CN114995524B - A camera gimbal system with active tracking function - Google Patents
A camera gimbal system with active tracking function Download PDFInfo
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- CN114995524B CN114995524B CN202210621838.7A CN202210621838A CN114995524B CN 114995524 B CN114995524 B CN 114995524B CN 202210621838 A CN202210621838 A CN 202210621838A CN 114995524 B CN114995524 B CN 114995524B
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Abstract
本发明提供了一种具备主动跟踪功能的相机云台系统，包括控制模块、信息采集装置、俯仰调节机构、侧倾调节机构和横摆调节机构，信息采集装置自动识别相机视场中的运动目标对象，控制模块通过驱动控制俯仰调节机构、侧倾调节机构与横摆调节机构以调节信息采集装置的三自由度姿态，实现三自由度的主动视觉功能，使得目标对象位于视场中央范围内，从而保持相机画面图像清晰、连续。本发明提出了一种具备主动跟踪功能的相机云台系统，结构紧凑、方便装卸，可实现对相机姿态的快速、稳定调节，俯仰调节范围为‑90°～90°、横摆调节范围为‑180°～180°、侧倾调节范围为‑180°～180°。
The present invention provides a camera gimbal system with an active tracking function, including a control module, an information collection device, a pitch adjustment mechanism, a roll adjustment mechanism, and a yaw adjustment mechanism. The information collection device automatically identifies a moving target object in the camera field of view. The control module drives and controls the pitch adjustment mechanism, the roll adjustment mechanism, and the yaw adjustment mechanism to adjust the three-degree-of-freedom posture of the information collection device, thereby realizing the three-degree-of-freedom active visual function, so that the target object is located within the central range of the field of view, thereby keeping the camera screen image clear and continuous. The present invention proposes a camera gimbal system with an active tracking function, which has a compact structure and is easy to load and unload, and can realize fast and stable adjustment of the camera posture. The pitch adjustment range is ‑90° to 90°, the yaw adjustment range is ‑180° to 180°, and the roll adjustment range is ‑180° to 180°.
Description
Technical Field
The invention belongs to the technical field of holder control, and particularly relates to a camera holder system with an active tracking function.
Background
In the autonomous navigation field of ground robots, autonomous driving vehicles, unmanned aerial vehicles and the like, it is generally required to accurately identify moving objects in the environment. Because the camera has a limited field of view, the pose of the camera needs to be adjusted in the process of collecting the moving target image, so that the target object is positioned in the field of view. Most of the existing cradle head systems only have a camera gesture stabilizing control function, and cannot automatically recognize and actively adjust the camera gesture along with a moving target. For example, the Steiner stabilizer can adjust the posture of the camera only by a manual remote control mode, and has a complex and heavy structure. Part of the handheld holder stabilizer is a holder control method, a controller and a holder authorized by a patent CN108521814B, a triaxial holder control device and a control method thereof authorized by a patent CN106802566B, and the like, and mainly provides a solution for how to improve the control precision of the camera posture and reduce the body vibration generated by the rotation of the holder, but the active tracking function of a moving target can not be realized.
In summary, an image capturing device for a moving object is provided, which has both functions of stabilizing and adjusting the pose of a camera and actively tracking the object, and the problem to be solved is needed.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a camera pan-tilt system with an active tracking function, which comprises a control module 101, an information acquisition device, a pitching adjustment mechanism, a rolling adjustment mechanism and a yaw adjustment mechanism, and is characterized in that the information acquisition device automatically identifies a moving target object in a camera view field, and the control module 101 adjusts the three-degree-of-freedom posture of the information acquisition device by driving and controlling the pitching adjustment mechanism, the rolling adjustment mechanism and the yaw adjustment mechanism, so that the three-degree-of-freedom active vision function is realized, and the target object is positioned in the central range of the view field, thereby keeping the clear and continuous camera picture images.
