Automatic mirror conveying system and method based on UWB global coordinate system
By using an autonomous mobile platform based on the UWB global coordinate system, the problems of digitizing camera movement techniques and global spatial reference have been solved, enabling accurate reproduction of camera movement trajectories and cross-platform applications. This has formed a tradable digital asset ecosystem and met the high-standard requirements of high-end film and television production and live broadcasting.
Patent Information
- Application Number
- CN202610144289.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-02-02
- Publication Date
- 2026-05-15
AI Technical Summary
Existing technologies struggle to effectively digitize diverse and artistic camera movement techniques and achieve high-precision, error-free repetitive execution in absolute physical space. This makes it difficult to template and reuse creative techniques. Existing automated shooting platforms lack a stable global spatial reference system, making it impossible to achieve consistent visual effects across different scenes and devices.
An autonomous mobile platform based on the UWB global coordinate system is adopted. By deploying fixed UWB base stations and tags, a global coordinate system is established to record and reproduce the camera movement trajectory. Combined with inertial measurement units and digital rights management technology, the camera movement trajectory can be accurately saved and reproduced across platforms.
It achieves precise digitization and high-fidelity reproduction of camera movement art, builds a tradable digital asset ecosystem, provides a high-precision global spatial execution benchmark without cumulative errors, breaks through carrier limitations, and realizes universal intelligent camera movement across platforms and multiple scenarios.
Smart Images
Figure CN122053973A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of shooting equipment technology, specifically to an autonomous moving platform automatic camera movement system and method based on a global UWB coordinate system. Background Technology
[0002] In the short video, film and television production, and live streaming industries, professional-grade camera work is a core means of enhancing visual expressiveness and strengthening narrative appeal. Current creative demands for camera movement techniques are becoming increasingly diverse and complex, encompassing not only basic push, pull, pan, and tilt, but also complex dynamic camera movements such as arcing, spiraling, and coordinated multi-target tracking. By intelligently combining and arranging these basic and advanced camera movement techniques in a sequential manner, it is possible to significantly enhance visual impact, enrich narrative dimensions, and create a unique visual style.
[0003] However, transforming this artistic camera movement technique into a reliably reproducible automated technology faces two major bottlenecks: First, creative techniques are difficult to effectively digitize and template. Excellent camera movement relies on the photographer's on-site intuition and real-time judgment. Its subtle movement trajectories, speed changes, and dynamic relative relationships with the subject are difficult to abstract into digital assets that can be stored, shared, and precisely reused. Even if some systems allow recording motion paths, the generated "templates" are often bound to specific devices or abstract relative coordinates, lacking a connection to absolute physical space. This makes it impossible to achieve consistent visual effects across different times, locations, or subjects, and further hinders trading and reuse within a clearly defined and easily accessible ecosystem, thus failing to maximize the creator's value.
[0004] Secondly, existing automated shooting platforms lack a precise and stable global spatial reference frame when executing digital trajectories. Current mainstream automated camera movement solutions (such as intelligent following drones and track robots) largely rely on the Global Positioning System (GPS) or Visual / Inertial Odometry (VIO / INS). GPS signals are weak and prone to error indoors, in heavily obstructed urban canyons, or in scenarios requiring centimeter-level accuracy. While visual or inertial solutions can provide relative motion estimates in the short term, they inevitably accumulate errors due to the lack of a global absolute reference. This leads to a fundamental flaw: even if a camera movement trajectory is recorded, the system cannot accurately and repeatedly reproduce that trajectory within the same absolute physical spatial coordinate system in subsequent executions. Each execution may experience drift due to accumulated errors, making it difficult to achieve professional production requirements such as "accurately reproducing the director's intent" and "ensuring shot consistency through multiple takes," severely restricting the application of automated technology in demanding scenarios such as high-end film and television production and live broadcasts.
[0005] Therefore, the industry urgently needs an intelligent automated shooting solution that can reliably digitize diverse and artistic camera movement techniques and provide high-precision, error-free repeatability in absolute physical space to break through the dual barriers of creation and technology. Summary of the Invention
[0006] To address the shortcomings of existing technologies, this invention provides an autonomous mobile platform automatic camera movement system and method based on a global UWB coordinate system. It aims to solve the problems that creative techniques are difficult to effectively digitize and template, and that existing automated shooting platforms lack an accurate and stable global spatial reference system when executing digital trajectories.
