CN113260942A

CN113260942A - Handheld holder control method, handheld holder, system and readable storage medium

Info

Publication number: CN113260942A
Application number: CN202080007154.7A
Authority: CN
Inventors: 谢卓; 苏铁
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2020-09-22
Filing date: 2020-09-22
Publication date: 2021-08-13
Also published as: WO2022061535A1

Abstract

A handheld cloud platform control method, a handheld cloud platform, a system and a readable storage medium are provided, the method comprises: acquiring a field angle of a shooting device (S101); controlling a display device to display an image acquired by a shooting device in real time (S102); determining a target object in an image in response to an object selection operation of a user on the image displayed on the display device (S103); and controlling the handheld tripod head to move according to the angle of view and the position of the target object in the image (S104). The method improves the user experience.

Description

Handheld holder control method, handheld holder, system and readable storage medium

Technical Field

The application relates to the technical field of holder control, in particular to a handheld holder control method, a handheld holder, a system and a readable storage medium.

Background

The handheld cloud deck brings great convenience to the use of the camera, and people can simply and easily shoot pictures with stable images and smooth zooming in various scenes and various motion modes. The mode is followed to the intelligence of handheld cloud platform is that the user often uses, and the triggering of present intelligence following mode needs to pass the equipment with the help of mobile terminal or the third party picture that installs the program application of adaptation and realizes, and the mode of triggering is comparatively loaded down with trivial details, inconvenient user uses, and different producers, the shooting parameter diverse of the shooting equipment of different series and different models is different, current following algorithm can not adapt the shooting equipment of different producers, different series and different models, it is not good to follow the effect.

Disclosure of Invention

Based on this, the embodiment of the application provides a handheld cloud deck control method, a handheld cloud deck, a system and a readable storage medium, aiming at improving the convenience and the following effect of a user for controlling the cloud deck to intelligently follow a target object and improving the user experience.

In a first aspect, an embodiment of the present application provides a handheld pan/tilt control method, where the handheld pan/tilt includes a display device, the handheld pan/tilt is used to carry a shooting device, and the handheld pan/tilt is in communication connection with the shooting device, and the method includes:

acquiring the field angle of the shooting equipment;

acquiring an image acquired by the shooting equipment in real time, and controlling the display device to display the image;

determining a target object in the image in response to an object selection operation of a user on the image;

and controlling the handheld holder to move according to the field angle and the position of the target object in the image so as to enable the shooting equipment to carry out follow-up shooting on the target object.

In a second aspect, an embodiment of the present application further provides a handheld cradle head, where the handheld cradle head includes a memory, a processor, and a display device, and is used for carrying a shooting device, and the handheld cradle head is in communication connection with the shooting device;

the memory for storing a computer program;

the processor is configured to execute the computer program and, when executing the computer program, implement the following steps:

acquiring the field angle of the shooting equipment;

In a third aspect, an embodiment of the present application further provides a shooting system, where the shooting system includes the above-mentioned handheld pan-tilt and a shooting device mounted on the handheld pan-tilt, and the handheld pan-tilt is in communication connection with the shooting device.

In a fourth aspect, the present application also provides a computer-readable storage medium, which stores a computer program, which, when executed by a processor, causes the processor to implement the steps of the handheld pan and tilt head control method as described above.

The embodiment of the application provides a handheld cloud deck control method, a handheld cloud deck, a system and a readable storage medium, wherein a target object in an image is determined by acquiring a field angle of shooting equipment and the image acquired by the shooting equipment in real time, controlling a display device to display the image, responding to the object selection operation of a user on the image displayed on the display device, and controlling the handheld cloud deck to move according to the field angle of the shooting equipment and the position of the target object in the image, so that the shooting equipment can follow and shoot the target object, the user can conveniently control the intelligent following target object of the cloud deck, the convenience of the user for controlling the intelligent following target object of the cloud deck is improved, the following effect of the handheld cloud deck on the target object can also be improved, and the user experience is greatly improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a handheld tripod head for implementing the handheld tripod head control method provided by the embodiment of the present application;

fig. 2 is a flowchart illustrating steps of a method for controlling a handheld pan/tilt provided in an embodiment of the present application;

FIG. 3 is a schematic diagram of an image displayed by the display device in the embodiment of the present application;

FIG. 4 is another schematic diagram of an image displayed by the display device in the embodiment of the present application;

FIG. 5 is another schematic diagram of an image displayed by the display device in the embodiment of the present application;

FIG. 6 is another schematic diagram of an image displayed by the display device in the embodiment of the present application;

FIG. 7 is another schematic diagram of an image displayed by the display device in the embodiment of the present application;

FIG. 8 is another schematic diagram of an image displayed by the display device in the embodiment of the present application;

FIG. 9 is another schematic diagram of an image displayed by the display device in the embodiment of the present application;

FIG. 10 is another schematic diagram of an image displayed by the display device in the embodiment of the present application;

FIG. 11 is another schematic diagram of an image displayed by the display device in the embodiment of the present application;

FIG. 12 is another schematic view of an image displayed by the display device in the embodiment of the present application;

fig. 13 is another schematic view of an image displayed by the display device in the embodiment of the present application;

fig. 14 is another schematic view of an image displayed by the display device in the embodiment of the present application;

fig. 15 is another schematic view of an image displayed by the display device in the embodiment of the present application;

fig. 16 is a schematic block diagram of a structure of a handheld pan/tilt head provided in an embodiment of the present application;

fig. 17 is a block diagram schematically illustrating a structure of a photographing system according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The flow diagrams depicted in the figures are merely illustrative and do not necessarily include all of the elements and operations/steps, nor do they necessarily have to be performed in the order depicted. For example, some operations/steps may be decomposed, combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

The handheld cloud deck brings great convenience to the use of the camera, and people can simply and easily shoot pictures with stable images and smooth zooming in various scenes and various motion modes. The intelligent following mode of the handheld cloud deck is frequently used by users, the triggering of the current intelligent following mode needs to be realized by means of a mobile terminal or a third-party image transmission device provided with an adaptive program application, the triggering mode is complex, the use by the users is inconvenient, and the user experience is not good.

