WO2021051304A1

WO2021051304A1 - Shutter speed adjustment and safe shutter calibration methods, portable device and unmanned aerial vehicle

Info

Publication number: WO2021051304A1
Application number: PCT/CN2019/106407
Authority: WO
Inventors: 王浩伟; 赖雅君
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-09-18
Filing date: 2019-09-18
Publication date: 2021-03-25
Also published as: CN112189334A

Abstract

Shutter speed adjustment and safe shutter calibration methods, a portable device (70) and an unmanned aerial vehicle (80). The shutter speed adjustment method comprises: detecting the movement speed of a target photographing object relative to a photographing device (101); determining, according to a pre-calibrated mapping relationship between a movement speed and a safe shutter, a safe shutter corresponding to the movement speed of the target photographing object relative to the photographing device (102); and adjusting a shutter speed on the basis of the safe shutter (103). A safe shutter is determined according to the movement speed of a target photographing object, and different movement speeds correspond to different safe shutters. The safe shutter has more reference value, and can obtain images without blur or smear, thereby effectively improving the photograph definition.

Description

Shutter speed adjustment, safety shutter calibration method, portable equipment and drone

Technical field

This application relates to the field of photographing technology, and in particular to a shutter speed adjustment method, a safety shutter calibration method, a portable device and a drone.

Background technique

Generally, existing cameras will set a safety shutter as a reference value to provide users with a minimum shutter speed that will not blur the photos taken under normal circumstances. The safety shutter of the current camera is determined by the reciprocal of the focal length of the lens. However, with the safety shutter that is fixed and set by the traditional determination method, when shooting fast moving objects, there will be blur and smear phenomenon, which will affect the clarity of the photo.

Summary of the invention

In view of this, one of the objectives of the present invention is to provide a shutter speed adjustment method, a safe shutter calibration method, a portable device and an unmanned aerial vehicle.

According to a first aspect of the embodiments of the present application, there is provided a shutter speed adjustment method. The method includes: detecting the movement speed of the target object relative to the shooting device; and determining the A safety shutter corresponding to the movement speed of the target object relative to the shooting device; the shutter speed is adjusted based on the safety shutter.

According to a second aspect of the embodiments of the present application, a safety shutter calibration method is provided, which includes: detecting the uniform motion speed of the target object relative to the shooting device; traversing all available shutter speeds, and using each shutter speed to shoot the Target subject; determine the minimum shutter speed at which the captured target subject can be clearly imaged; calibrate the minimum shutter speed as a safety shutter corresponding to the movement speed.

According to a third aspect of the embodiments of the present application, there is provided a portable device including a processor and a memory for storing executable instructions of the processor, wherein the processor is configured to execute the shutter speed described in the above embodiments Steps of the adjustment method.

According to a fourth aspect of the embodiments of the present application, there is provided an unmanned aerial vehicle, including: a pan/tilt for carrying photographing equipment; a processor and a memory for storing executable instructions of the processor, wherein the processor is configured To perform the steps of the shutter speed adjustment method described in the foregoing embodiment; and to send the shutter speed to a photographing device, so that the photographing device photographs the target subject according to the shutter speed.

According to a fifth aspect of the embodiments of the present application, there is provided a computer-readable storage medium having a computer program stored thereon, and when the program is executed by a processor, the steps of the shutter speed adjustment method described in the above embodiments are implemented.

The technical solutions provided by the embodiments of the present application may include the following beneficial effects:

This application obtains the movement speed of the target object relative to the shooting device, and determines the safety shutter corresponding to the movement speed according to the pre-calibrated mapping relationship between the movement speed and the safety shutter. This safety shutter is used as a reference value and is based on this The safety shutter adjusts the shutter speed, so that the image obtained by shooting the target subject with the shutter speed is a high-definition, non-smearing image. In this way, the safety shutter as a reference value is determined according to the movement speed of the target object relative to the shooting device. There are corresponding safety shutters for different movement speeds, which makes the safety shutter more reference value and can shoot images without blur or smear. Effectively improve the clarity of photos.

It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the application.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings that need to be used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained from these drawings without creative labor.

Fig. 1 is a flow chart showing a method for adjusting shutter speed according to an exemplary embodiment.

Fig. 2 is a flowchart of another shutter speed adjustment method according to an exemplary embodiment.

Fig. 3 is a flowchart of another shutter speed adjustment method according to an exemplary embodiment.

Fig. 4 is a flowchart of another shutter speed adjustment method according to an exemplary embodiment.

Fig. 5 is a flowchart of another shutter speed adjustment method according to an exemplary embodiment.

Fig. 6 is a flowchart of a method for calibrating a safety shutter according to an exemplary embodiment.

Fig. 7 is a structural block diagram of a portable device applicable to a shutter speed adjustment method according to an exemplary embodiment.

Fig. 8 is a structural block diagram of an unmanned aerial vehicle suitable for a shutter speed adjustment method according to an exemplary embodiment.

detailed description

The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

The exemplary embodiments will be described in detail here, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the application as detailed in the appended claims.

The terms used in this application are only for the purpose of describing specific embodiments, and are not intended to limit the application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and/or" as used herein refers to and includes any or all possible combinations of one or more associated listed items. Unless otherwise indicated, similar words such as "front", "rear", "lower" and/or "upper" are only for convenience of description, and are not limited to one position or one spatial orientation. Similar words such as "connected" or "connected" are not limited to physical or mechanical connections, and may include electrical connections, whether direct or indirect. "Multiple" means at least two.

It should be understood that although the terms first, second, third, etc. may be used in this application to describe various information, the information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this application, the first information may also be referred to as second information, and similarly, the second information may also be referred to as first information. Depending on the context, the word "if" as used herein can be interpreted as "when" or "when" or "in response to determination".

The following describes in detail the shutter speed adjustment, safety shutter calibration method, portable device and drone of the present application in conjunction with the accompanying drawings. In the case of no conflict, the following embodiments and features in the implementation can be combined with each other.

The shutter speed adjustment method of this application can be applied to cameras, such as card cameras, digital cameras, SLR cameras, sports cameras, pan-tilt cameras, etc.; it can also be applied to devices with shooting functions, such as cameras, smart phones, and tablet computers. It can also be applied to devices with the function of setting shooting parameters, such as handheld PTZ, drones, etc.

Fig. 1 is a flowchart of a shutter speed adjustment method according to an exemplary embodiment of the application. The shutter speed adjustment method includes steps 101 to 103:

Step 101: Detect the moving speed of the target object relative to the camera.

In this step, the target object refers to the object mainly captured by the camera, and the target object is at least partly included in the field of view of the camera, so that the image formed by the camera after shooting includes at least part of the image of the target object. For example, if the shooting field of view is a rectangular frame, the target subject is at least partially contained in this rectangular frame; another example, if the shooting field of view is a square frame, the target subject is at least partly contained in this square frame; and For example, if the shooting field of view is a circular frame, the target subject is at least partially contained in this circular frame. Detect the moving speed of the target object relative to the camera, that is, use the camera as the reference object to detect the speed of the target object. The detection of the movement speed may be a module of the camera itself, or an independent module or device, and establish a communication connection with the camera in a wired or wireless manner. Input the video stream in the shooting field of view acquired by the camera to the module or device for detecting the movement speed, and detect the movement speed of the target object relative to the camera in the video stream.

In a possible implementation manner of the present application, the movement speed is determined based on the number of pixels moving within the shooting field of view of the target object in a unit time. In other words, the speed of movement is determined by detecting how many pixels the target object has moved within the shooting field of view in a unit of time. Therefore, the expression of the movement speed of the target subject is: the movement speed of the target subject = the number of pixels the target subject moves in the shooting field of view/the movement time of the target subject, where the unit of the number of pixels is pixel, the unit of motion time may be s (second), ms (microsecond) or ns (nanosecond), and the motion speed may be pixel/s, pixel/ms or pixel/ns.

In a possible implementation of the present application, the photographing device may be a camera, for example, a card camera, a digital camera, a SLR camera, a sports camera, a pan-tilt camera, etc., or a device with a photographing function, such as a camera, Smartphones, tablets, etc.

Generally speaking, when a photographing device photographs a main target subject, it often also photographs a background relative to the target subject, and the motion state of the background affects the detection of the motion speed of the target subject. In a possible implementation manner of the present application, when a relatively static background is included in the shooting field of view, the method of acquiring the movement speed of the target object relative to the shooting device may include, but is not limited to: background difference method, frame Inter-differential method, optical flow method and/or mixture Gaussian model background method, etc. Any one of the above methods can be used for detection, or any combination of more than one of the above methods can be used for detection. In a possible implementation manner of the present application, when the shooting field of view contains a relatively moving background, the manner of obtaining the movement speed of the target object relative to the shooting device includes: block matching method and/or optical flow estimation law.

