CN108184061B - Tracking control method and device for handheld cloud deck, handheld cloud deck and storage medium - Google Patents
Tracking control method and device for handheld cloud deck, handheld cloud deck and storage medium Download PDFInfo
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- CN108184061B CN108184061B CN201711494797.5A CN201711494797A CN108184061B CN 108184061 B CN108184061 B CN 108184061B CN 201711494797 A CN201711494797 A CN 201711494797A CN 108184061 B CN108184061 B CN 108184061B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D3/12—Control of position or direction using feedback
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Abstract
The invention discloses a follow-shooting control method and device for a handheld cloud deck and the handheld cloud deck. A follow-shooting control method of a handheld cloud deck comprises the following steps: after receiving a follow-shooting instruction, controlling the handheld cradle head to enter a follow-shooting mode; acquiring position information of a target object in real time, and setting a follow-up shooting speed according to the position information so as to enable the target object to be in a specific area of a shooting picture; and acquiring the state information of the handheld cloud deck in real time, and if the rotation angle of the translation shaft and/or the rotation angle of the pitching shaft are not matched with preset parameters, adjusting the follow-shooting speed to enable the target object to deviate from a specific area and prompting that the target object is about to reach the limit position. Through the mode, in the process of tracking and shooting the handheld cloud platform, when the translation shaft and/or the pitch shaft are about to reach the extreme positions, the user can be prompted to change the shooting posture or angle in time, and the target object is prevented from being separated from the shooting picture in the tracking and shooting process.
Description
Technical Field
The invention relates to the technical field of cloud platforms, in particular to a method and a device for controlling the follow shooting of a handheld cloud platform and the handheld cloud platform.
Background
When the ordinary public uses the smart phone to take a picture and photograph, the following characteristics are provided: 1. poor visual axis directivity, abrupt change of direction, vibration of the body, unstable hand, human factors, environmental changes and the like can reduce the stability of the visual axis of the mobile phone; 2. the gesture gradual change is poor, the self-adaption of the gesture of the mobile phone can be influenced by the human body dynamic state and the geographic position in the photographing and shooting processes, the human body dynamic state is beating, running, surfing and the like, and the geographic position is mountain top, slope road, valley bottom and the like; 3. the flexibility is poor, the mobile phone needs to be held by hand, and the structure of the hand can not well coordinate to complete the common change of the posture and the direction in a small range.
Therefore, handheld pan/tilt heads are now widely used for leisure, recreation, model airplane shooting, etc. which can control the rotation of a lens such as a camera, etc. and the execution of directional motions such as pitching, etc. through a plurality of keys or a wireless remote controller, so as to shoot excellent photos and/or videos in various directions.
In the application, when the handheld pan/tilt head starts the tracking mode, the rotation angles of the translation shaft and the pitch shaft are controlled within a certain range, and when the rotation angle of the translation shaft and/or the rotation angle of the pitch shaft required by the tracking mode exceed the range, the translation shaft and/or the pitch shaft cannot rotate any more, namely the translation shaft and/or the pitch shaft reach the limit position. And if the user is hard to perceive whether the limit is approached during shooting, if the shooting is continued until the limit is approached, the situation that the translation shaft and/or the pitch shaft cannot rotate occurs, so that the target object is separated from the shooting range, and the shooting picture is interrupted.
Disclosure of Invention
The invention mainly solves the technical problem of providing a tracking control method and device of a handheld cloud deck and the handheld cloud deck.
The invention adopts a technical scheme that: in a first aspect, a tracking and shooting control method of a handheld cloud platform is provided, the handheld cloud platform comprises a handle, a translation shaft motor and a pitch shaft motor, the translation shaft motor is mounted on the handle, the translation shaft motor is rotatably connected with the pitch shaft motor, and the method comprises the following steps:
after receiving a follow-shooting instruction, controlling the handheld cradle head to enter a follow-shooting mode;
acquiring position information of a target object in real time, and setting a follow-up shooting speed according to the position information so as to enable the target object to be in a specific area of a shooting picture;
and acquiring the state information of the handheld cloud deck in real time, and if the rotation angle of the translation shaft and/or the rotation angle of the pitching shaft are not matched with preset parameters, adjusting the follow-shooting speed to enable the target object to deviate from a specific area and prompting that the target object is about to reach the limit position.
Optionally, the follow-up speed comprises a translation speed of the translation axis and a pitch speed of the pitch axis;
the preset parameters comprise a translation angle range [ - α, α ] of the translation shaft and a pitch angle range [ - β, β ] of the pitch shaft;
adjust with clapping speed, include:
calculating the translation deviation of the translation shaft according to the rotation angle and the translation angle range [ - α, α ], determining the translation speed reduction ratio according to the translation deviation, and/or
calculating the pitch deviation of the pitch axis according to the rotation angle of the pitch axis and the pitch angle range [ - β, β ], and determining a pitch reduction ratio according to the pitch deviation;
and adjusting the translation speed of the translation shaft according to the translation speed reduction ratio and/or adjusting the pitch speed of the pitch shaft according to the pitch speed reduction ratio.
optionally, calculating a translational deviation amount of the translation axis according to the rotation angle and the translation angle range [ - α, α ] of the translation axis includes:
when the rotation angle of the translation shaft is larger than α, calculating the translation deviation amount of the translation shaft according to the rotation angle of the translation shaft and the α of the translation angle range,
when the rotation angle < -alpha of the translation shaft, calculating the translation offset of the translation shaft according to the rotation angle of the translation shaft and the-alpha of the translation angle range;
calculating a pitch offset of the pitch axis from the rotation angle of the pitch axis and the pitch angle range [ - β, β ], comprising:
when the rotation angle of the pitch axis is larger than beta, calculating the pitch offset of the pitch axis according to the rotation angle of the pitch axis and β of the pitch angle range;
when the rotation angle < - β > of the pitch axis, the pitch offset of the pitch axis is calculated from the rotation angle of the pitch axis and the- β of the pitch angle range.