In order to solve the above problem, an embodiment of the present application provides a handheld pan/tilt control method, a handheld pan/tilt, a system and a readable storage medium. Referring to fig. 1, fig. 1 is a schematic structural diagram of a handheld pan/tilt head for implementing the handheld pan/tilt head control method provided in the embodiment of the present application. The handheld tripod head in the embodiment of the present application will be described with reference to fig. 1.

As shown in fig. 1, the handheld pan/tilt head 100 includes a handle portion 101, a pan/tilt head 102 disposed on the handle portion 101, and a display device 103 disposed on the handle portion 101, wherein the pan/tilt head 102 is used for carrying a shooting device 104, and the shooting device 104 may be integrally disposed with the pan/tilt head 102 or may be externally attached to the pan/tilt head 102.

The pan/tilt head 102 includes three-axis motors, namely a pitch axis motor 1021, a roll axis motor 1022, and a yaw axis motor 1023, for adjusting a balance posture of the photographing apparatus 104 mounted on the pan/tilt head 102, so as to photograph a stable and smooth image.

The display device 103 is used for displaying images acquired by the shooting device 104 in real time, and a user can also control the pan/tilt head 102 or the shooting device 104 mounted on the pan/tilt head 102 by touch control of the display device 103. Optionally, the display device 103 is a touch screen. For example, in response to a touch operation of a user on an image displayed on the display device 103, the handheld pan/tilt head 100 acquires position coordinates of a touch position of the touch operation within the image, determines a target object in the image according to the position coordinates, and then controls the pan/tilt head 102 to move according to the position of the target object in the image, so that the shooting device 104 performs follow-up shooting on the target object, and for example, the display device 103 displays a parameter control slider, and when the user slides the parameter control slider, an adjustment instruction of a target shooting parameter is triggered, so that the shooting device 104 adjusts a value of the target shooting parameter based on the adjustment instruction, where the target shooting parameter includes a focal length, an exposure value, a sensitivity, a shutter speed, and the like.

In one embodiment, the handle portion 101 is further provided with an operation key 105, so that a user can operate the operation key to control the pan/tilt head 102 or the shooting device 104 mounted on the pan/tilt head 102. Alternatively, the operation key 105 is provided around the display device 103. The operation key may be, for example, a key, a trigger, a knob, a rocker, or the like, but other types of physical keys are also included. For example, a rocker may be used to control the movement of three axes, and thus the movement of the pan/tilt head 102, e.g., a button may be used to control the power-on start of the pan/tilt head 102. It will be appreciated that the rocker may be used for other functions as well.

For example, the display device 103 displays an image including a frame of the area to be selected, where the image is acquired by the shooting device 104 in real time, and the handheld cradle head 100 acquires current position information of the frame of the area to be selected in the image in response to a first trigger operation of the user on the operation key 105; according to the current position information, a target object in the image is determined, and according to the position of the target object in the image, the pan-tilt 102 is controlled to move, so that the shooting device 104 carries out follow-up shooting on the target object.

For another example, the handheld tripod head 100 changes the position of the to-be-selected area frame in the image in response to the second triggering operation of the user on the operation key 105; responding to a first trigger operation of a user on the operation key 105, and acquiring current position information of a to-be-selected area frame in an image; according to the current position information, a target object in the image is determined, and according to the position of the target object in the image, the holder 102 is controlled to move, so that the shooting device 104 carries out follow-up shooting on the target object. Wherein the first trigger operation is different from the second trigger operation.

The handheld cradle head 100 includes a processor, and the processor is configured to process an input control command, or transmit and receive a signal. The processor may be disposed inside handle portion 101. Alternatively, the Processor may be a Central Processing Unit (CPU), and the Processor may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

Hereinafter, the handheld cloud deck control method provided in the embodiment of the present application will be described in detail with reference to the handheld cloud deck in fig. 1. It should be noted that the handheld pan/tilt head in fig. 1 is only used to explain the handheld pan/tilt head control method provided in the embodiment of the present application, but does not constitute a limitation on an application scenario of the handheld pan/tilt head control method provided in the embodiment of the present application.

Referring to fig. 2, fig. 2 is a flowchart illustrating steps of a method for controlling a handheld pan/tilt according to an embodiment of the present disclosure.

As shown in fig. 2, the handheld tripod head control method includes steps S101 to S104.

And S101, acquiring the field angle of the shooting equipment.

The inventor knows that the existing following algorithm does not consider the field angle of the shooting equipment, but the field angle of the shooting equipment influences the following effect, the field angles of the shooting equipment of different manufacturers, different series and different models are different, the existing following algorithm cannot adapt to the shooting equipment of different manufacturers, different series and different models, and the following effect is poor.

Because the angle of view of different shooting equipment is different, and the angle of view can influence the cloud platform and follow the effect of target object, consequently is connected the back at handheld cloud platform and shooting equipment, needs to acquire the angle of view of shooting equipment, and the handheld cloud platform of being convenient for follows the target object based on this angle of view adaptation to improve the effect of following of handheld cloud platform to the target object.

In an embodiment, the manner of acquiring the field angle of the shooting device may be: in response to a first input operation by a user, a field angle of the photographing apparatus is acquired. The first input operation comprises a field angle input operation of a user on a field angle input popup window, the field angle input popup window can be displayed through a display device of a handheld cloud deck or a terminal device connected with the handheld cloud deck, and the terminal device can be a smart phone, a tablet personal computer and the like. For a scene that the user clearly shoots the field angle of the equipment, the user can display the field angle input popup window through the display device or the connected terminal equipment, and the field angle of the shooting equipment is manually input by the user, so that the handheld cloud deck can be adapted to the field angles of different shooting equipment.