Preferably, the information acquisition device comprises a binocular camera, a camera fast-assembling bracket 201 and a camera fast-assembling bracket mounting frame 706, the pitching adjusting mechanism comprises a pitching driven shaft 307, a pitching shaft steering engine rudder disk 308, a pitching shaft steering engine 503, a pitching bearing seat 604, a deep groove ball bearing B605, an opening gasket B606, a pitching shaft steering engine bracket 707 and a pitching shaft bracket 708, wherein,
Two ends of a camera fast-assembling bracket mounting frame 706 are respectively connected with the pitching driven shaft 307 and the camera fast-assembling bracket 201, and a binocular camera is mounted on the camera fast-assembling bracket 201;
The pitching axis steering engine 503 is mounted on the pitching axis steering engine rudder disk 308;
one side of a pitching axis steering wheel 308 is fixed on a pitching axis bracket 708, and the other side is fixed on a pitching axis steering wheel bracket 707;
an output shaft of the pitching shaft steering engine 503 is fixedly connected with a camera fast-assembly bracket mounting frame 706 to serve as a pitching power output shaft;
The pitching bearing seat 604 and the opening washer B606 are arranged on the other side of the pitching shaft bracket 708, and the deep groove ball bearing B605 is arranged in the pitching bearing seat 604;
When pitching adjustment is performed, the pitching axis steering wheel 308 drives the camera fast-assembling bracket mounting frame 706 to rotate, so that the camera fast-assembling bracket 201 and the binocular camera are driven to rotate, the pitching driven shaft 307 is driven to rotate through rotation of the binocular camera and the camera fast-assembling bracket mounting frame 706, and the two sides of the camera are uniformly stressed due to movement of the two sides of the camera, so that pitching movement of the pan-tilt camera is realized.
Preferably, the roll adjusting mechanism comprises a roll shaft steering wheel rudder disk 304, a roll shaft 305, a roll shaft coupling 306, a roll shaft conductive slip ring 402, a roll shaft steering wheel 502, a roll bearing seat 601, an opening gasket A602, a deep groove ball bearing A603, a roll shaft steering wheel bracket 702, a roll shaft conductive slip ring fixing frame 703, a roll shaft bracket 704 and a bearing seat cushion block 705, wherein,
The horizontal roller steering engine 502 is fixed on a horizontal roller steering engine bracket 702, the horizontal roller steering engine bracket 702 is fixed on a horizontal roller bracket 704 through bolts, an output shaft of the horizontal roller steering engine 502 is fixedly connected on a horizontal roller 305 through a horizontal roller steering engine rudder disk 304, a deep groove ball bearing A603 is sleeved on the horizontal roller 305, an opening gasket A602 is arranged on the deep groove ball bearing A603, a horizontal roller bearing seat 601 is arranged outside the deep groove ball bearing A603 and used as protection, and the horizontal roller bearing seat 601 is fixed on the horizontal roller bracket 704 through bolts;
The transverse roller conductive slip ring fixing frame 703 is fixedly installed on the transverse roller bracket 704 and is used for supporting the transverse roller conductive slip ring 402;
a roll shaft coupler 306 is arranged in front of the transverse roller 305 and is axially fixed by screws so as to be convenient for connection with a pitch shaft bracket 708;
When the tilt adjustment is performed, the steering wheel 304 of the roll shaft steering engine drives the roll shaft 305 to rotate, the roll shaft coupler 306 connected with the roll shaft 305 is further driven to rotate, the roll shaft coupler 306 is connected with the pitching shaft bracket 708 through bolts, the camera cradle head device is arranged on the pitching shaft bracket 708, the rotation of the roll shaft coupler 306 is required to drive the pitching shaft bracket 708 to rotate, and the movement of the cradle head camera is further driven, so that the tilt adjustment of the cradle head camera is realized.
Preferably, the yaw adjustment mechanism comprises a heading shaft coupling 301, a heading shaft 302, a heading shaft steering wheel 303, a heading shaft conductive slip ring 401, a heading shaft steering engine 501 and a heading shaft steering engine bracket 701, wherein,
The course shaft steering engine 501 is fixed on the course shaft steering engine bracket 701 through bolts, and the course shaft steering engine steering wheel 303 is connected with the course shaft 302 through bolts, so that the transmission of power is ensured;
The upper end of the heading shaft 302 is provided with a heading shaft coupler 301 and is axially fixed by screws so as to be convenient for connection with a roll shaft bracket 704;
When the device performs yaw direction adjustment, the steering wheel 303 of the heading shaft steering engine drives the heading shaft 302 to rotate, the heading shaft coupler 301 connected with the heading shaft 302 is further driven to rotate, the heading shaft coupler 301 is connected with the roll shaft bracket 704 through bolts, the roll shaft bracket 704 is further driven to move, and further the yaw movement of the cradle head camera is driven, so that the yaw adjustment of the cradle head camera is realized.
