CN111901527A

CN111901527A - Tracking control method, tracking control device, object tracking unit, and storage medium

Info

Publication number: CN111901527A
Application number: CN202010776468.5A
Authority: CN
Inventors: 陈敏
Original assignee: Hohem Technology Co ltd
Current assignee: Hohem Technology Co ltd
Priority date: 2020-08-05
Filing date: 2020-08-05
Publication date: 2020-11-06
Anticipated expiration: 2040-08-05
Also published as: CN114401371B; WO2022027905A1; CN114401371A; CN111901527B

Abstract

The present application relates to a tracking control method, apparatus, object tracking means, and storage medium. The method is applied to an object tracking component of a shooting equipment stabilizer; the distance between the object tracking component and a camera of the shooting equipment is smaller than or equal to a preset distance threshold value and is consistent with the direction of the camera; the method comprises the following steps: acquiring detection information of the oriented position to obtain first detection information; when first feature identification information of a target object is determined to exist according to the first detection information, position information of the target object is acquired; and sending a tracking movement instruction to the control part according to the position information, and triggering the control part to carry out position adjustment control according to the position information so as to enable a camera of the shooting equipment to face the target object. Above-mentioned scheme object tracking part just can adjust the camera orientation through interacting with control unit, realizes the target tracking, need not cooperate with specific APP, can effectively improve the efficiency of target tracking.

Description

Tracking control method, tracking control device, object tracking unit, and storage medium

Technical Field

The present application relates to the field of network technologies, and in particular, to a tracking control method and apparatus, an object tracking component of a shooting device stabilizer, and a storage medium.

Background

With diversification of life styles, many people can choose to take pictures, take videos and the like by using shooting equipment such as mobile phones and the like. To ensure the shooting effect, more and more stabilizers for shooting devices have appeared, such as: cloud platform, handheld stabilizer etc. Besides the function of stabilizing the shooting device, the stabilizers can be matched with an APP (Application) to realize intelligent interaction functions such as target tracking and the like.

The existing stabilizer on the market can realize target tracking only by depending on a specific APP provided by a manufacturer, so that the target tracking efficiency is low.

It is to be noted that the information disclosed in the above background section is only for enhancement of understanding of the background of the present invention and therefore may include information that does not constitute prior art known to a person of ordinary skill in the art.

Disclosure of Invention

In view of the above, it is necessary to provide a tracking control method and apparatus, an object tracking means of a photographing device stabilizer, and a storage medium capable of improving the efficiency of target tracking in view of the above technical problems.

A tracking control method is applied to an object tracking component of a shooting equipment stabilizer; the shooting equipment stabilizer also comprises a clamping component and a control component; the object tracking component is fixedly connected to the shooting equipment through the clamping component; the distance between the object tracking component and a camera of the shooting equipment is smaller than or equal to a preset distance threshold value and is consistent with the direction of the camera; the method comprises the following steps: acquiring detection information of the oriented position to obtain first detection information; when first feature identification information of a target object is determined to exist according to the first detection information, position information of the target object is acquired; and sending a tracking movement instruction to the control component according to the position information, and triggering the control component to carry out position adjustment control according to the position information so as to enable a camera of the shooting equipment to face the target object.

In one embodiment, before the acquiring the first detection information of the oriented position, the method further includes: acquiring detection information of the oriented position to obtain second detection information; when it is determined that the target contour identification information of the target object exists according to the second detection information, it is determined that the target object exists.

In one embodiment, the acquiring the position information of the target object includes: acquiring target biological characteristic identification information of the target object; and acquiring the position information of the target object according to the target biological characteristic identification information.

In one embodiment, the obtaining the position information of the target object according to the target biological feature identification information includes: acquiring pre-stored biological characteristic identification information corresponding to the target object; and when the target biological characteristic identification information is matched with the pre-stored biological characteristic identification information, acquiring the position information of the target object.

In one embodiment, the acquiring the position information of the target object when it is determined that the first feature identification information of the target object exists according to the first probe information includes: acquiring first preset posture characteristic information; when it is determined that the first feature identification information matching the first posture feature information exists according to the first detection information, the position information of the target object is acquired.

In one embodiment, before the acquiring the first detection information of the oriented position, the method further includes: acquiring detection information of the oriented position to obtain third detection information; determining the shaking frequency of the shooting equipment stabilizer according to the third detection information; and when the shaking frequency is greater than a preset frequency threshold, sending a position correction instruction to the control component so as to enable the control component to carry out position correction control.

In one embodiment, before the acquiring the first detection information of the oriented position, the method further includes: acquiring detection information of the oriented position to obtain third detection information; determining a shaking angle of the shooting equipment stabilizer according to the third detection information; and when the shaking angle is larger than a preset angle threshold value, sending a position correction instruction to the control component so as to enable the control component to carry out position correction control.

In one embodiment, after the sending of the tracking movement instruction to the control component according to the position information, the method further includes: acquiring detection information of the oriented position to obtain fourth detection information; acquiring second preset posture characteristic information; and when the second feature identification information matched with the second posture feature information is determined to exist according to the fourth detection information, stopping acquiring the detection information of the oriented position.

A tracking control device is applied to an object tracking component of a shooting equipment stabilizer; the shooting equipment stabilizer also comprises a clamping component and a control component; the object tracking component is fixedly connected to the shooting equipment through the clamping component; the distance between the object tracking component and a camera of the shooting equipment is smaller than or equal to a preset distance threshold value and is consistent with the direction of the camera; the device comprises: the detection information acquisition module is used for acquiring the detection information of the oriented position to obtain first detection information; the position information acquisition module is used for acquiring the position information of the target object when the first characteristic identification information of the target object is determined to exist according to the first detection information; and the position adjusting module is used for sending a tracking movement instruction to the control component according to the position information so as to enable the control component to carry out position adjustment control according to the position information, so that a camera of the shooting equipment faces to the target object.