In an embodiment, the manner of acquiring the field angle of the shooting device may further be: and acquiring the field angle of the shooting device based on the preset field angle calibration operation. The preset angle of view calibration operation may be set based on an actual situation, which is not specifically limited in the embodiment of the present application, for example, the handheld cradle head is controlled to rotate, when the handheld cradle head is in the first posture, the shooting device is controlled to shoot to obtain a first image, when the handheld cradle head is in the second posture, the shooting device is controlled to shoot to obtain a second image, and then the angle of view of the shooting device is determined according to a position difference of the same object in the first image and the second image and a rotation angle of the handheld cradle head between the first posture and the second posture. The field angle of the shooting equipment is acquired through the preset field angle calibration operation, the field angle of the shooting equipment does not need to be manually input by a user, the field angle of the shooting equipment can be accurately determined, the target object can be conveniently followed based on the accurate field angle in the follow-up process, the target object can be better followed by the shooting equipment, the follow-up effect is improved, and the user experience is greatly improved.

In an embodiment, based on the preset field angle calibration operation, the manner of acquiring the field angle of the shooting device may be: acquiring a first image shot by a shooting device when a handheld cloud deck is in a first posture and a first image shot in a second posture; and determining the field angle of the shooting device according to the position difference of the same object in the first image and the second image and the rotation angle of the handheld cloud platform between the first posture and the second posture. For example, the target object is kept still, and the image area of the target object in the first image occupies the first image with the frame ratio K₁The image area of the target object in the first image accounts for the picture proportion of the second image and is K₂When the rotation angle of the handheld holder between the first posture and the second posture is β, the field angle of the shooting device is α, and α is β/(K)₁-K₂)。

In an embodiment, the manner of acquiring the first image captured by the capturing device when the handheld pan/tilt head is in the first posture and the first image captured by the capturing device in the second posture may be: acquiring a triggered angle of view calibration instruction, and controlling the handheld holder to rotate according to the angle of view calibration instruction; when the handheld cloud deck is in a first posture, controlling the shooting equipment to shoot to obtain a first image; and when the handheld cloud deck is in the second posture, controlling the shooting equipment to shoot to obtain a second image. The angle of view calibration instruction may be triggered by a user operating an angle of view calibration button, and of course, the user may also be triggered by other means, for example, by an angle of view calibration icon displayed by a display device or a terminal device connected to the handheld cradle head.

In one embodiment, when it is detected that the shooting device is connected with the handheld cradle head, acquiring a device identifier of the shooting device, and acquiring whether the device identifier exists in a device identifier library of the handheld cradle head, if the device identifier does not exist in the device identifier library, outputting field angle calibration prompt information to prompt a user to calibrate a field angle of the shooting device; triggering a field angle calibration instruction in response to a triggering operation of a user on the field angle calibration button; if the device identification exists in the device identification library, no processing is performed. Wherein the device identification is used to identify the vendor, family and/or model of the photographing device. When the new shooting equipment is connected to the handheld cloud platform, the visual angle calibration prompt information is output, and therefore the user can calibrate the visual angle of the shooting equipment in time.

And S102, acquiring the image acquired by the shooting equipment in real time, and controlling the display device to display the image.

The handheld cloud deck can be connected with shooting equipment through a control wire, and the control wire is a shutter release for example. The type of shutter release is not limited herein, and the shutter release may be, for example, a Universal Serial Bus (USB). The handheld cloud platform also can be connected with shooting equipment through wireless mode, for example, handheld cloud platform passes through the bluetooth and is connected with shooting equipment.

In an embodiment, an image acquired by a shooting device in real time is acquired through an output signal of a High Definition Multimedia Interface (HDMI) of the shooting device, a display device of a handheld holder is controlled to display the image acquired by the shooting device in real time, that is, first length and width information of the image and second length and width information of the display device are acquired, a length and width ratio is determined according to the first length and width information and the second length and width information, the image is subjected to scaling, image enhancement and/or cropping processing according to the length and width ratio to obtain a target image, and then the target image is displayed through the display device. Since the display device is small in size and inconvenient for a user to view, the image is zoomed, enhanced and/or cropped, and the processed image is displayed on the display device, thereby improving the display effect of the image and facilitating the user to view the image.

In one embodiment, the handheld tripod head comprises a handle portion, a tripod head provided on the handle portion, and a display device provided on the handle portion. Through set up display device at the handle portion of handheld cloud platform, the user of being convenient for controls handheld cloud platform or control shooting equipment through display device.

S103, responding to the object selection operation of the user on the image, and determining a target object in the image.

After the display device displays the image acquired by the shooting device in real time, the user can select the target object to be followed through the image displayed by the display device, for example, the user touches a certain area in the image, so that the target object to be followed is determined.

In an embodiment, the object selection operation includes a touch operation of a user on the image, and in response to the object selection operation of the user on the image, the manner of determining the target object in the image may be: responding to the touch operation of a user on the image on the display device, and acquiring the position coordinates of the touch position of the touch operation in the image; and determining a target object in the image according to the position coordinates, namely acquiring a target image area corresponding to the position coordinates from the image, performing target identification on the object in the target image area, and taking the identified object as a target object to be followed. The target object can be determined through touch operation of the user on the image on the display device, and the method is not required to be realized through a mobile terminal or a third-party image transmission device provided with adaptive program application, so that the intelligent following convenience of the user control holder for the target object is greatly improved, and the user experience is improved.

For example, please refer to fig. 3, fig. 3 is a schematic diagram of an image displayed by a display device in an embodiment of the present application, and as shown in fig. 3, the image displayed by the display device includes an object 11, an object 12, and an object 13, and a user touches a region where the displayed object 13 is located, and then the handheld cradle head responds to the touch operation, and takes the object 13 as a target object to be followed, and if the user touches a region where the displayed object 12 is located, then the handheld cradle head responds to the touch operation, and takes the object 12 as the target object to be followed.

