A quick-installation support device for film and television equipment based on a posture memory module

Abstract

This utility model relates to the field of digital hand-drawing equipment technology, and more particularly to a quick-installation support device for film and television equipment based on a posture memory module, including a support arm, a quick-installation interface, and a control circuit board. The control circuit board integrates three modules: posture memory, visual guidance, and joint control, as well as a power-off protection circuit. The posture memory module separately processes and stores two types of data: joint posture and visual image. The visual guidance module processes the image data from the quick-installation interface and uses a temperature-compensated constant current source to stabilize the light power of the laser projection circuit. The joint control module uses Hall sensors and a PID algorithm to achieve precise control of the voice coil motor based on the data fed back from the visual guidance module. The posture memory module is equipped with a self-learning algorithm to update the compensation coefficients, and the power-off protection circuit ensures data security. This device significantly improves the quick-installation efficiency and posture control accuracy of film and television equipment, solves the problem of accuracy decay due to mechanical wear, and is suitable for the high-efficiency and stable requirements of film and television shooting.

Description

Technical Field

[0001] This utility model relates to the field of film and television equipment support technology, specifically to a quick-installation support device for film and television equipment based on a posture memory module. Background Technology

[0002] In the film and television production field, with the widespread adoption of 4K / 8K high-definition shooting and mobile tracking shots, quick-mount support devices for film and television equipment have become key equipment for improving shooting efficiency. These devices need to balance rapid equipment assembly and disassembly with precise posture control to adapt to frequent switching between different film and television equipment such as cameras and camcorders, while also meeting the need for stable posture reproduction during multi-angle shooting. Currently, embedded control, visual guidance, and precision motor control technologies are gradually penetrating support devices. However, the complex film and television shooting environment often faces problems such as posture shifts during mobile shooting and delays in multi-module data interaction. Furthermore, the need for long-term storage of equipment posture parameters during shooting and data preservation in the event of sudden power outages also places higher demands on the core control unit of the support device, driving the industry towards integrated and intelligent posture memory-type quick-mount support solutions, providing clear application scenarios and a technological foundation for the development of this solution.

[0003] Existing quick-installation support devices for film and television equipment suffer from several shortcomings. Current devices typically employ a single posture memory function, recording only joint angle values. This leads to interference between joint posture data and visual image data processing, affecting posture control accuracy. Furthermore, the quick-installation docking of the support device lacks guidance, requiring operators to repeatedly adjust the device position, resulting in low docking efficiency. Posture reproduction accuracy is significantly affected by mechanical wear; the lack of joint control often results in a lack of precise closed-loop control and dynamic compensation mechanisms, leading to significant accumulated posture deviations after long-term use. Additionally, discrepancies exist between the memorized posture data and the actual installation position, which cannot be automatically corrected. Utility Model Content

[0004] The purpose of this invention is to provide a quick-install support device for film and television equipment based on a posture memory module, so as to solve the problems of large processing delay, inability to link depth of field and motion blur effects, and lack of natural texture in the existing technology of drawing tablets in storyboard drawing applications.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by this utility model includes a support arm, a quick-release interface, and a control circuit board. The control circuit board includes:

[0006] The attitude memory module includes a dual-core microcontroller, a dual-port static random access memory (SRAM), and a non-volatile memory. The dual-core microcontroller includes a first processing core and a second processing core. The first processing core processes joint attitude data, and the second processing core processes visual image data. The address and data lines of port A of the dual-port SRAM are connected to the first processing core, and the address and data lines of port B are connected to the second processing core. Port A and port B are connected via an interlock signal line for arbitrating access conflicts. The non-volatile memory is connected to the dual-core microcontroller via an I2C bus and is used to store attitude memory data.

[0007] The visual guidance module includes an image processing coprocessor, a laser projection circuit, and a galvanometer driving circuit; the image input terminal of the image processing coprocessor is connected to the camera module, and its data output terminal is connected to the second processing core; the laser projection circuit includes multiple laser diodes and corresponding driving circuits, and its driving circuit is connected to the pulse width modulation output terminal of the second processing core.

