WO2022052041A1 - 变焦方法、装置、可移动平台及存储介质 - Google Patents

变焦方法、装置、可移动平台及存储介质 Download PDF

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Publication number
WO2022052041A1
WO2022052041A1 PCT/CN2020/114803 CN2020114803W WO2022052041A1 WO 2022052041 A1 WO2022052041 A1 WO 2022052041A1 CN 2020114803 W CN2020114803 W CN 2020114803W WO 2022052041 A1 WO2022052041 A1 WO 2022052041A1
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Prior art keywords
signal
electrical signal
preset
magnetic field
signals
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PCT/CN2020/114803
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English (en)
French (fr)
Inventor
王振动
杨俊超
王协平
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Priority to PCT/CN2020/114803 priority Critical patent/WO2022052041A1/zh
Publication of WO2022052041A1 publication Critical patent/WO2022052041A1/zh
Anticipated expiration legal-status Critical
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules

Definitions

  • the present invention relates to the field of electronic technology, and in particular, to a zoom method, a device, a movable platform and a storage medium.
  • the follow focus is a component for users to adjust the focus.
  • the rotation of the follow focus device causes the internal magnetic field of the follow focus device to change, so as to perform zooming operations on the movable platform (such as a camera or a handheld gimbal, etc.).
  • the mobile platform's own circuit will generate electromagnetic interference in the motion mode, and there will also be electromagnetic interference in the external environment, resulting in low zoom accuracy.
  • electromagnetic interference due to the existence of electromagnetic interference, it is easy to cause the zoom operation to be triggered by mistake. Therefore, how to improve the accuracy of zooming and how to avoid misoperation of zooming are technical problems that need to be solved urgently at present.
  • the embodiments of the present application provide a zooming method, a device, a movable platform, and a storage medium, which can improve the accuracy of zooming and avoid misoperation of zooming.
  • a first aspect of the embodiments of the present application provides a zooming method, which is applied to a movable platform, where the movable platform is configured with a magnetic encoding sensor, and the magnetic encoding sensor is used to sense the intensity of a magnetic field and convert the intensity of the magnetic field into an electrical signal, the method comprising:
  • the interference signals in the electrical signal are filtered to obtain a filtered electrical signal, wherein the interference signal is the same as the preset interference signal characteristics matching signal;
  • the zoom operation is performed based on the zoom speed.
  • a second aspect of an embodiment of the present application provides a zoom device, including a memory and a processor, the zoom device is applied to a movable platform, the movable platform is configured with a magnetic encoding sensor, and the magnetic encoding sensor is used for sensing a magnetic field strength, and convert the magnetic field strength into an electrical signal, where,
  • the memory for storing program codes
  • the processor calls the program code in the memory, and when the program code is executed, is used to perform the following operations:
  • the interference signals in the electrical signal are filtered to obtain a filtered electrical signal, wherein the interference signal is the same as the preset interference signal characteristics matching signal;
  • the zoom operation is performed based on the zoom speed.
  • a third aspect of the embodiments of the present application provides a movable platform, including:
  • a magnetic encoding sensor installed on the fuselage, for sensing the magnetic field strength and converting the magnetic field strength into an electrical signal
  • a photographing device installed on the body, is used for photographing the surrounding environment of the movable platform to obtain a photographed image after the zooming device performs a zooming operation.
  • a fourth aspect of the embodiments of the present application provides a computer storage medium, where computer program instructions are stored in the computer storage medium, and when the computer program instructions are executed by a processor, are used to execute the zoom method according to the first aspect .
  • the electrical signal converted from the magnetic field strength sensed by the magnetic encoding sensor is analyzed to filter the interference signal in the electrical signal, and then the zoom speed is obtained based on the filtered electrical signal.
  • Speed zoom operation can effectively improve the zoom accuracy.
  • the electrical signals obtained by converting the magnetic field strength sensed by the magnetic encoder sensor are all interference signals. By filtering the interference signals, it can be avoided. Incorrect operation of zoom.
  • FIG. 1 is a schematic structural diagram of a movable platform according to an embodiment of the present application.
  • FIG. 2 is a schematic flowchart of a zoom method according to an embodiment of the present application.
  • 3A is a schematic diagram of a signal characteristic of an electrical signal according to an embodiment of the present application.
  • 3B is a schematic diagram of a signal characteristic of an interference signal according to an embodiment of the present application.
  • 3C is a schematic diagram of a signal characteristic of an electrical signal according to another embodiment of the present application.
  • 3D is a schematic diagram of a signal characteristic of an interference signal according to another embodiment of the present application.
  • FIG. 4 is a schematic structural diagram of a follow focus device according to an embodiment of the present application.
  • FIG. 5 is a schematic flowchart of a zoom method according to another embodiment of the present application.
  • FIG. 6 is a schematic structural diagram of a zoom device according to an embodiment of the present application.
  • the zooming method provided by the embodiment of the present application can be applied to a movable platform.
  • the follow focus device can be configured on the movable platform, or the follow focus device can be independent of the movable platform.
  • the follow focus device can establish a communication connection with the interface of the movable platform through a data cable.
  • the movable platform may include at least one of the following: a handheld stabilization system or a camera for stabilization of the photographing device. Cameras may include handheld cameras or non-handheld digital cameras.
  • the movable platform is a handheld camera as an example, as shown in FIG.
  • the hand-held stabilizer and the shooting device, the follow focus and the shooting device are all mounted on the hand-held stabilizer. 1 is only an example.
  • the follow focus device is configured on the movable platform, and the movable platform is a handheld stabilization system for stabilization of the shooting device
  • the movable platform may include a follow focus device and a handheld stabilizer.
  • the handheld stabilizer includes a handheld gimbal
  • the photographing device is mounted on the handheld gimbal.
  • the follow focus may include a magnetically encoded sensor for sensing the magnetic field strength and converting the magnetic field strength into an electrical signal. The user can control the handheld stabilizer to zoom the shooting device by rotating the follow focus device.
  • FIG. 2 is a schematic flowchart of a zoom method proposed by an embodiment of the present application. As shown in FIG. 2, the method may include:
  • the movable platform acquires the signal characteristic of the electrical signal.
  • the movable platform is configured with a follow focus, which may include a magnetically encoded sensor.
  • the magnetically encoded sensor senses the strength of the magnetic field.
  • the magnetic encoder sensor can also sense the magnetic field strength. Based on this, as long as the magnetic encoding sensor senses the strength of the magnetic field, it can convert the magnetic field strength into an electrical signal and send the electrical signal to the movable platform, for example, the magnetic encoding sensor sends the electrical signal to the handheld stabilizer.
  • the follow focus device may further include an analog to digital converter (analog to digital converter, ADC).
  • ADC analog to digital converter
  • the ADC can convert the electrical signal into a digital signal.
  • the ADC can send the digital signal to the movable platform, and the movable platform can acquire the signal characteristics of the digital signal.
  • the movable platform filters the interference signal in the electrical signal to obtain a filtered electrical signal, wherein the interference signal is a signal matching the preset interference signal feature .