[0007] To achieve the above objectives, the present invention adopts the following technical solution: In a first aspect, the present invention provides an automatic camera movement method based on the UWB global coordinate system, comprising the following steps: S1. Steps for establishing a coordinate system: Deploy at least one fixed UWB base station and multiple UWB tags to construct a UWB measurement coordinate system; The UWB tag includes at least a first tag worn on the target being photographed and a second tag set on the mobile shooting unit; S2. System calibration steps: Perform system calibration to determine the transformation relationship between the UWB measurement coordinate system and the actual physical space, thereby obtaining a global coordinate system for positioning and control; S3. Track template recording steps: In recording mode, the mobile shooting unit equipped with a shooting gimbal is controlled to move in the global coordinate system and to move the camera on the shooting target; The pose data of the first label and the second label in the global coordinate system are collected and recorded synchronously to form a pose time series; Based on the pose time sequence, a digital camera movement trajectory template is generated; S4. Steps for reproducing the trajectory template: The camera movement trajectory template is loaded into the control unit of an autonomous mobile shooting platform; Based on the pose time sequence recorded in the camera movement trajectory template, the global coordinate system, and the current pose of the shooting target obtained in real time through UWB tags, the control unit generates motion control commands. The motion control command is executed to drive the autonomous mobile shooting platform to move, so as to accurately reproduce the camera movement trajectory defined by the camera movement trajectory template.
[0008] Furthermore, the system calibration steps specifically include: Multiple known location points are set in the actual physical space; The mobile shooting unit carrying the second tag is controlled to sequentially arrive at each of the known location points and record the corresponding coordinates measured by the UWB system; Based on the physical coordinates and UWB measurement coordinates of the known location points, the calibration transformation matrix is calculated; The calibration transformation matrix is applied to the UWB measurement coordinate system to obtain the global coordinate system aligned with the actual physical space.
[0009] Furthermore, in the trajectory template recording step, the pose time sequence includes a timestamp, the coordinates of the shooting target position, the coordinates of the moving shooting unit position, and the attitude angle of the moving shooting unit.
[0010] Furthermore, in the trajectory template reproduction step, the generation of motion control commands specifically includes: Based on the pose time series and the real-time acquired pose of the shooting target, calculate the expected pose of the autonomous mobile shooting platform at the current moment; Calculate the pose difference between the desired pose and the real-time pose; Based on the kinematic model of the autonomous mobile shooting platform, the pose difference is calculated into specific velocity, angular velocity, or position control commands.
[0011] Furthermore, following the trajectory template recording step, a copyright protection step is also included: Generate a unique digital fingerprint for the camera movement trajectory template; The digital fingerprint is associated with the creator's information and uploaded to the evidence storage server for copyright confirmation; The camera movement trajectory template is encrypted, and its decryption and usage authorization are controlled using digital rights management technology.
[0012] Furthermore, a unique, user-invisible digital watermark is embedded in the distributed copies of the camera movement trajectory template for infringement tracking.
[0013] Furthermore, the mobile shooting unit is a handheld gimbal recording stick or a drone; Furthermore, the autonomous mobile shooting platform is a drone, a wheeled mobile robot, or a tracked mobile robot.
[0014] Secondly, the present invention also provides an automatic camera movement system based on the UWB global coordinate system, including: a global reference end, a moving target end, and an autonomous moving shooting platform; The global reference end includes at least one fixed UWB world coordinate base station, which is used to establish and define the origin of the system's global coordinate system, providing absolute position reference for the mobile target and the autonomous mobile shooting platform.
[0015] The moving target includes a first UWB tag worn by the target, used for positioning by the global reference end to obtain the precise pose of the moving target in the global coordinate system. t ,Y t Z t ]; The autonomous mobile shooting platform includes: The platform itself is used for spatial position changes; A second UWB tag is installed on the platform body and is used to be located by the global reference end to obtain the precise pose of the platform body in the global coordinate system. p ,Y p Z p ].
