WO2021026784A1 - 跟随拍摄、云台控制方法、拍摄装置、手持云台和拍摄系统 - Google Patents

跟随拍摄、云台控制方法、拍摄装置、手持云台和拍摄系统 Download PDF

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Publication number
WO2021026784A1
WO2021026784A1 PCT/CN2019/100451 CN2019100451W WO2021026784A1 WO 2021026784 A1 WO2021026784 A1 WO 2021026784A1 CN 2019100451 W CN2019100451 W CN 2019100451W WO 2021026784 A1 WO2021026784 A1 WO 2021026784A1
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WO
WIPO (PCT)
Prior art keywords
shooting
follow
target
photographing
tilt
Prior art date
Application number
PCT/CN2019/100451
Other languages
English (en)
French (fr)
Inventor
蒋有为
朱俊荣
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2019/100451 priority Critical patent/WO2021026784A1/zh
Priority to CN201980033551.9A priority patent/CN112189333B/zh
Publication of WO2021026784A1 publication Critical patent/WO2021026784A1/zh
Priority to US17/560,214 priority patent/US20220116543A1/en

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0248—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means in combination with a laser
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/563—Camera grips, handles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/63—Control of cameras or camera modules by using electronic viewfinders
    • H04N23/631—Graphical user interfaces [GUI] specially adapted for controlling image capture or setting capture parameters
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/667—Camera operation mode switching, e.g. between still and video, sport and normal or high- and low-resolution modes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H04N23/682—Vibration or motion blur correction
    • H04N23/685—Vibration or motion blur correction performed by mechanical compensation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H04N23/681—Motion detection
    • H04N23/6815—Motion detection by distinguishing pan or tilt from motion

Definitions

  • This application relates to the field of shooting technology, and in particular to a follow-up shooting, a pan-tilt control method, a photography device, a handheld pan-tilt, and a photography system.
  • the intelligent follow-up shooting function involves pan-tilt-following technology, which can be applied to handheld pan-tilts with cameras mounted, or handheld pan-tilts mounted with mobile phones, or integrated pan-tilt cameras to achieve automatic stabilization during shooting. Balance, you can shoot high-precision stable pictures anytime and anywhere.
  • the current mainstream shooting software requires clicking and/or box selection on the screen when it needs to follow an object or person to shoot, which is less efficient and it is easier to miss the best time to shoot.
  • this manual provides a follow-up shooting, pan-tilt control method, shooting device, handheld pan-tilt, shooting system, and storage medium, aiming to solve the existing follow-up shooting method when it needs to follow an object or person to shoot Need to click and/or frame selection on the screen, the efficiency is low, and it is easier to miss the best time for shooting and other technical issues.
  • this specification provides a follow-up shooting method, and the follow-up shooting method includes:
  • control operation control the follow-up shooting mode to start or close
  • the following shooting mode is used for following shooting of the shooting target.
  • this specification provides a PTZ control method, the PTZ control method includes:
  • the movement is adjusted according to the control of the shooting device to make the shooting device follow-up shooting of the shooting target.
  • this specification provides a photographing device, including a memory and a processor
  • the memory is used to store computer programs
  • the processor is configured to execute the computer program, and when executing the computer program, implement the following steps:
  • control operation control the follow-up shooting mode to start or close
  • the following shooting mode is used for following shooting of the shooting target.
  • this specification provides a handheld pan/tilt, including a handle and a pan/tilt provided on the handle, and the handheld pan/tilt is used to carry a photographing device;
  • the handheld pan/tilt also includes a memory and a processor
  • the memory is used to store computer programs
  • the processor is configured to execute the computer program, and when executing the computer program, implement the following steps:
  • the movement is adjusted according to the control of the shooting device to make the shooting device follow-up shooting of the shooting target.
  • this specification provides a shooting system, including a shooting device and a handheld pan/tilt;
  • the photographing device is used to determine whether it is in a follow-up preparation mode, and if it is in the follow-up preparation mode, an area identifier is displayed, and the size of the area identifier is smaller than the size of the display screen of the photographing device;
  • the photographing device is used for determining whether a target appearing in the image is a photographing target according to the area identifier
  • the shooting device determines that the target appearing in the image is the shooting target, detecting the user's control operation of the manual control;
  • the photographing device is used to control the follow-up photographing mode to start or close according to the control operation;
  • the shooting device controls the follow-up shooting mode to start, control the handheld pan/tilt equipped with the shooting device to adjust the movement so that the shooting device can follow the shooting of the shooting target.
  • this specification provides a computer-readable storage medium that stores a computer program, and the computer program can be used by a processor to implement the above-mentioned method.
  • the embodiments of this specification provide a follow-up shooting, a pan-tilt control method, a shooting device, a handheld pan-tilt, a shooting system, and a storage medium.
  • the user is prompted to place the shooting target in the area mark by displaying the area identifier when the shooting device is in the follow preparation mode In this way, the shooting target can be accurately determined; and the follow-up shooting mode is controlled to start or close according to the detection of the user's control operation of the manual control, so that the user can quickly start or cancel the follow-up shooting and avoid missing the best time for follow-up shooting.
  • Figure 1 is a schematic diagram of the structure of a handheld camera equipped with a camera
  • FIG. 2 is a schematic flowchart of a follow-up shooting method provided by an embodiment of this specification
  • Figure 3 is a schematic diagram showing the area identification of the camera
  • Fig. 4 is a schematic diagram of determining the shooting target according to the area identification
  • FIG. 5 is a schematic flowchart of a method for controlling a PTZ according to another embodiment of this specification.
  • Fig. 6 is a schematic block diagram of a photographing device provided by an embodiment of the present specification.
  • Fig. 7 is a schematic block diagram of a handheld pan/tilt provided in an embodiment of the present specification.
  • Fig. 8 is a schematic block diagram of a photographing system provided by an embodiment of the present specification.
  • Hand-held pan/tilt refers to a pan/tilt system with a camera or an integrated pan/tilt camera with a camera.
  • the photographing device includes a camera and a display screen.
  • the photographing device may be a photographing component in a mobile phone, a camera, or an integrated PTZ camera.
  • the handheld PTZ is equipped with a camera, which is used to fix the camera and change the height, inclination and/or direction of the camera, or to stably maintain the camera in a certain posture to facilitate the camera to take pictures.
  • FIG. 1 is a schematic structural diagram of a handheld pan/tilt equipped with a camera provided by the present application.
  • the handheld pan/tilt in the embodiment of the present application will be described below with reference to FIG. 1.
  • the handheld pan/tilt head 100 includes a handle 11 and a pan/tilt 12 provided on the handle 11, and the pan/tilt 12 is also equipped with a camera 200.
  • the photographing device 200 is a smart phone, of course, it is also other photographing equipment, such as a camera.
  • the photographing device 200 is in a communication connection with the handheld pan-tilt 100, for example, via a Bluetooth link or a data interface.
  • the handheld PTZ 100 and the shooting device 200 such as a mobile phone connected via Bluetooth
  • the handheld PTZ 100 can directly control the functions of the shooting software on the shooting device 200 through the Bluetooth link, and at the same time, the shooting software on the shooting device 200 can also
  • the hand-held pan/tilt 100 sends instructions.
  • the pan/tilt 12 includes three-axis motors, namely a pitch (pitch) axis motor 121, a roll (roll) axis motor 122 and a translation (yaw) axis motor 123, which are used to adjust the balance posture of the camera 200 for anytime and anywhere Take high-precision stable images.
  • IMU inertial measurement unit
  • the pan/tilt 12 can be, for example, at least one of an accelerometer or a gyroscope, and can be used to measure the posture and acceleration of the camera 200, so as to adjust the camera according to the posture. 200 balance posture.
  • a control part is also provided on the handle 11 so that the user can operate the control part to control the pan/tilt 12 or the camera 200.
  • the control member can be, for example, a button, a trigger, a knob or a rocker, etc., of course, it also includes other forms of physical buttons.
  • the joystick can be used to control the movement of the three rotating shafts, thereby controlling the movement of the camera 200. It is understandable that the remote control can also be used for other functions.
  • the number of control elements may be one or more.
  • different operation modes can be used to generate different control instructions for the control element, such as different operation modes, such as different pressing times; of course, when the number of control elements is multiple, such as including the first control The second control element, the third control element, etc., different control elements generate different control commands.
  • FIG. 2 is a schematic flowchart of a follow-up shooting method according to an embodiment of this specification.
  • the following shooting method can be used for shooting devices such as mobile phones and cameras, or for integrated pan-tilt cameras.
  • the photographing device is a mobile phone, a camera, etc. installed with a computer program for implementing the follow-up photographing method.
  • the photographing device can obtain the photographed image through the camera, and can also display the photographed image and other information through the display screen.
  • the follow-up shooting method of this embodiment includes steps S110 to S150.
  • the camera if it is in the follow-up shooting mode, it can be switched from the follow-up shooting mode to the follow-up shooting mode according to the user's control.
  • the camera locally stores a status code indicating whether it is in the follow-up preparation mode, and the camera determines whether it is in the follow-up preparation mode according to reading and parsing the status code.
  • the user sets the camera to enter the follow preparation mode after being turned on or not to enter the follow preparation mode after restarting, and the status code of the set mode may be stored in the camera.
  • the user can set the camera to enter the follow preparation mode or exit the follow preparation mode after the camera is turned on.
  • the follow-up shooting method further includes: the camera device detects a user's mode setting operation, and switches to the follow-up preparation mode according to the mode setting operation. Therefore, the user can adaptively set whether the camera device is in the follow preparation mode according to the shooting scene.
  • the camera if it is not in the follow-up preparation mode or in the follow-up shooting mode, it can switch to the follow-up mode according to the user's control operation of the manual control on the camera or the manual control on the handheld pan/tilt . Therefore, the user can control the camera to switch to the following preparation mode by operating the manual control associated with the following preparation mode.
  • the photographing device may determine a certain manual control as a manual control that can trigger the photographing device to switch to the follow-up mode according to a user's setting instruction.
  • the user can control the camera to switch to the follow-up mode by operating the physical buttons, knobs, or triggers on the camera, or combining at least two of the physical buttons, knobs, or triggers.
  • the user can control the camera to switch to the follow-up mode by operating the physical buttons, knobs or triggers on the handheld pan/tilt, or combining at least two of the physical buttons, knobs or triggers.
  • the user When the user takes pictures by using a handheld camera equipped with a camera, the user usually holds the camera on the handle of the handheld camera.
  • the manual control part on the handheld pan/tilt By operating the manual control part on the handheld pan/tilt to control the shooting device to switch to the follow preparation mode, the user can control the shooting device to switch to the follow preparation mode more conveniently and quickly.
  • the handheld pan/tilt detects the user's control operation of the manual control, it sends a control signal to the shooting device so that the shooting device is not in the follow preparation mode and the follow shooting mode is not activated according to The control signal switches to the following preparation mode.
  • the camera device detects that the user's action posture matches a preset action posture, switch to the following preparation mode according to the preset action posture.
  • the camera device detects the gesture in the captured image and determines whether the detected gesture matches the preset gesture, such as spreading five fingers. If the detected gesture matches the preset gesture, switch to the following preparation mode according to the user's gesture.
  • the preset gesture such as spreading five fingers.
  • the user can quickly move the handheld pan/tilt when shooting by using the handheld pan/tilt mounted camera. If the camera device detects that the fast-moving acceleration is greater than the preset threshold, or the hand-held pan/tilt detects that the fast-moving acceleration is greater than the preset threshold and then informs the camera device, the camera device can switch to the desired speed according to the fast-moving gesture.
  • the following preparation mode is described.
  • a hot event such as a person or an animal who wants to shoot
  • he can quickly turn the shooting direction toward the hot event.
  • the camera device automatically switches to the follow-up preparation mode according to this action, and prepares to shoot hot events.
  • the camera device detects a user's touch operation on the display screen for displaying images, it switches to the following preparation mode according to the touch operation.
  • the user performs a touch operation on the shooting interface or the setting interface displayed on the display screen of the shooting device.
  • the camera device switches to the following preparation mode according to the touch operation.
  • the size of the area identifier is smaller than the size of the display screen of the photographing device.
  • Fig. 3 is a schematic diagram of the area identification displayed by the camera.
  • the area identification in FIG. 3 includes a box and a cross mark in the box.
  • the area identification may include a circle, a triangle, or at least one of a solid line frame and a dotted line frame.
  • the area identification is displayed on the display screen of the camera.
  • the display also shows the images taken by the camera.
  • the user By displaying the area identification on the display screen of the camera, the user is prompted to control the camera to switch to the follow-up shooting mode.
  • the user can also be prompted to switch the shooting direction of the shooting device so that the event to be shot is located inside the area identifier. It is convenient for the user to accurately adjust the shooting direction, and the shooting device can accurately identify the shooting target.
  • the event that the user wants to follow is located on the left side of the area indicator and not inside the area indicator, as shown in FIG. 3. Then the user can control the pan/tilt movement to make the camera rotate to the left until the event that the user wants to follow the shooting is located in the area identifier, as shown in Figure 4.
  • the center of the area identifier coincides with the center of the display screen.
  • the center of the area identification may be located on the left, right, upper or lower side of the display screen, etc. In this way, different composition methods can be realized during follow-up shooting, such as keeping the shooting target on the left or middle of the shot image.
  • the follow-up shooting method further includes: detecting an area adjustment operation of the area identification by the user, and adjusting the size and/or position of the area identification according to the area adjustment operation.
  • the user can adjust the size of the area identifier according to the distance between the shooting target and the shooting device, the size of the shooting target, and the like.
  • the area identification it is convenient for the user to control the shooting device to aim at the shooting target and the shooting device to accurately identify the shooting target.
  • the user can adjust the position of the area indicator on the display screen according to the composition requirements. And take the desired image with the user.
  • the user can adjust the size and/or position of the area identifier through touch operations on the display; or by inputting parameters for limiting the size and/or position of the area identifier in the setting interface, such as length and width. , And center coordinates, etc.
  • S130 Determine whether the target appearing in the image is a shooting target according to the region identifier.
  • the shooting target is specifically a target located inside the area identifier, or a target within a preset range from the area identifier.
  • the photographing device determines the photographing target in the photographed image according to the user's visible area identification. On the one hand, it is convenient for the user to adjust the photographing direction to the photographing target. On the other hand, the photographing target determined by the photographing device is more accurate and meets the user's expectations.
