WO2022061541A1 - Procédé de commande, stabilisateur portatif, système, et support de stockage lisible par ordinateur - Google Patents

Procédé de commande, stabilisateur portatif, système, et support de stockage lisible par ordinateur Download PDF

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Publication number
WO2022061541A1
WO2022061541A1 PCT/CN2020/116900 CN2020116900W WO2022061541A1 WO 2022061541 A1 WO2022061541 A1 WO 2022061541A1 CN 2020116900 W CN2020116900 W CN 2020116900W WO 2022061541 A1 WO2022061541 A1 WO 2022061541A1
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WIPO (PCT)
Prior art keywords
value
target
parameter
image
shooting
Prior art date
Application number
PCT/CN2020/116900
Other languages
English (en)
Chinese (zh)
Inventor
王协平
王振动
杨天豪
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN202080007342.XA priority Critical patent/CN113302908B/zh
Priority to PCT/CN2020/116900 priority patent/WO2022061541A1/fr
Publication of WO2022061541A1 publication Critical patent/WO2022061541A1/fr

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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
    • H04N23/80—Camera processing pipelines; Components thereof
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/043—Allowing translations
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/04—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or holding steady relative to, a person, e.g. by chains, e.g. rifle butt or pistol grip supports, supports attached to the chest or head
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/63—Control of cameras or camera modules by using electronic viewfinders
    • H04N23/631—Graphical user interfaces [GUI] specially adapted for controlling image capture or setting capture parameters

Definitions

  • the present application relates to the technical field of photographing equipment control, and in particular, to a control method, a handheld PTZ, a system, and a computer-readable storage medium.
  • the handheld gimbal brings great convenience to the use of shooting equipment. People can easily take pictures with stable images and smooth zooming in various scenes and various sports modes. During the shooting process, users can control the The shooting device adjusts the shooting parameters, so that the shooting device can shoot a good framing picture.
  • the parameter adjustment method supported by the handheld gimbal is relatively simple and complicated, which is inconvenient for the user to control the shooting device, and the user experience is not good.
  • the embodiments of the present application provide a control method, a handheld pan/tilt head, a system, and a computer-readable storage medium, which aim to improve the control convenience of the photographing device.
  • an embodiment of the present application provides a control method, which is applied to a handheld pan/tilt, where the handheld pan/tilt includes a handle portion, a pan/tilt connected to the handle portion, and a display device embedded in the handle portion , the pan/tilt is used for carrying a photographing device, the handheld pan/tilt is connected to the photographing device in communication, and the method includes:
  • Image processing is performed on the image based on the configuration information of the handheld PTZ to obtain a target image
  • a user operation on the display device on which the target image is displayed is detected, and the photographing apparatus is controlled based on the user operation.
  • an embodiment of the present application further provides a control method, which is applied to a handheld pan/tilt, and the handheld pan/tilt includes a handle portion, a pan/tilt connected to the handle portion, and a display embedded in the handle portion.
  • the parameter control instruction is sent to the shooting device, so that the shooting device can set the value of the target shooting parameter according to the target value in the parameter control instruction.
  • an embodiment of the present application further provides a handheld cloud platform
  • the handheld cloud platform includes a handle part, a cloud platform connected to the handle part, and a display device embedded in the handle part, the cloud platform
  • the platform is used for carrying a photographing device
  • the handheld PTZ is connected in communication with the photographing device
  • the handheld PTZ also includes a memory and a processor
  • the memory for storing computer programs
  • the processor is configured to execute the computer program and implement the following steps when executing the computer program:
  • Image processing is performed on the image based on the configuration information of the handheld PTZ to obtain a target image
  • a user operation on the display device on which the target image is displayed is detected, and the photographing apparatus is controlled based on the user operation.
  • an embodiment of the present application further provides a handheld pan/tilt
  • the handheld pan/tilt includes a handle portion, a pan/tilt connected to the handle portion, a display device embedded in the handle portion, The rotating device of the handle part, the pan/tilt is used for carrying a photographing device, the handheld pan/tilt is communicatively connected with the shooting device, and the hand-held pan/tilt also includes a memory and a processor;
  • the memory for storing computer programs
  • the processor is configured to execute the computer program and implement the following steps when executing the computer program:
  • the parameter control instruction is sent to the shooting device, so that the shooting device can set the value of the target shooting parameter according to the target value in the parameter control instruction.
  • the present application further provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the processor implements the above control method A step of.
  • the embodiments of the present application provide a control method, a handheld PTZ, a system, and a computer-readable storage medium, by acquiring an image collected in real time by a photographing device, and performing image processing on the image based on the configuration information of the handheld PTZ to obtain a target image , and then display the target image through the display device, and finally detect the user operation on the display device displaying the target image, and control the shooting device based on the user operation. Therefore, it is convenient for the user to control the photographing device through the image displayed by the display device, which greatly improves the control convenience of the photographing device.