In one embodiment, according to the position coordinates, the target object in the image may be determined by: determining a coordinate conversion relation according to the length and width information of the display device and the length and width information of the image; and converting the position coordinates according to the coordinate conversion relation to obtain target position coordinates, and determining a target object in the image according to the target position coordinates. Since the image displayed by the display device is an image subjected to coordinate conversion, the position coordinates are converted by the length and width information of the display device and the length and width information of the image, and the target object in the image can be accurately determined based on the converted position coordinates.

In an embodiment, the image is displayed with a frame of the area to be selected, the handheld pan/tilt head further includes an operation key, the object selection operation includes a first trigger operation of the operation key by the user, and in response to the object selection operation of the image by the user, the manner of determining the target object in the image may be: responding to a first trigger operation of a user on an operation key, and acquiring current position information of a to-be-selected area frame in an image; and determining the target object in the image according to the current position information. The area frame to be selected may be located at a central position of the image, the operation key may include a button disposed around the display device, and the first trigger operation includes any one of a click operation, a long-press operation, and a double-click operation of the button by the user. The target object can be determined through the first trigger operation of the operation key, and the method is realized without a mobile terminal or a third-party image transmission device provided with an adaptive program application, so that the intelligent following convenience of the user for controlling the holder to follow the target object is greatly improved, and the user experience is improved.

For example, referring to fig. 4, fig. 4 is another schematic diagram of an image displayed by the display device in the embodiment of the present application, as shown in fig. 4, the image displayed by the display device includes an object 11, an object 12, an object 13, and a candidate area frame 14, and when a double-click operation of the button by the user is detected, the target recognition is performed on the image area where the area frame 14 to be selected is located, and since no target exists in the image area where the area frame 14 to be selected is located, the display device may output a prompt message of "no target recognized", as shown in fig. 5, the object 13 moves, and at this time, the object 13 is located in the candidate area box 14, and if the double-click operation of the button by the user is detected at this time, then the target identification is performed on the image area where the to-be-selected area frame 14 is located, and since the object 13 exists in the image area where the to-be-selected area frame 14 is located, the object 13 is taken as the target object.

In an embodiment, in response to an object selection operation of the user on the image, the manner of determining the target object in the image may further be: responding to a second trigger operation of the user on the operation key, and changing the position of the to-be-selected area frame in the image; responding to a first trigger operation of a user on an operation key, and acquiring current position information of a to-be-selected area frame in an image; and determining the target object in the image according to the current position information. The position of the to-be-selected area frame is changed through second trigger operation on the operation keys so as to change the target object selected by the user, and then the selected target object is determined through first trigger operation on the operation keys, so that the convenience of the user for controlling the cradle head to intelligently follow the target object is greatly improved, and the user experience is improved.

In an embodiment, in response to a second trigger operation of the user on the operation key, the manner of changing the position of the frame of the region to be selected in the image may be: and when a plurality of objects exist in the image, one object is selected from the plurality of objects as a candidate object according to the second triggering operation, and the area frame to be selected is moved to the image area where the candidate object exists, so as to change the position of the area frame to be selected in the image.

The first trigger operation is different from the second trigger operation, for example, the first trigger operation is a double-click operation, the second trigger operation is a single-click operation, for example, the operation key includes a first operation key and a second operation key, the first trigger operation includes a trigger operation of a user on the first operation key, for example, a double-click operation on a button, and the second trigger operation includes a trigger operation of a user on the second operation key, for example, a lever operation on a rocker.

Illustratively, as shown in fig. 5, the object 13 is located in the area frame 14 to be selected, and if the user performs a single-click operation on the button at this time, the area frame 14 to be selected is changed from the position shown in fig. 5 to the position shown in fig. 6 or fig. 7, that is, the area frame 14 to be selected is moved to the area where the object 11 or the object 12 is located, and when the user performs a double-click operation on the button at this time, the object 11 or the object 12 located in the area frame 14 to be selected is taken as the target object.

Illustratively, as shown in fig. 4, there is no object in the candidate area frame 14, and if the user performs a stick operation on the joystick and sticks to the right at this time, the candidate area frame 14 changes from the position shown in fig. 4 to the position shown in fig. 8, that is, the object 12 is located in the candidate area frame 14, whereas if the user continues to perform a stick to the right at this time, the candidate area frame 14 changes from the position shown in fig. 8 to the position shown in fig. 9, that is, the object 13 is located in the candidate area frame 14, and if the user continues to perform a stick to the right at this time, the candidate area frame 14 changes from the position shown in fig. 9 to the position shown in fig. 10, that is, the object 11 is located in the candidate area frame 14.

And S104, controlling the handheld holder to move according to the field angle and the position of the target object in the image, so that the shooting equipment carries out follow-up shooting on the target object.

After the field angle and the target object of the shooting device are determined, the handheld tripod head is controlled to move based on the field angle and the position of the target object in the image, so that the shooting device can shoot the target object in a follow-up mode, namely, a target control coefficient of a control loop of the handheld tripod head is determined according to the field angle, and the handheld tripod head is controlled to move according to the target control coefficient and the position of the target object in the image. For example, if the control loop is a PID controller, the target control coefficient includes a proportional control coefficient P, an integral control coefficient I, and a derivative control coefficient D. The target control coefficient of the control loop of the handheld cloud platform is determined through the field angle of the shooting device, the handheld cloud platform can be controlled to better follow the target object based on the determined target control coefficient and the position of the target object in the image, the following effect is improved, and the user experience is greatly improved.

Specifically, the position of the target object in the image is used as a reference position, and a current live view picture acquired by the shooting equipment is acquired at preset time intervals; and determining the position of the target object in the current real-time view finding picture to obtain the current position of the target object, and controlling the handheld cloud deck to move according to the current position of the target object, the base station position and the target control coefficient, so that the difference value between the position of the target object in the current real-time view finding picture and the base station position is smaller than the preset position difference value. The preset time and the preset position difference value can be set based on actual conditions, and the method is not particularly limited in this application.