Regarding the question of which is determined to be the target subject and which is determined to be the background within a shooting field of view, in a possible implementation of the present application, the target subject can be determined by focusing, that is, the focus is on the target subject. On the subject, objects other than the target subject are determined to be the background.

Step 102: Determine the safety shutter corresponding to the movement speed of the target object relative to the shooting device according to the mapping relationship between the pre-calibrated movement speed and the safety shutter.

In this step, the safety shutter corresponding to the currently detected movement speed of the target object is determined based on the detected movement speed of the target object relative to the imaging device, and the mapping relationship between the movement speed and the safety shutter that has been calibrated in advance. It should be understood that the safety shutter, also known as the safety shutter speed, is a reference value, which is the lowest shutter speed at which the photographed picture is not blurred, and the shutter speed used in actual shooting can be adjusted according to this reference value.

In a possible implementation manner of the present application, when the movement speed of the target object is the first movement speed and the second movement speed, respectively, it is determined that the corresponding safety shutters are the first safety shutter and the second safety shutter, respectively , Wherein the first movement speed is greater than the second movement speed, and the first safety shutter is greater than the second safety shutter. That is to say, in the mapping relationship between the movement speed and the safety shutter, different movement speeds correspond to different safety shutters. There is a positive correlation between the movement speed of the target subject and the safety shutter. Exemplarily, the greater the moving speed of the target object, the greater the corresponding safe shutter speed; the lower the moving speed of the target object, the smaller the corresponding safe shutter speed. In other words, the faster the moving speed of the target object, the faster the corresponding safe shutter speed; the slower the moving speed of the target object, the slower the corresponding safe shutter speed. To shoot a target subject that moves at a faster speed, the safety shutter as a reference value is faster, and adjust the shutter speed used in actual shooting is also faster; shoot a target subject that moves at a slower speed as a reference value The safety shutter is slower, and the shutter speed used when adjusting the actual shooting is also slower. In a possible implementation manner of the present application, a range of motion speed may correspond to a safety shutter.

It should be noted that in the field of photography, shutter speed is used as a term to express exposure time, that is, the effective length of time the shutter of the camera is activated, usually in seconds (s) to indicate the length of exposure time, for example, 30s , 8s, 1s, 1/2s, 1/15s, 1/30s, 1/50s, 1/125s, etc. It can be seen that the lower the numerical order of the shutter speeds listed above, the faster the indicated shutter speeds. It should be understood that this way of representation is not inconsistent with the way of representation in the foregoing embodiment.

In a possible implementation manner of the present application, the mapping relationship may be stored locally or in the server in a collective manner, for example, stored in the local or server in the manner of a list, by viewing the mapping between the movement speed and the safety shutter The safety shutter corresponding to the movement speed can be found in the list. When the mapping relationship between the movement speed and the safety shutter is stored locally, after the movement speed is acquired, the mapping relationship in the memory is retrieved to find the safety shutter corresponding to the movement speed, so as to determine the reference value of the safety shutter; when the movement speed When the mapping relationship with the safety shutter is stored in the server, after obtaining the movement speed, the movement speed is sent to the server, and the server receives the movement speed, searches for the safety shutter corresponding to the transportation speed, and returns the corresponding safety shutter.

In a possible implementation manner of the present application, the mapping relationship between the movement speed and the safety shutter includes: the safety shutter with a movement speed of zero is the reciprocal of the focal length. The safety shutter corresponding to zero movement speed is determined by the reciprocal of the focal length. That is to say, when it is detected that the target object is still relative to the shooting device, it is determined that the corresponding safety shutter is the reciprocal of the current lens focal length.

Step 103: Adjust the shutter speed based on the safety shutter.

In this step, after obtaining the safety shutter corresponding to the movement speed of the target subject, based on the reference value of the safety shutter, adjust the shutter speed used to actually shoot the target subject to make the image of the target subject in the captured picture clear of. It should be understood that the adjusted shutter speed will not be less than the safety shutter, that is, the adjusted shutter speed will not be slower than the safety shutter, so that the image presented by the target subject will be clearer.

It should be understood that when the target subject is moving at a variable speed, the currently detected movement speed can be updated in real time, and the corresponding safety shutter can be determined according to the currently detected movement speed, so as to adjust the shutter speed based on the safety shutter. The whole process can be It is completed at a speed of microseconds to improve the clarity of the target image.

In a possible implementation of this application, the above method is applied to cameras or devices with shooting functions (such as card cameras, digital cameras, SLR cameras, sports cameras, pan-tilt cameras, cameras, smart phones, tablet computers, etc.) In the scenario of, steps 101 to 103 can be performed by a camera or a device with a shooting function.

In another possible implementation manner of the present application, when the above method is applied to the scene of a device with the function of setting shooting parameters (such as a handheld PTZ, drone, etc.), usually, these devices are also used in conjunction with a shooting device , Steps 101 to 103 can be performed by a device with the function of setting shooting parameters. The device with the function of setting shooting parameters sends the shutter speed adjusted in step 103 to the shooting device, and the shooting device shoots the target subject according to the received shutter speed ; It can also be that steps 101 to 102 are executed by a device with the function of setting shooting parameters, and the device with the function of setting shooting parameters sends the safety shutter determined in step 102 to the shooting device, and the shooting device adjusts the shutter speed according to the received safety shutter , And shoot the target subject according to the adjusted shutter speed. In a possible implementation manner of the present application, it may be an exposure control module sent to the photographing device.

The above-mentioned method provided by the embodiments of the present application obtains the movement speed of the target object relative to the shooting device, and determines the safety shutter corresponding to the movement speed according to the pre-calibrated mapping relationship between the movement speed and the safety shutter. As a reference value, the shutter speed is adjusted based on the safety shutter, so that the image obtained by shooting the target subject with the shutter speed is an unblurred and unsmearing image. In this way, the safety shutter as a reference value is determined according to the movement speed of the target object relative to the shooting device. There are corresponding safety shutters for different movement speeds. Compared with the traditional method of determining the safety shutter by the reciprocal of the focal length, the safety shutter is more secure. It has reference value and can shoot images without blur or smear, effectively improving the sharpness of photos.

Generally speaking, shooting devices have different shooting modes, or different shooting scenes, which are distinguished according to the distance between the shooting device and the object. In a possible implementation of the present application, the shooting mode includes a distant view mode and a non-distance view mode. The shooting distance of the distant view mode is greater than that of the non-distance view mode. The remote view mode focuses on shooting landscape objects, and the non-distance view mode focuses on Shoot non-landscape objects. As an example, the non-telephoto mode may be subdivided to include, but is not limited to: close-up mode, close-range mode, medium-range mode, and panoramic mode. The shooting distances of close-up mode, close-range mode, medium-range mode, and panoramic mode are sequentially increased.

Taking a person as one of the subjects as an example, the field of view in the long-range mode is the person and the wide space environment around it, which is equivalent to viewing the scene and the person from a longer distance. The person is small, and the background is dominant, focusing on shooting Natural scenery, large scenes of mass activities and other scenes; the field of view shot in non-distant mode such as close-up mode, close-up mode, mid-range mode, and panoramic mode dominates the field of view. Close-up shots are the portraits of the characters above the shoulders, close-up shots The shot above the chest of the person, the middle shot is the shot above the knee of the person, and the panorama shot is the whole body of the person.

It should be understood that, for shooting objects or scenes in both the distant view mode and the non-distance view mode, the above-mentioned methods provided in the embodiments of the present application can be applied to adjust the shutter speed. In a possible implementation of the present application, the photographing device has two shooting modes: a distant view mode and a non-distant view mode. When the distant view mode is used for shooting, the target subject is a landscape subject; when the non-distance view mode is used for shooting When, the target subject is a non-landscape subject. For example, SLR cameras, digital cameras, smart phones, tablet computers, etc. With the development of technology, there are still some shooting devices that mainly use one of the shooting modes for shooting. For example, portable devices such as sports cameras, pan-tilt cameras, etc., mainly use non-distant view mode to shoot, then the target subject is non-landscape shooting Another example is the drone, which mainly uses the remote mode to shoot, then the target subject is a landscape subject. Regarding the classification of landscape photographs and non-landscape photographs, the landscape photographs are objects of natural and cultural landscapes, such as the sky, clouds, mountains, forests, flowers, rivers, lakes, and seas, and other natural landscapes, such as buildings. , Gardens, event scenes and other cultural landscapes are mainly scenes with wide viewing angles; the non-landscape photographs are objects other than natural landscapes and cultural landscapes, such as people, animals, cars, etc. It should be noted that this application’s Landscape and non-landscape photographs include but are not limited to the examples listed above.

