CN117859340A

CN117859340A - Lens adjusting method, adjuster, photographing system, mobile system, and storage medium

Info

Publication number: CN117859340A
Application number: CN202280057903.6A
Authority: CN
Inventors: 殷汇鹏; 刘芳; 陈广明; 邹达明
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2022-06-15
Filing date: 2022-06-15
Publication date: 2024-04-09
Also published as: WO2023240507A1

Abstract

A lens adjusting method, a lens adjusting device, a photographing system, a mobile system and a storage medium. The lens adjusting method is applied to a shooting system, and the shooting system comprises a regulator and a lens, wherein the regulator is used for being in communication connection with the lens; the adjuster comprises an adjusting motor and a gear, wherein the adjusting motor is used for driving the gear to rotate, and the gear is used for being meshed with the lens; the lens is internally provided with a first position sensor; the method comprises the following steps: acquiring lens position information acquired by the first position sensor; and driving the adjusting motor to drive the gear to rotate according to the lens position information so as to adjust parameters of the lens meshed with the gear. According to the embodiment, the adjuster can automatically adjust parameters of the lens according to the lens position information, compared with manual operation, the accuracy of adjusting the parameters of the lens and the shooting effect are improved, and the operation burden of a user is effectively reduced.

Description

Lens adjusting method, adjuster, photographing system, mobile system, and storage medium

Technical Field

The present disclosure relates to the field of shooting technologies, and in particular, to a lens adjustment method, a lens adjustment device, a shooting system, a mobile system, and a storage medium.

Background

The focus follower is one of important accessories of the photographing device, and is used for controlling a manual lens in the photographing device to focus, follow focus and the like in the process of photographing images and/or videos by the photographing device. In the prior art, a focus person is required to manually adjust the focus follower in real time according to the distance between a shooting target and a shooting device, the requirement on operation experience is very high, and the problems of fuzzy focus and poor shooting effect can occur frequently.

Disclosure of Invention

In view of the foregoing, it is an object of the present application to provide a lens adjusting method, a lens adjusting device, a photographing system, a mobile system, and a storage medium.

In a first aspect, an embodiment of the present application provides a lens adjustment method applied to a photographing system, where the photographing system includes a regulator and a lens, and the regulator is used for being communicatively connected with the lens; the adjuster comprises an adjusting motor and a gear, wherein the adjusting motor is used for driving the gear to rotate, and the gear is used for being meshed with the lens; the lens is internally provided with a first position sensor; the method comprises the following steps:

Acquiring lens position information acquired by the first position sensor;

and driving the adjusting motor to drive the gear to rotate according to the lens position information so as to adjust parameters of the lens meshed with the gear.

In a second aspect, embodiments of the present application provide a lens adjustment method applied to an adjuster, where the adjuster is in communication connection with a lens; the adjuster comprises an adjusting motor and a gear, wherein the adjusting motor is used for driving the gear to rotate, and the gear is used for being meshed with the lens; the lens is internally provided with a first position sensor; the method comprises the following steps:

acquiring lens position information acquired by the first position sensor;

In a third aspect, an embodiment of the present application provides a lens adjustment method applied to a photographing system, where the photographing system includes a regulator, a lens, and a photographing device, and the lens is disposed on the photographing device; the adjuster is used for being in communication connection with the lens; the adjuster comprises an adjusting motor and a gear, wherein the adjusting motor is used for driving the gear to rotate, and the gear is used for being meshed with the lens; the lens is internally provided with a memory, and the memory is pre-stored with mapping relations between different focusing distances and lens positions for enabling the shooting device to be in a focusing state; the method comprises the following steps:

Acquiring the mapping relation between different focusing distances and lens positions of the shooting device in a focusing state;

and if the shooting device is in an automatic focusing state, driving the adjusting motor to drive the gear to rotate according to the mapping relation so as to adjust parameters of the lens meshed with the gear.

In a fourth aspect, embodiments of the present application provide an adjuster including a control device, an adjustment motor, and a gear; the adjuster is used for being in communication connection with the lens; the adjusting motor is used for driving the gear to rotate, and the gear is used for being meshed with the lens; the lens is internally provided with a first position sensor;

the control device is used for acquiring lens position information acquired by the first position sensor; and driving the adjusting motor to drive the gear to rotate according to the lens position information so as to adjust parameters of the lens meshed with the gear.

In a fifth aspect, an embodiment of the present application provides a photographing system including a regulator and a lens;

the lens is used for being in communication connection with the regulator; the first position sensor is arranged in the lens and is used for collecting lens position information of the lens;

The adjuster comprises an adjusting motor and a gear, wherein the adjusting motor is used for driving the gear to rotate, and the gear is used for being meshed with the lens;

the adjuster is used for driving the adjusting motor to drive the gear to rotate according to the lens position information so as to adjust parameters of the lens meshed with the gear.

In a sixth aspect, embodiments of the present application provide a mobile system, including a movable platform and a shooting system according to the fifth aspect;

wherein, regulator and shooting device in the shooting system are installed on the movable platform.

In a seventh aspect, embodiments of the present application provide a computer-readable storage medium storing executable instructions that when executed by a processor implement the method of the first, second or third aspects. According to the lens adjusting method, the adjuster, the shooting system, the mobile system and the storage medium, the lens and the adjuster are matched with each other, the position information of the lens can be obtained through the first position sensor arranged inside the lens, so that the adjuster can automatically adjust parameters (such as focal length and focus) of the lens based on the position information of the lens, and compared with manual operation, the accuracy of adjusting the parameters of the lens and the shooting effect are improved, and the operation burden of a user is effectively reduced.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort to a person skilled in the art.

Fig. 1, fig. 2, fig. 4, fig. 6, fig. 9, and fig. 10 are schematic views of different structures of a photographing system according to an embodiment of the present application.

Fig. 3 is a schematic diagram of a first interface and a second interface of a regulator provided in an embodiment of the present application.

Fig. 5 is a schematic structural diagram of a distance sensor according to an embodiment of the present application.

Fig. 7 is a schematic structural diagram of a lens according to an embodiment of the present application.

Fig. 8 is a schematic structural diagram of a regulator according to an embodiment of the present application.

Fig. 11 is an installation schematic of a regulator provided in an embodiment of the present application.

Fig. 12 and 13 are different schematic views of a housing of a regulator provided in an embodiment of the present application.

FIG. 14 is a schematic view of a mounting assembly and quick-connect plate assembly of a regulator provided by embodiments of the present application.

Fig. 15 and 16 are different schematic views of the camera, regulator, mounting assembly and quick-mounting plate assembly provided in the embodiments of the present application.

Fig. 17, 18 and 19 are different structural schematic diagrams of a mobile system according to an embodiment of the present application.

Fig. 20 and 21 are different flow diagrams of the lens adjustment method according to the embodiment of the present application.

Fig. 22 is a schematic structural view of another regulator provided in an embodiment of the present application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.

Based on the problems in the related art, the embodiment of the application provides a lens adjusting method, a regulator, a shooting system, a movable platform and a storage medium, so that the regulator can automatically adjust parameters of a lens, and compared with manual operation, the lens parameter adjusting accuracy and shooting effect are improved, and the operation burden of a user is effectively reduced.

Illustratively, the adjuster includes a focus follower, which may be used to adjust the focal length and/or focus of the lens.

In some embodiments, referring to fig. 1, fig. 1 is a schematic structural diagram of a photographing system according to an embodiment of the present application. The photographing system includes a regulator 20 and a lens 10.

The lens 10 is used for being in communication connection with the regulator 20; the lens 10 is internally provided with a first position sensor 11, and the first position sensor 11 is used for collecting lens position information of the lens 10.

The adjuster 20 includes an adjusting motor 21 and a gear 25, the adjusting motor 21 is used for driving the gear 25 to rotate, and the gear 25 is used for being meshed with the lens 10.

The adjuster 20 is configured to obtain lens position information acquired by the first position sensor 11, and then drive the adjusting motor 21 to drive the gear 25 to rotate according to the lens position information, so as to adjust parameters of the lens 10 engaged with the gear 25.

For example, when the lens 10 is disposed on the photographing device 30, the lens angle (i.e., lens position information) between lens_angle and the image distance v satisfies: v=a_angle+b (1). The parameters a and b relate to the structural parameters of the lens 10 and the structural parameters of a connecting piece (e.g. bayonet) connecting the lens 10 and the camera, and may be specifically set according to the actual application scenario.

As can be seen, the parameters of the lens 10 are related to the lens position, the lens 10 and the regulator 20 are mutually matched, and the first position sensor 11 disposed inside the lens 10 can acquire the lens position information, so that the regulator 20 can automatically regulate the parameters (such as focal length) of the lens 10 based on the lens position information, and compared with manual operation, the parameter regulation accuracy and shooting effect of the lens 10 are improved, and the operation burden of a user is effectively reduced.

Wherein the lens 10 and the regulator 20 can be connected in wireless communication; illustratively, the lens 10 and the regulator 20 are each mounted with a wireless communication component, such as a WiFi component or a bluetooth component, through which the communication connection of the lens 10 and the regulator 20 is achieved. Alternatively, the lens 10 and the regulator 20 are provided with interfaces, and the lens 10 and the regulator 20 are connected in wired communication. The communication connection mode can be selected according to the actual application scenario, and the embodiment does not limit the communication connection mode.

The lens 10 includes a closed cavity, and the first position sensor 11 is disposed in the closed cavity, for example, the first position sensor 11 is disposed in the closed cavity and is close to the inner wall of the lens 10, so as not to affect the light entering amount of the lens 10.

Illustratively, the lens 10 further includes an adjusting ring, and the gear 25 is configured to mesh with the adjusting ring, so that driving the adjusting motor 21 to rotate may drive the lens 10 to rotate, so as to adjust parameters of the lens 10, where the parameters include a focal length and/or a focal point of the lens 10. The lens 10 further comprises a lens group, and rotation of the lens 10 is converted into forward and backward translation distance of the lens group in the lens 10, so that the object distance u and the image distance v are adjusted.

For example, after the adjuster 20 is communicatively connected to the lens 10, the lens 10 is further configured to send lens position information continuously collected by the first position sensor 11 to the adjuster 20, so that the adjuster 20 can learn a position change condition of the lens 10 in real time, and further adjust parameters of the lens 10 according to the latest lens position information, thereby improving parameter adjustment accuracy of the lens 10.

In some embodiments, the photographing system further comprises a photographing device 30, and the lens 10 is disposed on the photographing device 30. Before the photographing device 30 is used to photograph an image, the regulator 20 may control the adjusting motor 21 to drive the lens 10 to focus according to the lens position information acquired by the first position sensor 11, so that the photographing device 30 may photograph in-focus images in an in-focus state, that is, the clear images obtained after the lens 10 is focused successfully.

In some embodiments, referring to fig. 2, the photographing system further includes a photographing device 30 and a pan/tilt head 40, the lens 10 is disposed on the photographing device 30, and the pan/tilt head 40 is used for carrying the photographing device 30. Illustratively, the photographing device 30 is detachably carried on the carrying seat of the pan-tilt head 40, and the regulator 20 is detachably carried on the carrying seat of the pan-tilt head 40. The camera 30 is communicatively connected to the cradle head 40, and the regulator 20 is also communicatively connected to the cradle head 40.

Illustratively, the pan-tilt 40 includes a handheld pan-tilt, which includes a shooting control and an adjusting control, where the shooting control is configured to generate a shooting control instruction sent to the shooting device 30 according to a user operation, and the adjusting control is configured to generate an adjusting instruction sent to the adjusting control according to the user operation. In one example, the capture control includes a shutter control and the adjustment control includes a rotatable pulsator.

Illustratively, the pan-tilt 40 comprises a non-handheld pan-tilt, and the camera 30 and the regulator 20 in the camera system may be mounted by the pan-tilt 40 on a movable platform, including but not limited to an unmanned aerial vehicle, a watercraft, a sweeping robot, or other movable device.

