footstock from last to down in proper order, and the both ends of accurate lead screw support respectively on top mount pad and bottom mount pad, second motor and cloud platform footstock top fixed connection, second motor output shaft pass through the harmonic speed reducer ware and link to each other with accurate lead screw, and accurate lead screw slider cup joints on accurate lead screw, and accurate lead screw slider passes through the connecting block and is connected with camera supporting platform.
According to the invention of the scheme, the camera supporting platform comprises a mounting plate 7 and a supporting plate 8, and is used for mounting main cameras of various sizes; mounting panel 7 is installed on accurate lead screw slider connecting block, and backup pad 8 passes through bolted connection and installs on mounting panel 7, and according to the needs in place, backup pad 8 can be on mounting panel 7 suitable height-adjusting.
According to the invention of the above scheme, a specific structural block diagram of the host processing system of the electric lifting mobile tracking shooting pan-tilt is shown in fig. 4, and a host processing system main board comprises a host processing module, a mobile vehicle body control module, a pan-tilt control module, a camera audio-video signal interface, a WiFi network module and a hard disk storage interface; the host processing module is used for receiving the video and audio signals of the camera, on one hand, the video signals are sampled and used for carrying out detection and positioning by a target tracking algorithm, and output control signals are respectively transmitted to the mobile vehicle body control module, the cradle head control module or the camera control module according to the detection and positioning results, so that the mobile vehicle body, the cradle head and the camera are controlled to move relatively to realize tracking shooting; on the other hand, the audio and video signals of the camera are encoded and packaged, stored locally through a hard disk interface and transmitted to a user through a WiFi network module to display a current shooting picture.
According to the present invention of the above solution, a main board structure schematic diagram of a main processing system of a preferred electric elevating, moving, tracking, shooting pan head is provided, as shown in fig. 5, the main processing module is preferably a haisi Hi3531A series chip, which receives a VIDEO signal of a camera through a VIDEO interface for tracking a shooting target on one hand, and is used for VIDEO processing together with a VIDEO signal received by an AUDIO interface on the other hand; the moving vehicle body control module, the cradle head control module and the camera control module preferably adopt STM32 series chips, and respectively control the relative motion of the moving vehicle body, the cradle head and the camera through 4 paths of RS 232; the WiFi network module is preferably an RM04 series chip and sends packaged video to a user for display and interaction; the recorded video is connected with a hard disk through an SATA interface or an SD card through an SD interface to realize local storage.
According to the invention of the scheme, the working process of the electric lifting movement tracking shooting is as follows:
s100: extracting characteristics:
s101: the camera is started and transmits images to a user client interface through the WiFi network module for display;
s102: manually selecting a shooting target in a display interface by a user, and extracting features, such as a gray scale feature, an HOG feature, a haar feature and an SIFT feature, by the host processing system according to the selected target;
s200: and (3) motion prediction:
s201: after the extracted features are obtained, predicting the position of a shooting target in the next frame of image by adopting a generative observation model or a discriminant observation model;
s202: converting the shooting target position in the picture to a world coordinate position, and transmitting the world coordinate position to a holder control module;
s203: extracting the characteristics of a new frame in the video, and circularly performing the processes of S201-S203;
s300: and (3) motion control:
s301: the holder control module judges the distance between the world coordinate positions of the upper frame and the lower frame;
s302: when the norm of the coordinate difference of the two frame positions in the horizontal direction is smaller than half of the horizontal maximum distance of the shooting target framed in S102 and mapped to the world coordinate or the norm of the coordinate difference of the vertical direction is smaller than one fourth of the vertical maximum distance of the shooting target framed in S102 and mapped to the world coordinate, adjusting the self-rotating platform of the holder, the focusing of the camera or the precision lifting mechanism in real time;
s303: when the norm of the coordinate difference of the two frame positions in the vertical direction is greater than one fourth of the vertical maximum distance of the world coordinate mapped by the framed shooting target in the S102, the quick lifting mechanism is adjusted in real time;
s304: and when the norm of the coordinate difference of the two frame positions in the horizontal direction is greater than half of the horizontal maximum distance of the world coordinate mapped by the shooting target selected in the S102 frame, adjusting the moving vehicle body in real time, and adjusting the precise lifting mechanism in motion to prevent the camera from shaking.
The above disclosure is only one preferred embodiment of the present invention, and certainly should not be construed as limiting the scope of the invention, which is defined by the claims and their equivalents.
Claims (10)
1. The utility model provides a cloud platform is shot in electronic lift movement tracking which characterized in that includes:
the camera supporting platform is used for bearing a camera;
the precise lifting mechanism is carried with the camera supporting platform and is used for providing precise lifting adjustment for bearing the camera when the camera shakes when a shooting target moves up and down in a small amplitude or a moving vehicle body moves;
the holder rotation platform bears the precision lifting mechanism and is used for horizontally rotating the bearing precision lifting mechanism;
the rapid lifting mechanism is used for bearing the rotational platform of the holder and providing rapid lifting when a shooting target moves up and down rapidly;
the mobile vehicle body bears the rapid lifting mechanism and is used for providing rapid movement tracking shooting when a shooting target moves back and forth in a large range, left and right;
the host processing system is used for receiving the audio and video signals of the camera, sampling the video signals, detecting and positioning the video signals by using a target tracking algorithm, and respectively transmitting output control signals to the mobile car body, the precise lifting mechanism, the cradle head self-rotating platform, the rapid lifting mechanism and the camera according to the detection and positioning results so as to control the mobile car body, the precise lifting mechanism, the cradle head self-rotating platform, the rapid lifting mechanism and the camera to perform relevant motion to realize tracking shooting;
and the client is used for displaying the current shooting picture transmitted by the host processing system and sending the shooting target to the host processing system.