Preferably, in order to facilitate the winding of the wire, a heading shaft conductive slip ring 401 is sleeved outside the heading shaft 302, and a roll shaft conductive slip ring 402 is sleeved in front of the roll shaft 305, and the main function of the roll shaft conductive slip ring 402 is to solve the problem of wire winding in the process of rotating the device for 360 degrees.
Preferably, the pitch axis steering engine 503, the roll axis steering engine 502 and the heading axis steering engine 501 are all in signal connection with the control module 101, and the control module 101 changes the gesture of the pan-tilt camera by controlling the movements of the pitch axis steering engine 503, the roll axis steering engine 502 and/or the heading axis steering engine 501.
Preferably, the pitch adjustment range is-90 DEG to 90 DEG, the yaw adjustment range is-180 DEG to 180 DEG, and the roll adjustment range is-180 DEG to 180 deg.
Preferably, the camera holder system is provided with an expandable communication interface and a mechanical interface, supports CAMERALINK interface cameras, and has good adaptability and expansibility.
Preferably, the working modes of the camera pan-tilt system include a target active tracking mode and a camera gesture stabilization control mode, and the camera gesture stabilization adjustment and target tracking control flow includes:
Step S1, firstly, setting a working mode, and judging whether a target active tracking mode is to be performed or not;
step S2, if active tracking is not performed, the system enters a camera attitude stabilization control mode:
Firstly, inputting a target attitude angle of a camera, measuring acceleration and angular acceleration of the camera through an IMU, and obtaining a current attitude angle through camera attitude calculation;
step S3, if active tracking is performed, the system enters a target active tracking mode:
Firstly, selecting a tracked target in a current frame image, and automatically identifying and extracting target characteristics by using a background difference algorithm;
tracking a moving target based on a self-adaptive Kalman filtering algorithm, and estimating the moving speed of the target in the image width and height directions;
further, predicting a camera target attitude angle according to the movement speed of the target relative to the camera;
finally, the camera is regulated to reach the target attitude angle through steering engine closed-loop control.
Compared with the prior art, the invention has the following beneficial effects:
1) The camera cradle head system with the active tracking function is compact in structure and convenient to assemble and disassemble, can realize rapid and stable adjustment of the posture of a camera, and has a pitching adjustment range of-90 degrees to 90 degrees, a yawing adjustment range of-180 degrees to 180 degrees and a rolling adjustment range of-180 degrees to 180 degrees;
2) The invention provides a camera cradle head system with an active tracking function, which can track a target object appointed in a view field according to task requirements, and the target object is positioned in the central range of the view field of a camera by adjusting the posture of the camera;
3) The invention provides a camera cradle head system with an active tracking function, which is provided with an expandable communication interface and a mechanical interface, supports CAMERALINK interface cameras and has good system adaptability and expansibility.
Drawings
FIG. 1 is a schematic view of the overall assembly of the present invention.
FIG. 2 is a schematic view of a pitch adjustment mechanism according to the present invention.
Fig. 3 is a schematic view of a roll adjustment mechanism in the present invention.
Fig. 4 is a schematic view of a yaw adjustment mechanism in the present invention.
FIG. 5 is a flow chart of camera pose stabilization adjustment and target tracking in the present invention.
The reference numerals in the drawings are:
the camera comprises a 101-control module, a 201-camera fast-assembling bracket;
301-course shaft coupling, 302-course shaft;
303-a steering wheel of a course shaft steering wheel, 304-a steering wheel of a roll shaft steering wheel;
305-transverse roller, 306-transverse roller shaft coupling;
307-pitching driven shaft, 308-pitching shaft steering engine steering wheel;
401-heading shaft conductive slip ring, 402-roll shaft conductive slip ring;
501-course axis steering engine, 502-roll axis steering engine;
503-pitching axis steering engine, 601-rolling bearing seat;
602-an opening gasket A, 603-a deep groove ball bearing A;
604-pitching bearing seat, 605-deep groove ball bearing B;
606-opening gasket B, 701-course shaft steering engine bracket;
702-a transverse rolling shaft steering engine bracket, 703-a transverse rolling shaft conductive slip ring fixing frame;
704-a roll shaft bracket, 705-a bearing seat cushion block;
706-a camera fast-assembling bracket mounting rack, 707-a pitching axis steering engine bracket;
708-pitch axis bracket.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention become more apparent, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the embodiments of the present invention. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of the invention.