  • the movable platform After the movable platform obtains the electrical signal, it can identify whether there is an interference signal in the electrical signal. If there is an interference signal in the electrical signal, the movable platform can first filter the interference signal in the electrical signal, and then filter the filtered electrical The signal is processed to obtain the zoom speed; if there is no interference signal in the electrical signal, the movable platform can directly process the electrical signal to obtain the zoom speed. In a specific implementation, the movable platform can match the signal characteristics of the electrical signal with the preset interference signal characteristics, and when the signal characteristics match the preset interference signal characteristics, the movable platform can identify that there is an interference signal in the electrical signal; When the signal characteristics and the preset interference signal characteristics do not match, the movable platform can identify that there is no interference signal in the electrical signal.
  • the aforementioned signal characteristics may include the slope of each of the electrical signals.
  • the movable platform can determine the signal characteristics and the preset Interfering signal feature matching.
  • the movable platform can determine that the signal characteristics match the preset interference signal characteristics, and then identify the existence of interference signals in the electrical signal.
  • the movable platform can determine the slope of the signal whose abscissa is 2ms, the slope of the signal whose abscissa is 3ms, and the slope of the signal whose abscissa is 4ms are all 45°. If the difference between the slopes of the two signals is greater than the preset slope threshold, the movable platform can determine that the signal parameters have not changed abruptly within the specified time period, that is, there is no interference signal in the electrical signal.
  • the movable platform can determine that the slope of the signal with the abscissa of 2ms is tan12, the slope of the signal with the abscissa of 3ms is -tan12, the slope of the signal with the abscissa of 4ms is 0, and the existence of the abscissa in the electrical signal is The difference between the slope of the 2ms signal and the slope of the signal whose abscissa is 3ms is greater than the preset slope threshold, the time difference between the signal whose abscissa is 2ms and the signal whose abscissa
  • the signal characteristics may further include the direction of the magnetic field strength indicated by each signal, when the difference between the slopes of at least two signals in the electrical signal is greater than a preset slope threshold, and the time of the at least two signals When the difference is less than the first preset duration, and the magnetic field strength directions indicated by each of the at least two signals are the same, the movable platform can determine that the signal characteristics of the electrical signals match the preset interference signal characteristics.
  • the movable platform can determine that the signal characteristics of the above-mentioned electrical signals match the preset interference signal characteristics.
  • the interference signal in the electrical signal may be at least two signals whose difference between the above-mentioned slopes is greater than the preset slope threshold, the time difference is less than the first preset duration, and the direction of the magnetic field strength is the same, and the signal characteristics of the interference signal
  • a schematic diagram can be shown in Figure 3B.
  • the signal characteristics may further include the direction of the magnetic field strength indicated by each signal, when the difference between the slopes of at least two signals in the electrical signal is greater than a preset slope threshold, and the time of the at least two signals The difference is less than the first preset duration, and the at least two signals have a magnetic field strength direction indicated by the first signal that is different from a magnetic field strength direction indicated by a second signal adjacent to the first signal, and the first signal and the
  • the movable platform may determine that the signal feature of the electrical signal matches the preset interference signal feature.
  • the direction of the magnetic field strength is not the same, indicating that the rotation direction of the follow focus motor is not the same. For example, if the user rotates the follow focus motor clockwise, the magnetic field strength direction is positive; Then the magnetic field strength direction is negative.
  • the difference between the slopes of at least two signals in the electrical signal is greater than the preset slope threshold, and the time difference of the at least two signals is less than the first Set the duration, indicating that the signal parameters of at least two signals in the electrical signal have a sudden change within the specified time period. If the direction of the magnetic field strength indicated by the first signal is different from the direction of the magnetic field strength indicated by the second signal adjacent to the first signal in the at least two signals, and the time difference between the first signal and the second signal is less than the first signal
  • the second preset time period indicates that the direction of the magnetic field strength reverses in a short period of time.
  • the movable platform can determine that the signal characteristics of the above-mentioned electrical signals match the preset interference signal characteristics.
  • the interference signal in the electrical signal may be the above-mentioned at least two signals, wherein the difference between the slopes of the at least two signals is greater than a preset slope threshold, and the time difference between the at least two signals is less than the first preset duration , and the direction of the magnetic field strength indicated by the first signal in the at least two signals is different from the direction of the magnetic field strength indicated by the second signal adjacent to the first signal, and the time difference between the first signal and the second signal is smaller than the first signal.
  • a schematic diagram of the signal characteristics of the interference signal may be as shown in FIG. 3D .
  • the interference signal may be the above-mentioned at least two signals.
  • the movable platform can determine the signal characteristic of the electrical signal Matching with the preset interference signal characteristics, the movable platform can use the above at least two signals as interference signals, and then filter the interference signals in the electrical signal.
  • the movable platform can determine that the signal characteristics of the above-mentioned electrical signals match the preset interference signal characteristics, and then the movable platform can use the above at least two signals as interference signals, and then use the interference signal in the electrical signal. to filter.
  • the movable platform can determine that the above-mentioned electrical The signal characteristics of the signal match the preset interference signal characteristics, and the movable platform can use the at least two signals as interference signals, and then filter the interference signals in the electrical signal.
  • the movable platform can update the preset interference signal characteristics to obtain the updated interference signal characteristics; and replace the preset interference signal characteristics with the updated interference signal characteristics.
  • the preset interference signal characteristics can be updated by means of software upgrade, and then the signal characteristics of the electrical signal and the updated interference signal characteristics are matched. When the features are matched, the interference signal in the electrical signal is filtered, which can improve the accuracy of the identification of the interference signal.
  • the movable platform before acquiring the signal characteristics of the electrical signal, can compare the magnetic field intensity sensed by the magnetic coding sensor with a preset intensity threshold, and when the magnetic field intensity is greater than the preset intensity threshold, trigger to execute the acquisition of electrical signals Signal characteristics of the signal. When the magnetic field strength is less than or equal to a preset strength threshold, the movable platform can delete the electrical signal.
  • the preset intensity threshold may be a preset intensity threshold, such as 3000T (Tesla) or 4000T, and the R&D personnel may modify the preset intensity threshold based on different scenarios, which is not specifically limited by the embodiments of the present application.
  • the mobile platform when the magnetic field strength is less than or equal to the preset strength threshold, it indicates that only interference signals are collected by the magnetic encoder sensor, and the user does not rotate the follow focus. Based on this, when the magnetic field strength is less than or equal to the preset strength threshold The mobile platform can directly delete the electrical signal, without acquiring the signal characteristics of the electrical signal, and without filtering the interference signal in the electrical signal when the signal characteristics match the preset interference signal characteristics, which can improve the utilization of system resources. utilization. When the magnetic field strength is greater than the preset strength threshold, it indicates that there is a useful signal in the signal collected by the magnetic encoder sensor, that is, the user has rotated the follow focus. Based on this, when the magnetic field strength is greater than the preset strength threshold, the movable platform can The intensity is converted into an electrical signal, and the technical solutions disclosed in the embodiments of the present application are implemented.
  • the movable platform after the movable platform obtains the electrical signal, it can sample the electrical signal based on the preset sampling frequency to obtain multiple sampling signals, and then obtain the signal characteristics of each sampling signal. When there is a signal of at least one sampling signal When the characteristics match the preset interference signal characteristics, the movable platform filters the interference signals in the multiple sampling signals to obtain the filtered electrical signals, and processes the filtered electrical signals to obtain the zoom speed, which is based on the zoom speed. Zoom operation.
  • the filtering speed of the interference signal can be improved by sampling.
