Combined control system and method of optical system

Abstract

The invention belongs to the field of optical image acquisition, and provides a combined control system and method of an optical system in order to solve the problems that an existing multi-machine combined control system is high in cost, high in specialization requirement, insufficient in control precision and the like, the combined control system comprises a center console and a plurality of motion platforms, and the center console is used for sending control information to the motion platforms, receiving and processing data sent by the motion platform; the motion platform comprises a positioning module, the positioning module is used for calculating the spatial information of the target object, and the motion platform is used for controlling the focal length and the shooting angle of the image acquisition device according to the spatial information of the target object. The motion platform further comprises an ambient light collecting, sensing and processing module, the module is used for collecting ambient light data, and the motion platform is used for driving the ND filter according to the ambient light data. According to the invention, efficient and accurate ND adjustment and automatic focusing functions are realized, and the user experience and the shooting effect are improved.

Description

Technical Field

[0001] The present invention belongs to the field of optical image acquisition, and in particular, relates to a joint control system and method for an optical system. Background Art

[0002] In modern optical image acquisition technology, multi-machine joint control systems have attracted widespread attention due to their high efficiency and flexibility. However, the existing multi-machine joint control systems still have many shortcomings in practical applications, which limits their widespread deployment and use. The shortcomings of existing multi-machine joint control technology in optical image acquisition include: (1) Expensive equipment cost: The existing multi-machine joint control technology introduces advanced optical adjustment technology and intelligent control system in optical image acquisition, which makes the research and development, manufacturing and maintenance costs high, limiting its wide application in projects with limited budgets.

[0003] (2) Complexity and professional requirements: The implementation of existing multi-machine joint control technology requires high professional knowledge and technical expertise, and the deployment process is relatively cumbersome. For users who require highly customized solutions, the complexity of setup and debugging makes the promotion and use of this technology challenging.

[0004] (3) Limitations under extreme conditions: Although existing multi-machine joint control technology is designed to handle complex light scenes, it still faces limitations under extreme conditions or non-standard light environments. Problems such as light scattering and strong reflections can affect image quality, so stability and reliability under extreme conditions still need to be further improved and verified.

[0005] (4) Insufficient control accuracy: The ND (Neutral Density) value adjustment accuracy of the traditional system is low, which often cannot meet the high-demand shooting scenes, resulting in a decrease in image quality.

[0006] (5) Slow response speed: In a rapidly changing lighting environment, the response speed of traditional equipment is insufficient and it is unable to adjust the ND value and focal length in time, which affects the shooting effect.

[0007] (6) Operational complexity: The operating interface of the existing system is complex, and users need a high level of technical skills to use it, which increases the difficulty of operation.

[0008] (7) Insufficient multi-machine collaboration: Poor coordination between multiple platforms makes it difficult to achieve synchronous adjustment during joint shooting, affecting the overall shooting effect. Summary of the invention

[0009] The embodiments of the present application provide a joint control system and method for an optical system, which achieves more efficient and reliable image acquisition.

[0010] In a first aspect, an embodiment of the present application provides a joint control system of an optical system, including: A central console and multiple motion platforms, the central console is used to: send control information to the motion platforms, receive and process data sent by the motion platforms; the motion platforms include a positioning module, the positioning module is used to calculate the spatial information of the target object, and the motion platforms are used to control the focal length and shooting angle of the image acquisition device according to the spatial information of the target object.

[0011] The motion platform further comprises an ambient light collection sensing and processing module, wherein the ambient light collection sensing and processing module is used to collect ambient light data, and the motion platform is used to drive the ND filter according to the ambient light data.

[0012] The positioning module includes a UWB receiving unit and a computing unit. The UWB receiving unit is used to receive a signal sent by a UWB transmitting unit and send the received signal to the computing unit. The computing unit is used to calculate the spatial distance information and angle information of the UWB transmitting unit. The UWB transmitting unit is placed on the target object. The positioning module is used to send the spatial distance information and angle information of the UWB transmitting unit to the controller of the motion platform. The controller is used to: control the rotation of the main shaft of the corresponding focus motor according to the spatial distance information, and the rotation of the motor drives the camera lens to rotate a corresponding angle to control the focal length; the controller sends the angle information to the motion carrier to adjust the angle of the camera lens on the motion carrier relative to the target object.

[0013] Wherein, the motion platform includes a controller, the controller is connected to an ambient light collection sensing and processing module and a driving module, and the driving module is connected to an ND filter; the ambient light collection sensing and processing module is used to send the collected ambient light data to the controller; the controller is used to convert the ambient light data into voltage parameters, and send the voltage parameters and a first PWM signal to the driving module; the driving module generates a second PWM signal according to the voltage parameters and the first PWM signal, the second PWM signal is used to drive the ND filter, and the first PWM signal is a custom signal.

[0014] The driving module includes a buck-boost unit, a voltage doubling rectifier unit, and a conversion output unit; the buck-boost unit is used to receive voltage parameters sent by the controller and output an adjustable voltage according to the voltage parameters; The voltage doubling rectifier unit is used to double the adjustable voltage output by the buck-boost unit, and then output a driving voltage after filtering and voltage stabilization, and the driving voltage is used to drive the transistor of the conversion output unit; The conversion output unit is used to: receive a first PWM signal sent by the controller; convert the adjustable voltage output by the buck-boost unit into a second PWM signal according to the first PWM signal, and output the second PWM signal, wherein the second PWM signal is used to drive the ND filter, the second PWM signal is an AC signal, the frequency and duty cycle of the second PWM signal are the same as those of the first PWM signal, and the amplitude is the same as the adjustable voltage output by the buck-boost unit.