[0016] An integrated control unit, installed on the platform body, includes a processor, a memory, and an inertial measurement unit. The processor is used to execute the automatic camera movement method based on the UWB global coordinate system as described in any one of claims 1 to 8. The memory is used to store camera movement templates, and the inertial measurement unit is responsible for recording and controlling the attitude angle θ of the platform body. p ; A camera head, used to mount the camera, with independently controllable orientation.
[0017] Furthermore, the platform itself includes drones, wheeled robots, and tracked robots.
[0018] The automatic camera movement system and method based on the UWB global coordinate system described in this invention have the following advantages: (1) This invention achieves precise digitization and high-fidelity reproduction of camera movement art, and constructs a tradable digital asset ecosystem. By recording the positional relationship between the shooting target and the shooting platform in absolute physical space during camera movement in a high-precision time series format, this invention generates a truly meaningful "digital camera movement trajectory template." This template not only records the movement path but also precisely encodes the speed, posture, and dynamic spatial relationship with the target, allowing camera movement techniques that originally relied on personal experience to be objectively and accurately preserved. Combined with digital fingerprint, DRM encryption, and watermarking technologies, this template becomes a digital asset with clear ownership, secure distribution, and tradability, providing creators with new channels for monetization and forming a positive incentive ecosystem from creation and protection to trading and reuse, fundamentally solving the problem of the difficulty in inheriting and scalably reusing excellent techniques.
[0019] (2) It provides a high-precision, error-free global spatial execution reference, ensuring the absolute repeatability of camera movements. This invention establishes a stable and accurate global coordinate system by deploying fixed UWB world coordinate base stations. Unlike solutions that rely on GPS or visual odometry, this coordinate system provides an absolute, physically meaningful spatial reference for the entire shooting space. During the execution phase, the autonomous mobile platform performs positioning and control based on this global coordinate system, completely eliminating the cumulative errors caused by relative measurements. This allows even the most complex combined camera movements to be repeated countless times with centimeter-level precision in the same physical scene, perfectly meeting the high-standard professional requirements of "multiple shots with consistent footage" in film and television production and "pre-rehearsal as live broadcast" in large-scale event live broadcasts.
[0020] (3) Breaking through the limitations of the carrier, this invention achieves universal intelligent camera movement across platforms and multiple scenarios. The invention innovatively designs a "platform adaptation layer," which intelligently calculates the unified trajectory instructions based on the global coordinate system into specific motion control instructions for different carriers (such as drones, wheeled robots, and tracked robots). Therefore, a single digital camera movement template can drive different types of mobile platforms for replication. This completely breaks the existing limitations of many solutions that are confined to a single drone carrier, enabling the system to flexibly select the optimal carrier according to scenario requirements—drones for large outdoor scenes, and ground robots for indoor, quiet, or confined spaces—greatly expanding the application scope and practicality of automated professional camera movement. Attached Figure Description
[0021] Figure 1 This is a schematic diagram of the overall architecture of the automatic camera movement system based on the UWB global coordinate system in an embodiment of the present invention; Figure 2 This is a flowchart illustrating the automatic camera movement method based on the UWB global coordinate system in an embodiment of the present invention. Figure 3 This is a flowchart illustrating the workflow of recording camera movement trajectory templates in an embodiment of the present invention. Figure 4 This is a schematic diagram of the system deployment of Embodiment 1 of the present invention (using a drone as a carrier); Figure 5 This is a schematic diagram of the system deployment of Embodiment 2 of the present invention (using a wheeled robot as a carrier). Detailed Implementation
[0022] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.
[0023] Please see Figure 1 This demonstrates a basic architecture of the automatic camera movement system of the present invention. The system mainly consists of three parts: 1. Global Reference Terminal: Consists of at least one fixedly deployed UWB world coordinate base station (for 3D positioning). These base stations collectively define a high-precision global spatial coordinate system covering the entire shooting area. Typically, the location of one of the base stations can be designated as the origin of the coordinate system (0,0,0).
[0024] 2. Mobile target device: A miniature first UWB tag worn by the subject being filmed (such as an actor, broadcaster, product, etc.). Its location [X] t Y t Z t [Measured in real time by the UWB base station network.]
[0025] 3. Autonomous Mobile Shooting Platform: As the executor of camera movements, its core components include: (1) Platform body: can be multi-rotor drones, wheeled robots, tracked robots, etc.