In an embodiment, if the target control coefficient obtained by the field angle calibration of the shooting device is not matched with the actual target motion speed to be followed, the following control of the handheld pan/tilt may have a problem of control overshoot, for example, if the control loop is a PID control loop and the P (proportional) coefficient in the target control coefficient obtained by the field angle calibration is larger, the handheld pan/tilt after overshoot may be caused to shake due to the hysteresis of the control loop, resulting in a reduction in the quality of the image. Therefore, the target control coefficient is adjusted in response to the second input operation by the user; and controlling the handheld holder to move according to the position of the target object in the image and the adjusted target control coefficient. The second input operation may be a rotation operation of the thumb wheel key by the user, or a touch operation of the control coefficient adjustment icon displayed by the display device or the terminal device by the user. Through the adjusting function of the target control coefficient, the user can flexibly configure the target control coefficient, the requirement of the user can be met better by following shooting, and the user experience is greatly improved.

In an embodiment, the control authority of the control loop may be opened to the user, and the manner of adjusting the target control coefficient in response to the second input operation by the user may be: reading a control coefficient adjustment amount input by a user in response to a second input operation of the user, and adjusting a target control coefficient according to the control coefficient adjustment amount; or responding to a second input operation of the user, acquiring a target control gear from the plurality of control gears, and taking a control coefficient corresponding to the target control gear as an adjusted target control coefficient. For example, 1 to 30 control gears may be opened, each control gear corresponds to a set of control coefficients, a target control gear may be determined in the control gears through a second input operation of the user, and the control coefficient corresponding to the target control gear is used as the adjusted target control coefficient.

In one embodiment, whether a preset jitter event occurs in a handheld cradle head is detected; if the preset jitter event of the handheld cloud deck is determined, adjusting a target control coefficient; and controlling the handheld holder to move according to the position of the target object in the image and the adjusted target control coefficient. The cradle head can detect the motion of the cradle head through a built-in IMU (inertial measurement unit), and whether the cradle head generates a preset jitter event can be known based on the detected information. The target control coefficient is adjusted when the handheld cloud platform shakes abnormally, so that the cloud platform can better follow the target object based on the position of the target object in the image and the adjusted target control coefficient, and the following effect is improved.

For example, if the control loop is a PID control loop, when it is determined that the handheld cradle head has a preset jitter event, the proportional coefficient P in the PID control loop may be reduced in general, which is equivalent to reducing the control amount based on feedback, thereby reducing the jitter caused by overshoot. However, if the proportionality coefficient P is reduced too much, there is a possibility that the control amount is too small, resulting in the pan/tilt head not catching up with the target. Therefore, the proportionality coefficient P can be decreased step by step, so that the adjustment range is reasonable.

In one embodiment, in the process of following a shooting target object, in response to the triggering operation of a user on a holder control part of a handheld holder, the motion control quantity input by the holder control part is obtained; and controlling the handheld cloud platform to move according to the motion control quantity so as to change the position of the target object in the image. The cloud platform control component comprises any one of a rocker and a thumb wheel key, and the triggering operation comprises any one of a lever striking operation of a user on the rocker and a rotating operation of the thumb wheel key by the user. The position of the target object in the image is adjusted through the holder control component in the process of following the target object, and the convenience of composition of a user is improved.

Illustratively, as shown in fig. 11, the target object 21 is located in the central area of the image, and after the user operates the rocker and/or the wheel key, the handheld pan/tilt head is controlled to move, so that the position of the target object 21 in the image changes from the central position shown in fig. 21 to the left area position shown in fig. 12.

In one embodiment, the handheld tripod head is controlled to move according to the motion control quantity so as to control the handheld tripod head to pause to follow the target object before changing the position of the target object in the image, and after the target object is paused to be followed, the handheld tripod head is controlled to move according to the motion control quantity so as to change the position of the target object in the image. The target object is followed through suspension, and then the handheld cloud platform is controlled to move so as to change the position of the target object in the image, so that the composition of a user can be prevented from changing, and the user experience is improved.

In an embodiment, within a preset time after the trigger operation is responded, if the cradle head control part is detected not to be operated, the handheld cradle head is controlled to continue to follow the target object. The preset time may be set based on an actual situation, which is not specifically limited in the present application, for example, the preset time is 2 seconds. In a period of time after the position of the target object in the image is changed and when the user does not operate the holder control part, the handheld holder can be controlled to continue to follow the target object, the user does not need to manually trigger the following of the target object again, and the user experience is greatly improved.

In an embodiment, in response to a trigger operation of a user on the pan/tilt/zoom control unit, the manner of obtaining the motion control amount input by the pan/tilt/zoom control unit may be: determining a first rotation control quantity of a first target motor of the handheld cloud deck in response to the lever hitting operation of a user on a rocker; meanwhile, in response to the rotation operation of the dial wheel key by the user, determining a second rotation control quantity of a second target motor of the handheld cloud deck; and controlling a first target motor of the handheld cloud platform to rotate according to the first rotation control quantity, and controlling a second target motor of the handheld cloud platform to rotate according to the second rotation control quantity. The first target motor is different from the second target motor, the first target motor comprises any one of a pitch shaft motor, a translation shaft motor and a roll shaft motor, and the second target motor comprises any one of a pitch shaft motor, a translation shaft motor and a roll shaft motor. The user can control the handheld cloud platform through rocker and thumb wheel key simultaneously, has improved the control convenience of user to the cloud platform.

In an embodiment, in the process of following a target object, if it is detected that a plurality of objects to be followed exist in an image, an identification icon is displayed on each object to be followed. The identification icon of the target object to be followed is a first identification icon, the identification icon of the target object not to be followed is a second identification icon, the first identification icon is different from the second identification icon, for example, the first identification icon comprises a first rectangular frame, the second identification icon comprises a second rectangular frame, the color of the first rectangular frame is different from that of the second rectangular frame, for example, a tracking identification is displayed in the first rectangular frame, and a tracking identification is not displayed in the second rectangular frame, and the specific form of the tracking identification can be set according to the actual situation, for example, a five-pointed star. By displaying the identification icon on each object to be followed, the user is facilitated to distinguish the target object and reselect the target object from a plurality of objects to be followed.