  • the preset sampling frequency can be modified based on different requirements. For example, if the requirement is to ensure the recognition accuracy of the interference signal, the preset sampling frequency can be set to a larger value; if the requirement is to ensure the recognition speed of the interference signal, it can be Set the preset sampling frequency to a small value.
  • the movable platform filters the interference signal in the electrical signal, and after obtaining the filtered electrical signal, the filtered electrical signal can be filtered to obtain the filtered electrical signal, and then the filtered electrical signal can be filtered.
  • the electrical signal is processed to obtain the zoom speed.
  • the manner in which the movable platform performs filtering processing on the filtered electrical signal may be: performing sliding mean filtering, weighted sliding mean filtering, limiting filtering, or median filtering, etc. on the filtered electrical signal.
  • the movable platform may perform moving average filtering on the filtered electrical signal to obtain the filtered electrical signal.
  • the fluctuation of the sampling signal can be effectively reduced, the influence of the interference signal (such as external electromagnetic white noise or power frequency interference signal) can be reduced, and the real-time signal can be ensured sex.
  • the interference signal such as external electromagnetic white noise or power frequency interference signal
  • the movable platform processes the filtered electrical signal to obtain the zoom speed.
  • the movable platform performs differential operation on the filtered electrical signal to obtain the average rotation speed and rotation angle of the follow focus in a certain period of time, and then the speed and angle at which the user rotates the follow focus can be obtained, and then The zoom speed is obtained by processing the speed and angle at which the user rotates the follow focus.
  • the movable platform performs a zoom operation based on the zoom speed.
  • the electrical signal converted from the magnetic field intensity sensed by the magnetic coding sensor is analyzed to filter the interference signal in the electrical signal, and then the zoom speed is obtained based on the filtered electrical signal, and the zoom speed is obtained based on the zoom speed. Performing the zoom operation can effectively improve the accuracy of the zoom, and can avoid the wrong operation of the zoom.
  • the follow focus device may include a magnetic encoder sensor, an analog to digital converter (analog to digital converter, ADC) and a processor.
  • the movable platform includes components such as motors.
  • the circuit of the movable platform itself will generate electromagnetic interference in the motion mode, and the electromagnetic interference in the external environment will also be sensed by the magnetic encoder sensor. Based on this, the magnetic encoder sensor will obtain useful signals and electromagnetic interference signals for the user to rotate the follow focus.
  • the rotation of the follow focus will cause the internal magnetic field of the follow focus to change;
  • the magnetic encoder sensor senses the magnetic field strength, converts the magnetic field strength into an electrical signal, and sends the electrical signal to the ADC;
  • the ADC converts the electrical signal into a digital signal, and sends the digital signal to the processor;
  • the processor can obtain the signal characteristics of the digital signal, and when the signal characteristics match the preset interference signal characteristics, the processor converts the digital signal into the digital signal.
  • the interference signal is filtered to obtain the filtered digital signal;
  • the processor differentiates the filtered digital signal to obtain the average rotation speed and rotation angle of the follow focus in a certain period of time, and then the user can rotate the follow focus.
  • the processor sends the speed and angle of the user's rotation of the follow focus to the handheld gimbal; the handheld gimbal processes the speed and angle of the user's rotation of the follow focus to obtain the zoom speed.
  • the imaging device performs a zoom operation.
  • the follow focus device can be configured on the movable platform, or the follow focus device can be independent of the movable platform.
  • the follow focus device can establish a communication connection with the interface of the movable platform through a data cable.
  • the movable platform may include a handheld stabilizer, and in the case that the follow focus device is independent of the movable platform, the follow focus device may establish a communication connection with the interface of the handheld stabilizer through a data cable.
  • FIG. 5 is a schematic flowchart of a zoom method proposed by another embodiment of the present application. As shown in FIG. 5, the method may include:
  • the follow focus device acquires the signal characteristic of the electrical signal.
  • the follow focus device filters the interference signal in the electrical signal to obtain a filtered electrical signal.
  • the method for the follow focus device to filter the interference signal in the electrical signal may refer to step S202 in the foregoing embodiment, which will not be repeated in this embodiment of the present application.
  • the follow focus device processes the filtered electrical signal to obtain the speed and angle at which the user rotates the follow focus device.
  • the processor differentiates the filtered electrical signal to obtain the average rotation speed and rotation angle of the follow focus within a certain period of time, and further obtains the speed and angle at which the user rotates the follow focus.
  • the follow focus device sends the speed and angle of the user's rotation of the follow focus device to the handheld stabilizer.
  • the hand-held stabilizer processes the speed and angle of the user's rotation of the follow focus device to obtain the zoom speed.
  • the handheld stabilizer performs a zoom operation on the camera device based on the zoom speed.
  • the follow focus unit analyzes the electrical signal converted from the magnetic field strength sensed by the magnetic encoder sensor to filter the interference signal in the electrical signal, and then obtains the user's rotational tracking speed based on the filtered electrical signal.
  • the speed and angle of the follow focus motor, the follow focus motor sends the speed and angle of the follow focus motor to the handheld gimbal, and the handheld gimbal processes the speed and angle of the user rotation focus motor to get the zoom speed, and then based on the zoom speed Performing the zoom operation can effectively improve the accuracy of the zoom, and can avoid the wrong operation of the zoom.
  • FIG. 6 is a structural diagram of the zoom device provided by the embodiment of the present application.
  • the zoom device includes a memory 601 and a processor 602 , the zoom device is applied to a movable platform, the movable platform is configured with a magnetic encoding sensor, the magnetic encoding sensor is used to sense the magnetic field strength, and convert the magnetic field strength into an electrical signal, wherein a program is stored in the memory 601 code, the processor 602 calls the program code in the memory, and when the program code is executed, the processor 602 performs the following operations:
  • the interference signals in the electrical signal are filtered to obtain a filtered electrical signal, wherein the interference signal is the same as the preset interference signal characteristics matching signal;
  • the zoom operation is performed based on the zoom speed.
  • the signal characteristic includes a slope of each of the electrical signals
  • the processor 602 is further configured to perform the following operations before filtering the interference signal in the electrical signal to obtain the filtered electrical signal:
  • the signal characteristics further include the direction of the magnetic field strength indicated by each of the signals;
  • the processor 602 is further configured to perform the following operations:
  • the signal characteristics further include the direction of the magnetic field strength indicated by each of the signals;
  • the processor 602 is further configured to perform the following operations:
  • the interfering signals are the at least two signals.
  • the processor 602 is further configured to perform the following operations:
  • the preset interference signal characteristics are replaced with the updated interference signal characteristics.
  • the processor before acquiring the signal characteristic of the electrical signal, the processor is further configured to perform the following operations:
  • the acquisition of the signal characteristic of the electrical signal is triggered.
  • the processor 602 compares the magnetic field intensity sensed by the magnetic coding sensor with a preset intensity threshold, the processor 602 is further configured to perform the following operations:
  • the electrical signal is deleted.
  • the processor 602 before acquiring the signal characteristic of the electrical signal, the processor 602 is further configured to perform the following operations:
  • the processor acquires the signal characteristics of the electrical signal
  • the processor is configured to perform the following operations:
  • the processor 602 is further configured to perform the following operations:
  • the processor When the processor processes the filtered electrical signal to obtain the zoom speed, the processor is configured to perform the following operations:
  • the filtered electrical signal is processed to obtain the zoom speed.
