WO2022213340A1 - Focusing method, photographic device, photographic system and readable storage medium - Google Patents

Abstract

A focusing method, a photographic device, a photographic system and a readable storage medium. The method comprises: during a focusing process of a photographic device, acquiring, in real time, the current lens position of the photographic device and a target lens position of the photographic device, wherein when the photographic device is at the target lens position, a photographing target is in an in-focus state in a photographing picture of the photographic device; and displaying the current lens position and focusing prompt information by means of a display apparatus, so as to prompt a user to focus the photographic device according to the current lens position and the focusing prompt information, and enabling the current lens position to be adjusted to the target lens position by means of a user operation, wherein the focusing prompt information comprises an estimated lens position range formed on the basis of the target lens position. By means of the method, focusing prompt information is provided, and by means of the focusing prompt information, manual focusing can be performed more accurately without relying on an image sensor; and the method has a wider application range.

Description

Focusing method, photographing device, photographing system, and readable storage medium technical field

The present application generally relates to the field of manual focusing, and more particularly, to a focusing method, a photographing device, a photographing system, and a readable storage medium.

Background technique

Manual focusing is a commonly used focusing method in the field of film machines (video machines). The follow focus operator controls the focus motor by rotating the follow focus wheel. The movement of the focus motor will change the focus of the picture. However, the current manual focus relies more on the experience of the follow focus engineer to control the position and speed of the follow focus.

SUMMARY OF THE INVENTION

A series of concepts in simplified form have been introduced in the Summary section, which are described in further detail in the Detailed Description section. The Summary of the Invention section of the present invention is not intended to attempt to limit the key features and essential technical features of the claimed technical solution, nor is it intended to attempt to determine the protection scope of the claimed technical solution.

A first aspect of the embodiments of the present application provides a focusing method, and the method includes:

During the focusing process of the shooting device, the current lens position of the shooting device and the target lens position of the shooting device are acquired in real time, wherein when the shooting device is at the target lens position, the shooting target is in the shooting device is in focus in the shooting screen;

The current lens position and the focus prompt information are displayed through the display device, so as to prompt the user to focus on the shooting device according to the current lens position and the focus prompt information, and the current lens position is adjusted to the desired position by the user's operation. the target lens position, wherein the focus prompt information includes an estimated lens position range formed based on the target lens position.

A second aspect of the embodiments of the present application provides a focusing method, and the method includes:

Acquire a first lens position and a second lens position for enabling the shooting target to be in focus in the shooting picture of the shooting device, wherein the first lens position is determined based on the first focusing method, and the second lens position is determined based on the first focusing method. The position is determined based on a second focusing method, and the first focusing method is different from the second focusing method;

A target lens position is determined according to the first lens position and the second lens position, so that the photographing device can be adjusted from the current lens position to the target lens position.

A third aspect of the embodiments of the present application provides a photographing device, where the photographing device includes:

At least one processor and a memory, the memory stores computer-executed instructions, and the at least one processor executes the computer-executed instructions stored in the memory, so that the following steps are implemented when the computer-executed instructions are executed: during the focusing process of the photographing device , obtain the current lens position of the shooting device and the target lens position of the shooting device in real time, wherein, when the shooting device is at the target lens position, the shooting target is in focus in the shooting screen of the shooting device state;

The current lens position and the focus prompt information are displayed through the display device, so as to prompt the user to focus on the shooting device according to the current lens position and the focus prompt information, and the current lens position is adjusted to the desired position by the user's operation. the target lens position, wherein the focus prompt information includes an estimated lens position range formed based on the target lens position.

A fourth aspect of the embodiments of the present application provides a photographing device, and the photographing device includes:

At least one processor and a memory, the memory stores computer-executed instructions, and the at least one processor executes the computer-executed instructions stored in the memory, so that the following steps are implemented when executing the computer-executed instructions:

Acquire a first lens position and a second lens position for enabling the shooting target to be in focus in the shooting picture of the shooting device, wherein the first lens position is determined based on the first focusing method, and the second lens position is determined based on the first focusing method. The position is determined based on a second focusing method, and the first focusing method is different from the second focusing method;

A target lens position is determined according to the first lens position and the second lens position, so that the photographing device can be adjusted from the current lens position to the target lens position.

A fifth aspect of the embodiments of the present application provides a shooting system, including: a pan/tilt and the shooting device described in the third aspect; the pan/tilt is used to carry the shooting device.

A sixth aspect of an embodiment of the present application provides a shooting system, including: a pan/tilt and the shooting device described in the fourth aspect; the pan/tilt is used to carry the shooting device.

A seventh aspect of the embodiments of the present application provides a readable storage medium, where a computer program is stored on the readable storage medium; when the computer program is executed, the focusing method as described above is implemented.

The present application provides a focusing method, a photographing device, and a readable storage medium for the photographing system. In the focusing method, the display device will display the current lens position and focusing prompt information, and the user can focus the shooting device according to the current lens position and the focusing prompt information, so that the current lens position can be displayed by the user The operation is adjusted to the target lens position, so that the shooting target is in focus in the shooting picture of the shooting device; and the focus prompt information includes an estimated lens position range formed based on the target lens position. The method described in the present application provides focusing prompt information, and manual focusing can be performed more accurately through the focusing prompt information, without the need for the user to rely on the output image of the image sensor to judge and focus, thereby avoiding focusing caused by poor performance of the image sensor. Bad question.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative labor.

In the attached image:

FIG. 1 shows a schematic structural diagram of a photographing system provided by an embodiment of the present application;

2 shows a schematic diagram of a focusing process in a second focusing method provided by an embodiment of the present application;

3 shows a schematic diagram of a current lens position and an estimated lens position range displayed in a display device provided by an embodiment of the present application;

FIG. 4 shows a schematic diagram of a display device provided in an embodiment of the present application in a focus state;

FIG. 5 shows a schematic flowchart of a focusing method in an embodiment of the present application;

6 shows a schematic flowchart of a focusing method in another embodiment of the present application;

FIG. 7 shows a schematic structural diagram of a photographing device in another embodiment of the present application.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present application more apparent, the exemplary embodiments according to the present application will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited by the example embodiments described herein. Based on the embodiments of the present application described in the present application, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present application.

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced without one or more of these details. In other instances, some technical features known in the art have not been described in order to avoid confusion with the present application.

It should be understood that the application may be embodied in different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of this application to those skilled in the art.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the singular forms "a," "an," and "the/the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It should also be understood that the terms "compose" and/or "include", when used in this specification, identify the presence of stated features, integers, steps, operations, elements and/or components, but do not exclude one or more other The presence or addition of features, integers, steps, operations, elements, parts and/or groups. As used herein, the term "and/or" includes any and all combinations of the associated listed items.

For a thorough understanding of the present application, detailed structures will be presented in the following description in order to explain the technical solutions proposed by the present application. Alternative embodiments of the present application are described in detail below, however, the present application may have other embodiments in addition to these detailed descriptions.

A first aspect of the present application provides a focusing method, as shown in FIG. 5 , the method includes:

Step 110: During the focusing process of the photographing device, acquire the current lens position of the photographing device and the target lens position of the photographing device in real time, wherein when the photographing device is at the target lens position, the photographing target is at the target lens position. The shooting picture of the shooting equipment is in focus state;

Step 120: Display the current lens position and focus prompt information through a display device, so as to prompt the user to focus on the shooting device according to the current lens position and the focus prompt information, and make the current lens position manipulated by the user Adjusting to the target lens position, wherein the focus prompt information includes an estimated lens position range formed based on the target lens position.