  • the determining whether the target appearing in the image is a shooting target according to the area identifier includes: if there is a part of the image within the area identifier and within a preset range from the area identifier in the image If a target appears, the target is determined as the shooting target.
  • the camera if the camera is in the follow-up preparation mode, it will automatically scan the area in real time to identify targets within and around a certain range, such as people or objects, and determine the shooting target.
  • the shooting target can be completely identified in the captured image or the shooting target located at the edge of the area identification can be identified. For example, when the size of the shooting target in the captured image is larger than the area identifier, the shooting target can still be accurately identified.
  • foreground detection is performed on a part of the picture within the area identifier and within a preset range from the area identifier in the image, and the target appearing in the partial picture is determined according to the detection result.
  • foreground detection algorithms such as frame difference method, optical flow method, etc. are used to detect the foreground area of a part of the picture within the region identifier and within the preset range of the distance region identifier in the image. If the size of the detected foreground region is greater than the preset threshold, then Determine the foreground area as the shooting target.
  • the foreground area is more prominent in the image, and the prominent target can be determined as the shooting target.
  • S140 When it is determined that the target appearing in the image is the shooting target, detect the control operation of the manual control element by the user.
  • the basic condition for switching to the follow-up shooting mode is satisfied.
  • the follow-up shooting mode is activated by detecting the control operation of the user.
  • the detection of the user's control operation of the manual control by the camera device includes: detecting whether the user operates the manual control on the handheld pan/tilt equipped with the camera.
  • the handheld pan/tilt head detects a user's control operation on the manual control element, it sends a control signal to the photographing device.
  • the photographing device detecting whether the user operates the manual control on the handheld platform equipped with the photographing device includes: the photographing device determines whether the user operates the handheld platform on the handheld platform according to the control signal sent by the handheld platform Manual control parts.
  • the manual control member includes at least one of a trigger, a knob or a button.
  • the user can control the camera to start the follow-up shooting mode by operating the physical buttons, knobs or triggers on the handheld pan/tilt, or combining at least two of the physical buttons, knobs or triggers.
  • the photographing device may determine a manual control part on the handheld PTZ as a manual control part that can trigger the photographing device to start the follow-up shooting mode according to the user's setting instruction.
  • the user When the user takes pictures by using a handheld camera equipped with a camera, the user usually holds the camera on the handle of the handheld camera.
  • the user By operating the manual controls on the handheld PTZ to control the camera to start the follow-up mode, the user can control the camera to switch to the follow-up mode more conveniently and quickly, and it can also reduce the impact of the jitter caused by the operation control on the captured image ; Make the shooting process faster and more convenient, and the creative experience more smooth.
  • the handheld pan/tilt detects a user's control operation on the manual control of the handheld pan/tilt, it sends a control signal to the photographing device, and the photographing device determines the user's control of the manual control according to the control signal operating.
  • the detection by the camera device of a user's control operation on a manual control element includes: detecting a user's control operation on the manual control element on the camera device.
  • the user can control the camera to start the follow-up shooting mode by operating the physical buttons, knobs, or triggers on the camera, or combining at least two of the physical buttons, knobs, or triggers.
  • the user can also control the camera to start the follow-up shooting mode through the manual control on the camera, such as when one hand is closer to the manual control on the camera.
  • the following shooting mode is used for following shooting of the shooting target.
  • the controlling the start of the follow-up shooting mode according to the control operation includes: in the follow-up preparation mode, if a user's control operation on the manual control member is detected, then start to control the shooting target Follow the shot.
  • the shooting device is in the follow-up preparation mode and the shooting target is determined according to the area identification
  • the follow-up shooting mode is controlled to start.
  • the determined shooting target can be followed to shoot faster.
  • the hand-held pan/tilt detects the user's control operation of the manual control element, it sends a control signal to the photographing device so that the photographing device is in the following preparation mode according to the control The signal starts to follow the shooting of the shooting target.
  • the user can control the shooting device to switch to the follow-up mode more conveniently and quickly, and can also reduce the impact of the jitter caused by the operation control on the captured image ; Make the shooting process faster and more convenient, and the creative experience more smooth.
  • the following shooting of the shooting target includes: adjusting the movement of a handheld pan/tilt equipped with the shooting device to follow the shooting of the shooting target.
  • the camera sends a control instruction to the handheld pan/tilt, so that the handheld pan/tilt moves according to the control instruction.
  • the handheld pan/tilt adjusts the shooting direction of the camera by controlling at least one of the pitch axis motor, the roll axis motor, and the translation axis motor.
  • the shooting direction can be adjusted to follow the movement of the shooting target to achieve the purpose of following shooting.
  • the shooting device generates a target following instruction according to the motion of the shooting target, and sends the target following instruction to the handheld pan/tilt.
  • the hand-held pan/tilt adjusts movement according to the target following instruction so that the photographing device can follow and photograph the photographed target.
  • the target following instruction includes the direction and angle of the hand-held pan/tilt head movement.
  • the hand-held pan/tilt can adjust the speed and acceleration of the movement according to the magnitude of the movement required to ensure a smooth transition between the captured images.
  • the camera device adjusts the movement of the hand-held pan/tilt head to keep the shooting target within the region identification of the image.
  • the camera device detects that the shooting target is moving to the right relative to the shooting device, then the camera device controls the hand-held pan/tilt to move to the right so that the shooting direction of the camera device also shifts to the right; the shooting target can be maintained Located in the area identifier of the captured image.
  • the camera device detects in the captured image whether the shooting target is located within the area identification; if the shooting target exceeds the area identification, the camera device adjusts the movement of the handheld platform The shooting target is smoothly moved into the area mark. Therefore, there can be a smooth transition between the images captured by the camera, and the image shake can be reduced.
  • the photographing device detects the position of the photographing target in the currently photographed image in real time, and controls the movement of the handheld pan/tilt when the photographing target exceeds a predetermined distance from the area identification.
  • the camera device acquires the orientation information corresponding to the shooting target beyond the area identifier; and adjusts the movement of the handheld pan/tilt according to the orientation information to smoothly move the shooting target to the area Within the logo.
  • the photographing device detects that the distance that the photographing target exceeds on the right side of the area identifier is greater than the preset distance, it controls the handheld pan/tilt to move to the right.
  • the controlling the follow-up shooting mode to turn off according to the control operation includes: when the follow-up shooting of the shooting target is performed, if a user's control operation on the manual control element is detected, ending the The shooting target performs follow-up shooting.
  • the shooting device starts the follow-up shooting mode
  • the follow-up shooting mode is controlled to close to stop the follow-up shooting of the shooting target. Therefore, the user can quickly turn off the follow shooting mode.
  • a control signal is sent to the photographing device, so that the photographing device ends when the photographic target is followed and photographed.
  • the photographing device ends when the photographic target is followed and photographed.
  • the manual control member includes at least one of a trigger, a knob or a button.
  • the user can control the camera to start the follow-up shooting mode by operating the physical buttons, knobs or triggers on the handheld pan/tilt, or combining at least two of the physical buttons, knobs or triggers.
  • the photographing device may determine a manual control part on the handheld pan/tilt head as a manual control part that can trigger the photographing device to close the follow-up shooting mode according to the user's setting instruction.
  • the user can control the shooting device to close the follow-up mode more conveniently and quickly, and it can also reduce the impact of the jitter caused by the operation control on the captured image; Make the shooting process faster and more convenient, and the creative experience more smooth.
  • the detection by the camera device of a user's control operation on a manual control element includes: detecting a user's control operation on the manual control element on the camera device.
  • the user can control the camera to turn off the follow-up shooting mode by operating the physical buttons, knobs, or triggers on the camera, or combining at least two of the physical buttons, knobs, or triggers.
  • the user can also control the camera to turn off the follow-up mode through the manual control on the camera, such as when one hand is closer to the manual control on the camera.
  • the follow-up shooting method provided in this embodiment prompts the user to place the shooting target in the area identification by displaying the area identification when in the follow-up preparation mode, so that the shooting target can be accurately determined; and the follow-up is controlled according to the detection of the user's control operation of the manual control member
  • the shooting mode is activated or deactivated, which is convenient for users to quickly start or cancel follow-up shooting and avoid missing the best time for follow-up shooting.
  • FIG. 5 is a schematic flowchart of a pan/tilt control method according to another embodiment of the present application.
  • the pan/tilt control method can be used for a handheld pan/tilt, such as a handheld pan/tilt that can be equipped with an independent camera or a handheld pan/tilt integrated with the camera, such as an integrated pan/tilt camera.
  • pan/tilt control method provided in the embodiment of the present application will be introduced in detail based on the photographing device and the handheld pan/tilt in FIG. 1.
  • the pan/tilt control method of this embodiment includes step S210 to step S220.
  • the manual control member is located on the handle of the handheld pan/tilt.
  • the detecting the user's control operation on the manual control element includes: detecting the user's control operation on the manual control element provided on the handle of the handheld pan/tilt.
  • the manual control element includes at least one of a trigger, a knob or a button.
  • the user's control operation of the manual control element includes: the user operates a physical button, knob, or trigger on the handheld pan/tilt, or a combined operation of at least two of the physical keys, knob, or trigger.
  • the photographing device may determine a manual control part on the handheld PTZ as a manual control part that can trigger the photographing device to activate or deactivate the follow-up shooting mode according to the user's setting instruction.
  • the camera mounted on the handheld pan/tilt head is controlled to activate or deactivate the follow-up shooting mode.
  • the user When the user takes pictures by using a handheld camera equipped with a camera, the user usually holds the camera on the handle of the handheld camera.
  • the user By operating the manual controls on the handheld PTZ to control the camera to start the follow-up mode, the user can control the camera to switch to the follow-up mode more conveniently and quickly, and it can also reduce the impact of the jitter caused by the operation control on the captured image ; Make the shooting process faster and more convenient, and the creative experience more smooth.
  • step S210 controlling the camera according to the control operation to start the follow-up shooting mode includes: controlling the camera according to the control operation to start the follow-up shooting mode when in the follow-up preparation mode mode.
  • the camera if it is in the follow-up shooting mode, it can be switched from the follow-up shooting mode to the follow-up shooting mode according to the user's control. If the camera is not in the follow-up shooting mode, the user's control operation on the manual control element is not detected, or the follow-up shooting mode is not activated when the user's control operation on the manual control element is detected. It can prevent the follow-up shooting mode from being turned on by mistake when the user does not need to follow-up shooting.
  • the hand-held pan/tilt detects the user's control operation of the manual control element, it sends a control signal to the photographing device so that the photographing device is in the following preparation mode according to the control The signal starts to follow the shooting of the shooting target.
  • an area identifier is displayed; and according to the area identifier, it is determined whether a target appearing in the image is a photographing target.
  • the user By displaying the area identification on the display screen of the camera, the user is prompted to control the camera to switch to the follow-up shooting mode.
  • the user can also be prompted to switch the shooting direction of the shooting device so that the event to be shot is located inside the area identifier. It is convenient for the user to accurately adjust the shooting direction, and the shooting device can accurately identify the shooting target.
  • the follow-up shooting mode is started by detecting the user's control operation of the manual control on the handheld pan/tilt.
  • the pan/tilt control method further includes: detecting a user's control operation of the manual control element, and controlling the camera to switch to the following preparation mode according to the control operation.
  • the camera If the camera is not in the follow-up preparation mode, nor in the follow-up shooting mode, it can switch to the follow-up mode according to the user's control operation of the manual control on the handheld pan/tilt. Therefore, the user can control the camera to switch to the following preparation mode by operating the manual control associated with the following preparation mode.
  • the hand-held pan/tilt detects the user's control operation of the manual control, it sends a control signal to the photographing device so that the photographing device is not in the following preparation mode and has not started all In the following shooting mode, switching to the following preparation mode according to the control signal.
  • the user When the user takes pictures by using a handheld camera equipped with a camera, the user usually holds the camera on the handle of the handheld camera.
  • the manual control part on the handheld pan/tilt By operating the manual control part on the handheld pan/tilt to control the shooting device to switch to the follow preparation mode, the user can control the shooting device to switch to the follow preparation mode more conveniently and quickly.
  • S220 If the shooting device is controlled to start the follow-up shooting mode according to the control operation, the movement is adjusted according to the control of the shooting device so that the shooting device can follow-up shooting of the shooting target.
  • the camera sends a control instruction to the handheld pan/tilt, so that the handheld pan/tilt moves according to the control instruction.
  • the handheld pan/tilt adjusts the shooting direction of the camera by controlling at least one of the pitch axis motor, the roll axis motor, and the translation axis motor.
  • the shooting direction can be adjusted to follow the movement of the shooting target to achieve the purpose of following shooting.
  • the adjusting movement according to the control of the photographing device so that the photographing device can follow and photograph the photographing target includes: acquiring from the photographing device the photographing device generated according to the movement of the photographing target According to the target follow instruction; adjust the movement according to the target follow instruction to make the camera follow the shooting target.
  • the target following instruction includes the direction and angle of the hand-held pan/tilt head movement.
  • the hand-held pan/tilt can adjust the speed and acceleration of the movement according to the magnitude of the movement required to ensure a smooth transition between the captured images.
  • the adjusting the movement so that the photographing device can follow the photographing of the photographing target includes: adjusting the movement to keep the photographing target within the region identifier in the image photographed by the photographing device.
  • the camera device detects that the shooting target is moving to the right relative to the shooting device, then the camera device controls the hand-held pan/tilt to move to the right so that the shooting direction of the camera device also shifts to the right; the shooting target can be maintained Located in the area identifier of the captured image.
  • the hand-held pan/tilt adjusts the movement so that the shooting target smoothly moves into the area identifier when it exceeds the area identifier.
  • the camera device detects in the captured image whether the shooting target is located within the area identification; if the shooting target exceeds the area identification, the camera device adjusts the movement of the handheld platform The shooting target is smoothly moved into the area mark. Therefore, there can be a smooth transition between the images captured by the camera, and the image shake can be reduced.
  • the photographing device detects the position of the photographing target in the currently photographed image in real time, and controls the movement of the handheld pan/tilt when the photographing target exceeds a predetermined distance from the area identification.
  • the camera device acquires the orientation information corresponding to the shooting target beyond the area identifier; and adjusts the movement of the handheld pan/tilt according to the orientation information to smoothly move the shooting target to the area Within the logo.
