WO2017011945A1 - Attitude data input apparatus and method, and cradle head control apparatus and method - Google Patents
Attitude data input apparatus and method, and cradle head control apparatus and method Download PDFInfo
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- WO2017011945A1 WO2017011945A1 PCT/CN2015/084372 CN2015084372W WO2017011945A1 WO 2017011945 A1 WO2017011945 A1 WO 2017011945A1 CN 2015084372 W CN2015084372 W CN 2015084372W WO 2017011945 A1 WO2017011945 A1 WO 2017011945A1
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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
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
Definitions
- the invention relates to a cloud platform control technology, in particular to an attitude data input device and method, a cloud platform control device and a method.
- the current (mobile phone or camera) pan/tilt is usually implemented by the user manually operating the pan/tilt handle when performing the target attitude adjustment. This type of adjustment is slow and does not guarantee high accuracy.
- the user can only view the scenery or performance that needs to be photographed through the screen in the mobile phone or the camera lens, and the pan/tilt cannot automatically track the posture of the user to adjust the angle in time, which is very inconvenient.
- the present invention provides an attitude data input device and method, a cloud platform control device and method.
- An embodiment of the invention provides an attitude data input device for a pan/tilt system.
- the gesture data input device includes: an attitude detection module, configured to obtain attitude sensing data; a calculation module, configured to calculate a current posture of the user according to the attitude sensing data; and a wireless transmission module, configured to send to the gimbal according to the user demand Sending data, when the pan/tilt needs to track the gesture, transmitting the data of the current posture, and sending a regular data when the pan/tilt tracking gesture is not required.
- a PTZ control device including: a wireless transmission module, configured to receive data sent by another wireless transmission module; and a driving module, configured to determine whether the data is data of a current posture of the user If yes, control the pan-tilt movement according to the data of the current posture to perform target attitude tracking; then, return to perform self-stability control.
- the gesture data input method includes: acquiring attitude sensing data; calculating a current posture of the user according to the posture sensing data; transmitting data to the cloud platform according to the user demand, and sending the current posture when the cloud platform needs to track the posture
- the data when a pan/tilt tracking gesture is not required, sends a regular data.
- a further embodiment of the present invention provides a pan/tilt control method, including: receiving data transmitted from a wireless network; and determining whether the data is data of a current posture of the user, and if yes, according to data of the current posture, Control the pan/tilt movement for target attitude tracking; otherwise, return to self-stability control.
- a further embodiment of the present invention provides a PTZ control method, including: acquiring attitude sensing data; calculating a current posture of the user according to the posture sensing data; and transmitting data to the PTZ according to the user demand, when the PTZ needs to be tracked In the gesture, sending the data of the current posture, when the pan/tilt tracking gesture is not needed, sending a regular data; determining whether the data is data of the current posture of the user, and if so, controlling according to the data of the current posture The gimbal moves to perform target attitude tracking; otherwise, it returns to perform auto-stable control.
- the posture data input device and method and the pan/tilt control device and method of the present invention sense the motion posture of the user by using the posture detection, and convert the posture data into the target posture data of the pan/tilt, so that the pan/tilt can automatically adjust the posture , which can help users to quickly and accurately target the field of view and the position of the field of view.
- the user's eyes can be released to directly observe the content to be photographed, enhancing the sense of presence.
- FIG. 1 is a functional block diagram of an attitude data input device and a pan/tilt control device according to an embodiment of the present invention
- FIG. 2 is a functional block diagram of an attitude data input device according to another embodiment of the present invention.
- FIG. 3 is a flow chart of a pan/tilt system control method of the present invention.
- the present invention provides a pan/tilt system that includes at least one gesture data input device 100, a pan/tilt control device 200, and a pan/tilt head 300.
- the attitude data input device 100 communicates with the pan-tilt control device 200 through a wireless network (not shown), and the pan-tilt control device 200 is configured to control the pan-tilt 300 to move to obtain a target. attitude.
- the cloud platform 300 can be a mobile phone cloud platform or a camera cloud platform.
- the gesture data input device 100 can also be disposed on the cloud platform 300 by direct integration, or by other communication methods.
- the pan/tilt control device 200 exchanges data.
- the attitude data input device 100 includes a posture detection module 10, a calculation module 20, and a first wireless transmission module 30.
- the cloud platform control device 200 includes a second wireless transmission module 40 and a driving module 50.