Referring to fig. 3, the adjuster 20 includes a first interface 22 and a second interface 23, wherein the first interface 22 is used for communication connection with the lens 10, and the second interface 23 is used for communication connection with the pan/tilt head 40. Illustratively, the cradle head 40 is further configured to supply power to the regulator 20 via the second interface 23; and/or, the adjuster 20 is further configured to supply power to the lens 10 through the first interface 22, so as to implement interface multiplexing, which is beneficial to reducing hardware cost. It may be understood that the types of the first interface 22 and the second interface 23 in the embodiments of the present application are not limited, and may be specifically set according to the actual application scenario, for example, the first interface 22 and the second interface 23 may be any of the following: type-c interface, USB interface, lemo interface, CAN interface, serial port or SPI interface, etc.

For example, the first interface 22 and the second interface 23 are both type-c interfaces, and when the number of interfaces of the regulator 20 does not meet the requirement, the type-c adapter may be used to expand the number of interfaces of the regulator 20, so as to meet the practical application requirement. Of course, other types of interfaces may also use the adaptive one-to-two adapter to expand the number of interfaces, which is not limited in this embodiment.

Illustratively, where the regulator 20 is further configured to power the lens 10 via the first interface 22, the lens 10 further includes a voltage regulator circuit configured to process an input voltage to output a constant voltage. Of course, the lens 10 may be powered by other devices, and is not limited to the regulator 20.

In some embodiments, it is contemplated that the parameters of the lens 10 are related not only to lens position, but also to other information. Assuming that the distance between the focal plane of the photographing device 30 and the photographing target is d, the relationship between d and the object distance u and the image distance v can be expressed as: d=u+v (2).

When the photographing device 30 is in an in-focus state (i.e., the photographing object is in focus with the focal point of the lens 10), the image distance and the object distance satisfy the gaussian imaging formula:

from equation (2) and equation (3):

as can be seen from equations (1), (4) and (5), the parameters of the lens 10 are related not only to the lens position, but also to the distance between the focal plane of the photographing device 30 and the photographing target.

Because, in order to improve the accuracy of the parameter adjustment of the lens 10 and the shooting effect, referring to fig. 4, the shooting system further includes a distance sensor 50; the distance sensor 50 is used for acquiring a target distance between a shooting target and the shooting device 30. If the photographing device 30 is in an auto-focusing state, the adjuster 20 may acquire the target distance acquired by the distance sensor 50, and further drive the adjusting motor 21 to drive the gear 25 to rotate according to the lens position information and the target distance, so as to adjust parameters of the lens 10 engaged with the gear 25, so that the photographing device 30 is in an in-focus state.

Further, as can be seen from the formulas (1), (4) and (5), the parameters of the lens 10 are also the same as the focal length of the lens 10; referring to fig. 4, the memory 12 is built in the lens 10, and the memory 12 may pre-store the focal length of the lens 10, so that a user does not need to manually input focal length information, which reduces the steps of user operation and is beneficial to improving the user experience. Illustratively, the lens 10 includes a closed cavity, and the memory 12 is disposed in the closed cavity, for example, the memory 12 is disposed in the closed cavity and is close to an inner wall of the lens 10, so as not to affect an amount of light entering the lens 10.

If the photographing device 30 is in an auto-focusing state, the adjuster 20 may obtain the target distance acquired by the distance sensor 50 and obtain the focal length of the lens 10 from the memory 12, and further drive the adjusting motor 21 to drive the gear 25 to rotate according to the lens position information, the focal length of the lens 10 and the target distance, so as to adjust parameters of the lens 10 engaged with the gear 25, so that the photographing device 30 is in a focusing state. In this embodiment, the adjuster 20 integrates the lens position information, the focal length of the lens 10, and the target distance to automatically adjust the parameters of the lens 10, which is beneficial to improving the accuracy of the automatic adjustment process.

For example, referring to fig. 5, the distance sensor 50 includes a transmitter 51, a receiver 52, and a controller 53, and the controller 53 controls the transmitter 51 to transmit an optical signal and receives the reflected optical signal through the receiver 52, thereby collecting distance sensing data to obtain a target distance between a photographing target and a photographing apparatus according to the distance sensing data. By way Of example, the distance sensor 50 may be a TOF (Time Of Flight) distance sensor, such as a lidar, millimeter wave radar, or infrared distance sensor, or the like.

In one possible embodiment, the distance sensor 50 is detachably disposed on the photographing device 30. For example, the distance sensor 50 may be disposed on a hot shoe of the photographing device 30, in which case, the ranging reference plane of the distance sensor 50 and the focal plane of the photographing device 30 may substantially coincide within a certain error range, that is, the measured distance output by the distance sensor 50 is the target distance between the photographing target and the photographing apparatus. Of course, the distance measurement reference surface of the distance sensor 50 may be installed at a fixed distance from the focal plane of the imaging device 30, as long as the fixed distance is taken into consideration in the subsequent calculation. For example, the distance measurement reference surface of the distance sensor 50 is located behind the focal plane of the photographing device 30, i.e., on the side facing away from the photographing target, and the distance difference between the distance measurement reference surface of the distance sensor 50 and the focal plane of the photographing device 30 is a fixed value L, and if the measurement distance output by the distance sensor 50 is M, the target distance between the photographing target and the photographing apparatus is (M-L). Specific settings can be performed according to the actual application scenario, which is not limited in this embodiment.

In another possible embodiment, the distance sensor 50 is detachably carried on the carrying seat of the pan-tilt head 40, the photographing device 30 is also detachably disposed on the carrying seat of the pan-tilt head 40, and the distance sensor 50 and the photographing device 30 are relatively fixedly disposed on the pan-tilt head 40, so as to achieve the above accurate calculation of the target distance, and the balance of the distance sensor 50 and the photographing device 30 can be ensured according to the balance adjustment function of the pan-tilt head 40, so as to improve the photographing effect.

For example, referring to fig. 4, the distance sensor 50 may be communicatively coupled to the regulator 20, and the distance sensor 50 may transmit the continuously collected target distance to the regulator 20. For example, referring to fig. 6, the distance sensor 50 is communicatively connected to the pan/tilt head 40, and the above-mentioned regulator 20 is communicatively connected to the pan/tilt head 40 (via the second interface 23), the pan/tilt head 40 may transmit the target distance acquired by the distance sensor 50 to the regulator 20, that is, the regulator 20 receives the target distance forwarded from the pan/tilt head 40 via the above-mentioned second interface 23.

In some embodiments, as can be seen from the above formula (1) and formula (5), there is a nonlinear mapping relationship between the lens angle (i.e. the lens position information) and the distance (the distance between the focal plane of the photographing device 30 and the photographing target), i.e. there is a one-to-one correspondence between the lens position information and the target distance (the distance between the photographing device 30 and the photographing target), and the regulator 20 needs to determine the corresponding target lens position according to the target distance in the process of automatically regulating the parameters of the lens 10 according to the lens position information and the target distance, so that the regulating motor 21 can be driven to drive the gear 25 to rotate, so that the lens 10 engaged with the gear 25 can move from the current lens position to the target lens position to achieve focusing. In this process, the regulator 20 may acquire lens position information continuously collected by the first distance sensor 50 in the lens 10, and may stop driving the regulating motor 21 engaged with the lens 10 when the lens position information indicates that the lens 10 is moved to the target lens position.

In order to reduce the calibration steps in the shooting process, the present embodiment pre-stores the mapping relationship between different focusing distances and lens positions of the shooting device 30 in the focusing state in the memory 12 of the built-in lens 10, and the mapping relationship can be obtained by calibrating the lens 10 before the lens 10 is produced, so that the mapping relationship can be directly read from the memory 12 in the actual shooting process and applied to the adjustment link of the lens 10, the calibration process is not required to be repeated, and the operation steps of a user are reduced.

In the process of obtaining the mapping relation, the lens position can be adjusted at different focusing distances until focusing is clear, in the process, the definition of a shot picture can be detected by a specified detection algorithm to determine whether focusing is clear, then the focusing distance during focusing and the lens position information detected by the first position sensor 11 are recorded, after a plurality of groups of different { focusing distances and lens position information } are calibrated, the mapping relation can be obtained according to a plurality of groups of different { focusing distances and lens position information } and stored in the memory 12 arranged in the lens 10. It may be appreciated that, in this embodiment, the specific form of the mapping relationship is not limited, and may be specifically set according to an actual application scenario, for example, the mapping relationship may be stored in a data table form or may be stored in a functional relationship form.

If the photographing device 30 is in an auto-focusing state, the adjuster 20 may obtain the target distance acquired by the distance sensor 50, and obtain the mapping relationship and the focal length of the lens 10 from the memory 12, and further drive the adjusting motor 21 to drive the gear 25 to rotate according to the target distance, the focal length of the lens 10, the mapping relationship and the lens position information, so as to adjust parameters of the lens 10 engaged with the gear 25, so that the photographing device 30 is in a focusing state. For example, the adjuster 20 may determine the corresponding target lens position according to the target distance, the focal length of the lens 10, and the mapping relationship, and then drive the adjusting motor 21 to rotate the gear 25 according to the difference between the current lens position (i.e. the last acquired lens position information of the first distance sensor) and the target lens position; alternatively, in this process, the regulator 20 may acquire lens position information continuously collected by the first distance sensor 50 in the lens 10, and may stop driving the regulating motor 21 when the lens position information indicates that the lens 10 is moved to the target lens position. In this embodiment, the adjuster 20 integrates the lens position information, the focal length of the lens 10, the target distance, and the mapping relationship to automatically adjust the parameters of the lens 10, which is beneficial to improving the accuracy of the automatic adjustment process, and the repeated calibration link in the shooting process can be omitted by pre-storing the mapping relationship in the memory 12, which is beneficial to improving the adjustment efficiency.

In some embodiments, referring to fig. 7, an MCU13 is built in the lens 10, the memory 12 is a built-in memory 12 of the MCU13, the MCU13 is connected to the first position sensor 11, and the MCU13 is configured to transmit the mapping relationship, the focal length of the lens 10, and lens position information continuously collected by the first position sensor 11 to the regulator 20. The lens 10 includes a closed cavity, and the MCU13 is disposed in the closed cavity, for example, the MCU13 is disposed in the closed cavity and is closely attached to an inner wall of the lens 10, so as not to affect an amount of light entering the lens 10.

In some embodiments, the focusing or follow-up of the lens 10 is generally performed by keeping the position of the shooting target and the focal plane position of the shooting device 30 unchanged, and the regulator 20 drives the adjusting motor 21 to drive the gear 25 to rotate, so as to drive the lens 10 meshed with the gear 25 to rotate, and the rotation of the lens 10 is converted into a front-back translation distance of the lens group in the lens 10, so that the object distance u and the image distance v are adjusted to focus the shooting picture. Therefore, in adjusting the parameters of the lens 10, it is also necessary to know the conversion parameters between the adjustment motor 21 and the lens 10 so as to drive the adjustment motor 21 to rotate the lens 10 engaged with the gear 25 to an accurate lens position.

Illustratively, the conversion parameters include at least one of: the engagement direction of the gear 25 with the lens 10, the reduction ratio between the adjustment motor 21 and the lens 10, or the conversion relationship between the lens position and the rotational position of the adjustment motor 21. In which the engagement direction of the gear 25 and the lens 10 is different, the conversion relationship between the lens position and the rotation position of the adjustment motor is also different.

In the case where the engagement direction of the gear 25 with the lens 10 is determined, the conversion relationship between the rotational position motor_angle of the adjustment motor 21 and the lens position lens_angle satisfies: lens_angle=k. Monitor_angle (6). Where k is the reduction ratio between the adjustment motor 21 and the lens 10. I.e. there is a one-to-one correspondence between the lens position and the rotational position of the adjustment motor 21.

According to the gear engagement of the adjusting motor and the internal structure of the lens, as can be obtained from the formula (1) and the formula (6), the rotation position motorjangle and the image distance v of the adjusting motor 21 satisfy: v=a ₁ * motor_ angle+b (7); wherein, let a ₁ ＝ak。

As can be seen from the above formula, when the mapping relationship between the different focusing distances and the lens positions of the photographing device 30 in the focusing state and the corresponding relationship between the lens positions and the rotation positions of the adjusting motor are known, the adjuster 20 can determine the target lens position according to the target distance, determine the target rotation position of the adjusting motor 21 based on the target lens position, and further drive the adjusting motor 21 to rotate to the target rotation position, so that the lens 10 moves to the target lens position to achieve focusing. Alternatively, in this process, the regulator 20 may acquire lens position information continuously collected by the first position sensor 11 in the lens 10, and may stop driving the regulating motor 21 when the lens position information indicates that the lens 10 is moved to the target lens position.