FIG. 2 is a flowchart of another shutter speed adjustment method according to an exemplary embodiment of this application. Based on the foregoing embodiment, this embodiment uses how to determine the target object as an example for an exemplary description. As shown in Figure 2, it includes steps 201 to 205:

Step 201: When multiple objects are included in the shooting field of view, obtain preset weights of all or part of the objects.

In some scenes, the shooting field of the shooting device contains multiple subjects. When it is detected that there are multiple subjects in the shooting field of view, you can first determine which subject is the main target subject. In this step, get The preset weight of all or part of the subject in the shooting field of view, that is, the target subject can be determined by the preset weight of the subject. In a possible implementation of the present application, when it is detected that multiple objects are included in the shooting field of view, the preset weights of all objects in the shooting field of view can be directly obtained, and the preset weights are used in all objects. To determine the target subject. In another possible implementation of the present application, the subject may be screened first. As an example, the subject is filtered according to the category of the subject, and the preset weights of the selected part of the subject are obtained. The target object is determined according to the size of the preset weight. As an example, the category of the subject can be determined according to the shooting mode.

In a possible implementation manner of this application, the value of the preset weight is set according to the categories of different photographic objects. The categories of photographic objects in this embodiment may be broadly classified, for example, classified into landscape photographic objects. , Non-landscape photographs; it can also be a small classification according to the nature or characteristics of the photographs themselves, such as people, animals, vehicles, plants, etc.; it can even be subdivided into animals, vehicles, or plants. Before obtaining the preset weights of all or part of the photographs, the categories of all or part of the photographs may be obtained first.

In a possible implementation of the present application, the image can be automatically segmented and the content in the field of view can be identified through the image semantic segmentation technology, and the category of each object can be obtained, and each image can also be obtained through other image recognition technologies. The category of the subject. For example, in the shooting field of view, it is recognized that the first subject is a person, the second subject is a dog, the third subject is a tree, the fourth subject is a car, the fifth subject is the sky, and the sixth subject is a grass. Then get the preset weights of people, dogs, trees, cars, sky, and grass respectively. The preset weight can be set using scores (such as 0, 0.1, 0.38, 0.8, 0.95, etc.) or percentages (such as 10%, 40%, 70%, 88%, etc.). In the above example, the default weight for people is 0.8, the default weight for dogs is 0.7, the default weight for trees is 0.55, the default weight for cars is 0.66, the default weight for sky is 0.5, and the default weight for grass is 0.55. Is 0.2.

In a possible implementation manner of the present application, in different shooting modes, the size of the preset weight of the same object may be different. Shooting modes include a distant view mode and a non-distance view mode. The distant view mode focuses on shooting landscape objects, and the non-distance view mode focuses on shooting non-landscape objects. That is to say, in the distant view mode, the preset weight of landscape subjects is greater than that of non-landscape subjects; in the non-distance view mode, the preset weight of non-landscape subjects is greater than that of landscape subjects. Set weights.

For example, in the example of the six subjects mentioned above, people, dogs, cars, trees, grass, and sky are also taken. In the distant view mode, the default weight of landscape trees, grass and sky is greater than that of non-landscape types. The preset weights for people, dogs, and cars; in the non-distant view mode, the preset weights for people, dogs, and cars that are not landscape are greater than the preset weights for landscape trees, grass, and sky.

In a possible implementation manner of the present application, before acquiring the preset weight of the photographic object or acquiring the category of the photographic object, the adopted photographing mode may be determined first. In this way, the accuracy of the preset weights of the acquired photographs can be improved.

In a possible implementation manner of the present application, after determining the shooting mode to be adopted, the category of each object is obtained through image semantic segmentation technology or other image recognition technology, and the objects in the shooting field of view are classified into landscape objects And non-landscape subjects, according to the determined shooting mode, obtain the preset weights of landscape subjects or non-landscape subjects, so as to determine the target subject. If it is determined that the distant view mode is adopted, then the preset weights of the landscape subject can be obtained, and then the target subject can be determined from the landscape subject; if it is determined that the non-distant view mode is adopted, the pre-set weight of the non-landscape subject can be obtained. Just set the weight, and then determine the target subject from the non-landscape subject. In this way, there is no need to obtain the preset weights of all subjects in the shooting field of view, which can effectively improve the processing efficiency of determining the target subject.

Step 202: Determine the target object based on a preset weight.

In a possible implementation manner of the present application, after obtaining the preset weights of all or part of the photographic objects, the photographic objects are sorted according to the numerical value of the preset weight from large to small or small to large, and the The subject corresponding to the largest value of the preset weight in the sorting is determined as the target subject. As in the above six examples of photographs, people, dogs, trees, cars, sky, and grass are sorted in descending order of the preset weights as follows: people>dogs>cars>trees>sky>grass. Then, the person is determined as the target object; as in the above-mentioned six object examples, if the shooting mode is determined to be the non-distant view mode, the preset weights of the person, dog, and car are obtained, and the preset weights are obtained according to the preset The numerical value of the weight is sorted in the order of: person>dog>car, then the person is determined as the target object.

In a possible implementation manner of the present application, if there is more than one subject corresponding to the target preset weight, the target subject is determined based on the distance between the position of the subject and the preset position in the shooting field of view, wherein, The target preset weight is a weight used to determine the target photograph among the acquired preset weights. In this embodiment, the target preset weight refers to the preset weight of the target object determined according to the preset weight of the object. The target preset weight may be the largest or smallest preset weight among the obtained preset weights, or may be a preset weight of a specified size.

In some application scenarios, within the field of view, there is more than one target subject determined according to the preset weight of the subject, that is, there are more than one subject with the same preset weight, and they belong to the same category. The objects corresponding to the preset weights of the target can be further screened to determine one object as the target object, that is, the object corresponding to the current preset weight of the target is not yet the target object. As an example, when there is more than one subject with the largest preset weight value, in order to take only one subject as the target subject, the position of each subject with the largest preset weight value within the shooting field of view can be detected , And respectively calculate the distance between the position of each subject with the largest preset weight value and a position within the preset shooting field of view, and determine the target subject through the distance. In a possible implementation manner of the present application, the object with the smallest distance may be determined as the target object. In a possible implementation manner of the present application, the preset position in the shooting field of view may be a position determined based on an experience summary of the shooting composition. For example, the preset position in the shooting field of view may be a center position in the shooting field of view. ; For another example, the preset position in the shooting field of view may be a position of one-third of the shooting field of view. In this way, selecting a subject close to the shooting composition position as the target subject can not only obtain a high-definition, non-smearing image, but also make the captured picture have a harmonious layout and improve the beauty of the picture. As in the example of the six objects mentioned above, when there are two people with the highest preset weights acquired in the field of view, the position information of the two people is detected, and the positions of the two people and the shooting field of view are calculated respectively. The distance between the center positions, the person with the smallest distance is taken as the target object.

In a possible implementation manner of the present application, the position information in the shooting field of view is expressed in the form of pixel coordinates. For example, the position of the shooting object is (x ₁ , y ₁ ), and the preset position in the shooting field of view is (x ₂ , y ₂ ), then the distance between the two positions is

In a possible implementation manner of the present application, the coordinates of the central pixel of the photographed object are determined as the position of the photographed object. For example, through image semantic segmentation technology or other image recognition technology, the image outline of the object can be obtained, and the center pixel and its coordinates are determined within the image outline, and then the position coordinates of the object can be determined.

In a possible implementation manner of the present application, if there is more than one subject corresponding to the target preset weight, the target subject is determined based on the movement speed of the subject relative to the shooting device, wherein the target preset weight is The obtained preset weight is used to determine the weight of the target object. As an example, when there is more than one subject with the largest preset weight value, in order to take only one subject as the target subject, each subject with the largest preset weight value is detected, and each subject is obtained separately. The movement speed of the object with the largest preset weight value relative to the camera is determined by the movement speed. In a possible implementation manner of the present application, the subject with the highest moving speed is determined as the target subject. In this way, the corresponding safety shutter is determined according to the speed of the target subject with the highest moving speed, and the shutter speed adjusted by the safety shutter is used to shoot objects in the entire field of view. Not only the image of the target subject is clear, but also Make sure that other subjects with the highest preset weight values are also clear.

Step 203: Detect the moving speed of the target object relative to the camera.

In a possible implementation of the present application, if the target photograph has been determined by detecting the speed of the target photograph relative to the photographing device, there is no need to perform step 203, and the target photograph may be determined according to the detected moving speed when the target photograph is determined. Determine the corresponding safety shutter.

