CN114982217A - 云台的控制方法、装置、可移动平台和存储介质 - Google Patents

云台的控制方法、装置、可移动平台和存储介质 Download PDF

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Publication number
CN114982217A
CN114982217A CN202080067425.8A CN202080067425A CN114982217A CN 114982217 A CN114982217 A CN 114982217A CN 202080067425 A CN202080067425 A CN 202080067425A CN 114982217 A CN114982217 A CN 114982217A
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target object
image
pan
determining
target
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CN202080067425.8A
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王协平
楼致远
王振动
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Publication of CN114982217A publication Critical patent/CN114982217A/zh
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2035—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction
    • F16M11/2042—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction constituted of several dependent joints
    • F16M11/205—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction constituted of several dependent joints the axis of rotation intersecting in a single point, e.g. gimbals
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/02—Bodies
    • G03B17/12—Bodies with means for supporting objectives, supplementary lenses, filters, masks, or turrets
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/25—Determination of region of interest [ROI] or a volume of interest [VOI]
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/94—Hardware or software architectures specially adapted for image or video understanding
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/61—Control of cameras or camera modules based on recognised objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/67—Focus control based on electronic image sensor signals
    • H04N23/672—Focus control based on electronic image sensor signals based on the phase difference signals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/67—Focus control based on electronic image sensor signals
    • H04N23/673—Focus control based on electronic image sensor signals based on contrast or high frequency components of image signals, e.g. hill climbing method
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
    • H04N25/70—SSIS architectures; Circuits associated therewith
    • H04N25/76—Addressed sensors, e.g. MOS or CMOS sensors
    • H04N25/768—Addressed sensors, e.g. MOS or CMOS sensors for time delay and integration [TDI]
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
    • G06V2201/07—Target detection
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/617—Upgrading or updating of programs or applications for camera control

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Signal Processing (AREA)
  • Theoretical Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Software Systems (AREA)
  • Studio Devices (AREA)

Abstract

一种云台的控制方法、装置、可移动平台和存储介质。云台的控制方法包括：获取目标对象在采集图像中的采集位置，采集位置是通过图像采集装置所确定的，图像采集装置与云台通信连接；基于采集位置，确定用于对目标对象进行跟随操作的控制参数；根据控制参数对云台进行控制，以实现对目标对象进行跟随操作。

Description

PCT国内申请，说明书已公开。

Claims (96)

  1. PCT国内申请，权利要求书已公开。
CN202080067425.8A 2020-12-30 2020-12-30 云台的控制方法、装置、可移动平台和存储介质 Pending CN114982217A (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2020/141400 WO2022141197A1 (zh) 2020-12-30 2020-12-30 云台的控制方法、装置、可移动平台和存储介质

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CN114982217A true CN114982217A (zh) 2022-08-30

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CN202080067425.8A Pending CN114982217A (zh) 2020-12-30 2020-12-30 云台的控制方法、装置、可移动平台和存储介质
CN202180086440.1A Pending CN116783568A (zh) 2020-12-30 2021-12-06 基于图像采集装置的控制方法、云台的控制方法及装置

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US (1) US20230341079A1 (zh)
CN (2) CN114982217A (zh)
WO (2) WO2022141197A1 (zh)

Citations (5)

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CN104616322A (zh) * 2015-02-10 2015-05-13 山东省科学院海洋仪器仪表研究所 船载红外目标图像辨识跟踪方法及其装置
CN108259703A (zh) * 2017-12-31 2018-07-06 深圳市秦墨科技有限公司 一种云台的跟拍控制方法、装置及云台
CN112055158A (zh) * 2020-10-16 2020-12-08 苏州科达科技股份有限公司 目标跟踪方法、监控设备、存储介质及系统
CN112073641A (zh) * 2020-09-18 2020-12-11 深圳市众志联城科技有限公司 影像拍摄方法、装置、移动终端以及存储介质
CN112616019A (zh) * 2020-12-16 2021-04-06 重庆紫光华山智安科技有限公司 目标跟踪方法、装置、云台及存储介质

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JP3963261B2 (ja) * 2002-06-07 2007-08-22 中央電子株式会社 動画像の自動追尾撮影方法および自動追尾撮影装置
CN103019024B (zh) * 2012-11-29 2015-08-19 浙江大学 实时精确观测和分析乒乓球旋转系统与系统运行方法
CN204859351U (zh) * 2015-03-31 2015-12-09 深圳市莫孚康技术有限公司 基于视频目标跟踪的自动跟焦装置
JP2017034320A (ja) * 2015-07-29 2017-02-09 キヤノン株式会社 移動機構を持った撮像装置
CN107295244A (zh) * 2016-04-12 2017-10-24 深圳市浩瀚卓越科技有限公司 一种稳定器的跟踪拍摄控制方法及系统
CN108475075A (zh) * 2017-05-25 2018-08-31 深圳市大疆创新科技有限公司 一种控制方法、装置及云台
CN109688323A (zh) * 2018-11-29 2019-04-26 深圳市中科视讯智能系统技术有限公司 无人机视觉跟踪系统及其控制方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104616322A (zh) * 2015-02-10 2015-05-13 山东省科学院海洋仪器仪表研究所 船载红外目标图像辨识跟踪方法及其装置
CN108259703A (zh) * 2017-12-31 2018-07-06 深圳市秦墨科技有限公司 一种云台的跟拍控制方法、装置及云台
CN112073641A (zh) * 2020-09-18 2020-12-11 深圳市众志联城科技有限公司 影像拍摄方法、装置、移动终端以及存储介质
CN112055158A (zh) * 2020-10-16 2020-12-08 苏州科达科技股份有限公司 目标跟踪方法、监控设备、存储介质及系统
CN112616019A (zh) * 2020-12-16 2021-04-06 重庆紫光华山智安科技有限公司 目标跟踪方法、装置、云台及存储介质

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CN116783568A (zh) 2023-09-19
WO2022143022A1 (zh) 2022-07-07
US20230341079A1 (en) 2023-10-26
WO2022141197A1 (zh) 2022-07-07

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Application publication date: 20220830