- the posture detecting module 10 is configured to obtain posture sensing data, and the posture sensing data can reflect a posture of a specific part of the user's body, such as a posture of a head or a hand, and is also adjusted by the user to the head.
- Target posture a posture of a specific part of the user's body
- the attitude detecting module 10 includes at least an acceleration sensor, a gyro sensor, and a magnetic compass
- the attitude sensing data is data output by the attitude sensor.
- the user places the posture sensor on the head or the hand, and when the posture changes in the head or the hand, the posture detecting module 10 detects the movement path of the head of the user or the movement track of the hand. And output the corresponding data.
- the calculating module 20 is configured to calculate a current posture of the user according to the posture sensing data.
- the calculation module 20 is implemented by a microprocessor chip, and the data of the current posture includes at least parameters such as a roll angle, a pitch angle, and a heading angle.
- the first wireless transmission module 30 is configured to send data to the pan/tilt according to the user demand, and when the pan/tilt is required to track the gesture, send the data of the current posture, and when the pan-tilt tracking gesture is not required, send one Regular data.
- the second wireless transmission module 40 is configured to receive data sent by the first wireless transmission module 30, for example, data of the current posture or the regular data.
- the driving module 50 is configured to determine whether the data received by the second wireless transmission module 40 is data of a current posture of the user, and if yes, control the pan-tilt movement according to the data of the current posture to perform target attitude tracking. Otherwise, return to perform auto-stable control.
- the data of the current posture has a specific format, and some bytes in the format indicate whether the data is the target data to be tracked.
- the driving module 50 receives the data of the current posture, the data is based on the data. The corresponding byte in the middle to determine whether it is the data of the current pose, that is, the target pose data.
- the attitude detecting module 10a receives image data of a user obtained by image capturing, and the calculating module 20a calculates a current posture of the user according to image data of the posture detecting module 10a. .
- the posture data input device 100a further includes a comparison module 60 and a mapping module 70.
- the comparison module 60 is configured to compare at least the detected current posture with a preset specific posture, and obtain a comparison result.
- the comparison module 60 is further configured to compare the hold time of the current posture with a preset time range, if the hold time of the current posture falls within the preset The time range is output, and the corresponding comparison result is output, otherwise the posture detection is continued.
- the calculating module 20 is further configured to represent the current gesture by a specific identification code.
- the predetermined specific gesture is also represented by the identification code, whereby the comparison module 60 can be conveniently compared for comparison.
- the mapping module 70 is configured to map the comparison result to a pre-stored pan/tilt operation command.
- the first wireless communication module 30a sends the pan/tilt operation command to the pan-tilt control device 200.
- the gesture detection module 10a may be an image acquisition device such as a camera, and the gesture detection module 10a may be directly integrated on the platform 300 to reduce the system volume.
- the posture data input device and the pan/tilt control device 200 of the present invention can sense the motion posture of the user by using the posture detection module, and convert the posture data into the target posture data of the pan/tilt, thereby helping the user to perform fast and accurate.
- Target position of the field of view and field of view can be released to directly observe the content to be photographed, enhancing the sense of presence.
- the present invention further provides a pan/tilt control method, which includes the following steps:
- Step S301 acquiring attitude sensing data.
- Step S303 calculating a current posture of the user according to the posture sensing data.
- step S305 the user confirms whether the pan/tilt is required to track the gesture.
- step S307 is executed to send the data of the current posture of the posture module.
- step S309 is performed to send. a regular data
- step S311 is executed to receive the data of the current posture or the regular data at a certain frequency, and at the same time, the automatic control is performed.
- step S313 it is determined whether data is received from the wireless network. If yes, the process proceeds to the next step S315. If data from the wireless network is not received, the process returns to step S311 to perform auto-stable control.
- step S315 it is determined whether the data is data of the current posture of the user. If yes, step S317 is executed to control the pan-tilt movement according to the data of the current posture to perform target attitude tracking; otherwise, return to step S311 to perform self-stabilization. control.
- the attitude data input method and the pan/tilt control method of the present invention sense the motion posture of the user by using the posture detection, and convert the posture data into the target posture data of the pan/tilt, so that the pan/tilt can automatically adjust the posture, thereby being able to help
- the user performs a fast, accurate field of view and target location of the field of view.
- the user's eyes can be released to directly observe the content to be photographed, enhancing the sense of presence.