In one embodiment, the apparatus further comprises: the first information acquisition module is used for acquiring the detection information of the oriented position to obtain second detection information; and the identification information judging module is used for judging that the target object exists when the target contour identification information of the target object exists according to the second detection information.

In one embodiment, the location information acquisition module includes: a biological characteristic obtaining sub-module for obtaining target biological characteristic identification information of the target object; and the first position information acquisition submodule is used for acquiring the position information of the target object according to the target biological characteristic identification information.

In one embodiment, the first position information obtaining sub-module includes: a biometric acquisition unit configured to acquire pre-stored biometric identification information corresponding to the target object; a position information acquisition unit configured to acquire position information of the target object when the target biometric information matches the pre-stored biometric information.

In one embodiment, the location information acquisition module includes: the reference posture acquisition submodule is used for acquiring first preset posture characteristic information; and the second position information acquisition submodule is used for acquiring the position information of the target object when the first feature identification information matched with the first posture feature information is determined to exist according to the first detection information.

In one embodiment, the apparatus further comprises: the second information acquisition module is used for acquiring the detection information of the oriented position to obtain third detection information; the first correction module is used for determining the shaking frequency of the shooting equipment stabilizer according to the third detection information; and when the shaking frequency is greater than a preset frequency threshold, sending a position correction instruction to the control component so as to enable the control component to carry out position correction control.

In one embodiment, the apparatus further comprises: the third information acquisition module is used for acquiring the detection information of the oriented position to obtain third detection information; the second correction module is used for determining the shaking angle of the shooting equipment stabilizer according to the third detection information; and when the shaking angle is larger than a preset angle threshold value, sending a position correction instruction to the control component so as to enable the control component to carry out position correction control.

In one embodiment, the apparatus further comprises: the third information acquisition module is used for acquiring the detection information of the oriented position to obtain fourth detection information; the reference posture acquisition module is used for acquiring second preset posture characteristic information; and the detection stopping module is used for stopping acquiring the detection information of the oriented position when the second feature identification information matched with the second posture feature information is determined to exist according to the fourth detection information.

An object tracking part of a photographing apparatus stabilizer, comprising a memory storing a computer program and a processor, the photographing apparatus stabilizer further comprising a clamping part and a control part; the object tracking component is fixedly connected to the shooting equipment through the clamping component; the distance between the object tracking component and a camera of the shooting equipment is smaller than or equal to a preset distance threshold value and is consistent with the direction of the camera; the processor, when executing the computer program, implements the steps of: acquiring detection information of the oriented position to obtain first detection information; when first feature identification information of a target object is determined to exist according to the first detection information, position information of the target object is acquired; and sending a tracking movement instruction to the control component according to the position information, and triggering the control component to carry out position adjustment control according to the position information so as to enable a camera of the shooting equipment to face the target object.

A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of: acquiring detection information of the oriented position to obtain first detection information; when first feature identification information of a target object is determined to exist according to the first detection information, position information of the target object is acquired; and sending a tracking movement instruction to the control component according to the position information, and triggering the control component to carry out position adjustment control according to the position information so as to enable a camera of the shooting equipment to face the target object.

The object tracking control method and device, the object tracking component of the shooting equipment stabilizer and the storage medium are provided, the shooting equipment stabilizer comprises an object tracking component, the object tracking component is fixed on the shooting equipment through a clamping component, the distance between the object tracking component and a camera of the shooting equipment is smaller than or equal to a preset distance threshold and is consistent with the orientation of the camera, the detection information acquired by the object tracking component is closer to the information which can be shot by the shooting equipment, further, the object tracking component acquires the position information of the target object when determining that the first characteristic identification information of the target object exists according to the first detection information, and triggers the control component to carry out position adjustment control, so that the camera of the shooting equipment faces the target object, and the aim of target tracking is achieved. Above-mentioned technical scheme, the distance between object tracking part and the camera is enough little and both orientation unanimous, and according to this, object tracking part just can adjust the camera orientation through interacting with control unit, realizes the target tracking, just can realize the target tracking through shooting equipment stabilizer promptly, need not cooperate with specific APP, can effectively improve the efficiency of target tracking.

Drawings

FIG. 1 is a diagram of an exemplary tracking control method;

FIG. 2 is a schematic diagram of the fixed connection of the object tracking component to the camera device in one embodiment;

FIG. 3 is a schematic view of a fixed connection of an object tracking unit to a camera device in accordance with yet another embodiment;

FIG. 4 is a schematic view of the fixed connection of the object tracking unit to the camera device in another embodiment;

FIG. 5 is a flow diagram illustrating a tracking control method according to one embodiment;

FIG. 6 is a flow chart illustrating a tracking control method according to another embodiment;

FIG. 7 is a block diagram of the tracking control device according to an embodiment;

FIG. 8 is a diagram illustrating an internal structure of a computer device according to an embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

The tracking control method provided by the application can be applied to the application environment shown in fig. 1. The application environment includes a photographing apparatus stabilizer including an object tracking part 101, a holding part 102, and a control part 103. The object tracking member 101 is fixedly connected to the imaging device by a clamping member 102 (in fig. 1, the object tracking member 101 is fixed to the clamping member 102 by an arrow, and is further fixedly connected to the imaging device, and may be fixedly connected to another fixing method in an actual application environment). The object tracking unit 101 and the control unit 103 are connected to each other via a network, and communicate with each other via the network connection to adjust the position of the camera of the imaging apparatus so that the camera faces the target object, thereby achieving the purpose of tracking the target. The shooting device may be various electronic devices equipped with a camera and having a shooting function, such as a camera, a smart phone, and a tablet computer. The stabilizer may be any of various devices having a position stabilizing effect on the held device, such as a hand-held stabilizer, a pan-tilt stabilizer, and the like.