Illustratively, as shown in fig. 13, the image displayed by the display device includes three objects to be followed, namely, an object 31 to be followed, an object 32 to be followed, and an object 33 to be followed, and the identification icons on the object 31 to be followed, the object 32 to be followed, and the object 33 to be followed are an identification icon 34, an identification icon 35, and an identification icon 36, respectively, while the object 31 to be followed is a target object, so that a tracking identifier 37 is displayed in the identification icon 34, and no tracking identifier is displayed in the identification icon 35 and the identification icon 36.

In one embodiment, one object to be followed is newly selected as a target object from a plurality of objects to be followed in response to a trigger operation of the object switching section by a user. The object switching component of the handheld cloud platform is arranged on the handle portion and used for switching a following target object, the object switching component comprises a rocker, a dial wheel key, a button and the like, and after the target object is reselected, an identification icon on the object to be followed is adjusted to enable the identification icon on the reselected target object to be a first identification icon. By arranging the object switching component, a user can switch the target object conveniently and quickly.

Illustratively, as shown in fig. 13, the object to be followed 31 is a target object, and if the user operates the object switching means at this time, the target object is changed from the object to be followed 31 as shown in fig. 13 to the object to be followed 32 as shown in fig. 14, and the tracking flag 37 is changed from the position as shown in fig. 13 to the position as shown in fig. 14, that is, the tracking flag 37 is located on the flag icon 35 of the object to be followed 32, or the target object is changed from the object to be followed 31 as shown in fig. 13 to the object to be followed 33 as shown in fig. 15, and the tracking flag 37 is changed from the position as shown in fig. 13 to the position as shown in fig. 15, that is, the tracking flag 37 is located on the flag icon 36 of the object to be followed 33.

In the handheld cradle head control method provided by the above embodiment, the field angle of the shooting device and the image acquired by the shooting device in real time are acquired, the display device is controlled to display the image, then, the target object in the image is determined in response to the object selection operation of the user on the image displayed on the display device, and the handheld cradle head is controlled to move according to the field angle of the shooting device and the position of the target object in the image, so that the shooting device can shoot the target object in a following manner, the user can conveniently control the intelligent following target object of the cradle head, the convenience of the user in controlling the intelligent following target object of the cradle head is improved, the following effect of the handheld cradle head on the target object can be improved, and the user experience is greatly improved.

Referring to fig. 16, fig. 16 is a schematic block diagram of a structure of a handheld pan/tilt provided in the embodiment of the present application.

As shown in fig. 16, the handheld cloud deck 200 includes a processor 201, a memory 202 and a display device 203, and the processor 201, the memory 202 and the display device 203 are connected by a bus 204, and the bus 204 is, for example, an I2C (Inter-integrated Circuit) bus.

Specifically, the Processor 201 may be a Micro-controller Unit (MCU), a Central Processing Unit (CPU), a Digital Signal Processor (DSP), or the like.

Specifically, the Memory 202 may be a Flash chip, a Read-Only Memory (ROM) magnetic disk, an optical disk, a usb disk, or a removable hard disk.

Wherein the processor 201 is configured to run a computer program stored in the memory 202, and when executing the computer program, implement the following steps:

acquiring the field angle of the shooting equipment;

In an embodiment, the acquiring the field angle of the shooting device includes performing any of the following operations:

acquiring the field angle in response to a first input operation of a user; or the like, or, alternatively,

and acquiring the angle of view based on a preset angle of view calibration operation.

In an embodiment, the acquiring the field angle based on the preset field angle calibration operation includes:

acquiring a first image shot by the shooting equipment at a first posture and a first image shot at a second posture of the handheld cloud deck;

and determining the field angle of the shooting equipment according to the position difference of the same object in the first image and the second image and the rotation angle of the handheld holder between the first posture and the second posture.

In an embodiment, the acquiring a first image captured by the capturing device when the handheld cloud deck is in a first posture and a first image captured by the capturing device in a second posture includes:

acquiring a triggered angle of view calibration instruction, and controlling the handheld holder to rotate according to the angle of view calibration instruction;

when the handheld cloud deck is in the first posture, controlling the shooting equipment to shoot to obtain the first image;

and when the handheld cloud deck is in the second posture, controlling the shooting equipment to shoot to obtain the second image.

In an embodiment, the controlling the handheld pan-tilt according to the field angle and the position of the target object in the image includes:

determining a target control coefficient of a control loop of the handheld holder according to the field angle;

and controlling the handheld cloud platform to move according to the position of the target object in the image and the target control coefficient.

In one embodiment, the processor is further configured to implement the steps of:

adjusting the target control coefficient in response to a second input operation of a user;

and controlling the handheld cloud platform to move according to the position of the target object in the image and the adjusted target control coefficient.

detecting whether a preset jitter event occurs in the handheld cloud deck or not;

if the preset jitter event is determined to occur, adjusting the target control coefficient;

In one embodiment, the handheld tripod head includes a handle portion, and the display device is disposed on the handle portion.

In an embodiment, the handheld pan/tilt head further includes an operation key, and the operation key is disposed around the display device.

In an embodiment, the object selection operation includes a touch operation of a user on the image, and the determining a target object in the image in response to the object selection operation of the user on the image includes:

responding to a touch operation of a user on the display device to the image, and acquiring position coordinates of a touch position of the touch operation in the image;

and determining a target object in the image according to the position coordinates.

In one embodiment, the determining the target object in the image according to the position coordinates includes:

determining a coordinate conversion relation according to the length and width information of the display device and the length and width information of the image;

and converting the position coordinates according to the coordinate conversion relation to obtain target position coordinates, and determining a target object in the image according to the target position coordinates.

In an embodiment, the displaying a frame of a region to be selected in the image, the handheld pan/tilt head further includes an operation key, the object selection operation includes a first trigger operation of the operation key by a user, and the determining a target object in the image in response to the object selection operation of the user on the image includes:

responding to a first trigger operation of a user on the operation key, and acquiring current position information of the to-be-selected area frame in the image;

and determining a target object in the image according to the current position information.