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Abstract
Description
本发明涉及一种云台控制技术，尤其涉及一种姿态数据输入装置及方法、云台控制装置及方法。The invention relates to a cloud platform control technology, in particular to an attitude data input device and method, a cloud platform control device and a method.
目前的(手机或相机)云台在进行目标姿态调整时，通常都是通过用户手动操作云台手柄来实现的。此种调整方式速度慢，且无法保证较高的精确度。此外，在调整过程中，用户只能通过手机或相机镜头里的画面来观赏需要拍摄的美景或表演等，云台无法自动及时地跟踪用户的姿态来调整角度，非常不方便。The current (mobile phone or camera) pan/tilt is usually implemented by the user manually operating the pan/tilt handle when performing the target attitude adjustment. This type of adjustment is slow and does not guarantee high accuracy. In addition, during the adjustment process, the user can only view the scenery or performance that needs to be photographed through the screen in the mobile phone or the camera lens, and the pan/tilt cannot automatically track the posture of the user to adjust the angle in time, which is very inconvenient.
发明内容Summary of the invention
为了解决上述技术问题，本发明提供一种姿态数据输入装置及方法、云台控制装置及方法。In order to solve the above technical problems, the present invention provides an attitude data input device and method, a cloud platform control device and method.
本发明一实施例提供一种姿态数据输入装置，用于一云台系统。所述姿态数据输入装置包括：姿态检测模块，用于获得姿态感应数据；计算模块，用于根据所述姿态感应数据，计算得到用户的当前姿态；无线传输模块，用于根据用户需求向云台发送数据，当需要让云台跟踪姿态时，发送所述当前姿态的数据，当不需要云台跟踪姿态时，发送一常规数据。。An embodiment of the invention provides an attitude data input device for a pan/tilt system. The gesture data input device includes: an attitude detection module, configured to obtain attitude sensing data; a calculation module, configured to calculate a current posture of the user according to the attitude sensing data; and a wireless transmission module, configured to send to the gimbal according to the user demand Sending data, when the pan/tilt needs to track the gesture, transmitting the data of the current posture, and sending a regular data when the pan/tilt tracking gesture is not required. .
本发明另一实施例提供一种云台控制装置，包括：无线传输模块，用于接收来自另一无线传输模块发送的数据；以及驱动模块，用于判断所述数据是否为用户当前姿态的数据，如果是，则根据所述当前姿态的数据，控制云台移动，以进行目标姿态跟踪；则，返回进行自稳控制。 Another embodiment of the present invention provides a PTZ control device, including: a wireless transmission module, configured to receive data sent by another wireless transmission module; and a driving module, configured to determine whether the data is data of a current posture of the user If yes, control the pan-tilt movement according to the data of the current posture to perform target attitude tracking; then, return to perform self-stability control.
本发明又一实施例提供一种姿态数据输入方法，用于一云台系统中。所述姿态数据输入方法包括：获取姿态感应数据；根据所述姿态感应数据，计算得到用户的当前姿态；根据用户需求向云台发送数据，当需要让云台跟踪姿态时，发送所述当前姿态的数据，当不需要云台跟踪姿态时，发送一常规数据。Another embodiment of the present invention provides a gesture data input method for use in a pan/tilt system. The gesture data input method includes: acquiring attitude sensing data; calculating a current posture of the user according to the posture sensing data; transmitting data to the cloud platform according to the user demand, and sending the current posture when the cloud platform needs to track the posture The data, when a pan/tilt tracking gesture is not required, sends a regular data.
本发明又一实施例提供一种云台控制方法，包括：接收来自一无线网络发送的数据；以及判断所述数据是否为用户当前姿态的数据，如果是，则根据所述当前姿态的数据，控制云台移动，以进行目标姿态跟踪；否则，返回进行自稳控制。A further embodiment of the present invention provides a pan/tilt control method, including: receiving data transmitted from a wireless network; and determining whether the data is data of a current posture of the user, and if yes, according to data of the current posture, Control the pan/tilt movement for target attitude tracking; otherwise, return to self-stability control.