All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The embodiments described below, together with the words of orientation, are exemplary and intended to explain the invention and should not be taken as limiting the invention.
In one broad embodiment of the present invention, a camera pan-tilt system with active tracking function includes a control module 101, an information acquisition device, a pitch adjustment mechanism, a roll adjustment mechanism and a yaw adjustment mechanism, and is characterized in that the information acquisition device automatically identifies a moving target object in a camera field of view, and the control module 101 controls the pitch adjustment mechanism, the roll adjustment mechanism and the yaw adjustment mechanism by driving to adjust the three-degree-of-freedom posture of the information acquisition device, so as to realize the three-degree-of-freedom active vision function, and enable the target object to be located in the central range of the field of view, thereby keeping the camera image clear and continuous.
Preferably, the information acquisition device comprises a binocular camera, a camera fast-assembling bracket 201 and a camera fast-assembling bracket mounting frame 706, the pitching adjusting mechanism comprises a pitching driven shaft 307, a pitching shaft steering engine rudder disk 308, a pitching shaft steering engine 503, a pitching bearing seat 604, a deep groove ball bearing B605, an opening gasket B606, a pitching shaft steering engine bracket 707 and a pitching shaft bracket 708, wherein,
Two ends of a camera fast-assembling bracket mounting frame 706 are respectively connected with the pitching driven shaft 307 and the camera fast-assembling bracket 201, and a binocular camera is mounted on the camera fast-assembling bracket 201;
The pitching axis steering engine 503 is mounted on the pitching axis steering engine rudder disk 308;
one side of a pitching axis steering wheel 308 is fixed on a pitching axis bracket 708, and the other side is fixed on a pitching axis steering wheel bracket 707;
an output shaft of the pitching shaft steering engine 503 is fixedly connected with a camera fast-assembly bracket mounting frame 706 to serve as a pitching power output shaft;
The pitching bearing seat 604 and the opening washer B606 are arranged on the other side of the pitching shaft bracket 708, and the deep groove ball bearing B605 is arranged in the pitching bearing seat 604;
When pitching adjustment is performed, the pitching axis steering wheel 308 drives the camera fast-assembling bracket mounting frame 706 to rotate, so that the camera fast-assembling bracket 201 and the binocular camera are driven to rotate, the pitching driven shaft 307 is driven to rotate through rotation of the binocular camera and the camera fast-assembling bracket mounting frame 706, and the two sides of the camera are uniformly stressed due to movement of the two sides of the camera, so that pitching movement of the pan-tilt camera is realized.
Preferably, the roll adjusting mechanism comprises a roll shaft steering wheel rudder disk 304, a roll shaft 305, a roll shaft coupling 306, a roll shaft conductive slip ring 402, a roll shaft steering wheel 502, a roll bearing seat 601, an opening gasket A602, a deep groove ball bearing A603, a roll shaft steering wheel bracket 702, a roll shaft conductive slip ring fixing frame 703, a roll shaft bracket 704 and a bearing seat cushion block 705, wherein,
The horizontal roller steering engine 502 is fixed on a horizontal roller steering engine bracket 702, the horizontal roller steering engine bracket 702 is fixed on a horizontal roller bracket 704 through bolts, an output shaft of the horizontal roller steering engine 502 is fixedly connected on a horizontal roller 305 through a horizontal roller steering engine rudder disk 304, a deep groove ball bearing A603 is sleeved on the horizontal roller 305, an opening gasket A602 is arranged on the deep groove ball bearing A603, a horizontal roller bearing seat 601 is arranged outside the deep groove ball bearing A603 and used as protection, and the horizontal roller bearing seat 601 is fixed on the horizontal roller bracket 704 through bolts;
The transverse roller conductive slip ring fixing frame 703 is fixedly installed on the transverse roller bracket 704 and is used for supporting the transverse roller conductive slip ring 402;
a roll shaft coupler 306 is arranged in front of the transverse roller 305 and is axially fixed by screws so as to be convenient for connection with a pitch shaft bracket 708;
When the tilt adjustment is performed, the steering wheel 304 of the roll shaft steering engine drives the roll shaft 305 to rotate, the roll shaft coupler 306 connected with the roll shaft 305 is further driven to rotate, the roll shaft coupler 306 is connected with the pitching shaft bracket 708 through bolts, the camera cradle head device is arranged on the pitching shaft bracket 708, the rotation of the roll shaft coupler 306 is required to drive the pitching shaft bracket 708 to rotate, and the movement of the cradle head camera is further driven, so that the tilt adjustment of the cradle head camera is realized.