  • the step S210 controlling the shooting device to turn off the follow-up shooting mode according to the control operation includes: controlling the shooting device according to the control operation to end when the shooting target is followed-up shooting Follow-up shooting of the shooting target.
  • the follow-up shooting mode is controlled to close to stop the follow-up shooting of the shooting target. Therefore, the user can quickly turn off the follow shooting mode.
  • the hand-held pan/tilt detects the user's control operation of the manual control, it sends a control signal to the photographing device, so that the photographing device ends when the photographic target is followed up and photographed.
  • the shooting target performs follow-up shooting.
  • the user can control the shooting device to close the follow-up mode more conveniently and quickly, and it can also reduce the impact of the jitter caused by the operation control on the captured image; Make the shooting process faster and more convenient, and the creative experience more smooth.
  • the pan/tilt control method provided in this embodiment controls the camera mounted on the handheld pan/tilt to start or turn off the follow-up shooting mode according to the control operation when the handheld pan/tilt detects the user's control operation of the manual control element, so as to start or end according to the shooting
  • the control of the device adjusts the movement to make the camera follow the shooting target. It is convenient for users to quickly start or cancel follow-up shooting, so as to avoid missing the best time for follow-up shooting.
  • FIG. 6 is a schematic block diagram of a photographing device 600 according to an embodiment of this specification.
  • the camera 600 includes a processor 601 and a memory 602, and the processor 601 and the memory 602 are connected by a bus 603, which is, for example, an I2C (Inter-integrated Circuit) bus.
  • I2C Inter-integrated Circuit
  • the processor 601 may be a micro-controller unit (MCU), a central processing unit (Central Processing Unit, CPU), a digital signal processor (Digital Signal Processor, DSP), or the like.
  • MCU micro-controller unit
  • CPU Central Processing Unit
  • DSP Digital Signal Processor
  • the memory 602 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk, or a mobile hard disk.
  • the processor 601 is configured to run a computer program stored in the memory 602, and implement the aforementioned follow-up shooting method when the computer program is executed.
  • the processor 601 is configured to run a computer program stored in the memory 602, and implement the following steps when executing the computer program:
  • control operation control the follow-up shooting mode to start or close
  • the following shooting mode is used for following shooting of the shooting target.
  • the processor 601 determines whether the target appearing in the image is a shooting target according to the area identifier, the following is achieved:
  • the target is determined as the shooting target.
  • the processor 601 realizes that when a target appears in a part of the screen within the area identifier and within a preset range from the area identifier in the image, it realizes:
  • the processor 601 further implements: detecting an area adjustment operation of the area indicator by the user, and adjusting the size and/or position of the area indicator according to the area adjustment operation.
  • the center of the area identifier coincides with the center of the display screen.
  • the processor 601 realizes that when the follow-up shooting mode is started according to the control operation, the following is realized:
  • the processor 601 realizes the following shooting of the shooting target, it realizes:
  • the processor 601 realizes the adjustment of the movement of the handheld pan/tilt to follow the shooting of the shooting target, it realizes:
  • the processor 601 realizes the adjustment of the movement of the handheld pan/tilt to keep the shooting target within the region identifier of the image, it realizes:
  • the movement of the hand-held pan/tilt is adjusted to smoothly move the shooting target into the area identification.
  • the processor 601 realizes the adjustment of the movement of the hand-held pan/tilt to smoothly move the shooting target into the area identifier, it realizes:
  • the processor 601 realizes that when the following shooting mode is closed according to the control operation, the following is realized:
  • the follow-up shooting of the shooting target if the user's control operation of the manual control member is detected, the follow-up shooting of the shooting target is ended.
  • the processor 601 realizes the detection of the user's control operation of the manual control, it realizes:
  • the manual control element includes at least one of a trigger, a knob or a button.
  • processor 601 also implements:
  • the mode setting operation of the user is detected, and the following preparation mode is switched according to the mode setting operation.
  • the processor 601 implements the mode setting operation of the detection user, and when switching to the follow preparation mode according to the mode setting operation, implements:
  • the embodiments of this specification also provide a computer-readable storage medium, the computer-readable storage medium stores a computer program, the computer program includes program instructions, and the processor executes the program instructions to implement the foregoing implementation The steps provided by the example follow the shooting method.
  • the computer-readable storage medium may be the internal storage unit of the photographing device described in the foregoing embodiment, for example, the hard disk or memory of the photographing device.
  • the computer-readable storage medium may also be an external storage device of the photographing device, such as a plug-in hard disk equipped on the photographing device, a Smart Media Card (SMC), or a Secure Digital (SD) ) Card, Flash Card, etc.
  • SMC Smart Media Card
  • SD Secure Digital
  • FIG. 7 is a schematic block diagram of a handheld pan-tilt 700 provided in an embodiment of this specification.
  • the handheld pan/tilt head 700 includes a processor 701 and a memory 702, and the processor 701 and the memory 702 are connected by a bus 703, which is, for example, an I2C (Inter-integrated Circuit) bus.
  • I2C Inter-integrated Circuit
  • the processor 701 may be a micro-controller unit (MCU), a central processing unit (Central Processing Unit, CPU), a digital signal processor (Digital Signal Processor, DSP), or the like.
  • MCU micro-controller unit
  • CPU Central Processing Unit
  • DSP Digital Signal Processor
  • the memory 702 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk, or a mobile hard disk.
  • the processor 701 is configured to run a computer program stored in the memory 702, and implement the aforementioned pan-tilt control method when the computer program is executed.
  • the processor 701 is configured to run a computer program stored in the memory 702, and implement the following steps when executing the computer program:
  • the movement is adjusted according to the control of the shooting device to make the shooting device follow-up shooting of the shooting target.
  • the camera is controlled to start the follow-up shooting mode when it is in the follow-up preparation mode.
  • the processor 701 realizes that when the camera is controlled according to the control operation to start the follow-up shooting mode when it is in the follow-up preparation mode, the following is achieved:
  • a control signal is sent to the camera, so that the camera starts to perform the shooting target according to the control signal when the camera is in the follow preparation mode.
  • follow the shot If the user's control operation of the manual control member is detected, a control signal is sent to the camera, so that the camera starts to perform the shooting target according to the control signal when the camera is in the follow preparation mode.
  • the processor 701 further implements: detecting a user's control operation on the manual control element, and controlling the photographing device to switch to the following preparation mode according to the control operation.
  • the processor 701 implements the detection of the user's control operation on the manual control element, and controls the photographing device to switch to the follow preparation mode according to the control operation, it implements:
  • a control signal is sent to the photographing device so that the photographing device is not in the follow-up preparation mode and the follow-up shooting mode is not activated according to the The control signal switches to the following preparation mode.
  • the processor 701 realizes the adjustment of movement according to the control of the photographing device so that the photographing device follows the photographing target, it realizes:
  • the movement is adjusted according to the target following instruction, so that the photographing device follows the photographing target.
  • the processor 701 implements the adjustment movement so that the photographing device follows the photographing target, it realizes:
  • the movement is adjusted to keep the photographing target within the region identification in the image photographed by the photographing device.
  • the processor 701 implements the adjustment movement to keep the shooting target within the region identifier in the image shot by the shooting device, it realizes:
  • the movement is adjusted so that the shooting target smoothly moves into the area indicator when it exceeds the area indicator.
  • the processor 701 controls the shooting device to close the follow-up shooting mode according to the control operation, it realizes:
  • the shooting device is controlled to end the follow-up shooting of the shooting target when the shooting target is followed-up shooting.
  • the processor 701 realizes that when the photographing device controls the photographing device according to the control operation to end the photographing of the photographing target when the photographing target is to be photographed following the photographing target, the following is achieved:
  • a control signal is sent to the photographing device, so that the photographing device ends the following photographing of the photographing target when the photographing device follows the photographing target.
  • the processor 701 realizes the detection of the user's control operation of the manual control, it realizes:
  • the manual control element includes at least one of a trigger, a knob or a button.
  • the embodiments of this specification also provide a computer-readable storage medium, the computer-readable storage medium stores a computer program, the computer program includes program instructions, and the processor executes the program instructions to implement the foregoing implementation The steps of the PTZ control method provided in the example.
  • the computer-readable storage medium may be the handheld pan/tilt head described in any of the foregoing embodiments, such as an internal storage unit of the handheld pan/tilt head, for example, the hard disk or memory of the handheld pan/tilt head.
  • the computer-readable storage medium may also be an external storage device of the handheld PTZ, such as a plug-in hard disk equipped on the handheld PTZ, a smart memory card (Smart Media Card, SMC), and a secure digital (Secure Digital) , SD) card, flash card (Flash Card), etc.
  • FIG. 8 is a schematic block diagram of a photographing system 10 according to an embodiment of this specification.
  • the photographing system 10 includes a photographing device 600 and a handheld PTZ 700.
  • the photographing system 10 includes a handheld PTZ 700 equipped with a photographing device 600, such as a handheld PTZ equipped with a smart phone or a camera or an integrated PTZ camera.
  • the photographing device 600 is used to determine whether it is in the following preparation mode, and if it is in the following preparation mode, an area identifier is displayed, and the size of the area identifier is smaller than the size of the display screen of the photographing device 600 ;
  • the photographing device 600 is configured to determine whether a target appearing in the image is a photographing target according to the area identifier;
  • the shooting device 600 determines that the target appearing in the image is the shooting target, detecting the user's control operation of the manual control;
  • the photographing device 600 is configured to control the follow-up photographing mode to start or close according to the control operation;
  • the shooting device 600 controls the follow-up shooting mode to start, control the handheld pan/tilt 700 equipped with the shooting device 600 to adjust the movement so that the shooting device 600 can follow the shooting of the shooting target.
  • the photographing device 600 determines whether a target appearing in the image is a photographing target according to the area identifier, including:
  • the photographing device 600 determines that a target appears in a part of the frame within the region identifier and within a preset range from the region identifier in the image, the target is determined as a photographing target.
  • the photographing device 600 determining that a target appears in a part of the image within the region identifier and within a preset range from the region identifier in the image includes:
  • the photographing device 600 performs foreground detection on a part of the image within the area identifier and within a preset range from the area identifier in the image, and determines the target appearing in the partial image according to the detection result.
  • the photographing device 600 is further configured to detect an area adjustment operation of the area mark by the user, and adjust the size and/or position of the area mark according to the area adjustment operation.
  • the center of the area identifier coincides with the center of the display screen.
  • the photographing device 600 controls the start of the follow-up photographing mode according to the control operation, including:
  • the photographing device 600 In the follow-up preparation mode, if the photographing device 600 detects a user's control operation of the manual control element, it starts to follow-up photographing the photographing target.
  • the photographing device 600 performing follow-up photographing of the photographing target includes:
  • the photographing device 600 adjusts the movement of the hand-held pan/tilt 700 to keep the photographing target located within the region identifier in the image photographed by the photographing device 600.
  • the photographing device 600 adjusts the movement of the hand-held pan/tilt 700 to keep the photographing target within the region identifier in the image photographed by the photographing device 600, including:
  • the photographing device 600 detects whether the photographing target is located in the area identifier in the photographed image
  • the photographing device 600 adjusts the movement of the handheld pan-tilt 700 to smoothly move the photographing target into the area mark.
  • adjusting the motion of the handheld pan/tilt 700 by the photographing device 600 to smoothly move the photographing target into the area identifier includes:
  • the photographing device 600 acquires the position information corresponding to the photographing target beyond the area identifier
  • the photographing device 600 adjusts the movement of the hand-held pan/tilt 700 according to the position information to smoothly move the photographing target into the area identifier.
  • the photographing device 600 controls the hand-held pan/tilt 700 to adjust the movement so that the photographing device 600 follows the photographing target, including:
  • the shooting device 600 generates a target following instruction according to the motion of the shooting target
  • the camera 600 sends the target following instruction to the handheld pan/tilt head 700 so that the handheld pan/tilt 700 adjusts movement according to the target following instruction.
  • the photographing device 600 controls the follow-up photographing mode to close according to the control operation, including:
  • the shooting device 600 When performing follow-up shooting of the shooting target, the shooting device 600 performs follow-up shooting of the shooting target according to the end of the control operation.
  • the photographing device 600 detects the user's control operation of the manual control element, including:
  • the photographing device 600 detects whether the user operates the manual control element on the handheld PTZ 700.
  • the handheld pan/tilt 700 detects a user's control operation on the manual control element, it sends a control signal to the photographing device 600.
  • the detection by the photographing device 600 whether the user operates the manual control on the handheld PTZ 700 includes:
  • the photographing device 600 determines whether the user operates the manual control on the handheld platform 700 according to the control signal sent by the handheld platform 700.
  • the manual control element includes at least one of a trigger, a knob or a button.
  • the photographing device 600 is further configured to detect a mode setting operation of the user, and switch to the following preparation mode according to the mode setting operation.
  • the photographing device 600 detects the mode setting operation of the user, and switches to the follow preparation mode according to the mode setting operation, including:
  • the photographing device 600 When the photographing device 600 is not in the following preparation mode and is not following the photographing target, if it detects a user's control operation of the manual control, it switches to the following preparation mode according to the control operation .
  • the embodiments of this specification also provide a computer-readable storage medium, the computer-readable storage medium stores a computer program, the computer program includes program instructions, and the processor executes the program instructions to implement the foregoing implementation
  • the example provides the steps of the follow-up shooting method for the shooting system.
  • the following shooting method, pan-tilt control method, camera, handheld pan-tilt, camera system, and computer-readable storage medium provided in the above-mentioned embodiments of this specification prompt the user to set the shooting target by displaying the area indicator when the camera is in the follow preparation mode.
  • the shooting target can be accurately determined; and the follow-up shooting mode is controlled to start or close according to the detection of the user's control operation of the manual control, so that the user can quickly start or cancel the follow-up shooting and avoid missing the best time for the follow-up shooting.