  • the processor 602 when the processor 602 performs filtering processing on the filtered electrical signal to obtain the filtered electrical signal, the processor 602 is configured to perform the following operations:
  • the zooming device provided in this embodiment can execute the zooming method shown in FIG. 2 or FIG. 5 provided in the foregoing embodiment, and the execution manner and beneficial effects are similar, which will not be repeated here.
  • An embodiment of the present application provides a movable platform, including: a body; a magnetic encoding sensor, installed on the body, for sensing the strength of a magnetic field and converting the strength of the magnetic field into an electrical signal; as shown in FIG. 6
  • a zooming device ; a photographing device, which is installed on the body and is used for photographing the surrounding environment of the movable platform to obtain a photographed image after the zooming device performs a zooming operation.
  • the operation of the zoom device is the same as or similar to that described above, and will not be repeated here.
  • the movable platform includes at least one of the following: a handheld stabilization system for stabilization of the photographing device, a handheld gimbal, or a handheld camera.
  • An embodiment of the present application further provides a computer storage medium, characterized in that the computer storage medium stores computer program instructions, and when the computer program instructions are executed by the processor, is used to execute the instructions described in FIG. 2 or FIG. 5 . zoom method.

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Abstract

本申请实施例提供了变焦方法、装置、可移动平台及存储介质，该方法应用于可移动平台，可移动平台配置有磁编码传感器，磁编码传感器用于感知磁场强度，并将磁场强度转换为电信号，所述方法包括：获取电信号的信号特征；当信号特征和预设的干扰信号特征匹配时，将电信号中的干扰信号进行过滤，得到过滤后的电信号，其中，干扰信号为与预设的干扰信号特征匹配的信号；对过滤后的电信号进行处理，得到变焦速度；基于变焦速度进行变焦操作，可提高变焦的精准度，且可避免变焦的误操作。

Description

变焦方法、装置、可移动平台及存储介质 技术领域
本发明涉及电子技术领域，尤其涉及变焦方法、装置、可移动平台及存储介质。
背景技术
跟焦器是供用户调节焦距的部件。用户转动跟焦器时，跟焦器的旋转引起跟焦器内部磁场发生变化，以进行对可移动平台(例如相机或者手持云台等)的变焦操作。
在实际操作过程中，可移动平台自身电路在运动模式会产生电磁干扰，且外部环境中的也会存在电磁干扰，导致变焦的精准度较低。另外，在用户未转动跟焦器的情况下，由于电磁干扰的存在，易导致误触发变焦操作。因此，如何提高变焦的精准度，以及如何避免变焦的误操作，是目前亟需解决的技术问题。
发明内容
有鉴于此，本申请实施例提供了变焦方法、装置、可移动平台及存储介质，可提高变焦的精准度，且可避免变焦的误操作。
本申请实施例第一方面提供了一种变焦方法，该方法应用于可移动平台，所述可移动平台配置有磁编码传感器，所述磁编码传感器用于感知磁场强度，并将所述磁场强度转换为电信号，所述方法包括：
获取所述电信号的信号特征；
当所述信号特征和预设的干扰信号特征匹配时，将所述电信号中的干扰信号进行过滤，得到过滤后的电信号，其中，所述干扰信号为与所述预设的干扰信号特征匹配的信号；
对所述过滤后的电信号进行处理，得到变焦速度；
基于所述变焦速度进行变焦操作。
本申请实施例第二方面提供了一种变焦装置，包括存储器和处理器，所述变焦装置应用于可移动平台，所述可移动平台配置有磁编码传感器，所述磁编码传感器用于感知磁场强度，并将所述磁场强度转换为电信号，其中，
所述存储器，用于存储有程序代码；
所述处理器，调用存储器中的程序代码，当程序代码被执行时，用于执行如下操作：
获取所述电信号的信号特征；
当所述信号特征和预设的干扰信号特征匹配时，将所述电信号中的干扰信号进行过滤，得到过滤后的电信号，其中，所述干扰信号为与所述预设的干扰信号特征匹配的信号；
对所述过滤后的电信号进行处理，得到变焦速度；
基于所述变焦速度进行变焦操作。
本申请实施例第三方面提供了一种可移动平台，包括：
机身；
磁编码传感器，安装在所述机身，用于感知磁场强度，并将所述磁场强度转换为电信号；
如第二方面所述的变焦装置；
拍摄装置，安装在所述机身，用于在所述变焦装置进行变焦操作之后，对所述可移动平台周围环境进行拍摄得到拍摄图像。
本申请实施例第四方面提供了一种计算机存储介质，所述计算机存储介质中存储有计算机程序指令，所述计算机程序指令被处理器执行时，用于执行如第一方面所述的变焦方法。
在本申请实施例中，通过将磁编码传感器感知到的磁场强度所转换得到的电信号进行分析，以将电信号中的干扰信号进行过滤，然后基于过滤后的电信号得到变焦速度，基于变焦速度进行变焦操作，可有效提升变焦的精准度。另外，若在用户未转动跟焦器的情况下存在电磁干扰，那么通过将磁编码传感器感知到的磁场强度所转换得到的电信号均为干扰信号，通过将该干扰信号过滤的方式，可避免变焦的误操作。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请实施例的一种可移动平台的结构示意图；