Preferably, the yaw adjustment mechanism comprises a heading shaft coupling 301, a heading shaft 302, a heading shaft steering wheel 303, a heading shaft conductive slip ring 401, a heading shaft steering engine 501 and a heading shaft steering engine bracket 701, wherein,
The course shaft steering engine 501 is fixed on the course shaft steering engine bracket 701 through bolts, and the course shaft steering engine steering wheel 303 is connected with the course shaft 302 through bolts, so that the transmission of power is ensured;
the upper end of the heading shaft 302 is provided with a heading shaft coupler 301 which is axially fixed by a screw for facilitating the connection with a roll shaft bracket 704;
When the device performs yaw direction adjustment, the steering wheel 303 of the heading shaft steering engine drives the heading shaft 302 to rotate, the heading shaft coupler 301 connected with the heading shaft 302 is further driven to rotate, the heading shaft coupler 301 is connected with the roll shaft bracket 704 through bolts, the roll shaft bracket 704 is further driven to move, and further the yaw movement of the cradle head camera is driven, so that the yaw adjustment of the cradle head camera is realized.
Preferably, in order to facilitate the winding of the wire, a heading shaft conductive slip ring 401 is sleeved outside the heading shaft 302, and a roll shaft conductive slip ring 402 is sleeved in front of the roll shaft 305, and the main function of the roll shaft conductive slip ring 402 is to solve the problem of wire winding in the process of rotating the device for 360 degrees.
Preferably, the pitch axis steering engine 503, the roll axis steering engine 502 and the heading axis steering engine 501 are all in signal connection with the control module 101, and the control module 101 changes the gesture of the pan-tilt camera by controlling the movements of the pitch axis steering engine 503, the roll axis steering engine 502 and/or the heading axis steering engine 501.
Preferably, the pitch adjustment range is-90 DEG to 90 DEG, the yaw adjustment range is-180 DEG to 180 DEG, and the roll adjustment range is-180 DEG to 180 deg.
Preferably, the camera holder system is provided with an expandable communication interface and a mechanical interface, supports CAMERALINK interface cameras, and has good adaptability and expansibility.
Preferably, the working modes of the camera pan-tilt system include a target active tracking mode and a camera gesture stabilization control mode, and the camera gesture stabilization adjustment and target tracking control flow includes:
Step S1, firstly, setting a working mode, and judging whether a target active tracking mode is to be performed or not;
step S2, if active tracking is not performed, the system enters a camera attitude stabilization control mode:
Firstly, inputting a target attitude angle of a camera, measuring acceleration and angular acceleration of the camera through an IMU, and obtaining a current attitude angle through camera attitude calculation;
step S3, if active tracking is performed, the system enters a target active tracking mode:
Firstly, selecting a tracked target in a current frame image, and automatically identifying and extracting target characteristics by using a background difference algorithm;
tracking a moving target based on a self-adaptive Kalman filtering algorithm, and estimating the moving speed of the target in the image width and height directions;
further, predicting a camera target attitude angle according to the movement speed of the target relative to the camera;
finally, the camera is regulated to reach the target attitude angle through steering engine closed-loop control.
The invention will be described in further detail below with reference to the attached drawings, which illustrate preferred embodiments of the invention.