In one embodiment, the determining the target object in the image in response to the object selection operation of the user on the image includes:

responding to a second trigger operation of the user on the operation key, and changing the position of the to-be-selected area frame in the image;

In an embodiment, the first trigger operation is different from the second trigger operation.

In an embodiment, the handheld pan/tilt head further comprises a pan/tilt head control component, and the processor is further configured to implement the following steps:

in the process of shooting the target object, responding to the trigger operation of a user on the holder control part, and acquiring the motion control quantity input by the holder control part;

and controlling the handheld holder to move according to the motion control quantity so as to change the position of the target object in the image.

In an embodiment, before controlling the handheld platform to move according to the motion control amount to change the position of the target object in the image, the method further includes:

and controlling the handheld cloud deck to pause to follow the target object.

and within the preset time after the trigger operation is responded, if the holder control part is detected not to be operated, controlling the handheld holder to continue to follow the target object.

In an embodiment, the pan/tilt head control unit includes any one of a rocker and a thumbwheel key, and the triggering operation includes any one of a lever operation of the rocker by a user and a rotation operation of the thumbwheel key by the user.

In an embodiment, the acquiring, in response to a trigger operation of the pan/tilt control unit by a user, a motion control amount input by the pan/tilt control unit includes:

responding to the lever hitting operation of a user on the rocker, and determining a first rotation control quantity of a first target motor of the handheld holder;

meanwhile, in response to the rotation operation of the dial wheel key by the user, determining a second rotation control quantity of a second target motor of the handheld cloud deck;

the controlling the handheld cloud platform to move according to the motion control quantity comprises the following steps:

and controlling a first target motor of the handheld cloud deck to rotate according to the first rotation control quantity, and controlling a second target motor of the handheld cloud deck to rotate according to the second rotation control quantity.

In one embodiment, the target object has a first identification icon displayed thereon, and the processor is further configured to implement the following steps:

in the process of following the target object, if a plurality of objects to be followed exist in the image, displaying an identification icon on each object to be followed;

the identification icon of which the object to be followed is the target object is a first identification icon, and the identification icon of which the object to be followed is not the target object is a second identification icon.

In an embodiment, the first identification icon comprises a first rectangular frame, the second identification icon comprises a second rectangular frame, and the first rectangular frame and the second rectangular frame are different in color.

In one embodiment, the first rectangular frame has a trace identifier displayed therein, and the second rectangular frame has no trace identifier displayed therein.

In an embodiment, the handheld cloud deck further comprises an object switching component, and the processor is further configured to implement the following steps:

and in response to the triggering operation of the object switching part by the user, reselecting one object to be followed from the plurality of objects to be followed as a target object.

and after the target object is reselected, adjusting the identification icon to enable the identification icon on the reselected target object to be the first identification icon.

It should be noted that, as will be clearly understood by those skilled in the art, for convenience and brevity of description, the specific working process of the handheld cloud deck described above may refer to the corresponding process in the foregoing embodiment of the handheld cloud deck control method, and details are not described here again.

Referring to fig. 17, fig. 17 is a schematic block diagram of a structure of a shooting system according to an embodiment of the present application.

As shown in fig. 17, the shooting system 300 includes a handheld tripod head 310 and a shooting device 320 mounted on the handheld tripod head 310, and the handheld tripod head 310 is in communication connection with the shooting device 320.

It should be noted that, as will be clearly understood by those skilled in the art, for convenience and brevity of description, the specific working process of the shooting system described above may refer to the corresponding process in the foregoing embodiment of the handheld pan/tilt control method, and details are not described herein again.

An embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, where the computer program includes program instructions, and the processor executes the program instructions to implement the steps of the handheld pan/tilt control method provided in the foregoing embodiment.

The computer-readable storage medium may be an internal storage unit of the handheld cloud deck according to any of the foregoing embodiments, for example, a hard disk or a memory of the handheld cloud deck. The computer readable storage medium may also be an external storage device of the handheld cloud deck, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are equipped on the handheld cloud deck.

It is to be understood that the terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification of the present application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

While the invention has been described with reference to specific embodiments, the scope of the invention is not limited thereto, and those skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. The handheld cloud platform control method is characterized in that the handheld cloud platform comprises a display device, the handheld cloud platform is used for carrying shooting equipment, the handheld cloud platform is in communication connection with the shooting equipment, and the method comprises the following steps:

acquiring the field angle of the shooting equipment;

2. The method according to claim 1, wherein the obtaining of the field angle of the shooting device comprises performing any of the following operations:

3. The handheld pan-tilt control method according to claim 2, wherein the acquiring the angle of view based on a preset angle of view calibration operation includes:

4. The method according to claim 3, wherein the acquiring a first image captured by the capturing device when the handheld tripod head is in a first posture and a first image captured when the handheld tripod head is in a second posture comprises:

5. The handheld pan/tilt control method according to any one of claims 1 to 4, wherein the controlling the handheld pan/tilt motion according to the field angle and the position of the target object in the image comprises:

6. The handheld pan and tilt head control method according to claim 5, wherein the method further comprises:

7. The handheld pan and tilt head control method according to claim 5, wherein the method further comprises:

8. A hand-held pan-tilt control method according to any one of claims 1-4, wherein the hand-held pan-tilt comprises a handle portion, the display device being provided to the handle portion.

9. A handheld pan and tilt head control method according to any one of claims 1 to 4, wherein the handheld pan and tilt head further comprises operation keys, the operation keys being arranged around the display device.