In one embodiment, there is provided a tracking control method applied to an object tracking section of a photographing apparatus stabilizer; the shooting equipment stabilizer also comprises a clamping component and a control component; the object tracking component is fixedly connected to the shooting equipment through the clamping component; the distance between the object tracking component and the camera of the shooting equipment is smaller than or equal to a preset distance threshold value, and the direction of the object tracking component is consistent with that of the camera.

The object tracking means is a means capable of tracking a front object, and may be a means for tracking an object based on a visual detection technology, a radar detection technology, an infrared detection technology, or the like (in this case, the object tracking means may be referred to as a visual tracking means or a visual tracking module, taking a visual detection technology as an example). Further, the object tracking means may be a photographing device, a radar detector, an infrared detector, or the like. In one embodiment, to ensure portability of the photographing apparatus stabilizer, the object tracking part is implemented using a small-sized device, such as: miniature cameras, miniature infrared detectors, and the like.

Based on the technology used, the object tracking component can detect different objects on a targeted basis, and taking the visual tracking component as an example, the detected objects can be various objects that can be detected by the visual detection technology, such as: humans, buildings, animals, etc. Further, the object tracking component may be a component fixedly disposed on the stabilizer of the photographing apparatus, or may be a separate component independent from other components in the stabilizer of the photographing apparatus.

A clamping member refers to a member capable of securing an object to another object by a clamping mechanism. When the object tracking member is fixedly connected to the photographing apparatus through the holding member, the object tracking member is in a state of being relatively stationary with respect to the holding member and the photographing apparatus. The fixed connection means that the object tracking component, the clamping component and the shooting equipment are integrally connected; the object tracking device may be mounted on the imaging apparatus by being held by a holding member integrally connected to the object tracking member or the holding member, respectively, provided that the holding member is integrally connected to the object tracking member (the entire object tracking device); the clamping component can be movably connected with the object tracking component and the clamping component, and the clamping component is respectively matched and connected with the object tracking component and the shooting device through a specific mode (such as threaded connection, clamping connection and the like).

The control part refers to a part having a logic control function and a position moving function. Further, the control component can include treater and connecting axle, and this treater can realize logical operation, and according to logical operation result output control command, this connecting axle can rotate according to the control command of treater output, and then drives shooting equipment, centre gripping part etc. and carry out position adjustment. In some embodiments, the control component and the shooting device can communicate with each other via bluetooth, wired communication, and the like.

The preset distance threshold may be adjusted according to actual conditions, and may be a length of a specific object, such as a length of a shooting device [ may be a length of a held shooting device, may also be an average length of a specific type of shooting device (e.g., a mobile phone, a single lens reflex camera, etc.) ], and may also be a specific length value, such as: 10cm, 5cm, 1cm, etc. The distance between the object tracking part and the camera of the photographing apparatus may refer to a distance between a center (or edge) of the tracking part and a center (or edge) of a lens (which may be particularly referred to as a lens) of the camera. Further, the distance between the object tracking means and the camera of the photographing apparatus is less than or equal to a preset distance threshold value, so that the distance between the object tracking means and the camera is sufficiently small, where sufficiently small means: the object tracking means may be as close to the camera as possible as long as normal shooting by the camera is not hindered. Specifically, the distance between the object tracking component and the camera of the shooting device refers to the distance between the edge of the object tracking component and the edge of the camera, and the preset distance threshold is 0, namely, the object tracking component is arranged at the edge position of the camera, so that the visual field of the camera is not just shielded, and the camera can normally shoot.

Further, when the distance between the object to be photographed and the photographing apparatus is relatively long, such as the distance between the object to be photographed and the photographing apparatus is greater than 10 meters (it should be noted that this distance can be adjusted according to actual conditions), the distance between the object tracking unit and the camera may be a slightly larger value, for example: 10 cm. When the distance between the object to be photographed and the photographing apparatus is short, such as in a self-photographing state, the distance between the object to be photographed and the photographing apparatus is less than 0.5 m (it should be noted that this distance can be adjusted according to actual conditions), the distance between the object tracking unit and the camera may be a slightly smaller value, for example: 1 cm. Therefore, the distance between the object tracking means and the camera can be adjusted according to the distance between the photographing apparatus and the photographing object, and further, the preset distance threshold is obtained by multiplying the distance between the photographing apparatus and the photographing object by a set coefficient (for example: 0.1).

The orientation of the object tracking component with the camera may refer to the orientation of the probe of the object tracking component with the camera orientation. Further, consistent orientation may refer to the coincidence of the field of view of the probe and camera of the object tracking component being above a set threshold (which may be determined as practical, e.g., 80%, 90%, etc.).

In one embodiment, the object tracking component being aligned with the orientation of the camera may refer to: the object tracking module may be oriented in accordance with a camera of the photographing apparatus when the photographing apparatus is in a photographing state, and may be oriented in non-photographing state. Further, it is also possible that the camera of the photographing apparatus in the photographing state is oriented in accordance with the object tracking means in the object tracking state. Wherein, being in the object tracking state may refer to: the object tracking means is in an activated state, or the object tracking means is in a state of acquiring the detection information ahead, or the object tracking means is in a state of acquiring the position information of the target object.

