A kind of taking photograph of intelligent mobile phone, photography stabilising arrangement and method of work thereofTechnical field
The invention belongs to The Cloud Terrace technical field, be specifically related to a kind of taking photograph of intelligent mobile phone based on three-axis stabilization The Cloud Terrace, photography stabilising arrangement and method of work thereof.
Background technology
At present, ordinary populace uses taking photograph of intelligent mobile phone, photography, relies on people's subjective initiative, has following features:
1. optical axis directivity is poor. Direction sudden change, body vibrations, the shakiness of hands, anthropic factor and environmental change etc. all can reduce the stability of the mobile phone optical axis.
2. attitude gradual change power is poor. Take pictures, in photographic process human body dynamically and geographical position all can affect the self adaptation of mobile phone posture. Human body dynamically as beated, running, surfing etc., geographical position is mountain top, Po Lu, the lowest point etc. such as.
3. environmental effect is big. The conversion of the dynamic and static environment residing for people can affect the reaction of the judgement of people's brain, hands and eye, cause taking pictures, photograph undesirable.
4. artificial disturbance is strong. In whole process, people is leader, attitudes vibration, angle compensation, hands operation etc. depend on artificial subjective judgment, these all cause very strong interference.
5. Orientation differences is poor. Under external interference effect, mobile phone orientation angles wants real-time transform, accurately to follow the tracks of target, is so limited to the reason of human body self, and instant positioning compensation operation is difficult to.
6. lasting accuracy is poor. When photograph, photography time are long, dull repeated work can cause that people is very easily tired, causes and can not well keep phychology, reduces lasting accuracy.
7. very flexible. Mobile phone needs hand-held, and in little scope, the structure of staff can not coordinate the common change of attitude and orientation very well.
Summary of the invention
For the problems referred to above, the invention aims to solve ordinary populace use smart mobile phone to rely on people self to take pictures, when photographing, there is the optical axis and point to the problem such as poor, poor stability, very flexible, and provide a kind of based on the high optical axis of three-axis stabilization The Cloud Terrace, high stable, in high precision, high adapt to, the taking photograph of intelligent mobile phone of high automatization, photograph stabilising arrangement and method of work thereof.
For achieving the above object, the technical scheme is that a kind of taking photograph of intelligent mobile phone, photography stabilising arrangement, including a carrier, carrier is provided with three-axis stabilization The Cloud Terrace, smart mobile phone is arranged on three-axis stabilization The Cloud Terrace to ensure the optic central extract of mobile phone, carrier is provided with the orientation frame for controlling three-axis stabilization The Cloud Terrace, pitching frame and the stable control system of roll frame kinestate, the Orientation differences module for detecting described three framework each status change data it is provided with in control system, for controlling the angular movement of corresponding frame to offset the Spin Control module of disturbance torque suffered by each framework simultaneously, for detecting smart mobile phone attitude detection module of physical location under carrier coordinate system in real time, and for receiving the output signal of orientation changing pattern block and attitude detection module, and export the control signal platform controller to Spin Control module, carrier is additionally provided with and takes pictures for controlling smart mobile phone, the mobile phone operation module of photography.
Being provided with inertial sensor in described Orientation differences module, inertial sensor detects orientation frame, pitching frame and the respective magnitude of angular velocity of roll frame and angular acceleration values.
Described inertial sensor comprises gyroscope and angular accelerometer.
Be provided with in described Spin Control module signal distributor, three respectively drive corresponding frame rotate direct current torque motors and three for controlling the motor driver of corresponding motor drive volume, the control instruction in order to control three motor each drive volumes of signal distributor receiving platform controller output, and this control instruction is distributed to corresponding motor driver, three motors export corresponding moment to offset the disturbance torque suffered by each framework according to respective institute call instruction.
Being provided with angle measurement equipment in described attitude detection module, angle measurement equipment detects orientation frame, pitching frame and roll frame in real time and each deviates the angle that three frameworks are under the state of being mutually perpendicular to position.