Optionally, the method further comprises:
presetting a first corresponding relation between the translation offset and the translation speed reduction ratio and a second corresponding relation between the pitching offset and the pitching speed reduction ratio, wherein the larger the absolute value of the translation offset is, the higher the translation speed reduction ratio is, the larger the absolute value of the pitching offset is, and the higher the pitching speed reduction ratio is;
determining a translation speed reduction ratio according to the translation deviation, specifically:
determining a translation speed reduction ratio according to the first corresponding relation and the translation deviation amount;
determining a pitch reduction ratio according to the pitch deviation, specifically;
and determining a pitch reduction ratio according to the second corresponding relation and the pitch deviation amount.
Optionally, the specific area of the shooting picture is a central area of the shooting picture;
adjusting the follow-shot speed to deviate the target object from the specific area, comprising:
when the rotation angle of the translation shaft is larger than alpha, the translation speed of the translation shaft is adjusted according to the translation speed reduction ratio, so that the target object deviates from the central area to the left;
when the rotation angle < - α the translation shaft, the translation speed of the translation shaft is adjusted according to the translation speed reduction ratio, so that the target object deviates from the central area to the right;
when the rotation angle of the pitch axis is larger than beta, the pitch speed of the pitch axis is adjusted according to the pitch reduction ratio so that the target object deviates downwards from the central area;
and when the rotation angle < -beta > of the pitch axis, adjusting the pitch speed of the pitch axis according to the pitch reduction ratio so as to enable the target object to deviate upwards from the central area.
The second aspect provides a handheld cloud platform with clapping controlling means, and handheld cloud platform includes handle, translation axle motor and pitch axis motor, and translation axle motor is installed in the handle, and translation axle motor rotates with pitch axis motor to be connected, and the device includes:
the command receiving module is used for controlling the handheld holder to enter a follow shooting mode after receiving a follow shooting command;
the follow shooting control module is used for acquiring the position information of the target object in real time and setting follow shooting speed according to the position information so as to enable the target object to be in a specific area of a shot picture;
and the follow-shooting adjusting module is used for acquiring the state information of the handheld cloud deck in real time, and adjusting the follow-shooting speed if the rotation angle of the translation shaft and/or the rotation angle of the pitching shaft are not matched with preset parameters so as to enable the target object to deviate from a specific area and prompt that the target object is about to reach the limit position.
Optionally, the follow-up speed comprises a translation speed of the translation axis and a pitch speed of the pitch axis;
the preset parameters comprise a translation angle range [ - α, α ] of the translation shaft and a pitch angle range [ - β, β ] of the pitch shaft;
follow and clap adjustment module, include:
the first calculation submodule is used for calculating the translation deviation amount of the translation shaft according to the rotation angle and the translation angle range [ - α, α ] of the translation shaft and determining the translation speed reduction ratio according to the translation deviation amount;
the second calculation submodule is used for calculating the pitch deviation amount of the pitch axis according to the rotation angle of the pitch axis and the range [ - β, β ] of the pitch angle, and determining a pitch reduction ratio according to the pitch deviation amount;
and the speed adjusting submodule is used for adjusting the translation speed of the translation shaft according to the translation speed reduction ratio and/or adjusting the pitch speed of the pitch shaft according to the pitch speed reduction ratio.
Optionally, the first computing submodule is specifically configured to:
when the rotation angle of the translation shaft is larger than α, calculating the translation deviation amount of the translation shaft according to the rotation angle of the translation shaft and the α of the translation angle range,
when the rotation angle < -alpha of the translation shaft, calculating the translation offset of the translation shaft according to the rotation angle of the translation shaft and the-alpha of the translation angle range;
the second calculation submodule is specifically configured to:
when the rotation angle of the pitch axis is larger than beta, calculating the pitch offset of the pitch axis according to the rotation angle of the pitch axis and β of the pitch angle range;
when the rotation angle < - β > of the pitch axis, the pitch offset of the pitch axis is calculated from the rotation angle of the pitch axis and the- β of the pitch angle range.
Optionally, the follow-beat adjusting module further includes:
the presetting submodule is used for presetting a first corresponding relation between the translation offset and the translation speed reduction ratio and a second corresponding relation between the pitching offset and the pitching speed reduction ratio, wherein the larger the absolute value of the translation offset is, the higher the translation speed reduction ratio is, the larger the absolute value of the pitching offset is, and the higher the pitching speed reduction ratio is;
the first calculation submodule is specifically configured to:
determining a translation speed reduction ratio according to the first corresponding relation and the translation deviation amount;
the second calculation submodule is specifically configured to:
and determining a pitch reduction ratio according to the second corresponding relation and the pitch deviation amount.
Optionally, the specific area of the shooting picture is a central area of the shooting picture;
follow and clap adjustment module, specifically be used for:
when the rotation angle of the translation shaft is larger than alpha, the translation speed of the translation shaft is adjusted according to the translation speed reduction ratio, so that the target object deviates from the central area to the left;
when the rotation angle < - α the translation shaft, the translation speed of the translation shaft is adjusted according to the translation speed reduction ratio, so that the target object deviates from the central area to the right;
when the rotation angle of the pitch axis is larger than beta, the pitch speed of the pitch axis is adjusted according to the pitch reduction ratio so that the target object deviates downwards from the central area;
and when the rotation angle < -beta > of the pitch axis, adjusting the pitch speed of the pitch axis according to the pitch reduction ratio so as to enable the target object to deviate upwards from the central area.