At least one camera can be arranged on the shooting equipment, and the arrangement directions of the cameras can be consistent or inconsistent. Taking a mobile phone as an example, if the number of the cameras is two or more, the cameras may all be rear cameras, may all be front cameras, and may have both front cameras and rear cameras. Further, in some embodiments, the object tracking part may be set according to a setting direction of a camera of the photographing apparatus. For example, in a mobile phone provided with a front camera and a rear camera, a front object tracking component (the probe faces the front side of the mobile phone where the screen is located, that is, the direction of the front camera is consistent) and a rear object tracking component (the probe faces the back side of the mobile phone, that is, the direction of the rear camera is consistent) may be respectively provided, or only the rear object tracking component may be provided (in this case, the object tracking component may start the object tracking process when the rear camera of the mobile phone is in a shooting state, and may not start the object tracking process when the front camera is in the shooting state) or only the front object tracking component may be provided.

In some embodiments, an orientation adjustment mechanism may be coupled to the object tracking module. The control component may control the orientation of the probe of the object tracking module by the orientation adjustment mechanism. Further, the direction of the object tracking means may be adjusted so that the direction thereof coincides with the direction of the camera according to the installation direction and the activation state of the camera. The following illustrates the direction adjustment of the object tracking means: the mobile phone is provided with a front camera and a rear camera, a front object tracking component and a rear object tracking component are supposed to be arranged, the front object tracking component and the rear object tracking component are both in a closed state in an initial state, when the control component receives rear camera starting information sent by the mobile phone, the control component sends a starting instruction to the rear object tracking component, the rear object tracking component is started at the moment, the rear camera in a shooting state and the rear object tracking component in an object tracking state face the reverse side of the mobile phone, and the directions of the front object tracking component and the rear object tracking component are consistent. Taking a mobile phone provided with a front camera and a rear camera as an example, assuming that there is only one object tracking component and the initial state of the object tracking component is towards the front side of the mobile phone, when the control component receives the start information of the rear camera sent by the mobile phone, the control component controls the direction adjustment mechanism to enable the probe of the object tracking component to be towards the back side of the mobile phone (for example, the probe of the object tracking component is towards the back side of the mobile phone by way of direction rotation), and at the same time, the control component controls the object tracking component to start, at this time, the rear camera in the shooting state and the object tracking component in the tracking state are both towards the back side of the mobile phone, and the orientations of the rear camera and the object tracking.

The relationship of the probe of the object tracking component to the camera in distance and orientation is such that the field of view of the two is sufficiently close. At this time, it can be approximately considered that: the camera can shoot the object, and the object tracking component can also detect the object. Therefore, in a case where the photographing apparatus stabilizer cannot communicate with the photographing apparatus (i.e., the photographing apparatus is not installed with a specific APP that can communicate with the stabilizer), it is possible to perform position adjustment control according to the detection information of the object tracking part for the purpose of performing position adjustment of the photographing apparatus.

In one embodiment, the object tracking component is fixedly connected to the shooting device through the clamping component, and the object tracking component can be, but is not limited to, the following forms:

1) the clamping component comprises a first clamping part fixedly connected with the control component; the first clamping part is used for clamping the shooting equipment; the object tracking part is arranged on the first clamping part and is fixedly connected with the shooting equipment. As shown in fig. 2, the photographing device is a mobile phone, the mobile phone stabilizer 201 clamps the mobile phone 203 through the first clamping portion 202 (fig. 2 shows two first clamping portions 202, which cooperate to clamp the mobile phone, in an actual application scenario, the number of the first clamping portions may be more or less), and at this time, the object tracking component 204 may be fixed on the first clamping portion 202, so that the fixed connection between the object tracking component, the first clamping portion, and the mobile phone is realized. At this time, the object tracking unit 204 and the cell phone camera 205 are aligned and have a small distance therebetween. The object tracking member may be provided at any position of the first clamping portion. In addition, when the number of the first clamping parts is two or more, the object tracking member may be provided on all of the first clamping parts, or may be selectively provided on some of the first clamping parts.

2) The clamping component comprises a second clamping part arranged on the object tracking component; the object tracking component clamps the shooting equipment through the second clamping part so as to be fixedly connected with the shooting equipment. Under the clamping mode, the object tracking component can be an external accessory on the shooting equipment stabilizer, can be freely detached and installed, and can also be clamped on the shooting equipment or any position of the shooting equipment stabilizer. As shown in fig. 3, the camera is a mobile phone, the mobile phone stabilizer 301 clamps the mobile phone 303 by the clamping component 302, and the object tracking component 304 clamps the mobile phone 303 by the second clamping portion (not shown in fig. 3) at a position close to the camera 305, so that the object tracking component, the second clamping portion and the mobile phone are fixedly connected. At this time, the object tracking unit 304 and the cell phone camera 305 are oriented in the same direction and the distance therebetween is sufficiently small.

3) The clamping component also comprises a motor provided with a third clamping part; one end of the motor clamps the shooting equipment through the third clamping part, and the other end of the motor is fixedly connected with the control part; the object tracking part is disposed on the motor to be fixedly connected to the photographing apparatus. As shown in fig. 4, the photographing apparatus is a mobile phone, a mobile phone stabilizer 401 clamps a mobile phone 403 through a clamping component 402, a motor 404 is arranged on the mobile phone stabilizer 401, one end of the motor 404 clamps the mobile phone through a third clamping part, the other end of the motor 404 is connected with a connecting shaft on the mobile phone stabilizer, and an object tracking component 405 is fixed on the motor 404, so that the fixed connection among the object tracking component, the third clamping part, the motor and the mobile phone is realized. At this time, the object tracking unit 405 and the cell phone camera 406 are oriented in the same direction and have a small distance therebetween.