  • FIG. 1 is a schematic structural diagram of a handheld pan/tilt for implementing the control method provided by an embodiment of the present application
  • FIG. 2 is a schematic flowchart of steps of a control method provided by an embodiment of the present application.
  • FIG. 3 is a schematic diagram of a scene of a target image displayed by a display device in an embodiment of the present application
  • FIG. 4 is a schematic diagram of another scene of a target image displayed by a display device in an embodiment of the present application.
  • FIG. 5 is a schematic diagram of another scene of a target image displayed by a display device in an embodiment of the present application.
  • FIG. 6 is a schematic diagram of another scene of a target image displayed by a display device in an embodiment of the present application.
  • FIG. 7 is a schematic diagram of another scene of a target image displayed by a display device in an embodiment of the present application.
  • FIG. 9 is a schematic diagram of a parameter selection page of a rotating device in an embodiment of the present application.
  • FIG. 10 is another schematic diagram of the parameter selection page of the rotating device in the embodiment of the present application.
  • FIG. 11 is a schematic block diagram of the structure of a handheld cloud platform provided by an embodiment of the present application.
  • FIG. 12 is a schematic block diagram of the structure of another handheld pan/tilt platform provided by an embodiment of the present application.
  • FIG. 13 is a schematic structural block diagram of a photographing system provided by an embodiment of the present application.
  • the handheld gimbal brings great convenience to the use of shooting equipment. People can easily take pictures with stable images and smooth zooming in various scenes and various sports modes. During the shooting process, users can control the The shooting device adjusts the shooting parameters, so that the shooting device can shoot a good framing picture.
  • the parameter adjustment method supported by the handheld gimbal is relatively simple and complicated, which is inconvenient for the user to control the shooting device, and the user experience is not good.
  • the embodiments of the present application provide a control method, a handheld gimbal, a system, and a computer-readable storage medium, by acquiring an image collected in real time by a photographing device, and performing image processing on the image based on the configuration information of the handheld gimbal, Obtain the target image, then display the target image through the display device, and finally detect the user operation on the display device displaying the target image, and control the shooting device based on the user operation.
  • the device is arranged on the handle part, so it is convenient for the user to control the photographing device through the image displayed by the display device, which greatly improves the control convenience of the photographing device.
  • FIG. 1 is a schematic structural diagram of a handheld pan/tilt head implementing the control method provided by an embodiment of the present application.
  • the handheld pan/tilt in the embodiment of the present application will be described below with reference to FIG. 1 .
  • the handheld pan/tilt 100 includes a handle portion 101 , a pan/tilt 102 disposed on the handle portion 101 , and a display device 103 , and the pan/tilt 102 is used to mount a photographing device.
  • the handheld pan/tilt 100 includes a handle portion 101 , a pan/tilt 102 connected to the handle portion 101 , and a display device 103 embedded in the handle portion 101 .
  • the photographing device can be set integrally with the PTZ 102 , and the photographing device can be a smartphone, and of course can also be other photographing devices, such as a single-lens reflex camera.
  • the pan/tilt 102 includes three-axis motors, which are a pitch (pitch) axis motor 1021, a roll (roll) axis motor 1022 and a yaw (yaw) axis motor 1023, which are used to adjust the motion of the photographing device mounted on the pan/tilt 102. Balance your stance for high-precision, stable shots anytime, anywhere.
  • an inertial measurement unit (Inertial measurement unit, IMU) is provided on the gimbal 102, which can be, for example, at least one of an accelerometer or a gyroscope, which can be used to measure the attitude and acceleration of the gimbal 102, etc., In order to adjust the posture of the gimbal 102 according to the posture.
  • IMU Inertial measurement unit
  • the handle portion 101 is also provided with an inertial measurement unit (Inertial measurement unit, IMU), for example including at least one of an accelerometer or a gyroscope, which can be used to measure the attitude and acceleration of the handle portion 101, etc., In order to adjust the posture of the pan/tilt head 102 according to the posture of the handle part 101 and the posture of the pan/tilt head 102 .
  • IMU inertial measurement unit
  • the handheld pan/tilt 100 can be connected to the photographing device through a control line or wirelessly, so that the handheld pan/tilt 100 can acquire images captured by the camera in real time, and based on the handheld pan/tilt
  • the image processing is performed on the image according to the configuration information of the device to obtain the target image, and the display device 103 displays the target image, so that the user can control the shooting device through the displayed target image, for example, adjust the shooting parameters of the shooting device or switch the shooting mode of the shooting device, etc.