10. The method according to any one of claims 1 to 4, wherein the object selection operation comprises a user touch operation on the image, and the determining the target object in the image in response to the user object selection operation on the image comprises:

11. The method according to claim 10, wherein said determining a target object in the image according to the position coordinates comprises:

12. The method according to any one of claims 1 to 4, wherein a frame of a region to be selected is displayed in the image, the handheld pan/tilt further comprises an operation key, the object selection operation comprises a first trigger operation of a user on the operation key, and the determining the target object in the image in response to the object selection operation of the user on the image comprises:

13. The handheld pan and tilt head control method according to claim 12, wherein the determining a target object in the image in response to an object selection operation of the image by a user comprises:

14. The handheld pan and tilt head control method according to claim 13, wherein the first trigger operation is different from the second trigger operation.

15. A hand-held pan and tilt head control method according to any one of claims 1-4, wherein the hand-held pan and tilt head further comprises pan and tilt head control means, the method further comprising:

16. The method according to claim 15, wherein the controlling the handheld pan/tilt motion to change the position of the target object within the image according to the motion control amount further comprises:

and controlling the handheld cloud deck to pause to follow the target object.

17. The handheld pan and tilt head control method according to claim 16, wherein the method further comprises:

18. The method according to claim 15, wherein the pan/tilt control unit comprises any one of a joystick and a jog dial, and the triggering operation comprises any one of a user's operation of striking the joystick and a user's operation of rotating the jog dial.

19. A handheld pan and tilt head control method according to claim 18, wherein the obtaining of the motion control amount input by the pan and tilt head control part in response to a triggering operation of the pan and tilt head control part by a user comprises:

20. The handheld pan and tilt head control method according to any one of claims 1 to 4, wherein a first identification icon is displayed on the target object, the method further comprising:

21. The handheld pan and tilt head control method according to claim 20, wherein the first identification icon comprises a first rectangular frame, the second identification icon comprises a second rectangular frame, and the first rectangular frame and the second rectangular frame are different in color.

22. The handheld pan and tilt head control method according to claim 21, wherein a tracking mark is displayed in the first rectangular frame, and a tracking mark is not displayed in the second rectangular frame.

23. The handheld pan and tilt head control method according to claim 20, wherein the handheld pan and tilt head further comprises an object switching component, the method further comprising:

24. The handheld pan and tilt head control method according to claim 20, wherein the method further comprises:

25. A handheld cloud platform is characterized by comprising a memory, a processor and a display device, wherein the handheld cloud platform is used for carrying shooting equipment and is in communication connection with the shooting equipment;

the memory for storing a computer program;

acquiring the field angle of the shooting equipment;

26. The handheld holder according to claim 25, wherein said obtaining a field angle of said capturing device comprises performing any of:

27. A handheld holder according to claim 26, wherein said acquiring of said field angle based on a preset field angle calibration operation comprises:

28. The handheld pan and tilt head of claim 27, wherein the acquiring a first image captured by the capturing device when the handheld pan and tilt head is in a first pose and a first image captured when the handheld pan and tilt head is in a second pose comprises:

29. A handheld holder according to any one of claims 25-28, wherein said controlling the handheld holder movement in dependence on the field angle and the position of the target object in the image comprises:

30. A handheld holder according to claim 29, wherein said processor is further configured to implement the steps of:

31. A handheld holder according to claim 29, wherein said processor is further configured to implement the steps of:

32. A hand-held head according to any one of claims 25-28, wherein the hand-held head comprises a handle portion, the display device being provided on the handle portion.

33. A handheld cloud platform according to any one of claims 25-28, wherein said handheld cloud platform further comprises operation keys, said operation keys being arranged around said display device.

34. A handheld holder according to any one of claims 25-28, wherein said object selection operation comprises a user touch operation on said image, and wherein said determining a target object in said image in response to a user object selection operation on said image comprises:

35. A handheld holder according to claim 34, wherein said determining a target object in said image from said position coordinates comprises:

36. The handheld pan/tilt head according to claim 25, wherein a candidate area frame is displayed in the image, the handheld pan/tilt head further comprises an operation key, the object selection operation comprises a first trigger operation of the operation key by a user, and the determining the target object in the image in response to the object selection operation of the image by the user comprises:

37. The handheld holder according to claim 36, wherein said determining a target object in the image in response to a user object selection operation on the image comprises:

38. A handheld holder according to claim 37, wherein the first triggering operation is different from the second triggering operation.

39. A handheld holder according to any one of claims 25-28, wherein said handheld holder further comprises a holder control unit, said processor being further configured to carry out the steps of:

40. A handheld holder according to claim 39, wherein said controlling the handheld holder motion according to the motion control amount to change the position of the target object within the image further comprises:

and controlling the handheld cloud deck to pause to follow the target object.

41. A handheld holder according to claim 40, wherein the processor is further configured to implement the steps of:

42. A handheld tripod head according to claim 39, wherein said tripod head control unit comprises any one of a rocker and a thumbwheel key, and said triggering operation comprises any one of a user's lever actuation of said rocker and a user's turning actuation of said thumbwheel key.

43. A handheld cloud platform according to claim 42, wherein said obtaining of motion control quantity input by said cloud platform control unit in response to user's trigger operation on said cloud platform control unit comprises:

44. A handheld holder according to any one of claims 25-28, wherein the target object has a first identifying icon displayed thereon, the processor being further configured to perform the steps of:

45. The handheld holder of claim 44, wherein the first identifying icon comprises a first rectangular frame and the second identifying icon comprises a second rectangular frame, the first rectangular frame being a different color than the second rectangular frame.

46. A handheld holder according to claim 45, wherein the first rectangular frame has tracking indicia displayed therein and the second rectangular frame has no tracking indicia displayed therein.

47. A handheld holder according to claim 44, wherein said handheld holder further comprises an object switching component, said processor being further configured to implement the steps of:

48. A handheld holder according to claim 44, wherein the processor is further configured to carry out the steps of:

49. A shooting system, characterized in that the shooting system comprises the handheld cloud platform of any one of claims 25-48 and a shooting device mounted on the handheld cloud platform, and the handheld cloud platform is in communication connection with the shooting device.

50. A computer-readable storage medium, characterized in that it stores a computer program which, when executed by a processor, causes the processor to carry out the steps of the hand-held pan-tilt control method according to any one of claims 1 to 24.