Note that the holding member may fix the photographing apparatus. The object tracking component can also enable position adjustment without communicating with a specific APP on the capture device, and therefore, in some embodiments, position tracking of the target object can also be achieved without the capture device being mounted on the capture device stabilizer. At this time, the object tracking means acquires position information of the target object, and the control means adjusts the position of the object tracking means based on the position information, thereby causing the object tracking means to always face the target object.

Further, based on the above configuration, as shown in fig. 5, there is provided a tracking control method, which is described by taking as an example the application of the method to the object tracking means in fig. 1, and which includes the steps of:

s501, acquiring the detection information of the oriented position to obtain first detection information.

In this step, the object tracking means acquires the probe information of the oriented position as the first probe information.

The probe information of the pointed position may refer to all probe information of the pointed position of the probe of the object tracking unit. Further, taking the visual tracking component as an example, the visual tracking component may acquire a picture or a video of the oriented position, and use the acquired picture or video as the first detection information.

S502, when the first feature identification information of the target object exists according to the first detection information, the position information of the target object is obtained.

Wherein the target object is an object for which the current tracking control method is directed. Further, the target object may be some type of object, such as: people, buildings, animals, etc., the target object may also be a specific object, such as: a person, a building, an animal, etc.

The first feature identification information may be feature information in which the target object is in a certain state. Further, the feature information of the target object in a specific posture and a specific motion may be used. The gesture may be a posture (e.g., standing, squatting, prone, etc.), a gesture (e.g., "OK," V, "stop," etc.), etc., and the action may refer to various types of body movements (e.g., nodding head, shaking head, bifurcating, waving a particular gesture, etc.), facial movements (e.g., laughing, blinking, etc.), etc. In some embodiments, the first feature identification information may also refer to voice identification information (e.g., timbre, volume, audio segments, etc.). The feature information may refer to a state feature of the target object in the state, and may be a magnitude of the posture, an operation frequency, or the like.

After the first detection information is acquired, the object tracking component performs feature analysis on the first detection information to obtain detection features, and determines whether first feature identification information of the target object exists according to the detection features. When the first feature identification information exists, it is determined that the target tracking trigger information is received, and thus the position information of the target object is acquired.

And S503, sending a tracking movement instruction to the control component according to the position information, and triggering the control component to perform position adjustment control according to the position information so as to enable the camera of the shooting equipment to face the target object.

A network connection (which may be wired or wireless) is established between the object tracking component and the control component. In this step, the object tracking component sends a tracking movement instruction to the control component through the established network connection, where the tracking movement instruction carries the location information of the target object.

The position adjustment may refer to position movement, angle adjustment, and the like. The position adjustment of the object tracking means (which may also include a photographing device) may be performed.

Further, the control section starts the tracking control program after receiving the tracking movement instruction. Specifically, the control component determines a target position and a target angle corresponding to the target object when the target object is located at the middle position of the visual field of the object tracking component according to the position information, and adjusts the positions and/or angles of the object tracking component and the shooting device according to the target position and the target angle, so that the object tracking component and the shooting device face the target object. Further, since the holding member is in a state in which the position is relatively fixed with respect to the object tracking member and the photographing apparatus, the position of the object tracking member and the photographing apparatus can be adjusted by adjusting the holding member.

In some embodiments, if it is determined that the target object is in a stationary state according to the detection information, indicating that the position of the target object has not changed, the tracking movement instruction may not be temporarily sent to the control unit. Further, the tracking movement instruction is transmitted to the control section when it is determined that the position of the target object is changed based on the detection information. The processing mode can not only realize the tracking of the target object, but also reduce the interaction times between the object tracking component and the control component, reduce the load of the object tracking component and the control component and ensure that the object tracking component has more time to process other services.

In the tracking control method, the distance between the object tracking component and the camera is small enough, and the directions of the object tracking component and the camera are consistent, therefore, the direction of the camera can be adjusted by the object tracking component through interaction with the control component, so that the target object can be accurately shot by the shooting equipment after the position is adjusted, the target tracking is realized, namely, the target tracking can be realized through the shooting equipment stabilizer, the object tracking does not need to be matched with a specific APP, the purpose of target tracking of the shooting equipment stabilizer can be realized even without the shooting equipment when the object tracking component is directly fixed on the clamping component, and therefore, the target tracking efficiency can be effectively improved.

Note that the photographing apparatus is independent from the photographing apparatus stabilizer. The photographing apparatus can start photographing of a picture or video at an arbitrary time.

The target contour identification information may be the form of the outer contour of the object.

The object tracking means may store object contour identification information of the target object in advance, determine each object (may be various regions having contours) in the detection information to perform contour analysis when the second detection information is acquired, determine whether there is contour information matching the object contour identification information therein, and determine that the target object exists, that is, the target object exists within the visual field range of the object tracking means when it is determined that there is contour information matching the object contour identification information.

Specifically, taking the target object as a certain person S as an example, the implementation process of this embodiment may be: the object tracking section acquires second detection information, determines contour information of each of the objects based on the second detection information, determines whether contour information matching the target contour identification information of S exists in the contour information of the objects, and determines that S exists within a field of view of the object tracking section when it is determined that contour information matching the target contour identification information exists therein.

In this embodiment, the object tracking section determines whether or not the target object exists based on the second detection information, acquires the first detection information when determining that the target object exists, and determines whether or not the first feature identification information of the target object exists based on the first detection information. Determining whether the target object exists or not based on the second detection information may be understood as preliminary object recognition. The embodiment determines the characteristic identification information of the target object after the target object is preliminarily identified, and further more accurately tracks the target object. Through two times of information judgment (judgment on whether the target object exists or not and judgment on whether the first characteristic identification information exists or not), the reliability of target object tracking is ensured, and the operation efficiency of the object tracking component is also ensured (the detected information is not always accurately analyzed).