图2是本申请实施例的一种变焦方法的流程示意图；
图3A是本申请实施例的一种电信号的信号特征示意图；
图3B是本申请实施例的一种干扰信号的信号特征示意图；
图3C是本申请另一实施例的一种电信号的信号特征示意图；
图3D是本申请另一实施例的一种干扰信号的信号特征示意图；
图4是本申请实施例的一种跟焦器的结构示意图；
图5是本申请另一实施例的一种变焦方法的流程示意图；
图6是本申请实施例的一种变焦装置的结构示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
本申请实施例提供的变焦方法可以应用在可移动平台中。跟焦器可以配置在可移动平台上，或者跟焦器可以独立于可移动平台，例如跟焦器可以通过数据线和可移动平台的接口建立通信连接。可移动平台可以至少包括如下的一种： 用于对拍摄装置增稳的手持增稳系统或者相机等。相机可以包括手持相机或者非手持的数码相机。
以跟焦器配置在可移动平台上，可移动平台为手持相机为例，如图1所示，图1为本申请实施例中可移动平台的结构示意图，可移动平台可以包括跟焦器、手持稳定器和拍摄装置，跟焦器和拍摄装置均安装在手持稳定器上。其中，图1仅为示例，若跟焦器配置在可移动平台上，且可移动平台为用于对拍摄装置增稳的手持增稳系统，那么可移动平台可以包括跟焦器和手持稳定器，其中手持稳定器包括手持云台，拍摄装置挂载在手持云台上。跟焦器可以包括磁编码传感器，磁编码传感器用于感知磁场强度，并将所述磁场强度转换为电信号。用户通过转动跟焦器的方式，可实现控制手持稳定器对拍摄装置进行变焦操作。
基于图1所示的可移动平台的结构示意图，请参见图2，是本申请实施例提出的一种变焦方法的流程示意图，如图2所示，该方法可包括：
S201，可移动平台获取电信号的信号特征。
在该实施例中，可移动平台配置有跟焦器，跟焦器可以包括磁编码传感器。在用户转动跟焦器时，磁编码传感器可以感知磁场强度。另外，当用户未转动跟焦器，但是存在电磁干扰时，磁编码传感器也可以感知到磁场强度。基于此，只要磁编码传感器感知到磁场强度，就可以将该磁场强度转换为电信号，并将该电信号发送至可移动平台，例如磁编码传感器将电信号发送至手持稳定器。
在一种实现方式中，跟焦器还可以包括模拟数字转换器(analog to digital converter，ADC)，磁编码传感器将磁场强度转换为电信号之后，ADC可以将电信号转换为数字信号。ADC可以将该数字信号发送至可移动平台，进而可移动平台获取该数字信号的信号特征。
S202，当信号特征和预设的干扰信号特征匹配时，可移动平台将电信号中的干扰信号进行过滤，得到过滤后的电信号，其中，干扰信号为与预设的干扰信号特征匹配的信号。
可移动平台获取到电信号之后，可以识别该电信号中是否存在干扰信号，若电信号中存在干扰信号，则可移动平台可以先将电信号中的干扰信号进行过滤，然后对过滤后的电信号进行处理，得到变焦速度；若电信号中不存在干扰信号，则可移动平台可以直接对该电信号进行处理，得到变焦速度。具体实现 中，可移动平台可以将电信号的信号特征和预设的干扰信号特征进行匹配，当信号特征和预设的干扰信号特征匹配时，可移动平台可以识别该电信号中存在干扰信号；当信号特征和预设的干扰信号特征不匹配时，可移动平台可以识别该电信号中不存在干扰信号。
在一种实现方式中，上述信号特征可以包括电信号中各个信号的斜率。当电信号中至少两个信号的斜率之间的差值大于预设斜率阈值，且该至少两个信号的时间差值小于第一预设时长时，可移动平台可以确定信号特征和预设的干扰信号特征匹配。
在该实施例中，若电信号中至少两个信号的斜率之间的差值大于预设斜率阈值，且该至少两个信号的时间差值小于第一预设时长，表明信号参数(例如磁场强度)在指定时间段内发生突变，则可移动平台可以确定信号特征和预设的干扰信号特征匹配，进而识别电信号中存在干扰信号。
举例来说，假设横坐标为1ms的信号对应的信号参数是20；横坐标为2ms的信号对应的信号参数是21；横坐标为3ms的信号对应的信号参数是22；横坐标为4ms的信号对应的信号参数是23，可移动平台可以确定横坐标为2ms的信号的斜率，横坐标为3ms的信号的斜率，以及横坐标为4ms的信号的斜率均为45°，电信号中不存在至少两个信号的斜率之间的差值大于预设斜率阈值，那么可移动平台可以确定信号参数在指定时间段内未发生突变，即电信号中不存在干扰信号。
假设横坐标为1ms的信号对应的信号参数是0；横坐标为2ms的信号对应的信号参数是12；横坐标为3ms的信号对应的信号参数是0；横坐标为4ms的信号对应的信号参数是0，那么可移动平台可以确定横坐标为2ms的信号的斜率为tan12，横坐标为3ms的信号的斜率为-tan12，横坐标为4ms的信号的斜率为0，电信号中存在横坐标为2ms的信号的斜率与横坐标为3ms的信号的斜率之间的差值大于预设斜率阈值，横坐标为2ms的信号与横坐标为3ms的信号的时间差值小于第一预设时长，且电信号中存在横坐标为3ms的信号的斜率与横坐标为4ms的信号的斜率之间的差值大于预设斜率阈值，横坐标为3ms的信号与横坐标为4ms的信号的时间差值小于第一预设时长，那么可移动平台可以确定信号参数在指定时间段内发生突变，即电信号中存在干扰信号，进而可移动平台可以将横坐标为2ms的信号，横坐标为3ms的信号以及横坐 标为4ms的信号进行过滤。
在一种实现方式中，信号特征还可以包括各个信号所指示的磁场强度方向，当电信号中至少两个信号的斜率之间的差值大于预设斜率阈值，且该至少两个信号的时间差值小于第一预设时长，且该至少两个信号中的各个信号指示的磁场强度方向均相同时，可移动平台可以确定上述电信号的信号特征和预设的干扰信号特征匹配。
以图3A所示的电信号的信号特征示意图为例，若电信号中至少两个信号的斜率之间的差值大于预设斜率阈值，且该至少两个信号的时间差值小于第一预设时长，表明电信号中存在至少两个信号的信号参数在指定时间段内发生突变。若该至少两个信号中的各个信号指示的磁场强度方向均相同，表明电磁干扰为单方向干扰。基于此，可移动平台可以确定上述电信号的信号特征和预设的干扰信号特征匹配。其中，电信号中的干扰信号可以为上述斜率之间的差值大于预设斜率阈值，时间差值小于第一预设时长，且磁场强度方向均相同的至少两个信号，干扰信号的信号特征示意图可以如图3B所示。
在一种实现方式中，信号特征还可以包括各个信号所指示的磁场强度方向，当电信号中至少两个信号的斜率之间的差值大于预设斜率阈值，且该至少两个信号的时间差值小于第一预设时长，且该至少两个信号中存在第一信号指示的磁场强度方向和第一信号相邻的第二信号指示的磁场强度方向不相同，且第一信号和所述第二信号的时间差值小于第二预设时长时，可移动平台可以确定上述电信号的信号特征和预设的干扰信号特征匹配。其中，磁场强度方向不相同，表明跟焦器的转动方向不相同，例如，若用户沿顺时针方向转动跟焦器，则磁场强度方向为正向；若用户沿逆时针方向转动跟焦器，则磁场强度方向为负向。