  • the control line is, for example, a shutter line.
  • the type of the shutter release cable is not limited here, for example, the shutter release cable may be a Universal Serial Bus (Universal Serial Bus, USB).
  • the shooting parameters include one or more of follow focus parameters, focal length, exposure value, sensitivity, white balance and shutter speed.
  • the handheld pan/tilt 100 further includes a rotating device 104, through which the user can adjust the shooting parameters of the shooting device or control the motion of the pan/tilt, and the rotating device 104 may be a dial.
  • the handheld PTZ obtains the value change of the target shooting parameter input by the rotating device, and obtains the value set of the target shooting parameter; according to the value change of the target shooting parameter and the value set, the target shooting parameter is determined. value, and generate a corresponding parameter control instruction according to the target value; send the parameter control instruction to the shooting device, so that the shooting device can set the value of the target shooting parameter according to the target value in the parameter control instruction.
  • the target shooting parameters include one or more of follow focus parameters, focal length, exposure value, sensitivity, white balance and shutter speed.
  • the handheld gimbal 100 is connected to an external adjustment device, and the external adjustment device is coupled and mounted on the photographing device.
  • the external adjustment device may be a focusing motor device coupled and mounted on an optical component of the photographing device.
  • the external adjusting device can be snap-connected with the zoom ring of the photographing device, so that the user can control the external adjusting device by rotating the device 104 to adjust the focal length of the photographing device.
  • the follow focus ring is snap-connected, so that the user can adjust the follow focus parameters of the photographing device by controlling the external adjustment device through the rotating device 104 .
  • the external adjustment device can also be connected with an aperture ring of the photographing device, etc., so that the user can adjust other shooting parameters of the photographing device by controlling the external adjusting device through the rotating device 104 .
  • the control mode of the rotating device 104 includes a first control mode and a second control mode
  • the handheld pan-tilt 100 can configure the control mode of the rotating device 104 as the first control mode according to the user's control mode configuration operation for the rotating device 104 .
  • the first control mode the user can control the movement of the gimbal 102 through the rotating device 104 to change the pose of the photographing device.
  • the second control mode the user can control the movement through the rotating device 104
  • the photographing device mounted on the gimbal 102 adjusts photographing parameters.
  • the handle portion 101 is further provided with an operation control key, so that the user can operate the operation control key to control the gimbal 102 or the photographing device mounted on the gimbal 102 .
  • the operation control key may be, for example, a key, a trigger, a knob or a rocker, etc., of course, other forms of physical keys are also included.
  • the joystick can be used to control the movement of the three rotation axes, and then control the movement of the gimbal 102 .
  • the user can also switch the control mode of the rotating device 104 by operating the control keys. Of course, the user can switch the control mode of the rotating device 104 through the display device.
  • the handheld pan/tilt 100 includes a processor, and the processor is used to process input control instructions, or send and receive signals.
  • the processor may be provided inside the handle portion 101 .
  • the processor may be a central processing unit (Central Processing Unit, CPU), and the processor may also be other general-purpose processors, digital signal processors (Digital Signal Processors, DSP), application specific integrated circuits (application specific integrated circuits) circuit, ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
  • the control method provided by the embodiment of the present application will be described in detail with reference to the handheld pan/tilt in FIG. 1 .
  • the handheld pan/tilt in FIG. 1 is only used to explain the control method provided by the embodiment of the present application, but does not constitute a limitation on the application scenario of the control method provided by the embodiment of the present application.
  • FIG. 2 is a schematic flowchart of steps of a control method provided by an embodiment of the present application.
  • control method includes steps S101 to S103.
  • the handheld pan/tilt is communicatively connected to the photographing device, for example, the handheld pan/tilt is communicatively connected to the photographing device through a control line, such as a shutter release cable.
  • the type of the shutter cable is not limited here, for example, the shutter cable can be a Universal Serial Bus (Universal Serial Bus, USB), and for example, the control cable can be a composite video broadcast signal cable (Composite Video Broadcast Signal, CVBS), Therefore, the photographing device can transmit the real-time images collected by the photographing device to the handheld PTZ through the CVBS interface, and the handheld PTZ obtains the real-time images collected by the photographing device transmitted by the photographing device through the CVBS interface. Connecting the handheld gimbal and the shooting device through the composite video broadcast signal line can ensure the stability of the image transmitted by the shooting device.
  • the handheld pan/tilt can also be wirelessly connected to the photographing device, for example, the handheld pan/tilt implements data communication with a second built-in Bluetooth device in the photographing device through a built-in first Bluetooth device.
  • the handheld pan/tilt implements data communication with a second built-in Bluetooth device in the photographing device through a built-in first Bluetooth device.