[0015] The buck-boost unit includes: a buck-boost chip, a pin 1 of the buck-boost chip is connected to one end of a resistor R128, one end of a capacitor C8, one end of a capacitor C15, and one end of an inductor L9, the other end of the capacitor C8 and the other end of the capacitor C15 are both grounded, the other end of the inductor L9 is connected to a power supply, the other end of the resistor R128 is connected to an enable pin 3 of the buck-boost chip, one end of the capacitor C28, and a cathode of a diode D10, the other end of the capacitor C28 is grounded, the anode of the diode D10 is connected to one end of the resistor R4, and the other end of the resistor R4 is connected to a controller; Pin 4 of the buck-boost chip is connected to one end of the resistor R132, the other end of the resistor R132 is connected to a 3.3V voltage, the SCL pin 5 of the buck-boost chip is connected to one end of the resistor R130, the other end of the resistor R130 is connected to a controller, the SDA pin 6 of the buck-boost chip is connected to one end of the resistor R131, the other end of the resistor R131 is connected to the controller, the pin 9 of the buck-boost chip is connected to one end of the resistor R133 and one end of the capacitor C117, the other end of the capacitor C117 is grounded, the other end of the resistor R133 is connected to a 3.3V voltage, and the Pin 7 of the buck-boost chip is connected to one end of the resistor R125 and one end of the capacitor C43, and the other end of the resistor R125 and the other end of the capacitor C43 are both grounded. Pin 8 of the buck-boost chip is connected to one end of the resistor R126, and the other end of the resistor R126 is connected to one end of the resistor R123 and one end of the resistor R129, and the other end of the resistor R123 is grounded. The other end of the resistor R129 is connected to the output pin 12 of the buck-boost chip, and the output pin 12 of the buck-boost chip is also connected to one end of the capacitor C23, one end of the capacitor C26, one end of the capacitor C7, One end of capacitor C115 is connected, and the other ends of capacitor C23, capacitor C26, capacitor C7, and capacitor C115 are all grounded; pin 13 of the buck-boost chip is connected to one end of resistor R124, the other end of resistor R124 is connected to one end of capacitor C32, the other end of capacitor C32 is connected to pin 14 of the buck-boost chip, pin 16 of the buck-boost chip is connected to one end of resistor R127, the other end of resistor R127 is connected to one end of capacitor C9, and the other end of capacitor C9 is connected to pin 15 of the buck-boost chip.

[0016] Wherein, the voltage doubling rectifier unit includes: a capacitor C11, one end of the capacitor C11 is connected to one end of the inductor L6 and the pin 15 of the buck-boost chip, the other end of the capacitor C11 is connected to one end of the resistor R8, the other end of the resistor R8 is connected to the anode of the diode D22 and the cathode of the diode D5; one end of the capacitor C14 is connected to the other end of the inductor L6 and the pin 14 of the buck-boost chip, the other end of the capacitor C14 is connected to one end of the resistor R40, the other end of the resistor R40 is connected to the anode of the diode D3 and the cathode of the diode D4, the anode of the diode D4 and the anode of the diode D5 are both connected to the output pin 12 of the buck-boost chip, the cathode of the diode D3 is connected to the cathode of the diode D22, one end of the capacitor C13, one end of the capacitor C16, and one end of the resistor R9, the other end of the capacitor C13 and the other end of the capacitor C16 are both grounded, the other end of the resistor R9 is connected to the cathode of the voltage-stabilizing diode Z2, and the anode of the voltage-stabilizing diode Z2 is connected to the output pin 12 of the buck-boost chip.

[0017] The conversion output unit includes: a transistor Q5, a drain of the transistor Q5 is connected to one end of the resistor R15 and one end of the resistor R39, the other end of the resistor R15 is connected to the output pin 12 of the buck-boost chip, the source of the transistor Q5 is connected to the drain of the transistor Q4 and the anode of the diode D9, the cathode of the diode D9 is connected to one end of the resistor R18, the other end of the resistor R18 is connected to the gate of the transistor Q5 and one end of the resistor R7, the other end of the resistor R7 is connected to the drain of the transistor Q8, the drain of the transistor Q8 is also connected to one end of the resistor R19, and the other end of the resistor R19 is connected to the cathode of the voltage-stabilizing diode Z2, The source of transistor Q8 is grounded, the gate of transistor Q8 is connected to one end of resistor R1 and one end of resistor R16, the other end of resistor R1 is grounded, the gate of transistor Q4 is connected to one end of resistor R14 and one end of resistor R13, the other end of resistor R14 is grounded, the other end of resistor R13 is connected to the controller and the other end of resistor R16, for receiving a custom PWM signal sent by the controller; the source of transistor Q5 is connected to the other end of resistor R39, one end of resistor R6, and one end of capacitor C10, the other end of capacitor C10 is grounded, the other end of resistor R6 is connected to one end of resistor R34, and the other end of resistor R34 is grounded.

[0018] Among them, the ambient light collection, sensing and processing module of the motion platform includes a photosensitive photosensitive conversion device and a photosensitive CMOS chip module.

[0019] In a second aspect, the present application provides a joint control method for an optical system, comprising: The central console sends control information to multiple motion platforms, and receives and processes data sent by multiple motion platforms; The motion platform comprises a positioning module, and the positioning module calculates the spatial information of the target object. The motion platform controls the focal length and shooting angle of the image acquisition device according to the spatial information of the target object.