Step 204: Determine a safety shutter corresponding to the movement speed of the target object relative to the shooting device according to the mapping relationship between the pre-calibrated movement speed and the safety shutter.

Step 205: Adjust the shutter speed based on the safety shutter.

Steps 203 to 205 are the same as the related technologies in the above steps 101 to 103, and will not be repeated here.

In the above method provided by the exemplary embodiment shown in FIG. 2, when there are multiple subjects in the field of view, the target subject is determined by preset weights, and then the movement speed of the target subject relative to the shooting device is obtained, and the movement speed of the target subject relative to the shooting device is obtained according to The mapping relationship between the pre-calibrated movement speed and the safety shutter is used to determine the safety shutter corresponding to the movement speed. The safety shutter is used as a reference value and the shutter speed is adjusted based on the safety shutter, so that the shutter speed is used to shoot the target. The image obtained by the object is a non-blurred, non-smearing image. In this way, the safety shutter as a reference value is determined according to the movement speed of the target object relative to the shooting device. There are corresponding safety shutters for different movement speeds. Compared with the traditional method of determining the safety shutter by the reciprocal of the focal length, the safety shutter is more secure. It has reference value and can shoot images without blur or smear, effectively improving the clarity of the photo; automatically determine the target subject through preset weights, which can quickly determine the subject of the shot, without the user's manual selection, and improve the convenience of operation.

FIG. 3 shows a flowchart of another shutter speed adjustment method according to an exemplary embodiment of this application. This embodiment takes as an example how to determine the target object based on the exemplary embodiment shown in FIG. 1 Make another exemplary description, as shown in FIG. 3, including steps 301 to 305:

Step 301: When multiple objects are included in the shooting field of view, obtain the positions of all or part of the objects in the shooting field of view.

When it is detected that there are multiple subjects in the shooting field of view, it is possible to determine which subject is the main target subject. In this step, the position of all or part of the subject in the shooting field of view can be obtained, that is, through the The position within the shooting field of view is used to determine the target subject. In a possible implementation of the present application, when it is detected that multiple objects are included in the shooting field of view, the positions of all objects in the shooting field of view can be directly obtained, and the positions of all objects in the shooting field are determined according to the position of the objects and the The distance of the preset position in the shooting field of view is used to determine the target subject. In another possible implementation manner of the present application, the photographed objects may be screened first. As an example, the screening is performed according to the category of the photographed objects, and the positions of the selected photographic objects are obtained. The target object is determined according to the distance between the position of the object and the preset position in the shooting field of view. As an example, the category of the subject can be determined according to the shooting mode.

Step 302: Determine a target photographic object based on the distance between the position of the photographic object and a preset position in the photographing field of view.

In this step, after acquiring the position of all or part of the subject in the shooting field of view, the distance between the position of all or part of the subject and a preset position in the field of view is calculated, and the target shooting is determined by the distance. Things. In a possible implementation manner of the present application, the object with the smallest distance may be determined as the target object. In a possible implementation manner of the present application, the preset position in the shooting field of view may be a position determined based on a shooting composition summarized by experience. In this way, selecting a subject close to the shooting composition position as the target subject can not only obtain a high-definition, non-smearing image, but also make the captured picture have a harmonious layout and improve the beauty of the picture.

In a possible implementation manner of the present application, the preset position in the shooting field of view is a center position in the shooting field of view. That is, the target object is determined by calculating the distance between all or part of the object and the center position in the shooting field of view. For example, when the field of view is a rectangular or square frame, the center of the field of view is the intersection of the diagonal lines of the field of view; for example, when the field of view is a circle, the center of the field of view is Is the center of the shooting field of view. In a possible implementation manner of the present application, the photographed object closest to the center position in the photographing field of view is determined as the target photographed object. That is, after obtaining the distance between the position of each object and the preset position in the shooting field of view, the object with the smallest distance is selected as the target object. In this way, the position of the target object is closest to the center of the shooting field of view, and the vision of the picture is focused on the position close to the center, and due to the improved clarity, the target object is more prominent as the subject and attracts the audience's sight more.

In a possible implementation manner of the present application, the preset position in the shooting field of view is the golden ratio division point in the shooting field of view. In other words, the target object is determined by calculating the distance between each object and the dividing point of the golden ratio. In a possible implementation manner of the present application, the object closest to the golden ratio division point in the shooting field of view is determined as the target object. In this way, the position of the target subject is closest to the golden ratio dividing point of the shooting field of view, making the picture more aesthetic and harmonious.

Step 303: Detect the moving speed of the target object relative to the camera.

Step 304: Determine a safety shutter corresponding to the movement speed of the target object relative to the shooting device according to the mapping relationship between the pre-calibrated movement speed and the safety shutter.

Step 305: Adjust the shutter speed based on the safety shutter.

Steps 303 to 305 are the same as the related technologies in the above steps 101 to 103, and will not be repeated here.

In a possible implementation manner of the present application, before acquiring the position of each of the photographed objects in the photographing field of view, the currently adopted photographing mode may be determined first, and the acquisition may be obtained through image semantic segmentation technology or other image recognition technology. For each subject category, the subjects in the shooting field of view are divided into landscape subjects and non-landscape subjects. According to the determined shooting mode, obtain the photos of each landscape subject or non-landscape subject in the shooting field of view. Location to determine the target subject. If it is determined that the long-range mode is adopted, the position of each landscape subject within the shooting field of view can be obtained, and then the target subject can be determined according to the position within the shooting field of view from the landscape subject; if it is determined that the non-distant view is used Mode, it is sufficient to obtain the position of each non-landscape subject within the shooting field of view, and then determine the target subject from the non-landscape subject according to the position within the shooting field of view.

In the above method provided by the exemplary embodiment shown in FIG. 3, when there are multiple objects in the field of view, the target object is determined according to the distance between the position of the object and the preset position in the field of view, and then acquired The moving speed of the target object relative to the camera, and according to the pre-calibrated mapping relationship between the moving speed and the safety shutter, the safety shutter corresponding to the moving speed is determined, and the safety shutter is used as a reference value and adjusted based on the safety shutter The shutter speed is such that the image obtained by shooting the target subject at the shutter speed is an unblurred or smear-free image. In this way, the safety shutter as a reference value is determined according to the movement speed of the target object relative to the shooting device. There are corresponding safety shutters for different movement speeds. Compared with the traditional method of determining the safety shutter by the reciprocal of the focal length, the safety shutter is more secure. It has reference value and can shoot images without blur or smear, effectively improving the clarity of the photo; determining the target subject based on the location of the subject, not only can quickly determine the subject of the shot, without the user's manual selection, and improve the convenience of operation ; It can also make the captured pictures have a harmonious layout and improve the beauty of the pictures.

FIG. 4 is a flowchart of another shutter speed adjustment method according to an exemplary embodiment of this application. This embodiment is based on the exemplary embodiment shown in FIG. 1 and takes how to determine the target object as an example For another exemplary description, as shown in FIG. 4, it includes steps 401 to 405:

Step 401: When multiple objects are included in the shooting field of view, obtain the moving speed of all or part of the objects relative to the shooting device.

When it is detected that there are multiple subjects in the shooting field of view, it is possible to determine which subject is the main target subject. In this step, the movement speed of all or part of the subject in the shooting field of view relative to the shooting device is acquired, that is, The target object can be determined by the speed of the object relative to the camera. In a possible implementation of the present application, when it is detected that multiple objects are included in the shooting field of view, the speed of movement of all objects in the shooting field relative to the shooting device can be directly obtained, and the speed of all objects in the shooting field is determined according to the speed of the objects. The speed of movement is used to determine the target subject. In another possible implementation of the present application, the subject can be screened first. As an example, the screening is performed according to the category of the subject to obtain the moving speed of the selected subject relative to the shooting device. In some objects, the target object is determined according to the speed of the object. As an example, the category of the subject can be determined according to the shooting mode.

Step 402: Determine the target photograph based on the movement speed.

In this step, after acquiring the movement speed of all or part of the object relative to the imaging device, the target object is determined according to the magnitude of the movement speed of all or part of the object. In a possible implementation manner of the present application, after obtaining the movement speed of all or part of the object relative to the shooting device, sorting according to the numerical value of the movement speed from large to small or from small to large, in the sorting Specify the subject corresponding to the movement speed to determine the target subject.

In a possible implementation manner of the present application, the subject with the highest moving speed is determined as the target subject. In this way, the corresponding safety shutter is determined according to the speed of the target subject with the highest moving speed, and the shutter speed adjusted by the safety shutter is used to shoot objects in the entire field of view. Not only the image of the target subject is clear, but also Make sure that other subjects are also clear.

Step 403: Detect the moving speed of the target object relative to the camera.