  • the configuration information of the handheld PTZ includes at least one of the configuration information of the display device and the display mode information
  • the configuration information of the display device includes the length and width information of the display device
  • the display mode information is used to indicate the display mode of the display device
  • the display mode information is used to indicate the display mode of the display device.
  • the display mode of the device includes at least one of a full-frame mode, a partial-frame mode, a color mode, and a black-and-white mode.
  • the full-frame mode the display device displays the entire frame of the captured image; Following the movement of the target object, the display device displays the image area where the target object is located in the image.
  • the color mode the display device displays a color image
  • the display device displays a black and white image.
  • performing image processing on the image collected in real time by the photographing device includes performing one or more of image scaling processing, image cropping processing, and image enhancement processing on the image collected in real time by the photographing device.
  • image scaling processing, image cropping processing and/or image enhancement processing the display device can better display the image, facilitate the user to view the image, facilitate the user to control the photographing device, and improve the user experience.
  • the image processing is performed on the image based on the configuration information of the handheld gimbal to obtain the target image.
  • the second length and width information is used to indicate the size of the image, and the second length and width information is related to the field of view of the shooting device. The larger the field of view of the shooting device, the larger the size indicated by the second length and width information. The smaller the angle of view of the photographing device, the smaller the size indicated by the second length and width information.
  • image processing is performed on the image based on the configuration information of the handheld gimbal to obtain the target image: if the display device is in the local frame mode, and the handheld gimbal moves with the target object, then real-time capture of the shooting device is performed.
  • the obtained image is subjected to target recognition to determine the image area where the target object is located, and the image area where the target object is located is cropped from the image to obtain the target image.
  • the image area where the target object is located is cropped from the image collected in real time by the photographing device, and the image area where the target object is located is displayed by the display device, which is convenient for the user to read, and it is convenient for the user to control the handheld pan/tilt to follow the target object, thereby improving the user experience.
  • the target image is displayed by the display device, so that the user can control the photographing device through the target image.
  • the user controls the focusing or zooming of the photographing device through the target image.
  • the focus position coordinates of the focus operation on the target image are obtained, that is, the pixel coordinates of the focus operation on the target image are taken as the focus position coordinates; the shooting is controlled according to the focus position coordinates.
  • the device focuses so that the image area at the focus position coordinates is clear.
  • the focusing operation may be any one of the user's single-click operation, double-click operation and long-press operation on the target image.
  • the target image displayed by the display device includes a character 10, a character 20 and a character 30.
  • the photographing device takes a picture of the character 30 in the target image.
  • the photographing device focuses on the person 20 in the target image, so that the person The image area where 20 is located is clear.
  • the method of controlling the photographing device to focus according to the focus position coordinates may be: obtaining a coordinate conversion relationship, and performing coordinate conversion on the focus position coordinates according to the coordinate conversion relationship to obtain target position coordinates, the target
  • the position coordinates are the pixel coordinates of the focusing operation in the image captured by the shooting device in real time; the shooting device is controlled to focus according to the target position coordinates.
  • the coordinate conversion relationship may be determined according to the aspect ratio between the image captured in real time by the capturing device and the target image.
  • a zoom control instruction is generated in response to the user's zoom operation on the target image, and the zoom control instruction is sent to the photographing device, so that the photographing device performs zooming based on the zoom control instruction, and the target image displayed by the display device is displayed.
  • the scene changes as the camera is zoomed.
  • the zooming operation of the user's target image includes a first sliding operation and a second sliding operation on the target image by the user, and the first sliding operation is a sliding operation in which two fingers of the user touch the display device at the same time, and the two fingers move closer to each other,
  • the second sliding operation is a sliding operation in which two fingers of the user touch the display device at the same time, and the two fingers move away from each other.
  • the user performs a zoom operation on the target image as shown in FIG. 4 .
  • the zoom operation is a first sliding operation, that is, two fingers of the user touch the display device at the same time, and the two fingers are close to each other
  • the shooting device Reduce the zoom factor to reduce the scene in the target image, and the target image as shown in Figure 5 can be obtained, and the size of the figures 10, 20 and 30 in the image is smaller than that of the figures 10 and 30 in Figure 4.
  • the size of person 20 and person 30 in the image if the zoom operation is a second sliding operation, that is, the user touches the display device with two fingers at the same time, and the two fingers are far away from each other, then control the shooting device to increase the zoom factor to Enlarging the scene in the target image, the target image shown in Figure 6 can be obtained, and the size of the characters 10, 20 and 30 in the image is larger than that of the characters 10, 20 and 30 in Figure 4. dimensions in the image.
  • the display device further displays a zoom adjustment icon, through which the user can adjust the zoom factor of the photographing device.