For example, if the photographing device 30 is in an auto-focusing state, the regulator 20 may obtain a conversion parameter between the motor of the regulator 20 and the lens 10, and then drive the adjusting motor 21 to rotate the gear 25 according to the conversion parameter, the target distance, the focal length of the lens 10, the mapping relationship and the lens position information, so as to adjust the parameter of the lens 10 engaged with the gear 25, so that the photographing device 30 is in an in-focus state. For example, the regulator 20 may calculate, according to the above information, a target rotation position of the adjusting motor 21 corresponding to the target distance, and then may drive the adjusting motor 21 to rotate to the target rotation position, so that the photographing device 30 is in a focusing state. The embodiment realizes that the adjuster 20 automatically and accurately adjusts the parameters of the lens 10, and the pre-stored mapping relation of the memory 12 is beneficial to reducing the calibration operation in the shooting process and improving the adjusting efficiency.

The process of acquiring the conversion parameters is exemplified here:

in one possible implementation, referring to fig. 8, the regulator 20 further includes a second position sensor 24; the second position sensor 24 is used for acquiring rotational position information of the adjustment motor 21. If the photographing device 30 is in an auto-focusing state, before adjusting the parameters of the lens 10 meshed with the gear 25, the adjuster 20 may drive the adjusting motor 21 to drive the gear 25 to rotate N teeth in a first direction, where N is an integer smaller than 10, and drive the adjusting motor to drive the gear to rotate N teeth in the first direction, so as to complete the calibration between the adjuster and the lens.

Illustratively, the adjuster 20 acquires the lens position information set continuously collected by the first position sensor 11 and the rotational position information set continuously collected by the second position sensor 24 during driving the adjusting motor 21 to rotate the gear 25 in the first direction by N teeth; determining a conversion parameter between the regulator 20 and the lens 10 based on a difference between the set of lens position information and the set of rotational position information; the conversion parameters include at least one of: the engagement direction of the gear 25 with the lens 10, the reduction ratio between the adjustment motor 21 and the lens 10, or the conversion relationship between the lens position and the adjustment motor rotation position. The conversion parameter is used to make the adjustment motor 21 drive the lens 10 into focus. In the embodiment, the conversion parameters can be determined by controlling the adjusting motor 21 to shake in a small range, and the operation is simple.

The above-mentioned conversion parameter determination process may be triggered when:

in the first case, the regulator 20 receives calibration instructions generated on the basis of calibration controls, i.e. the conversion parameter determination process is triggered manually by the user. In an example, for instance, the regulator 20 is communicatively connected to the cradle head 40 through the second interface 23, the cradle head 40 is a handheld cradle head, a calibration control is provided on the cradle head 40, after the user triggers the calibration control, the cradle head 40 may generate a calibration instruction and send the calibration instruction to the regulator 20, so as to instruct the regulator 20 to perform the above-mentioned conversion parameter determining process; in another example, the photographing device 30 and the regulator 20 are mounted on a movable platform, the calibration control is arranged on a remote control device in communication connection with the movable platform, and after the user triggers the calibration control, the remote control device generates a calibration instruction and sends the calibration instruction to the movable platform, and the calibration instruction is forwarded to the regulator 20 by the movable platform.

In the second case, the photographing device 30 supports both an autofocus mode and a manual focus mode, and when detecting that the photographing device 30 enters an autofocus state, the adjuster 20 is triggered to perform the above-described conversion parameter determination process.

In a third case, the regulator 20 may be triggered to perform the above-mentioned conversion parameter determining process after each power-up of the regulator 20, and obtain the conversion parameters for subsequent use.

In the fourth case, it is considered that if the regulator 20 and the lens 10 are fixedly installed at all times, the relative installation position therebetween is unchanged, and the conversion parameter of the regulator 20 determined for the first time is also unchanged, it is possible to continue the use. However, in the case that the relative installation position between the regulator 20 and the lens 10 is changed, for example, the regulator 20 and the lens 10 are reinstalled after being removed, or the user manually adjusts the position of the regulator 20, etc., the regulator 20 needs to perform the above-mentioned conversion parameter determining process to reacquire the conversion parameter, so as to ensure the accuracy of the subsequent adjustment process of the lens 10.

Illustratively, in performing the above-described conversion parameter determination process, if it is determined that the first direction is opposite to a preset focusing direction based on a difference between the lens position information set and the rotational position information set, the adjustment motor 21 is rotated in a direction opposite to the first direction in a subsequent adjustment of the parameter of the lens 10 engaged with the adjustment motor 21; the preset focusing direction refers to a direction in which the lens 10 is successfully focused.

In one example, for example, during the period when the adjusting motor 21 drives the gear 25 to rotate N teeth in the first direction, the lens positions in the lens position information set are sequentially ordered according to the collection time to be gradually increased in the change trend, and the rotating positions of the adjusting motor in the rotating position information set are sequentially ordered according to the collection time to be also gradually increased in the change trend, so that it can be determined that the first direction is the same as the preset focusing direction; and if the lens positions in the lens position information set are sequenced to gradually increasing change trend according to the acquisition time, and the rotation position of the adjusting motor in the rotation position information set is gradually decreasing change trend according to the acquisition time sequencing, the first direction can be determined to be opposite to the preset focusing direction.

In another possible implementation, the memory 12 built in the lens 10 may also store the number of teeth of the lens 10; the adjuster 20 may determine the reduction ratio and the conversion relationship based on the difference between the number of teeth of the lens 10 and the number of teeth of the gear 25. And, the engagement direction of the gear 25 with the lens 10 may be input by a user; in one example, the adjuster 20 is communicatively connected to the holder 40, the holder 40 is a handheld holder, the holder 40 is provided with a touch display screen 60, and the engagement direction of the gear 25 with the lens 10 (or the installation direction of the adjuster) is input by a user on the touch display screen 60. Of course, other input modes may be used, such as voice input or input through other devices (such as a mobile terminal communicatively connected to the cradle head 40), which is not limited in this embodiment. In this embodiment, the conversion parameters can be obtained without controlling the adjusting motor 21 to shake, so that the subsequent lens 10 parameter adjusting process can be directly performed, which is beneficial to improving the subsequent lens 10 parameter adjusting efficiency.

In some embodiments, during auto-focus, since the lens 10 may continuously feed back lens position information in real time through the first position sensor 11, and the regulator 20 may continuously determine rotational position information of the regulating motor 21 in real time through the second position sensor 24; then after the conversion relationship between the lens position and the rotational position of the adjustment motor 21 is obtained, if the last acquired lens position information of the first position sensor 11 and the last acquired rotational position information of the second position sensor 24 do not satisfy the conversion relationship, it may be determined that the gear 25 is in mesh with the lens 10, and at this time, in order to prevent the abnormal focus, the conversion relationship may be updated according to the last acquired lens position information and the last acquired rotational position information, and the updated conversion relationship may be used to participate in the subsequent autofocus process, so as to ensure that the photographing apparatus 30 is still in the in-focus state. Optionally, a misalignment prompt may also be output to prompt the user to correct the gear 25 and the lens 10 for engagement.

For example, referring to fig. 9, the photographing system further includes a display screen 60, and the misalignment prompt information may be output through the display screen 60. In one example, the camera system includes a cradle head 40 that is a handheld cradle head, and the display screen 60 is disposed on a handheld portion of the cradle head 40. In another example, the photographing device 30 in the photographing system is mounted on a movable platform, for example, the photographing device 30 is fixedly mounted on the movable platform or mounted on the movable platform through a cradle head 40, the movable platform is in communication connection with a remote control device, and the display screen 60 is disposed on the remote control device.

In some embodiments, the adjuster 20 pre-stores rotation limit information for the lens 10; alternatively, the memory 12 built in the lens 10 stores rotation limit information of the lens 10, so that it is not necessary to calibrate the rotation limit of the lens 10 during focusing. If the photographing device 30 is in a manual focusing state, the regulator 20 may determine whether the lens position is at or near a rotation limit according to the lens position information and the rotation limit information collected by the first position sensor 11, and if it is determined that the current lens position is not a rotation limit based on the lens position information and the rotation limit information, the regulator motor 21 may be driven to drive the gear 25 to rotate according to a manual focusing control instruction, so as to regulate parameters of the lens 10 engaged with the gear 25; if it is determined that the current position of the lens is close to the rotation limit based on the lens position information and the rotation limit information, the regulator 20 may stop driving the rotation of the regulating motor 21. In this embodiment, the lens position information collected by the pre-stored rotation limiting information and the first position sensor 11 can realize a limiting avoidance function, so as to avoid damage to the lens 10 caused by bumping limitation in the auto-focusing process.

For example, the lens 10 may be calibrated to be 0-1000 before leaving the factory, wherein 0 and 1000 are two rotation limits of the lens 10, the first position sensor 11 continuously pushes lens position information to the regulator 20 after the lens 10 is powered on, and when the regulator 20 determines that the last acquired lens position information is close to 0 or 1000, torque output is automatically turned off, and the rotation of the adjusting motor 21 is stopped to be driven, so that a limit avoidance function is realized.

The source of the manual focus control instruction is exemplified here:

in one example, referring to fig. 2, the adjuster 20 is communicatively connected to the pan-tilt 40, the pan-tilt 40 is a handheld pan-tilt, and the pan-tilt 40 is provided with an adjustment control, and the manual focus control command is generated by a user when the adjustment control is triggered.

In another example, referring to fig. 10, the photographing system further includes an adjustment wheel 70, and the manual focus control command may be generated according to a rotational position and/or rotational speed of the adjustment wheel 70. Optionally, the pan-tilt-head 40 is a handheld pan-tilt-head, the adjusting wheel 70 is detachably mounted on the pan-tilt-head 40, and the pan-tilt-head 40 may generate the manual focus control command according to the rotation position and/or rotation speed of the adjusting wheel 70 and send the manual focus control command to the adjuster 20. Alternatively, if the photographing apparatus 30 of the photographing system is mounted on a movable platform, the adjusting wheel 70 may be provided on a remote control device communicatively connected to the movable platform.

In yet another example, the photographing system further includes a mobile terminal, and the manual focus control instruction is generated according to a user operation on the mobile terminal. Optionally, the mobile terminal is detachably mounted on the pan-tilt 40, and the mobile terminal is in communication connection with the pan-tilt 40, and the pan-tilt 40 may send a manual focus control instruction generated by the mobile terminal to the adjuster 20.

In some embodiments, it is contemplated that the presence of some anomalies in the adjuster may affect the use of the adjuster or the focus function. For example, operating the regulator in an unloaded state (i.e., the regulator is not in contact with the lens) can cause loss of the regulator, affecting the useful life of the regulator. For example, the adjuster may collide with the rotation limit of the lens during rotation, so that the situation of dragging teeth is caused. Or the poor mounting effect of the regulator and the lens (such as large gear meshing gap/virtual position and bending/shaking of the bayonet/bracket) causes poor transmission effect of the regulator and the lens, thereby influencing focusing effect. Therefore, it is necessary to perform abnormality detection on the regulator to improve accuracy of adjustment of the lens parameters.

Illustratively, upon receiving an abnormality detection instruction triggered based on the abnormality detection control, the abnormality detection process is triggered on the regulator 20. In one example, the regulator 20 is communicatively connected to the holder 40, the holder 40 is a handheld holder, the abnormality detection control may be set on the holder 40, and after the user triggers the abnormality detection control, the holder 40 may generate an abnormality detection instruction and send the abnormality detection instruction to the regulator 20 to instruct the regulator 20 to perform abnormality detection.

For example, the regulator 20 may perform abnormality detection during the execution of a specific task of driving the rotation of the regulating motor 21.

For example, the regulator 20 may be powered on to detect an abnormality.

In the abnormality detection process, the regulator 20 may control the rotation of the regulating motor 21 with a preset control parameter, and obtain a motion parameter of a housing of the regulator 20 and/or a motion parameter of the regulating motor 21 during the rotation of the regulating motor 21; the abnormal state of the regulator 20 may be fed back through the motion parameters, so that whether the regulator 20 is in the abnormal state may be determined based on the motion parameters of the casing of the regulator 20 and/or the motion parameters of the regulating motor 21, and if yes, an abnormality prompting message may be output to prompt the user to perform abnormality correction. The present embodiment takes into account the difference in the motion parameters of the regulator 20 between the normal state and the abnormal state, and thus facilitates the detection accuracy by adjusting the motion parameters during the rotation of the motor 21 to detect the abnormal state.