In order to better illustrate the above-mentioned focusing method, a brief description of the photographing device is given below with reference to the accompanying drawings. Among them, the photographing device can operate independently as the execution subject, and can also be set on the gimbal, and the gimbal is used as the carrying subject for shooting.

1 is a schematic structural diagram of a photographing system provided according to an embodiment of the present application. As shown in FIG. 1 , the photographing system may include a distance sensor 110 and a photographing device 130 .

The distance sensor 110 includes a transmitting device 111, a receiving device 112 and a control device 113, which are used to control the transmitting device 111 to transmit an optical signal through the control device 113, and receive the reflected optical signal through the receiving device 112, so as to collect distance sensing data, The real-time distance between the photographing target and the photographing device 130 is obtained according to the distance sensing data. Optionally, the receiving device 112 may be a receiving array. The sensing data collected by the distance sensor 110 may include the measured distances M between the distance sensor 110 and the shooting target corresponding to different sampling moments. If the distance difference between the distance sensor 110 and the photographing device 130 is a fixed value L, the real-time distance between the photographing target and the photographing device 130 can be determined according to M and L. For example, if the reference plane of the distance sensor is located behind the focal plane of the lens, that is, on the side of the lens away from the shooting target, the real-time distance between the shooting device 130 and the shooting target is the value M-L obtained by subtracting the distance difference L from the measured distance M . The calculation and processing of the real-time distance may be performed by the distance sensor 110, the photographing device 130 or the pan/tilt head, which is not limited in this embodiment.

The photographing system may further include a follow focus motor 120, the follow focus motor 120 is an actuator that drives the rotation of the lens 131 of the photographing device 130, and includes a position controller 121 and a gear, the position controller 121 is used for according to the follow focus motor. The control command given by the follow focus wheel 140 connected to 120 or the control command given by the controller connected with the distance sensor 110, output torque, and drive the lens 131 engaged with the follow focus motor 120 to focus through gear transmission, so as to make the shooting target It is in the in-focus state in the photographing screen of the photographing device 130 . Optionally, the follow focus motor 120 is engaged with the follow focus ring 0 of the lens 131 in the photographing device 130 . Wherein, the focus wheel 140 may be an independent control device, or may be integrated on the PTZ.

In one embodiment, the follow focus motor 120 is connected in communication with the gimbal, and is used for receiving a user's control instruction for the follow focus motor 120 . Specifically, the operating member of the follow focus motor 120 can be provided on the hand-held part of the gimbal, and the operating member is used to receive a user's control command for the follow focus motor and further drive the follow focus motor according to the control command, so as to control the photographing device 130 to focus. The operating member may include, but is not limited to, the focus wheel 140 .

The photographing device 130 includes a lens 131 and a camera body 132 , and the lens 131 is provided on the camera body 132 . After the follow focus motor 120 drives the lens 131 to focus, that is, when the photographing target is in the in-focus state in the photographing screen of the photographing device 130 , the photographing device 130 can photograph the photographing target to obtain an image. The camera body 132 may be a camera body of a handheld single-lens reflex camera or a mirrorless camera. The lens 131 in this embodiment can support manual focus.

Optionally, the photographing system may further include a pan/tilt head. The photographing device 130 and the follow focus motor 120 are carried on the gimbal. The follow focus motor 120 and the bottom of the camera body 132 can be fixedly connected by using the accessories of the gimbal. After the lens 131 is mounted on the camera body 132 through the bayonet, the follow focus motor 120 can drive the lens 131 to rotate through the follow focus ring.

The photographing system may further include a follow focus wheel 140 , and the follow focus wheel 140 can push the current rotational position and rotational speed data of the follow focus wheel 140 to the follow focus motor 120 , so that the follow focus motor 120 rotates to the same level as the follow focus wheel 140 . the corresponding specified location. Wherein, parameters can be calibrated, for example, the follow focus motor 120 can be driven by the follow focus wheel 140 to reach at least two focus calibration points, so as to complete the mapping between the real-time distance between the shooting device 130 and the shooting target and the rotation position of the follow focus motor 120 Calibration of the relationship.

In addition, the display device 150 is used to display the current lens position and focus prompt information, so as to prompt the user how to focus.

In an example, the display device 150 may be provided in the photographing device 130, for example, an interactive interface inherent in the photographing device 130 for displaying various information, and the focus prompt information is directly displayed to the user through the interactive interface during the photographing process.

In another example, the display device may be provided outside the photographing device 130, independent of the photographing device 130, but connected in communication with the photographing device 130, and transmits the focus prompt information determined by the photographing device 130 to the display device by means of the communication connection and Display a focus prompt message to the user.

For example, the display device 150 may also be disposed on the pan/tilt, such as a handheld part integrated in the pan/tilt. Or the display device 150 is detachably arranged on the mounting seat of the pan/tilt (eg, connected to the handle), and the display device 150 is connected to the pan/tilt in communication, and the photographing device 130 is communicatively connected to the pan/tilt, and the photographing device 130 acquires the focus prompt information and transmits it After reaching the PTZ, the PTZ then transmits the focusing prompt information to the display device 150 and displays it to the user through the display device 150 for focusing. It should be noted that the display device 150 is not limited to the listed installation positions, and the display device 150 may also be installed at other positions of the pan/tilt.

In this embodiment of the present application, in addition to manual focusing, the photographing device 130 can also focus automatically. Based on this, the user can also select a mode by inputting a selection instruction on the display device 150 and switch the auto follow focus mode to the manual follow focus mode, thereby realizing flexible switching between the manual follow focus mode and the automatic follow focus mode.

Wherein, in the manual focus mode, the focus can be achieved by using the follow focus wheel 140 to control the position of the follow focus motor 120, or by directly manually rotating the position of the lens to focus. For example, in an embodiment of the present application, the follow focus motor 120 can obtain a user's control instruction for the follow focus motor 120; and drive the follow focus motor 120 according to the control instruction, output torque, and drive and follow focus through gear transmission The lens that engages the camera's motor is focused so that the subject is in focus in the shooting device's frame. In another embodiment of the present application, the photographing system may also not include the follow focus motor 120, but manually move the lens, so that the current lens position is manually adjusted to the target lens position by the user, thereby achieving focusing .

It should be understood that the above naming of the components of the photographing system is only for the purpose of identification, and should not be construed as a limitation on the embodiments of the present application.

It should be noted that the photographing device 130 may not be installed on the pan/tilt, and the focusing method of the present application may be implemented independently by the photographing device 130, wherein the composition and operation method of the photographing device 130 described above are not carried on the pan/tilt and do not mutually Under the premise of contradiction, all relevant explanations and descriptions may be introduced into the photographing device 130 , which will not be repeated here.

In this application, the execution subject of the focusing method may be a processing device with independent computing capabilities, such as the follow focus motor 120, the distance sensor 110, the photographing device 130 or the pan/tilt in the embodiment shown in FIG. 1 . Of course, this embodiment The method can also be performed by one device to perform some steps, and another device to perform other steps, that is, it can be performed by any combination of the follow focus motor 120, the distance sensor 110, the photographing device 130 and the pan/tilt head, for example, to follow focus Taking the combination of the follower motor 120 and the pan/tilt as an example, the follow focus motor 120 may perform some steps, and the pan/tilt may perform the remaining steps, so that the follow focus motor 120 and the pan/tilt jointly perform the focusing method provided in this embodiment.