In a possible implementation manner of the present application, since the moving speed of the target object relative to the shooting device has been detected in step 401, step 403 may not be required.

Step 404: Determine a safety shutter corresponding to the movement speed of the target object relative to the shooting device according to the mapping relationship between the pre-calibrated movement speed and the safety shutter.

Step 405: Adjust the shutter speed based on the safety shutter.

Steps 403 to 405 are the same as the above steps 101 to 103, and will not be repeated here.

In a possible implementation manner of the present application, before acquiring the moving speed of each of the photographed objects relative to the photographing device, the currently adopted photographing mode may be determined first, and each photograph may be acquired through image semantic segmentation technology or other image recognition technology. The category of the subject, the subjects in the shooting field of view are divided into landscape subjects and non-landscape subjects. According to the determined shooting mode, the movement speed of each landscape subject or non-landscape subject relative to the shooting device is obtained. In order to determine the target subject. If it is determined that the long-range mode is adopted, the movement speed of each landscape subject relative to the shooting device can be obtained, and then the target subject can be determined according to the movement speed from the landscape-type subject; if it is determined that the non-vision mode is used, then obtain The movement speed of each non-landscape subject relative to the shooting device is sufficient, and then the target subject is determined from the non-landscape subject according to the movement speed.

In the above method provided by the exemplary embodiment shown in FIG. 4, when there are multiple subjects in the field of view, the target subject is determined according to the movement speed of the subject relative to the shooting device, and the target subject is determined according to the pre-calibrated movement speed and The mapping relationship of the safety shutter is used to determine the safety shutter corresponding to the movement speed. This safety shutter is used as a reference value, and the shutter speed is adjusted based on the safety shutter, so that the image obtained by shooting the target subject with the shutter speed is not blurred Image that does not smear. In this way, the safety shutter as a reference value is determined according to the movement speed of the target object relative to the shooting device. There are corresponding safety shutters for different movement speeds. Compared with the traditional method of determining the safety shutter by the reciprocal of the focal length, the safety shutter is more secure. It has reference value and can shoot images without blur or smear, effectively improving the clarity of the photo; determining the target subject based on the motion speed of the subject, not only can quickly determine the subject of the shot, without the user’s manual selection, which improves the convenience of operation Sex; it can also make shooting objects in the entire field of view, not only the image of the target object is clear, but also to ensure that other objects are also clear.

FIG. 5 is a flowchart of another shutter speed adjustment method shown in an exemplary embodiment of this application. This embodiment uses the above-mentioned method provided by the exemplary embodiment shown in FIG. 1 to further improve the shooting effect and The picture quality is taken as an example for an illustrative description, as shown in Fig. 5, including steps 501 to 504:

Step 501: Detect the moving speed of the target object relative to the camera.

Step 502: Determine a safety shutter corresponding to the movement speed of the target object relative to the shooting device according to the mapping relationship between the pre-calibrated movement speed and the safety shutter.

Step 503: Adjust the shutter speed based on the safety shutter.

Steps 501 to 503 are the same as the above steps 101 to 103, and will not be repeated here.

Step 504: Adjust the sensitivity based on the safety shutter.

In this step, the sensitivity of the shooting target object is also adjusted according to the determined safety shutter. Sensitivity, also known as ISO value, is used to indicate the sensitivity of the photosensitive element of the camera.

Generally speaking, whether the photo is clear is related to the amount of exposure, and the amount of exposure is related to the aperture, shutter speed, and sensitivity. The relationship between the above parameters can be expressed by the exposure equation: E _v =A _v +T _v =S _v +B _v . Among them, A _v represents the aperture size, and its value increases by one unit, which means that the light input is reduced by half; T _v represents the shutter speed, and its value increases by one unit, which means that the light input is reduced by half; S _v represents the camera sensitivity, and its value is every Adding a unit means that the camera's sensitivity to the same amount of light has doubled, and the image is doubled in brightness; B _v means the average brightness of ambient light, and each unit of increase in its value means that the average brightness of ambient light increases by one. Times; E _v represents the current exposure value, when the E _v value is the same, it means that it has the same exposure effect.

It can be understood that when the aperture or shutter speed increases, the amount of light will decrease, that is, the brightness of the captured picture will become lower. Therefore, in order to maintain the brightness of the picture, that is, to keep the exposure consistent, the sensitivity will be increased. Or the average brightness of ambient light. In the same way, when the aperture or shutter speed is reduced, the amount of light will increase, that is, the brightness of the captured picture will become higher. Therefore, in order to maintain the brightness of the picture, that is, to maintain the same exposure, the sensitivity will be reduced or The average brightness of the ambient light. Generally, the average brightness of ambient light is fixed, so the exposure requirements are mainly met by adjusting the aperture, shutter speed, and sensitivity.

In a possible implementation manner of the present application, when the movement speed of the target object is the first movement speed and the second movement speed, respectively, the corresponding sensitivity is adjusted to the first sensitivity and the second sensitivity respectively. , Wherein the first movement speed is greater than the second movement speed, and the first sensitivity is greater than the second sensitivity. As the moving speed of the target object is greater, the corresponding safe shutter speed is higher; the lower the moving speed of the target object is, the corresponding safe shutter speed is smaller. When adjusting the shutter speed according to a larger safe shutter speed, you can adjust the sensitivity increase appropriately to keep the brightness of the picture while improving the clarity of the captured picture; similarly, when according to a smaller safe shutter speed When adjusting the shutter speed, you can properly adjust the sensitivity reduction.

It should be noted that step 503 and step 504 may be executed sequentially or simultaneously.

In a possible implementation of this application, the above method is applied to cameras or devices with shooting functions (such as card cameras, digital cameras, SLR cameras, sports cameras, pan-tilt cameras, cameras, smart phones, tablet computers, etc.) In a scenario where steps 501 to 504 can be performed by a camera or a device with a shooting function.

In another possible implementation manner of the present application, when the above method is applied to the scene of a device with the function of setting shooting parameters (such as a handheld PTZ, drone, etc.), usually, these devices are also used in conjunction with a shooting device It may be that steps 501 to 504 are executed by a device with the function of setting shooting parameters. The device with the function of setting shooting parameters sends the shutter speed and sensitivity adjusted in

steps

503 and 504 to the shooting device, and the shooting device according to the received shutter speed and Sensitivity to shoot the target subject; it can also be that steps 501 to 502 are executed by the device with the function of setting shooting parameters. The device with the function of setting shooting parameters sends the safety shutter determined in step 502 to the shooting device, and the shooting device receives To adjust the shutter speed and sensitivity of the safety shutter, and shoot the target subject according to the adjusted shutter speed and sensitivity. In a possible implementation manner of the present application, it may be an exposure control module sent to the photographing device.

The above-mentioned method provided by the exemplary embodiment shown in FIG. 5 obtains the movement speed of the target object relative to the photographing device, and determines the safety shutter corresponding to the movement speed according to the mapping relationship between the movement speed and the safety shutter that has been calibrated in advance, This safety shutter is used as a reference value, and the shutter speed is adjusted based on the safety shutter, so that the image obtained by shooting the target subject with the shutter speed is an unblurred and unsmearing image. In this way, the safety shutter as a reference value is determined according to the movement speed of the target object relative to the shooting device. There are corresponding safety shutters for different movement speeds. Compared with the traditional method of determining the safety shutter by the reciprocal of the focal length, the safety shutter is more secure. It has reference value and can shoot images without blur or smear, effectively improving the sharpness of photos. In order to further improve the shooting effect, the sensitivity is also adjusted based on the determined safety shutter, so that the image obtained by using the combination of the shutter speed and the sensitivity to shoot the target subject is neither blurred nor smeared, and the brightness of the image is maintained. Thereby improving the shooting effect and picture quality.

The various technical features in the above embodiments can be combined arbitrarily, as long as there is no conflict or contradiction between the combinations of features, but due to space limitations, they are not described one by one.

The present application also provides a safety shutter calibration method, which is used to calibrate the mapping relationship between the movement speed and the safety shutter. The safety shutter calibration method can be applied to computer equipment. The computer equipment may include a shooting device, which collects images by a built-in shooting device, or it may be an external shooting device, and the external shooting device sends the collected images to the computer equipment. . Fig. 6 is a flowchart of a method for calibrating a safety shutter according to an exemplary embodiment of the application. The method includes steps 601 to 604:

Step 601: Detect the moving speed of the target object with respect to the uniform movement of the photographing device.

In this step, the movement speed of the target object relative to the shooting device is detected and recorded, and the target object moving at a constant speed relative to the shooting device is used for detection. On the one hand, it is beneficial to obtain the movement speed, and on the other hand, it is also beneficial to calibrate the object. The safety shutter corresponding to the movement speed can avoid the influence of the movement speed variable on the calibration.