[0020] The combined control system and method of the optical system in the embodiment of the present application have the following beneficial effects: This application realizes efficient and accurate ND adjustment and autofocus functions, improving the user experience and shooting effect. Through the collaborative work of multiple motion platforms, the shooting quality in complex environments is ensured, and simultaneous and multi-angle real-time images are realized, which significantly improves the post-correction and efficiency of video products, and also greatly improves the practicality and flexibility of video products, and the stereoscopic 3D effect is outstanding. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the structure of a joint control system of an optical system according to an embodiment of the present application; Figure 2 This is a block diagram of the central console of this application; Figure 3 The principle framework of the motion platform of this application Figure 1 ; Figure 4 The principle framework of the motion platform of this application Figure 2 ; Figure 5 This is a working principle diagram of the positioning module of this application; Figure 6 Control flow of the control system for this application Figure 1 ; Figure 7 Control flow of the control system for this application Figure 2 ; Figure 8 This is a schematic diagram of the structure of the drive module of this application; Figure 9a A circuit diagram of a buck-boost unit of a driving module in this application; Figure 9b This is a circuit diagram of the voltage doubler rectifier unit of the drive module in this application; Fig.9c A circuit diagram of a conversion output unit of a driving module in this application; Fig.10 This is a flow chart of a joint control method of an optical system according to an embodiment of the present application. DETAILED DESCRIPTION

[0022] The present application is further described below in conjunction with the accompanying drawings and embodiments.

[0023] In the following introduction, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. The following introduction provides multiple embodiments of the present invention, and different embodiments can be replaced or combined, so this application can also be considered to include all possible combinations of the same and / or different embodiments recorded. Therefore, if one embodiment includes features A, B, and C, and another embodiment includes features B and D, then this application should also be considered to include embodiments containing one or more of all other possible combinations of features A, B, C, and D, even though the embodiment may not be clearly recorded in the following text.

[0024] Embodiment 1 like Figure 1-Figure 3 As shown, the joint control system of the optical system of the present application includes: a central control console 10 and multiple motion platforms, such as motion platform 1, motion platform 2...motion platform n, the central control console 10 is used to: send control information to multiple motion platforms, receive and process data sent by multiple motion platforms; the motion platform includes a positioning module, the positioning module is used to calculate the spatial information of the target object, and the motion platform is used to control the focal length and shooting angle of the image acquisition device according to the spatial information of the target object.

[0025] like Figure 2 As shown, the center console 10 may be, for example, a handheld center console (control terminal), including a data processor, a power management unit, a wireless transmission unit, a display, and a data storage unit.

[0026] like Figure 3 As shown, the positioning module 21 includes a UWB (Ultra Wide Band) receiving unit 211 and a computing unit 212, and the controller 26 is connected to the motor driving module 25. The UWB receiving unit 211 is used to receive the signal sent by the UWB transmitting unit, and send the received signal to the computing unit 212, and the computing unit 212 is used to calculate the spatial distance information and angle information of the UWB transmitting unit. The UWB transmitting unit is placed on the target object; the positioning module 21 is used to: send the spatial distance information and angle information of the UWB transmitting unit to the controller 26 of the motion platform; the controller 26 is used to: control the rotation of the main shaft of the corresponding focus motor according to the spatial distance information, and the rotation of the motor drives the camera lens to rotate the corresponding angle to control the focal length; the controller 26 sends the angle information to the motion carrier to adjust the angle of the camera lens on the motion carrier relative to the target object.

[0027] like Figure 1-Figure 3As shown, in the present application, the motion platform also includes an ambient light collection sensing processing module 22, which is used to collect ambient light data, and the ambient light data includes, for example, light intensity, spectrum, etc. The motion platform is used to drive the ND (Neutral Density) filter according to the ambient light data. The motion platform includes a controller 26, and the controller 26 is connected to the ambient light collection sensing processing module 22 and the driving module 23, and the driving module 23 is connected to the ND filter 24; the ambient light collection sensing processing module 22 is used to send the collected ambient light data to the controller 26; the controller 26 is used to convert the ambient light data into a voltage parameter, and send the voltage parameter and the first PWM signal to the driving module 23; the driving module 23 generates a second PWM signal according to the voltage parameter and the first PWM signal, and the second PWM signal is used to drive the ND filter 24, wherein the first PWM signal is a custom signal.

[0028] The joint control system of the optical system of this application realizes efficient and accurate ND adjustment and autofocus functions, improving the user experience and shooting effect. Through the collaborative work of multiple motion platforms, the shooting quality in complex environments is ensured, and simultaneous and multi-angle real-time images are achieved, which significantly improves the post-correction and efficiency of video products, and also greatly improves the practicality and flexibility of video products, and the stereoscopic 3D effect is outstanding.

[0029] Embodiment 2 The joint control system of the optical system of the present application includes: a central control console and multiple motion platforms. The central control console is used to: send control information to multiple motion platforms, receive and process data sent by multiple motion platforms. The central control console (remote control) is a visual viewer for operators, which can realize the adjustment of preset program parameters, receive parameters of multiple motion platforms and return results to the motion platforms after calculation, and provide data transfer and data storage for each motion platform, thereby enhancing the coordination of various parts of the control. Motion platforms include, for example, drones and image acquisition devices.

[0030] like Figure 4-Figure 7 As shown, the motion platform includes a controller 26, an ambient light collection sensing processing module 22, a driving module 23, an ND filter 24, a positioning module 21, a motor driving module 25, a wireless communication module 27 and a display screen 28. The controller 26 is respectively connected to the ambient light collection sensing processing module 22, the driving module 23, the positioning module 21, the motor driving module 25, the wireless communication module 27 and the display screen 28, and the driving module 23 is connected to the ND filter 24. They are introduced below.

[0031] Controller The controller (MCU) is the core of the motion platform system, which controls and processes the circuit units of each part. The controller collects data in real time according to the preset parameters, and controls and adjusts the output parameters of the relevant hardware units in real time. The main functions of the controller include light transmittance, light parameter correction, focus adjustment, and real-time dynamic adjustment of multi-machine shooting angles. All data is uploaded and exchanged through the wireless transmission module, so that multiple machines can efficiently coordinate to complete the shooting task.