  • the device sends the zoom control instruction, so that the photographing device zooms based on the zoom control instruction, and the scene in the target image displayed by the display device changes with the zooming of the photographing device.
  • the zoom adjustment icon it is convenient for the user to adjust the zoom factor of the photographing device through the zoom adjustment icon, thereby improving the user experience.
  • the zoom adjustment icon is a zoom slider.
  • the target image includes a person 10 , a person 20 and a zoom adjustment icon 40
  • the zoom adjustment icon 40 is displayed in the right area of the target screen
  • the center line of the zoom adjustment icon 40 indicates the current position of the zoom lens.
  • Zoom ratio the specific value of the current zoom ratio of the zoom lens, 1X, is also displayed near the center line.
  • the display device further displays a parameter control icon, and the parameter control icon is used to control the shooting device to adjust the target shooting parameter, for example, in response to a user triggering the parameter control icon, a corresponding parameter control instruction is generated; Send the parameter control command to the shooting device, so that the shooting device controls the shooting device to adjust the corresponding target shooting parameters according to the parameter control command, and the scene in the target image displayed by the display device occurs with the change of the value of the target shooting parameter.
  • the target shooting parameter includes any one of exposure parameter, zoom parameter and follow focus parameter, and the zoom parameter may be the zoom factor of the shooting device.
  • the method of generating the corresponding parameter control instruction may be: in response to the user's triggering operation on the parameter control icon, acquiring the value of the target shooting parameter of the shooting device. The change amount and the current value; according to the change amount and the current value of the target shooting parameter, the target value of the target shooting parameter is determined, and the corresponding parameter control instruction is generated according to the target value.
  • the parameter control instruction carries the target value of the target shooting parameter, so that the shooting device can set the value of the target shooting parameter to the target value based on the parameter control instruction.
  • the method for determining the target value of the target shooting parameter may be: according to the change in the value of the target shooting parameter and the current value, determine the target value.
  • the first value of the shooting parameter that is, determine the sum of the value change and the current value, and use the sum of the value change and the current value as the first value; obtain the value set of the target shooting parameters, if the first value is obtained. Once the value matches the value in the value set, the first value is used as the target value of the target shooting parameter.
  • the value set of the target shooting parameter is determined according to the device identification of the shooting device.
  • the device identification is used to indicate the manufacturer, type and/or model of the shooting device.
  • the value sets corresponding to different device identifications are different, and the value set in the value set
  • the values of are the values of the target shooting parameters that can be successfully set by the shooting device, and the first value matches the values in the value set, including the first value being the same as the value in the value set.
  • the multiple second values in the value set that are smaller than the first value are acquired; the multiple second values are The maximum value in is used as the target value of the target shooting parameter. Since the triggering operation of the parameter control icon by the user may be different each time, and the first value is related to the value change determined by the user's triggering operation on the parameter control icon, there may be various changes in the first value, which will cause the target In the case where the values in the value set of the shooting parameters do not match the first value, for this, the maximum value among the multiple second values in the set of values that are smaller than the first value can be taken as the target shooting The target value of the parameter is adjusted, so as to realize the adjustment of the target shooting parameter and improve the user experience.
  • the gesture action of the target object in the target image is acquired; if the gesture action matches the preset gesture action in the preset gesture action library, the corresponding operation is performed according to the control instruction corresponding to the gesture action.
  • the preset gesture actions in the preset gesture action library and the control instructions corresponding to the preset gesture actions may be set based on actual conditions or by a user, which is not specifically limited in this embodiment of the present application.
  • the manner of performing the corresponding operation according to the control instruction corresponding to the gesture action may include: if the gesture action is the first preset gesture action, controlling the motion of the pan/tilt according to the control instruction corresponding to the gesture action, so that the photographing device follow the shooting of the target object; or if the gesture action is a second preset gesture action, control the shooting device to shoot the target object after a preset time according to the control instruction corresponding to the gesture action; or if the gesture action is a third preset gesture action , the target object in the target image is reduced according to the control instruction corresponding to the gesture action; or if the gesture action is the fourth preset gesture action, the target object in the target image is enlarged according to the control instruction corresponding to the gesture action.
  • the first preset gesture action, the second preset gesture action, the third preset gesture action, and the fourth preset gesture action may be set based on actual conditions or by a user, which are not specifically limited in this embodiment of the present application.
  • the target image is obtained by acquiring the image collected in real time by the photographing device, and the image is processed based on the configuration information of the handheld PTZ, and then the target image is displayed by the display device, and finally the target image is detected and displayed.