2. The electric lifting mobile tracking shooting pan-tilt according to claim 1, wherein the host processing system further encodes and encapsulates received video and audio signals of the camera, stores the encoded and encapsulated video and audio signals locally through a hard disk interface, and transmits the encoded and encapsulated video and audio signals to a user through a WiFi network module to display a current shooting picture.
3. The electric lifting mobile tracking shooting pan-tilt head according to claim 1, wherein the mobile vehicle body moves back and forth and left and right under the control of the host processing system when the shooting object moves away from the lens rapidly and moves laterally rapidly, so that the camera tracks the shooting object.
4. The electric lifting mobile tracking shooting pan-tilt head according to claim 1, wherein the fast lifting mechanism comprises a scissor mechanism and a driving device for driving the scissor mechanism to lift.
5. The electric lifting mobile tracking shooting pan-tilt head according to claim 3, wherein the driving device comprises a first motor, a worm gear, a worm, a guide rod, a lead screw and a lead screw slider, the lead screw and the guide rod are simultaneously mounted on the upper base of the scissor fork mechanism, the lead screw slider is simultaneously mounted on the guide rod and the lead screw, the lead screw is provided with the worm gear, the worm and the lead screw are integrated, the worm gear is in meshing transmission with the worm, and the worm gear is mounted on an output shaft of the first motor.
6. An electric lifting mobile tracking shooting pan-tilt according to claim 1, wherein the pan-tilt rotation platform comprises a pan-tilt base, a pan-tilt top seat, a pan-tilt motor, a large belt wheel, a small belt wheel and a synchronous belt, the pan-tilt base is mounted on the upper base of the fast lifting mechanism, the platform motor is mounted on the pan-tilt top seat, the small belt wheel is mounted on the rotating shaft of the pan-tilt motor, the large belt wheel is fixed on the pan-tilt base, the pan-tilt base and the pan-tilt top seat are rotatably connected, the rotating shaft and the large belt wheel are coaxial, and the small belt wheel and the large belt wheel are connected through the synchronous.
7. The electric lifting mobile tracking shooting pan-tilt according to claim 1, wherein the precision lifting mechanism comprises a second motor, a harmonic reducer, a precision screw, a bottom mounting seat, a top mounting seat and a precision screw slider, the top mounting seat and the bottom mounting seat are sequentially fixed on the pan-tilt top seat from top to bottom, two ends of the precision screw are respectively supported on the top mounting seat and the bottom mounting seat, the second motor is fixedly connected with the top of the pan-tilt top seat, an output shaft of the second motor is connected with the precision screw through the harmonic reducer, the precision screw slider is sleeved on the precision screw, and the precision screw slider is connected with the camera supporting platform through a connecting block.
8. The electric lifting mobile tracking shooting pan-tilt head according to claim 1, wherein the camera support platform comprises a mounting plate and a support plate, the mounting plate is mounted on the connecting block, and the support plate is fixedly mounted on the mounting plate.
9. The electric lifting mobile tracking shooting pan-tilt head according to claim 1, wherein the host processing module comprises a host processing module and a mobile car body control module, a pan-tilt control module, a camera control module and a WiFi network module which are respectively connected with the host processing module, the mobile car body control module is connected with the mobile car body and is used for controlling the rotation of each McRam wheel so as to realize the front-back, left-right and oblique movements of the mobile car body; the holder control module is respectively connected with the first motor, the second motor and the holder motor and controls the positive and negative rotation of the motors; the camera control module is connected with the camera and used for controlling the zooming of the focal length of the camera; the WiFi network module is communicated with the client.
10. A tracking shooting method of an electric lifting mobile tracking shooting holder is characterized by comprising the following steps:
s100: extracting characteristics:
s101: the camera is started and transmits images to a client interface for display in a wireless mode;
s102: a user manually selects a shooting target in a display interface of a client, and a host processing system extracts features according to the selected target;
s200: and (3) motion prediction:
s201: after the extracted features are obtained, predicting the position of a shooting target in the next frame of image by adopting a generative observation model or a discriminant observation model;
s202: converting the shooting target position in the picture to a world coordinate position, and transmitting the world coordinate position to a holder control module;
s203: extracting the characteristics of a new frame in the video, and circularly performing the processes of the steps S201 to S203;
s300: and (3) motion control:
s301: the holder control module judges the distance between the world coordinate positions of the upper frame and the lower frame;
s302: when the norm of the coordinate difference of the two frame positions in the horizontal or vertical direction is smaller than a set threshold value, adjusting the holder rotation platform, the camera focusing or the precision lifting mechanism in real time;
s303: when the norm of the coordinate difference of the two frame positions in the vertical direction is greater than a set threshold value, the rapid lifting mechanism is adjusted in real time;
s304: and when the norm of the coordinate difference of the two frame positions in the horizontal direction is greater than a set threshold value, adjusting the moving vehicle body in real time, and adjusting the precise lifting mechanism in motion.
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| CN201911065777.5A CN111043458A (en) | 2019-11-04 | 2019-11-04 | Electric lifting mobile tracking shooting holder and tracking shooting method |
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| CN201911065777.5A CN111043458A (en) | 2019-11-04 | 2019-11-04 | Electric lifting mobile tracking shooting holder and tracking shooting method |
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| CN112637565A (en) * | 2020-12-19 | 2021-04-09 | 北京科旭威尔科技股份有限公司 | Multi-station scene linkage intelligent shooting system |
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