In a third aspect, the present invention further provides a handheld tripod head, wherein the handheld tripod head includes a handle, a translation shaft motor and a pitch shaft motor, the translation shaft motor is installed on the handle, the translation shaft motor is rotatably connected to the pitch shaft motor, and the handheld tripod head further includes:
at least one processor; and
a memory coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores a program of instructions executable by the at least one processor to cause the at least one processor to perform the method as above.
In a fourth aspect, the present invention also provides a non-transitory computer-readable storage medium storing computer-executable instructions that, when executed by a handheld tripod head, cause the handheld tripod head to perform the above method.
In a fifth aspect, the present invention also provides a computer program product comprising a computer program stored on a non-volatile computer-readable storage medium, the computer program comprising program instructions which, when executed by a handheld tripod head, cause the handheld tripod head to perform the method as described above.
The invention has the beneficial effects that: different from the situation of the prior art, the method and the device for tracking the camera of the handheld cloud platform acquire the state information of the handheld cloud platform in real time in the tracking process of the handheld cloud platform, adjust the tracking speed if the rotation angle of the translation shaft and/or the rotation angle of the pitch shaft are not matched with the preset parameters so as to enable the target object to deviate from a specific area and prompt that the target object is about to reach the limit position, and can prompt a user to change the shooting posture or angle in time when the translation shaft and/or the pitch shaft is about to reach the limit position, so that the target object is prevented from being separated from a shooting picture in the tracking process.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described below. It is obvious that the drawings described below are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a schematic block diagram of an implementation environment in accordance with an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a tracking control method of a handheld pan/tilt head according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a tracking control device of a handheld pan/tilt head according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a heel-beat adjusting module of the apparatus shown in FIG. 3;
fig. 5 is a schematic hardware structure diagram of a handheld pan/tilt head according to an embodiment of the present invention.
Detailed Description
In order to facilitate an understanding of the invention, the invention is described in more detail below with reference to the accompanying drawings and detailed description. It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for descriptive purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1, fig. 1 shows a schematic structural diagram of a handheld tripod head according to an embodiment of the present invention, the handheld tripod head includes a clamping device 1 and a tripod head assembly 2 for driving the clamping device 1 to rotate, where the clamping device 1 is used for clamping an image capturing device 3, and the image capturing device 3 may be a mobile phone, a tablet computer, or a camera.
The holder assembly 2 comprises a translation shaft motor 10, a roll shaft motor 20 and a pitch shaft motor 30, the translation shaft motor 10, the roll shaft motor 20 and the pitch shaft motor 30 are orthogonally distributed in space, and the translation shaft motor 10, the roll shaft motor 20 and the pitch shaft motor 30 drive the clamping device 1 to carry out three-axis motion in space, so that the multi-dimensional rotation of the camera device 3 is controlled.
The translation axis motor 10 includes a translation axis fixing portion 11 and a translation axis rotating portion 12, the roll axis motor 20 includes a roll axis fixing portion 21 and a roll axis rotating portion 22, and the pitch axis motor 30 includes a pitch axis fixing portion 31 and a pitch axis rotating portion 32.
Alternatively, at least one of the translation axis motor 10, the roll axis motor 20, and the pitch axis motor 30 is implemented using a brushless dc motor. The brushless DC motor has the following advantages: (1) reliable performance, reduced wear and/or failure rate, and longer service life (about six times) than brushed motors due to having electronic commutation instead of mechanical commutators; (2) low no-load current because the brushless dc motor is a static motor; (3) the efficiency is high; (4) the volume is small.
The pan-tilt assembly 2 further comprises a vertical connecting arm 40 and a transverse connecting arm 50, wherein the vertical connecting arm 40 is vertically arranged, and two ends of the vertical connecting arm 40 are respectively and fixedly connected with the translation shaft rotating part 12 and the transverse rolling shaft fixing part 21; the transverse connecting arm 50 is transversely arranged, and two ends of the transverse connecting arm 50 are fixedly connected with the roll shaft rotating part 22 and the pitch shaft fixing part 31 respectively.
Specifically, the translation shaft rotating part 12 rotates to drive the vertical connecting arm 40 to rotate, and the transverse roller fixing part 21 connected with the vertical connecting arm 40 rotates; the transverse rotating part 22 rotates to drive the transverse connecting arm 50 to rotate, and the pitching shaft fixing part 31 connected with the transverse connecting arm 50 rotates, so that the camera device 3 realizes three-axis rotation in the space under the clamping of the clamping device 1 and the rotation driving of three rotating shafts of the transverse rotating part 12, the transverse rotating part 22 and the pitching shaft rotating part 32, and thus the control of the multi-dimensional rotation of the camera device 3 is realized.
The bottom of the translation shaft fixing part 11 is connected with a handle 4, the setting of the handle 4 is convenient for holding by a person, meanwhile, a control panel can be arranged inside the handle 4, the control panel is electrically connected to the camera equipment 3, and meanwhile, a control button is arranged outside the handheld part, so that the control button can be pressed to control the on/off of the camera equipment 3 and the start and the close of each function.
The interior of the handheld cloud deck is provided with a detection component and a processor, wherein the detection component is used for detecting or acquiring state information of the handheld cloud deck, such as state information of the handle 4, the translation shaft motor 10, the roll shaft motor 20 and the pitch shaft motor 30; the processor is used for calculating the attitude information of the handheld cloud deck according to the state information and outputting one or more motor signals according to the attitude information.
The detecting component may include an inertial measuring unit, compass, speed sensor or other type of measuring element or sensor, and the status information may include angle, linear speed, acceleration, position information of the handheld tripod head, for example, angle, linear speed, acceleration, position information of the handle 4, the translation axis motor 10, the roll axis motor 20, and the pitch axis motor 30; the state information also includes state information of the translation axis, the roll axis, the pitch axis, for example, angles of the translation axis, the roll axis, the pitch axis, linear velocity, acceleration, and the like.