[0032] Positioning module The positioning module is, for example, a UWB three-coordinate positioning module. The UWB transmitter (UWB TX module) is placed on the target object. The number of UWB TX modules is 3: UWB TX module 1, UWB TX module 2 and UWB TX module 3. These three UWB TX modules are all placed on the target object. The number of UWB TX modules can also be other. The UWB TX module sends signals outward through the antenna ANT. The spatial coordinate parameters of the UWB TX module can be selected in the handheld central console. After selection, the UWB receiver in the specified motion platform will actively lock the selected TX module and automatically correct the lens focal length.

[0033] The UWB RX receiver is located on a moving platform, for example, receives the signal sent by the UWBTX module through antenna ANT1, antenna ANT2 and antenna ANT3, and transmits the received signal to the UWB main control chip, such as NRT81750, which processes the signal and calculates the spatial information of the three groups of signals respectively, and calculates the spatial distance information and angle information of the UWB TX module based on the three groups of numerical results. The UWB RX receiver can process the spatial distance information value and angle information value of more than one UWB TX module at the same time.

[0034] The positioning module 21 sends the spatial distance information and angle information of the UWB transmitting unit to the controller 26 of the motion platform. After processing, the controller 26 controls the rotation of the main shaft of the corresponding focus motor according to the spatial distance information. The motor rotation parameter is associated with the distance information value. The motor drives the camera lens to rotate the corresponding angle, and finally the focal length of the lens is turned to the same distance as the target object (the spatial distance corresponds to the lens focus value, that is, the focus value is the same), thereby achieving the purpose of automatic control of the focal length. For example, the focal length and degree of rotation of the lens are fixed during the design. By presetting this parameter into an array and associating the value with the rotation distance, the measured distance can be converted into the number of motor rotations, and the purpose of controlling the focal length can be achieved.

[0035] The positioning module 21 sends the spatial distance information and angle information of the UWB transmitting unit to the controller 26 of the motion platform. After processing, the controller 26 outputs the associated angle information value to the motion carrier (such as a drone) to adjust the angle of the camera lens on the motion carrier relative to the target object. The angle parameter is used to synchronously adjust the host body (camera lens on the drone) to point to the correct angle to complete the pre-positioning of the shooting body. For example, the UWB RX receiver calculates the angle between the current position and the target object, and then compares it with the preset value. According to the difference in the associated information between the two, it determines whether the current angle position is correct, which is also the basis for correcting the angle. The calculated angle information value is b. If the preset value is a, then the b value will be automatically corrected to a. The left or right shift needs to change according to the current angle relationship.

[0036] Zoom and focus motor drive module The focus motor is modular in design, drives the focal length of the lens, and transmits the real-time parameter values ​​of the rotation back in real time.

[0037] Ambient light collection sensor processing module The ambient light collection sensing and processing module includes: a photosensitive photosensitive conversion device and a photosensitive CMOS (Complementary Metal Oxide Semiconductor) chip module. Its main function is to convert the intensity and light of the current ambient light, so as to obtain the required light intensity parameters and necessary light parameter parameters. The photosensitive photosensitive conversion device and the photosensitive CMOS chip module have different functions. The former is fast preprocessing, and the latter is more accurate parameter acquisition. They are used in different modes to adapt to different scene requirements.

[0038] The ambient light collection sensor processing module is used to collect light intensity, spectrum and other information in real time. The controller in the system exchanges data with the ambient light collection sensor processing module via USB.

[0039] like Figure 6-Figure 7 As shown, the ambient light collection sensor processing module sends the collected ambient light data to the controller; the controller converts the ambient light data into voltage parameters, and sends the voltage parameters and the first PWM signal to the driving module; the driving module generates a second PWM signal according to the voltage parameters and the first PWM signal, and the second PWM signal is used to drive the ND filter to achieve multi-level precise control of the ND value. By controlling the transmittance of the ND filter, the light entry amount parameter is changed.

[0040] The ambient light acquisition sensor processing module can dynamically evaluate the complex light conditions of the current environment, and provide the best ND correlation parameters through cooperation with the controller and driver module to ensure that the system can achieve high-quality light and shadow capture. Through precise control and dynamic adjustment, the ambient light acquisition sensor processing module effectively promotes the optimization and stability of image acquisition.

[0041] Driver module like Figure 8 , Figure 9a As shown, the driving module 23 includes a buck-boost unit 231, a voltage doubling rectifier unit 232, and a conversion output unit 233; the buck-boost unit 231 is used to receive the voltage parameters sent by the controller and output an adjustable voltage according to the voltage parameters, such as Figure 9a As shown, the MP28167 chip is a buck-boost chip, and other types of chips can also be used instead. The controllable voltage is output from the output terminal "5V++O", the output voltage range is a custom range, and the output variable level is a custom controllable adjustment level. The MP28167 chip is used to receive voltage parameters from the controller from the IIC (Inter-Integrated Circuit) bus. The voltage parameters are generated by the hand wheel, remote input, or encoding switch input, or they can be parameters transmitted by the ambient light collection sensor processing module in automatic mode. The voltage parameters can be customized, such as 0~10V, and the custom controllable adjustment level is 0~2048 levels.