As shown in fig. 1, the three-degree-of-freedom-based active visual target tracking cradle head device provided by the invention comprises a control module 101, an information acquisition device, a pitching adjusting mechanism, a rolling adjusting mechanism and a yawing adjusting mechanism. The control module 101 is connected with a camera through an interface, the information acquisition device is connected to a pitching driven shaft 307 through a camera fast-assembling bracket mounting bracket 706, the pitching adjusting mechanism is connected with a rolling adjusting mechanism through a pitching shaft bracket 708, and the rolling adjusting mechanism is connected with a rolling adjusting mechanism through a transverse roller bracket 704.
As shown in fig. 1 and 2, the information acquisition device is composed of a binocular camera, a camera fast-assembling bracket 201 and a camera fast-assembling bracket mounting frame 706. The camera fast-assembling bracket mounting frame 706 is fixedly connected to the pitching driven shaft 307 through bolts, the camera fast-assembling bracket 201 is mounted at the other end of the camera fast-assembling bracket mounting frame, the binocular camera is placed on the camera fast-assembling bracket 201, and when information is acquired, the binocular camera adjusts the gesture to enable an original target which is not in the center of a field of view to be located in the center range of the field of view of the camera, so that clear and continuous images of the camera pictures are maintained.
As shown in fig. 1 and 2, the pitch adjustment mechanism includes a pitch driven shaft 307, a pitch axis steering wheel 308, a pitch axis steering wheel 503, a pitch bearing housing 604, a deep groove ball bearing B605, a split washer B606, a pitch axis steering wheel bracket 707, and a pitch axis bracket 708. The pitching shaft steering engine 503 is mounted on a pitching shaft steering engine steering wheel 308, one side of the pitching shaft steering engine steering wheel 308 is fixed on a pitching shaft bracket 708 through bolts, the other side of the pitching shaft steering engine steering wheel 308 is fixed on a pitching shaft steering engine bracket 707 through bolts, an output shaft of the pitching shaft steering engine 503 is connected with a camera quick-mounting bracket 706 through bolts and used as a pitching power output shaft, a pitching bearing seat 604 and an opening washer B606 are mounted on the other side of the pitching shaft bracket 708, a deep groove ball bearing B605 is mounted in the pitching bearing seat 604, and a pitching driven shaft 307 is connected on the pitching shaft bracket 708 through a deep groove ball bearing to be used as a driven shaft.
When the cradle head camera device performs pitching adjustment, the pitching shaft steering wheel 308 drives the camera fast-assembly bracket mounting frame 706 to rotate, so that the camera fast-assembly bracket 201 and the binocular camera are driven to rotate, the other side serves as a driven shaft, the pitching driven shaft 307 is driven to rotate through rotation of the binocular camera and the camera fast-assembly bracket mounting frame 706, and due to movement of the two sides, stress on the two sides of the camera is uniform, so that pitching movement of the cradle head camera device is realized.
As shown in fig. 1 and 3, the roll adjustment mechanism includes a roll shaft steering wheel 304, a roll shaft 305, a roll shaft coupling 306, a roll shaft conductive slip ring 402, a roll shaft steering wheel 502, a roll bearing housing 601, an opening washer a602, a deep groove ball bearing a603, a roll shaft steering wheel bracket 702, a roll shaft conductive slip ring fixing bracket 703, a roll shaft bracket 704, and a bearing housing cushion 705. The horizontal roller steering engine 502 is fixed on a horizontal roller steering engine support 702, the horizontal roller steering engine support 702 is fixed on the horizontal roller support 704 through bolts, a steering engine output shaft is fixedly connected to a horizontal roller 305 through a horizontal roller steering engine rudder plate 304, a deep groove ball bearing A603 is sleeved on the horizontal roller 305, an opening gasket A602 is placed on the deep groove ball bearing, a horizontal roller bearing seat 601 is arranged outside the bearing to protect the bearing, the horizontal roller bearing seat 601 is fixed on the horizontal roller support 704 through bolts, a metal bearing seat cushion block 705 is padded below the bearing seat to prevent the force above the bearing seat from directly acting on the horizontal roller support 704, a horizontal roller conductive slip ring 402 is sleeved outside the front of the horizontal roller 305, the main function of the horizontal roller conductive slip ring 402 is to solve the problem of wire winding in the process of 360-degree rotation of equipment, a horizontal roller conductive slip ring fixing frame 703 is fixedly arranged on the horizontal roller support 704 and used for supporting the horizontal roller conductive slip ring 402, a horizontal roller shaft coupler 306 is arranged in front of the horizontal roller 305 and is axially fixed through bolts for convenient connection with the pitching shaft support 708.