Abstract

本说明书公开了一种跟随拍摄、云台控制方法、拍摄装置、手持云台和拍摄系统，跟随拍摄方法包括:判断是否处于跟随准备模式(S110)；若处于跟随准备模式，显示区域标识(S120)；根据区域标识确定图像中出现的目标是否为拍摄目标(S130)；当目标为拍摄目标时，检测用户对手动控制件的控制操作(S140)；根据控制操作控制跟随拍摄模式启动或关闭(S150)。

Description

跟随拍摄、云台控制方法、拍摄装置、手持云台和拍摄系统 技术领域
本申请涉及拍摄技术领域，尤其涉及一种跟随拍摄、云台控制方法、拍摄装置、手持云台和拍摄系统。
背景技术
智能跟随拍摄功能，涉及到云台跟随技术，可应用于如挂载相机的手持云台中，或者挂载手机的手持云台中，或者一体化云台相机中，实现了在拍摄过程中的自动稳定平衡，可以随时随地拍摄出高精度的稳定画面。
当前的主流的拍摄类软件，需要跟随拍摄某个物体或人物时，需要在屏幕上进行点击和/或框选，效率较低，比较容易错过拍摄的最佳时机。
发明内容
基于此，本说明书提供了一种跟随拍摄、云台控制方法、拍摄装置、手持云台、拍摄系统和存储介质，旨在解决现有的跟随拍摄方法在需要跟随拍摄某个物体或人物时，需要在屏幕上进行点击和/或框选，效率较低，比较容易错过拍摄的最佳时机等技术问题。
第一方面，本说明书提供了一种跟随拍摄方法，所述跟随拍摄方法包括：
判断是否处于跟随准备模式；
若处于所述跟随准备模式，则显示区域标识，所述区域标识的大小小于拍摄装置的显示屏的尺寸；
根据所述区域标识确定图像中出现的目标是否为拍摄目标；
当确定所述图像中出现的目标为拍摄目标时，检测用户对手动控制件的控制操作；
根据所述控制操作，控制跟随拍摄模式启动或关闭；
所述跟随拍摄模式用于对所述拍摄目标进行跟随拍摄。
第二方面，本说明书提供了一种云台控制方法，所述云台控制方法包括：
检测用户对手动控制件的控制操作，根据所述控制操作控制手持云台搭载的拍摄装置启动或关闭跟随拍摄模式；
若根据所述控制操作控制所述拍摄装置启动所述跟随拍摄模式，则根据所述拍摄装置的控制调整运动以使所述拍摄装置对拍摄目标进行跟随拍摄。
第三方面，本说明书提供了一种拍摄装置，包括存储器和处理器；
所述存储器用于存储计算机程序；
所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，实现如下步骤：
判断是否处于跟随准备模式；
若处于所述跟随准备模式，则显示区域标识，所述区域标识的大小小于所述拍摄装置的显示屏的尺寸；
根据所述区域标识确定图像中出现的目标是否为拍摄目标；
当确定所述图像中出现的目标为拍摄目标时，检测用户对手动控制件的控制操作；
根据所述控制操作，控制跟随拍摄模式启动或关闭；
所述跟随拍摄模式用于对所述拍摄目标进行跟随拍摄。
第四方面，本说明书提供了一种手持云台，包括手柄以及设于所述手柄上的云台，所述手持云台用于搭载拍摄装置；
所述手持云台还包括存储器和处理器；
所述存储器用于存储计算机程序；
所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，实现如下步骤：
检测用户对手动控制件的控制操作，根据所述控制操作控制手持云台搭载的拍摄装置启动或关闭跟随拍摄模式；
若根据所述控制操作控制所述拍摄装置启动所述跟随拍摄模式，则根据所述拍摄装置的控制调整运动以使所述拍摄装置对拍摄目标进行跟随拍摄。
第五方面，本说明书提供了一种拍摄系统，包括拍摄装置和手持云台；
所述拍摄装置用于判断是否处于跟随准备模式，若处于所述跟随准备模式，则显示区域标识，所述区域标识的大小小于所述拍摄装置的显示屏的尺寸；
所述拍摄装置用于根据所述区域标识确定图像中出现的目标是否为拍摄目标；
当所述拍摄装置确定所述图像中出现的目标为拍摄目标时，检测用户对手动控制件的控制操作；
所述拍摄装置用于根据所述控制操作，控制跟随拍摄模式启动或关闭；
若所述拍摄装置控制所述跟随拍摄模式启动，控制搭载所述拍摄装置的手持云台调整运动以使所述拍摄装置对所述拍摄目标进行跟随拍摄。
第六方面，本说明书提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序可被处理器以实现上述的方法。
本说明书实施例提供了一种跟随拍摄、云台控制方法、拍摄装置、手持云台、拍摄系统和存储介质，通过在拍摄装置处于跟随准备模式时显示区域标识提示用户将拍摄目标置于区域标识内，从而可以准确确定拍摄目标；并根据检测用户对手动控制件的控制操作控制跟随拍摄模式启动或关闭，便于用户快速的开始或取消跟随拍摄，避免错过跟随拍摄的最佳时机。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本说明书的公开内容。
附图说明
为了更清楚地说明本说明书实施例技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本说明书的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为手持云台搭载拍摄装置的结构示意图；
图2为本说明书一实施例提供的一种跟随拍摄方法的流程示意图；
图3为拍摄装置显示区域标识的示意图
图4为根据区域标识确定拍摄目标的示意图；
图5是本说明书另一实施例提供的一种云台控制方法的流程示意图；
图6是本说明书一实施例提供的拍摄装置的示意性框图；
图7是本说明书一实施例提供的手持云台的示意性框图；
图8是本说明书一实施例提供的拍摄系统的示意性框图。
具体实施方式
下面将结合本说明书实施例中的附图，对本说明书实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本说明书一部分实施例，而不是全部的实施例。基于本说明书中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本说明书保护的范围。
附图中所示的流程图仅是示例说明，不是必须包括所有的内容和操作/步骤，也不是必须按所描述的顺序执行。例如，有的操作/步骤还可以分解、组合或部分合并，因此实际执行的顺序有可能根据实际情况改变。
下面结合附图，对本说明书的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
手持云台是指可搭载拍摄装置的云台系统或者搭载拍摄装置的一体化云台相机。拍摄装置包括摄像头和显示屏，例如拍摄装置可以为手机、相机或者一体化云台相机中的拍摄组件。通过使用手持云台可以随时随地拍摄出高精度的稳定画面。
手持云台搭载拍摄装置，用于固定拍摄装置以及改变拍摄装置的高度、倾角和/或方向，或者用于将拍摄装置稳定地保持在某一姿态上，便于拍摄装置进行拍摄。
示例性的，请参阅图1，图1是本申请提供的一种搭载拍摄装置的手持云台的结构示意图。以下将结合图1，对本申请实施例中的手持云台进行说明。
如图1所示，该手持云台100包括手柄11和设于手柄11上的云台12，云台12上还搭载有拍摄装置200。在本实施例中，拍摄装置200为智能手机，当然也为其他摄像设备，比如相机。
示例性的，拍摄装置200与手持云台100通信连接，例如通过蓝牙链路或者数据接口进行通信连接。
例如，手持云台100和拍摄装置200，如手机通过蓝牙连接后，手持云台100可以通过蓝牙链路，直接控制拍摄装置200上拍摄软件的功能，同时，拍摄装置200上拍摄软件也可以向手持云台100发送指令。
其中，云台12包括三轴电机，分别为俯仰(pitch)轴电机121、横滚(roll)轴电机122和平移(yaw)轴电机123，用于调整拍摄装置200的平衡姿态，以便随时随地拍摄出高精度的稳定画面。
云台12上设置有惯性测量单元(Inertial measurement unit，IMU)，可例如为加速度计或陀螺仪中的至少一种，可以用于测量拍摄装置200的姿态和加速度等，以便根据姿态调整拍摄装置200的平衡姿态。
其中，手柄11上还设有控制件，以便用户操作该控制件以控制云台12或拍摄装置200。该控制件可例如为按键、扳机、旋钮或者摇杆等，当然也包括其他形式的物理按键。
比如，摇杆可以用于控制三个转轴的运动，进而控制拍摄装置200的运动。可以理解的是，遥控也可以用于其他功能。
在一个实施例中，控制件的数量可以为一个或多个。当控制件的数量为一个时，可以针对该控制件采用不同的操作方式产生不同的控制指令，不同的操作方式比如为按压次数不同；当然控制件的数量为多个时，比如包括第一控制件、第二控制件和第三控制件等，不同控制件产生不同的控制指令。
可以理解的，图1中的手持云台以及上述对于手持云台各部件的命名仅仅出于标识的目的，并不因此对本申请实施例进行限制。
请参阅图2，图2是本说明书一实施例提供的一种跟随拍摄方法的流程示意图。跟随拍摄方法可用于手机、相机等拍摄装置，或者用于一体化云台相机。
以下将基于图1中的拍摄装置和手持云台对本申请的实施例提供的跟随拍摄方法进行详细介绍。
示例性的，拍摄装置为安装有用于实现跟随拍摄方法的计算机程序的手机、相机等。拍摄装置可以通过摄像头可以获取拍摄的图像，还可以通过显示屏显示拍摄的图像等信息。
如图2所示，本实施例的跟随拍摄方法包括步骤S110至步骤S150。
S110、判断是否处于跟随准备模式。
具体的，若拍摄装置处于跟随拍摄模式，则可以根据用户的控制由跟随拍摄模式切换至跟随拍摄模式。
示例性的，拍摄装置本地存储有用于表示是否处于跟随准备模式的状态码，拍摄装置根据读取和解析该状态码判断是否处于跟随准备模式。
示例性的，用户设置拍摄装置在开机后进入跟随准备模式或再开机后不进入跟随准备模式，设置的模式的状态码可以存储在拍摄装置。
示例性的，用户可以在拍摄装置开机后设置拍摄装置进入跟随准备模式或者退出跟随准备模式。
在一些实施方式中，跟随拍摄方法还包括：所述摄像装置检测用户的模式设置操作，根据所述模式设置操作切换至所述跟随准备模式。因此用户可以根据拍摄场景适应性的设置摄像装置是否处于跟随准备模式。
示例性的，在所述摄像装置未处于所述跟随准备模式且未对所述拍摄目标进行跟随拍摄时，若检测到用户对手动控制件的控制操作，则根据所述控制操作切换至所述跟随准备模式。
示例性的，如果拍摄装置未处于跟随准备模式，也未处于跟随拍摄模式，则可以根据用户对拍摄装置上的手动控制件或手持云台上的手动控制件的控制操作，切换至跟随准备模式。因此用户可以通过操作与跟随准备模式相关联的手动控制件控制拍摄装置切换至跟随准备模式。
示例性的，拍摄装置可以根据用户的设置指令，将某手动控制件确定为可触发拍摄装置切换至跟随准备模式的手动控制件。
示例性的，用户可以通过操作拍摄装置上的实体按键、旋钮或者扳机，或者组合操作实体按键、旋钮或者扳机中的至少两项，控制拍摄装置切换至跟随准备模式。
示例性的，用户可以通过操作手持云台上的实体按键、旋钮或者扳机，或者组合操作实体按键、旋钮或者扳机中的至少两项，控制拍摄装置切换至跟随准备模式。
由于用户通过手持云台搭载拍摄装置进行拍摄时，通常是手握在手持云台的手柄上的。通过对手持云台上的手动控制件的操作控制拍摄装置切换至跟随准备模式，用户可以更方便、迅速的控制拍摄装置切换至跟随准备模式。
例如，若手持云台检测到用户对手动控制件的控制操作，向所述拍摄装置发送控制信号，以使所述拍摄装置在未处于所述跟随准备模式且未启动所述跟随拍摄模式时根据所述控制信号切换至所述跟随准备模式。
示例性的，若所述摄像装置检测到用户的动作姿态与预设的动作姿态相匹配，根据所述预设的动作姿态切换至所述跟随准备模式。
具体的，用户通过手持云台搭载拍摄装置进行拍摄时，可以将一只手放在拍摄装置的拍摄方向并作出相应的手势。摄像装置检测拍摄图像中的手势，并判断检测到的手势是否和预设的手势相匹配，如均为张开五个手指。若检测到的手势和预设的手势相匹配，则根据用户的手势切换至所述跟随准备模式。
具体的，用户通过手持云台搭载拍摄装置进行拍摄时，可以快速移动手持云台。如果摄像装置检测到该快速移动的加速度大于预设阈值，或者手持云台检测到该快速移动的加速度大于预设阈值后通知摄像装置，则摄像装置可以根据这一快速移动的动作姿态切换至所述跟随准备模式。
例如，用户如果发现一个热点事件，如人物或动物想要拍摄，则可以快速将拍摄方向朝向该热点事件。摄像装置根据这一动作自动切换至跟随准备模式，准备对热点事件进行拍摄。
示例性的，若所述摄像装置检测到用户在用于显示图像的显示屏上的触控操作，根据所述触控操作切换至所述跟随准备模式。
例如，用户在拍摄装置的显示屏显示的拍摄界面或者设置界面进行触控操作。摄像装置根据触控操作切换至所述跟随准备模式。
S120、若处于所述跟随准备模式，则显示区域标识。
其中，所述区域标识的大小小于所述拍摄装置的显示屏的尺寸。
如图3所示为拍摄装置显示区域标识的示意图。
示例性的，图3中的区域标识包括一个方框和方框中的十字标记。
在其他示例中区域标识可以包括圆形、三角形或者实线框、虚线框中的至少一项。
示例性的，在拍摄装置的显示屏显示区域标识。显示屏还显示拍摄装置拍摄的图像。
通过在拍摄装置的显示屏显示区域标识，提示用户可以控制拍摄装置切换至跟随拍摄模式。还可以提示用户通过切换拍摄装置的拍摄方向，使得想要拍摄的事件位于区域标识内部。便于用户准确调整拍摄方向，还使得拍摄装置可以准确识别拍摄目标。