[0026] (2) Second UWB tag: Fixedly installed on the platform body, used for positioning by the base station to obtain the platform's precise position in the global coordinate system [X p Y p Z p ].
[0027] (3) Integrated control unit: includes processor (such as MCU, embedded computer), memory (for storing programs and camera movement templates), and inertial measurement unit (IMU, for measuring the platform attitude angle Op, including pitch, roll and yaw).
[0028] (4) Camera gimbal: It is equipped with a camera and usually has two or three degrees of freedom. It can be leveled and pointed independently of the movement of the platform body.
[0029] like Figure 2 As shown, an automatic camera movement method based on the UWB global coordinate system includes the following steps: S1. Steps for establishing a coordinate system: Deploy at least one fixed UWB base station and multiple UWB tags to construct a UWB measurement coordinate system; The UWB tag includes at least a first tag worn on the target and a second tag set on the mobile shooting unit; S2. System calibration steps: Perform system calibration to determine the transformation relationship between the UWB measurement coordinate system and the actual physical space, thereby obtaining a global coordinate system for positioning and control; S3. Track template recording steps: In recording mode, the mobile shooting unit equipped with a shooting gimbal is controlled to move in the global coordinate system and to move the camera on the shooting target; Simultaneously collect and record the pose data of the first and second labels in the global coordinate system to form a pose time series; Based on the pose time series, a digital camera movement trajectory template is generated; S4. Steps for reproducing the trajectory template: The camera movement trajectory template is loaded into the control unit of an autonomous mobile shooting platform; Based on the pose time sequence recorded in the camera movement trajectory template, the global coordinate system, and the current pose of the shooting target obtained in real time through UWB tags, the control unit generates motion control commands; Execute motion control commands to drive the autonomous mobile shooting platform to accurately reproduce the camera movement trajectory defined by the camera movement trajectory template.
[0030] I. Steps for establishing a coordinate system Perform a physical deployment of the system to build a basic UWB measurement framework: a. Deploy a global reference system (fixed UWB base stations): Within the shooting space requiring coverage (such as a studio, stage, or outdoor venue), deploy at least one fixed-location 3D UWB world coordinate base station, or at least three fixed-location UWB base stations (for 3D positioning requirements), depending on the size and shape of the space. These base stations should be deployed in locations with open views and minimal obstruction, such as on supports in a corner of the venue, on a ceiling, or high on a wall. They are synchronized via wired or wireless means to form a UWB positioning network. This network automatically defines an initial 3D UWB measurement coordinate system with a base station or virtual point as its origin. All raw ranging data from UWB tags within this network will be converted to coordinates in this coordinate system, but at this point, the coordinates are not yet aligned with the actual physical world dimensions and orientation.
[0031] b. Configure the mobile target (first UWB tag): Put a lightweight first UWB tag on or install the subject being filmed (actor, product, etc.).
[0032] c. Configure the mobile shooting unit (second UWB tag): Securely attach a second UWB tag to the mobile shooting unit used for recording (whether it is a handheld gimbal recording stick or a drone / robot used for recording). This tag has the same technical specifications as the first tag and is used to provide its own position reference during recording and subsequent playback.
[0033] II. System Calibration When deploying a system for the first time in a physical space (such as a studio or stage), system calibration is required to establish an accurate correspondence between UWB measurements and actual physical dimensions and orientations. The calibration process is as follows: Within the shooting scene, at least three (more and more precise) known physical coordinate points (e.g., the coordinates of ground markers) are measured and marked in advance.
[0034] Control a calibration device carrying the second UWB tag (which may be the mobile imaging unit itself or a dedicated calibration rod) to move precisely and stop at each known coordinate point in sequence.
[0035] At each point, the coordinates of the tag (i.e., UWB measurement coordinates) measured by the UWB system through the base station network are recorded.
[0036] After collecting multiple sets of data corresponding to "known physical coordinates - UWB measurement coordinates", an optimal calibration transformation matrix is calculated using mathematical optimization algorithms such as the least squares method. This matrix typically includes rotation, translation, and scaling parameters.
[0037] Subsequently, all raw UWB measurement coordinates acquired in real time by the system must be multiplied by this calibration transformation matrix to convert them into true global coordinates that are completely aligned with the actual physical space. This coordinate system is the "global coordinate system" mentioned in all subsequent steps.