In step S110, in an embodiment of the present application, as described above, the follow focus motor 120 can be engaged with the follow focus ring of the lens 131 in the photographing device 130, then the follow focus motor 120 can be determined according to the current position of the follow focus motor 120. to determine the current position of the lens of the photographing device 130 . Wherein, the current position of the follow focus motor 120 can be detected by an angle sensor. Of course, the current lens position of the photographing device can also be determined by other methods, for example, it can be calculated according to the current focusing degree, and the focusing degree can be determined according to a specific focusing method.

The target lens position of the photographing device 130 refers to the in-focus position of the lens of the photographing device 130 .

In the present application, the focus prompt information is an estimated lens position range including the target lens position, and the estimated lens position range is a numerical range, not a point value. For example, in an example of the present application, the estimated lens position range is a numerical range with the target lens position as the median. Wherein, the method for determining the target lens position and outputting the estimated lens position range formed based on the target lens position includes: obtaining the first lens position and the second lens position respectively through different methods, wherein the photographing device 130 is respectively at the first lens position and the second lens position, the shooting target can be in the in-focus state in the shooting picture of the shooting device 130 .

Specifically, the first lens position is determined based on the first focusing method, and the second lens position is determined based on the second focusing method, and the first focusing method is different from the second focusing method. Wherein, based on the same or different positions of the first lens and the second lens, the estimated lens position ranges respectively determined by the first lens position and the second lens position may be the same, may partially overlap or be completely different.

Wherein, since the first focusing method is different from the second focusing method, and the influencing factors of the confidence are different, the first lens position and the second lens position may have different confidences, that is, the first lens position has the first confidence. , the second lens position has a second confidence level.

As such, the target lens position may be determined based on the confidence to focus the photographing device 130 . Wherein, determining the target lens position based on the acquired first lens position and the second lens position specifically includes: comparing the first confidence level and the second confidence degree, and taking the first lens position and the second lens position with a higher confidence degree One is the target lens position.

In this application, the confidence level may be used to characterize the accuracy of the determined lens position, that is, the first confidence level may be used to characterize the determined accuracy of the first lens position, and the second confidence level may be used to characterize the determined accuracy of the first lens position The accuracy of the second lens position. Among them, the confidence level can be negatively correlated with the size of the corresponding estimated lens position range, that is, the higher the confidence level, the smaller the corresponding estimated lens position range, and the lower the confidence level, the corresponding estimated lens position range. bigger. In this way, when the accuracy of the lens position determined based on the corresponding focusing method is low, the problem of jumping in the estimated lens position range can be avoided.

For example, in the case of low confidence, if the estimated lens position range is small, then along with the adjustment of the current lens position, the target lens position will also be adjusted (for example, caused by the real-time switching of the focusing method), and the predicted lens position will be adjusted accordingly. The estimated lens position range will also be adjusted, so it is possible to move from the range of B-D to a range such as C-E; and if the estimated lens position range is large, as the current lens position gets closer and closer to the target lens position, when the estimated lens position When the lens position range is adjusted with the target lens position, it can change from the range of A-E to the range of C-E, so it seems that the estimated lens position range is only adjusted within the original range, becoming more accurate, not happening. The overall movement of the original range and lead to the phenomenon of jumping.

In this application, since the first focusing method and the second focusing method are different methods, the obtained first confidence level and the second confidence level are of different types, and the method further includes comparing the first confidence level and the second confidence level a step of performing a normalization process for comparing the first confidence level and the second confidence level under the same unit measure to determine the confidence level in the first shot position and the second shot position higher one.

In this application, in addition to determining the target lens position by comparing the confidence level, the target lens position may also be determined according to other methods. For example, a weighting method may be used, that is, the first lens position and the second lens position are respectively provided with corresponding weights, and the weighted result may be used as the target lens position. Wherein, the respective weights of the first lens position and the second lens position can be dynamically adjusted according to their confidence.

The first focusing method includes the use of a distance sensor 110 that can provide multi-point ranging, has a high resolution, and can provide depth map information. According to the Gaussian imaging formula, the image distance can be calculated when the object distance is known. Knowing the image distance is You can know the current focus state.

Specifically, in an embodiment of the present application, the photographing target refers to an object to be photographed and imaged, such as a person, an object, a scene, and the like. The camera body generally marks the position of the focal plane, and the real-time distance between the photographing device 130 and the photographing target can be the distance between the focal plane of the camera body of the photographing device 130 and the photographing target, represented by d, so d is equal to the object distance u and the image distance v can be expressed as:

d=u+v (1)

When the shooting target is in the in-focus state in the shooting picture of the shooting device 130, the image distance and the object distance satisfy the Gaussian imaging formula:

According to formula (1) and formula (2), we can get:

In an embodiment of the present application, determining the first lens position based on the first focusing method includes: determining the distance d between the shooting target and the shooting device 130 by using the distance sensor 110; calculating the focusing object distance according to the distance d ; Then calculate the target image distance according to the focus object distance according to formulas (2) and (3), and determine the first lens position according to the target image distance.

In this embodiment, the installation positions of the distance sensor 110 can be various, as long as the real-time distance between the photographing device 130 and the photographing target can be determined according to the sensing data collected by the distance sensor 110:

In an implementation manner, the distance sensor 110 is detachably provided on the photographing device 130 . For example, the distance sensor 110 may be disposed on the hot shoe of the photographing device 130. In this case, the ranging reference plane of the distance sensor 110 and the focal plane of the lens of the photographing device 130 may be substantially coincident within a certain error range. Of course, the distance measuring reference plane of the distance sensor 110 can also be installed at a fixed distance from the focal plane of the lens of the photographing device 130, as long as the fixed distance is taken into account in subsequent calculations. For example, if the reference plane of the distance sensor 110 is located behind the focal plane of the lens, that is, on the side away from the shooting target, and the distance difference between the reference plane of the distance sensor 110 and the focal plane of the lens is a fixed value L, then the photographing device The real-time distance between 130 and the shooting target is the value M-L obtained by subtracting L from the measured distance M of the distance sensor 110 . This embodiment does not limit this.

In another implementation manner, the photographing device 130 is detachably carried on the bearing seat of the gimbal, and the distance sensor 110 is detachably carried on the bearing seat of the gimbal. In this way, by setting the pan/tilt, both the photographing device 130 and the distance sensor 110 are carried by the pan/tilt. On the one hand, the balance adjustment function of the pan/tilt can be used to ensure the balance of the photographing device 130, and on the other hand, the photographing device 130 and the distance sensor 110 can be ensured. The distance sensor 110 can be set relatively fixedly, so as to realize the accurate calculation of the real-time distance between the above-mentioned photographing device 130 and the photographing target.

Optionally, the shooting target in this embodiment may be selected by the user. In some embodiments, the specific selection method is that the photographing device 130 is detachably carried on the bearing seat of the gimbal, the gimbal is communicatively connected to the photographing device 130, the display device 150 is provided on the hand-held part of the gimbal, and the photographing target is Determined by detecting a user's selection operation on the display device 150 displaying the captured image of the capturing device 130 .

In some embodiments, the distance sensor 110 includes a transmitting device for transmitting optical signals and a receiving device for receiving optical signals reflected by the photographing target. Correspondingly, the distance between the photographing device 130 and the photographing target is obtained according to the sensing data collected by the distance sensor 110 . The real-time distance includes: determining the distance between the shooting target and the shooting device 130 according to the light signal received by the receiving device.