以图3C所示的电信号的信号特征示意图为例，若电信号中至少两个信号的斜率之间的差值大于预设斜率阈值，且该至少两个信号的时间差值小于第一预设时长，表明电信号中存在至少两个信号的信号参数在指定时间段内发生突变。若该至少两个信号中存在第一信号指示的磁场强度方向和第一信号相邻的第二信号指示的磁场强度方向不相同，且第一信号和所述第二信号的时间差值小于第二预设时长，表明磁场强度方向在短时间内发生反向。基于此，可移动平台可以确定上述电信号的信号特征和预设的干扰信号特征匹配。其中，电信号中的干扰信号可以为上述至少两个信号，其中该至少两个信号的斜率之间的 差值大于预设斜率阈值，该至少两个信号的时间差值小于第一预设时长，且该至少两个信号中存在第一信号指示的磁场强度方向和第一信号相邻的第二信号指示的磁场强度方向不相同，第一信号和所述第二信号的时间差值小于第二预设时长，干扰信号的信号特征示意图可以如图3D所示。
在一种实现方式中，干扰信号可以为上述至少两个信号。例如，当电信号中至少两个信号的斜率之间的差值大于预设斜率阈值，且至少两个信号的时间差值小于第一预设时长时，可移动平台可以确定电信号的信号特征和预设的干扰信号特征匹配，进而可移动平台可以将上述至少两个信号作为干扰信号，进而将电信号中的干扰信号进行过滤。又如，当电信号中至少两个信号的斜率之间的差值大于预设斜率阈值，至少两个信号的时间差值小于第一预设时长，且至少两个信号中的各个信号指示的磁场强度方向均相同时，可移动平台可以确定上述电信号的信号特征和预设的干扰信号特征匹配，进而可移动平台可以将上述至少两个信号作为干扰信号，进而将电信号中的干扰信号进行过滤。又如，当电信号中至少两个信号的斜率之间的差值大于预设斜率阈值，至少两个信号的时间差值小于第一预设时长，至少两个信号中存在第一信号指示的磁场强度方向和第一信号相邻的第二信号指示的磁场强度方向不相同，且第一信号和所述第二信号的时间差值小于第二预设时长时，可移动平台可以确定上述电信号的信号特征和预设的干扰信号特征匹配，进而可移动平台可以将上述至少两个信号作为干扰信号，进而将电信号中的干扰信号进行过滤。
在一种实现方式中，可移动平台可以对预设的干扰信号特征进行更新，得到更新后的干扰信号特征；将预设的干扰信号特征替换为更新后的干扰信号特征。在该实施例中，预设的干扰信号特征可以通过软件升级的方式进行更新，进而将电信号的信号特征和更新后的干扰信号特征进行匹配，当电信号的信号特征和更新后的干扰信号特征匹配时，将电信号中的干扰信号进行过滤，可提高干扰信号识别的准确度。
在一种实现方式中，可移动平台在获取电信号的信号特征之前，可以将磁编码传感器感知的磁场强度和预设强度阈值进行比较，当磁场强度大于预设强度阈值时，触发执行获取电信号的信号特征。当磁场强度小于或等于预设强度阈值时，可移动平台可以删除电信号。其中，预设强度阈值可以为预先设定的强度阈值，例如3000T(特斯拉)或者4000T，研发人员可以基于不同场景对 该预设强度阈值进行修改，具体不受本申请实施例的限定。
在该实施例中，当磁场强度小于或等于预设强度阈值时，表明磁编码传感器采集到的只有干扰信号，用户并未转动跟焦器，基于此，当磁场强度小于或等于预设强度阈值时，可移动平台可以直接删除该电信号，无需获取电信号的信号特征，也无需在信号特征和预设的干扰信号特征匹配时，将电信号中的干扰信号进行过滤，可提升系统资源的利用率。当磁场强度大于预设强度阈值时，表明磁编码传感器采集到的信号中存在有用信号，即用户有转动跟焦器，基于此，当磁场强度大于预设强度阈值时，可移动平台可以将磁场强度转换为电信号，并执行本申请实施例所公开的技术方案。
在一种实现方式中，可移动平台获取电信号之后，可以基于预设采样频率对电信号进行采样，得到多个采样信号，然后获取各个采样信号的信号特征，当存在至少一个采样信号的信号特征和预设的干扰信号特征匹配时，可移动平台将多个采样信号中的干扰信号进行过滤，得到过滤后的电信号，对过滤后的电信号进行处理，得到变焦速度，基于变焦速度进行变焦操作。
本申请实施例通过采样可提高干扰信号的过滤速度。其中，预设采样频率可以基于不同需求进行修改，例如，若需求为保证干扰信号的识别精度，则可以将预设采样频率设置为较大值；若需求为保证干扰信号的识别速度，则可以将预设采样频率设置为较小值。
在一种实现方式中，可移动平台将电信号中的干扰信号进行过滤，得到过滤后的电信号之后，可以对过滤后的电信号进行滤波处理，得到滤波后的电信号，然后对滤波后的电信号进行处理，得到变焦速度。示例性的，可移动平台对过滤后的电信号进行滤波处理的方式可以为：对过滤后的电信号进行滑动均值滤波、加权滑动均值滤波、限幅滤波或者中位值滤波等。
在一种实现方式中，可移动平台可以对过滤后的电信号进行滑动平均值滤波，得到滤波后的电信号。本申请实施例通过对过滤后的电信号进行滑动平均值滤波，可有效减小采样信号的波动，减少干扰信号(例如外界电磁白噪声或工频干扰信号)的影响，且可确保信号的实时性。
S203，可移动平台对过滤后的电信号进行处理，得到变焦速度。
具体实现中，可移动平台对过滤后的电信号经过微分运算，可以获得跟焦 器在某一时间段内的平均转动速度以及转动角度，进而可以获得用户转动跟焦器的速度和角度，然后对用户转动跟焦器的速度和角度进行处理，得到变焦速度。
S204，可移动平台基于变焦速度进行变焦操作。
在本申请实施例中，将磁编码传感器感知到的磁场强度所转换得到的电信号进行分析，以将电信号中的干扰信号进行过滤，然后基于过滤后的电信号得到变焦速度，基于变焦速度进行变焦操作，可有效提升变焦的精准度，且可避免变焦的误操作。
以图4所示的跟焦器的结构示意图为例，跟焦器可以包括磁编码传感器、模拟数字转换器(analog to digital converter，ADC)和处理器。在实际操作过程中，可移动平台包括电机等部件，可移动平台自身电路在运动模式会产生电磁干扰，且外部环境中的电磁干扰也会被磁编码传感器感知。基于此，磁编码传感器会获取到用户转动跟焦器的有用信号和电磁干扰信号。具体实现中，用户转动跟焦器时，跟焦器的旋转会引起跟焦器内部磁场发生变化；磁编码传感器感知磁场强度，将磁场强度转化为电信号，并将该电信号发送给ADC；ADC将电信号转化为数字信号，并将该数字信号发送给处理器；处理器可以获取该数字信号的信号特征，当信号特征和预设的干扰信号特征匹配时，处理器将数字信号中的干扰信号进行过滤，得到过滤后的数字信号；处理器对过滤后的数字信号经过微分运算可以获得跟焦器在某一时间段内的平均转动速度以及转动角度，进而可以获得用户转动跟焦器的速度和角度，处理器将用户转动跟焦器的速度和角度发送给手持稳定器；手持稳定器对用户转动跟焦器的速度和角度进行处理，得到变焦速度，手持稳定器基于变焦速度对摄像装置进行变焦操作。
跟焦器可以配置在可移动平台上，或者跟焦器可以独立于可移动平台，例如跟焦器可以通过数据线和可移动平台的接口建立通信连接。可移动平台可以包括手持稳定器，在跟焦器独立于可移动平台的情况下，跟焦器可以通过数据线和手持稳定器的接口建立通信连接。
基于图4所示的跟焦器的结构示意图，请参见图5，是本申请另一实施例 提出的一种变焦方法的流程示意图，如图5所示，该方法可包括：
S501，跟焦器获取电信号的信号特征。
本申请实施例中跟焦器获取电信号的信号特征的方式可参见上述实施例中可移动平台获取电信号的信号特征的方式，本申请实施例不再赘述。
S502，当信号特征和预设的干扰信号特征匹配时，跟焦器将电信号中的干扰信号进行过滤，得到过滤后的电信号。