Described angle measurement equipment comprises rotary transformer and photoelectric encoder.
Described a kind of taking photograph of intelligent mobile phone, photography stabilising arrangement work process, comprise the following steps:
1) steady statue of three-axis stabilization The Cloud Terrace is disturbed;
2) inertial sensor arranged in Orientation differences module obtains orientation frame, pitching frame and the respective magnitude of angular velocity of roll frame and angular acceleration values, and outputs signal to platform controller process;
3) platform controller integrates angular velocity and the angular acceleration coupled relation of three axle coefficient evidences the mobile phone location data according to attitude detection module Real-time Feedback, calculates the motor drive volume decomposing three axle systems, then outputs signal to Spin Control module;
4) Spin Control module controls three axle system motors corresponding moments of generation, the disturbing moment each suffered in order to offset three frameworks, makes three-axis stabilization The Cloud Terrace stable;
5) photographic head of smart mobile phone is controlled by mobile phone operation module under any state, it is achieved real-time stabilization photograph, photography.
Beneficial effects of the present invention is as follows:
1, this device adopt three-axis stabilization The Cloud Terrace carrying smart mobile phone, light weight, volume are narrow and small, compact conformation, easy to carry, can stablize accurately smart mobile phone the optical axis sensing, compare staff and avoid the impact of mobile phone, anthropic factor and environmental change.
2, the Orientation differences module that this device adopts can measure the amount of change of The Cloud Terrace framework in real time, contributes to quick, the effectively compensating of Spin Control module, and people often experiences change, but cannot detect.
3, the Spin Control module that this device adopts can realize the high accuracy to frame loops such as three-axis stabilization The Cloud Terrace orientation, pitching, rolls and automatization's power supply, reduces the fatigue that people controls in addition, improves stability.
4, the attitude detection module that this device adopts can the posture position of real-time and precise monitoring mobile phone, contribute to the accurate calculating of Spin Control module drive amount, compare the sudden change of target, people often cannot change the attitude of mobile phone timely, causes image blurring.
5, the mobile phone operation module that the present invention adopts can pass through " key operates automatically " pattern, realize the single-hand handles prompt operation to taking photograph of intelligent mobile phone, photography, decreasing the adverse effect that anthropic factor brings, the mode of operation comparing artificial two handss is more rapid, more flexible, more convenient.
Accompanying drawing explanation
Fig. 1 is the structural representation of three-axis stabilization The Cloud Terrace;
Fig. 2 is the control structure figure of the present invention;
Figure is labeled as: A is orientation frame, B is roll frame, C is pitching frame, Xp, Yp, Zp represent three axle systems of three-axis stabilization The Cloud Terrace, Ma, Mp, Mr are the torque motor being arranged on corresponding frame axle, and Gx, Gy, Gz are the inertial sensor being fixed on carrier, and S is signal distributor, Ta, Tp, Tr are the angle measurement equipment being arranged on corresponding frame axle, and Fa, Fp, Fr represent the distribution moment to corresponding force torque motor.
Detailed description of the invention
As shown in the figure, a kind of taking photograph of intelligent mobile phone, photography stabilising arrangement, including a carrier, carrier is provided with three-axis stabilization The Cloud Terrace, three axle system frame loops that three-axis stabilization The Cloud Terrace is made up of orientation frame, pitching frame, roll frame, three frameworks can rotate in order to accurately to adjust the attitude of smart mobile phone, orientation rotating around azimuth axis, pitch axis and roll axle. The structure of three-axis stabilization The Cloud Terrace is existing structure, and three frameworks represent three axle systems of three-axis stabilization The Cloud Terrace respectively. Three-axis stabilization The Cloud Terrace, for adjusting in real time the attitude of mobile phone, eliminates the interference effect that carrier causes because of angular movement, shake and rolling, sets up and stablize datum level, it is ensured that on The Cloud Terrace the optic central extract of mobile phone with realization to being accurately positioned of target, follow the tracks of.