例如，在跟随准备模式时，拍摄装置拍摄的图像中用户想要跟随拍摄的事件位于区域标识的左侧且未处于区域标识内部，如图3所示。则用户可以通过控制云台动作使得拍摄装置向左转动，直至用户想要跟随拍摄的事件位于区域 标识内，如图4所示。
示例性的，所述区域标识的中心与所述显示屏的中心重合。
在其他示例中，区域标识的中心可以位于显示屏的左侧、右侧、上侧或下侧等。从而在跟随拍摄时可以实现不同的构图方式，如保持拍摄目标位于拍摄的图像的左侧或中部。
在一些实施方式中，所述跟随拍摄方法还包括：检测用户对所述区域标识的区域调整操作，根据所述区域调整操作调整所述区域标识的大小和/或位置。
示例性的，用户可以根据拍摄目标和拍摄装置之间的距离远近、拍摄目标的大小等调整区域标识的大小。通过根据不同的拍摄场景调整区域标识，便于用户控制拍摄装置瞄准拍摄目标和拍摄装置准确识别拍摄目标。
示例性的，用户可以根据构图的需要，调整区域标识在显示屏上的位置。并与用户拍摄所需要的图像。
具体的，用户可以通过在显示屏上的触控操作调整所述区域标识的大小和/或位置；或者通过在设置界面输入用于限定区域标识的大小和/或位置的参数，如长、宽、和中心坐标等。
S130、根据所述区域标识确定图像中出现的目标是否为拍摄目标。
示例性的，拍摄目标具体为位于区域标识内部的目标，或者为距离所述区域标识预设范围内的目标。
拍摄装置根据用户可视的区域标识确定拍摄的图像中的拍摄目标，一方面便于用户将拍摄方向调整对准拍摄目标，另一方面拍摄装置确定的拍摄目标更准确，符合用户的期望。
在一些实施方式中，所述根据所述区域标识确定图像中出现的目标是否为拍摄目标，包括：若所述图像中所述区域标识内和距离所述区域标识预设范围内的部分画面中出现目标，则将所述目标确定为拍摄目标。
示例性的，如图4所示，若拍摄装置处于跟随准备模式，会自动实时扫描区域标识内部及周边一定范围内的目标，如人或物，并确定拍摄目标。
通过适当扩大拍摄目标的检测范围，使得可以在拍摄的图像中完整的识别拍摄目标或者可以识别位于区域标识边缘的拍摄目标。例如当拍摄的图像中的拍摄目标的大小比区域标识还大时，依然可以准确识别该拍摄目标。
示例性的，对所述图像中所述区域标识内和距离所述区域标识预设范围内 的部分画面进行前景检测，根据检测结果确定所述部分画面中出现的目标。
例如，通过帧差法、光流法等前景检测算法检测所述图像中区域标识内和距离区域标识预设范围内部分画面的前景区域，若检测出的前景区域的大小大于预设阈值，则确定该前景区域为拍摄目标。
前景区域在图像中比较突出，可以确定突出的目标为拍摄目标。
S140、当确定所述图像中出现的目标为拍摄目标时，检测用户对手动控制件的控制操作。
示例性的，若拍摄的图像中所述区域标识内和距离所述区域标识预设范围内的部分画面包括拍摄目标，则满足可以切换至跟随拍摄模式的基本条件。
具体的，在拍摄装置处于跟随准备模式且确定到拍摄目标时，通过检测用户的控制操作启动跟随拍摄模式。
在一些实施方式中，所述摄像装置检测用户对手动控制件的控制操作，包括：检测用户是否操作搭载所述拍摄装置的手持云台上的手动控制件。
示例性的，若所述手持云台检测到用户对所述手动控制件的控制操作，则向所述拍摄装置发送控制信号。
所述拍摄装置检测用户是否操作搭载所述拍摄装置的手持云台上的手动控制件，包括：所述拍摄装置根据所述手持云台发送的控制信号判断用户是否操作所述手持云台上的手动控制件。
示例性的，所述手动控制件至少包括扳机、旋钮或按键中的一种。
示例性的，用户可以通过操作手持云台上的实体按键、旋钮或者扳机，或者组合操作实体按键、旋钮或者扳机中的至少两项，控制拍摄装置启动跟随拍摄模式。
示例性的，拍摄装置可以根据用户的设置指令，将手持云台上某手动控制件确定为可触发拍摄装置启动跟随拍摄模式的手动控制件。
由于用户通过手持云台搭载拍摄装置进行拍摄时，通常是手握在手持云台的手柄上的。通过对手持云台上的手动控制件的操作控制拍摄装置启动跟随拍摄模式，用户可以更方便、迅速的控制拍摄装置切换至跟随准备模式，还可以减少操作控制带来的抖动对拍摄图像的影响；使拍摄过程更加迅捷方便，创作体验更加流畅。
示例性的，若所述手持云台检测到用户对所述手持云台的手动控制件的控 制操作，向所述拍摄装置发送控制信号，摄像装置根据该控制信号确定用户对手动控制件的控制操作。
在另一些实施方式中，所述摄像装置检测用户对手动控制件的控制操作，包括：检测用户对所述摄像装置上的手动控制件的控制操作。
示例性的，用户可以通过操作拍摄装置上的实体按键、旋钮或者扳机，或者组合操作实体按键、旋钮或者扳机中的至少两项，控制拍摄装置启动跟随拍摄模式。用户在一些场景下也可以通过摄像装置上的手动控制件控制拍摄装置启动跟随拍摄模式，如一只手距离拍摄装置上的手动控制件更近时。
S150、根据所述控制操作，控制跟随拍摄模式启动或关闭。
其中，所述跟随拍摄模式用于对所述拍摄目标进行跟随拍摄。
在一些实施方式中，所述根据所述控制操作，控制跟随拍摄模式启动，包括：在处于跟随准备模式时，若检测到用户对所述手动控制件的控制操作，则开始对所述拍摄目标进行跟随拍摄。
示例性的，在拍摄装置处于跟随准备模式且根据区域标识确定拍摄目标后，若检测到用户对手动控制件的控制操作，控制跟随拍摄模式启动。在检测到用户操作手动控制件时，可以更快的对确定的拍摄目标进行跟随拍摄。
示例性的，若所述手持云台检测到用户对所述手动控制件的控制操作，向所述拍摄装置发送控制信号，以使所述拍摄装置在处于所述跟随准备模式时根据所述控制信号开始对所述拍摄目标进行跟随拍摄。
通过对手持云台上的手动控制件的操作控制拍摄装置启动跟随拍摄模式，用户可以更方便、迅速的控制拍摄装置切换至跟随拍摄模式，还可以减少操作控制带来的抖动对拍摄图像的影响；使拍摄过程更加迅捷方便，创作体验更加流畅。
示例性的，所述对所述拍摄目标进行跟随拍摄，包括：调整搭载所述拍摄装置的手持云台的运动以对所述拍摄目标进行跟随拍摄。
示例性的，拍摄装置在跟随拍摄模式启动后，向手持云台发送控制指令，以使手持云台根据控制指令运动。如手持云台通过控制俯仰轴电机、横滚轴电机、平移轴电机中的至少一个运动以调整拍摄装置的拍摄方向。从而可以实现拍摄方向跟随拍摄目标的运动进行调整，达到跟随拍摄的目的。
示例性的，拍摄装置根据所述拍摄目标的运动生成的目标跟随指令，并将 目标跟随指令发送给手持云台。手持云台根据所述目标跟随指令调整运动以使所述拍摄装置对所述拍摄目标进行跟随拍摄。
示例性的，目标跟随指令包括手持云台运动的方向、角度等。手持云台可以根据需要运动的幅度的大小调整运动的速度、加速度，以便保证拍摄的图像之间的平滑过渡。
示例性的，摄像装置调整所述手持云台的运动，以保持所述拍摄目标位于所述图像的所述区域标识内。
例如，如图4所示，摄像装置检测到拍摄目标相对于拍摄装置在向右运动，则摄像装置控制手持云台向右运动从而摄像装置的拍摄方向也向右偏移；可以实现保持拍摄目标位于拍摄图像的所述区域标识内。
示例性的，所述摄像装置在拍摄的图像中检测所述拍摄目标是否位于所述区域标识内；若所述拍摄目标超出所述区域标识，所述摄像装置调整所述手持云台的运动以将所述拍摄目标平滑地移动至所述区域标识内。从而拍摄装置拍摄的图像之间可以有平稳的过渡，减小画面抖动。
具体的，拍摄装置实时检测当前拍摄的图像中拍摄目标的位置，并在当拍摄目标超出区域标识预设距离时，控制手持云台的运动。
示例性的，所述摄像装置获取所述拍摄目标超出所述区域标识对应的方位信息；并根据所述方位信息调整所述手持云台的运动以将所述拍摄目标平滑地移动至所述区域标识内。
具体的，如果拍摄装置检测到拍摄目标在区域标识的右侧超出的距离大于预设距离，则控制手持云台向右运动。
在一些实施方式中，所述根据所述控制操作，控制跟随拍摄模式关闭，包括：在对所述拍摄目标进行跟随拍摄时，若检测到用户对所述手动控制件的控制操作，则结束对所述拍摄目标进行跟随拍摄。
示例性的，在拍摄装置启动跟随拍摄模式后，若检测到用户对手动控制件的控制操作，则控制跟随拍摄模式关闭，以停止对拍摄目标进行跟随拍摄。因此用户可以快捷的关闭跟随拍摄模式。
示例性的，若手持云台检测到用户对所述手动控制件的控制操作，向所述拍摄装置发送控制信号，以使所述拍摄装置在对所述拍摄目标进行跟随拍摄时结束对所述拍摄目标进行跟随拍摄。
示例性的，所述手动控制件至少包括扳机、旋钮或按键中的一种。
示例性的，用户可以通过操作手持云台上的实体按键、旋钮或者扳机，或者组合操作实体按键、旋钮或者扳机中的至少两项，控制拍摄装置启动跟随拍摄模式。
示例性的，拍摄装置可以根据用户的设置指令，将手持云台上某手动控制件确定为可触发拍摄装置关闭跟随拍摄模式的手动控制件。
通过对手持云台上的手动控制件的操作控制拍摄装置关闭跟随拍摄模式，用户可以更方便、迅速的控制拍摄装置关闭跟随拍摄模式，还可以减少操作控制带来的抖动对拍摄图像的影响；使拍摄过程更加迅捷方便，创作体验更加流畅。
在另一些实施方式中，所述摄像装置检测用户对手动控制件的控制操作，包括：检测用户对所述摄像装置上的手动控制件的控制操作。
示例性的，用户可以通过操作拍摄装置上的实体按键、旋钮或者扳机，或者组合操作实体按键、旋钮或者扳机中的至少两项，控制拍摄装置关闭跟随拍摄模式。用户在一些场景下也可以通过摄像装置上的手动控制件控制拍摄装置关闭跟随拍摄模式，如一只手距离拍摄装置上的手动控制件更近时。
本实施例提供的跟随拍摄方法，通过在处于跟随准备模式时显示区域标识提示用户将拍摄目标置于区域标识内，从而可以准确确定拍摄目标；并根据检测用户对手动控制件的控制操作控制跟随拍摄模式启动或关闭，便于用户快速的开始或取消跟随拍摄，避免错过跟随拍摄的最佳时机。
请参阅图5，图5是本申请另一实施例提供的一种云台控制方法的流程示意图。云台控制方法可用于手持云台，如可搭载独立拍摄装置的手持云台或与拍摄装置一体化设置的手持云台，如一体化云台相机。
以下将基于图1中的拍摄装置和手持云台对本申请的实施例提供的云台控制方法进行详细介绍。
如图5所示，本实施例的云台控制方法包括步骤S210至步骤S220。
S210、检测用户对手动控制件的控制操作，根据所述控制操作控制手持云台搭载的拍摄装置启动或关闭跟随拍摄模式。
示例性的，所述手动控制件位于所述手持云台的手柄上。
示例性的，所述检测用户对手动控制件的控制操作，包括：检测用户对设 置在所述手持云台的手柄上的手动控制件的控制操作。
具体的，所述手动控制件至少包括扳机、旋钮或按键中的一种。
示例性的，用户对手动控制件的控制操作包括：用户操作手持云台上的实体按键、旋钮或者扳机，或者组合操作实体按键、旋钮或者扳机中的至少两项。
示例性的，拍摄装置可以根据用户的设置指令，将手持云台上某手动控制件确定为可触发拍摄装置启动或关闭跟随拍摄模式的手动控制件。当检测到所述确定的手动控制件被用户操作，则控制所述手持云台搭载的拍摄装置启动或关闭跟随拍摄模式。
由于用户通过手持云台搭载拍摄装置进行拍摄时，通常是手握在手持云台的手柄上的。通过对手持云台上的手动控制件的操作控制拍摄装置启动跟随拍摄模式，用户可以更方便、迅速的控制拍摄装置切换至跟随准备模式，还可以减少操作控制带来的抖动对拍摄图像的影响；使拍摄过程更加迅捷方便，创作体验更加流畅。
在一些实施方式中，步骤S210中的所述根据所述控制操作控制所述拍摄装置启动跟随拍摄模式，包括：根据所述控制操作控制所述拍摄装置在处于跟随准备模式时启动所述跟随拍摄模式。
具体的，若拍摄装置处于跟随拍摄模式，则可以根据用户的控制由跟随拍摄模式切换至跟随拍摄模式。如果拍摄装置未处于跟随拍摄模式，则不检测用户对手动控制件的控制操作，或者当检测到用户对手动控制件的控制操作后不启动所述跟随拍摄模式。可以防止在用户不需要跟随拍摄时错误开启跟随拍摄模式。
示例性的，若所述手持云台检测到用户对所述手动控制件的控制操作，向所述拍摄装置发送控制信号，以使所述拍摄装置在处于所述跟随准备模式时根据所述控制信号开始对所述拍摄目标进行跟随拍摄。
示例性的，拍摄装置处于跟随拍摄模式时，显示区域标识；以及根据所述区域标识确定图像中出现的目标是否为拍摄目标。
通过在拍摄装置的显示屏显示区域标识，提示用户可以控制拍摄装置切换至跟随拍摄模式。还可以提示用户通过切换拍摄装置的拍摄方向，使得想要拍摄的事件位于区域标识内部。便于用户准确调整拍摄方向，还使得拍摄装置可以准确识别拍摄目标。
具体的，在拍摄装置处于跟随准备模式且确定到拍摄目标时，通过检测用户的对手持云台上的手动控制件的控制操作启动跟随拍摄模式。
在一些实施方式中，云台控制方法还包括：检测用户对所述手动控制件的控制操作，根据所述控制操作控制所述拍摄装置切换至所述跟随准备模式。
如果拍摄装置未处于跟随准备模式，也未处于跟随拍摄模式，则可以根据用户对手持云台上的手动控制件的控制操作，切换至跟随准备模式。因此用户可以通过操作与跟随准备模式相关联的手动控制件控制拍摄装置切换至跟随准备模式。
示例性的，若所述手持云台检测到用户对所述手动控制件的控制操作，向所述拍摄装置发送控制信号，以使所述拍摄装置在未处于所述跟随准备模式且未启动所述跟随拍摄模式时根据所述控制信号切换至所述跟随准备模式。
由于用户通过手持云台搭载拍摄装置进行拍摄时，通常是手握在手持云台的手柄上的。通过对手持云台上的手动控制件的操作控制拍摄装置切换至跟随准备模式，用户可以更方便、迅速的控制拍摄装置切换至跟随准备模式。
S220、若根据所述控制操作控制所述拍摄装置启动所述跟随拍摄模式，则根据所述拍摄装置的控制调整运动以使所述拍摄装置对拍摄目标进行跟随拍摄。