In some embodiments, the distance sensor 110 may further include a transmitting device for emitting optical signals and a receiving device for receiving optical signals emitted by the photographing target. Correspondingly, the photographing device 130 and the photographing target are acquired according to the sensing data collected by the distance sensor 110 . The real-time distance between them includes: determining the distance between the photographing target and the photographing device 130 according to the acoustic signal received by the receiving device.

In this embodiment, the distance sensor 110 can be a single-point ranging sensor or a 3D ranging sensor, and the distance sensor 110 can be a TOF (Time Of Flight, time-of-flight) ranging sensor. This embodiment does not limit this.

In the first focusing method, the focus or follow focus of the lens generally keeps the position of the shooting target and the position of the focal plane of the camera body of the shooting device 130 unchanged. The thread converts the rotation angle of rotation into the forward and backward translation distance of the lens group of the lens, which is equivalent to driving the lens manually or with the follow focus motor 120 under the condition that the real-time distance between the shooting device 130 and the shooting target remains unchanged. Rotate to adjust the object distance u and image distance v so that the shooting screen is in focus. In the first focusing method, the effect will not be affected in low light or low contrast environments. In addition, because there is no CMOS with phase sensor or CMOS with phase ranging (more pixels, better focusing performance, but the image quality will be worse), so for the image sensor, there is no loss of image quality, and it has better performance. high blur.

The first confidence level is positively correlated with the signal-to-noise ratio of the collected data of the distance sensor 110, that is, the smaller the distortion caused by the noise of the distance sensor 110, the greater the reflected light intensity of the distance sensor 110, and the higher the signal-to-noise ratio of the distance sensor 110. The higher the first confidence level, the higher the first confidence level.

The second focusing method is an ambiguity-based focusing method, and the method uses a point spread function (PSF) to focus, and the point spread function (PSF) is a function describing the ability of an optical system to resolve a point source. Because the point source will form an enlarged image point due to diffraction after passing through any optical system, the image information can be extracted more accurately by measuring the point spread function of the system.

The blur-based focusing method is to calculate the focusing curve according to different images captured at different focusing positions and their respective blur degrees (for example, represented by PSF), and then obtain the focusing positions. As can be seen from the following formula, in the case where PSF1 is equal to PSF1(d) and PSF2 is equal to PSF2(d), picture1 convolving PSF2(d) is equal to picture2 convolving PSF1(d).

Among them, Picture0 is the ideal picture in the in-focus state, Picture1 is the image captured at the first position, PSF1 is the first blur of the lens when the target is captured at the first position, and Picture2 is captured at the second position. , PSF2 is the second blur degree of the lens when shooting the target at the second position, PSF1 (d) and PSF2 (d) are the blur degrees calibrated to the lens of the shooting device 130 on the focusing stroke, that is, the PSF database ambiguity in . During the manual focusing process, two adjacent images, Picture1 and Picture2, are calculated, and all PSFs in the database are traversed to find PSF1(d) and PSF2(d) that satisfy the formula, and then determine PSF1(d) and PSF2( d) The corresponding curve used for focusing, the focusing point can be found, as shown in Figure 2.

In an embodiment of the present application, as shown in FIG. 2 , in the second focusing method, the shooting position of the shooting device 130 is calibrated on the focusing stroke, and different shooting positions correspond to different image blur degrees. Therefore, when focusing, the shooting device 130 can be controlled to shoot the shooting target at the first position and the second position respectively, and the first position is different from the second position; and the first position of the lens when shooting the shooting target at the first position can be obtained. a blur degree, and the second blur degree of the lens when the shooting target is photographed at the second position; then, the second lens position is determined according to the acquired first blur degree and the second blur degree.

In an embodiment of the present application, determining the second lens position according to the first blurriness degree and the second blurriness degree includes: determining a curve for focusing according to the first blurriness degree and the second blurriness degree; then determining the second lens position according to the curve lens position. Among them, the position corresponding to the vertex in the curve is the target lens position.

The first ambiguity and the second ambiguity can be obtained by using the content corresponding to the above formula, and the method for determining the curve used for focusing according to the ambiguity can refer to the prior art, which will not be repeated here.

It should be noted that in this application, in addition to determining the target lens position through the curve, the target lens position can also be obtained by obtaining a focusing data table and looking up the table, and the above focusing method is only exemplary.

The second focusing method has a second confidence level, and the second confidence level is positively correlated with the curvature of the curve, that is, the larger the curvature of the focusing curve, the smaller the opening degree, the higher the second confidence level, on the contrary, the smaller the curvature of the focusing curve is. , the greater the degree of opening, the lower the second confidence.

Optionally, the focus prompt information includes, but is not limited to, at least one of a moving direction and a moving distance of the lens of the photographing device 130 . The display device 150 can display the current position of the photographing device 130 and the estimated lens position range, and the display device 150 can display the specific numerical value of the current position of the photographing device 130 and estimate the specific numerical value of the lens position range, so that The user can determine the direction and distance that the photographing device 130 needs to move according to the specific numerical value of the current position of the photographing device 130 and the specific numerical value of the estimated lens position range and the positional relationship between the two.

In an embodiment of the present application, as shown in FIG. 3 , the display device 150 displays that the photographing device 130 is currently located at a position of 0.3, and the estimated value of the lens position range is 0.4-0.7. Through the positional relationship between the two It can be known how the lens of the photographing device 130 needs to be adjusted so as to enter the estimated lens position range. In addition, for further prompting, the direction of movement may also be marked in the display device 150 .

When the current lens position coincides with the target lens position, the display mark corresponding to the current lens position can be changed to remind the user that the current lens position has reached the target lens position, and the rotation of the lens can be stopped.

Among them, the current lens position, the estimated lens position range, the moving direction and other related information may have their own display marks, and different display marks may have corresponding display methods such as color, shape, dynamic and static changes.

Specifically, the display device may display a position adjustment progress bar, and distance data may be displayed above the position adjustment progress bar, and the distance data may be used to represent the current lens position and the estimated lens position; The identification of the lens position and the identification of the estimated lens position range. During the focusing process, the identification of the current lens position can be close to or far away from the identification of the estimated lens position range. The color of the identification of the current lens position and the identification of the estimated lens position range And the size can be different; at the same time, a sign of the moving direction is provided on one side of the sign of the current lens position, and the sign of the moving direction is used to indicate the moving direction of the current lens position, so as to be close to the estimated lens position range, and is consistent with the moving direction. The target lens positions are coincident. In this way, the user can better realize manual focusing by pressing the operation through the above-mentioned display.

When the current lens position coincides with the target lens position, the change of the display logo includes at least one of color change, shape change, and size change. Wherein, the color change may further include the change of the color or the dynamic flickering of the display mark, etc., and is not limited to a certain one.

In the first focusing method, due to the convergence of the target lens position, the identification of the estimated lens position range corresponding to the target lens position continues to converge during the focusing process. As shown in Figure 4, when the focus is achieved, the current lens position and the target lens position The positions overlap and can be treated differently with bright green.

In the second focusing method, the lens positions of two adjacent frames are sampled, and the in-focus position range is displayed according to the result of the current frame (the estimated lens position range calculated with the target lens position as the center, the estimated lens position range is determined by the second confidence The current lens position and the estimated lens position range are updated every frame. When the target lens position converges, the indicator corresponding to the estimated lens position range will also continue to converge during the focusing process. As shown in Figure 4, when the focus is achieved, the current lens position and the target lens position coincide, which can be treated differently by bright green.

