Image pickup system and control method thereof for machine motion control

A technology of motion control and camera system, applied in attitude control, TV system components, image communication, etc., can solve problems such as insufficient flexibility and accuracy

Active Publication Date: 2011-07-13
BEIJING ZHONGKE GUANGSHI TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The purpose of the present invention is to overcome the deficiencies of the existing automatic...

Method used

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  • Image pickup system and control method thereof for machine motion control
  • Image pickup system and control method thereof for machine motion control
  • Image pickup system and control method thereof for machine motion control

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Experimental program
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Embodiment Construction

[0107] Before describing the present invention in detail, firstly, a unified description will be given to related concepts in the present invention.

[0108] 1. Cartesian space: refers to a linear space defined using a Cartesian coordinate system. In this application, a three-dimensional Cartesian space is used to represent the motion space of a robot in a broad sense.

[0109] 2. Joint space: Assuming that the robot has n degrees of freedom, then the robot joint coordinate system is an n-dimensional space, and the joint space is a set composed of a series of n-dimensional spaces. The results of the kinematic positive solutions of each feature in this set are the same ( That is, the end position and attitude of the robot obtained by solving the forward kinematics for each feature in the joint space are the same).

[0110] 3. Gradient projection method: The basic formula of gradient projection method is:

[0111]

[0112] in, is the time derivative of the angle to be obt...

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Abstract

The invention provides an image pickup system for machine motion control, which comprises a guide rail 10, a robot main body 20, a cradle head device 30, a video camera 40, a video camera control module 50 for controlling the video camera 40, a robot control module 60 for controlling the robot main body 20 and the cradle head device 30, and a machine motion control image pickup module 70 for performing coordinated control on the video camera control module 50 and the robot control module 60; wherein the robot main body 20 slides on the guide rail 10, the cradle head device 30 is arranged at atail end of a magic hand of the robot main body 20, and at least one video camera 40 is mounted on the cradle head device 30; and the guide rail 10, the robot main body 20 and the cradle head device 30 for a 9-DOF (degree of freedom) robot.

Description

technical field [0001] The invention relates to the field of motion control photography, in particular to a photography system and method for automatically controlling and accurately repeating shooting tracks. Background technique [0002] Film and television synthesis technology is one of the important means of film special effects, which refers to the process of mixing multiple source materials into a single repeated picture. The early film and television synthesis technology was mainly realized on the basis of film, and synthesis methods and means such as "keying" and "overlay" were widely used in early film and television production. Maintaining highly precise control of camera movement is required when the composited film's shot trajectory is moving rather than static. In order to achieve the composite effect of the motion shooting scene, the moving shooting of the same motion trajectory needs to be repeated many times. The effect of scene compositing depends on the p...

Claims

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Application Information

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IPC IPC(8): G05D1/08H04N5/225
Inventor 朱登明刘华俊陈明伟王兆其
Owner BEIJING ZHONGKE GUANGSHI TECH
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