[0038] III. Recording of Camera Movement Templates like Figure 3 As shown, when you need to create a new camera movement template, enter "Recording Mode": It is manually operated by the photographer (camera operator). The object of operation can be the final autonomous mobile shooting platform (e.g., manually remotely controlling a drone for follow-up shooting), or a handheld gimbal recording stick dedicated to recording, which also integrates the second UWB tag and IMU.
[0039] During camera movement, the system synchronously performs the following acquisitions at a high frequency (e.g., 50-100Hz): The real-time global coordinates P of the target (first tag) are obtained through the UWB base station network. t = (X t Y t Z t ).
[0040] The real-time global coordinates P of the mobile imaging unit (second tag) are obtained through the UWB base station network. p = (X p Y p Z p ).
[0041] Its real-time attitude angle O is obtained by the IMU on the mobile imaging unit. p = (Pitch, Roll, Yaw).
[0042] Record the current timestamp T.
[0043] Let the above quadruple {T, P} t , P p O p Arranged chronologically, these form a continuous pose-time sequence. This sequence fully defines the changes in the relative spatial position and posture between the subject and the camera lens over time during a single camera movement.
[0044] This time-series data is then encapsulated to generate a structured digital camera movement template file. This file can be stored, edited, and transmitted.
[0045] IV. Reproduction of Camera Movement Trajectory Templates like Figure 4 and Figure 5 As shown, when it is necessary to automatically execute a recorded camera movement, enter "Reproduce Mode": The user loads the selected camera movement template file into the memory of the integrated control unit of the autonomous mobile shooting platform (which may differ from the recording process, for example, recording with a handheld stick and reproduction with a ground robot).
[0046] Initialization: The system reads the data P from the initial time (T0) in the template file. t0 , P p0 O p0 Based on the starting position of the target being captured in real time via UWB, the appropriate starting position and attitude of the shooting platform are calculated, and the platform is controlled to move to that initial state.
[0047] Real-time closed-loop control: The system begins to run according to the template timeline. Within each control cycle: a. Perception: Real-time acquisition of the current target position P t_current And the location of the autonomous mobile shooting platform itself P p_current and posture O p_current .
[0048] b. Decision: Based on the P recorded at the corresponding time in the template. t_desired and P p_desired O p_desired Combined with the current P t_current (Used for coordinate transformation or relative position maintenance), calculate the platform's current desired pose (P) p_desired' O p_desired' ).
[0049] c. Solving (Platform Adaptation Layer Core): Calculates the platform's current actual pose (P) p_current O p_current The spatial pose error (pose difference) is the difference between the desired pose and the actual pose. Based on the kinematic model of the specific platform, this spatial pose error is converted into specific low-level control commands that the platform can execute.
[0050] For multi-rotor UAVs: the solution result is the three-dimensional velocity command (V) in the body coordinate system. x V y V z The gimbal control commands (pitch, roll) are usually separated from these commands and sent directly to the gimbal controller to keep the image stable and pointing towards the target.
[0051] For wheeled / tracked robots: the solution results are the robot's forward / backward speed, turning angular velocity or direct position command, and the control command of the gimbal.
[0052] d. Execution: The calculated control commands are sent to the platform's power system and gimbal servo system to drive the platform and gimbal movement.
[0053] Through the aforementioned closed-loop control cycle of "perception-decision-calculation-execution", the autonomous mobile shooting platform can automatically and accurately reproduce the camera movement trajectory recorded by the template, regardless of whether the shooting target is moving.
[0054] V. Copyright Protection Ecosystem To facilitate the sharing and trading of camera movement templates and protect the rights of creators, this invention integrates digital rights management technology: Creation Rights Confirmation: When generating the camera movement template file, the system automatically calculates a unique digital fingerprint based on the content hash. This digital fingerprint is then bound to the creator's ID and the generation timestamp, and uploaded to a blockchain or a trusted timestamp server of the National Time Service Center for archiving, serving as legally recognized electronic evidence.
[0055] Authorized Use: The template file itself is encrypted using a high-strength encryption algorithm. Digital Rights Management (DRM) technology is employed, ensuring that only users who purchase and obtain a license through the official platform can decrypt and use the template on authorized, specific devices.