[0008] The joint control module includes a voice coil motor, a motor driver, and a position feedback sensor. The voice coil motor is connected to the second processing core through the motor driver, and the output of the position feedback sensor is connected to the second processing core to form a closed-loop control. The joint control module includes a multiplexer and multiple joint angle encoders. The multiple inputs of the multiplexer are respectively connected to the joint angle encoders, and its output is connected to the first processing core.

[0009] In the above technical solution, the dual-port static random access memory adopts an address partitioning storage method. Port A accesses the first address area to store joint angle data, and port B accesses the second address area to store visual feature data. The interlock signal line generates a busy signal when both ports access the same address at the same time, causing one of the ports to delay access.

[0010] Using the above technical solution, the driving circuit of each laser diode in the laser projection circuit includes a temperature-compensated constant current source. The temperature-compensated constant current source includes an adjustable voltage regulator, a temperature sensor, an operational amplifier, and a control transistor. The temperature sensor detects the temperature change of the laser diode and controls the conduction level of the control transistor, thereby adjusting the output current of the adjustable voltage regulator to keep the output optical power of the laser diode stable.

[0011] In the above technical solution, the position feedback sensor is a Hall sensor; the second processing core calculates the control quantity based on the voice coil motor position signal from the position feedback sensor and outputs it to the motor driver through a PID control algorithm to achieve precise position control of the voice coil motor.

[0012] In the above technical solution, the image processing coprocessor is a field-programmable gate array (FPGA) used to process image data and output feature coordinate data; the enable control terminal of the FPGA is connected to the second processing core and is controlled to switch between working state and standby state.

[0013] Using the above technical solution, the first processing core calculates the joint correction angle through the built-in hardware arithmetic unit. The calculation method is to perform a weighted operation based on the visual deviation value and the pre-stored compensation coefficient. The compensation coefficient is stored in non-volatile memory. After accumulating multiple calibration data through a self-learning algorithm, the first processing core updates the compensation coefficient using the built-in floating-point arithmetic unit and writes it into the non-volatile memory.

[0014] The control circuit board in the above technical solution also includes a power-down protection circuit, which includes a voltage comparator, a reference voltage source, and a voltage divider resistor network. The input terminal of the voltage comparator is connected to the power input terminal through the voltage divider resistor network, its reference terminal is connected to the reference voltage source, and its output terminal is connected to the interrupt input terminal of the dual-core microcontroller. When the power supply voltage is lower than the set threshold, the voltage comparator triggers an interrupt signal, and the dual-core microcontroller responds and controls the non-volatile memory to enter the write protection state.

[0015] Due to the adoption of the above technical solution, the technological progress achieved by this utility model compared to the prior art is as follows:

[0016] Compared to existing technologies, this technical solution integrates a visual guidance module and a laser projection system, enabling real-time guidance for rapid docking. Operators no longer need to repeatedly probe and adjust; the laser projection visually displays the target position and current deviation, significantly shortening docking time and reducing operational difficulty. Simultaneously, the use of a voice coil motor with closed-loop control and a Hall effect position feedback sensor achieves high-precision control. A temperature-compensated constant current source ensures the stability of the laser projection is unaffected by ambient temperature, significantly improving attitude reproduction accuracy. More importantly, this solution innovatively introduces a self-learning algorithm, allowing the system to accumulate multiple calibration data and automatically update compensation coefficients stored in non-volatile memory. This effectively solves the accuracy decay problem caused by mechanical wear, achieving dynamic matching of attitude data with the actual installation position. A dual-core microcontroller architecture enables parallel computation of attitude control and visual processing, while a dual-port SRAM ensures reliable data access through an interlocking mechanism, improving overall response speed. Furthermore, a power-loss protection circuit ensures data integrity during abnormal power outages, preventing the loss of memorized attitude data. The overall solution has significant engineering practical value. Attached Figure Description

[0017] The present invention will be further described below with reference to the accompanying drawings.

[0018] Figure 1This is a schematic diagram of the principle of the quick-installation support device for film and television equipment based on the attitude memory module of this utility model.