In the present application, the focusing method includes a first focusing method and a second focusing method, and the two focusing methods have their own advantages. This application combines the advantages of the two focusing methods to further improve the accuracy of focusing. The first focusing method of the distance sensor 110 determines that the position of the first lens has sufficient resolution and accuracy, and can satisfy ranging within a certain distance. Therefore, within the specifications of the first focusing method, manual focusing assistance can be satisfied. In cases outside the specifications of the first focusing method, a second focusing method is required to estimate the in-focus position and improve the effect of manual focus assistance.

For example, the maximum ranging range in the first focusing method will not exceed 10 meters, but some lenses need to meet the manual focus assistance of more than 10 meters; the general first focusing method determines the position of the first lens with an accuracy of about 5%, but some lenses When the lens is at a relatively close distance, the accuracy requirements are very high, maybe around 1%. Therefore, when the first focusing method cannot satisfy the in-focus estimation, the second focusing method can be used to estimate the in-focus position.

In a static situation, for a high-contrast scene, the accuracy of the second focusing method in determining the position of the second lens is [-1Fδ, 1Fδ], and in a low-contrast scene, the accuracy of determining the position of the second lens by the second focusing method is [-2Fδ, 2Fδ], wherein the Fδ is the size of the diffused spot, which can meet the requirements of manual focus assistance. However, for a sports scene, especially during vigorous exercise, the accuracy of determining the position of the second lens by the second focusing method will decrease accordingly. In this case, focusing can be performed by the first focusing method. Among them, a high-contrast scene means that the subject and the ambient background have a large contrast and/or have good lighting conditions, for example, the shooting background is black, and the shooting target is white, and/or has good lighting, which is high contrast. On the contrary, if the color of the subject and the environment background are similar, and the lighting conditions are poor, it is a low-contrast scene.

It should be noted that the relationship between the accuracy of determining the position of the first lens by the first focusing method and the accuracy of determining the position of the second lens by the second focusing method and the application scene can be finally reflected in the confidence described above. Therefore, The target lens position selected based on the confidence can be better used for focusing in different dynamic and static, different contrast, and different distance application scenarios.

As can be seen from the above, the present application combines the respective advantages of the second focusing method and the first focusing method to assist manual focusing and improve its accuracy.

As mentioned above, the target lens position is included in the estimated lens position range. In an embodiment of the present application, the target lens position is the midpoint position of the estimated lens position range. When it is outside the specifications of the first focusing method, The first focusing method cannot meet the accuracy requirements, and the second focusing method is required to estimate the in-focus position. The accuracy requirements are different in different contrast scenarios, and different accuracy requirements will cause the estimated lens position range to be different. Meet the requirements of manual focus and improve the focus accuracy.

In the focusing method, the display device 150 will display the current lens position and focusing prompt information. The focusing prompt information includes an estimated lens position range formed based on the target lens position. The user can focus the shooting device 130 according to the current lens position and the focusing prompt information. , so that the current lens position is adjusted to the target lens position through a user operation, so that the shooting target is in the in-focus state in the shooting screen of the shooting device 130 . The method of the present application provides focusing prompt information, and manual focusing can be performed more accurately through the focusing prompt information, and the scope of application is wider.

A second aspect of the embodiments of the present application provides a focusing method, as shown in FIG. 6 , the method includes:

Step S210: Acquire a first lens position and a second lens position for enabling the shooting target to be in focus in the shooting screen of the shooting device, wherein the first lens position is determined based on the first focusing method, and the first lens position is determined based on the first focusing method. The second lens position is determined based on a second focusing method, and the first focusing method is different from the second focusing method;

Step S220: Determine a target lens position according to the first lens position and the second lens position, so that the photographing device can be adjusted from the current lens position to the target lens position.

The focusing method may be either automatic focusing or manual focusing, which is not limited herein.

For example, in an embodiment of the present application, a follow focus motor is coupled to the lens of the photographing device, and the follow focus motor is used to drive the lens of the photographing device to rotate, so that the photographing device can be adjusted from the current lens position to The target lens position.

Optionally, the photographing device and the follow focus motor are carried on the gimbal. For example, the photographing device is connected to the PTZ in communication, wherein: the display device is arranged on the hand-held part of the PTZ; or

The display device is detachably arranged on the mounting seat of the PTZ, and the display device is connected in communication with the PTZ.

Optionally, the follow focus motor is connected in communication with the pan/tilt, and the operating element of the follow focus motor is provided on the hand-held part of the pan/tilt, and the operating element is used for receiving user control instructions for the follow focus motor.

Optionally, the current lens position and the target lens position are displayed through the display device.

Optionally, the photographing device may not be installed on the pan/tilt, and the photographing device independently acts as an execution subject for focusing and photographing.

The specific structure of the photographing device, the execution body, and the setting method of the display device can all be referred to the explanations and descriptions related to the first aspect of the present application, and will not be repeated here.

Optionally, the method further includes: normalizing the first confidence level and the second confidence level, so as to be used for comparing the first confidence level and the second confidence level.

Optionally, determining the first lens position based on the first focusing method includes:

Determine the distance data between the shooting target and the shooting device through the distance sensor;

Calculate the focal object distance according to the distance data;

The target image distance is calculated according to the focused object distance, and the position of the first lens is determined according to the target image distance.

Optionally, the signal-to-noise ratio of the collected data of the distance sensor is positively correlated with the first confidence level.

Optionally, determining the first lens position based on the first focusing method includes:

Controlling the photographing device to photograph the photographing target at a first position and a second position, where the first position is different from the second position;

When the photographing target is photographed at the first position, acquiring the first blurring degree of the image photographed by the photographing device;

When the photographing target is photographed at the second position, acquiring a second blurring degree of the image photographed by the photographing device;

The second lens position is determined based on the first blurriness and the second blurriness.

Optionally, determining the second lens position according to the first ambiguity and the second ambiguity includes:

determining a curve for focusing based on the first blurriness and the second blurriness;

The second lens position is determined according to the curve.

Optionally, the second confidence level is positively related to the curvature of the curve.

Optionally, the size of the estimated lens position range is negatively correlated with the first confidence level or the second confidence level.

Optionally, the target lens position is the midpoint position of the estimated lens position range.

Optionally, the focus prompt information further includes the moving direction and/or the moving distance of the lens of the photographing device.

Optionally, the moving distance is characterized by a set distance between the photographing target and the photographing device.

Optionally, when the current lens position coincides with the target lens position, the display identifier corresponding to the current lens position changes.

Optionally, the change includes at least one of color change, shape change, and size change.

In the focusing method, both the first focusing method and the second focusing method may refer to the relevant descriptions and explanations in the first aspect of the present application, which will not be repeated here.

The present application combines the respective advantages of the second focusing method and the first focusing method to assist manual focusing and improve its accuracy. The method can perform manual focusing more accurately, does not depend on the image sensor, and is applicable to a wider range.

A third aspect of the embodiments of the present application provides a photographing device, which is used to respectively execute the focusing methods provided in the first aspect and the second aspect.

In one embodiment, as shown in FIG. 7 , the photographing device 700 in this embodiment may include: at least one processor 701 and a memory 702 . The processor 701 and the memory 702 are connected through a bus 703 .

In a specific implementation process, the memory 702 stores computer-executed instructions, and at least one processor 701 executes the computer-executed instructions stored in the memory 702, so that the following steps are implemented when executing the computer-executed instructions:

During the focusing process of the shooting device, the current lens position of the shooting device and the target lens position of the shooting device are acquired in real time, wherein, when the shooting device is at the target lens position, the shooting target is in the in-focus state in the shooting screen of the shooting device;

The current lens position and focus prompt information are displayed on the display device to prompt the user to focus on the shooting device according to the current lens position and focus prompt information, and the current lens position is adjusted to the target lens position through user operation, wherein the focus prompt information includes The estimated lens position range formed by the target lens position.