In the case where the gear 25 in the regulator 20 is normally engaged with the lens 10, the following relationship is satisfied: t=jα+bω+f (8); t=ki (9). Wherein T is motor driving torque; k is a motor moment coefficient; i is motor current; j is the rotational inertia of the system; alpha is angular acceleration, and can be obtained by differentiating motor angle signals twice; b is a damping coefficient; omega is the rotating speed and can be obtained by differentiating the angle signals of the motor once; f is friction.

In some embodiments, the abnormal state includes an empty state indicating that the regulator 20 is not in contact with the lens 10, specifically, that the gear 25 in the regulator 20 is not engaged with the lens 10. J (system moment of inertia), B (damping coefficient), f (friction force) of the regulator 20 in the no-load state may be smaller than J, B, f in the case where the regulator 20 is in normal contact with the lens 10, resulting in a difference in the motion parameters acquired by the regulator 20 in the normal state and in the abnormal state, respectively.

In the first possible implementation, since J, B, f of the regulator 20 in the idle state is smaller than J, B, f in the case where the regulator 20 is in normal contact with the lens 10, as is apparent from the formula (8), when the regulating motor 21 is driven to rotate with the first set torque, the rotation speed of the regulating motor 21 in the idle state is obviously greater than that in the case where the regulator 20 is in normal contact with the lens 10. Thus, the regulator 20 controls the rotation of the regulating motor 21 with a first set torque, and obtains the rotation speed of the regulating motor 21; if the rotational speed is greater than a preset rotational speed, it is determined that the regulator 20 is in an idle state. The preset rotation speed may be determined according to the rotation speed of the adjusting motor 21 acquired when the adjuster 20 is in contact with the lens 10. Alternatively, the preset rotational speed is a rotational speed at which the adjustment motor 21 rotates at the first set torque in a case where the adjuster 20 is in contact with the lens 10.

The regulator 20 is provided with a second position sensor 24, and the second position sensor 24 is used for detecting the rotation position of the regulating motor 21, so that information such as the rotation speed, the acceleration, the angular acceleration and the like of the regulating motor 21 can be obtained through a gear transmission relationship.

In a second possible implementation, since J, B, f of the regulator 20 in the idle state is smaller than J, B, f in the case where the regulator 20 is in normal contact with the lens 10, as shown in equation (8), when the regulating motor 21 is driven to rotate at the set rotation speed, it is apparent that the torque required to be output in the idle state is smaller than the torque required to be output in the case where the regulator 20 is in normal contact with the lens 10. Therefore, the regulator 20 may control the rotation of the regulating motor 21 at a set rotation speed, and obtain an output torque of the regulating motor 21, and determine that the regulator 20 is in an idle state if the output torque is less than a preset torque. The preset torque may be determined according to the output torque of the adjusting motor 21 acquired when the adjuster 20 is in contact with the lens 10. Alternatively, the preset torque is an output torque when the adjustment motor 21 rotates at the set rotation speed in a case where the adjuster 20 is in contact with the lens 10.

The regulator 20 includes a current sampling circuit, and can measure the output torque of the regulating motor 21 according to the torque coefficient of the motor by collecting the current on the regulating motor 21.

In a third possible implementation, since J, B, f of the regulator 20 in the idle state is smaller than J, B, f in the case where the regulator 20 is in normal contact with the lens 10, it is apparent from equation (8) that when the regulating motor 21 is driven to rotate with a torque of a set frequency and a set amplitude, the rotational speed variation amplitude, the acceleration variation amplitude, and/or the rotational angle variation amplitude of the regulating motor 21 are larger in the idle state than in the case where the regulator 20 is in normal contact with the lens 10. Therefore, the regulator 20 can control the rotation of the regulating motor 21 with a torque of a set frequency and a set amplitude, and acquire the rotation speed variation amplitude, the acceleration variation amplitude and/or the rotation angle variation amplitude of the regulating motor 21; if the rotational speed variation amplitude, the acceleration variation amplitude and/or the rotational angle variation amplitude are all larger than the corresponding preset amplitude, it is determined that the regulator 20 is in the no-load state. Wherein the preset amplitude can be determined according to the rotation speed variation amplitude, acceleration variation amplitude and/or rotation angle variation amplitude of the adjusting motor 21 acquired under the condition that the adjuster 20 is in contact with the lens 10; alternatively, the preset amplitude is a rotational speed variation amplitude, an acceleration variation amplitude, and/or a rotational angle variation amplitude when the adjustment motor 21 rotates with the torque of the set frequency and the set amplitude in the case where the adjuster 20 is in contact with the lens 10.

For example, the above-mentioned method may be used to detect whether the regulator 20 is in an idle state after the regulator 20 is powered up, and if so, the abnormality notification may be used to prompt the user to install the lens 10 or reinstall the regulator 20 so as to facilitate the contact of the lens 10. For example, referring to fig. 9, the photographing system further includes a display screen 60, and the abnormality notification information may be output through the display screen 60. In one example, the camera system includes a cradle head 40 that is a handheld cradle head, and the display screen 60 is disposed on a handheld portion of the cradle head 40. In another example, the camera 30 in the camera system is mounted on a movable platform, the movable platform is in communication connection with a remote control device, and the display screen 60 is disposed on the remote control device.

For example, if the regulator 20 is detected in an idle state, the regulator 20 may stop outputting torque, thereby controlling the regulating motor 21 to stop rotating.

In some embodiments, the abnormal state includes a locked-rotor state, which indicates that the gear 25 is in collision with the rotational limit of the lens 10. The regulator 20 may control the adjusting motor 21 to drive the gear 25 to rotate with a second set torque, and obtain the rotation speed of the adjusting motor 21, and if the rotation speed is close to 0 or equal to 0, determine that the regulator 20 is in the locked-rotor state.

For example, if it is detected that the regulator 20 is in a locked-rotor state, the regulator 20 may stop outputting torque, so as to control the regulating motor 21 to stop rotating, and avoid damage to components caused by frequent collision of gears with a limit. Illustratively, the regulator 20 includes an indicator light; if it is determined that the regulator 20 is in the locked-rotor state, the output abnormality notification includes: and controlling the indicator lamp to flash. For example, referring to fig. 9, the photographing system further includes a display screen 60, and the abnormality notification may be outputted through the display screen 60, for prompting the user to reinstall the regulator 20.

In some embodiments, the abnormal state includes a tooth-off state, the tooth-off state indicating that the gear 25 is in meshing misalignment with the lens 10. When the tooth is removed, the gear 25 is meshed with the gear of the lens 10 and misplaced, the structure such as the bracket and the bayonet has certain elasticity, and the meshing of the gear 25 and the lens 10 can be sprung out, staggered by one tooth and then sprung back.

In one possible implementation, when the adjusting motor 21 drives the lens 10 to rotate, the tooth detachment occurs, the torque, the rotation speed and/or the rotation angle of the driving motor continuously jump. The regulator 20 may control the rotation of the regulating motor 21 for a preset period of time, and obtain an output torque, a rotation speed and/or a rotation angle of the regulating motor 21; if the waveform corresponding to the output torque, the waveform corresponding to the rotation speed has a periodic jump condition or the waveform corresponding to the rotation angle is not smooth, it is determined that the regulator 20 is in a tooth-disengaging state.

For example, when the waveform corresponding to the output torque, the waveform corresponding to the rotational speed has a periodic jitter condition or the waveform corresponding to the rotational angle is not smooth, the corresponding slope of the waveform corresponding to the output torque, the waveform corresponding to the rotational speed and/or the slope of the waveform corresponding to the rotational angle may be detected, and when the change amplitude of the slope is greater than the corresponding preset change amplitude, the regulator 20 is determined to be in the tooth-disengaged state.

For example, fourier transformation may be performed on the output torque, the rotation speed, and/or the rotation angle to obtain corresponding frequency data, and a high frequency component corresponding to the output torque, the rotation speed, and/or the rotation angle may be obtained therefrom, and if the high frequency component is greater than a preset frequency, it is determined that the regulator 20 is in the tooth-removed state.

In another possible implementation, when the adjusting motor 21 drives the lens 10 to rotate and tooth disengagement occurs, the housing of the adjuster 20 has a shaking phenomenon. Therefore, the regulator 20 may be provided with an inertial measurement unit, and the regulator 20 may control the rotation of the adjustment motor 21 for a preset period of time, and obtain the angular velocity and/or acceleration of the housing of the regulator 20 through the inertial measurement unit, and determine that the regulator 20 is in the tooth-disengaged state if the angular velocity and/or acceleration indicates that the housing of the regulator 20 has a shaking condition. Optionally, if the angular velocity and/or acceleration of the housing of the regulator 20 is greater than a corresponding preset threshold, determining that the regulator 20 is in a tooth-disengaged state; the preset threshold value can be specifically set according to an actual application scene.

For example, considering that the gear 25 is generally hit by the gear 25 to cause the gear 20 to be disengaged, if it is determined that the gear 20 is in the disengaged state, the regulator 20 may acquire the current lens position information of the lens acquired by the first position sensor 11, and store the current lens position information as the rotational positioning information of the lens 10, so as to be used in the subsequent manual focusing process.

For example, if the adjuster 20 is detected to be in a tooth-removed state, the adjuster 20 may stop outputting torque, thereby controlling the adjusting motor 21 to stop rotating, and avoiding damage to parts caused by continued rotation. For example, referring to fig. 9, the photographing system further includes a display screen 60, and the abnormality notification may be outputted through the display screen 60, for prompting the user to reinstall the regulator 20.

In some embodiments, there may still be some installation problems when the lens 10 is installed normally and no tooth stripping occurs, such as: the gear engagement gap/virtual position is large because the gear 25 is not tightly pressed against the lens 10; alternatively, the adjusting motor 21 is supported and the mount of the lens 10 is loosened, and the lens 10 is not driven when the motor rotates in a small range, but is consumed in a virtual position and structural deformation. The abnormal state includes an abnormal installation state indicating the installation problem described above.

In one possible implementation, when the bracket and the bayonet are loose, the elastic force is smaller than the static friction of the lens, and the torque smaller than the static friction can rotate the motor angle. Therefore, the adjuster 20 drives the adjusting motor 21 to rotate with a third set torque, which is smaller than a torque capable of driving the adjusting motor 21 to rotate in normal engagement with the lens 10, and then obtains the rotation speed of the adjusting motor 21 during rotation; if the rotational speed is greater than 0, it is determined that the regulator 20 is in an abnormal installation state.

In another possible implementation, when the carrier, bayonet, and gear mesh gap are larger, the same magnitude of torque excitation will produce a greater magnitude of speed, angle change. Therefore, the regulator 20 may drive the rotation of the adjustment motor 21 with a fourth set torque that is greater than or equal to a torque capable of driving the rotation of the adjustment motor 21 that is normally engaged with the lens 10, and then obtain a variation range of the rotation speed and/or a variation range of the rotation angle of the adjustment motor 21 during the rotation; if the variation amplitude of the rotation speed is greater than the first variation amplitude and/or the variation amplitude of the rotation angle is greater than the second variation amplitude, determining that the regulator 20 is in an abnormal installation state; under the condition that the first change amplitude indicating gear is normally meshed with the lens, driving an adjusting motor which is normally meshed with the lens to rotate according to the fourth set torque to obtain a rotation speed change amplitude; and under the condition that the second change amplitude indicating gear is normally meshed with the lens, driving an adjusting motor which is normally meshed with the lens to rotate according to the fourth set torque to obtain the change amplitude of the rotation angle.

For example, if the regulator 20 is in an abnormal installation state, the abnormality notification includes installation evaluation information for indicating an installation effect of the regulator 20; and the abnormality notification is also used to prompt the user to reinstall the regulator 20. Optionally, the abnormality notification is output through the display 60.