[0019] Figure 2 This is a schematic diagram of the circuit structure of the control circuit board of this utility model;

[0020] Figure 3 This is a flowchart illustrating the workflow of the quick-installation support device for film and television equipment based on a posture memory module according to this utility model.

[0021] In the diagram: 1. Support arm; 2. Quick-release interface; 3. Control circuit board; 31. Posture memory module; 311. Dual-core microcontroller; 312. Dual-port static random access memory; 313. Non-volatile memory; 32. Visual guidance module; 321. Image processing coprocessor; 322. Laser projection circuit; 323. Galvanometer drive circuit; 324. Camera module; 33. Joint control module; 331. Voice coil motor; 332. Motor driver; 333. Position feedback sensor; 334. Multiplexer; 335. Joint angle encoder; 34. Power-off protection circuit. Detailed Implementation

[0022] The present invention will be further described in detail below with reference to embodiments:

[0023] Example 1

[0024] like Figures 1-3 As shown, this utility model provides a quick-release support device for film and television equipment based on a posture memory module, including a support arm 1, a quick-release interface 2, and a control circuit board 3. The support arm 1 is made of carbon fiber composite material and includes a base section, a rotating section, and an extension section. The rotating section is connected to the base section via a joint bearing. The quick-release interface 2 adopts a V-shaped positioning groove structure, including a positioning boss, a locking nut, and an elastic positioning pin. The control circuit board 3 is installed inside the base section and includes a posture memory module 31, a visual guidance module 32, and a joint control module 33.

[0025] The attitude memory module 31 includes a dual-core microcontroller 311, a dual-port static random access memory (SRAM) 312, and a non-volatile memory 313. The dual-core microcontroller 311 uses an STM32H747XIH6 chip, integrating a Cortex-M7 and a Cortex-M4 dual-core. The Cortex-M7 serves as the primary processing core, and the Cortex-M4 as the secondary processing core. Pins 26 to 33 are PORTA I / O ports connected to the joint encoder data output; pins 58 to 65 are PORTB I / O ports connected to the multiplexer control lines; pins 108 and 109 are I2C2_SCL and I2C2_SDA respectively, connected to the non-volatile memory 313 via 470Ω pull-up resistors; pins 142 to 157 are address and data lines connected to the dual-port SRAM 312.

[0026] The dual-port static random access memory (SRAM) 312 uses the IDT70V28L15 chip. Pins 1 to 18 are the address lines for Port A, connected to the address bus of the first processing core; pins 27 to 42 are the data lines for Port A, connected to the data bus of the first processing core; pin 19 (CEA) is connected to pin 88, pin 20 (WEA) is connected to pin 89, and pin 21 (OEA) is connected to pin 90. Pins 43 to 54 and pins 2 to 7 of Port B are also connected to the corresponding pins of the second processing core. Pins 22 and 23 are the BUSY_A and BUSY_B interlock signal lines, connected to pins 91 and 175 of the two processing cores respectively, and connected to a 3.3V power supply through 10KΩ pull-up resistors. Memory addresses 0x0000 to 0x7FFF are allocated to Port A for storing joint data, and 0x8000 to 0xFFFF are allocated to Port B for storing visual data.

[0027] The non-volatile memory 313 uses an AT24C256 EEPROM. Pins 5 (SCL) and 6 (SDA) are connected to pins 108 and 109 of the microcontroller; pin 7 (WP) is connected to pin 92 to control write protection; pins 1, 2, and 3 (A0, A1, and A2) are grounded to set the address to 0x50; pin 4 is grounded, and pin 8 is connected to 3.3V. The memory space is divided into an attitude memory area, a compensation coefficient area, and a system configuration area, using a 64-byte page write mode.

[0028] The visual guidance module 32 includes an image processing coprocessor 321, a laser projection circuit 322, a galvanometer drive circuit 323, and a camera module 324. The coprocessor 321 uses an XC7A35T-CPG236 field-programmable gate array. Pins 156 to 163 are 8-bit image data input terminals connected to pins D0 to D7 of the camera module 324; pins 164 (VSYNC), 165 (HSYNC), and 166 (PCLK) are connected to the camera synchronization signal. Pins 12 to 19 are feature coordinate outputs connected to pins 118 to 125 of the second processing core; pin 20 is the data valid signal connected to pin 126; pin 21 is the enable control connected to pin 127. Pin 88 is connected to a 25MHz crystal oscillator as the master clock.