本申请实施例中当信号特征和预设的干扰信号特征匹配时，跟焦器将电信号中的干扰信号进行过滤的方式可参见上述实施例中步骤S202，本申请实施例不再赘述。
S503，跟焦器对过滤后的电信号进行处理，获取用户转动跟焦器的速度和角度。
处理器对过滤后的电信号经过微分运算可以获得跟焦器在某一时间段内的平均转动速度以及转动角度，进而可以获得用户转动跟焦器的速度和角度。
S504，跟焦器将用户转动跟焦器的速度和角度发送至手持稳定器。
S505，手持稳定器对用户转动跟焦器的速度和角度进行处理，得到变焦速度。
S506，手持稳定器基于变焦速度对摄像装置进行变焦操作。
在本申请实施例中，跟焦器将磁编码传感器感知到的磁场强度所转换得到的电信号进行分析，以将电信号中的干扰信号进行过滤，然后基于过滤后的电信号得到用户转动跟焦器的速度和角度，跟焦器将用户转动跟焦器的速度和角度发送至手持稳定器，手持稳定器对用户转动跟焦器的速度和角度进行处理，得到变焦速度，然后基于变焦速度进行变焦操作，可有效提升变焦的精准度，且可避免变焦的误操作。
本申请实施例提供了一种变焦装置，应用于可移动平台中，图6是本申请实施例提供的变焦装置的结构图，如图6所示，所述变焦装置包括存储器601和处理器602，变焦装置应用于可移动平台，所述可移动平台配置有磁编码传感器，所述磁编码传感器用于感知磁场强度，并将所述磁场强度转换为电信号，其中，存储器601中存储有程序代码，处理器602调用存储器中的程序代码，当程序代码被执行时，处理器602执行如下操作：
获取所述电信号的信号特征；
当所述信号特征和预设的干扰信号特征匹配时，将所述电信号中的干扰信号进行过滤，得到过滤后的电信号，其中，所述干扰信号为与所述预设的干扰信号特征匹配的信号；
对所述过滤后的电信号进行处理，得到变焦速度；
基于所述变焦速度进行变焦操作。
在一个实施例中，所述信号特征包括所述电信号中各个信号的斜率；
所述处理器602在当所述信号特征和预设的干扰信号特征匹配时，将所述电信号中的干扰信号进行过滤，得到过滤后的电信号之前，还用于执行如下操作：
当所述电信号中至少两个信号的斜率之间的差值大于预设斜率阈值，且所述至少两个信号的时间差值小于第一预设时长时，确定所述信号特征和所述预设的干扰信号特征匹配。
在一个实施例中，所述信号特征还包括各个所述信号所指示的磁场强度方向；
所述处理器602在确定所述信号特征和所述预设的干扰信号特征匹配时，还用于执行如下操作：
当所述至少两个信号中的各个信号指示的磁场强度方向均相同时，确定所述信号特征和所述预设的干扰信号特征匹配。
在一个实施例中，所述信号特征还包括各个所述信号所指示的磁场强度方向；
所述处理器602在确定所述信号特征和所述预设的干扰信号特征匹配时，还用于执行如下操作：
当所述至少两个信号中存在第一信号指示的磁场强度方向和所述第一信号相邻的第二信号指示的磁场强度方向不相同，且所述第一信号和所述第二信号的时间差值小于第二预设时长时，确定所述信号特征和所述预设的干扰信号特征匹配。
在一个实施例中，所述干扰信号为所述至少两个信号。
在一个实施例中，所述处理器602还用于执行如下操作：
对所述预设的干扰信号特征进行更新，得到更新后的干扰信号特征；以及
将所述预设的干扰信号特征替换为所述更新后的干扰信号特征。
在一个实施例中，所述处理器在获取所述电信号的信号特征之前，还用于执行如下操作：
将所述磁编码传感器感知的磁场强度和预设强度阈值进行比较；
当所述磁场强度大于所述预设强度阈值时，触发执行获取所述电信号的信号特征。
在一个实施例中，所述处理器602在将所述磁编码传感器感知的磁场强度和预设强度阈值进行比较之后，还用于执行如下操作：
当所述磁场强度小于或等于所述预设强度阈值时，删除所述电信号。
在一个实施例中，所述处理器602在获取所述电信号的信号特征之前，还用于执行如下操作：
基于预设采样频率对所述电信号进行采样，得到多个采样信号；
所述处理器在获取所述电信号的信号特征时，用于执行如下操作：
获取各个所述采样信号的信号特征。
在一个实施例中，所述处理器602在将所述电信号中的干扰信号进行过滤，得到过滤后的电信号之后，还用于执行如下操作：
对所述过滤后的电信号进行滤波处理，得到滤波后的电信号；
所述处理器在对所述过滤后的电信号进行处理，得到变焦速度时，用于执行如下操作：
对所述滤波后的电信号进行处理，得到所述变焦速度。
在一个实施例中，所述处理器602在对所述过滤后的电信号进行滤波处理，得到滤波后的电信号时，用于执行如下操作：
对所述过滤后的电信号进行滑动平均值滤波，得到所述滤波后的电信号。
本实施例提供的变焦装置能执行前述实施例提供的如图2或图5所示的变焦方法，且执行方式和有益效果类似，在这里不再赘述。
本申请实施例提供一种可移动平台，包括：机身；磁编码传感器，安装在所述机身，用于感知磁场强度，并将所述磁场强度转换为电信号；如图6所述的变焦装置；拍摄装置，安装在所述机身，用于在所述变焦装置进行变焦操作 之后，对所述可移动平台周围环境进行拍摄得到拍摄图像。变焦装置工作与前述相同或类似，此处不再赘述。
在一个实施例中，所述可移动平台至少包括如下的一种：用于对所述拍摄装置增稳的手持增稳系统、手持云台或者手持相机。
本申请实施例还提供一种计算机存储介质，其特征在于，所述计算机存储介质中存储有计算机程序指令，所述计算机程序指令被处理器执行时，用于执行如图2或图5所述的变焦方法。
可以理解，以上所揭露的仅为本申请实施例的部分实施例而已，当然不能以此来限定本发明之权利范围，本领域普通技术人员可以理解实现上述实施例的全部或部分流程，并依本发明权利要求所作的等同变化，仍属于发明所涵盖的范围。

Claims (25)

  1. 一种变焦方法，其特征在于，所述方法应用于可移动平台，所述可移动平台配置有磁编码传感器，所述磁编码传感器用于感知磁场强度，并将所述磁场强度转换为电信号，所述方法包括：
    获取所述电信号的信号特征；
    当所述信号特征和预设的干扰信号特征匹配时，将所述电信号中的干扰信号进行过滤，得到过滤后的电信号，其中，所述干扰信号为与所述预设的干扰信号特征匹配的信号；
    对所述过滤后的电信号进行处理，得到变焦速度；
    基于所述变焦速度进行变焦操作。
  2. 根据权利要求1所述的方法，其特征在于，所述信号特征包括所述电信号中各个信号的斜率；
    所述当所述信号特征和预设的干扰信号特征匹配时，将所述电信号中的干扰信号进行过滤，得到过滤后的电信号之前，还包括：
    当所述电信号中至少两个信号的斜率之间的差值大于预设斜率阈值，且所述至少两个信号的时间差值小于第一预设时长时，确定所述信号特征和所述预设的干扰信号特征匹配。
  3. 根据权利要求2所述的方法，其特征在于，所述信号特征还包括各个所述信号所指示的磁场强度方向；
    所述确定所述信号特征和所述预设的干扰信号特征匹配，还包括：
    当所述至少两个信号中的各个信号指示的磁场强度方向均相同时，确定所述信号特征和所述预设的干扰信号特征匹配。
  4. 根据权利要求2所述的方法，其特征在于，所述信号特征还包括各个所述信号所指示的磁场强度方向；
    所述确定所述信号特征和所述预设的干扰信号特征匹配，还包括：
    当所述至少两个信号中存在第一信号指示的磁场强度方向和所述第一信号相邻的第二信号指示的磁场强度方向不相同，且所述第一信号和所述第二信号的时间差值小于第二预设时长时，确定所述信号特征和所述预设的干扰信号特征匹配。