[0056] Infringement Tracking: When distributing template files, an additional, invisible digital watermark can be embedded. This watermark information can include the purchaser's identification. Once the template is found to be disseminated through unauthorized channels, the source of the leak can be traced by extracting the watermark information, thereby effectively curbing piracy.
[0057] This invention achieves precise digitization and high-fidelity reproduction of camera movement art, constructing a tradable digital asset ecosystem. By fully recording the positional relationship between the subject and the shooting platform in absolute physical space during camera movement in the form of a high-precision time series, this invention generates a truly meaningful "digital camera movement trajectory template." This template not only records the movement path but also precisely encodes speed, posture, and the dynamic spatial relationship with the target, allowing camera movement techniques that originally relied on personal experience to be objectively and accurately preserved. Combined with digital fingerprinting, DRM encryption, and watermarking technologies, this template becomes a digital asset with clear ownership, secure distribution, and tradability, providing creators with new channels for monetization and forming a positive incentive ecosystem from creation and protection to trading and reuse, fundamentally solving the problem of the difficulty in inheriting and scalably reusing excellent techniques.
[0058] This invention provides a high-precision, error-free global spatial execution reference, ensuring the absolute repeatability of camera movements. By deploying fixed UWB world coordinate base stations, a stable and accurate global coordinate system is established. Unlike solutions relying on GPS or visual odometry, this coordinate system provides an absolute, physically significant spatial reference for the entire shooting space. During execution, the autonomous mobile platform uses this global coordinate system for positioning and control, completely eliminating accumulated errors caused by relative measurements. This allows even the most complex combined camera movements to be repeated countless times with centimeter-level precision in the same physical scene, perfectly meeting the high-standard professional requirements of "multiple shots with consistent footage" in film and television production and "pre-rehearsal as live broadcast" in large-scale event live streaming.
[0059] This invention breaks through the limitations of different carriers, achieving universal intelligent camera movement across platforms and multiple scenarios. It innovatively designs a "platform adaptation layer" that intelligently translates unified trajectory commands based on a global coordinate system into specific motion control commands for different carriers (such as drones, wheeled robots, and tracked robots). Therefore, a single digital camera movement template can drive different types of mobile platforms for replication. This completely breaks the existing limitations of many solutions that are confined to a single drone carrier, allowing the system to flexibly select the optimal carrier according to scenario requirements—drones for large outdoor scenes, and ground robots for indoor, quiet, or confined spaces—greatly expanding the application scope and practicality of automated professional camera movement. Example
[0060] Example 1 (Large Outdoor Scene): like Figure 4As shown, multi-rotor drones are used as autonomous mobile shooting platforms when filming large-scale events, sporting events, or scenic promotional videos. Fixed UWB base stations are erected at high points or on fixed facilities around the venue. Guided by the UWB global coordinate system, the drones can accurately complete complex trajectories such as "high-altitude orbiting," "gradual close-ups," and "follow-through shooting," and each shot can be repeated completely and consistently, greatly improving production efficiency and the consistency of image quality.
[0061] Example 2 (Indoor Silent Scenario): like Figure 5 As shown, wheeled mobile robots are used as autonomous mobile shooting platforms in scenes requiring a quiet environment, such as film sets, TV studios, and live-streaming e-commerce. UWB base stations are deployed in corners or on the ceiling of the studio. The robot operates with extremely low noise on the ground, without airflow interference, enabling effects such as "smooth ground-rail shots" and "precise, complex positioning and circling," perfectly meeting the needs of professional indoor shooting.
[0062] It should be noted that although the present invention has been described in conjunction with preferred embodiments, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention. Therefore, the scope of protection of the present invention should be defined by the appended claims and their legal equivalents.