示例性的，拍摄装置在跟随拍摄模式启动后，向手持云台发送控制指令，以使手持云台根据控制指令运动。如手持云台通过控制俯仰轴电机、横滚轴电机、平移轴电机中的至少一个运动以调整拍摄装置的拍摄方向。从而可以实现拍摄方向跟随拍摄目标的运动进行调整，达到跟随拍摄的目的。
在一些实施方式中，所述根据所述拍摄装置的控制调整运动以使所述拍摄装置对拍摄目标进行跟随拍摄，包括：从所述拍摄装置获取所述拍摄装置根据所述拍摄目标的运动生成的目标跟随指令；根据所述目标跟随指令调整运动以使所述拍摄装置对所述拍摄目标进行跟随拍摄。
示例性的，目标跟随指令包括手持云台运动的方向、角度等。手持云台可以根据需要运动的幅度的大小调整运动的速度、加速度，以便保证拍摄的图像之间的平滑过渡。
示例性的，所述调整运动以使所述拍摄装置对拍摄目标进行跟随拍摄，包括：调整运动以保持所述拍摄目标位于所述拍摄装置拍摄的图像中的区域标识内。
例如，如图4所示，摄像装置检测到拍摄目标相对于拍摄装置在向右运动，则摄像装置控制手持云台向右运动从而摄像装置的拍摄方向也向右偏移；可以实现保持拍摄目标位于拍摄图像的所述区域标识内。
示例性的，所述手持云台调整运动以使所述拍摄目标在超出所述区域标识时平滑地移动至所述区域标识内。
示例性的，所述摄像装置在拍摄的图像中检测所述拍摄目标是否位于所述区域标识内；若所述拍摄目标超出所述区域标识，所述摄像装置调整所述手持云台的运动以将所述拍摄目标平滑地移动至所述区域标识内。从而拍摄装置拍摄的图像之间可以有平稳的过渡，减小画面抖动。
具体的，拍摄装置实时检测当前拍摄的图像中拍摄目标的位置，并在当拍摄目标超出区域标识预设距离时，控制手持云台的运动。
示例性的，所述摄像装置获取所述拍摄目标超出所述区域标识对应的方位信息；并根据所述方位信息调整所述手持云台的运动以将所述拍摄目标平滑地移动至所述区域标识内。
在一些实施方式中，步骤S210中的所述根据所述控制操作控制所述拍摄装置关闭跟随拍摄模式，包括：根据所述控制操作控制所述拍摄装置在对所述拍摄目标进行跟随拍摄时结束对所述拍摄目标进行跟随拍摄。
示例性的，在拍摄装置启动跟随拍摄模式后，若检测到用户对手持云台上的手动控制件的控制操作，则控制跟随拍摄模式关闭，以停止对拍摄目标进行跟随拍摄。因此用户可以快捷的关闭跟随拍摄模式。
示例性的，若所述手持云台检测到用户对所述手动控制件的控制操作，向所述拍摄装置发送控制信号，以使所述拍摄装置在对所述拍摄目标进行跟随拍摄时结束对所述拍摄目标进行跟随拍摄。
通过对手持云台上的手动控制件的操作控制拍摄装置关闭跟随拍摄模式，用户可以更方便、迅速的控制拍摄装置关闭跟随拍摄模式，还可以减少操作控制带来的抖动对拍摄图像的影响；使拍摄过程更加迅捷方便，创作体验更加流畅。
本实施例提供的云台控制方法，通过在手持云台检测用户对手动控制件的控制操作时，根据控制操作控制手持云台搭载的拍摄装置启动或关闭跟随拍摄模式，以开始或结束根据拍摄装置的控制调整运动以使拍摄装置对拍摄目标进 行跟随拍摄。便于用户快速的开始或取消跟随拍摄，避免错过跟随拍摄的最佳时机。
本说明书实施例提供的跟随拍摄方法的具体原理和实现方式均与前述实施例的跟随拍摄方法和云台控制方法类似，此处不再赘述。
请结合上述实施例参阅图6，图6是本说明书一实施例提供的拍摄装置600的示意性框图。该拍摄装置600包括处理器601和存储器602，处理器601和存储器602通过总线603连接，该总线603比如为I2C(Inter-integrated Circuit)总线。
具体地，处理器601可以是微控制单元(Micro-controller Unit，MCU)、中央处理单元(Central Processing Unit，CPU)或数字信号处理器(Digital Signal Processor，DSP)等。
具体地，存储器602可以是Flash芯片、只读存储器(ROM，Read-Only Memory)磁盘、光盘、U盘或移动硬盘等。
其中，所述处理器601用于运行存储在存储器602中的计算机程序，并在执行所述计算机程序时实现前述的跟随拍摄方法。
示例性的，所述处理器601用于运行存储在存储器602中的计算机程序，并在执行所述计算机程序时实现如下步骤：
判断是否处于跟随准备模式；
若处于所述跟随准备模式，则显示区域标识，所述区域标识的大小小于所述拍摄装置的显示屏的尺寸；
根据所述区域标识确定图像中出现的目标是否为拍摄目标；
当确定所述图像中出现的目标为拍摄目标时，检测用户对手动控制件的控制操作；
根据所述控制操作，控制跟随拍摄模式启动或关闭；
所述跟随拍摄模式用于对所述拍摄目标进行跟随拍摄。
具体的，所述处理器601实现所述根据所述区域标识确定图像中出现的目标是否为拍摄目标时，实现：
若所述图像中所述区域标识内和距离所述区域标识预设范围内的部分画面中出现目标，则将所述目标确定为拍摄目标。
具体的，所述处理器601实现所述图像中所述区域标识内和距离所述区域 标识预设范围内的部分画面中出现目标时，实现：
对所述图像中所述区域标识内和距离所述区域标识预设范围内的部分画面进行前景检测，根据检测结果确定所述部分画面中出现的目标。
具体的，所述处理器601还实现：检测用户对所述区域标识的区域调整操作，根据所述区域调整操作调整所述区域标识的大小和/或位置。
具体的，所述区域标识的中心与所述显示屏的中心重合。
具体的，所述处理器601实现所述根据所述控制操作，控制跟随拍摄模式启动时，实现：
在处于跟随准备模式时，若检测到用户对所述手动控制件的控制操作，则开始对所述拍摄目标进行跟随拍摄。
具体的，所述处理器601实现所述对所述拍摄目标进行跟随拍摄时，实现：
调整搭载所述拍摄装置的手持云台的运动以对所述拍摄目标进行跟随拍摄。
具体的，所述处理器601实现所述调整所述手持云台的运动以对所述拍摄目标进行跟随拍摄时，实现：
调整所述手持云台的运动，以保持所述拍摄目标位于所述图像的所述区域标识内。
具体的，所述处理器601实现所述调整所述手持云台的运动，以保持所述拍摄目标位于所述图像的所述区域标识内时，实现：
在所述拍摄装置拍摄的图像中检测所述拍摄目标是否位于所述区域标识内；
若所述拍摄目标超出所述区域标识，则调整所述手持云台的运动以将所述拍摄目标平滑地移动至所述区域标识内。
具体的，所述处理器601实现所述调整所述手持云台的运动以将所述拍摄目标平滑地移动至所述区域标识内时，实现：
获取所述拍摄目标超出所述区域标识对应的方位信息；
根据所述方位信息调整所述手持云台的运动以将所述拍摄目标平滑地移动至所述区域标识内。
具体的，所述处理器601实现所述根据所述控制操作，控制跟随拍摄模式关闭时，实现：
在对所述拍摄目标进行跟随拍摄时，若检测到用户对所述手动控制件的控制操作，则结束对所述拍摄目标进行跟随拍摄。
具体的，所述处理器601实现所述检测用户对手动控制件的控制操作时，实现：
检测用户是否操作搭载所述拍摄装置的手持云台上的手动控制件。
具体的，所述手动控制件至少包括扳机、旋钮或按键中的一种。
具体的，所述处理器601还实现：
检测用户的模式设置操作，根据所述模式设置操作切换至所述跟随准备模式。
具体的，所述处理器601实现所述检测用户的模式设置操作，根据所述模式设置操作切换至所述跟随准备模式时，实现：
在未处于所述跟随准备模式且未对所述拍摄目标进行跟随拍摄时，若检测到用户对手动控制件的控制操作，则根据所述控制操作切换至所述跟随准备模式。
本说明书的实施例中还提供一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序中包括程序指令，所述处理器执行所述程序指令，实现上述实施例提供的跟随拍摄方法的步骤。
其中，所述计算机可读存储介质可以是前述实施例所述的拍摄装置的内部存储单元，例如所述拍摄装置的硬盘或内存。所述计算机可读存储介质也可以是所述拍摄装置的外部存储设备，例如所述拍摄装置上配备的插接式硬盘，智能存储卡(Smart Media Card，SMC)，安全数字(Secure Digital，SD)卡，闪存卡(Flash Card)等。
请结合上述实施例请参阅图7，图7是本说明书一实施例提供的手持云台700的示意性框图。该手持云台700包括处理器701和存储器702，处理器701和存储器702通过总线703连接，该总线703比如为I2C(Inter-integrated Circuit)总线。
具体地，处理器701可以是微控制单元(Micro-controller Unit，MCU)、中央处理单元(Central Processing Unit，CPU)或数字信号处理器(Digital Signal Processor，DSP)等。
具体地，存储器702可以是Flash芯片、只读存储器(ROM，Read-Only Memory)磁盘、光盘、U盘或移动硬盘等。
其中，所述处理器701用于运行存储在存储器702中的计算机程序，并在 执行所述计算机程序时实现前述的云台控制方法。
示例性的，所述处理器701用于运行存储在存储器702中的计算机程序，并在执行所述计算机程序时实现如下步骤：
检测用户对手动控制件的控制操作，根据所述控制操作控制所述手持云台搭载的拍摄装置启动或关闭跟随拍摄模式；
若根据所述控制操作控制所述拍摄装置启动所述跟随拍摄模式，则根据所述拍摄装置的控制调整运动以使所述拍摄装置对拍摄目标进行跟随拍摄。
具体的，所述处理器701实现所述根据所述控制操作控制所述拍摄装置启动跟随拍摄模式时，实现：
根据所述控制操作控制所述拍摄装置在处于跟随准备模式时启动所述跟随拍摄模式。
具体的，所述处理器701实现所述根据所述控制操作控制所述拍摄装置在处于跟随准备模式时启动所述跟随拍摄模式时，实现：
若检测到用户对所述手动控制件的控制操作，则向所述拍摄装置发送控制信号，以使所述拍摄装置在处于所述跟随准备模式时根据所述控制信号开始对所述拍摄目标进行跟随拍摄。
具体的，所述处理器701还实现：检测用户对所述手动控制件的控制操作，根据所述控制操作控制所述拍摄装置切换至所述跟随准备模式。
具体的，所述处理器701实现所述检测用户对所述手动控制件的控制操作，根据所述控制操作控制所述拍摄装置切换至所述跟随准备模式时，实现：
若检测到用户对所述手动控制件的控制操作，则向所述拍摄装置发送控制信号，以使所述拍摄装置在未处于所述跟随准备模式且未启动所述跟随拍摄模式时根据所述控制信号切换至所述跟随准备模式。
具体的，所述处理器701实现所述根据所述拍摄装置的控制调整运动以使所述拍摄装置对拍摄目标进行跟随拍摄时，实现：
从所述拍摄装置获取所述拍摄装置根据所述拍摄目标的运动生成的目标跟随指令；
根据所述目标跟随指令调整运动以使所述拍摄装置对所述拍摄目标进行跟随拍摄。
具体的，所述处理器701实现所述调整运动以使所述拍摄装置对拍摄目标 进行跟随拍摄时，实现：
调整运动以保持所述拍摄目标位于所述拍摄装置拍摄的图像中的区域标识内。
具体的，所述处理器701实现所述调整运动以保持所述拍摄目标位于所述拍摄装置拍摄的图像中的区域标识内时，实现：
调整运动以使所述拍摄目标在超出所述区域标识时平滑地移动至所述区域标识内。
具体的，所述处理器701实现所述根据所述控制操作控制所述拍摄装置关闭跟随拍摄模式时，实现：
根据所述控制操作控制所述拍摄装置在对所述拍摄目标进行跟随拍摄时结束对所述拍摄目标进行跟随拍摄。
具体的，所述处理器701实现所述根据所述控制操作控制所述拍摄装置在对所述拍摄目标进行跟随拍摄时结束对所述拍摄目标进行跟随拍摄时，实现：
若检测到用户对所述手动控制件的控制操作，则向所述拍摄装置发送控制信号，以使所述拍摄装置在对所述拍摄目标进行跟随拍摄时结束对所述拍摄目标进行跟随拍摄。
具体的，所述处理器701实现所述检测用户对手动控制件的控制操作时，实现：
检测用户对设置在所述手持云台的手柄上的手动控制件的控制操作。
具体的，所述手动控制件至少包括扳机、旋钮或按键中的一种。
本说明书的实施例中还提供一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序中包括程序指令，所述处理器执行所述程序指令，实现上述实施例提供的云台控制方法的步骤。
其中，所述计算机可读存储介质可以是前述任一实施例所述的手持云台，如手持云台的内部存储单元，例如所述手持云台的硬盘或内存。所述计算机可读存储介质也可以是所述手持云台的外部存储设备，例如所述手持云台上配备的插接式硬盘，智能存储卡(Smart Media Card，SMC)，安全数字(Secure Digital，SD)卡，闪存卡(Flash Card)等。
请结合上述实施例请参阅图8，图8是本说明书一实施例提供的拍摄系统10的示意性框图。该拍摄系统10包括拍摄装置600和手持云台700。
示例性的，拍摄系统10包括搭载拍摄装置600的手持云台700，如搭载智能手机或相机的手持云台或者一体化云台相机。
在本实施例中，所述拍摄装置600用于判断是否处于跟随准备模式，若处于所述跟随准备模式，则显示区域标识，所述区域标识的大小小于所述拍摄装置600的显示屏的尺寸；
所述拍摄装置600用于根据所述区域标识确定图像中出现的目标是否为拍摄目标；
当所述拍摄装置600确定所述图像中出现的目标为拍摄目标时，检测用户对手动控制件的控制操作；
所述拍摄装置600用于根据所述控制操作，控制跟随拍摄模式启动或关闭；
若所述拍摄装置600控制所述跟随拍摄模式启动，控制搭载所述拍摄装置600的手持云台700调整运动以使所述拍摄装置600对所述拍摄目标进行跟随拍摄。