In a possible implementation manner of the present application, when the shooting field of view contains a relatively static background, the methods for obtaining the movement speed of the target object relative to the shooting device include: background difference method, inter-frame difference method, Optical flow method and/or mixture Gaussian model background method. Any one of the above methods can be used for detection, or any combination of more than one of the above methods can be used for detection. In a possible implementation manner of the present application, when the shooting field of view contains a relatively moving background, the manner of obtaining the movement speed of the target object relative to the shooting device includes: block matching method and/or optical flow estimation law.

In order to facilitate the calibration of the mapping relationship between the movement speed and the safety shutter, in a possible implementation manner of the present application, a relatively static background and/or a target object is used to detect the movement speed. Use a relatively static background, that is, no need to consider the motion state of the background, so that it is easier to detect the movement speed of the target subject; use a target subject, that is, only need to detect the movement speed of one subject, so that it is easier to detect the target subject's movement speed Movement speed. Using a relatively static background and a target subject, there is no need to consider the motion state of the background, only the motion speed of a subject needs to be detected, and the motion speed of detecting the motion speed of the target subject is further reduced.

Step 602, traverse all available shutter speeds, and use each shutter speed to shoot the target object.

In this step, all available shutter speeds refer to all the shutter speeds that the camera can support. Each shutter speed is used to shoot a target subject that moves at a constant speed, and each shutter speed is used to shoot evenly. A picture containing an image of the target subject can be obtained. In a possible implementation of the present application, the shutter speed that the photographing device can support is expressed in a shutter speed range, which can be divided into multiple shutter speed values according to the minimum adjustment accuracy of the photographing device, traverse all shutter speed values, and use each shutter speed value. A shutter speed value to shoot the target subject. For example, a camera can support a shutter speed range of 8S-1/8000s, and its minimum adjustment accuracy is 1/7200000. According to the minimum adjustment accuracy of 1/7200000, the shutter speed range 8S-1/8000s is divided into multiple shutters. Speed value, using all divided shutter speed values to shoot the target object one by one.

In order to prevent other factors from affecting the calibration of the mapping relationship between the movement speed and the safety shutter, in a possible implementation manner of the present application, the target object is photographed in an environment with the same light intensity. In a possible implementation manner of the present application, the photographing device is configured with an aperture of the same size to photograph the target object. In a possible implementation manner of the present application, the photographing device is configured with the same sensitivity to photograph the target object.

Step 603: Determine the minimum shutter speed at which the captured target object can be clearly imaged.

In this step, after traversing all available shutter speeds to take pictures of a target subject that moves at a constant speed at that speed, multiple pictures are obtained, and then it is determined whether the target subject’s image in each picture is clearly imaged. Among these pictures There are fuzzy imaging and sharp imaging. In some examples, the pictures can be sorted according to the numerical value of the shutter speed from largest to smallest or from smallest to largest. Take the pictures from smallest to largest as an example. The higher the shutter speed, the corresponding pictures taken. The higher the clarity of the image of the target subject, in this sorting, the picture gradually changes from blurry to clear. You can find a clear image close to the boundary between blurry imaging and clear imaging by judging. It can be said that the picture is acceptable. Determine the first picture to be clearly imaged, and the corresponding shutter speed used is the minimum shutter speed that can be clearly imaged. That is to say, using the minimum shutter speed to photograph the target subject moving at the motion speed can precisely make the target subject to be sharply imaged.

Regarding how to judge the image that is close to the clear image at the boundary between the blur image and the clear image, machine judgment or manual judgment can be used.

In a possible implementation manner of the present application, the step of determining the minimum shutter speed at which the captured target subject can be clearly imaged includes: detecting the smear length of the target subject captured with each available shutter speed Determine the image of the target subject with the smear length not greater than the preset smear length; select the image with the largest smear length, and determine the shutter speed used by the selected image as the minimum shutter speed.

When shooting a subject in motion, there will be smear on the obtained image. If the smear is severe, the vision will be blurred, and the details of the image are not clear enough. In this embodiment, it can be judged whether the image is clear according to the length of the smear. After each available shutter speed is used to take pictures of a target subject moving at a constant speed at a certain speed, the smear length of the target subject’s image on each picture is detected and compared with the preset A threshold is compared to the preset smear length. This threshold is set as the standard for clear imaging. It is determined that the smear length is not greater than the preset smear length of the target subject image, and this part of the smear length is not greater than the preset smear length The image of is a clear image. In this part of the image, select the image whose smear length is closest to the preset smear length. This image is an image that can be exactly imaged clearly, and the shutter speed used to shoot the image is determined as the minimum shutter speed that can image clearly.

In a possible implementation manner of the present application, the step of determining the minimum shutter speed at which the captured target object can be clearly imaged includes: setting the shutter speed used for the image of the target object specified by the user to the minimum shutter speed. In this embodiment, the minimum shutter speed is determined by manual judgment. After each available shutter speed is used to take pictures of a target subject moving at a certain moving speed at a constant speed, all pictures are displayed to the user, for example, according to the shutter speed value from high to low or from small to large The pictures are displayed in order. After judging all pictures, the user selects an image that can be exactly imaged clearly and sends a designated instruction. After receiving the designated instruction from the user, it is determined that the shutter speed used to shoot the image is the minimum shutter speed.

Step 604: Calibrate the minimum shutter speed as a safety shutter corresponding to the movement speed.

In this step, the minimum shutter speed at which the target object can be clearly imaged is calibrated as the safety shutter corresponding to the movement speed, thereby establishing the mapping relationship between the movement speed and the safety shutter. After the safety shutter corresponding to a movement speed calibration is completed, the movement speed is changed, and steps 601 to 604 are executed in a loop to obtain the mapping relationship between different movement speeds and different safety shutters.

In a possible implementation manner of the present application, after the step of calibrating the minimum shutter speed as the safety shutter corresponding to the movement speed, the step includes: storing the mapping relationship between the movement speed and the safety shutter in a local or a server. So that in actual application, the shutter speed can be adjusted according to the mapping relationship. In a possible implementation of the present application, the mapping relationship between the movement speed and the safety shutter is stored in the local or server in the form of a list, and the safety shutter corresponding to the movement speed is obtained by calling and querying the list, so as to adjust the shutter speed based on the safety shutter. .

In a possible implementation manner of the present application, the mapping relationship between the movement speed and the safety shutter includes: the safety shutter with a movement speed of zero is the reciprocal of the focal length. That is to say, when the moving speed of the target object relative to the shooting device is zero, that is, it is relatively still. When shooting a relatively still target object, using a safety shutter with the reciprocal of the focal length for shooting, the resulting image is a clear image. The safety shutter adjusts the shutter speed to capture clear images.

In a possible implementation of the present application, in the mapping relationship between the movement speed and the safety shutter, the minimum movement speed is zero, and the corresponding safety shutter is the reciprocal of the focal length; the safety shutter corresponding to the maximum movement speed is the shooting The maximum shutter speed that the device can support.

The above-mentioned safety shutter calibration method provided by the exemplary embodiment shown in FIG. 6 detects the movement speed of a uniformly moving target object relative to the photographing device, and uses all the shutter speeds that the photographing device can support to use the uniformly moving target. Shoot the subject, determine whether the image of the target subject in each picture is clearly imaged, and determine that the shutter speed corresponding to the picture that can exactly make the target subject is clearly imaged is the minimum shutter speed that can be clearly imaged, and the minimum shutter speed It is calibrated as the safety shutter corresponding to the movement speed. The mapping relationship between the movement speed and the safety shutter is thus obtained, so that when the object in motion needs to be photographed, after the movement speed of the object is obtained, the movement can be determined according to the mapping relationship between the calibrated movement speed and the safety shutter. The safety shutter corresponding to the speed uses this safety shutter as a reference value, and adjusts the shutter speed based on the safety shutter, so that the image obtained by shooting the target subject with the shutter speed is an unblurred and non-smearing image. In this way, the safety shutter as a reference value is determined according to the movement speed of the target object relative to the shooting device. There are corresponding safety shutters for different movement speeds. Compared with the traditional method of determining the safety shutter by the reciprocal of the focal length, the safety shutter is more secure. It has reference value and can shoot images without blur or smear, effectively improving the sharpness of photos.

This application also provides a portable device suitable for implementing the shutter speed adjustment method described in any of the above embodiments. FIG. 7 is a structural block diagram of a portable device shown in an exemplary embodiment of the application. The portable device 70 includes a processor 701 and a memory 702 for storing executable instructions of the processor, wherein the processing The device is configured to perform the steps of the shutter speed adjustment method described in any of the above embodiments.