Claims
1. An automatic camera movement method based on the UWB global coordinate system, characterized in that, Includes the following steps: S1. Steps for establishing a coordinate system: Deploy at least one fixed UWB base station and multiple UWB tags to construct a UWB measurement coordinate system; The UWB tag includes at least a first tag worn on the target being photographed and a second tag set on the mobile shooting unit; S2. System calibration steps: Perform system calibration to determine the transformation relationship between the UWB measurement coordinate system and the actual physical space, thereby obtaining a global coordinate system for positioning and control; S3. Track template recording steps: In recording mode, the mobile shooting unit equipped with a shooting gimbal is controlled to move in the global coordinate system and to move the camera on the shooting target; The pose data of the first label and the second label in the global coordinate system are collected and recorded synchronously to form a pose time series; Based on the pose time sequence, a digital camera movement trajectory template is generated; S4. Steps for reproducing the trajectory template: The camera movement trajectory template is loaded into the control unit of an autonomous mobile shooting platform; Based on the pose time sequence recorded in the camera movement trajectory template, the global coordinate system, and the current pose of the shooting target obtained in real time through UWB tags, the control unit generates motion control commands. The motion control command is executed to drive the autonomous mobile shooting platform to move, so as to accurately reproduce the camera movement trajectory defined by the camera movement trajectory template.
2. The automatic camera movement method based on the UWB global coordinate system according to claim 1, characterized in that, The system calibration steps specifically include: Multiple known location points are set in the actual physical space; The mobile shooting unit carrying the second tag is controlled to sequentially arrive at each of the known location points and record the corresponding coordinates measured by the UWB system; Based on the physical coordinates and UWB measurement coordinates of the known location points, the calibration transformation matrix is calculated; The calibration transformation matrix is applied to the UWB measurement coordinate system to obtain the global coordinate system aligned with the actual physical space.
3. The automatic camera movement method based on the UWB global coordinate system according to claim 1, characterized in that, In the trajectory template recording step, the pose time sequence includes a timestamp, the coordinates of the shooting target position, the coordinates of the moving shooting unit position, and the attitude angle of the moving shooting unit.
4. The automatic camera movement method based on the UWB global coordinate system according to claim 1, characterized in that, In the trajectory template reproduction step, the generation of motion control commands specifically includes: Based on the pose time series and the real-time acquired pose of the shooting target, calculate the expected pose of the autonomous mobile shooting platform at the current moment; Calculate the pose difference between the desired pose and the real-time pose; Based on the kinematic model of the autonomous mobile shooting platform, the pose difference is calculated into specific velocity, angular velocity, or position control commands.
5. The automatic camera movement method based on the UWB global coordinate system according to claim 1, characterized in that, Following the trajectory template recording step, a copyright protection step is also included: Generate a unique digital fingerprint for the camera movement trajectory template; The digital fingerprint is associated with the creator's information and uploaded to the evidence storage server for copyright confirmation; The camera movement trajectory template is encrypted, and its decryption and usage authorization are controlled using digital rights management technology.
6. The automatic camera movement method based on the UWB global coordinate system according to claim 5, characterized in that, A unique, user-invisible digital watermark is embedded in the distributed copies of the camera movement template for infringement tracking.
7. The automatic camera movement method based on the UWB global coordinate system according to claim 1, characterized in that, The mobile shooting unit is a handheld gimbal recording stick or a drone.
8. The automatic camera movement method based on the UWB global coordinate system according to claim 1, characterized in that, The autonomous mobile shooting platform is a drone, a wheeled mobile robot, or a tracked mobile robot.
9. An automatic camera movement system based on the UWB global coordinate system, characterized in that, include: Global reference end, moving target end, and autonomous mobile shooting platform; The global reference end includes at least one fixed UWB world coordinate base station, which is used to establish and define the origin of the system's global coordinate system, providing absolute position reference for the mobile target end and the autonomous mobile shooting platform; The moving target includes a first UWB tag worn by the target, used for positioning by the global reference end to obtain the precise pose of the moving target in the global coordinate system. t ,Y t Z t ]; The autonomous mobile shooting platform includes: The platform itself is used for spatial position changes; A second UWB tag is installed on the platform body and is used to be located by the global reference end to obtain the precise pose of the platform body in the global coordinate system. p ,Y p Z p ]; An integrated control unit, installed on the platform body, includes a processor, a memory, and an inertial measurement unit. The processor is used to execute the automatic camera movement method based on the UWB global coordinate system as described in any one of claims 1 to 8. The memory is used to store camera movement templates, and the inertial measurement unit is responsible for recording and controlling the attitude angle θ of the platform body. p ; A camera head, used to mount the camera, with independently controllable orientation.
10. The automatic camera movement system based on the UWB global coordinate system according to claim 9, characterized in that, The platform itself includes drones, wheeled robots, and tracked robots.