In one embodiment, the position information of the target object may be determined based on the identification information of a certain portion (target portion) of the target object, and the position of the target portion may be determined as the position of the target object. For example: and determining the position of the face as the position of the target object. Further, when performing subsequent position adjustment, the center of the field of view of the probe and the camera of the object tracking unit may be controlled to align with the entire target object (the control unit may predict the position of the target object according to the information of the target location, and then perform position adjustment so that the center of the field of view aligns with the entire target object), or may be directly aligned with the target location.

In one embodiment, a center point of the target object in the visual field is determined, and the position of the center point is determined as the position of the target object.

In addition, the position of the target portion may be specified based on the biometric information. The biometric information may refer to face feature information, fingerprint feature information, iris feature information, and the like. Accordingly, the positions of the faces, hands, eyes, etc. (target parts) can be determined.

Further, the acquiring the position information of the target object includes: acquiring target biological characteristic identification information of the target object; and acquiring the position information of the target object according to the target biological characteristic identification information.

Specifically, target biological feature identification information of the target object is acquired, the position of the target part is determined according to the position of the target biological feature identification information in the visual field, and the position information of the target object is determined according to the position of the target part.

In one embodiment, the biometric information may be used as the security verification information, and the position information of the target object is obtained only when the target biometric information satisfies the security verification rule (at this time, the position information of the target object may be determined according to the target biometric information, or the position information of the target object may be determined according to information other than the target biometric information).

Further, the acquiring the position information of the target object according to the target biometric information includes: acquiring pre-stored biological characteristic identification information corresponding to the target object; and when the target biological characteristic identification information is matched with the pre-stored biological characteristic identification information, acquiring the position information of the target object.

The pre-storing process of the biometric information may be as follows: before starting tracking, the object tracking unit receives biometric information such as face feature information, fingerprint feature information, and iris feature information, and stores the biometric information. The biometric information may be received by the object tracking unit directly receiving the biometric information input by the user, or may be received by the control unit.

In addition, when the target biometric information matches the pre-stored biometric information, the target biometric information may be considered to have passed the verification, and the location information of the target object may be acquired at this time. When the target biometric information does not match the pre-stored biometric information, it may be determined that the target biometric information does not pass the verification, and at this time, the tracking of the target object may be terminated, or the target biometric information may be re-acquired and verified (when the number of repetitions exceeds a certain number threshold, the tracking of the target object may be terminated).

The embodiment performs security verification according to the biometric information, and acquires the position information of the target object only after the verification is passed, thereby tracking the target object. The target object to be tracked can be guaranteed to be a preset object, for example, a human face is taken as an example, all people are not tracked, but only people with human face characteristics matched with the pre-stored human face characteristics are tracked, the target object can be tracked in a targeted mode, and privacy safety of a user is guaranteed.

The first posture characteristic information may be characteristic information in a specific posture or gesture. As the posture, characteristic information in terms of posture width, angle, and the like of a standing posture, a squat posture, a prone posture, and the like may be mentioned. The gesture may be feature information of the gesture, such as an "OK" gesture, a "V" gesture, a "stop" gesture, and the like, in terms of the form of the gesture, and the angle of the finger.

When the first feature identification information matching with the first posture feature information exists in the first detection information, it may be determined that the target object has made a posture meeting the requirement, and at this time, it is considered that the target tracking trigger information of the target object is received, and thus, execution of the program for acquiring the position information of the target object is triggered.

According to the embodiment, the object tracking process is started according to the specific posture characteristics, interaction can be carried out with the user, tracking of the target object is started instead of being started, privacy protection of the user in the object tracking process is improved, and electric quantity of the shooting equipment stabilizer can be saved.

Further, in one embodiment, the first pose characteristic information is gesture characteristic information. When the object tracking component acquires the first detection information, the object tracking component can locate the position of the hand from the first detection information and perform gesture recognition on the detection information of the hand position. When an "OK" gesture is recognized, an object tracking process may be initiated, i.e., the acquisition of location information of a target object may begin and the target object may be tracked according to the location information.

After the tracking process has been performed for a while, the target object may want to end the tracking process, at which point the end of the tracking process may be triggered by a specific gesture. In one embodiment, after the sending of the tracking movement instruction to the control component according to the position information, the method further includes: acquiring detection information of the oriented position to obtain fourth detection information; acquiring second preset posture characteristic information; and when the second feature identification information matched with the second posture feature information is determined to exist according to the fourth detection information, stopping acquiring the detection information of the oriented position.

The second posture characteristic information may be characteristic information in a specific posture or gesture, and has the same form as the first posture characteristic information. Further, the first posture characteristic information and the second posture characteristic information may be the same or different, for example, as follows: for the same case, the first pose characteristic information and the second pose characteristic information may both be an "OK" gesture, and for a different case, the first pose characteristic information may be an "OK" gesture and the second pose characteristic information may be a "stop" gesture.

Stopping acquisition of the probe information may be considered to end the object tracking process. At this time, the control unit may stop the position adjustment control without acquiring new position information. Further, after stopping acquiring the detection information, the object tracking component may also send a position adjustment stop instruction to the control component to trigger the control component to stop performing position adjustment control.

According to the embodiment, the object tracking process is ended according to the specific posture characteristics, interaction can be carried out with the user, and privacy protection of the user in the object tracking process is improved.

In one embodiment, the control unit may perform position correction triggered by the position correction instruction, and after the position correction is completed, the object tracking unit starts acquiring the detection information and starts performing object tracking.

Here, the position correction may mean that the object tracking section and the photographing apparatus perform position adjustment under the control of the control section so that the object tracking section and the photographing apparatus face forward or a specific position (may even face the target object).