[0042] like Figure 9aAs shown, the buck-boost unit includes: a buck-boost chip, a pin 1 of the buck-boost chip is connected to one end of a resistor R128, one end of a capacitor C8, one end of a capacitor C15, and one end of an inductor L9, the other end of the capacitor C8 and the other end of the capacitor C15 are both grounded, the other end of the inductor L9 is connected to a power supply, the other end of the resistor R128 is connected to an enable pin 3 of the buck-boost chip, one end of the capacitor C28, and a cathode of a diode D10, the other end of the capacitor C28 is grounded, the anode of the diode D10 is connected to one end of a resistor R4, and the other end of the resistor R4 is connected to a controller The pin 4 of the buck-boost chip is connected to one end of the resistor R132, the other end of the resistor R132 is connected to a 3.3V voltage, the SCL pin 5 of the buck-boost chip is connected to one end of the resistor R130, the other end of the resistor R130 is connected to the controller, the SDA pin 6 of the buck-boost chip is connected to one end of the resistor R131, the other end of the resistor R131 is connected to the controller, the pin 9 of the buck-boost chip is connected to one end of the resistor R133 and one end of the capacitor C117, the other end of the capacitor C117 is grounded, and the other end of the resistor R133 is connected to a 3.3V voltage Pin 7 of the buck-boost chip is connected to one end of the resistor R125 and one end of the capacitor C43, and the other end of the resistor R125 and the other end of the capacitor C43 are grounded. Pin 8 of the buck-boost chip is connected to one end of the resistor R126, and the other end of the resistor R126 is connected to one end of the resistor R123 and one end of the resistor R129, and the other end of the resistor R123 is grounded. The other end of the resistor R129 is connected to the output pin 12 of the buck-boost chip, and the output pin 12 of the buck-boost chip is also connected to one end of the capacitor C23, one end of the capacitor C26, and one end of the capacitor C7. , one end of capacitor C115 is connected, the other end of capacitor C23, the other end of capacitor C26, the other end of capacitor C7, and the other end of capacitor C115 are all grounded; pin 13 of the buck-boost chip is connected to one end of resistor R124, the other end of resistor R124 is connected to one end of capacitor C32, the other end of capacitor C32 is connected to pin 14 of the buck-boost chip, pin 16 of the buck-boost chip is connected to one end of resistor R127, the other end of resistor R127 is connected to one end of capacitor C9, and the other end of capacitor C9 is connected to pin 15 of the buck-boost chip.

[0043] like Figure 8 , Figure 9b As shown, the voltage doubler rectifier unit 232 is used to double the adjustable voltage output by the buck-boost unit, and then output a driving voltage after filtering and voltage stabilization. The driving voltage is used to drive the transistor of the conversion output unit. Figure 9bAs shown, diodes D22, D3, D4, and D5 form a double voltage rectifier circuit, which rectifies the PWM waveform from the inductor L6. The voltage amplitude of this PWM switch waveform is proportional to the output "5V++0". After the double voltage is filtered and stabilized, a V-DIRVER voltage 5.6V higher than "5V++0" is obtained. The V-DIRVER voltage is used to drive the output push-pull MOSFET (Metal-Oxide-SemiconductorField-Effect Transistor) Q5 to work. In some embodiments, the double voltage can also be replaced by a multiple rectification method.

[0044] like Figure 9b As shown, the voltage doubler rectifier unit includes: a capacitor C11, one end of the capacitor C11 is connected to one end of the inductor L6 and the pin 15 of the buck-boost chip, the other end of the capacitor C11 is connected to one end of the resistor R8, the other end of the resistor R8 is connected to the anode of the diode D22 and the cathode of the diode D5; one end of the capacitor C14 is connected to the other end of the inductor L6 and the pin 14 of the buck-boost chip, the other end of the capacitor C14 is connected to one end of the resistor R40, the other end of the resistor R40 is connected to the anode of the diode D3 and the cathode of the diode D4, the anode of the diode D4 and the anode of the diode D5 are both connected to the output pin 12 of the buck-boost chip, the cathode of the diode D3 is connected to the cathode of the diode D22, one end of the capacitor C13, one end of the capacitor C16, and one end of the resistor R9, the other end of the capacitor C13 and the other end of the capacitor C16 are both grounded, the other end of the resistor R9 is connected to the cathode of the voltage zener diode Z2, and the anode of the voltage zener diode Z2 is connected to the output pin 12 of the buck-boost chip.

[0045] like Figure 8 , Fig.9c As shown, the conversion output unit 233 is used to: receive the first PWM signal sent by the controller 26, the first PWM signal is a custom signal, for example, the frequency and duty cycle of the first PWM signal can be customized; convert the adjustable voltage output by the buck-boost unit 231 into a second PWM signal according to the first PWM signal, and output the second PWM signal, the second PWM signal is used to drive the ND filter 24 to achieve precise control of multi-level ND values. The second PWM signal is an AC signal, the frequency and duty cycle of the second PWM signal are the same as the first PWM signal, and the amplitude of the second PWM signal is the same as the adjustable voltage output by the buck-boost unit.

[0046] Receive the DISPLAY_PWM signal (first PWM signal) from the controller. The frequency and duty cycle of the first PWM signal can be customized, for example, the frequency can be customized to 1KHz and the duty cycle can be customized to 50%. The first PWM signal converts the "5V++O" controllable DC voltage from the buck-boost unit into a PWM AC signal (second PWM signal) through MOSFET transistors Q4, Q5 and Q8. The frequency and duty cycle of the output PWM AC signal are the same as the DISPLAY_PWM signal, and the amplitude of the output PWM AC signal is the same as the "5V++O" voltage value. The output PWM AC signal is output from the "LCT-198B+" to drive the ND glass sheet, realizing accurate and convenient control of multi-level ND values.