In a possible implementation manner of the present application, the portable device is a smart terminal with a shooting function, and the smart terminal further includes a camera, which is electrically connected to the processor; The shutter speed captures the target subject. In this embodiment, the smart terminal also has a visual operability interface. When the user initiates the shooting function by sending an instruction, the imaged video stream captured by the camera is displayed on the visual operability interface, and the user displays the target object through the mobile smart terminal In the shooting field of view, the processor can perform the steps of the shutter speed adjustment method: detecting the moving speed of the target object relative to the shooting device; according to the mapping relationship between the pre-calibrated moving speed and the safety shutter, determining the speed of the target object relative to the shooting device The safety shutter corresponding to the movement speed; the shutter speed is adjusted based on the safety shutter. The user can send a shooting instruction, and the electronic shutter of the smart terminal shoots the target subject according to the received shutter speed, and the image of the target subject obtained by shooting is a clear, unblurred, and non-smearing image. The smart terminal may be a smart phone, a portable computer, a tablet computer, a smart watch, etc., which is not specifically limited in this application.

In a possible implementation manner of the present application, the portable device is a camera, the camera further includes a lens and a shutter mechanism, the shutter mechanism is electrically connected to the processor; the lens is used to generate the An optical image of the target subject; the shutter mechanism is used to shoot the target subject according to the shutter speed. In this embodiment, the camera further includes a viewfinder and/or a display screen. When the shooting function is activated, the user can view the shooting field of view of the current lens through the viewfinder and/or the display screen. Aim at the target subject so that the target subject appears in the shooting field of view, the processor can perform the steps of the shutter speed adjustment method: detect the movement speed of the target subject relative to the shooting device; according to the mapping relationship between the pre-calibrated movement speed and the safety shutter , Determine the safety shutter corresponding to the movement speed of the target object relative to the shooting device; adjust the shutter speed based on the safety shutter. When the user presses the shutter button, the shutter mechanism shoots the target subject according to the received shutter speed, and the image of the target subject obtained by shooting is a clear, unblurred, and non-smearing image. The camera may be a single-lens reflex camera, a digital camera, a pan-tilt camera, a sports camera, and the like.

In a possible implementation manner of the present application, the camera is a single-lens reflex camera. The user can adjust the shooting field of view by adjusting the focal length of the SLR camera lens. For example, a lens with a larger focal length can be used to shoot scenes such as natural scenery, large scenes of mass activities, etc., that is, shooting in the long-range mode. The processor in the SLR camera of this embodiment can determine that the current shooting mode is the long-range mode, and can determine the target shooting The subject is a landscape subject. When multiple landscape subjects are recognized in the shooting field of view, the preset weight or position within the shooting field of view or the movement speed relative to the camera can be obtained for the preset weight of each landscape subject, and the preset value can be selected. Set the landscape subject with the highest weight or the closest distance to the preset position in the shooting field of view or the fastest moving speed as the target subject, and then determine the safety shutter according to the movement speed of the target subject, based on the safety shutter adjustment Shutter speed. For another example, a lens with a small focal length can shoot detailed pictures of people, animals, etc., that is, use the non-distance mode to shoot. The processor in the SLR camera of this embodiment can determine that the current shooting mode is the non-distance mode, and can determine the target shooting The subject is a non-landscape subject. When multiple non-landscape subjects are recognized in the shooting field of view, the preset weight or the position within the shooting field of view or the movement speed relative to the camera can be obtained for each non-landscape subject , Select the non-landscape subject with the highest preset weight or the shortest distance between the position and the preset position in the shooting field of view or the fastest moving speed as the target subject, and then determine the safe shutter according to the moving speed of the target subject. Adjust the shutter speed based on the safety shutter.

In a possible implementation manner of the present application, the camera is a pan-tilt camera. A pan-tilt camera is a camera that integrates a pan-tilt and camera. Compared with portability and compactness, gimbal cameras are suitable for handheld users to shoot non-distant scenes, that is, they mainly adopt non-distant scene shooting mode. In this way, their main target subjects are non-scenery subjects, such as people, animals, and cars. Wait. When shooting non-landscape subjects in motion, you can obtain the preset weight or position of each non-landscape subject in the shooting field of view or the relative speed of movement of the camera, and select the largest preset weight or the position and shooting field of view. The non-landscape subject with the shortest distance between the preset positions or the fastest moving speed is the target subject, and then the safety shutter is determined according to the movement speed of the target subject, and the shutter speed is adjusted based on the safety shutter. Since the pan/tilt camera includes a stabilizer and has an anti-shake function, it can further improve the clarity of the image.

In a possible implementation manner of the present application, the camera is a sports camera. Sports cameras are mainly used for shooting in sports environments such as hiking, mountaineering, rock climbing, cycling, gliding, skiing, swimming, diving, etc. Its processor executes the steps of the shutter speed adjustment method to adjust the shutter speed of the shooting, which can effectively improve the clarity of the image degree.

In a possible implementation manner of the present application, the portable device is a handheld pan/tilt, and the handheld pan/tilt is used to carry photographing equipment; the processor and the memory are arranged in the pan/tilt, and the The processor sends the shutter speed to a photographing device, so that the photographing device photographs the target subject according to the shutter speed. The handheld PTZ can be connected to the shooting device in a wired or wireless manner. Illustratively, the processor is connected to the shooting device, and the processor obtains the video stream captured by the shooting device, and detects the relative difference between the target object and the shooting device in the video stream. Movement speed, according to the movement speed to determine the corresponding safety shutter. In a possible implementation manner of the present application, the processor sends the safety shutter to the photographing device, and the photographing device adjusts the shutter speed according to the received safety shutter, and uses the adjusted shutter speed to photograph the target object. In a possible implementation manner of the present application, the processor adjusts the shutter speed according to the safety shutter, and sends the adjusted shutter speed to the photographing device, and the photographing device photographs the target object according to the received shutter speed. In a possible implementation manner of the present application, the processor of the handheld pan/tilt sends a shooting control instruction to control the shooting device to perform shooting according to the adjusted shutter speed, so as to obtain a picture that can be clearly imaged. The handheld pan/tilt in this embodiment has an anti-shake function, which can further improve the clarity of the image. The photographing device may be a smart phone, a tablet computer, a camera, etc., which is not specifically limited in this application.

The application also provides an unmanned aerial vehicle, which is suitable for implementing the shutter speed adjustment method described in any of the foregoing embodiments. Fig. 8 is a structural block diagram of an unmanned aerial vehicle shown in an exemplary embodiment of the application. The unmanned aerial vehicle 80 includes a pan-tilt 801, a processor 802, and a memory 803 for storing executable instructions of the processor. , Wherein the pan/tilt 801 is used to carry the photographing device 81; the processor 802 is configured to execute the steps of the shutter speed adjustment method described in any of the above embodiments; the processor 802 is also configured to The shutter speed is sent to the photographing device 81, so that the photographing device 81 photographs the target subject according to the shutter speed. UAVs are mainly used to shoot distant scenes, that is, mainly use non-distant scene mode to shoot. In this way, the main target subject is non-landscape subjects, such as natural scenery. When shooting landscape subjects, you can obtain the preset weight or position within the shooting field of view of each landscape subject or the movement speed relative to the shooting device, and select the largest preset weight or position and the preset position in the shooting field of view. The landscape subject with the closest distance or the fastest moving speed is the target subject, and the corresponding safety shutter is determined according to the moving speed of the target subject. In a possible implementation manner of the present application, the processor sends the safety shutter to the photographing device, and the photographing device adjusts the shutter speed according to the received safety shutter, and uses the adjusted shutter speed to photograph the target object. In a possible implementation manner of the present application, the processor adjusts the shutter speed according to the safety shutter, and sends the adjusted shutter speed to the photographing device, and the photographing device photographs the target object according to the received shutter speed. In a possible implementation manner of the present application, the processor of the drone sends a shooting control instruction to control the shooting device to perform shooting according to the adjusted shutter speed, so as to obtain a picture that can be clearly imaged. Since the shooting equipment is carried on the drone's pan/tilt, it has an anti-shake function, which can further improve the clarity of the image. In a possible implementation manner of the present application, the processor 802 is connected to the pan/tilt 801, and the processor 802 controls the rotation of the pan/tilt 801, thereby controlling the rotation of the photographing device 81 carried on the pan/tilt 801. The drone of this embodiment may be a multi-rotor drone, a fixed-wing drone, or other drones, which is not specifically limited in this application. The shooting device can be a smart phone, a tablet computer, a camera, etc., and this application does not make specific limitations.