The processor is used for calculating the attitude information of the handheld cloud deck according to the state information, wherein the attitude information can comprise the directions or the inclination angles, the speeds and/or the accelerations of the translation axis, the roll axis and the pitch axis, and the like, and the directions or the inclination angles, the speeds and/or the accelerations of the handle 4, the translation axis motor 10, the roll axis motor 20 and the pitch axis motor 30 relative to the rotation central axis thereof, and the like. In some cases, the attitude information described above may be calculated based on angular velocity information. In some cases, the above-described attitude information may be calculated based on both angular velocity information and linear acceleration information, e.g., linear acceleration information may be used to modify and/or correct the angular velocity information.
The processor outputs one or more motor signals for driving the forward rotation, reverse rotation, and adjustment of the rotation speed of the translation axis motor 10, the roll axis motor 20, and the pitch axis motor 30 based on the attitude information. The translation axis motor 10, the roll axis motor 20, and the pitch axis motor 30 are rotatable in response to one or more motor signals, so that the holding fixture 1 is rotatable about at least one of the translation center axis, the roll center axis, and the pitch center axis, so that the image pickup apparatus 3 is turned in a predetermined direction, position, or maintains a predetermined position or posture.
Referring to fig. 2, fig. 2 is a schematic flow chart of a follow-up shooting control method of a handheld pan/tilt head according to an embodiment of the present invention, where the handheld pan/tilt head includes a handle, a translation axis motor and a pitch axis motor, the translation axis motor is mounted on the handle, and the translation axis motor is rotatably connected to the pitch axis motor, and the method includes:
step 110: and after receiving the follow-shooting instruction, controlling the handheld cradle head to enter a follow-shooting mode.
In practical application, a user can send out a follow-up shooting instruction through a function key, voice control, gesture control and the like. And after receiving the follow-shooting instruction, the processor controls the handheld cradle head to enter a follow-shooting mode.
Step 120: and acquiring the position information of the target object in real time, and setting a follow-up speed according to the position information so as to enable the target object to be in a specific area of a shooting picture.
In specific implementation, the motion information of the target object can be obtained according to the position information of the target object in each frame of the video image. For example, an image area containing the target object is used as a target template, an image sequence obtained from an imaging sensor is processed and analyzed through a target tracking algorithm, such as kalman filtering, particle filtering, Mean Shift and the like, an X-Y coordinate system is established, and the two-dimensional coordinate position of the target object in each frame of the video image is calculated.
The horizontal motion information of the target object in the horizontal direction and the vertical motion information of the target object in the vertical direction can be acquired according to the two-dimensional coordinate position of the central point of the target object, and further, the follow-up shooting speed is set according to the motion information so that the target object is in a specific area of a shooting picture.
Optionally, the follow-up speed includes a translation speed of the translation axis and a pitch speed of the pitch axis. It should be noted that the translation speed of the translation shaft, i.e. the angular speed of the translation shaft motor, is the angular speed of the rotation part of the translation shaft relative to the translation central shaft; the pitch speed of the pitch axis, that is, the angular speed of the pitch axis motor, is the angular speed of the rotating portion of the pitch axis with respect to the pitch center axis.
In other embodiments, if the tracking mode of the handheld tripod head is set to be the single-axis tracking mode, the tracking speed only includes the translation speed of the translation axis or the pitch speed of the pitch axis.
Step 130: and acquiring the state information of the handheld cloud deck in real time, and if the rotation angle of the translation shaft and/or the rotation angle of the pitching shaft are not matched with preset parameters, adjusting the follow-shooting speed to enable the target object to deviate from a specific area and prompting that the target object is about to reach the limit position.
The handheld cloud deck is internally provided with a detection component and a processor, wherein the detection component comprises an inertial measurement unit, a compass, a speed sensor or other types of measurement elements or sensors and is used for detecting or acquiring state information of the handheld cloud deck, such as state information of a handle, a translation shaft motor, a roll shaft motor and a pitch shaft motor, and state information of a translation shaft, a roll shaft and a pitch shaft.
In this embodiment, the obtained state information of the handheld pan/tilt head includes a rotation angle of the translation axis and a rotation angle of the pitch axis.
In practical application, when the handheld holder is started to follow the shooting mode, the rotation angles of the translation shaft and the pitch shaft can be controlled within a certain range so as to protect the circuit structures inside the translation shaft motor and the pitch shaft motor, and when the rotation angles of the translation shaft and/or the pitch shaft exceed the range, the rotation cannot be continued.
The range of the translation angle of the translation shaft can be preset according to the range of the allowable rotation angle of the translation shaft, and the range of the pitch angle of the pitch shaft can be preset according to the range of the allowable rotation angle of the pitch shaft. The translation angle range is smaller than the allowable rotation angle range of the translation shaft, and the pitch angle range is smaller than the allowable rotation angle range of the pitch shaft.
specifically, the preset parameters include a range of a translation angle [ - α, α ] of the translation axis and a range of a pitch angle [ - β, β ] of the pitch axis, and the rotation angle of the translation axis and/or the rotation angle of the pitch axis do not match the preset parameters, including the following cases:
when the rotation angle of the translation shaft exceeds the range of the translation angle [ -alpha, alpha ], namely the rotation angle of the translation shaft > alpha or the rotation angle of the translation shaft < -alpha ], the rotation angle of the translation shaft does not match with the preset parameters, and when the rotation angle of the pitch shaft exceeds the range of the pitch angle [ - β, β ], namely the rotation angle of the pitch shaft > beta or the rotation angle of the pitch shaft < -beta ], the rotation angle of the pitch shaft does not match with the preset parameters.