Optionally, the installation evaluation information includes a quantization index indicating installation tightness and/or structural rigidity of the regulator 20; the size of the quantization index is determined according to at least one of the following motion parameters: the rotation speed obtained when the adjusting motor 21 is controlled to rotate according to the third set torque, and the rotation speed and/or the rotation angle obtained when the adjusting motor 21 is controlled to rotate according to the fourth set torque. In one example, for example, the value of the quantization index is in a proportional relation with the installation fastening degree, and the higher the value is, the higher the installation fastening degree is; the larger the rotation speed obtained when the adjusting motor 21 is controlled to rotate according to the third set torque, the lower the installation fastening degree is, the smaller the value of the quantization index is; the larger the variation width of the rotational speed and/or the variation width of the rotational angle obtained when the rotation of the adjustment motor 21 is controlled according to the fourth set torque, the lower the installation tightness is, the smaller the value of the quantization index is.

In some embodiments, referring to FIG. 11, to secure the regulator, the regulator is typically secured to the mounting tube using a retaining member (e.g., a toggle) that directly rubs against the housing of the regulator. When the locking piece is screwed up, the shell is easily scratched, the surface spraying layer of the regulator is easily damaged, the appearance is influenced, and the regulator is easily corroded. It is also desirable that the wrenching mechanism provide a high tightening force to prevent slippage of the regulator on the mounting tube, but insufficient thread strength to engage the locking member.

With respect to the problems in the related art, the embodiment of the present application improves the housing of the regulator 20, referring to fig. 12 and 13, the housing of the regulator 20 includes a connection structure 200 and a locking member 100, and the connection structure 200 is detachably connected to the mounting tube 301. The connection structure 200 includes a first connector 211 and a second connector 221, and the first connector 211 and the second connector 221 form a first through hole 201 through which the mounting tube 301 passes. When the regulator 20 is mounted on the mounting tube 301 through the first through hole 201, the first and second coupling members 211 and 221 are locked by the locking member 100.

Illustratively, the first connector 211 includes an inner bore 2111 and a socket 2112 disposed in the inner bore 2111, the socket 2112 includes an inner thread and an outer thread, the inner bore 2111 is provided with the inner thread, and the outer thread of the socket 2112 mates with the inner thread of the inner bore 2111. Illustratively, the mouthpiece 2112 is a metal mouthpiece. The present embodiment improves thread strength through the shell. Alternatively, the mouthpiece 2112 may be secured to the housing by in-mold injection. Illustratively, the internal thread of the mouthpiece 2112 is M4, and the external thread of the mouthpiece 2112 is M7 or M8; the diameter of the inner bore 2111 is greater than 8 millimeters.

Illustratively, the second connecting member 221 includes a stepped hole 2211 and a sleeve 2212 mated with the stepped hole 2211, wherein an area of a side of the stepped hole 2211 facing away from the first connecting member 211 is larger than an area of a side of the stepped hole adjacent to the first connecting member 211, and an area of a side of the sleeve 2212 facing away from the first connecting member 211 is larger than an area of a side of the stepped hole adjacent to the first connecting member 211. Illustratively, the stepped bore 2211 is a circular bore and the sleeve 2212 is cylindrical. In one example, the sleeve 2212 has a diameter greater than 10 millimeters on a side facing away from the first connection member. The sleeve 2212 includes a second through hole 2213 through which the screw 101 of the locking member 100 passes, and the second through hole 2213 has an inner diameter of between 4 and 6 mm, for example, the second through hole 2213 has an inner diameter of about 5 mm. In this embodiment, since the sleeve 2212 has a larger area near one side of the locking member than the other side, the sleeve 2212 rubs against the locking member instead of the housing when the first and second connection members 211 and 221 are locked by the locking member, thereby protecting the housing of the regulator 20.

Illustratively, the locking member 100 includes a threaded rod 101 and a trigger 102, one side of the threaded rod 101 is engaged with the socket 2112 through the second through hole 2213 of the sleeve 2212, and the other side is engaged with the trigger 102. An external thread is arranged on one side of the screw 101 matched with the tooth socket 2112, and an internal thread of the tooth socket 2112 is matched with the external thread of the screw 101. The locking member 100 further comprises a screw 103 and a nut 104, wherein the screw 103 and the nut 104 are used for locking the other side of the screw 101 with the spanner 102. The inner diameter of the screw 101 passing through one side of the second through hole 2213 is less than 5 mm. In this embodiment, the sleeve is provided, so that the diameter of the screw is smaller, which is beneficial to saving cost.

In some embodiments, referring to fig. 14 and 15, a schematic structural view of a mounting assembly of an adjuster is shown. The mounting assembly comprises a mounting bracket 302, a hand screw 303, a mounting tube 301 and a mounting tube holding plate fastener 304; when the mounting bracket 302 is used, the mounting bracket 302 is fixed on the quick assembly plate 400 through the hand screw 303, and is locked after the mounting pipe 301 is mounted, wherein the mounting pipe 301 is locked only by rotating the mounting pipe to clamp the angle of the plate buckle 304, so that the mounting bracket is very convenient. Thereafter, the adjuster 20 is mounted on the mounting tube 301 through the first through hole 201, and the locking member 100 of the adjuster is tightened. The quick-mounting plate assembly 400 comprises an upper quick-mounting plate 401, a lower quick-mounting plate 402 and a quick-mounting plate clasping spanner 403, wherein the upper quick-mounting plate 401 and the lower quick-mounting plate 402 are mounted and fixed through the quick-mounting plate clasping spanner, and a fixing operation mode is simplified under the condition of ensuring the fixed mounting of the upper quick-mounting plate 401 and the lower quick-mounting plate 402; wherein the mounting bracket 302 is fixed to the upper-layer quick-mounting plate 401 by screwing the screw 303 by hand.

Referring to fig. 16, the distance between the mounting axis of the mounting assembly of the regulator and the center plane (camera mounting hole plane) of the quick-mounting plate assembly is designed to be 51mm, and the coverage of the camera is relatively wide.

The various technical features of the above embodiments may be arbitrarily combined, so long as there is no conflict or contradiction between the combinations of the features, and therefore, the arbitrary combination of the various technical features of the above embodiments also falls within the scope of the disclosure of the present specification.

Accordingly, referring to fig. 17, the embodiment of the present application further provides a mobile system, where the mobile system includes a movable platform 80 and the shooting system described above; wherein the regulator 20 and the photographing device 30 in the photographing system are mounted on the movable platform 80. Illustratively, the regulator 20 and the camera 30 are each communicatively coupled to a movable platform 80.

Illustratively, the mobile platform 80 includes, but is not limited to, an unmanned aerial vehicle, a sweeping robot, and/or a watercraft, among others.

For example, referring to fig. 18, the shooting system further includes a pan/tilt head 40; the regulator 20 and the photographing device 30 are mounted on the movable platform 80 through the cradle head 40.

For example, referring to fig. 19, the mobile system further includes a remote control device 90 communicatively coupled to the mobile platform 80, and the camera system further includes a display screen 60; the display 60 is provided on the remote control device 90.

Correspondingly, referring to fig. 20, the embodiment of the application also provides a lens adjusting method, which is applied to a shooting system, wherein the shooting system comprises a regulator and a lens, and the regulator is used for being in communication connection with the lens; the adjuster comprises an adjusting motor and a gear, wherein the adjusting motor is used for driving the gear to rotate, and the gear is used for being meshed with the lens; the lens is internally provided with a first position sensor; the method comprises the following steps:

in step S101, lens position information acquired by the first position sensor is acquired.

In step S102, the adjusting motor is driven to rotate the gear according to the lens position information, so as to adjust the parameters of the lens engaged with the gear.

In this embodiment, the implementation regulator can automatically regulate parameters of the lens based on the lens position information acquired by the first position sensor built in the lens, and compared with manual operation, the regulation accuracy and shooting effect of the lens parameters are improved, and the operation burden of the user is effectively reduced.

In some embodiments, after the adjuster is communicatively connected to the lens, the lens is configured to send lens position information continuously collected by the first position sensor to the adjuster.

In some embodiments, the photographing system further comprises a photographing device and a distance sensor, the lens being disposed on the photographing device; a memory is arranged in the lens, and the memory is pre-stored with the focal length of the lens; the method further comprises the steps of: and acquiring the target distance between the shooting target acquired by the distance sensor and the shooting device. The driving the adjusting motor according to the lens position information drives the gear to rotate so as to adjust parameters of the lens meshed with the gear, including: and if the shooting device is in an automatic focusing state, driving the adjusting motor to drive the gear to rotate according to the lens position information, the focal length of the lens and the target distance so as to adjust parameters of the lens meshed with the gear, so that the shooting device is in a focusing state.

In some embodiments, the memory further stores a mapping relationship between different focusing distances and lens positions for the photographing device in a focusing state; the driving the adjusting motor according to the lens position information drives the gear to rotate so as to adjust parameters of the lens meshed with the gear, including: and if the shooting device is in an automatic focusing state, driving the adjusting motor to drive the gear to rotate according to the target distance, the focal length of the lens, the mapping relation and the lens position information so as to adjust parameters of the lens meshed with the gear, so that the shooting device is in a focusing state. According to the embodiment, the mapping relation is pre-stored in the memory, so that repeated calibration links in the shooting process can be omitted, and the adjustment efficiency can be improved.

In some embodiments, the lens is embedded with an MCU, and the memory is an embedded memory of the MCU, and the MCU is configured to transmit the mapping relationship, the focal length of the lens, and lens position information continuously collected by the first position sensor to the regulator.

In some embodiments, the method further comprises: and acquiring conversion parameters between the adjusting motor and the lens. Driving the adjusting motor to drive the gear to rotate according to the mapping relation and the lens position information, including: and driving the adjusting motor to drive the gear to rotate according to the conversion parameter, the target distance, the focal length of the lens, the mapping relation and the lens position information.

In some embodiments, the conversion parameters include at least one of: the engagement direction of the gear with the lens (or the installation direction of the adjusting motor), the reduction ratio between the adjusting motor and the lens, or the conversion relationship between the lens position and the rotating position of the adjusting motor.

In some embodiments, the memory also pre-stores the number of teeth of the lens; the reduction ratio and the conversion relation are determined based on a difference between the number of teeth of the lens and the number of teeth of the gear.

In some embodiments, the photographing system further comprises a photographing device on which the lens is disposed; if the photographing device is in an auto-focusing state, before the adjusting the parameters of the lens engaged with the gear, the method further comprises: driving the adjusting motor to drive the gear to rotate N teeth in a first direction so as to complete the calibration between the adjuster and the lens; wherein N is less than 10.

In some embodiments, the regulator further comprises a second position sensor; the second position sensor is used for collecting rotation position information of the adjusting motor; the driving the adjusting motor drives the gear to rotate N teeth towards a first direction so as to complete calibration between the adjuster and the lens, and the adjusting motor comprises: driving the adjusting motor to rotate N teeth in a first direction, wherein N is less than 10, and acquiring a lens position information set continuously acquired by the first position sensor and a rotation position information set continuously acquired by the second position sensor during the rotation of N teeth in the first direction; determining a conversion parameter between the regulator and the lens according to the difference between the lens position information set and the rotation position information set; the conversion parameter is used for enabling the adjusting motor to drive the lens to focus. According to the embodiment, the conversion parameters can be determined by controlling the adjusting motor to shake in a small range, and the operation is simple.

In some embodiments, if it is determined that the first direction is opposite to a preset focusing direction based on a difference between the lens position information set and the rotational position information set, the adjustment motor rotates in a direction opposite to the first direction in adjusting a parameter of the lens engaged with the adjustment motor.

In some embodiments, the triggering condition that drives the adjustment motor to rotate the N teeth in the first direction includes any one of: and receiving a calibration instruction generated based on a calibration control, detecting that the shooting device enters an automatic focusing state, powering up the regulator, or changing the relative installation position between the regulator and the lens.

In some embodiments, the regulator further comprises a second position sensor; the second position sensor is used for collecting rotation position information of the adjusting motor. The method further comprises the steps of: after the conversion relation between the lens position and the rotation position of the adjusting motor is obtained, if the last acquired lens position information of the first position sensor and the last acquired rotation position information of the second position sensor do not meet the conversion relation, the conversion relation is updated according to the last acquired lens position information and the last acquired rotation position information. This embodiment is advantageous in preventing focus abnormality.

In some embodiments, the method further comprises: if the last acquired lens position information of the first position sensor and the last acquired rotation position information of the second position sensor do not meet the conversion relation, determining that the gear is meshed with the lens and misplaced, and outputting misplacement prompt information.