本发明再一实施例提供一种云台控制方法，包括：获取姿态感应数据；根据所述姿态感应数据，计算得到用户的当前姿态；根据用户需求向云台发送数据，当需要让云台跟踪姿态时，发送所述当前姿态的数据，当不需要云台跟踪姿态时，发送一常规数据；判断所述数据是否为用户当前姿态的数据，如果是，则根据所述当前姿态的数据，控制云台移动，以进行目标姿态跟踪；否则，返回进行自稳控制。A further embodiment of the present invention provides a PTZ control method, including: acquiring attitude sensing data; calculating a current posture of the user according to the posture sensing data; and transmitting data to the PTZ according to the user demand, when the PTZ needs to be tracked In the gesture, sending the data of the current posture, when the pan/tilt tracking gesture is not needed, sending a regular data; determining whether the data is data of the current posture of the user, and if so, controlling according to the data of the current posture The gimbal moves to perform target attitude tracking; otherwise, it returns to perform auto-stable control.
本发明的姿态数据输入装置、方法和云台控制装置、方法，通过使用姿态检测来感测用户的运动姿态，并将该姿态数据转换为云台的目标姿态数据，使得云台能够自动调整姿态，从而能够帮助用户进行快速、精确的视野范围、视野位置的目标定位。此外，可以释放用户的眼睛，来直接观察所要拍摄的内容，增强了现场感。The posture data input device and method and the pan/tilt control device and method of the present invention sense the motion posture of the user by using the posture detection, and convert the posture data into the target posture data of the pan/tilt, so that the pan/tilt can automatically adjust the posture , which can help users to quickly and accurately target the field of view and the position of the field of view. In addition, the user's eyes can be released to directly observe the content to be photographed, enhancing the sense of presence.
图1是本发明一实施例的姿态数据输入装置与云台控制装置的功能模块图；1 is a functional block diagram of an attitude data input device and a pan/tilt control device according to an embodiment of the present invention;
图2是本发明另一实施例的姿态数据输入装置的功能模块图；2 is a functional block diagram of an attitude data input device according to another embodiment of the present invention;
图3本发明的云台系统控制方法的流程图。 3 is a flow chart of a pan/tilt system control method of the present invention.
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
请参阅图1，本发明提供一种云台系统，所述云台系统至少包括一姿态数据输入装置100、一云台控制装置200以及一云台300。本实施例中，所述姿态数据输入装置100通过一无线网络(图未示)与所述云台控制装置200通信，所述云台控制装置200用于控制所述云台300移动以获得目标姿态。可以理解的是，所述云台300可以是手机云台，也可以是相机云台，所述姿态数据输入装置100也可通过直接集成的方式设置在云台300上，或者通过其他通信方式与云台控制装置200交换数据。Referring to FIG. 1 , the present invention provides a pan/tilt system that includes at least one gesture
具体的，所述姿态数据输入装置100包括姿态检测模块10、计算模块20以及第一无线传输模块30，所述云台控制装置200包括第二无线传输模块40和驱动模块50。Specifically, the attitude
更具体的，所述姿态检测模块10用于获得姿态感应数据，所述姿态感应数据能够体现用户身体某个特定部位的姿态，例如头部或手部的姿态，也是用户希望云台调整到的目标姿态。本实施例中，所述姿态检测模块10至少包括加速度传感器、陀螺仪传感器和磁罗盘，所述姿态感应数据是所述姿态传感器输出的数据。本实施例中，用户将所述姿态传感器放置在头部或手上，当头部或手部发生姿态改变时，所述姿态检测模块10检测到用户的头部运动轨迹或手部运动轨迹，并将对应的数据输出。More specifically, the
所述计算模块20用于根据所述姿态感应数据，计算得到用户的当前姿态。本实施例中，所述计算模块20通过一个微处理器芯片实现，所述当前姿态的数据至少包括横滚角、俯仰角、航向角等参数。The calculating
所述第一无线传输模块30用于根据用户需求向云台发送数据，当需要让云台跟踪姿态时，发送所述当前姿态的数据，当不需要云台跟踪姿态时，发送一
常规数据。The first
所述第二无线传输模块40用于接收来自所述第一无线传输模块30发送的数据，例如，所述当前姿态的数据或所述常规数据。The second
所述驱动模块50用于判断所述第二无线传输模块40接收到的数据是否为用户当前姿态的数据，如果是，则根据所述当前姿态的数据，控制云台移动，以进行目标姿态跟踪；否则，返回进行自稳控制。本实施例中，所述当前姿态的数据具有特定格式，格式中有一些字节表明该些数据是否为要跟踪的目标数据，当驱动模块50接收到所述当前姿态的数据后，会根据数据中的对应字节，来判断是否为当前姿态的数据，也就是目标姿态数据。The