Adjust with clapping speed, include:
calculating the translation deviation of the translation shaft according to the rotation angle and the translation angle range [ - α, α ], determining the translation speed reduction ratio according to the translation deviation, and/or
calculating the pitch deviation of the pitch axis according to the rotation angle of the pitch axis and the pitch angle range [ - β, β ], and determining a pitch reduction ratio according to the pitch deviation;
and adjusting the translation speed of the translation shaft according to the translation speed reduction ratio and/or adjusting the pitch speed of the pitch shaft according to the pitch speed reduction ratio.
The translation speed reduction ratio is greater than 0 and less than or equal to 1, the pitch speed reduction ratio is greater than 0 and less than or equal to 1, after the translation speed of the translation shaft is adjusted according to the translation speed reduction ratio, the adjusted translation speed is equal to the set translation speed (1-translation speed reduction ratio), and the adjusted pitch speed is equal to the set pitch speed (1-pitch speed reduction ratio). Therefore, the adjusted panning speed is necessarily less than the set panning speed, and the adjusted pitch speed is necessarily less than the set pitch speed.
Optionally, if the specific area of the shot picture is a central area of the shot picture, adjusting the follow-up speed to make the target object deviate from the specific area includes:
when the rotation angle of the translation shaft is larger than alpha, the translation speed of the translation shaft is adjusted according to the translation speed reduction ratio, so that the target object deviates from the central area to the left;
when the rotation angle < - α the translation shaft, the translation speed of the translation shaft is adjusted according to the translation speed reduction ratio, so that the target object deviates from the central area to the right;
when the rotation angle of the pitch axis is larger than beta, the pitch speed of the pitch axis is adjusted according to the pitch reduction ratio so that the target object deviates downwards from the central area;
and when the rotation angle < -beta > of the pitch axis, adjusting the pitch speed of the pitch axis according to the pitch reduction ratio so as to enable the target object to deviate upwards from the central area.
A first corresponding relation between the translation offset and the translation speed reduction ratio and a second corresponding relation between the pitch offset and the pitch speed reduction ratio are preset, wherein the larger the absolute value of the translation offset is, the higher the translation speed reduction ratio is, the larger the absolute value of the pitch offset is, and the higher the pitch speed reduction ratio is.
When the rotation angle of the translation axis and/or the rotation angle of the pitch axis are closer to the limit thereof, the more the translation speed of the translation axis and/or the pitch speed of the pitch axis are reduced compared with the set follow-up speed, the more the target object is deviated from the specific area, and the more the alert of the user is caused.
in one embodiment, calculating a translational offset of the translation axis from the rotation angle of the translation axis and the range of translation angles [ - α, α ], comprises:
when the rotation angle of the translation shaft is larger than α, calculating the translation offset of the translation shaft according to the rotation angle of the translation shaft and the α of the translation angle range;
and when the rotation angle < - α of the translation shaft is less than the rotation angle < - α, calculating the translation offset of the translation shaft motor according to the rotation angle of the translation shaft and the- α of the translation angle range.
calculating a pitch offset of the pitch axis from the rotation angle of the pitch axis and the pitch angle range [ - β, β ], comprising:
when the rotation angle of the pitch axis is larger than beta, calculating the pitch offset of the pitch axis according to the rotation angle of the pitch axis and β of the pitch angle range;
when the rotation angle < - β > of the pitch axis, the pitch offset of the pitch axis is calculated from the rotation angle of the pitch axis and the- β of the pitch angle range.
Determining a translation speed reduction ratio according to the translation deviation, specifically:
and determining a translational speed reduction ratio according to the first corresponding relation and the translational deviation amount.
Determining a pitch reduction ratio according to the pitch deviation, specifically;
and determining a translational speed reduction ratio according to the first corresponding relation and the translational deviation amount.
For example, the first corresponding relationship may be a corresponding relationship between a translational offset range and a translational speed reduction ratio, and the translational offset range in which the translational offset falls is determined first, and then the translational speed reduction ratio corresponding to the translational offset is determined according to the first corresponding relationship.
for example, the first corresponding relationship may be a corresponding relationship between the translational shift amount and the translational shift reduction ratio, for example, setting the translational shift reduction ratio to the translational shift amount/K, where K is a constant, and in an embodiment, K is a difference between a limit angle of the translational shaft and α, for example, the limit angle of the translational shaft is +165 °, α is +135 °, and K is 30 °.
for example, the pitch reduction ratio is set to pitch offset/C, where C is a constant, and in one embodiment, C is a difference between the limit angle of the pitch axis and β.
This embodiment is at handheld cloud platform with clapping the in-process, acquires the state information of handheld cloud platform in real time, if the rotation angle of translation axle and/or the rotation angle of pitch axis and preset parameter mismatch, the adjustment is with clapping speed to make the target object deviate from specific area, the suggestion is about to arrive extreme position, can be when translation axle and/or pitch axis is about to arrive its extreme position, in time indicate the user to change and shoot posture or angle, avoid keeping with clapping the in-process target object and breaking away from the shooting picture.
The embodiment of the invention further discloses a follow-shooting control device of a handheld cloud platform, the handheld cloud platform comprises a handle, a translation shaft motor and a pitch shaft motor, the translation shaft motor is arranged on the handle, the translation shaft motor is rotationally connected with the pitch shaft motor, and as shown in figure 3, the device 200 comprises:
the instruction receiving module 210 is configured to control the handheld pan/tilt head to enter a follow-shooting mode after receiving a follow-shooting instruction;
the follow-shooting control module 220 is used for acquiring the position information of the target object in real time and setting follow-shooting speed according to the position information so as to enable the target object to be in a specific area of a shot picture;
and the follow-shooting adjusting module 230 is used for acquiring the state information of the handheld cloud deck in real time, and adjusting the follow-shooting speed if the rotation angle of the translation shaft and/or the rotation angle of the pitching shaft are not matched with preset parameters, so that the target object deviates from the specific area and is prompted to reach the limit position.