[0029] The camera module 324 uses an OV7725 CMOS sensor with a resolution of 640×480 and a frame rate of 30fps. It is connected via an FPC flexible cable. Pins 1 to 8 are data lines, pins 9 to 11 are synchronization signals, pins 12 and 13 are I2C interfaces connected to the second processing core, and pins 178 and 179 are used for register configuration.

[0030] The laser projection circuit 322 includes a red PL TB450B ​​laser diode and its driving circuit. The driving circuit consists of a TPS7A4700 adjustable voltage regulator, a DS18B20 temperature sensor, an OPA2277 operational amplifier, and a 2N3904 transistor forming a constant current source. Pin 1 of the TPS7A4700 is connected to a 12V power supply, pin 2 is grounded, and pin 3 is connected to the collector of the 2N3904 transistor through a 0.22Ω sampling resistor. The emitter is connected to the anode of the laser diode. Pin 4 (ADJ) is connected to the output of the operational amplifier. The non-inverting input of the operational amplifier is connected to the voltage divider reference voltage of the temperature sensor, and the inverting input is connected to the voltage of the sampling resistor. Pin 1 of the DS18B20 is grounded, pin 2 is connected to pin 180 of the second processing core through a 4.7KΩ pull-up resistor, and pin 3 is connected to 3.3V. The sensor is mounted on the laser diode heatsink to monitor the temperature, and current compensation is achieved by transmitting the temperature value via a single bus. The laser diode control signal comes from the PWM output of pins 128, 129, and 130 of the second processing core and is driven by optocoupler isolation.

[0031] The galvanometer drive circuit 323 includes a Cambridge Technology 6215H dual-axis galvanometer 3 and a dedicated driver. The driver position command input is connected to the DAC output of pins 131 and 132 of the second processing core, and the feedback signal is connected from the galvanometer's built-in sensor to the driver to form a closed loop. The galvanometer is mounted on a reflector bracket and scans the laser beam to project a guide pattern onto the target area.

[0032] The joint control module 33 includes a voice coil motor 331, a motor driver 332, a position feedback sensor 333, a multiplexer 334, and a joint angle encoder 335. The voice coil motor 331 is a Moticont GVCM-051-051-01 linear motor, which is installed at the rotating joint and drives the bearing to rotate via a push rod.

[0033] The motor driver 332 uses a DRV8871 H-bridge chip. Its pins 1 and 2 (IN1 and IN2) are connected to the PWM inputs of the second processing core (pins 133 and 134); pins 5 and 6 are connected to the 24V power supply; pins 9 and 10 (OUT1 and OUT2) are connected to the voice coil motor windings; the current detection pin 7 is grounded through a 0.1Ω resistor, and the voltage is fed back to the ADC pin 135; the fault output pin 3 is connected to the interrupt input pin 136.

[0034] The position feedback sensor 333 uses an Allegro A1324 linear Hall sensor. Pin 1 is connected to 5V, pin 2 is grounded, and pin 3 (analog output) is connected to pin 137 (ADC) of the second processing core. The sensor is fixed to the stator of the voice coil motor and works with the permanent magnet of the mover to detect the magnetic field and output a position voltage. The second processing core samples the ADC signal at 10kHz, converts it into position data, compares it with the target, and outputs a PWM control for the motor using a PID algorithm, achieving an accuracy of 0.01mm.

[0035] The multiplexer 334 uses a CD74HC4067 16-channel multiplexer. Its pins 1 to 16 are connected to 16 encoder outputs; pin 10 (COM) is connected to pin 94 (ADC) of the first processing core; pins 11 to 14 (S0 to S3) are connected to pins 58 to 61 to select channels; and pin 15 (EN) is connected to pin 62 to control enable.