具体的，所述拍摄装置600根据所述区域标识确定图像中出现的目标是否为拍摄目标，包括：
若所述拍摄装置600确定所述图像中所述区域标识内和距离所述区域标识预设范围内的部分画面中出现目标，将所述目标确定为拍摄目标。
具体的，所述拍摄装置600确定所述图像中所述区域标识内和距离所述区域标识预设范围内的部分画面中出现目标，包括：
所述拍摄装置600对所述图像中所述区域标识内和距离所述区域标识预设范围内的部分画面进行前景检测，根据检测结果确定所述部分画面中出现的目标。
具体的，所述拍摄装置600还用于检测用户对所述区域标识的区域调整操作，根据所述区域调整操作调整所述区域标识的大小和/或位置。
具体的，所述区域标识的中心与所述显示屏的中心重合。
具体的，所述拍摄装置600根据所述控制操作，控制跟随拍摄模式启动，包括：
在处于跟随准备模式时，若所述拍摄装置600检测到用户对所述手动控制件的控制操作，开始对所述拍摄目标进行跟随拍摄。
具体的，所述拍摄装置600对所述拍摄目标进行跟随拍摄，包括：
所述拍摄装置600调整所述手持云台700的运动，以保持所述拍摄目标位于所述拍摄装置600拍摄的图像中的区域标识内。
具体的，所述拍摄装置600调整所述手持云台700的运动，以保持所述拍摄目标位于所述拍摄装置600拍摄的图像中的区域标识内，包括：
所述拍摄装置600在拍摄的图像中检测所述拍摄目标是否位于所述区域标识内；
若所述拍摄目标超出所述区域标识，所述拍摄装置600调整所述手持云台700的运动以将所述拍摄目标平滑地移动至所述区域标识内。
具体的，所述拍摄装置600调整所述手持云台700的运动以将所述拍摄目标平滑地移动至所述区域标识内，包括：
所述拍摄装置600获取所述拍摄目标超出所述区域标识对应的方位信息；
所述拍摄装置600根据所述方位信息调整所述手持云台700的运动以将所述拍摄目标平滑地移动至所述区域标识内。
具体的，所述拍摄装置600控制所述手持云台700调整运动以使所述拍摄装置600对所述拍摄目标进行跟随拍摄，包括：
所述拍摄装置600根据所述拍摄目标的运动生成目标跟随指令；
所述拍摄装置600将所述目标跟随指令发送给所述手持云台700，以使所述手持云台700根据所述目标跟随指令调整运动。
具体的，所述拍摄装置600根据所述控制操作，控制跟随拍摄模式关闭，包括：
在对所述拍摄目标进行跟随拍摄时，所述拍摄装置600根据所述控制操作结束对所述拍摄目标进行跟随拍摄。
具体的，所述拍摄装置600检测用户对手动控制件的控制操作，包括：
所述拍摄装置600检测用户是否操作所述手持云台700上的手动控制件。
具体的，若所述手持云台700检测到用户对所述手动控制件的控制操作，向所述拍摄装置600发送控制信号。
具体的，所述拍摄装置600检测用户是否操作所述手持云台700上的手动控制件，包括：
所述拍摄装置600根据所述手持云台700发送的控制信号判断用户是否操作所述手持云台700上的手动控制件。
具体的，所述手动控制件至少包括扳机、旋钮或按键中的一种。
具体的，所述拍摄装置600还用于检测用户的模式设置操作，根据所述模式设置操作切换至所述跟随准备模式。
具体的，所述拍摄装置600检测用户的模式设置操作，根据所述模式设置操作切换至所述跟随准备模式，包括：
所述拍摄装置600在未处于所述跟随准备模式且未对所述拍摄目标进行跟随拍摄时，若检测到用户对手动控制件的控制操作，则根据所述控制操作切换至所述跟随准备模式。
本说明书的实施例中还提供一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序中包括程序指令，所述处理器执行所述程序指令，实现上述实施例提供的用于拍摄系统的跟随拍摄方法的步骤。
本说明书上述实施例提供的跟随拍摄方法、云台控制方法、拍摄装置、手持云台、拍摄系统和计算机可读存储介质，通过在拍摄装置处于跟随准备模式时显示区域标识提示用户将拍摄目标置于区域标识内，从而可以准确确定拍摄目标；并根据检测用户对手动控制件的控制操作控制跟随拍摄模式启动或关闭，便于用户快速的开始或取消跟随拍摄，避免错过跟随拍摄的最佳时机。
应当理解，在此本说明书中所使用的术语仅仅是出于描述特定实施例的目的而并不意在限制本说明书。
还应当理解，在本说明书和所附权利要求书中使用的术语“和/或”是指相关联列出的项中的一个或多个的任何组合以及所有可能组合，并且包括这些组合。
以上所述，仅为本说明书的具体实施方式，但本说明书的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本说明书揭露的技术范围内，可轻易想到各种等效的修改或替换，这些修改或替换都应涵盖在本说明书的保护范围之内。因此，本说明书的保护范围应以权利要求的保护范围为准。

Claims (74)

  1. 一种跟随拍摄方法，其特征在于，所述跟随拍摄方法包括：
    判断是否处于跟随准备模式；
    若处于所述跟随准备模式，则显示区域标识，所述区域标识的大小小于拍摄装置的显示屏的尺寸；
    根据所述区域标识确定图像中出现的目标是否为拍摄目标；
    当确定所述图像中出现的目标为拍摄目标时，检测用户对手动控制件的控制操作；
    根据所述控制操作，控制跟随拍摄模式启动或关闭；
    所述跟随拍摄模式用于对所述拍摄目标进行跟随拍摄。
  2. 根据权利要求1所述的跟随拍摄方法，其特征在于，所述根据所述区域标识确定图像中出现的目标是否为拍摄目标，包括：
    若所述图像中所述区域标识内和距离所述区域标识预设范围内的部分画面中出现目标，则将所述目标确定为拍摄目标。
  3. 根据权利要求2所述的跟随拍摄方法，其特征在于，所述图像中所述区域标识内和距离所述区域标识预设范围内的部分画面中出现目标，包括：
    对所述图像中所述区域标识内和距离所述区域标识预设范围内的部分画面进行前景检测，根据检测结果确定所述部分画面中出现的目标。
  4. 根据权利要求1所述的跟随拍摄方法，其特征在于，还包括：
    检测用户对所述区域标识的区域调整操作，根据所述区域调整操作调整所述区域标识的大小和/或位置。
  5. 根据权利要求1所述的跟随拍摄方法，其特征在于，所述区域标识的中心与所述显示屏的中心重合。
  6. 根据权利要求1所述的跟随拍摄方法，其特征在于，所述根据所述控制操作，控制跟随拍摄模式启动，包括：
    在处于跟随准备模式时，若检测到用户对所述手动控制件的控制操作，则开始对所述拍摄目标进行跟随拍摄。
  7. 根据权利要求6所述的跟随拍摄方法，其特征在于，所述对所述拍摄目 标进行跟随拍摄，包括：
    调整搭载所述拍摄装置的手持云台的运动以对所述拍摄目标进行跟随拍摄。
  8. 根据权利要求7所述的跟随拍摄方法，其特征在于，所述调整所述手持云台的运动以对所述拍摄目标进行跟随拍摄，包括：
    调整所述手持云台的运动，以保持所述拍摄目标位于所述图像的所述区域标识内。
  9. 根据权利要求8所述的跟随拍摄方法，其特征在于，所述调整所述手持云台的运动，以保持所述拍摄目标位于所述图像的所述区域标识内，包括：
    在所述拍摄装置拍摄的图像中检测所述拍摄目标是否位于所述区域标识内；
    若所述拍摄目标超出所述区域标识，则调整所述手持云台的运动以将所述拍摄目标平滑地移动至所述区域标识内。
  10. 根据权利要求9所述的跟随拍摄方法，其特征在于，所述调整所述手持云台的运动以将所述拍摄目标平滑地移动至所述区域标识内，包括：
    获取所述拍摄目标超出所述区域标识对应的方位信息；
    根据所述方位信息调整所述手持云台的运动以将所述拍摄目标平滑地移动至所述区域标识内。
  11. 根据权利要求6所述的跟随拍摄方法，其特征在于，所述根据所述控制操作，控制跟随拍摄模式关闭，包括：
    在对所述拍摄目标进行跟随拍摄时，若检测到用户对所述手动控制件的控制操作，则结束对所述拍摄目标进行跟随拍摄。
  12. 根据权利要求1-11中任一项所述的跟随拍摄方法，其特征在于，所述检测用户对手动控制件的控制操作，包括：
    检测用户是否操作搭载所述拍摄装置的手持云台上的手动控制件。
  13. 根据权利要求12所述的跟随拍摄方法，其特征在于，所述检测用户是否操作搭载所述拍摄装置的手持云台上的手动控制件，包括：
    根据所述手持云台发送的控制信号判断用户是否操作所述手持云台上的手动控制件。
  14. 根据权利要求12所述的跟随拍摄方法，其特征在于，所述手动控制件至少包括扳机、旋钮或按键中的一种。
  15. 根据权利要求1-11中任一项所述的跟随拍摄方法，其特征在于，还包 括：
    检测用户的模式设置操作，根据所述模式设置操作切换至所述跟随准备模式。
  16. 根据权利要求15所述的跟随拍摄方法，其特征在于，所述检测用户的模式设置操作，根据所述模式设置操作切换至所述跟随准备模式，包括：
    在未处于所述跟随准备模式且未对所述拍摄目标进行跟随拍摄时，若检测到用户对手动控制件的控制操作，则根据所述控制操作切换至所述跟随准备模式。
  17. 根据权利要求15所述的跟随拍摄方法，其特征在于，所述检测用户的模式设置操作，根据所述模式设置操作切换至所述跟随准备模式，包括：
    若检测到用户的动作姿态与预设的动作姿态相匹配，则根据所述预设的动作姿态切换至所述跟随准备模式。
  18. 根据权利要求15所述的跟随拍摄方法，其特征在于，所述检测用户的模式设置操作，根据所述模式设置操作切换至所述跟随准备模式，包括：
    若检测到用户在用于显示图像的显示屏上的触控操作，则根据所述触控操作切换至所述跟随准备模式。
  19. 一种云台控制方法，其特征在于，所述云台控制方法包括：
    检测用户对手动控制件的控制操作，根据所述控制操作控制手持云台搭载的拍摄装置启动或关闭跟随拍摄模式；
    若根据所述控制操作控制所述拍摄装置启动所述跟随拍摄模式，则根据所述拍摄装置的控制调整运动以使所述拍摄装置对拍摄目标进行跟随拍摄。
  20. 根据权利要求19所述的云台控制方法，其特征在于，所述根据所述控制操作控制所述拍摄装置启动跟随拍摄模式，包括：
    根据所述控制操作控制所述拍摄装置在处于跟随准备模式时启动所述跟随拍摄模式。
  21. 根据权利要求20所述的云台控制方法，其特征在于，所述根据所述控制操作控制所述拍摄装置在处于跟随准备模式时启动所述跟随拍摄模式，包括：
    若检测到用户对所述手动控制件的控制操作，则向所述拍摄装置发送控制信号，以使所述拍摄装置在处于所述跟随准备模式时根据所述控制信号开始对所述拍摄目标进行跟随拍摄。
  22. 根据权利要求20所述的云台控制方法，其特征在于，还包括：
    检测用户对所述手动控制件的控制操作，根据所述控制操作控制所述拍摄装置切换至所述跟随准备模式。
  23. 根据权利要求22所述的云台控制方法，其特征在于，所述检测用户对所述手动控制件的控制操作，根据所述控制操作控制所述拍摄装置切换至所述跟随准备模式，包括：
    若检测到用户对所述手动控制件的控制操作，则向所述拍摄装置发送控制信号，以使所述拍摄装置在未处于所述跟随准备模式且未启动所述跟随拍摄模式时根据所述控制信号切换至所述跟随准备模式。
  24. 根据权利要求19-23中任一项所述的云台控制方法，其特征在于，所述根据所述拍摄装置的控制调整运动以使所述拍摄装置对拍摄目标进行跟随拍摄，包括：
    从所述拍摄装置获取所述拍摄装置根据所述拍摄目标的运动生成的目标跟随指令；
    根据所述目标跟随指令调整运动以使所述拍摄装置对所述拍摄目标进行跟随拍摄。
  25. 根据权利要求19-23中任一项所述的云台控制方法，其特征在于，所述调整运动以使所述拍摄装置对拍摄目标进行跟随拍摄，包括：
    调整运动以保持所述拍摄目标位于所述拍摄装置拍摄的图像中的区域标识内。
  26. 根据权利要求25所述的云台控制方法，其特征在于，所述调整运动以保持所述拍摄目标位于所述拍摄装置拍摄的图像中的区域标识内，包括：
    调整运动以使所述拍摄目标在超出所述区域标识时平滑地移动至所述区域标识内。
  27. 根据权利要求19-23中任一项所述的云台控制方法，其特征在于，所述根据所述控制操作控制所述拍摄装置关闭跟随拍摄模式，包括：
    根据所述控制操作控制所述拍摄装置在对所述拍摄目标进行跟随拍摄时结束对所述拍摄目标进行跟随拍摄。
  28. 根据权利要求27所述的云台控制方法，其特征在于，所述根据所述控制操作控制所述拍摄装置在对所述拍摄目标进行跟随拍摄时结束对所述拍摄目 标进行跟随拍摄，包括：
    若检测到用户对所述手动控制件的控制操作，则向所述拍摄装置发送控制信号，以使所述拍摄装置在对所述拍摄目标进行跟随拍摄时结束对所述拍摄目标进行跟随拍摄。
  29. 根据权利要求19-23中任一项所述的云台控制方法，其特征在于，所述检测用户对手动控制件的控制操作，包括：
    检测用户对设置在所述手持云台的手柄上的手动控制件的控制操作。
  30. 根据权利要求29所述的云台控制方法，其特征在于，所述手动控制件至少包括扳机、旋钮或按键中的一种。
  31. 一种拍摄装置，其特征在于，包括存储器和处理器；
    所述存储器用于存储计算机程序；
    所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，实现如下步骤：