Optionally, the follow-up speed comprises a translation speed of the translation axis and a pitch speed of the pitch axis;
the preset parameters comprise a translation angle range [ - α, α ] of the translation shaft and a pitch angle range [ - β, β ] of the pitch shaft;
as shown in fig. 4, the heel-beat adjusting module 230 includes:
the first calculation submodule 231 is used for calculating the translation deviation amount of the translation shaft according to the rotation angle and the translation angle range [ - α, α ] of the translation shaft and determining the translation speed reduction ratio according to the translation deviation amount;
the second calculation submodule 232 is used for calculating the pitch deviation amount of the pitch axis according to the rotation angle of the pitch axis and the pitch angle range [ -beta, beta ], and determining a pitch reduction ratio according to the pitch deviation amount;
and the speed adjusting submodule 233 is used for adjusting the translation speed of the translation shaft according to the translation speed reduction ratio and/or adjusting the pitch speed of the pitch shaft according to the pitch speed reduction ratio.
In an embodiment, the first calculating submodule 231 is specifically configured to:
when the rotation angle of the translation shaft is larger than α, calculating the translation deviation amount of the translation shaft according to the rotation angle of the translation shaft and the α of the translation angle range,
when the rotation angle < -alpha of the translation shaft, calculating the translation offset of the translation shaft according to the rotation angle of the translation shaft and the-alpha of the translation angle range;
the second calculating submodule 232 is specifically configured to:
when the rotation angle of the pitch axis is larger than beta, calculating the pitch offset of the pitch axis according to the rotation angle of the pitch axis and β of the pitch angle range;
when the rotation angle < - β > of the pitch axis, the pitch offset of the pitch axis is calculated from the rotation angle of the pitch axis and the- β of the pitch angle range.
Optionally, the heel-and-shoot adjustment module 230 further includes:
the presetting submodule 234 is used for presetting a first corresponding relation between the translation offset and the translation speed reduction ratio and a second corresponding relation between the pitch offset and the pitch speed reduction ratio, wherein the larger the absolute value of the translation offset is, the higher the translation speed reduction ratio is, the larger the absolute value of the pitch offset is, and the higher the pitch speed reduction ratio is;
the first calculating submodule 231 is specifically configured to:
determining a translation speed reduction ratio according to the first corresponding relation and the translation deviation amount;
the second calculating submodule 232 is specifically configured to:
and determining a pitch reduction ratio according to the second corresponding relation and the pitch deviation amount.
In one embodiment, the specific area of the shot picture is the central area of the shot picture;
follow and clap adjustment module 230, be used for specifically:
when the rotation angle of the translation shaft is larger than alpha, the translation speed of the translation shaft is adjusted according to the translation speed reduction ratio, so that the target object deviates from the central area to the left;
when the rotation angle < - α the translation shaft, the translation speed of the translation shaft is adjusted according to the translation speed reduction ratio, so that the target object deviates from the central area to the right;
when the rotation angle of the pitch axis is larger than beta, the pitch speed of the pitch axis is adjusted according to the pitch reduction ratio so that the target object deviates downwards from the central area;
and when the rotation angle < -beta > of the pitch axis, adjusting the pitch speed of the pitch axis according to the pitch reduction ratio so as to enable the target object to deviate upwards from the central area.
This embodiment is at handheld cloud platform with clapping the in-process, with clapping the state information that adjustment module 230 acquireed handheld cloud platform in real time, if the rotation angle of translation axle and/or the rotation angle of pitch axis and preset parameter mismatch, the speed is clapped with the adjustment to make the target object deviate from specific area, the suggestion is about to reach extreme position, can be when translation axle and/or pitch axis is about to reach its extreme position, in time indicate the user to change and shoot posture or angle, avoid keeping away from the shooting picture with clapping in-process target object.
It should be noted that, since the device embodiment and the method embodiment of the present invention are based on the same inventive concept, and the technical content in the method embodiment is also applicable to the device embodiment, the technical content in the device embodiment that is the same as that in the method embodiment is not described herein again.
In order to better achieve the above object, an embodiment of the present invention further provides a handheld tripod head, where the handheld tripod head includes a handle, a translation axis motor and a pitch axis motor, the translation axis motor is installed on the handle, the translation axis motor is rotationally connected to the pitch axis motor, and the handheld tripod head stores an executable instruction, and the executable instruction can execute the tracking control method of the handheld tripod head in any method embodiment.
Fig. 5 is a schematic hardware structure diagram of a handheld cloud deck 500 according to an embodiment of the present invention, and as shown in fig. 5, the handheld cloud deck 500 includes: one or more processors 501 and a memory 502, with one processor 501 being an example in fig. 5.
The processor 501 and the memory 502 may be connected by a bus or other means, such as the bus connection in fig. 5.
The memory 502, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules (e.g., the respective modules shown in fig. 3 and 4) corresponding to the tracking control method of the handheld tripod head in the embodiment of the present invention. The processor 501 executes various functional applications and data processing of the tracking control apparatus of the handheld tripod head by running the nonvolatile software program, instructions and modules stored in the memory 502, that is, the tracking control method of the handheld tripod head of the above-mentioned method embodiment and the functions of the modules of the above-mentioned apparatus embodiment are implemented.
The memory 502 may include high speed random access memory and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, memory 502 optionally includes memory located remotely from processor 501, which may be connected to processor 501 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The program instructions/modules are stored in the memory 502, and when executed by the one or more processors 501, perform the tracking control method of the handheld pan/tilt head in any of the above-described method embodiments, for example, perform the above-described steps shown in fig. 2; the functions of the various modules described in fig. 3 and 4 may also be implemented.