[0036] The joint angle encoder 335 uses an AS5600 12-bit magnetic encoder. Pin 1 is connected to 5V, pin 2 is grounded, and the output voltage of pin 5 is linearly related to the angle. Sixteen encoders are installed on each joint rotation axis. The first processing core polls and collects data at a frequency of 1kHz through a multiplexer and stores it in the first address area of ​​the dual-port memory.

[0037] The power-down protection circuit 34 includes an LM393 voltage comparator, a TL431 reference voltage source, and a voltage divider network. The non-inverting input (pin 3) of the comparator is connected to a 24V power supply via the voltage divider network to obtain 4.2V; the inverting input (pin 2) is connected to the 4.5V reference source output; pin 1 is connected to 5V via a 10KΩ pull-up resistor and then to the interrupt input (pin 93) of the microcontroller; pin 4 is grounded, and pin 8 is connected to 5V. When the power supply drops below 21V, the voltage divider outputs below 4.5V, triggering an interrupt. The microcontroller then sets pin WP of the EEPROM high to enter write protection mode and simultaneously initiates emergency data saving to non-volatile memory. The protection process is completed within 5ms.

[0038] The device operates as follows: After system power-on initialization, the dual-core microcontroller 311 reads the previously saved attitude memory data and compensation coefficients from the non-volatile memory 313 and loads them into the dual-port static random access memory 312. The first processing core initiates the joint angle acquisition task, using a multiplexer 334 to poll and scan 16 joint angle encoders 335 at a frequency of 1kHz, writing the acquired angle data into the first address area of ​​the dual-port static random access memory 312. The second processing core initiates the vision guidance task, first configuring parameters such as exposure time and gain of the camera module 324 via the I2C interface, and then controlling the image processing coprocessor 321 to enter the working state. The camera module 324 continuously outputs image data streams at a frame rate of 30fps to the image processing coprocessor 321. The FPGA logic inside the coprocessor processes the image in real time, identifies the positioning features of the quick-release interface 2 through an edge detection algorithm, extracts feature coordinate data, and outputs it to the second processing core. The second processing core writes the feature coordinate data into the second address area of ​​the dual-port static random access memory 312. When the operator presses the attitude memory button, the first processing core reads the current 16-channel joint angle data from the dual-port static random access memory 312 and writes it to the attitude memory data area of ​​the non-volatile memory 313 via the I2C bus to complete the memory storage. When the operator triggers the attitude reproduction function, the first processing core reads the memory target attitude angle from the non-volatile memory 313 and simultaneously reads the visual feature coordinate data from the dual-port static random access memory 312. It calculates the visual deviation value through the built-in hardware floating-point arithmetic unit and performs a weighted calculation based on the pre-stored compensation coefficients to obtain the corrected target angle. The second processing core controls the voice coil motor 331 to drive the joint rotation according to the corrected target angle, and simultaneously reads the Hall voltage signal from the position feedback sensor 333. It adjusts the PWM output in real time through a PID algorithm to achieve precise positioning. During joint adjustment, the second processing core controls the three sets of laser diodes of the laser projection circuit 322 to project a specific pattern according to the deviation between the current position and the target position. The galvanometer drive circuit 323 scans synchronously to form a dynamic guide mark, which intuitively displays the adjustment direction and the remaining deviation. Once all joints reach the target position, the system accumulates the deviation data from this calibration. The first processing core updates the compensation coefficients using a self-learning algorithm and writes the new compensation coefficients into the non-volatile memory 313, achieving adaptive optimization of the system. Throughout the entire operation, the power-off protection circuit 34 continuously monitors the power supply voltage to ensure timely protection of data integrity in the event of an abnormal power outage.

[0039] The present invention has been described in detail above. However, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, any modifications or improvements that do not depart from the spirit of the present invention are within the protection scope of the present invention.