In some embodiments, the shooting system further comprises a display screen, and the dislocation prompt information is output through the display screen; the shooting system further comprises a cradle head, and the display screen is arranged on the cradle head; and/or the shooting device in the shooting system is arranged on a movable platform, the movable platform is in communication connection with the remote control equipment, and the display screen is arranged on the remote control equipment.

In some embodiments, the photographing system further comprises a photographing device on which the lens is disposed; the regulator pre-stores rotation limit information of the lens; or a memory is arranged in the lens, and rotation limit information of the lens is stored in the memory. The driving the adjusting motor according to the lens position information drives the gear to rotate comprises the following steps: and if the shooting device is in a manual focusing state, determining that the current position of the lens is not rotation-limited based on the lens position information and the rotation-limited information, and driving the adjusting motor to drive the gear to rotate according to a manual focusing control instruction. The embodiment is beneficial to realizing the limiting and evading function and avoiding lens damage caused by collision limiting in the automatic focusing process.

In some embodiments, the camera system further comprises an adjustment wheel; the manual focusing control instruction is generated according to the rotation position and/or the rotation speed of the regulating wheel; the shooting system further comprises a cradle head, the adjusting wheel is detachably arranged on the cradle head, and the adjuster is in communication connection with the cradle head.

In some embodiments, further comprising: and if the shooting device is in a manual focusing state, and the current position of the lens is determined to be close to the rotation limit based on the lens position information and the rotation limit information, stopping driving the adjusting motor to rotate. The present embodiment is beneficial to realizing the limiting and evading function, and avoiding the damage of the lens 10 caused by bumping limit in the auto-focusing process.

In some embodiments, the regulator includes a first interface; the first interface is used for being in communication connection with the lens; and/or, the shooting system further comprises a cradle head, and the regulator comprises a second interface, wherein the second interface is used for being in communication connection with the cradle head.

In some embodiments, further comprising: acquiring the motion parameters of the shell of the regulator and/or the motion parameters of the regulating motor in the process of controlling the rotation of the regulating motor by preset control parameters; and if the regulator is determined to be in an abnormal state based on the motion parameters of the shell of the regulator and/or the motion parameters of the regulating motor, outputting an abnormal prompt message.

In some embodiments, the preset control parameter includes a first set torque, and the motion parameter of the adjusting motor includes a rotational speed; if the rotating speed is greater than a preset rotating speed, determining that the regulator is in an idle state; and/or the preset control parameters comprise a set rotating speed, and the motion parameters of the regulating motor comprise output torque; if the output torque is smaller than a preset torque, determining that the regulator is in an idle state; and/or the preset control parameters comprise moment with set frequency and set amplitude, and the motion parameters of the regulating motor comprise rotating speed variation amplitude, acceleration variation amplitude and/or rotating angle variation amplitude; if the rotating speed variation amplitude, the acceleration variation amplitude and/or the rotating angle variation amplitude are/is larger than the corresponding preset amplitude, determining that the regulator is in an idle state; wherein the no-load condition indicates that the adjuster is not in contact with the lens.

In some embodiments, the preset torque, the preset rotational speed, and the preset amplitude are determined based on a motion parameter of the adjustment motor acquired when the adjuster is in contact with the lens.

In some embodiments, the preset control parameter comprises a second set torque; the motion parameters of the regulating motor comprise rotating speed; if the rotating speed is close to 0 or equal to 0, determining that the regulator is in a locked-rotor state; and the locked state indicates that the gear collides with the rotation limit of the lens.

In some embodiments, the preset control parameters include setting a rotation duration; the motion parameters of the regulating motor comprise output torque, rotating speed and/or rotating angle; if the waveform corresponding to the output torque, the waveform corresponding to the rotating speed has a periodic jumping condition or the waveform corresponding to the rotating angle is not smooth, determining that the regulator is in a tooth-disengaging state; and/or the motion parameters of the housing of the regulator include angular velocity and/or acceleration; if the angular speed and/or the acceleration indicate that the shell of the regulator has shaking conditions, determining that the regulator is in a tooth-disengaging state; the tooth-removing state indicates that the gear is meshed and misplaced with the lens.

In some embodiments, further comprising: and if the adjuster is in the tooth-removing state, acquiring the current lens position information of the lens acquired by the first position sensor, and storing the current lens position information as the transfer positioning information.

In some embodiments, the regulator includes an inertial measurement unit, and the angular velocity and/or acceleration of the housing of the regulator is acquired by the inertial measurement unit.

In some embodiments, the preset control parameter includes a third set torque, where the third set torque is smaller than a torque capable of driving the adjusting motor normally engaged with the lens to rotate; the motion parameters of the regulating motor comprise rotating speed; if the rotating speed is greater than 0, determining that the regulator is in an abnormal installation state; and/or the preset control parameters comprise a fourth set torque which is larger than or equal to a torque capable of driving an adjusting motor which is normally meshed with the lens to rotate; the motion parameters of the regulating motor comprise the variation amplitude of the rotating speed and/or the variation amplitude of the rotating angle; if the variation amplitude of the rotating speed is larger than the first variation amplitude and/or the variation amplitude of the rotating angle is larger than the second variation amplitude, determining that the regulator is in an abnormal installation state; under the condition that the first change amplitude indicating gear is normally meshed with the lens, driving the adjusting motor to rotate according to the fourth set torque to obtain a rotation speed change amplitude; and under the condition that the second change amplitude indicating gear is normally meshed with the lens, driving the adjusting motor to rotate according to the fourth set torque to obtain the change amplitude of the rotating angle.

In some embodiments, the trigger condition that detects whether the regulator is in an abnormal state includes any one of: receiving an abnormality detection instruction triggered based on an abnormality detection control or executing a specific task; the specific task is a task of driving the adjusting motor to rotate.

In some embodiments, the regulator includes an indicator light; if the regulator is determined to be in the locked-rotor state, the output abnormality prompting information comprises: and controlling the indicator lamp to flash.

In some embodiments, the shooting system further comprises a cradle head and a display screen, wherein the display screen is arranged on the cradle head, and the dislocation prompt information is output through the display screen; if the regulator is in an idle state, a locked-rotor state, a tooth-removal state or an abnormal installation state, the abnormal prompt information is used for prompting a user to reinstall the regulator; if the regulator is in an abnormal installation state, the abnormal prompt information further comprises installation evaluation information, and the installation evaluation information is used for indicating the installation effect of the regulator.

In some embodiments, the installation assessment information includes a quantitative indicator indicating an installation tightness and/or structural rigidity of the regulator; the size of the quantization index is determined according to at least one of the following motion parameters: the rotation speed obtained when the regulating motor is controlled to rotate according to the third set moment, and the change amplitude of the rotation speed and/or the change amplitude of the rotation angle are obtained when the regulating motor is controlled to rotate according to the fourth set moment.

In some embodiments, further comprising: and if the regulator is in an idle state, a locked-rotor state or a tooth-free state, controlling the regulating motor in the regulator to stop rotating.

The specific implementation of the lens adjustment method may be referred to the related description in the above-mentioned shooting system, and will not be repeated here.

Accordingly, referring to fig. 21, another lens adjustment method is provided in the embodiment of the present application, and is applied to a photographing system, where the photographing system includes a regulator, a lens and a photographing device, and the lens is disposed on the photographing device; the adjuster is used for being in communication connection with the lens; the adjuster comprises an adjusting motor and a gear, wherein the adjusting motor is used for driving the gear to rotate, and the gear is used for being meshed with the lens; the lens is internally provided with a memory, and the memory is pre-stored with mapping relations between different focusing distances and lens positions for enabling the shooting device to be in a focusing state; the method comprises the following steps:

in step S201, a mapping relationship between the lens positions and different focusing distances for the photographing device in a focusing state is obtained.

In step S202, if the photographing device is in an auto-focusing state, the adjusting motor is driven to drive the gear to rotate according to the mapping relationship, so as to adjust parameters of the lens engaged with the gear.

According to the embodiment, the parameter of the lens can be automatically adjusted by the adjuster based on the mapping relation, so that the accuracy of adjusting the parameter of the lens and the shooting effect are improved and the operation burden of a user is effectively reduced relative to manual operation. And the mapping relation is pre-stored in the memory, so that repeated calibration links in the shooting process can be omitted, and the adjustment efficiency can be improved.

Correspondingly, the embodiment of the application also provides a lens adjusting method which is applied to the adjuster, and the adjuster is in communication connection with the lens; the adjuster comprises an adjusting motor and a gear, wherein the adjusting motor is used for driving the gear to rotate, and the gear is used for being meshed with the lens; the lens is internally provided with a first position sensor; the method comprises the following steps:

acquiring lens position information acquired by the first position sensor;

Accordingly, referring to fig. 22, the embodiment of the present application further provides an adjuster 20, including a control device 26, an adjusting motor 21, and a gear 25; the adjuster 20 is used for being in communication connection with the lens; the adjusting motor 21 is used for driving the gear 25 to rotate, and the gear 25 is used for being meshed with the lens; the lens is internally provided with a first position sensor.

The control device 26 is configured to obtain lens position information acquired by the first position sensor; and driving the adjusting motor to drive the gear to rotate according to the lens position information so as to adjust parameters of the lens meshed with the gear.

In some embodiments, the adjuster includes a first interface for communicative connection with the lens and a second interface for communicative connection with the pan-tilt.

The specific implementation of the control device 26 may refer to the related description of the regulator in the above-mentioned photographing system, and will not be repeated here.

In an exemplary embodiment, a non-transitory computer readable storage medium is also provided, such as a memory, comprising instructions executable by a processor of an apparatus to perform the above-described method. For example, the non-transitory computer readable storage medium may be ROM, random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.

A non-transitory computer readable storage medium, which when executed by a processor of a terminal, enables the terminal to perform the above-described method.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The foregoing has outlined the detailed description of the method and apparatus provided in the embodiments of the present application, wherein specific examples are provided herein to illustrate the principles and embodiments of the present application, the above examples being provided solely to assist in the understanding of the method and core ideas of the present application; meanwhile, as those skilled in the art will have modifications in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.

Claims

A lens adjusting method, which is characterized by being applied to a shooting system, wherein the shooting system comprises a regulator and a lens, and the regulator is used for being in communication connection with the lens; the adjuster comprises an adjusting motor and a gear, wherein the adjusting motor is used for driving the gear to rotate, and the gear is used for being meshed with the lens; the lens is internally provided with a first position sensor; the method comprises the following steps:

acquiring lens position information acquired by the first position sensor;

and driving the adjusting motor to drive the gear to rotate according to the lens position information so as to adjust parameters of the lens meshed with the gear.
The method of claim 1, wherein the lens is configured to send lens position information continuously collected by the first position sensor to the regulator after the regulator is communicatively coupled to the lens.
The method of claim 1 or 2, wherein the camera system further comprises a camera and a distance sensor, the lens being disposed on the camera;

a memory is arranged in the lens, and the memory is pre-stored with the focal length of the lens;

The method further comprises the steps of: acquiring a target distance between a shooting target acquired by the distance sensor and the shooting device;

the driving the adjusting motor according to the lens position information drives the gear to rotate so as to adjust parameters of the lens meshed with the gear, including:

and if the shooting device is in an automatic focusing state, driving the adjusting motor to drive the gear to rotate according to the lens position information, the focal length of the lens and the target distance so as to adjust parameters of the lens meshed with the gear, so that the shooting device is in a focusing state.
The method of claim 3, wherein the memory further stores a mapping relationship between different focusing distances and lens positions for the photographing device in a focused state;

the driving the adjusting motor according to the lens position information drives the gear to rotate so as to adjust parameters of the lens meshed with the gear, including:

and if the shooting device is in an automatic focusing state, driving the adjusting motor to drive the gear to rotate according to the target distance, the focal length of the lens, the mapping relation and the lens position information so as to adjust parameters of the lens meshed with the gear, so that the shooting device is in a focusing state.
The method according to claim 3 or 4, wherein the lens has an MCU built-in, the memory is a built-in memory of the MCU, and the MCU is configured to transmit information stored in the memory and lens position information continuously collected by the first position sensor to the regulator.
The method according to claim 4, wherein the method further comprises:

acquiring conversion parameters between the adjusting motor and the lens;

driving the adjusting motor to drive the gear to rotate according to the mapping relation and the lens position information, including:

and driving the adjusting motor to drive the gear to rotate according to the conversion parameter, the target distance, the focal length of the lens, the mapping relation and the lens position information.
The method of claim 6, wherein the conversion parameters include at least one of: the meshing direction of the gear and the lens, the reduction ratio between the adjusting motor and the lens, or the conversion relation between the lens position and the rotating position of the adjusting motor.
The method of claim 7, wherein the memory is further preloaded with the number of teeth of the lens;