  • the user operation on the image display device controls the photographing device based on the user operation. Since the user holds the handle portion of the handheld pan/tilt head, and the display device is provided on the handle portion, it is convenient for the user to control the photographing device through the image displayed by the display device. Greatly improve the control convenience of shooting equipment.
  • FIG. 8 is a schematic flowchart of steps of another control method provided by an embodiment of the present application.
  • control method includes steps S201 to S203.
  • the rotating device is arranged on the handle part of the handheld pan/tilt and around the display device, which is convenient for the user to operate the rotating device.
  • the user can adjust the target shooting parameters of the shooting equipment through the rotating device, and the user can also control the cloud through the rotating device.
  • the target shooting parameters include one or more of follow focus parameters, zoom parameters, exposure value, sensitivity, white balance and shutter speed.
  • the method of acquiring the value change of the target shooting parameter input by the user through the display device or the rotating device may be: in response to the user's triggering operation on the parameter control icon, acquiring the value change of the target shooting parameter. ; or in response to the user's rotating operation of the rotating device, obtain the rotation information of the rotating device; according to the rotating information, determine the value change of the target shooting parameter.
  • the rotation information includes the rotation displacement of the rotation device
  • the method of determining the value change of the target shooting parameter may be: obtaining the mapping relationship between the pre-stored rotation displacement and the value change, and according to The mapping relationship and the rotational displacement determine the value change amount of the target shooting parameter.
  • the user can select the target shooting parameters controlled by the rotating device through the parameter selection page of the rotating device.
  • the display device displays the parameter selection page of the rotating device, wherein the parameter selection page includes the parameter options of the rotating device.
  • the function option is used to describe the shooting parameters that can be adjusted by the rotating device; in response to the user's selection operation on the parameter option on the parameter selection page, the target shooting parameters controlled by the rotating device are determined.
  • the parameter options displayed on the parameter selection page of the rotating device are "Follow Focus”, “ISO”, “Aperture” and “Shutter”, ISO is the sensitivity, as shown in Figure 10, the user is in The parameter option selected in the parameter selection page is "aperture”, therefore, the target shooting parameter controlled by the rotating device is the aperture.
  • the method of obtaining the value set of the target shooting parameters may be to obtain the identification information of the target shooting parameters and the device identification of the shooting device, and according to the identification information and the device identification, determine the value set of the target shooting parameters, That is, the value set corresponding to the identification information and the device identification is obtained, and the value set corresponding to the identification information and the device identification is determined as the value set of the target shooting parameter.
  • the identification information of the target shooting parameter is used to identify the target shooting parameter, for example, the identification information is the name of the target shooting parameter, the equipment identification is used to indicate the manufacturer, type and/or model of the shooting equipment, and the values corresponding to different equipment identifications
  • the sets are different, and the values in the value set are all the values of the target shooting parameters that can be successfully set by the shooting device.
  • the parameter control instruction carries the target value of the target shooting parameter, so that the shooting device can set the value of the target shooting parameter to the target value based on the parameter control instruction.
  • the method of determining the target value of the target shooting parameter may be: obtaining the current value of the target shooting parameter, and according to the value of the target shooting parameter.
  • the value change amount and the current value of the target shooting parameter determine the first value of the target shooting parameter; according to the first value and the set of values, the target value of the target shooting parameter is determined.
  • the method of determining the target value of the target shooting parameter may be: if the first value matches the value in the value set, then The first value is taken as the target value of the target shooting parameter.
  • the matching of the first value with the value in the value set includes that the first value is the same as the value in the value set.
  • the method for determining the target value of the target shooting parameter may be: if the first value does not match the value in the value set, then Acquire multiple second values in the set of values that are smaller than the first value; and use the largest value among the multiple second values as the target value of the target shooting parameter.
  • the value change of the target shooting parameter input by the user through the parameter control icon or the rotating device may be different each time, and the first value is related to the value change, there may be various changes in the first value, which will cause the target In the case where the values in the value set of the shooting parameters do not match the first value, for this, the maximum value among the multiple second values in the set of values that are smaller than the first value can be taken as the target shooting The target value of the parameter is adjusted, so as to realize the adjustment of the target shooting parameter and improve the user experience.
  • the parameter control instruction of the shooting device is generated, the parameter control instruction is sent to the shooting device, so that the shooting device sets the value of the target shooting parameter based on the target value in the parameter control instruction, that is, the value of the target shooting parameter is set to This parameter controls the target value in the instruction.
  • the display device displays an image collected in real time by the photographing device, and the scene in the image changes as the value of the target photographing parameter changes.
  • the control method provided by the above-mentioned embodiment, by acquiring the value change of the target shooting parameter input by the user based on the display device or the rotating device, and obtaining the value set of the target shooting parameter, and then according to the value change of the target shooting parameter and the value change.