Smart mobile phone is arranged on three-axis stabilization The Cloud Terrace to ensure the optic central extract of mobile phone, carrier is provided with the orientation frame for controlling three-axis stabilization The Cloud Terrace, pitching frame and the stable control system of roll frame kinestate, the Orientation differences module for detecting described three framework each status change data it is provided with in control system, for controlling the angular movement of corresponding frame to offset the Spin Control module of disturbance torque suffered by each framework simultaneously, for detecting smart mobile phone attitude detection module of physical location under carrier coordinate system in real time, and for receiving the output signal of orientation changing pattern block and attitude detection module, and export the control signal platform controller to Spin Control module, carrier is additionally provided with and takes pictures for controlling smart mobile phone, the mobile phone operation module of photography.
Being provided with inertial sensor in described Orientation differences module, inertial sensor detects orientation frame, pitching frame and the respective magnitude of angular velocity of roll frame and angular acceleration values. Described inertial sensor can adopt gyroscope and angular accelerometer, and three gyroscopes are respectively used to record the magnitude of angular velocity of corresponding frame, and three angular accelerometers are for obtaining the angular acceleration values of place framework. Additionally, be additionally provided with close loop control circuit in Orientation differences module. The major function of Orientation differences module is: the disturbance of sensitive framework, the change of instant resetting shaft system inner frame orientation mode.
Signal distributor, three direct current torque motors (i.e. azimuth-drive motor in Fig. 2, pitching motor and roll motor) driving corresponding frame to rotate respectively and three motor drivers being used for controlling corresponding motor drive volume and close loop control circuit it is provided with in described Spin Control module.The control instruction in order to control three motor each drive volumes of signal distributor receiving platform controller output, and this control instruction is distributed to corresponding motor driver, three motors export corresponding moment to offset the disturbance torque suffered by each framework according to respective institute call instruction. The major function of Spin Control module is: making three frameworks rotate around place axle in three axle systems, the adjustment for smart mobile phone attitude, orientation provides moment, angular velocity and angular acceleration accurately.
It is provided with angle measurement equipment in described attitude detection module, angle measurement equipment detects orientation frame, pitching frame and roll frame in real time and each deviates the angle that three frameworks are under the state of being mutually perpendicular to position, thus obtaining smart mobile phone actual position information under carrier coordinate system. In practical operation, when can be under the state of being mutually perpendicular to by three frameworks, the angle of each framework is decided to be 0 degree. Described angle measurement equipment includes three rotary transformers and three photoelectric encoders, for detecting the angle-data of three frameworks. Additionally, be additionally provided with close loop control circuit in attitude detection module. The major function of attitude detection module is: real-time detection, feedback intelligent mobile phone position under carrier coordinate system.
Described a kind of taking photograph of intelligent mobile phone, photography stabilising arrangement work process, comprise the following steps:
1) steady statue of three-axis stabilization The Cloud Terrace is disturbed;
2) inertial sensor arranged in Orientation differences module obtains orientation frame, pitching frame and the respective magnitude of angular velocity of roll frame and angular acceleration values, and outputs signal to platform controller process;
3) platform controller integrates angular velocity and the angular acceleration coupled relation of three axle coefficient evidences the mobile phone location data according to attitude detection module Real-time Feedback, calculates the motor drive volume decomposing three axle systems, then outputs signal to Spin Control module;
4) Spin Control module controls three axle system motors corresponding moments of generation, the disturbing moment each suffered in order to offset three frameworks, makes three-axis stabilization The Cloud Terrace stable;
5) photographic head of smart mobile phone is controlled by mobile phone operation module under any state, it is achieved real-time stabilization photograph, photography.
Mobile phone operation module controls smart mobile phone photograph, the method for photography is: sets weights, is controlled by USB interface. When command value is more than weights, smart mobile phone carries out taking pictures, photographing; When command value is less than or equal to weights, smart mobile phone is standby. Can arranging a key operation button on carrier, operation button sends commands to platform controller after touching, and platform controller sends photograph, photography instruction to smart mobile phone, and smart mobile phone carries out taking a picture, photographing.