Further, in an embodiment, before acquiring the first detection information of the oriented position, the method further includes: acquiring detection information of the oriented position to obtain third detection information; determining the shaking frequency of the shooting equipment stabilizer according to the third detection information; and when the shaking frequency is greater than a preset frequency threshold, sending a position correction instruction to the control component so as to enable the control component to carry out position correction control.

The preset frequency threshold may be determined according to actual conditions, for example: 20 times/sec. Further, when the shaking frequency is determined to be greater than the preset frequency threshold, the object tracking component can continue to acquire the shaking frequency, and when the shaking frequency is always greater than the preset frequency threshold within a set time length range (for example, 5 seconds), the object tracking component sends a position correction instruction to the control component.

In this embodiment, the object tracking unit acquires third detection information, determines a feature point in the third detection information, determines a shake frequency of the stabilizer of the image capturing apparatus according to position change information of the feature point in the field of view, and determines that position correction trigger information is received when the shake frequency is too large, and then the object tracking unit triggers the control unit to perform position correction. The position correction can be triggered according to the interactive information with the user, and the accuracy of object tracking is improved under the condition that the use convenience is guaranteed.

The preset angle threshold may be determined according to actual conditions, for example: 20 deg. Further, when the shaking angle is determined to be larger than the preset angle threshold, the object tracking component can continue to acquire the shaking angle, and when the shaking angle is always larger than the preset angle threshold within a set time length range (for example, 5 seconds), the object tracking component sends a position correction instruction to the control component.

In this embodiment, the object tracking unit acquires third detection information, determines a feature point in the third detection information, determines a shake angle of the stabilizer of the image capturing apparatus according to position change information of the feature point in the field of view, and determines that position correction trigger information is received when the shake angle is too large, and then the object tracking unit triggers the control unit to perform position correction. The position correction can be triggered according to the interactive information with the user, and the accuracy of object tracking is improved under the condition that the use convenience is guaranteed.

In one embodiment, as shown in fig. 6, a tracking control method is provided, which is described by taking an example of the method applied to the object tracking component in fig. 1, and the method includes the following steps:

s601, acquiring the detection information of the oriented position to obtain third detection information.

S602, determining the shaking frequency of the shooting equipment stabilizer according to the third detection information; and when the shaking frequency is greater than the preset frequency threshold, sending a position correction instruction to the control component so as to enable the control component to carry out position correction control.

S603, acquiring the detection information of the oriented position to obtain second detection information.

S604, when it is determined that the target contour recognition information of the target object exists according to the second detection information, it is determined that the target object exists.

S605 acquires probe information of the pointed position to obtain first probe information.

S606, acquiring the first preset posture characteristic information.

S607, when it is determined from the first detection information that there is first feature identification information matching the first posture feature information, target biometric feature identification information of the target object is acquired.

And S608, acquiring the pre-stored biological characteristic identification information corresponding to the target object.

And S609, when the target biological characteristic identification information is matched with the pre-stored biological characteristic identification information, acquiring the position information of the target object according to the target biological characteristic identification information.

And S610, sending a tracking movement instruction to the control component according to the position information of the target object, and triggering the control component to carry out position adjustment control according to the position information so as to enable the camera of the shooting device to face the target object.

S611, obtain the probe information of the oriented position, and obtain fourth probe information.

And S612, acquiring second preset posture characteristic information.

And S613, when the second feature identification information matched with the second posture feature information is determined to exist according to the fourth detection information, stopping acquiring the detection information of the oriented position, sending a position adjustment stopping instruction to the control part, and triggering the control part to stop performing position adjustment control.

In the tracking control method, the distance between the object tracking component and the camera is small enough, the orientation of the object tracking component and the orientation of the camera are consistent, accordingly, the object tracking component can adjust the orientation of the camera through interaction with the control component, the target tracking is realized, namely, the target tracking can be realized through the shooting equipment stabilizer, the target tracking is not required to be matched with a specific APP, the target tracking control method can be matched with a video APP and a beauty APP of a mainstream, such as a tremble sound, a fast hand, a beauty camera and the like, and further tracking shooting of a target is realized, a primary camera of a mobile phone can be directly used, and the efficiency of target tracking can be effectively improved. Furthermore, the human face features or the human shape features can be accurately recognized, a person can send out a specific gesture instruction to track and shoot, tracking is removed through the gesture instruction, shooting is stopped, and controllability of a target tracking process is effectively guaranteed.

It should be understood that, although the steps in the above-described flowcharts are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps in the above-mentioned flowcharts may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or the stages is not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a part of the steps or the stages in other steps.

The present invention also provides a tracking control apparatus, which can be used to execute the above-described tracking control method, based on the same idea as the tracking control method in the above-described embodiment. For convenience of explanation, the schematic structural diagram of the embodiment of the tracking control device only shows the parts related to the embodiment of the present invention, and those skilled in the art will understand that the illustrated structure does not constitute a limitation of the device, and may include more or less components than those illustrated, or combine some components, or arrange different components.

In one embodiment, as shown in fig. 7, a tracking control apparatus 700 is provided, which may be a part of a computer device, using a software module or a hardware module, or a combination of the two, and is applied to an object tracking component of a photographing device stabilizer; the shooting equipment stabilizer also comprises a clamping component and a control component; the object tracking component is fixedly connected to the shooting equipment through the clamping component; the distance between the object tracking component and a camera of the shooting equipment is smaller than or equal to a preset distance threshold value and is consistent with the direction of the camera; the device specifically includes: a detection information obtaining module 701, a position information obtaining module 702, and a position adjusting module 703, wherein:

a detection information obtaining module 701, configured to obtain the detection information of the oriented position to obtain the first detection information.

A location information obtaining module 702, configured to obtain location information of the target object when it is determined that the first feature identification information of the target object exists according to the first detection information.