  5. 根据权利要求2-4任一项所述的方法，其特征在于，所述干扰信号为所述至少两个信号。
  6. 根据权利要求1-5任一项所述的方法，其特征在于，所述方法还包括：
    对所述预设的干扰信号特征进行更新，得到更新后的干扰信号特征；以及
    将所述预设的干扰信号特征替换为所述更新后的干扰信号特征。
  7. 根据权利要求1-6任一项所述的方法，其特征在于，所述获取所述电信号的信号特征之前，还包括：
    将所述磁编码传感器感知的磁场强度和预设强度阈值进行比较；
    当所述磁场强度大于所述预设强度阈值时，触发执行获取所述电信号的信号特征。
  8. 根据权利要求7所述的方法，其特征在于，所述将所述磁编码传感器感知的磁场强度和预设强度阈值进行比较之后，还包括：
    当所述磁场强度小于或等于所述预设强度阈值时，删除所述电信号。
  9. 根据权利要求1-8任一项所述的方法，其特征在于，所述获取所述电信号的信号特征之前，还包括：
    基于预设采样频率对所述电信号进行采样，得到多个采样信号；
    所述获取所述电信号的信号特征，包括：
    获取各个所述采样信号的信号特征。
  10. 根据权利要求1-8任一项所述的方法，其特征在于，所述将所述电信 号中的干扰信号进行过滤，得到过滤后的电信号之后，还包括：
    对所述过滤后的电信号进行滤波处理，得到滤波后的电信号；
    所述对所述过滤后的电信号进行处理，得到变焦速度，包括：
    对所述滤波后的电信号进行处理，得到所述变焦速度。
  11. 根据权利要求9所述的方法，其特征在于，所述对所述过滤后的电信号进行滤波处理，得到滤波后的电信号，包括：
    对所述过滤后的电信号进行滑动平均值滤波，得到所述滤波后的电信号。
  12. 一种变焦装置，其特征在于，包括存储器和处理器，所述变焦装置应用于可移动平台，所述可移动平台配置有磁编码传感器，所述磁编码传感器用于感知磁场强度，并将所述磁场强度转换为电信号，其中，
    所述存储器，用于存储有程序代码；
    所述处理器，调用存储器中的程序代码，当程序代码被执行时，用于执行如下操作：
    获取所述电信号的信号特征；
    当所述信号特征和预设的干扰信号特征匹配时，将所述电信号中的干扰信号进行过滤，得到过滤后的电信号，其中，所述干扰信号为与所述预设的干扰信号特征匹配的信号；
    对所述过滤后的电信号进行处理，得到变焦速度；
    基于所述变焦速度进行变焦操作。
  13. 根据权利要求12所述的装置，其特征在于，所述信号特征包括所述电信号中各个信号的斜率；
    所述处理器在当所述信号特征和预设的干扰信号特征匹配时，将所述电信号中的干扰信号进行过滤，得到过滤后的电信号之前，还用于执行如下操作：
    当所述电信号中至少两个信号的斜率之间的差值大于预设斜率阈值，且所述至少两个信号的时间差值小于第一预设时长时，确定所述信号特征和所述预设的干扰信号特征匹配。
  14. 根据权利要求13所述的装置，其特征在于，所述信号特征还包括各个所述信号所指示的磁场强度方向；
    所述处理器在确定所述信号特征和所述预设的干扰信号特征匹配时，还用于执行如下操作：
    当所述至少两个信号中的各个信号指示的磁场强度方向均相同时，确定所述信号特征和所述预设的干扰信号特征匹配。
  15. 根据权利要求13所述的装置，其特征在于，所述信号特征还包括各个所述信号所指示的磁场强度方向；
    所述处理器在确定所述信号特征和所述预设的干扰信号特征匹配时，还用于执行如下操作：
    当所述至少两个信号中存在第一信号指示的磁场强度方向和所述第一信号相邻的第二信号指示的磁场强度方向不相同，且所述第一信号和所述第二信号的时间差值小于第二预设时长时，确定所述信号特征和所述预设的干扰信号特征匹配。
  16. 根据权利要求13-15任一项所述的装置，其特征在于，所述干扰信号为所述至少两个信号。
  17. 根据权利要求12-16任一项所述的装置，其特征在于，所述处理器还用于执行如下操作：
    对所述预设的干扰信号特征进行更新，得到更新后的干扰信号特征；以及
    将所述预设的干扰信号特征替换为所述更新后的干扰信号特征。
  18. 根据权利要求12-17任一项所述的装置，其特征在于，所述处理器在获取所述电信号的信号特征之前，还用于执行如下操作：
    将所述磁编码传感器感知的磁场强度和预设强度阈值进行比较；
    当所述磁场强度大于所述预设强度阈值时，触发执行获取所述电信号的信 号特征。
  19. 根据权利要求18所述的装置，其特征在于，所述处理器在将所述磁编码传感器感知的磁场强度和预设强度阈值进行比较之后，还用于执行如下操作：
    当所述磁场强度小于或等于所述预设强度阈值时，删除所述电信号。
  20. 根据权利要求12-19任一项所述的装置，其特征在于，所述处理器在获取所述电信号的信号特征之前，还用于执行如下操作：
    基于预设采样频率对所述电信号进行采样，得到多个采样信号；
    所述处理器在获取所述电信号的信号特征时，用于执行如下操作：
    获取各个所述采样信号的信号特征。
  21. 根据权利要求12-19任一项所述的装置，其特征在于，所述处理器在将所述电信号中的干扰信号进行过滤，得到过滤后的电信号之后，还用于执行如下操作：
    对所述过滤后的电信号进行滤波处理，得到滤波后的电信号；
    所述处理器在对所述过滤后的电信号进行处理，得到变焦速度时，用于执行如下操作：
    对所述滤波后的电信号进行处理，得到所述变焦速度。
  22. 根据权利要求20所述的装置，其特征在于，所述处理器在对所述过滤后的电信号进行滤波处理，得到滤波后的电信号时，用于执行如下操作：
    对所述过滤后的电信号进行滑动平均值滤波，得到所述滤波后的电信号。
  23. 一种可移动平台，其特征在于，包括：
    机身；
    磁编码传感器，安装在所述机身，用于感知磁场强度，并将所述磁场强度转换为电信号；
    如权利要求12-22中任一项所述的变焦装置；
    拍摄装置，安装在所述机身，用于在所述变焦装置进行变焦操作之后，对所述可移动平台周围环境进行拍摄得到拍摄图像。
  24. 根据权利要求23所述的可移动平台，其特征在于，所述可移动平台至少包括如下的一种：用于对所述拍摄装置增稳的手持增稳系统、手持云台或者手持相机。
  25. 一种计算机存储介质，其特征在于，所述计算机存储介质中存储有计算机程序指令，所述计算机程序指令被处理器执行时，用于执行如权利要求1-12任一项所述的变焦方法。
PCT/CN2020/114803 2020-09-11 2020-09-11 变焦方法、装置、可移动平台及存储介质 Ceased WO2022052041A1 (zh)

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JPH0795527A (ja) * 1993-09-22 1995-04-07 Canon Inc ズーム機能付カメラ一体型磁気記録装置
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