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Pan-tilt driving method, device and hand-held camera

A technology of gimbal and rotation, applied in the field of target tracking, can solve the problems of gimbal rotation jitter, affecting user experience, etc.

Active Publication Date: 2021-04-06
SHANGHAI MOSHON TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, since the target is dynamic, the position of the center point of the target targeted by the tracking algorithm is also dynamic each time. The dynamic change of the position of the center point of the target causes the cloud when the existing tracking technology is used to drive the gimbal to track the target. Table rotation jitter affects user experience

Method used

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  • Pan-tilt driving method, device and hand-held camera
  • Pan-tilt driving method, device and hand-held camera
  • Pan-tilt driving method, device and hand-held camera

Examples

Experimental program
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Effect test

Embodiment 1

[0047] Embodiment 1 of the present application provides a pan-tilt driving method, figure 1 It is a schematic flow chart of a method for driving a pan / tilt provided in an embodiment of the present application. like figure 1 As shown, the pan-tilt driving method is used to drive the pan-tilt smoothly, so as to prevent the pan-tilt from shaking when the tracking target shakes, thereby improving user experience. Specifically, the cloud platform is provided with a video collector, wherein the video collector may be a camera, a video camera, or a mobile phone or other device with an image collection function. like figure 1 As shown, the PTZ drive method includes:

[0048] S101. Acquire an actual measurement vector from an image center point in an image frame to a target center point of a tracking target at a first moment, as a first actual measurement vector.

[0049] In this embodiment, the first moment may be a moment before and continuous to the current moment when the track...

Embodiment 2

[0068] Based on the flow diagram of a pan-tilt driving method provided in Embodiment 1 of the present application, Embodiment 2 of the present application provides a specific implementation method for determining the target rotation amount of the pan-tilt according to the prediction vector, figure 2 It is a schematic flowchart of determining the target rotation amount of the pan / tilt according to the prediction vector provided in Embodiment 2 of the present application. like figure 2 As shown, according to the predicted vector to drive the target rotation amount of the gimbal and drive the gimbal, it can be set to specifically include:

[0069] S201. Determine a target prediction vector according to the prediction vector and a preset modulus length threshold.

[0070] Wherein, the preset modulus length threshold may be the maximum modulus length allowed by the gimbal for the video collector carried by the gimbal to obtain a clear image.

[0071] Specifically, if the rotati...

Embodiment 3

[0084] The embodiment of the present application provides a pan-tilt driving device, image 3 A schematic structural diagram of the pan-tilt driving device provided for the embodiment of the present application, such as image 3 As shown, the pan / tilt driving device includes: a memory 31, a processor 32, a video collector 33, and the video collector 33 is used to collect the tracking target in the target area; the memory 31 is used to store program code; the processor 32 calls the program code , when the program code is executed, it is used to perform the following operations: obtain the measured vector from the center point of the image in the image frame at the first moment to the target center point of the tracking target as the first measured vector; obtain the center of the image in the image frame at the second moment Point to the measured vector of the target center point of the tracking target, as the second measured vector, the first moment and the second moment are t...

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Abstract

Embodiments of the present application provide a pan / tilt drive method, device, and hand-held camera, which includes obtaining the measured vector from the center point of the image in the image frame at the first moment to the center point of the tracking target as the first measured vector, and obtaining the measured vector at the second moment The actual measurement vector from the image center point in the image frame to the target center point of the tracking target is used as the second actual measurement vector, and the prediction from the image center point to the target center point in the image frame at the second moment is determined according to the first actual measurement vector and the second actual measurement vector Vector, determine the target rotation amount of the gimbal according to the predicted vector and drive the gimbal. Since the effect of the measured vector from the image center point to the target center point in the image frame at the first moment is taken into account when determining the predictive vector, the determined predictive vector is relatively smooth, and a relatively smooth pan / tilt can be determined according to the predictive vector The amount of rotation controls the smooth movement of the platform to avoid the shaking of the gimbal when the tracking target shakes.

Description

technical field [0001] The embodiments of the present application relate to the technical field of target tracking, and in particular, to a pan-tilt driving method, device, and hand-held camera. Background technique [0002] Devices with gimbals such as handheld cameras are widely used because they can automatically track targets and perform stable shooting. At present, in the process of automatic tracking of a target by a device with a pan-tilt, such as a handheld camera, the automatic tracking of the target is mainly achieved by driving the pan-tilt through the mechanism of making the center of the target always be at the center of the image. However, since the target is dynamic, the position of the center point of the target targeted by the tracking algorithm is also dynamic each time. The dynamic change of the position of the center point of the target causes the cloud when the existing tracking technology is used to drive the gimbal to track the target. Table rotation ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H04N5/232
CPCH04N23/64H04N23/695
Inventor 刘利朋梁峰
Owner SHANGHAI MOSHON TECH CO LTD