The handheld cloud platform of this embodiment is with clapping the in-process, acquires the state information of handheld cloud platform in real time, if the rotation angle of translation axle and/or the rotation angle of pitch axis and preset parameter mismatch, the speed is clapped with the adjustment to make the target object deviate from specific area, the suggestion is about to arrive extreme position, can be when translation axle and/or pitch axis is about to arrive its extreme position, in time indicate the user to change and shoot posture or angle, avoid keeping with clapping the in-process target object and break away from the shooting picture.
An embodiment of the present invention further provides a non-volatile computer storage medium, where the computer storage medium stores computer-executable instructions, and the computer-executable instructions are executed by one or more processors, such as one processor 501 in fig. 5, so that the one or more processors may execute the tracking control method of the handheld tripod head in any of the above-mentioned method embodiments, for example, execute the above-mentioned steps shown in fig. 2; the functions of the various modules described in fig. 3 and 4 may also be implemented.
The product can execute the method provided by the embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to the method provided by the embodiment of the present invention.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that the embodiments may be implemented by software plus a general hardware platform, and may also be implemented by hardware. Based on the understanding, the above technical solutions essentially or contributing to the related art may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in each embodiment or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (12)
1. The utility model provides a control method is clapped with following of handheld cloud platform, handheld cloud platform includes handle, translation axle motor and pitch axis motor, translation axle motor install in the handle, translation axle motor with pitch axis motor rotates and is connected, its characterized in that, the method includes:
after receiving a follow-shooting instruction, controlling the handheld cradle head to enter a follow-shooting mode;
acquiring position information of a target object in real time, and setting a follow-up shooting speed according to the position information so as to enable the target object to be in a specific area of a shooting picture;
and acquiring the state information of the handheld cloud deck in real time, and if the rotation angle of the translation shaft exceeds a preset translation angle range and/or the rotation angle of the pitch shaft exceeds a preset pitch angle range, reducing the follow-up shooting speed so as to enable the target object to deviate from the specific area and prompt that the target object is about to reach the limit position.
2. The method of claim 1,
the follow-up speed comprises a translation speed of the translation shaft and a pitch speed of the pitch shaft;
the predetermined range of translation angles is [ - α, α ], and the predetermined range of pitch angles is [ - β, β ];
the reducing the heel clap speed comprises:
calculating the translation deviation amount of the translation shaft according to the rotation angle of the translation shaft and the translation angle range [ - α, α ], determining the translation speed reduction ratio according to the translation deviation amount, and/or
calculating the pitch deviation amount of the pitch shaft according to the rotation angle of the pitch shaft and the pitch angle range [ - β, β ], and determining a pitch reduction ratio according to the pitch deviation amount;
and adjusting the translation speed of the translation shaft according to the translation speed reduction ratio and/or adjusting the pitch speed of the pitch shaft according to the pitch speed reduction ratio.
3. The method of claim 2,
calculating the translation deviation amount of the translation shaft according to the rotation angle of the translation shaft and the translation angle range [ - α, α ], and the method comprises the following steps:
when the rotation angle of the translation axis is larger than α, calculating the translation deviation amount of the translation axis according to the rotation angle of the translation axis and α of the translation angle range,
when the rotation angle of the translation shaft is < - α, calculating the translation offset of the translation shaft according to the rotation angle of the translation shaft and the- α of the translation angle range;
said calculating a pitch offset for said pitch axis from said rotation angle for said pitch axis and said pitch angle range [ - β, β ], comprising:
when the rotation angle of the pitch axis is > β, calculating the pitch offset of the pitch axis according to the rotation angle of the pitch axis and the beta of the pitch angle range;
when the rotation angle < - β the pitch axis is smaller than the rotation angle < -beta >, calculating the pitch offset of the pitch axis according to the rotation angle of the pitch axis and the- β the pitch angle range.
4. The method of claim 2, further comprising:
presetting a first corresponding relation between the translation offset and the translation speed reduction ratio and a second corresponding relation between the pitching offset and the pitching speed reduction ratio, wherein the larger the absolute value of the translation offset is, the higher the translation speed reduction ratio is, the larger the absolute value of the pitching offset is, and the higher the pitching speed reduction ratio is;
the determining of the translation speed reduction ratio according to the translation deviation amount specifically includes:
determining a translation speed reduction ratio according to the first corresponding relation and the translation deviation amount;
determining a pitch reduction ratio according to the pitch deviation amount, specifically;
and determining a pitch reduction ratio according to the second corresponding relation and the pitch deviation amount.
5. The method according to any one of claims 2 to 4,
the specific area of the shooting picture is the central area of the shooting picture;
the reducing the follow-up shooting speed to deviate the target object from the specific area comprises:
when the rotation angle of the translation shaft is larger than alpha, the translation speed of the translation shaft is adjusted according to the translation speed reduction ratio, so that the target object deviates from the central area to the left;
when the rotation angle < - α of the translation shaft is less than the rotation angle < - α, the translation speed of the translation shaft is adjusted according to the translation speed reduction ratio, so that the target object deviates from the central area to the right;
when the rotation angle of the pitch axis is larger than beta, adjusting the pitch speed of the pitch axis according to the pitch reduction ratio so as to enable the target object to deviate downwards from the central area;
when the rotation angle < -beta > of the pitch axis, adjusting the pitch speed of the pitch axis according to the pitch-reduction ratio so as to make the target object deviate upwards from the central area.