  • Set of values determine the target value of the target shooting parameter, generate the corresponding parameter control instruction according to the target value, and finally send the parameter control instruction to the shooting device, so that the shooting device can set the target according to the target value in the parameter control instruction The value of the shooting parameter.
  • the shooting parameter setting mode that supports the relative value setting mode can be converted to the absolute value setting mode, so as to realize the normalization of the control of the shooting parameters, which is convenient for the user to control and improves the user experience.
  • FIG. 11 is a schematic block diagram of the structure of a handheld pan/tilt according to an embodiment of the present application.
  • the handheld gimbal 200 includes a handle portion, a gimbal 201 connected to the handle portion, and a display device 202 embedded in the handle portion.
  • the gimbal 201 is used for carrying a photographing device, and the handheld gimbal 200 is connected to the photographing device.
  • the devices are connected by communication.
  • the handheld platform 200 also includes a memory 203 and a processor 204.
  • the platform 201, the display device 202, the memory 203, and the processor 204 are connected through a bus 205, such as an I2C (Inter-integrated Circuit) bus.
  • I2C Inter-integrated Circuit
  • the processor 204 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU), or a digital signal processor (Digital Signal Processor, DSP) or the like.
  • MCU Micro-controller Unit
  • CPU Central Processing Unit
  • DSP Digital Signal Processor
  • the memory 203 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, a mobile hard disk, and the like.
  • ROM Read-Only Memory
  • the memory 203 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, a mobile hard disk, and the like.
  • the processor 204 is used for running the computer program stored in the memory 203, and implements the following steps when executing the computer program:
  • Image processing is performed on the image based on the configuration information of the handheld PTZ to obtain a target image
  • a user operation on the display device on which the target image is displayed is detected, and the photographing apparatus is controlled based on the user operation.
  • performing image processing on the image includes performing one or more of image scaling processing, image cropping processing, and image enhancement processing on the image.
  • the configuration information of the handheld pan/tilt head includes configuration information and/or display mode information of the display device.
  • the processor when the processor detects a user operation on the display device on which the target image is displayed, and controls the photographing device based on the user operation, the processor is configured to:
  • the photographing device is controlled to focus according to the focus position coordinates.
  • the display device further displays a parameter control icon, and the parameter control icon is used to control the shooting device to adjust target shooting parameters, and the processor detects the target image on which the target image is displayed.
  • the user operation on the display device when controlling the photographing device based on the user operation, is used to realize:
  • the parameter control instruction is sent to the photographing device, so that the photographing device can control the photographing device to adjust the corresponding target photographing parameter according to the parameter control instruction.
  • the processor when the processor generates a corresponding parameter control instruction in response to a triggering operation of the parameter control icon by the user, the processor is configured to:
  • the target value of the target shooting parameter is determined according to the value change and the current value of the target shooting parameter, and a corresponding parameter control instruction is generated according to the target value.
  • the target shooting parameters include any one of exposure parameters, zoom parameters, and follow focus parameters.
  • the processor when the processor determines the target value of the target shooting parameter according to the value change and the current value of the target shooting parameter, the processor is configured to:
  • the first value matches the value in the value set, the first value is used as the target value of the target shooting parameter.
  • the processor is further configured to implement the following steps:
  • the largest value among the plurality of second values is used as the target value of the target shooting parameter.
  • the value set of the target shooting parameters is determined according to a device identification of the shooting device, wherein the device identification is used to represent the manufacturer, type and/or model of the shooting device.
  • the processor is further configured to implement the following steps:
  • the corresponding operation is performed according to the control instruction corresponding to the gesture action.
  • the processor when the processor executes the corresponding operation according to the control instruction corresponding to the gesture action, the processor is configured to:
  • gesture action is a first preset gesture action
  • gesture action is a second preset gesture action
  • control the shooting device to shoot the target object after a preset time according to the control instruction corresponding to the gesture action;
  • gesture action is a third preset gesture action, reducing the target object in the target image according to the control instruction corresponding to the gesture action;
  • the gesture action is a fourth preset gesture action
  • the target object in the target image is enlarged according to the control instruction corresponding to the gesture action.
  • the processor when the processor acquires an image captured by the photographing device in real time, the processor is configured to:
  • FIG. 12 is a schematic structural block diagram of another handheld pan/tilt platform provided by an embodiment of the present application.
  • the handheld pan/tilt 300 includes a handle portion, a pan/tilt 301 connected to the handle portion, a display device 302 embedded in the handle portion, and a rotation device 303 provided on the handle portion.
  • the pan/tilt 301 is used to mount a photographing device
  • the hand-held pan-tilt 300 is connected in communication with the shooting device
  • the hand-held pan-tilt 300 also includes a memory 304 and a processor 305.