The reduction ratio and the conversion relation are determined based on a difference between the number of teeth of the lens and the number of teeth of the gear.
The method of any one of claims 1 to 7, wherein the photographing system further comprises a photographing device on which the lens is disposed;

before the adjusting the parameters of the lens engaged with the adjusting motor, the method further comprises:

if the shooting device is in an automatic focusing state, driving the adjusting motor to drive the gear to rotate N teeth in a first direction so as to finish calibration between the regulator and the lens; wherein N is less than 10.
The method of claim 9, wherein the step of determining the position of the substrate comprises,

the regulator further includes a second position sensor; the second position sensor is used for collecting rotation position information of the adjusting motor;

the driving the adjusting motor drives the gear to rotate N teeth towards a first direction so as to complete calibration between the adjuster and the lens, and the adjusting motor comprises:

driving the adjusting motor to drive the gear to rotate N teeth in a first direction, wherein N is less than 10, and acquiring a lens position information set continuously acquired by the first position sensor and a rotation position information set continuously acquired by the second position sensor during the rotation of the gear;

Determining a conversion parameter between the regulator and the lens according to the difference between the lens position information set and the rotation position information set; the conversion parameter is used for enabling the adjusting motor to drive the lens to focus.
The method of claim 10, wherein if it is determined that the first direction is opposite to a preset focus direction based on a difference between the lens position information set and the rotational position information set, the adjustment motor is rotated in a direction opposite to the first direction during adjustment of a parameter of the lens engaged with the gear.
The method of claim 9, wherein the triggering condition that drives the adjustment motor to rotate the gear N teeth in the first direction comprises any one of:

and receiving a calibration instruction generated based on a calibration control, detecting that the shooting device enters an automatic focusing state, powering up the regulator, or changing the relative installation position between the regulator and the lens.
The method of any one of claims 1 to 12, wherein the regulator further comprises a second position sensor; the second position sensor is used for collecting rotation position information of the adjusting motor;

The method further comprises the steps of:

after the conversion relation between the lens position and the rotation position of the adjusting motor is obtained, if the last acquired lens position information of the first position sensor and the last acquired rotation position information of the second position sensor do not meet the conversion relation, the conversion relation is updated according to the last acquired lens position information and the last acquired rotation position information.
The method of claim 13, wherein the method further comprises:

if the last acquired lens position information of the first position sensor and the last acquired rotation position information of the second position sensor do not meet the conversion relation, determining that the gear is meshed with the lens and misplaced, and outputting misplacement prompt information.
The method of claim 14, wherein the camera system further comprises a display screen, the misalignment prompt being output through the display screen;

the shooting system further comprises a cradle head, and the display screen is arranged on the cradle head; and/or the shooting device in the shooting system is arranged on a movable platform, the movable platform is in communication connection with the remote control equipment, and the display screen is arranged on the remote control equipment.
The method of claim 1 or 2, wherein the camera system further comprises a camera device, the lens being disposed on the camera device;

the regulator pre-stores rotation limit information of the lens; or a memory is arranged in the lens, and rotation limit information of the lens is stored in the memory;

the driving the adjusting motor according to the lens position information drives the gear to rotate comprises the following steps:

and if the shooting device is in a manual focusing state, determining that the current position of the lens is not rotation-limited based on the lens position information and the rotation-limited information, and driving the adjusting motor to drive the gear to rotate according to a manual focusing control instruction.
The method of claim 16, wherein the camera system further comprises an adjustment wheel; the manual focusing control instruction is generated according to the rotation position and/or the rotation speed of the regulating wheel;

the shooting system further comprises a cradle head, the adjusting wheel is detachably arranged on the cradle head, and the adjuster is in communication connection with the cradle head.
The method as recited in claim 16, further comprising:

And if the shooting device is in a manual focusing state, and the current position of the lens is determined to be close to the rotation limit based on the lens position information and the rotation limit information, stopping driving the adjusting motor to rotate.
The method of claim 1, wherein the regulator includes a first interface; the first interface is used for being in communication connection with the lens; and/or, the shooting system further comprises a cradle head, and the regulator comprises a second interface, wherein the second interface is used for being in communication connection with the cradle head.
The method as recited in claim 1, further comprising:

acquiring the motion parameters of the shell of the regulator and/or the motion parameters of the regulating motor in the process of controlling the rotation of the regulating motor by preset control parameters;

and if the regulator is determined to be in an abnormal state based on the motion parameters of the shell of the regulator and/or the motion parameters of the regulating motor, outputting an abnormal prompt message.
The method of claim 20, wherein the preset control parameter comprises a first set torque and the motor movement parameter comprises a rotational speed; if the rotating speed is greater than a preset rotating speed, determining that the regulator is in an idle state; and/or

The preset control parameters comprise a set rotating speed, and the motion parameters of the regulating motor comprise an output torque; if the output torque is smaller than a preset torque, determining that the regulator is in an idle state; and/or

The preset control parameters comprise moment with set frequency and set amplitude, and the motion parameters of the regulating motor comprise rotating speed variation amplitude, acceleration variation amplitude and/or rotating angle variation amplitude; if the rotating speed variation amplitude, the acceleration variation amplitude and/or the rotating angle variation amplitude are/is larger than the corresponding preset amplitude, determining that the regulator is in an idle state;

wherein the no-load condition indicates that the adjuster is not in contact with the lens.
The method of claim 21, wherein the preset torque, the preset rotational speed, and the preset amplitude are determined based on a motion parameter of the adjustment motor acquired with the adjuster in contact with the lens.
The method of claim 20, wherein the preset control parameter comprises a second set torque; the motion parameters of the regulating motor comprise rotating speed; if the rotating speed is close to 0 or equal to 0, determining that the regulator is in a locked-rotor state; and the locked state indicates that the gear collides with the rotation limit of the lens.
The method of claim 20, wherein the preset control parameter comprises setting a rotation duration; the motion parameters of the regulating motor comprise output torque, rotating speed and/or rotating angle; if the waveform corresponding to the output torque, the waveform corresponding to the rotating speed has a periodic jumping condition or the waveform corresponding to the rotating angle is not smooth, determining that the regulator is in a tooth-disengaging state; and/or

The motion parameters of the housing of the regulator include angular velocity and/or acceleration; if the angular speed and/or the acceleration indicate that the shell of the regulator has shaking conditions, determining that the regulator is in a tooth-disengaging state;

the tooth-removing state indicates that the gear is meshed and misplaced with the lens.
The method as recited in claim 24, further comprising:

and if the adjuster is in the tooth-removing state, acquiring the current lens position information of the lens acquired by the first position sensor, and storing the current lens position information as the transfer positioning information.
The method of claim 24, wherein the regulator includes an inertial measurement unit, and wherein the angular velocity and/or acceleration of the housing of the regulator is captured by the inertial measurement unit.
The method of claim 20, wherein the preset control parameter comprises a third set torque that is less than a torque capable of driving a rotation of an adjustment motor that normally engages the lens; the motion parameters of the regulating motor comprise rotating speed; if the rotating speed is greater than 0, determining that the regulator is in an abnormal installation state; and/or

The preset control parameters comprise a fourth set torque which is larger than or equal to a torque capable of driving an adjusting motor which is normally meshed with the lens to rotate; the motion parameters of the regulating motor comprise the variation amplitude of the rotating speed and/or the variation amplitude of the rotating angle; if the variation amplitude of the rotating speed is larger than the first variation amplitude and/or the variation amplitude of the rotating angle is larger than the second variation amplitude, determining that the regulator is in an abnormal installation state;

under the condition that the first change amplitude indicating gear is normally meshed with the lens, driving the adjusting motor to rotate according to the fourth set torque to obtain a rotation speed change amplitude; and under the condition that the second change amplitude indicating gear is normally meshed with the lens, driving the adjusting motor to rotate according to the fourth set torque to obtain the change amplitude of the rotating angle.
The method according to any one of claims 20 to 27, wherein detecting a trigger condition of whether the regulator is in an abnormal state comprises any one of: receiving an abnormality detection instruction triggered based on an abnormality detection control or executing a specific task; the specific task is a task for driving the regulating motor to rotate;

and/or the regulator comprises an indicator lamp; if the regulator is determined to be in the locked-rotor state, the output abnormality prompting information comprises: and controlling the indicator lamp to flash.
The method according to any one of claims 20 to 27, wherein the photographing system further comprises a cradle head and a display screen, the display screen is arranged on the cradle head, and the dislocation prompting information is output through the display screen;

if the regulator is in an idle state, a locked-rotor state, a tooth-removal state or an abnormal installation state, the abnormal prompt information is used for prompting a user to reinstall the regulator;

if the regulator is in an abnormal installation state, the abnormal prompt information also comprises installation evaluation information, wherein the installation evaluation information is used for indicating the installation effect of the regulator; and/or the number of the groups of groups,

The method further comprises the steps of: and if the regulator is in an idle state, a locked-rotor state or a tooth-free state, controlling the regulating motor in the regulator to stop rotating.
The method of claim 29, wherein the installation assessment information includes a quantitative indicator indicating a degree of installation tightness and/or structural rigidity of the regulator; the size of the quantization index is determined according to at least one of the following motion parameters: the rotation speed obtained when the regulating motor is controlled to rotate according to the third set moment, and the change amplitude of the rotation speed and/or the change amplitude of the rotation angle are obtained when the regulating motor is controlled to rotate according to the fourth set moment.
A lens adjustment method, characterized by being applied to an adjuster, the adjuster being in communication with a lens; the adjuster comprises an adjusting motor and a gear, wherein the adjusting motor is used for driving the gear to rotate, and the gear is used for being meshed with the lens; the lens is internally provided with a first position sensor; the method comprises the following steps:

acquiring lens position information acquired by the first position sensor;

and driving the adjusting motor to drive the gear to rotate according to the lens position information so as to adjust parameters of the lens meshed with the gear.
A lens adjusting method is characterized by being applied to a shooting system, wherein the shooting system comprises a regulator, a lens and a shooting device, and the lens is arranged on the shooting device; the adjuster is used for being in communication connection with the lens; the adjuster comprises an adjusting motor and a gear, wherein the adjusting motor is used for driving the gear to rotate, and the gear is used for being meshed with the lens; the lens is internally provided with a memory, and the memory is pre-stored with mapping relations between different focusing distances and lens positions for enabling the shooting device to be in a focusing state; the method comprises the following steps:

acquiring the mapping relation between different focusing distances and lens positions of the shooting device in a focusing state;

and if the shooting device is in an automatic focusing state, driving the adjusting motor to drive the gear to rotate according to the mapping relation so as to adjust parameters of the lens meshed with the gear.
An adjustor is characterized by comprising a control device, an adjusting motor and a gear; the adjuster is used for being in communication connection with the lens; the adjusting motor is used for driving the gear to rotate, and the gear is used for being meshed with the lens; the lens is internally provided with a first position sensor;

The control device is used for acquiring lens position information acquired by the first position sensor; and driving the adjusting motor to drive the gear to rotate according to the lens position information so as to adjust parameters of the lens meshed with the gear.
The adjuster of claim 33, comprising a first interface for communication connection with the lens and a second interface for communication connection with the pan-tilt.
A shooting system, comprising a regulator and a lens;

the lens is used for being in communication connection with the regulator; the first position sensor is arranged in the lens and is used for collecting lens position information of the lens;

the adjuster comprises an adjusting motor and a gear, wherein the adjusting motor is used for driving the gear to rotate, and the gear is used for being meshed with the lens;

the adjuster is used for driving the adjusting motor to drive the gear to rotate according to the lens position information so as to adjust parameters of the lens meshed with the gear.
The system of claim 35, wherein the camera system further comprises a pan-tilt;