[0047] like Fig.9c As shown, the conversion output unit includes: a transistor Q5, the drain of the transistor Q5 is connected to one end of the resistor R15 and one end of the resistor R39, the other end of the resistor R15 is connected to the output pin 12 of the buck-boost chip, the source of the transistor Q5 is connected to the drain of the transistor Q4 and the anode of the diode D9, the cathode of the diode D9 is connected to one end of the resistor R18, the other end of the resistor R18 is connected to the gate of the transistor Q5 and one end of the resistor R7, the other end of the resistor R7 is connected to the drain of the transistor Q8, the drain of the transistor Q8 is also connected to one end of the resistor R19, the other end of the resistor R19 is connected to the cathode of the voltage-stabilizing diode Z2, the transistor Q5 is connected to the drain of the transistor Q5 and one end of the resistor R7, the transistor Q5 is connected to the drain of the transistor Q8 and the drain of the transistor Q8 is also connected to one end of the resistor R19, the other end of the resistor R19 is connected to the cathode of the voltage-stabilizing diode Z2, the transistor Q5 is connected to the drain of the transistor Q5 and one end of the resistor R19, the transistor Q5 is connected to the drain of the transistor Q8 and the gate of the transistor Q5 and the gate of the transistor Q5. The source of transistor Q8 is grounded, the gate of transistor Q8 is connected to one end of resistor R1 and one end of resistor R16, the other end of resistor R1 is grounded, the gate of transistor Q4 is connected to one end of resistor R14 and one end of resistor R13, the other end of resistor R14 is grounded, the other end of resistor R13 is connected to the controller and the other end of resistor R16, for receiving a custom PWM signal sent by the controller; the source of transistor Q5 is connected to the other end of resistor R39, one end of resistor R6, and one end of capacitor C10, the other end of capacitor C10 is grounded, the other end of resistor R6 is connected to one end of resistor R34, and the other end of resistor R34 is grounded.

[0048] DISPLAY_PWM, voltage, frequency, duty cycle and switch working signals are provided to the controller, which receives control data to achieve multi-level precise ND value control. The OSC signal is sampled from the output end and sent back to the controller to achieve closed-loop signal sampling and precise output control.

[0049] The sports platform of the present application also includes a wireless communication module 27. Through the wireless communication module 27, the user can interact with the controller wirelessly, send control information to the controller, complete the system's functional control and data upload and exchange, and can also perform OTA (Over-the-Air Technology) software updates of the product through the wireless communication module.

[0050] The sports platform of the present application also includes a display screen 28, which is, for example, an OLED (Organic Light-Emitting Diode) display screen, which displays the interactive parameter values ​​operated by the user, so that the user can confirm various parameters. The display screen receives display instructions and display data from the controller via a communication bus. Through the display screen, the user can input customized control parameters.

[0051] The motion platform of the present application also includes an image processing module for converting the image entering the lens in real time. The image is stored locally and transmitted back to the handheld central console via wireless.

[0052] The motion platform of the present application also includes: a TYPE-C interface, supporting standard TYPE-C power supply; a voltage stabilizing circuit, which stabilizes the input voltage to 4.72V, and 4.72V is converted into 3.3V by each LDO for use by various circuits in the system; multiple LDO (Low Dropout Regulator, low voltage difference linear regulator) step-down chips, which provide 3.3V regulated voltage for each chip; a coding switch, which is used to convert the user's operation (such as rotation) into a pulse coding control signal, and send the pulse coding control signal to the controller.

[0053] The solution of the present application can be applied to sports cameras, aerial cameras, etc.

[0054] This application solves the following problems: (1) Noise and vibration issues in multi-machine control: The joint control method of this application avoids the disruptive noise and vibration generated during operation through PWM pulse control technology. This technology enables users to achieve fine control of multiple low-altitude motion platforms, bringing a more precise and smooth operating experience, improving image quality and stability, and creating a more inspiring shooting environment for photographers.

[0055] (2) The problem of insufficient control accuracy of traditional systems: This application significantly improves the accuracy of ND value adjustment through digital processing technology and multi-level control, supporting up to 2048 levels of adjustment, allowing users to make more subtle adjustments under different lighting conditions. This technological innovation ensures that users can obtain ideal shooting effects in complex lighting environments and avoids the degradation of image quality caused by insufficient control accuracy in traditional systems.

[0056] (3) Slow response speed: The intelligent automatic adjustment function of this application can monitor light changes in real time and quickly adjust the ND value and focal length to ensure that users can obtain clear images in time under rapidly changing lighting conditions. This technology improves the flexibility and adaptability of shooting and solves the problem of slow response speed of traditional systems.

[0057] (4) It solves the problem that in the past, it required coordination among multiple people to complete difficult tasks, thus reducing the cost-effectiveness.

[0058] Features of this application include: (1) Digital control and precise monitoring: This application uses digital processing technology to achieve precise monitoring and conversion of electrical signals in multiple optical systems, providing highly accurate values ​​for the control and display of ND values. This precise digital control enables users to obtain ideal image effects under different shooting conditions and improves overall shooting quality and stability.

[0059] (2) Multi-machine joint control and seamless switching: The joint control system of this application supports up to 2048 levels of ND value adjustment, allowing multiple low-altitude motion platforms to achieve seamless switching under different lighting conditions. Through multi-machine collaboration, the continuity and consistency of the picture are ensured, avoiding the obvious jump between different gears of traditional ND filters, and improving the flexibility and professionalism of shooting.

[0060] (3) Intelligent automatic adjustment function: In complex light environments, this application can automatically switch related ND parameters and automatically adjust the preset light volume to achieve the ideal shooting effect. This intelligent function reduces the reliance on manual intervention and improves the convenience and efficiency of operation, especially in scenarios where multiple machines are jointly controlled, ensuring the synchronous adjustment of each platform.

[0061] (4) Integration of autofocus technology: This application introduces an autofocus function to ensure that the image clarity is always maintained while adjusting the ND value. The autofocus system can monitor light changes in real time and quickly adjust the focal length, so that multiple low-altitude motion platforms can maintain a consistent focus state in a dynamic shooting environment, further improving the professionalism of the shooting effect.