  • the pan-tilt 301, the display device 302, the rotation device 303, the memory 304 and the processor 305 are connected through the bus 306.
  • the bus 306 is, for example, an I2C (Inter-integrated Circuit) bus.
  • the processor 305 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU), or a digital signal processor (Digital Signal Processor, DSP) or the like.
  • MCU Micro-controller Unit
  • CPU Central Processing Unit
  • DSP Digital Signal Processor
  • the memory 304 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, or a mobile hard disk, or the like.
  • ROM Read-Only Memory
  • the memory 304 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, or a mobile hard disk, or the like.
  • the processor 305 is used for running the computer program stored in the memory 304, and implements the following steps when executing the computer program:
  • the parameter control instruction is sent to the shooting device, so that the shooting device can set the value of the target shooting parameter according to the target value in the parameter control instruction.
  • the display device displays a parameter control icon, and the parameter control icon is used to control the shooting device to adjust the target shooting parameter. , which is used to implement:
  • the value variation of the target shooting parameter is acquired.
  • the processor when the processor acquires the value variation of the target shooting parameter input by the user through the rotating device, the processor is configured to:
  • the value change amount of the target shooting parameter is determined.
  • the real-time shooting picture of the shooting device displayed by the display device changes as the value of the target shooting parameter changes.
  • the processor when the processor determines the target value of the target shooting parameter according to the value change of the target shooting parameter and the set of values, the processor is configured to:
  • a target value of the target shooting parameter is determined according to the first value and the value set.
  • the processor when determining the target value of the target shooting parameter according to the first value and the value set, the processor is configured to:
  • the first value matches the value in the value set, the first value is used as the target value of the target shooting parameter.
  • the processor when determining the target value of the target shooting parameter according to the first value and the value set, the processor is configured to:
  • the largest value among the plurality of second values is used as the target value of the target shooting parameter.
  • FIG. 13 is a schematic structural block diagram of a photographing system provided by an embodiment of the present application.
  • the photographing system 400 includes a handheld gimbal 410 and a photographing device 420 mounted on the handheld gimbal 410 , and the handheld gimbal 410 is communicatively connected with the photographing device 420 .
  • the handheld gimbal 410 can be connected with the photographing device 420 through a control line.
  • the control line is, for example, a shutter line.
  • the type of the shutter cable is not limited here, for example, the shutter cable can be a Universal Serial Bus (Universal Serial Bus, USB), and for example, the control cable can be a composite video broadcast signal cable (Composite Video Broadcast Signal, CVBS).
  • the handheld pan/tilt 410 may also be connected to the photographing device 420 in a wireless manner.
  • the handheld pan/tilt 410 implements data communication with a second Bluetooth device built in the photographing device 420 through a built-in first Bluetooth device.
  • Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, the computer program includes program instructions, and the processor executes the program instructions, so as to realize the provision of the above embodiments. steps of the control method.
  • the computer-readable storage medium may be an internal storage unit of the handheld pan/tilt described in any of the foregoing embodiments, such as a hard disk or a memory of the handheld pan/tilt.
  • the computer-readable storage medium may also be an external storage device of the handheld pan/tilt, such as a plug-in hard disk equipped on the handheld pan/tilt, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital) , SD) card, flash memory card (Flash Card), etc.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
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  • Signal Processing (AREA)
  • Human Computer Interaction (AREA)
  • Studio Devices (AREA)

Abstract

La présente invention concerne un procédé de commande, un stabilisateur portatif, un système, et un support de stockage lisible par ordinateur. Le procédé comprend : l'obtention d'une image acquise en temps réel par un dispositif photographique (S101) ; sur la base d'informations de configuration d'un stabilisateur portatif, la réalisation d'un traitement d'image sur l'image pour obtenir une image cible (S102) ; l'affichage de l'image cible au moyen d'un appareil d'affichage (S103) ; et la détection d'une opération d'utilisateur sur l'appareil d'affichage et la commande du dispositif photographique sur la base de l'opération d'utilisateur (S104). Au moyen du procédé, la commodité de commande d'un dispositif photographique est améliorée.
PCT/CN2020/116900 2020-09-22 2020-09-22 Procédé de commande, stabilisateur portatif, système, et support de stockage lisible par ordinateur WO2022061541A1 (fr)

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CN202080007342.XA CN113302908B (zh) 2020-09-22 2020-09-22 控制方法、手持云台、系统及计算机可读存储介质
PCT/CN2020/116900 WO2022061541A1 (fr) 2020-09-22 2020-09-22 Procédé de commande, stabilisateur portatif, système, et support de stockage lisible par ordinateur

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