The present application also provides a computer-readable storage medium on which a computer program is stored. The steps implemented when the program is executed by the processor are as follows: detecting the movement speed of the target object relative to the shooting device; according to the pre-calibrated movement speed The mapping relationship with the safety shutter determines the safety shutter corresponding to the movement speed of the target object relative to the shooting device; and adjusts the shutter speed based on the safety shutter.

For the device embodiment, since it basically corresponds to the method embodiment, the relevant part can refer to the part of the description of the method embodiment. The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the objectives of the solutions of the embodiments. Ordinary technicians in this field can understand and implement it without creative work.

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply one of these entities or operations. There is any such actual relationship or order between. The terms "including", "including" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device that includes a series of elements includes not only those elements, but also other elements that are not explicitly listed. Elements, or also include elements inherent to such processes, methods, articles, or equipment. If there are no more restrictions, the element defined by the sentence "including a..." does not exclude the existence of other identical elements in the process, method, article, or equipment that includes the element.

The specific embodiments of the present application have been described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims may be performed in a different order than in the embodiments and still achieve desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or sequential order shown in order to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

Those skilled in the art will easily think of other embodiments of the present application after considering the specification and practicing the invention applied here. This application is intended to cover any variations, uses, or adaptive changes of this application. These variations, uses, or adaptive changes follow the general principles of this application and include common knowledge or customary technical means in the technical field not applied for in this application. . The description and embodiments are only regarded as exemplary, and the true scope and spirit of the application are pointed out by the following claims.

It should be understood that the present application is not limited to the precise structure that has been described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the application is only limited by the appended claims.

The methods and devices provided by the embodiments of the present invention are described in detail above. Specific examples are used in this article to illustrate the principles and implementations of the present invention. The descriptions of the above embodiments are only used to help understand the methods and methods of the present invention. The core idea; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation and the scope of application. In summary, the content of this specification should not be construed as a limitation of the present invention .

Claims

A shutter speed adjustment method, which is characterized in that it includes:

Detect the moving speed of the target photograph relative to the photographing device;

Determining the safety shutter corresponding to the movement speed of the target object relative to the shooting device according to the mapping relationship between the pre-calibrated movement speed and the safety shutter;

The shutter speed is adjusted based on the safety shutter.
The shutter speed adjustment method according to claim 1, wherein the movement speed is determined based on the number of pixels moving within the shooting field of view of the target object in a unit time.
The shutter speed adjustment method according to claim 1, wherein when the movement speed of the target object is the first movement speed and the second movement speed respectively, it is determined that the corresponding safety shutters are the first safety shutter and the second safety shutter respectively. The second safety shutter, wherein the first movement speed is greater than the second movement speed, and the first safety shutter is greater than the second safety shutter.
The shutter speed adjustment method according to claim 1, wherein before detecting the moving speed of the target object relative to the shooting device, the method further comprises the step of determining the target object:

When multiple objects are included in the shooting field of view, obtaining the preset weights of all or part of the objects;

Determine the target subject based on the preset weight.
The shutter speed adjustment method according to claim 4, wherein the value of the preset weight is set according to the categories of different photographs.
The shutter speed adjustment method according to claim 4, wherein the step of determining the target object based on a preset weight comprises:

If the target preset weight corresponds to more than one subject, the target subject is determined based on the distance between the position of the subject and the preset position in the shooting field of view, wherein the target preset weight is the obtained preset The weight is used to determine the weight of the target object.
The shutter speed adjustment method according to claim 4, wherein the step of determining the target object based on a preset weight comprises:

If the target preset weight corresponds to more than one subject, the target subject is determined based on the motion speed of the subject relative to the shooting device, where the target preset weight is used to determine the target shot among the acquired preset weights. The weight of things.
The shutter speed adjustment method according to claim 1, wherein the method is applied to a portable device, and the target subject is a non-landscape subject; or,

The method is applied to an unmanned aerial vehicle, and the target subject is a landscape subject.
The shutter speed adjustment method according to claim 4 or 5, characterized in that, in different shooting modes, the preset weights of the same object have different sizes.
9. The shutter speed adjustment method according to claim 9, wherein in the distant view mode, the preset weight of landscape objects is greater than the preset weight of non-landscape objects.
The shutter speed adjustment method according to claim 9, wherein in the non-distant view mode, the preset weight of the non-landscape subject is greater than the preset weight of the landscape subject.
The shutter speed adjustment method according to any one of claims 8 to 11, characterized in that, the landscape photographs are objects of natural landscapes and humanities landscapes, and the non-landscape photographs are objects of natural landscapes and humanities excluding natural landscapes and humanities. Objects other than the landscape.
The shutter speed adjustment method according to claim 1, wherein before detecting the moving speed of the target object relative to the shooting device, the method further comprises the step of determining the target object:

When multiple objects are included in the shooting field of view, acquiring the positions of all or part of the objects in the shooting field of view;

The target photographic object is determined based on the distance between the position of the photographic object and the preset position in the photographing field of view.
The shutter speed adjustment method according to claim 1, wherein before detecting the moving speed of the target object relative to the shooting device, the method further comprises the step of determining the target object:

When multiple objects are included in the shooting field of view, acquiring the movement speed of all or part of the objects relative to the shooting device;

The target subject is determined based on the movement speed.
The shutter speed adjustment method according to claim 1, wherein the method further comprises: adjusting the sensitivity based on the safety shutter.
The shutter speed adjustment method according to claim 15, wherein when the movement speed of the target object is the first movement speed and the second movement speed, respectively, the corresponding sensitivity adjustments are the first sensitivity and the second movement speed respectively. The second sensitivity, wherein the first movement speed is greater than the second movement speed, and the first sensitivity is greater than the second sensitivity.
A safety shutter calibration method, characterized in that the method includes:

Detecting the moving speed of the target object relative to the uniform movement of the shooting device;

Traverse all available shutter speeds, and use each shutter speed to shoot the target subject;

Determine the minimum shutter speed at which the target subject can be clearly imaged;

The minimum shutter speed is calibrated as a safety shutter corresponding to the movement speed.
The shutter speed adjustment method according to claim 17, wherein the movement speed is determined based on the number of pixels moving within the shooting field of view of the target object in a unit time.
The safety shutter calibration method according to claim 17, wherein after the step of calibrating the minimum shutter speed to the safety shutter corresponding to the movement speed comprises:

Store the mapping relationship between the movement speed and the safety shutter in the local or server.
The safety shutter calibration method according to claim 19, wherein the mapping relationship between the movement speed and the safety shutter comprises: the safety shutter with a movement speed of zero is the reciprocal of the focal length.
The safety shutter calibration method according to claim 17, wherein the step of determining the minimum shutter speed at which the photographed target object can be clearly imaged comprises:

Detecting the smear length of the target object photographed with each available shutter speed;

Determining the image of the target subject whose smear length is not greater than the preset smear length;

The image with the largest smear length is selected, and the shutter speed used by the selected image is determined as the minimum shutter speed.
The safety shutter calibration method according to claim 17, wherein the step of determining the minimum shutter speed at which the photographed target object can be clearly imaged comprises:

The shutter speed used for the image of the target subject specified by the user is the minimum shutter speed.
A portable device, characterized by comprising a processor and a memory for storing executable instructions of the processor, wherein the processor is configured to execute the shutter speed adjustment method described in any one of claims 1 to 16 A step of.
23. The portable device according to claim 23, wherein the portable device is a smart terminal with a shooting function, and the smart terminal further comprises a camera, and the camera is electrically connected to the processor;

The camera is used to photograph the target subject according to the shutter speed.
23. The portable device according to claim 23, wherein the portable device is a camera, the camera further comprises a lens and a shutter mechanism, and the shutter mechanism is electrically connected to the processor;

The lens is used to generate an optical image of the target object;

The shutter mechanism is used to photograph the target subject according to the shutter speed.
The portable device according to claim 25, wherein the camera is a pan-tilt camera.
The portable device according to claim 25, wherein the camera is a sports camera.
The portable device according to claim 23, wherein the portable device is a handheld pan/tilt, and the handheld pan/tilt is used to carry a photographing device;

The processor and the memory are arranged in the pan/tilt, and the processor sends the shutter speed to a photographing device, so that the photographing device photographs the target subject according to the shutter speed.
An unmanned aerial vehicle, characterized in that it includes:

PTZ, used to carry shooting equipment;

A processor and a memory for storing executable instructions of the processor, wherein the processor is configured to execute the steps of the shutter speed adjustment method described in any one of claims 1 to 16; and send the shutter speed To the photographing device so that the photographing device photographs the target subject according to the shutter speed.
A computer-readable storage medium with a computer program stored thereon, wherein the program is executed by a processor to implement the steps of the shutter speed adjustment method described in any one of claims 1 to 16.