[0062] (5) Noise and vibration control: The joint control system of this application adopts coded sampling and PWM pulse control technology to effectively solve the noise and vibration problems when multiple devices work together. This technology ensures that under the joint control of multiple machines, each platform can operate efficiently and stably, reduce interference with the shooting environment, and improve user operating comfort.

[0063] The optical system joint control system of multiple low-altitude motion platforms of this application not only improves the functionality of the equipment, but also focuses on user experience, providing photographers with a more convenient and efficient operation method, inspiring more creative inspiration, and broadening the expression space of photographic art.

[0064] Embodiment 3 like Fig.10 As shown, the present application also provides a joint control method for an optical system, including: S101, a central control console sends control information to multiple motion platforms, receives and processes data sent by multiple motion platforms; S103, the motion platform includes a positioning module, the positioning module calculates the spatial information of the target object, and the motion platform controls the focal length and shooting angle of the image acquisition device according to the spatial information of the target object.

[0065] This application not only improves the performance and reliability of multi-machine joint control technology, but also broadens its scope of application in practical applications. The innovative control scheme of this application can achieve more efficient image acquisition, reduce the complexity of system implementation, enhance adaptability in extreme environments, improve data processing efficiency, and ensure data security. The realization of these technical effects will provide strong support for the advancement and application of optical image acquisition technology and promote the development and innovation of related industries.

[0066] In this application, the UWB transmitter is pre-installed on the shooting target, and the UWM receiver measures the spatial coordinate information of the four parameters of XYZ and angle of the target. The data of multiple terminals (UWB receivers on drones) are received by the joint control method. The shared data is processed and corrected by the main controller in real time, and the parameters of multiple motion platforms (drone motion platforms) are dynamically adjusted and corrected in real time, so as to effectively control the multiple motion platforms to complete the arrangement and distribution of the motion platforms according to the preset program, and adjust the zoom and focus of the lens at the same time to achieve the focus lock of the target, so as to obtain a clear photographic image. This application also uses an ambient light acquisition sensor processing module to collect scene light parameters, and then converts them into ND filter drive signals, generates PWM electrical signals, drives the control output circuit, and transmits signals back to achieve closed-loop correction, so as to achieve dynamic light flux and light parameter control and correction when collecting optical images of flying devices in complex light scenes, so as to achieve an effective light and dark orderly picture effect, and to achieve simultaneous multi-angle capture of moving or stationary targets. It can easily realize a video product with multi-visual stereoscopic effects and achieve a three-dimensional special effect of the picture.

[0067] In the present application, the embodiment of the joint control method of the optical system is basically similar to the embodiment of the joint control system of the optical system. For relevant matters, please refer to the introduction of the embodiment of the joint control system of the optical system.

[0068] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A joint control system for an optical system, characterized in that: include: A central console and multiple motion platforms, the central console is used to: send control information to the motion platforms, receive and process data sent by the motion platforms; the motion platforms include a positioning module, the positioning module is used to calculate the spatial information of the target object, and the motion platforms are used to control the focal length and shooting angle of the image acquisition device according to the spatial information of the target object.

2. The combined control system of the optical system according to claim 1, characterized in that: The motion platform further comprises an ambient light collection sensing and processing module, wherein the ambient light collection sensing and processing module is used to collect ambient light data, and the motion platform is used to drive the ND filter according to the ambient light data.

3. The combined control system of the optical system according to claim 1 or 2, characterized in that: The positioning module includes a UWB receiving unit and a computing unit, wherein the UWB receiving unit is used to receive a signal sent by a UWB transmitting unit and send the received signal to the computing unit, wherein the computing unit is used to calculate the spatial distance information and angle information of the UWB transmitting unit, and the UWB transmitting unit is placed on the target object; the positioning module is used to: send the spatial distance information and angle information of the UWB transmitting unit to the controller of the motion platform; The controller is used to: control the rotation of the main shaft of the corresponding focus motor according to the spatial distance information, and the rotation of the motor drives the camera lens to rotate a corresponding angle to control the focal length; the controller sends the angle information to the motion carrier to adjust the angle of the camera lens on the motion carrier relative to the target object.

4. The combined control system of the optical system according to claim 2, characterized in that: The motion platform includes a controller, the controller is connected to an ambient light collection sensing and processing module and a driving module, the driving module is connected to an ND filter; the ambient light collection sensing and processing module is used to send the collected ambient light data to the controller; the controller is used to convert the ambient light data into voltage parameters, and send the voltage parameters and a first PWM signal to the driving module; the driving module generates a second PWM signal according to the voltage parameters and the first PWM signal, the second PWM signal is used to drive the ND filter, and the first PWM signal is a custom signal.

5. The combined control system of the optical system according to claim 4, characterized in that: The driving module includes a buck-boost unit, a voltage doubling rectifier unit, and a conversion output unit; the buck-boost unit is used to receive voltage parameters sent by the controller and output an adjustable voltage according to the voltage parameters; The voltage doubling rectifier unit is used to double the adjustable voltage output by the buck-boost unit, and then output a driving voltage after filtering and voltage stabilization, and the driving voltage is used to drive the transistor of the conversion output unit; The conversion output unit is used to: receive a first PWM signal sent by the controller; convert the adjustable voltage output by the buck-boost unit into a second PWM signal according to the first PWM signal, and output the second PWM signal, wherein the second PWM signal is used to drive the ND filter, the second PWM signal is an AC signal, the frequency and duty cycle of the second PWM signal are the same as those of the first PWM signal, and the amplitude is the same as the adjustable voltage output by the buck-boost unit.