    判断是否处于跟随准备模式；
    若处于所述跟随准备模式，则显示区域标识，所述区域标识的大小小于拍摄装置的显示屏的尺寸；
    根据所述区域标识确定图像中出现的目标是否为拍摄目标；
    当确定所述图像中出现的目标为拍摄目标时，检测用户对手动控制件的控制操作；
    根据所述控制操作，控制跟随拍摄模式启动或关闭；
    所述跟随拍摄模式用于对所述拍摄目标进行跟随拍摄。
  32. 根据权利要求31所述的拍摄装置，其特征在于，所述处理器实现所述根据所述区域标识确定图像中出现的目标是否为拍摄目标时，实现：
    若所述图像中所述区域标识内和距离所述区域标识预设范围内的部分画面中出现目标，则将所述目标确定为拍摄目标。
  33. 根据权利要求32所述的拍摄装置，其特征在于，所述处理器实现所述图像中所述区域标识内和距离所述区域标识预设范围内的部分画面中出现目标时，实现：
    对所述图像中所述区域标识内和距离所述区域标识预设范围内的部分画面进行前景检测，根据检测结果确定所述部分画面中出现的目标。
  34. 根据权利要求31所述的拍摄装置，其特征在于，所述处理器还实现：
    检测用户对所述区域标识的区域调整操作，根据所述区域调整操作调整所述区域标识的大小和/或位置。
  35. 根据权利要求31所述的拍摄装置，其特征在于，所述区域标识的中心与所述显示屏的中心重合。
  36. 根据权利要求31所述的拍摄装置，其特征在于，所述处理器实现所述根据所述控制操作，控制跟随拍摄模式启动时，实现：
    在处于跟随准备模式时，若检测到用户对所述手动控制件的控制操作，则开始对所述拍摄目标进行跟随拍摄。
  37. 根据权利要求36所述的拍摄装置，其特征在于，所述处理器实现所述对所述拍摄目标进行跟随拍摄时，实现：
    调整搭载所述拍摄装置的手持云台的运动以对所述拍摄目标进行跟随拍摄。
  38. 根据权利要求37所述的拍摄装置，其特征在于，所述处理器实现所述调整所述手持云台的运动以对所述拍摄目标进行跟随拍摄时，实现：
    调整所述手持云台的运动，以保持所述拍摄目标位于所述图像的所述区域标识内。
  39. 根据权利要求38所述的拍摄装置，其特征在于，所述处理器实现所述调整所述手持云台的运动，以保持所述拍摄目标位于所述图像的所述区域标识内时，实现：
    在所述拍摄装置拍摄的图像中检测所述拍摄目标是否位于所述区域标识内；
    若所述拍摄目标超出所述区域标识，则调整所述手持云台的运动以将所述拍摄目标平滑地移动至所述区域标识内。
  40. 根据权利要求39所述的拍摄装置，其特征在于，所述处理器实现所述调整所述手持云台的运动以将所述拍摄目标平滑地移动至所述区域标识内时，实现：
    获取所述拍摄目标超出所述区域标识对应的方位信息；
    根据所述方位信息调整所述手持云台的运动以将所述拍摄目标平滑地移动至所述区域标识内。
  41. 根据权利要求36所述的拍摄装置，其特征在于，所述处理器实现所述根据所述控制操作，控制跟随拍摄模式关闭时，实现：
    在对所述拍摄目标进行跟随拍摄时，若检测到用户对所述手动控制件的控制操作，则结束对所述拍摄目标进行跟随拍摄。
  42. 根据权利要求31-41中任一项所述的拍摄装置，其特征在于，所述处理器实现所述检测用户对手动控制件的控制操作时，实现：
    检测用户是否操作搭载所述拍摄装置的手持云台上的手动控制件。
  43. 根据权利要求42所述的拍摄装置，其特征在于，所述手动控制件至少包括扳机、旋钮或按键中的一种。
  44. 根据权利要求31-41中任一项所述的拍摄装置，其特征在于，所述处理器还实现：
    检测用户的模式设置操作，根据所述模式设置操作切换至所述跟随准备模式。
  45. 根据权利要求44所述的拍摄装置，其特征在于，所述处理器实现所述检测用户的模式设置操作，根据所述模式设置操作切换至所述跟随准备模式时，实现：
    在未处于所述跟随准备模式且未对所述拍摄目标进行跟随拍摄时，若检测到用户对手动控制件的控制操作，则根据所述控制操作切换至所述跟随准备模式。
  46. 一种手持云台，其特征在于，包括手柄以及设于所述手柄上的云台，所述手持云台用于搭载拍摄装置；
    所述手持云台还包括存储器和处理器；
    所述存储器用于存储计算机程序；
    所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，实现如下步骤：
    检测用户对手动控制件的控制操作，根据所述控制操作控制所述手持云台搭载的拍摄装置启动或关闭跟随拍摄模式；
    若根据所述控制操作控制所述拍摄装置启动所述跟随拍摄模式，则根据所述拍摄装置的控制调整运动以使所述拍摄装置对拍摄目标进行跟随拍摄。
  47. 根据权利要求46所述的手持云台，其特征在于，所述处理器实现所述根据所述控制操作控制所述拍摄装置启动跟随拍摄模式时，实现：
    根据所述控制操作控制所述拍摄装置在处于跟随准备模式时启动所述跟随 拍摄模式。
  48. 根据权利要求47所述的手持云台，其特征在于，所述处理器实现所述根据所述控制操作控制所述拍摄装置在处于跟随准备模式时启动所述跟随拍摄模式时，实现：
    若检测到用户对所述手动控制件的控制操作，则向所述拍摄装置发送控制信号，以使所述拍摄装置在处于所述跟随准备模式时根据所述控制信号开始对所述拍摄目标进行跟随拍摄。
  49. 根据权利要求47所述的手持云台，其特征在于，所述处理器还实现：
    检测用户对所述手动控制件的控制操作，根据所述控制操作控制所述拍摄装置切换至所述跟随准备模式。
  50. 根据权利要求49所述的手持云台，其特征在于，所述处理器实现所述检测用户对所述手动控制件的控制操作，根据所述控制操作控制所述拍摄装置切换至所述跟随准备模式时，实现：
    若检测到用户对所述手动控制件的控制操作，则向所述拍摄装置发送控制信号，以使所述拍摄装置在未处于所述跟随准备模式且未启动所述跟随拍摄模式时根据所述控制信号切换至所述跟随准备模式。
  51. 根据权利要求46-50中任一项所述的手持云台，其特征在于，所述处理器实现所述根据所述拍摄装置的控制调整运动以使所述拍摄装置对拍摄目标进行跟随拍摄时，实现：
    从所述拍摄装置获取所述拍摄装置根据所述拍摄目标的运动生成的目标跟随指令；
    根据所述目标跟随指令调整运动以使所述拍摄装置对所述拍摄目标进行跟随拍摄。
  52. 根据权利要求46-50中任一项所述的手持云台，其特征在于，所述处理器实现所述调整运动以使所述拍摄装置对拍摄目标进行跟随拍摄时，实现：
    调整运动以保持所述拍摄目标位于所述拍摄装置拍摄的图像中的区域标识内。
  53. 根据权利要求52所述的手持云台，其特征在于，所述处理器实现所述调整运动以保持所述拍摄目标位于所述拍摄装置拍摄的图像中的区域标识内时，实现：
    调整运动以使所述拍摄目标在超出所述区域标识时平滑地移动至所述区域标识内。
  54. 根据权利要求46-50中任一项所述的手持云台，其特征在于，所述处理器实现所述根据所述控制操作控制所述拍摄装置关闭跟随拍摄模式时，实现：
    根据所述控制操作控制所述拍摄装置在对所述拍摄目标进行跟随拍摄时结束对所述拍摄目标进行跟随拍摄。
  55. 根据权利要求54所述的手持云台，其特征在于，所述处理器实现所述根据所述控制操作控制所述拍摄装置在对所述拍摄目标进行跟随拍摄时结束对所述拍摄目标进行跟随拍摄时，实现：
    若检测到用户对所述手动控制件的控制操作，则向所述拍摄装置发送控制信号，以使所述拍摄装置在对所述拍摄目标进行跟随拍摄时结束对所述拍摄目标进行跟随拍摄。
  56. 根据权利要求46-50中任一项所述的手持云台，其特征在于，所述处理器实现所述检测用户对手动控制件的控制操作时，实现：
    检测用户对设置在所述手持云台的手柄上的手动控制件的控制操作。
  57. 根据权利要求56所述的手持云台，其特征在于，所述手动控制件至少包括扳机、旋钮或按键中的一种。
  58. 一种拍摄系统，其特征在于，包括拍摄装置和手持云台；
    所述拍摄装置用于判断是否处于跟随准备模式，若处于所述跟随准备模式，则显示区域标识，所述区域标识的大小小于拍摄装置的显示屏的尺寸；
    所述拍摄装置用于根据所述区域标识确定图像中出现的目标是否为拍摄目标；
    当所述拍摄装置确定所述图像中出现的目标为拍摄目标时，检测用户对手动控制件的控制操作；
    所述拍摄装置用于根据所述控制操作，控制跟随拍摄模式启动或关闭；
    若所述拍摄装置控制所述跟随拍摄模式启动，控制搭载所述拍摄装置的手持云台调整运动以使所述拍摄装置对所述拍摄目标进行跟随拍摄。
  59. 根据权利要求58所述的拍摄系统，其特征在于，所述拍摄装置根据所述区域标识确定图像中出现的目标是否为拍摄目标，包括：
    若所述拍摄装置确定所述图像中所述区域标识内和距离所述区域标识预设 范围内的部分画面中出现目标，将所述目标确定为拍摄目标。
  60. 根据权利要求59所述的拍摄系统，其特征在于，所述拍摄装置确定所述图像中所述区域标识内和距离所述区域标识预设范围内的部分画面中出现目标，包括：
    所述拍摄装置对所述图像中所述区域标识内和距离所述区域标识预设范围内的部分画面进行前景检测，根据检测结果确定所述部分画面中出现的目标。
  61. 根据权利要求58所述的拍摄系统，其特征在于，所述拍摄装置还用于检测用户对所述区域标识的区域调整操作，根据所述区域调整操作调整所述区域标识的大小和/或位置。
  62. 根据权利要求58所述的拍摄系统，其特征在于，所述区域标识的中心与所述显示屏的中心重合。
  63. 根据权利要求58所述的拍摄系统，其特征在于，所述拍摄装置根据所述控制操作，控制跟随拍摄模式启动，包括：
    在处于跟随准备模式时，若所述拍摄装置检测到用户对所述手动控制件的控制操作，开始对所述拍摄目标进行跟随拍摄。
  64. 根据权利要求58所述的拍摄系统，其特征在于，所述拍摄装置对所述拍摄目标进行跟随拍摄，包括：
    所述拍摄装置调整所述手持云台的运动，以保持所述拍摄目标位于所述拍摄装置拍摄的图像中的区域标识内。
  65. 根据权利要求64所述的拍摄系统，其特征在于，所述拍摄装置调整所述手持云台的运动，以保持所述拍摄目标位于所述拍摄装置拍摄的图像中的区域标识内，包括：
    所述拍摄装置在拍摄的图像中检测所述拍摄目标是否位于所述区域标识内；
    若所述拍摄目标超出所述区域标识，所述拍摄装置调整所述手持云台的运动以将所述拍摄目标平滑地移动至所述区域标识内。
  66. 根据权利要求65所述的拍摄系统，其特征在于，所述拍摄装置调整所述手持云台的运动以将所述拍摄目标平滑地移动至所述区域标识内，包括：
    所述拍摄装置获取所述拍摄目标超出所述区域标识对应的方位信息；
    所述拍摄装置根据所述方位信息调整所述手持云台的运动以将所述拍摄目标平滑地移动至所述区域标识内。
  67. 根据权利要求58所述的拍摄系统，其特征在于，所述拍摄装置控制所述手持云台调整运动以使所述拍摄装置对所述拍摄目标进行跟随拍摄，包括：
    所述拍摄装置根据所述拍摄目标的运动生成目标跟随指令；
    所述拍摄装置将所述目标跟随指令发送给所述手持云台，以使所述手持云台根据所述目标跟随指令调整运动。
  68. 根据权利要求63所述的拍摄系统，其特征在于，所述拍摄装置根据所述控制操作，控制跟随拍摄模式关闭，包括：
    在对所述拍摄目标进行跟随拍摄时，所述拍摄装置根据所述控制操作结束对所述拍摄目标进行跟随拍摄。
  69. 根据权利要求58-68中任一项所述的拍摄系统，其特征在于，所述拍摄装置检测用户对手动控制件的控制操作，包括：
    所述拍摄装置检测用户是否操作搭载所述拍摄装置的手持云台上的手动控制件。
  70. 根据权利要求69所述的拍摄系统，其特征在于，若所述手持云台检测到用户对所述手动控制件的控制操作，向所述拍摄装置发送控制信号；
    所述拍摄装置检测用户是否操作搭载所述拍摄装置的手持云台上的手动控制件，包括：
    所述拍摄装置根据所述手持云台发送的控制信号判断用户是否操作所述手持云台上的手动控制件。
  71. 根据权利要求69所述的拍摄系统，其特征在于，所述手动控制件至少包括扳机、旋钮或按键中的一种。
  72. 根据权利要求58-68中任一项所述的拍摄系统，其特征在于，所述拍摄装置还用于检测用户的模式设置操作，根据所述模式设置操作切换至所述跟随准备模式。
  73. 根据权利要求72所述的拍摄系统，其特征在于，所述拍摄装置检测用户的模式设置操作，根据所述模式设置操作切换至所述跟随准备模式，包括：
    所述拍摄装置在未处于所述跟随准备模式且未对所述拍摄目标进行跟随拍摄时，若检测到用户对手动控制件的控制操作，则根据所述控制操作切换至所述跟随准备模式。
  74. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储 有计算机程序，所述计算机程序被处理器执行时使所述处理器实现：
    如权利要求1-18中任一项所述的跟随拍摄方法；和/或
    如权利要求19-30中任一项所述的跟随拍摄方法。
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