请参阅图2，在另一实施例中，所述姿态检测模块10a接收通过图像拍摄获得的用户的图像数据，所述计算模块20a根据所述姿态检测模块10a的图像数据计算出用户的当前姿态。Referring to FIG. 2, in another embodiment, the
此时，所述姿态数据输入装置100a进一步包括比较模块60和映射模块70。所述比较模块60用于至少将检测到的所述当前姿态与预先设定的特定姿态进行比较，并获得比较结果。而为了更精确地判断当前姿态，所述比较模块60还用于将所述当前姿态的保持时间与预先设定的时间范围进行比较，如果所述当前姿态的保持时间落入所述预先设定的时间范围，则输出对应的所述比较结果，否则继续进行姿态检测。本实施例中，所述计算模块20还用于将所述当前姿态以特定的标识码表示。所述预先设定的特定姿态也使用所述标识码表示，由此，可方便比较模块60进行比较。所述映射模块70用于将所述比较结果映射至预先存储的云台操作命令。At this time, the posture
所述第一无线通信模块30a发送所述云台操作命令到所述云台控制装置200。The first
可以理解的是，在上述另一实施例中，所述姿态检测模块10a可以是相机等图像获取装置，所述姿态检测模块10a可直接集成在云台300上，以能够减小系统体积。
It can be understood that, in another embodiment, the
本发明的姿态数据输入装置和云台控制装置200，通过使用姿态检测模块来感测用户的运动姿态，并将该姿态数据转换为云台的目标姿态数据，从而能够帮助用户进行快速、精确的视野范围、视野位置的目标定位。此外，可以释放用户的眼睛，来直接观察所要拍摄的内容，增强了现场感。The posture data input device and the pan/
请参阅图3，本发明还提供一种云台控制方法，其包括以下步骤：Referring to FIG. 3, the present invention further provides a pan/tilt control method, which includes the following steps:
步骤S301，获取姿态感应数据。Step S301, acquiring attitude sensing data.
步骤S303，根据所述姿态感应数据，计算得到用户的当前姿态。Step S303, calculating a current posture of the user according to the posture sensing data.
步骤S305，用户确认是否需要让云台跟踪姿态，当需要让云台跟踪姿态时，执行步骤S307，发送所述姿态模块当前姿态的数据，当不需要云台跟踪姿态时，执行步骤S309，发送一常规数据In step S305, the user confirms whether the pan/tilt is required to track the gesture. When the pan/tilt is required to track the gesture, step S307 is executed to send the data of the current posture of the posture module. When the pan/tilt tracking posture is not required, step S309 is performed to send. a regular data
而当云台端的云台控制装置200侦测到数据接收请求时，将执行步骤S311，以一定频率接收所述当前姿态的数据或所述常规数据，同时进行自稳控制。When the pan/
步骤S313，判断是否接收到来自该无线网络的数据，如果是，则进入下一个步骤S315，如果未接收到来自该无线网络的数据，则返回步骤S311，进行自稳控制。In step S313, it is determined whether data is received from the wireless network. If yes, the process proceeds to the next step S315. If data from the wireless network is not received, the process returns to step S311 to perform auto-stable control.
步骤S315，判断所述数据是否为用户当前姿态的数据，如果是，则执行步骤S317，根据所述当前姿态的数据，控制云台移动，以进行目标姿态跟踪；否则返回步骤S311，进行自稳控制。In step S315, it is determined whether the data is data of the current posture of the user. If yes, step S317 is executed to control the pan-tilt movement according to the data of the current posture to perform target attitude tracking; otherwise, return to step S311 to perform self-stabilization. control.
本发明的姿态数据输入方法和云台控制方法，通过使用姿态检测来感测用户的运动姿态，并将该姿态数据转换为云台的目标姿态数据，使得云台能够自动调整姿态，从而能够帮助用户进行快速、精确的视野范围、视野位置的目标定位。此外，可以释放用户的眼睛，来直接观察所要拍摄的内容，增强了现场感。The attitude data input method and the pan/tilt control method of the present invention sense the motion posture of the user by using the posture detection, and convert the posture data into the target posture data of the pan/tilt, so that the pan/tilt can automatically adjust the posture, thereby being able to help The user performs a fast, accurate field of view and target location of the field of view. In addition, the user's eyes can be released to directly observe the content to be photographed, enhancing the sense of presence.
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。 The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection of the present invention. Within the scope.
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