6. The combined control system of the optical system according to claim 5, characterized in that: The buck-boost unit comprises: a buck-boost chip, wherein a pin 1 of the buck-boost chip is connected to one end of a resistor R128, one end of a capacitor C8, one end of a capacitor C15, and one end of an inductor L9, the other end of the capacitor C8 and the other end of the capacitor C15 are both grounded, the other end of the inductor L9 is connected to a power supply, the other end of the resistor R128 is connected to an enable pin 3 of the buck-boost chip, one end of the capacitor C28, and a cathode of a diode D10, the other end of the capacitor C28 is grounded, the anode of the diode D10 is connected to one end of a resistor R4, and the other end of the resistor R4 is connected to a controller; Pin 4 of the buck chip is connected to one end of the resistor R132, and the other end of the resistor R132 is connected to a 3.3V voltage. The SCL pin 5 of the buck-boost chip is connected to one end of the resistor R130, and the other end of the resistor R130 is connected to the controller. The SDA pin 6 of the buck-boost chip is connected to one end of the resistor R131, and the other end of the resistor R131 is connected to the controller. The pin 9 of the buck-boost chip is connected to one end of the resistor R133 and one end of the capacitor C117, and the other end of the capacitor C117 is grounded. The other end of the resistor R133 is connected to a 3.3V voltage. Pin 7 of the buck-boost chip is connected to one end of the resistor R125 and one end of the capacitor C43, and the other end of the resistor R125 and the other end of the capacitor C43 are grounded. Pin 8 of the buck-boost chip is connected to one end of the resistor R126, and the other end of the resistor R126 is connected to one end of the resistor R123 and one end of the resistor R129, and the other end of the resistor R123 is grounded. The other end of the resistor R129 is connected to the output pin 12 of the buck-boost chip, and the output pin 12 of the buck-boost chip is also connected to one end of the capacitor C23, one end of the capacitor C26, one end of the capacitor C7, and the capacitor C8. One end of capacitor C115 is connected, the other ends of capacitor C23, the other ends of capacitor C26, the other ends of capacitor C7 and the other end of capacitor C115 are all grounded; pin 13 of the buck-boost chip is connected to one end of resistor R124, the other end of resistor R124 is connected to one end of capacitor C32, the other end of capacitor C32 is connected to pin 14 of the buck-boost chip, pin 16 of the buck-boost chip is connected to one end of resistor R127, the other end of resistor R127 is connected to one end of capacitor C9, and the other end of capacitor C9 is connected to pin 15 of the buck-boost chip.

7. The combined control system of the optical system according to claim 5 or 6, characterized in that: The voltage doubling rectifier unit includes: a capacitor C11, one end of the capacitor C11 is connected to one end of the inductor L6 and the pin 15 of the buck-boost chip, the other end of the capacitor C11 is connected to one end of the resistor R8, the other end of the resistor R8 is connected to the anode of the diode D22 and the cathode of the diode D5; one end of the capacitor C14 is connected to the other end of the inductor L6 and the pin 14 of the buck-boost chip, the other end of the capacitor C14 is connected to one end of the resistor R40, the other end of the resistor R40 is connected to the anode of the diode D3 and the cathode of the diode D4, the anode of the diode D4 and the anode of the diode D5 are both connected to the output pin 12 of the buck-boost chip, the cathode of the diode D3 is connected to the cathode of the diode D22, one end of the capacitor C13, one end of the capacitor C16, and one end of the resistor R9, the other end of the capacitor C13 and the other end of the capacitor C16 are both grounded, the other end of the resistor R9 is connected to the cathode of the voltage stabilizing diode Z2, and the anode of the voltage stabilizing diode Z2 is connected to the output pin 12 of the buck-boost chip.

8. The combined control system of the optical system according to claim 5 or 6, characterized in that: The conversion output unit includes: a transistor Q5, the drain of the transistor Q5 is connected to one end of the resistor R15 and one end of the resistor R39, the other end of the resistor R15 is connected to the output pin 12 of the buck-boost chip, the source of the transistor Q5 is connected to the drain of the transistor Q4 and the anode of the diode D9, the cathode of the diode D9 is connected to one end of the resistor R18, the other end of the resistor R18 is connected to the gate of the transistor Q5 and one end of the resistor R7, the other end of the resistor R7 is connected to the drain of the transistor Q8, the drain of the transistor Q8 is also connected to one end of the resistor R19, the other end of the resistor R19 is connected to the cathode of the voltage-stabilizing diode Z2, the transistor Q5 is connected to the drain of the transistor Q8, and the transistor Q8 is connected to one end of the resistor R19. The source of transistor Q8 is grounded, the gate of transistor Q8 is connected to one end of resistor R1 and one end of resistor R16, the other end of resistor R1 is grounded, the gate of transistor Q4 is connected to one end of resistor R14 and one end of resistor R13, the other end of resistor R14 is grounded, the other end of resistor R13 is connected to the controller and the other end of resistor R16, for receiving a custom PWM signal sent by the controller; the source of transistor Q5 is connected to the other end of resistor R39, one end of resistor R6, and one end of capacitor C10, the other end of capacitor C10 is grounded, the other end of resistor R6 is connected to one end of resistor R34, and the other end of resistor R34 is grounded.

9. The combined control system of the optical system according to any one of claims 1, 2, 4-6, characterized in that: The ambient light collection, sensing and processing module of the motion platform comprises a light-sensitive photosensitive conversion device and a light-sensitive CMOS chip module.

10. A joint control method for an optical system, characterized in that: include: The central console sends control information to multiple motion platforms, and receives and processes data sent by multiple motion platforms; The motion platform comprises a positioning module, and the positioning module calculates the spatial information of the target object. The motion platform controls the focal length and shooting angle of the image acquisition device according to the spatial information of the target object.

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