The adjuster comprises a first interface and a second interface, wherein the first interface is used for being in communication connection with the lens, and the second interface is used for being in communication connection with the holder.
The system of claim 36, wherein the cradle head is further configured to power the regulator through the second interface; and/or the regulator is further used for supplying power to the lens through the first interface;

the lens further comprises a voltage stabilizing circuit, wherein the voltage stabilizing circuit is used for processing input voltage so as to output constant voltage.
The system of claim 35, wherein the lens is configured to send lens position information continuously collected by the first position sensor to the regulator after the regulator is communicatively coupled to the lens.
The system of any one of claims 35 to 38, wherein the camera system further comprises a camera and a distance sensor, the lens being disposed on the camera;

a memory is arranged in the lens, and the memory is pre-stored with the focal length of the lens; the regulator is further configured to: acquiring a target distance between a shooting target acquired by the distance sensor and the shooting device; and if the shooting device is in an automatic focusing state, driving the adjusting motor to drive the gear to rotate according to the lens position information, the focal length of the lens and the target distance so as to adjust parameters of the lens meshed with the gear, so that the shooting device is in a focusing state.
The system of claim 39, wherein the memory further stores a mapping relationship between different focusing distances and lens positions for the camera to be in focus;

the regulator is further configured to: and if the shooting device is in an automatic focusing state, driving the adjusting motor to drive the gear to rotate according to the target distance, the focal length of the lens, the mapping relation and the lens position information so as to adjust parameters of the lens meshed with the gear, so that the shooting device is in a focusing state.
The system of claim 39, wherein the camera system further comprises a pan-tilt; the distance sensor is detachably borne on the bearing seat of the cradle head;

the distance sensor is in communication connection with the cradle head, and the regulator is in communication connection with the cradle head; the cradle head is also used for transmitting the target distance acquired by the distance sensor to the regulator.
The system of claim 39 or 40, wherein the lens has an MCU built-in, the memory is a built-in memory of the MCU, and the MCU is configured to transmit information stored in the memory and lens position information continuously collected by the first position sensor to the regulator.
The system of claim 40, wherein the regulator is further configured to: acquiring conversion parameters between the adjusting motor and the lens; and driving the adjusting motor to drive the gear to rotate according to the conversion parameter, the target distance, the focal length of the lens, the mapping relation and the lens position information.
The system of claim 43, wherein the conversion parameters include at least one of: the meshing direction of the gear and the lens, the reduction ratio between the adjusting motor and the lens, or the conversion relation between the lens position and the rotating position of the adjusting motor.
The system of claim 44, wherein the memory is further preloaded with the number of teeth of the lens;

the reduction ratio and the conversion relation are determined based on a difference between the number of teeth of the lens and the number of teeth of the gear.
The system of any one of claims 35 to 45, wherein the camera system further comprises a camera device, the lens being disposed on the camera device;

the regulator is further configured to: if the shooting device is in an automatic focusing state, before the parameters of the lens meshed with the adjusting motor are adjusted, driving the adjusting motor to drive the gear to rotate N teeth in a first direction so as to complete calibration between the adjuster and the lens; wherein N is less than 10.
The system of claim 46, wherein the regulator further comprises a second position sensor; the second position sensor is used for collecting rotation position information of the adjusting motor;

the regulator is further configured to: if the shooting device is in an automatic focusing state, before the parameters of the lens meshed with the adjusting motor are adjusted, driving the adjusting motor to drive the gear to rotate N teeth in a first direction, wherein N is less than 10, and acquiring a lens position information set continuously acquired by the first position sensor and a rotation position information set continuously acquired by the second position sensor during the rotation of N teeth; determining a conversion parameter between the regulator and the lens according to the difference between the lens position information set and the rotation position information set; the conversion parameter is used for enabling the adjusting motor to drive the lens to focus.
The system of claim 47, wherein the adjustment motor is configured to rotate in a direction opposite the first direction during adjustment of the parameters of the lens engaged with the gear if it is determined that the first direction is opposite the preset focus direction based on a difference between the set of lens position information and the set of rotational position information.
The system of claim 47, wherein the triggering condition for driving the adjustment motor to rotate the gear N teeth in the first direction comprises any one of:

and receiving a calibration instruction generated based on a calibration control, detecting that the shooting device enters an automatic focusing state, powering up the regulator, or changing the relative installation position between the regulator and the lens.
The system of any one of claims 35 to 49, wherein the regulator further comprises a second position sensor; the second position sensor is used for collecting rotation position information of the adjusting motor;

the regulator is further configured to: after the conversion relation between the lens position and the rotation position of the adjusting motor is obtained, if the last acquired lens position information of the first position sensor and the last acquired rotation position information of the second position sensor do not meet the conversion relation, the conversion relation is updated according to the last acquired lens position information and the last acquired rotation position information.
The system of claim 50, wherein the regulator is further configured to: if the last acquired lens position information of the first position sensor and the last acquired rotation position information of the second position sensor do not meet the conversion relation, determining that the gear is meshed with the lens and misplaced, and outputting misplacement prompt information.
The system of claim 51, wherein the camera system further comprises a display screen, the misalignment prompt being output via the display screen;

the shooting system further comprises a cradle head, and the display screen is arranged on the cradle head; and/or the shooting device in the shooting system is arranged on a movable platform, the movable platform is in communication connection with the remote control equipment, and the display screen is arranged on the remote control equipment.
The system of any one of claims 35 to 38, wherein the camera system further comprises a camera device, the lens being disposed on the camera device;

the regulator pre-stores rotation limit information of the lens; or a memory is arranged in the lens, and rotation limit information of the lens is stored in the memory;

the regulator is further configured to: and if the shooting device is in a manual focusing state, determining that the current position of the lens is not rotation-limited based on the lens position information and the rotation-limiting information, and driving the adjusting motor to drive the gear to rotate according to a manual focusing control instruction.
The system of claim 53, wherein the camera system further comprises an adjustment wheel; the manual focus control instruction is generated according to the rotation position and/or rotation speed of the regulating wheel.
The system of claim 54, wherein the camera system further comprises a pan-tilt;

the adjusting wheel is detachably arranged on the cradle head, and the adjuster is in communication connection with the cradle head; the cradle head is also used for generating the manual focusing control instruction according to the rotation position and/or rotation speed of the regulating wheel and sending the manual focusing control instruction to the regulator.
The system of claim 53, wherein the regulator is further configured to: and if the shooting device is in a manual focusing state, and the current position of the lens is determined to be close to the rotation limit based on the lens position information and the rotation limit information, stopping driving the adjusting motor to rotate.
The system of claim 35, wherein the regulator is further configured to: acquiring the motion parameters of the shell of the regulator and/or the motion parameters of the regulating motor in the process of controlling the rotation of the regulating motor by preset control parameters; and if the regulator is determined to be in an abnormal state based on the motion parameters of the shell of the regulator and/or the motion parameters of the regulating motor, outputting an abnormal prompt message.
The system of claim 57, wherein the preset control parameter comprises a first set torque and the motor parameter comprises a rotational speed; if the rotating speed is smaller than a preset rotating speed, determining that the regulator is in an idle state; and/or

The preset control parameters comprise a set rotating speed, and the motion parameters of the regulating motor comprise an output torque; if the output torque is smaller than a preset torque, determining that the regulator is in an idle state; and/or

The preset control parameters comprise moment with set frequency and set amplitude, and the motion parameters of the regulating motor comprise rotating speed variation amplitude, acceleration variation amplitude and/or rotating angle variation amplitude; if the rotating speed variation amplitude, the acceleration variation amplitude and/or the rotating angle variation amplitude are/is larger than the corresponding preset amplitude, determining that the regulator is in an idle state;

wherein the no-load condition indicates that the adjuster is not in contact with the lens.
The system of claim 58, wherein the preset torque, the preset rotational speed, and the preset amplitude are determined based on a motion parameter of the adjustment motor acquired with the adjuster in contact with the lens.
The system of claim 57, wherein the preset control parameter comprises a second set torque; the motion parameters of the regulating motor comprise rotating speed; if the rotating speed is close to 0 or equal to 0, determining that the regulator is in a locked-rotor state; and the locked state indicates that the gear collides with the rotation limit of the lens.
The system of claim 57, wherein the preset control parameters include setting a rotational time period; the motion parameters of the regulating motor comprise output torque, rotating speed and/or rotating angle; if the waveform corresponding to the output torque, the waveform corresponding to the rotating speed has a periodic jumping condition or the waveform corresponding to the rotating angle is not smooth, determining that the regulator is in a tooth-disengaging state; and/or;

the motion parameters of the housing of the regulator include angular velocity and/or acceleration; if the angular speed and/or the acceleration indicate that the shell of the regulator has shaking conditions, determining that the regulator is in a tooth-disengaging state;

the tooth-removing state indicates that the gear is meshed and misplaced with the lens.
The system of claim 61, wherein the regulator is further configured to: and if the adjuster is in the tooth-removing state, acquiring the current lens position information of the lens acquired by the first position sensor, and storing the current lens position information as the transfer positioning information.
The system of claim 61, wherein the regulator includes an inertial measurement unit, and wherein the angular velocity and/or acceleration of the housing of the regulator is captured by the inertial measurement unit.
The system of claim 57, wherein the predetermined control parameters include a third set torque that is less than a torque that can drive a rotation of an adjustment motor that normally engages the lens; the motion parameters of the regulating motor comprise rotating speed; if the rotating speed is greater than 0, determining that the regulator is in an abnormal installation state; and/or

The preset control parameters comprise a fourth set torque which is larger than or equal to a torque capable of driving an adjusting motor which is normally meshed with the lens to rotate; the motion parameters of the regulating motor comprise the variation amplitude of the rotating speed and/or the variation amplitude of the rotating angle; if the variation amplitude of the rotating speed is larger than the first variation amplitude and/or the variation amplitude of the rotating angle is larger than the second variation amplitude, determining that the regulator is in an abnormal installation state;

under the condition that the first change amplitude indicating gear is normally meshed with the lens, driving the adjusting motor to rotate according to the fourth set torque to obtain a rotation speed change amplitude; and under the condition that the second change amplitude indicating gear is normally meshed with the lens, driving the adjusting motor to rotate according to the fourth set torque to obtain the change amplitude of the rotating angle.
The system of claim 57, wherein the trigger condition that detects whether the regulator is in an abnormal state comprises any one of:

receiving an abnormality detection instruction triggered based on an abnormality detection control or executing a specific task; the specific task is a task of driving the adjusting motor to rotate.
The system of any one of claims 57 to 65, wherein the regulator comprises an indicator light;

if the regulator is determined to be in the locked-rotor state, the output abnormality prompting information comprises: and controlling the indicator lamp to flash.
The system of any one of claims 57 to 65, wherein the camera system further comprises a pan-tilt head and a display screen, the display screen being disposed on the pan-tilt head, the misalignment prompt being output via the display screen;

if the regulator is in an idle state, a locked-rotor state, a tooth-removal state or an abnormal installation state, the abnormal prompt information is used for prompting a user to reinstall the regulator;

if the regulator is in an abnormal installation state, the abnormal prompt information further comprises installation evaluation information, and the installation evaluation information is used for indicating the installation effect of the regulator.
The system of claim 67, wherein said installation assessment information comprises a quantitative indicator indicative of the installation tightness and/or structural rigidity of said regulator; the size of the quantization index is determined according to at least one of the following motion parameters: the rotation speed obtained when the regulating motor is controlled to rotate according to the third set moment, and the change amplitude of the rotation speed and/or the change amplitude of the rotation angle are obtained when the regulating motor is controlled to rotate according to the fourth set moment.
The system of any one of claims 57 to 67, wherein the regulator is further configured to: and if the regulator is in an idle state, a locked-rotor state or a tooth-free state, controlling the regulating motor in the regulator to stop rotating.
A mobile system comprising a mobile platform and a camera system as claimed in any one of claims 35 to 68;

wherein, regulator and shooting device in the shooting system are installed on the movable platform.
The mobile system of claim 70, wherein the movable platform comprises an unmanned aerial vehicle, a sweeping robot, and/or a watercraft.
The mobile system of claim 70, wherein the camera system further comprises a pan-tilt;

the regulator and the shooting device are installed on the movable platform through the cradle head.
The mobile system of claim 70, further comprising a remote control device communicatively coupled to the mobile platform, the camera system further comprising a display screen;

the display screen is arranged on the remote control device.
A computer readable storage medium storing executable instructions which when executed by a processor implement the method of any one of claims 1 to 32.