Claims

1. A posture memory module-based fast installation support device for a video and film equipment, characterized in that, It includes a support arm (1), a quick-release interface (2), and a control circuit board (3), wherein the control circuit board (3) includes: The attitude memory module (31) includes a dual-core microcontroller (311), a dual-port static random access memory (312), and a non-volatile memory (313). The dual-core microcontroller (311) includes a first processing core and a second processing core. The first processing core is used to process joint attitude data, and the second processing core is used to process visual image data. The address lines and data lines of port A of the dual-port static random access memory (312) are connected to the first processing core, and the address lines and data lines of port B are connected to the second processing core. Port A and port B are connected through an interlock signal line for arbitrating access conflicts. The non-volatile memory (313) is connected to the dual-core microcontroller (311) through an I2C bus and is used to store attitude memory data. The visual guidance module (32) includes an image processing coprocessor (321), a laser projection circuit (322), and a galvanometer driving circuit (323); the image input terminal of the image processing coprocessor (321) is connected to the camera module (324), and its data output terminal is connected to the second processing core; the laser projection circuit (322) includes multiple laser diodes and corresponding driving circuits, and its driving circuits are connected to the pulse width modulation output terminal of the second processing core; The joint control module (33) includes a voice coil motor (331), a motor driver (332), and a position feedback sensor (333). The voice coil motor (331) is connected to the second processing core through the motor driver (332), and the output of the position feedback sensor (333) is connected to the second processing core to form a closed-loop control. The joint control module (33) includes a multiplexer (334) and multiple joint angle encoders (335). The multiple inputs of the multiplexer (334) are respectively connected to the joint angle encoders (335), and its output is connected to the first processing core.

2. The fast-mounting support device for film and television equipment based on the posture memory module according to claim 1, characterized in that: The dual-port static random access memory (312) adopts an address partitioning storage method. Port A accesses the first address area to store joint angle data, and port B accesses the second address area to store visual feature data. The interlock signal line generates a busy signal when two ports access the same address simultaneously, causing one of the ports to delay access.

3. The quick-installation support device for film and television equipment based on a posture memory module according to claim 1, characterized in that: The driving circuit of each laser diode in the laser projection circuit (322) includes a temperature-compensated constant current source, which includes an adjustable voltage regulator, a temperature sensor, an operational amplifier, and a control transistor. The temperature sensor detects the temperature change of the laser diode and controls the conduction level of the control transistor, thereby adjusting the output current of the adjustable voltage regulator to keep the output optical power of the laser diode stable.

4. The quick-installation support device for film and television equipment based on a posture memory module according to claim 1, characterized in that: The position feedback sensor (333) is a Hall sensor; the second processing core calculates the control quantity based on the position signal of the voice coil motor (331) from the position feedback sensor (333) and outputs it to the motor driver (332) through a PID control algorithm to achieve precise position control of the voice coil motor (331).

5. The quick-installation support device for film and television equipment based on a posture memory module according to claim 1, characterized in that: The image processing coprocessor (321) is a field-programmable gate array, used to process image data and output feature coordinate data; The enable control terminal of the field-programmable gate array is connected to the second processing core, and is controlled to switch between working state and standby state.

6. The quick-installation support device for film and television equipment based on a posture memory module according to claim 1, characterized in that: The first processing core calculates the joint correction angle through the built-in hardware computing unit. The calculation method is to perform a weighted calculation based on the visual deviation value and the pre-stored compensation coefficient. The compensation coefficient is stored in the non-volatile memory (313). After the first processing core accumulates multiple calibration data through a self-learning algorithm, it updates the compensation coefficient using the built-in floating-point arithmetic unit and writes it into the non-volatile memory (313).

7. The quick-installation support device for film and television equipment based on a posture memory module according to claim 1, characterized in that: The control circuit board (3) also includes a power-down protection circuit (34), which includes a voltage comparator, a reference voltage source, and a voltage divider resistor network. The input terminal of the voltage comparator is connected to the power input terminal through the voltage divider resistor network, its reference terminal is connected to the reference voltage source, and its output terminal is connected to the interrupt input terminal of the dual-core microcontroller (311). When the power supply voltage is lower than a set threshold, the voltage comparator triggers an interrupt signal, and the dual-core microcontroller (311) responds and controls the non-volatile memory (313) to enter a write-protected state.

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