6. The utility model provides a handheld cloud platform with clapping controlling means, handheld cloud platform includes handle, translation axle motor and pitch axis motor, translation axle motor install in the handle, translation axle motor with pitch axis motor rotates to be connected its characterized in that, the device includes:
the command receiving module is used for controlling the handheld tripod head to enter a follow shooting mode after receiving a follow shooting command;
the follow shooting control module is used for acquiring the position information of a target object in real time and setting follow shooting speed according to the position information so as to enable the target object to be in a specific area of a shot picture;
and the follow-shooting adjusting module is used for acquiring the state information of the handheld cloud deck in real time, and if the rotation angle of the translation shaft exceeds the range of a preset translation angle and/or the rotation angle of the pitch shaft exceeds the range of a preset pitch angle, the follow-shooting speed is reduced, so that the target object deviates from the specific area and is prompted to reach the limit position.
7. The apparatus of claim 6,
the follow-up speed comprises a translation speed of the translation shaft and a pitch speed of the pitch shaft;
the predetermined range of translation angles is [ - α, α ], and the predetermined range of pitch angles is [ - β, β ];
with clapping the adjustment module, include:
the first calculation submodule is used for calculating the translation deviation amount of the translation shaft according to the rotation angle of the translation shaft and the translation angle range [ - α, α ], and determining a translation speed reduction ratio according to the translation deviation amount;
the second calculation submodule is used for calculating the pitch deviation amount of the pitch shaft according to the rotation angle of the pitch shaft and the pitch angle range [ -beta, beta ], and determining a pitch reduction ratio according to the pitch deviation amount;
and the speed adjusting submodule is used for adjusting the translation speed of the translation shaft according to the translation speed reduction ratio and/or adjusting the pitch speed of the pitch shaft according to the pitch speed reduction ratio.
8. The apparatus of claim 7,
the first calculation submodule is specifically configured to:
when the rotation angle of the translation axis is larger than α, calculating the translation deviation amount of the translation axis according to the rotation angle of the translation axis and α of the translation angle range,
when the rotation angle of the translation shaft is < - α, calculating the translation offset of the translation shaft according to the rotation angle of the translation shaft and the- α of the translation angle range;
the second calculation submodule is specifically configured to:
when the rotation angle of the pitch axis is > β, calculating the pitch offset of the pitch axis according to the rotation angle of the pitch axis and the beta of the pitch angle range;
when the rotation angle < - β the pitch axis is smaller than the rotation angle < -beta >, calculating the pitch offset of the pitch axis according to the rotation angle of the pitch axis and the- β the pitch angle range.
9. The apparatus of claim 7, wherein the heel-and-shoot adjustment module further comprises:
the presetting submodule is used for presetting a first corresponding relation between the translation offset and the translation speed reduction ratio and a second corresponding relation between the pitching offset and the pitching speed reduction ratio, wherein the larger the absolute value of the translation offset is, the higher the translation speed reduction ratio is, the larger the absolute value of the pitching offset is, and the higher the pitching speed reduction ratio is;
the first calculation submodule is specifically configured to:
determining a translation speed reduction ratio according to the first corresponding relation and the translation deviation amount;
the second calculation submodule is specifically configured to:
and determining a pitch reduction ratio according to the second corresponding relation and the pitch deviation amount.
10. The apparatus according to any one of claims 7 to 9,
the specific area of the shooting picture is the central area of the shooting picture;
follow and clap adjustment module, specifically be used for:
when the rotation angle of the translation shaft is larger than alpha, the translation speed of the translation shaft is adjusted according to the translation speed reduction ratio, so that the target object deviates from the central area to the left;
when the rotation angle < - α of the translation shaft is less than the rotation angle < - α, the translation speed of the translation shaft is adjusted according to the translation speed reduction ratio, so that the target object deviates from the central area to the right;
when the rotation angle of the pitch axis is larger than beta, adjusting the pitch speed of the pitch axis according to the pitch reduction ratio so as to enable the target object to deviate downwards from the central area;
when the rotation angle < -beta > of the pitch axis, adjusting the pitch speed of the pitch axis according to the pitch-reduction ratio so as to make the target object deviate upwards from the central area.
11. The utility model provides a handheld cloud platform, handheld cloud platform includes handle, translation axle motor and pitch axis motor, translation axle motor install in the handle, translation axle motor with the pitch axis motor rotates to be connected, its characterized in that, handheld cloud platform still includes:
at least one processor; and
a memory coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores a program of instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-5.
12. A non-transitory computer-readable storage medium having stored thereon computer-executable instructions that, when executed by a handheld tripod head, cause the handheld tripod head to perform the method of any one of claims 1-5.
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| WO2020097890A1 (en) * | 2018-11-15 | 2020-05-22 | 深圳市大疆创新科技有限公司 | Method for controlling handheld gimbal, and handheld gimbal |
| CN111316630B (en) | 2018-11-28 | 2022-03-25 | 深圳市大疆创新科技有限公司 | Handheld holder and shooting control method thereof |
| EP3840358A4 (en) * | 2018-11-28 | 2021-08-04 | SZ DJI Technology Co., Ltd. | Mode switching method and device for tripod head, movable platform, and storage medium |
| CN110244775A (en) * | 2019-04-29 | 2019-09-17 | 广州市景沃电子有限公司 | Automatic tracking method and device based on mobile device clamping holder |
| CN110345362B (en) * | 2019-06-11 | 2021-04-30 | 叶世峰 | Follow-shooting auxiliary equipment |
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| WO2021016855A1 (en) * | 2019-07-30 | 2021-02-04 | 深圳市大疆创新科技有限公司 | Handheld gimbal control method and device, handheld gimbal, and storage medium |
| CN112189333B (en) * | 2019-08-13 | 2022-04-15 | 深圳市大疆创新科技有限公司 | Following shooting, holder control method, shooting device, handheld holder and shooting system |
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