When the pan-tilt camera device performs roll adjustment, the roll shaft steering wheel 304 drives the roll shaft 305 to rotate, further drives the roll shaft coupler 306 connected with the roll shaft 305 to rotate, the roll shaft coupler 306 is connected with the pitch shaft bracket 708 through bolts, the camera pan-tilt device is mounted on the pitch shaft bracket 708, and the rotation of the roll shaft coupler 306 is required to drive the rotation of the pitch shaft bracket 708, further drives the movement of the pan-tilt camera device, so that the roll adjustment of the pan-tilt camera device is realized.
The yaw adjusting mechanism comprises a course shaft coupler 301, a course shaft 302, a course shaft steering wheel 303, a course shaft conductive slip ring 401, a course shaft steering engine 501 and a course shaft steering engine bracket 701. The course shaft steering engine 501 is fixed on the course shaft steering engine bracket 701 through bolts, the course shaft steering engine steering wheel 303 is connected with the course shaft 302 through bolts, power transmission is guaranteed, the course shaft conductive slip ring 401 is sleeved outside the course shaft 302 for the purpose of facilitating winding of wires, the course shaft coupler 301 is mounted at the upper end of the course shaft 302, and the course shaft coupler is axially fixed through bolts for the purpose of facilitating connection with the roll shaft bracket 704.
When the device performs yaw direction adjustment, the course shaft steering wheel 303 drives the course shaft 302 to rotate, further drives the course shaft coupler 301 connected with the course shaft 302 to rotate, and the course shaft coupler 301 is connected with the roll shaft bracket 704 through bolts, further drives the roll shaft bracket 704 to move, and further drives the yaw of the pan-tilt camera device to move, so that the yaw adjustment of the pan-tilt camera device is realized.
The pitching axis steering engine 503, the rolling axis steering engine 502 and the heading axis steering engine 501 are all in signal connection with the control module 101, and the control module 101 controls the steering engine to move through the driving controller, so that the posture of the pan-tilt camera device is changed, and the three-degree-of-freedom active vision function is realized.
FIG. 5 is a flow chart of camera pose stabilization adjustment and target tracking according to the present invention. The control method can stably adjust the camera tripod head system, select whether to actively track the target, and then adjust the gesture of the camera tripod head, so that the target object is positioned in the central range of the camera view field, thereby realizing the tracking function of the moving target.
As shown in fig. 5, the camera gesture stability adjustment and target tracking control flow provided by the invention is as follows:
1. Firstly, setting a working mode, and judging whether to perform active target tracking.
2. If active tracking is not performed, the system enters a camera pose stability control mode. Firstly, inputting a target attitude angle of a camera, measuring acceleration and angular acceleration of the camera through an IMU, and obtaining a current attitude angle through camera attitude calculation. And adjusting the camera to reach the target attitude angle by controlling the steering engine.
3. If active tracking is performed, the system enters an active target tracking mode. Firstly, a tracked target is selected from a current frame image, and a background difference algorithm is used for automatically identifying and extracting target characteristics. Based on the self-adaptive Kalman filtering algorithm, tracking the moving target, and estimating the moving speed of the target in the image width and height directions. Further, a camera target attitude angle is predicted from the movement speed of the target relative to the camera. Finally, the camera is regulated to reach the target attitude angle through steering engine closed-loop control.
It should be noted that, the steps in the target tracking method provided by the present invention may be implemented by using corresponding modules, units, etc. in the target tracking system, and those skilled in the art may refer to a technical solution of the system to implement the step flow of the method, and an embodiment in the system may be understood as a preferred example for implementing the method, which is not described herein.
Finally, it should be pointed out that the above embodiments are only intended to illustrate the technical solution of the invention, not to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that modifications may be made to the technical solutions described in the foregoing embodiments or equivalents may be substituted for some of the technical features thereof, and that such modifications or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention in essence of the corresponding technical solutions.
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| CN117560575B (en) * | 2023-12-01 | 2025-02-25 | 深圳市飞鱼星科技有限公司 | A VR panoramic gimbal for sports cameras |
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