A position adjusting module 703, configured to send a tracking movement instruction to the control component according to the position information, so that the control component performs position adjustment control according to the position information, so that a camera of the shooting device faces the target object.

Among the above-mentioned tracking control device, the distance between object tracking component and the camera is enough little and both orientation unanimous, and according to this, object tracking component just can adjust the camera orientation through interacting with control unit, realizes the target tracking, just can realize the target tracking through shooting equipment stabilizer promptly, need not cooperate with specific APP, can effectively improve the efficiency of target tracking.

For the specific definition of the tracking control device, reference may be made to the above definition of the tracking control method, which is not described herein again. The modules in the tracking control device may be implemented in whole or in part by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

In one embodiment, an object tracking component of a photographing device stabilizer is provided, and the object tracking component may be a computer device, and the computer device may be a terminal, and an internal structure diagram thereof may be as shown in fig. 8. The computer apparatus includes a processor, a memory, a communication interface, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a tracking control method. The input device of the computer equipment can be a touch layer covered on a display screen, a key, a track ball or a touch pad arranged on a shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.

Those skilled in the art will appreciate that the architecture shown in fig. 8 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

In one embodiment, a computer device is further provided, which includes a memory and a processor, the memory stores a computer program, and the processor implements the steps of the above method embodiments when executing the computer program.

In an embodiment, a computer-readable storage medium is provided, in which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method embodiments.

In one embodiment, a computer program product or computer program is provided that includes computer instructions stored in a computer-readable storage medium. The computer instructions are read by a processor of a computer device from a computer-readable storage medium, and the computer instructions are executed by the processor to cause the computer device to perform the steps in the above-mentioned method embodiments.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A tracking control method is characterized in that the method is applied to an object tracking part of a shooting equipment stabilizer; the shooting equipment stabilizer also comprises a clamping component and a control component; the object tracking component is fixedly connected to the shooting equipment through the clamping component; the distance between the object tracking component and a camera of the shooting equipment is smaller than or equal to a preset distance threshold value and is consistent with the direction of the camera;

the method comprises the following steps:

acquiring detection information of the oriented position to obtain first detection information;

when first feature identification information of a target object is determined to exist according to the first detection information, position information of the target object is acquired;

and sending a tracking movement instruction to the control component according to the position information, and triggering the control component to carry out position adjustment control according to the position information so as to enable a camera of the shooting equipment to face the target object.

2. The method of claim 1, further comprising, prior to said obtaining first probe information for the location being addressed:

acquiring detection information of the oriented position to obtain second detection information;

when it is determined that the target contour identification information of the target object exists according to the second detection information, it is determined that the target object exists.

3. The method of claim 2, wherein the obtaining the position information of the target object comprises:

acquiring target biological characteristic identification information of the target object;

and acquiring the position information of the target object according to the target biological characteristic identification information.

4. The method of claim 3, wherein the obtaining the location information of the target object based on the target biometric information comprises:

acquiring pre-stored biological characteristic identification information corresponding to the target object;

and when the target biological characteristic identification information is matched with the pre-stored biological characteristic identification information, acquiring the position information of the target object.

5. The method according to any one of claims 1 to 4, wherein the acquiring the position information of the target object when it is determined that the first feature identification information of the target object exists according to the first probe information includes:

acquiring first preset posture characteristic information;

when it is determined that the first feature identification information matching the first posture feature information exists according to the first detection information, the position information of the target object is acquired.

6. The method according to any one of claims 1 to 4, wherein before the obtaining the first detection information of the oriented position, further comprising:

acquiring detection information of the oriented position to obtain third detection information;

determining the shaking frequency of the shooting equipment stabilizer according to the third detection information; when the shaking frequency is greater than a preset frequency threshold, sending a position correction instruction to the control component to enable the control component to carry out position correction control;

and/or the presence of a gas in the gas,

determining a shaking angle of the shooting equipment stabilizer according to the third detection information; and when the shaking angle is larger than a preset angle threshold value, sending a position correction instruction to the control component so as to enable the control component to carry out position correction control.

7. The method according to any one of claims 1 to 4, further comprising, after said sending a tracking movement instruction to said control component based on said position information:

acquiring detection information of the oriented position to obtain fourth detection information;

acquiring second preset posture characteristic information;

and when the second feature identification information matched with the second posture feature information is determined to exist according to the fourth detection information, stopping acquiring the detection information of the oriented position.

8. A tracking control apparatus is characterized by an object tracking means applied to a stabilizer of a photographing device; the shooting equipment stabilizer also comprises a clamping component and a control component; the object tracking component is fixedly connected to the shooting equipment through the clamping component; the distance between the object tracking component and a camera of the shooting equipment is smaller than or equal to a preset distance threshold value and is consistent with the direction of the camera;

the device comprises:

the detection information acquisition module is used for acquiring the detection information of the oriented position to obtain first detection information;

the position information acquisition module is used for acquiring the position information of the target object when the first characteristic identification information of the target object is determined to exist according to the first detection information;

and the position adjusting module is used for sending a tracking movement instruction to the control component according to the position information so as to enable the control component to carry out position adjustment control according to the position information, so that a camera of the shooting equipment faces to the target object.

9. An object tracking part of a photographing device stabilizer, comprising a memory storing a computer program and a processor, characterized in that the photographing device stabilizer further comprises a clamping part and a control part; the object tracking component is fixedly connected to the shooting equipment through the clamping component; the distance between the object tracking component and a camera of the shooting equipment is smaller than or equal to a preset distance threshold value and is consistent with the direction of the camera; the processor, when executing the computer program, realizes the steps of the method of any one of claims 1 to 7.

10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.