In another embodiment, the photographing device includes:

At least one processor and a memory, the memory stores computer-executed instructions, and at least one processor executes the computer-executed instructions stored in the memory, so that the following steps are implemented when executing the computer-executed instructions:

Acquire a first lens position and a second lens position for enabling the shooting target to be in focus in the shooting picture of the shooting device, wherein the first lens position is determined based on the first focusing method, and the second lens position is determined based on the first focusing method. The position is determined based on a second focusing method, and the first focusing method is different from the second focusing method;

A target lens position is determined according to the first lens position and the second lens position, so that the photographing device can be adjusted from the current lens position to the target lens position.

The specific steps are not repeated here, and reference may be made to the related content of the first aspect and the second aspect.

A fourth aspect of the present application provides a shooting system, comprising: a pan/tilt and the shooting device described in the third aspect; the pan/tilt is used to carry the shooting device.

The pan/tilt in this embodiment can be used to implement the technical solutions of the above method embodiments of the present application, and the implementation principles and technical effects thereof are similar, and will not be repeated here.

It should be noted that, the technical solutions of the above method embodiments of the present application can also be implemented and completed by combining devices. For example, some steps of the focusing method provided in the method embodiments may be performed by a pan/tilt head, and another part of the steps may be performed by a follow focus motor or manually by a user. This embodiment of the present application does not limit this.

A fifth aspect of the present application also provides a computer storage medium on which a computer program is stored. One or more computer program instructions may be stored on the computer-readable storage medium, and the computer program contains at least one piece of code, and at least one piece of code can be executed by the computer to control the computer to perform the aforementioned focusing method.

Embodiments of the present application further provide a computer storage medium, where program instructions are stored in the computer storage medium, and when the program is executed, some or all of the steps of the focusing method of the first aspect or the second aspect may be included. The above-mentioned readable storage medium may be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Read Only Memory (PROM), Read Only Memory (ROM), Magnetic Memory, Flash Memory, Magnetic or Optical Disk. A readable storage medium can be any available medium that can be accessed by a general purpose or special purpose computer.

An exemplary readable storage medium is coupled to the processor such that the processor can read information from, and write information to, the readable storage medium. Of course, the readable storage medium can also be an integral part of the processor. The processor and the readable storage medium may be located in an application specific integrated circuit (Application Specific Integrated Circuits, ASIC for short). Of course, the processor and the readable storage medium may also exist in the device as discrete components.

When the computer program runs, the functions in the embodiments of the present application (implemented by the processor) and/or other desired functions can be realized, for example, to execute the corresponding steps of the focusing method according to the embodiments of the present application, and stored in a computer-readable storage Various application programs and various data, such as various data used and/or generated by the application program, can also be stored in the medium.

Although example embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above-described example embodiments are exemplary only, and are not intended to limit the scope of the application thereto. Various changes and modifications may be made therein by those of ordinary skill in the art without departing from the scope and spirit of the present application. All such changes and modifications are intended to be included within the scope of this application as claimed in the appended claims.

Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of this application.

In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or May be integrated into another device, or some features may be omitted, or not implemented.

In the description provided herein, numerous specific details are set forth. It will be understood, however, that the embodiments of the present application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it is to be understood that in the description of the exemplary embodiments of the present application, various features of the present application are sometimes grouped together into a single embodiment, FIG. , or in its description. However, this method of application should not be construed as reflecting an intention that the claimed application requires more features than are expressly recited in each claim. Rather, as the corresponding claims reflect, the invention lies in the fact that the corresponding technical problem may be solved with less than all features of a single disclosed embodiment. Thus, the claims following the Detailed Description are hereby expressly incorporated into this Detailed Description, with each claim standing on its own as a separate embodiment of this application.

It will be understood by those skilled in the art that all features disclosed in this specification (including the accompanying claims, abstract and drawings) and any method or apparatus so disclosed may be used in any combination, except that the features are mutually exclusive. Processes or units are combined. Each feature disclosed in this specification (including accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Furthermore, those skilled in the art will appreciate that although some of the embodiments described herein include certain features, but not others, included in other embodiments, that combinations of features of different embodiments are intended to be within the scope of the present application within and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.

Various component embodiments of the present application may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art should understand that a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all functions of some modules according to the embodiments of the present application. The present application can also be implemented as a program of apparatus (eg, computer programs and computer program products) for performing part or all of the methods described herein. Such a program implementing the present application may be stored on a computer-readable medium, or may be in the form of one or more signals. Such signals may be downloaded from Internet sites, or provided on carrier signals, or in any other form.

It should be noted that the above-described embodiments illustrate rather than limit the application, and alternative embodiments may be devised by those skilled in the art without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The application can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, and third, etc. do not denote any order. These words can be interpreted as names.

The above are only specific embodiments of the present application or descriptions of the specific embodiments, and the protection scope of the present application is not limited thereto. Any changes or substitutions should be included within the protection scope of the present application. The protection scope of the present application shall be subject to the protection scope of the claims.

Claims (83)

1. A focusing method, characterized in that the method comprises:

   During the focusing process of the shooting device, the current lens position of the shooting device and the target lens position of the shooting device are acquired in real time, wherein when the shooting device is at the target lens position, the shooting target is in the shooting device is in focus in the shooting screen;

   The current lens position and the focus prompt information are displayed through the display device, so as to prompt the user to focus on the shooting device according to the current lens position and the focus prompt information, and the current lens position is adjusted to the desired position by the user's operation. the target lens position, wherein the focus prompt information includes an estimated lens position range formed based on the target lens position.
2. The method according to claim 1, wherein a follow focus motor is coupled to the lens of the photographing device, and the follow focus motor is used to drive the lens of the photographing device to rotate according to a user instruction, so as to focus on the The camera is in focus.
3. The method according to claim 2, wherein the photographing device and the follow focus motor are carried on a gimbal.
4. The method according to claim 3, wherein the photographing device is communicatively connected to the PTZ, wherein:

   the display device is arranged on the hand-held part of the pan/tilt; or

   The display device is detachably arranged on the mounting seat of the pan/tilt, and the display device is connected in communication with the pan/tilt.
5. The method according to claim 3, wherein the follow focus motor is connected in communication with the pan/tilt, an operating member of the follow focus motor is provided on a hand-held part of the pan/tilt, and the operating member It is used to receive a user's control instruction for the follow focus motor.
6. The method according to claim 1 or 2, wherein the display device is an interactive interface of the photographing device, or the display device is connected in communication with the photographing device.
7. The method according to claim 1, wherein the method further comprises:

   Obtain a first lens position and a second lens position for enabling the shooting target to be in focus in the shooting picture of the shooting device, wherein the first lens position is determined based on the first focusing method, and the The second lens position is determined based on a second focusing method, and the first focusing method is different from the second focusing method;

   The target lens position is determined according to the first lens position and the second lens position.
8. The method of claim 7, wherein the first lens position has a first confidence level, and the second lens position has a second confidence level;

   The determining the target lens position according to the first lens position and the second lens position includes:

   It is determined that one of the first lens position and the second lens position with a higher confidence is the target lens position.
9. The method according to claim 8, wherein the method further comprises:

   Normalize the first confidence level and the second confidence level.
10. The method according to claim 8, wherein determining the first lens position based on the first focusing method comprises:

    Determine the distance data between the shooting target and the shooting device through a distance sensor;

    calculating the focal object distance according to the distance data;

    The target image distance is calculated according to the focused object distance, and the first lens position is determined according to the target image distance.
11. The method according to claim 10, wherein the signal-to-noise ratio of the collected data of the distance sensor is positively correlated with the first confidence level.
12. The method according to claim 7, wherein determining the second lens position based on the second focusing method comprises:

    controlling the photographing device to photograph the photographing target at a first position and a second position, the first position being different from the second position;

    When photographing the photographing target at the first position, acquiring a first blurring degree of the lens of the photographing device;

    When photographing the photographing target at the second position, acquiring a second blurring degree of the lens of the photographing device;

    The second lens position is determined based on the first degree of ambiguity and the second degree of ambiguity.
13. The method according to claim 12, wherein the determining the second lens position according to the first ambiguity and the second ambiguity comprises:

    determining a curve for focusing based on the first blurriness and the second blurriness;

    The second lens position is determined according to the curve.
14. The method of claim 8, wherein the second confidence level is positively correlated with the curvature of the curve.
15. The method according to claim 8, wherein the size of the estimated lens position range is negatively correlated with the first confidence level or the second confidence level.
16. The method according to claim 1, wherein the target lens position is a midpoint position of the estimated lens position range.
17. The method according to claim 1, wherein the focus prompt information further includes a moving direction and/or a moving distance of a lens of the photographing device.
18. The method according to claim 17, wherein the moving distance is characterized by a set distance between the shooting target and the shooting device.
19. The method according to claim 1, wherein when the current lens position coincides with the target lens position, the display identifier corresponding to the current lens position changes.
20. The method of claim 19, wherein the change comprises at least one of a color change, a shape change, and a size change.
21. A focusing method, characterized in that the method comprises:

    Acquire a first lens position and a second lens position for enabling the shooting target to be in focus in the shooting picture of the shooting device, wherein the first lens position is determined based on the first focusing method, and the second lens position is determined based on the first focusing method. The position is determined based on a second focusing method, and the first focusing method is different from the second focusing method;

    A target lens position is determined according to the first lens position and the second lens position, so that the photographing device can be adjusted from the current lens position to the target lens position.
22. The method according to claim 21, wherein a follow focus motor is coupled to the lens of the photographing device, and the follow focus motor is used to drive the lens of the photographing device to rotate, so that the photographing device is driven by The current lens position is adjusted to the target lens position.
23. The method according to claim 22, wherein the photographing device and the follow focus motor are carried on a gimbal.
24. The method according to claim 23, wherein the photographing device is communicatively connected to the PTZ, wherein:

    the display device is arranged on the hand-held part of the pan/tilt; or

    The display device is detachably arranged on the mounting seat of the pan/tilt, and the display device is connected in communication with the pan/tilt.
25. The method according to claim 23, characterized in that the follow focus motor is connected in communication with the pan/tilt, an operating member of the follow focus motor is provided on a hand-held part of the pan/tilt, and the operating member It is used to receive a user's control instruction for the follow focus motor.
26. The method according to claim 21 or 22, wherein the current lens position and focus prompt information are displayed on a display device, and the focus prompt information includes an estimated lens position range formed based on the target lens position.
27. The method according to claim 26, wherein the display device is an interactive interface of the photographing device, or the display device is connected in communication with the photographing device.
28. The method of claim 21, wherein the first lens position has a first confidence level, and the second lens position has a second confidence level;

    The determining the target lens position according to the first lens position and the second lens position includes:

    It is determined that one of the first lens position and the second lens position with a higher confidence is the target lens position.
29. The method of claim 28, wherein the method further comprises:

    Normalize the first confidence level and the second confidence level.
30. The method according to claim 28, wherein determining the first lens position based on the first focusing method comprises:

    Determine the distance data between the shooting target and the shooting device through a distance sensor;

    calculating the focal object distance according to the distance data;

    The target image distance is calculated according to the focused object distance, and the first lens position is determined according to the target image distance.
31. The method according to claim 30, wherein the signal-to-noise ratio of the collected data of the distance sensor is positively correlated with the first confidence level.
32. The method according to claim 28, wherein determining the second lens position based on the second focusing method comprises:

    controlling the photographing device to photograph the photographing target at a first position and a second position, the first position being different from the second position;

    When photographing the photographing target at the first position, acquiring a first blurring degree of the lens of the photographing device;

    When shooting the shooting target at the second position, acquiring a second blurring degree of the lens of the shooting device;

    The second lens position is determined based on the first degree of ambiguity and the second degree of ambiguity.
33. The method according to claim 32, wherein the determining the second lens position according to the first ambiguity and the second ambiguity comprises:

    determining a curve for focusing based on the first blurriness and the second blurriness;

    The second lens position is determined according to the curve.
34. The method of claim 33, wherein the second confidence level is positively correlated with the curvature of the curve.
35. The method according to claim 28, wherein the current lens position and focus prompt information are displayed by a display device, and the focus prompt information includes an estimated lens position range formed based on the target lens position;

    The size of the estimated lens position range is negatively correlated with the first confidence level or the second confidence level.
36. The method according to claim 26, wherein the target lens position is a midpoint position of the estimated lens position range.
37. The method according to claim 26, wherein the focus prompt information further comprises a moving direction and/or a moving distance of the lens of the photographing device.
38. The method according to claim 37, wherein the moving distance is characterized by a set distance between the photographing target and the photographing device.
39. The method according to claim 21, wherein when the current lens position coincides with the target lens position, the display identifier corresponding to the current lens position changes.
40. The method of claim 39, wherein the change comprises at least one of a color change, a shape change, and a size change.
41. A photographing device, characterized in that the photographing device comprises:

    At least one processor and a memory, the memory stores computer-executed instructions, and the at least one processor executes the computer-executed instructions stored in the memory, so that the following steps are implemented when executing the computer-executed instructions:

    During the focusing process of the photographing device, the current lens position of the photographing device and the target lens position of the photographing device are acquired in real time, wherein when the photographing device is at the target lens position, the photographing target is at the The shooting device is in focus in the shooting screen;

    The current lens position and the focus prompt information are displayed through the display device, so as to prompt the user to focus on the shooting device according to the current lens position and the focus prompt information, and the current lens position is adjusted to the desired position by the user's operation. the target lens position, wherein the focus prompt information includes an estimated lens position range formed based on the target lens position.
42. The photographing device according to claim 41, wherein a follow focus motor is coupled to the lens of the photographing device, and the follow focus motor is used to drive the lens of the photographing device to rotate according to a user's instruction, so as to focus on all the Focus on the camera described above.
43. The photographing device according to claim 42, wherein the photographing device and the follow focus motor are carried on a pan/tilt head.
44. The photographing device according to claim 43, wherein the photographing device is communicatively connected to the PTZ, wherein:

    the display device is arranged on the hand-held part of the pan/tilt; or

    The display device is detachably arranged on the mounting seat of the pan/tilt, and the display device is connected in communication with the pan/tilt.
45. The photographing device according to claim 43, wherein the follow focus motor is connected in communication with the pan/tilt, and an operating member of the follow focus motor is provided on a hand-held part of the pan/tilt, and the operation The component is used to receive a user's control command for the follow focus motor.
46. The photographing device according to claim 41 or 42, wherein the display device is an interactive interface of the photographing device, or the display device is connected in communication with the photographing device.
47. The photographing device according to claim 41, wherein the processor further implements the following steps when executing the computer-executed instruction:

    Obtain a first lens position and a second lens position for enabling the shooting target to be in focus in the shooting picture of the shooting device, wherein the first lens position is determined based on the first focusing method, and the The second lens position is determined based on a second focusing method, and the first focusing method is different from the second focusing method;

    The target lens position is determined according to the first lens position and the second lens position.
48. The photographing device of claim 46, wherein the first lens position has a first confidence level, and the second lens position has a second confidence level;

    The determining the target lens position according to the first lens position and the second lens position includes:

    It is determined that one of the first lens position and the second lens position with a higher confidence is the target lens position.
49. The photographing device according to claim 48, wherein the processor further implements the following steps when executing the computer-executed instruction:

    Normalize the first confidence level and the second confidence level.
50. The photographing device according to claim 47, wherein determining the first lens position based on the first focusing method comprises:

    Determine the distance data between the shooting target and the shooting device through a distance sensor;

    calculating the focal object distance according to the distance data;

    The target image distance is calculated according to the focused object distance, and the first lens position is determined according to the target image distance.
51. The photographing device according to claim 48, wherein the signal-to-noise ratio of the collected data of the distance sensor is positively correlated with the first confidence level.
52. The photographing device according to claim 47, wherein determining the second lens position based on the second focusing method comprises:

    controlling the photographing device to photograph the photographing target at a first position and a second position, where the first position is different from the second position;

    When photographing the photographing target at the first position, acquiring a first blurring degree of the lens of the photographing device;

    When shooting the shooting target at the second position, acquiring a second blurring degree of the lens of the shooting device;

    The second lens position is determined based on the first degree of ambiguity and the second degree of ambiguity.
53. The photographing device according to claim 52, wherein the determining the second lens position according to the first blurriness degree and the second blurriness degree comprises:

    determining a curve for focusing based on the first blurriness and the second blurriness;

    The second lens position is determined according to the curve.
54. The photographing device according to claim 48, wherein the second confidence level is positively correlated with the curvature of the curve.
55. The photographing device according to claim 48, wherein the size of the estimated lens position range is negatively correlated with the first confidence level or the second confidence level.
56. The photographing device according to claim 41, wherein the target lens position is a midpoint position of the estimated lens position range.
57. The photographing device according to claim 41, wherein the focus prompt information further includes a moving direction and/or a moving distance of a lens of the photographing device.
58. The photographing device according to claim 57, wherein the moving distance is characterized by a set distance between the photographing target and the photographing device.
59. The photographing device according to claim 41, wherein when the current lens position coincides with the target lens position, the display identifier corresponding to the current lens position changes.
60. The photographing device according to claim 59, wherein the change comprises at least one of a color change, a shape change, and a size change.
61. A photographing device, characterized in that the photographing device comprises:

    At least one processor and a memory, the memory stores computer-executed instructions, and the at least one processor executes the computer-executed instructions stored in the memory, so that the following steps are implemented when executing the computer-executed instructions:

    Acquire a first lens position and a second lens position for enabling the shooting target to be in focus in the shooting picture of the shooting device, wherein the first lens position is determined based on the first focusing method, and the second lens position is determined based on the first focusing method. The position is determined based on a second focusing method, and the first focusing method is different from the second focusing method;

    A target lens position is determined according to the first lens position and the second lens position, so that the photographing device can be adjusted from the current lens position to the target lens position.
62. The photographing device according to claim 61, wherein a follow focus motor is coupled to a lens of the photographing device, and the follow focus motor is used to drive the lens of the photographing device to rotate, so as to make the photographing device rotate. Adjust from the current lens position to the target lens position.
63. The photographing device according to claim 62, wherein the photographing device and the follow focus motor are carried on a pan/tilt head.
64. The photographing device according to claim 63, wherein the photographing device is communicatively connected to the PTZ, and the photographing device further comprises a display device, wherein:

    the display device is arranged on the hand-held part of the pan/tilt; or

    The display device is detachably arranged on the mounting seat of the pan/tilt, and the display device is connected in communication with the pan/tilt.
65. The photographing device according to claim 63, wherein the follow focus motor is connected in communication with the pan/tilt, and an operating member of the follow focus motor is provided on a hand-held part of the pan/tilt, and the operation The component is used to receive a user's control command for the follow focus motor.
66. The photographing device according to claim 61 or 62, wherein the current lens position and focus prompt information are displayed through a display device, and the focus prompt information includes an estimated lens position range formed based on the target lens position.
67. The photographing device according to claim 66, wherein the display device is an interactive interface of the photographing device, or the display device is connected in communication with the photographing device.
68. The photographing device of claim 61, wherein the first lens position has a first confidence level, and the second lens position has a second confidence level;

    The determining the target lens position according to the first lens position and the second lens position includes:

    It is determined that one of the first lens position and the second lens position with a higher confidence is the target lens position.
69. The photographing device according to claim 68, wherein the processor further implements the following steps when executing the computer-executed instruction:

    Normalize the first confidence level and the second confidence level.
70. The photographing device according to claim 68, wherein determining the first lens position based on the first focus photographing device comprises:

    Determine the distance data between the shooting target and the shooting device through a distance sensor;

    calculating the focal object distance according to the distance data;

    The target image distance is calculated according to the focused object distance, and the first lens position is determined according to the target image distance.
71. The photographing device according to claim 70, wherein the signal-to-noise ratio of the collected data of the distance sensor is positively correlated with the first confidence level.
72. The photographing device according to claim 68, wherein determining the second lens position based on the second focusing photographing device comprises:

    controlling the photographing device to photograph the photographing target at a first position and a second position, the first position being different from the second position;

    When photographing the photographing target at the first position, acquiring a first blurring degree of the image photographed by the photographing device;

    When photographing the photographing target at the second position, acquiring a second blurring degree of the image photographed by the photographing device;

    The second lens position is determined based on the first degree of ambiguity and the second degree of ambiguity.
73. The photographing device according to claim 72, wherein the determining the second lens position according to the first blurriness degree and the second blurriness degree comprises:

    determining a curve for focusing based on the first blurriness and the second blurriness;

    The second lens position is determined according to the curve.
74. The photographing device according to claim 73, wherein the second confidence level is positively correlated with the curvature of the curve.
75. The photographing device according to claim 68, wherein the current lens position and focus prompt information are displayed through a display device, and the focus prompt information includes an estimated lens position range formed based on the target lens position;

    The size of the estimated lens position range is negatively correlated with the first confidence level or the second confidence level.
76. The photographing device according to claim 66, wherein the target lens position is a midpoint position of the estimated lens position range.
77. The photographing device according to claim 66, wherein the focus prompt information further comprises a moving direction and/or a moving distance of a lens of the photographing device.
78. The photographing device according to claim 77, wherein the moving distance is characterized by a set distance between the photographing target and the photographing device.
79. The photographing device according to claim 61, wherein when the current lens position coincides with the target lens position, the display identifier corresponding to the current lens position changes.
80. The photographing device according to claim 79, wherein the change includes at least one of color change, shape change, and size change.
81. A photographing system, characterized in that, comprising: a PTZ and the photographing device according to any one of claims 41-60;

    The pan/tilt is used to carry the photographing device.
82. A photographing system, characterized in that, comprising: a PTZ and the photographing device described in any one of claims 61-80;

    The pan/tilt is used to carry the photographing device.
83. A readable storage medium, characterized in that a computer program is stored on the readable storage medium; when the computer program is executed, the focusing method according to any one of claims 1-40 is implemented.

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