WO2022261907A1 - Control method for follow focus device, and device and storage medium - Google Patents
Control method for follow focus device, and device and storage medium Download PDFInfo
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- WO2022261907A1 WO2022261907A1 PCT/CN2021/100715 CN2021100715W WO2022261907A1 WO 2022261907 A1 WO2022261907 A1 WO 2022261907A1 CN 2021100715 W CN2021100715 W CN 2021100715W WO 2022261907 A1 WO2022261907 A1 WO 2022261907A1
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- focus
- motor
- follow
- preset position
- preset
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- 238000000034 method Methods 0.000 title claims abstract description 74
- 230000000875 corresponding effect Effects 0.000 claims description 101
- 238000011217 control strategy Methods 0.000 claims description 81
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- 230000001276 controlling effect Effects 0.000 claims description 12
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/02—Mountings, adjusting means, or light-tight connections, for optical elements for lenses
- G02B7/04—Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
Definitions
- the present application relates to the technical field of photographing, and in particular to a focus focus device, a control method of the focus focus device, a control device, a focus focus system, a photographing system and a storage medium.
- Embodiments of the present application provide a focus focus device, a control method for the focus focus device, a control device, a focus focus system, a photographing system, and a storage medium, so as to improve user experience.
- the embodiment of the present application provides a focus-following device, the focus-following device includes:
- An operating part used for the user to operate to input a focus control signal, the operating part is mechanically coupled with the rotating part of the motor, and can drive the rotating part of the motor to rotate together;
- the drive circuit is connected to the motor and is used to drive the motor to rotate;
- a main control circuit the main control circuit is connected to the drive circuit, and the main control circuit is used to control the rotation of the rotating part of the motor through the drive circuit;
- the main control circuit is further used for: when the operating part is rotated to a preset position, controlling the movement of the rotating part of the motor and acting on the operating part, so as to provide corresponding operating feedback.
- the embodiment of the present application also provides another focus-following device, which includes:
- An operating part used for the user to operate to input a focus control signal, the operating part is mechanically coupled with the rotating part of the motor, and can drive the rotating part of the motor to rotate together;
- the drive circuit is connected to the motor and is used to drive the motor to rotate;
- a main control circuit the main control circuit is connected to the drive circuit, and the main control circuit is used to control the rotation of the rotating part of the motor through the drive circuit;
- a setting device is connected with the main control circuit, and the setting device is used for the user to set the preset position of the operating part, and the preset position corresponds to a motor control strategy, and the motor control strategy is used It is used to control the movement of the rotating part of the motor and act on the operating component to provide corresponding operating feedback.
- the embodiment of the present application also provides a method for controlling a focus device, the method including:
- the focus-following device includes a motor and an operating part, the operating part is used for user operation to input a focus control signal, and the operating part is connected to the motor The rotating part of the mechanical coupling;
- the rotating part of the motor is controlled to move and act on the operating part, so as to provide corresponding operating feedback.
- the embodiment of the present application further provides a control device, where the control device includes a memory and a processor;
- the memory is used to store computer programs
- the processor is configured to execute the computer program and, when executing the computer program, implement the method for controlling the focus-following device described in any one of the embodiments of the present application.
- the embodiment of the present application also provides a follow-focus system
- the follow-focus system includes:
- Fixed equipment the fixed equipment is used to carry shooting equipment
- the follow focus device is set on the fixed device or the follow focus device is set independently from the fixed device, and the follow focus device is used to control all The photographing device performs follow-focus photography on the subject.
- the embodiment of the present application further provides a photographing system, the photographing system includes a photographing device and any one of the follow-focus devices provided in the embodiments of the present application, the follow-focus device is used to control the The photographing device performs follow-focus photography on the subject.
- the embodiment of the present application also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor realizes the implementation of the present application.
- the control method of the focus device, the focus device, the control device, the focus system, the shooting system and the storage medium disclosed in the embodiment of the present application endow the focus device with more new experiences, such as software limit function and marker point prompt Functions, etc., which can improve the user's sense of operating experience with the focus device, thereby improving the user's shooting experience.
- Fig. 1 is a schematic structural diagram of a follow-focus device provided by an embodiment of the present application
- Fig. 2 is a schematic diagram of a circuit structure of a follow-focus device provided by an embodiment of the present application
- Fig. 3 is a schematic structural diagram of the motor part of the focus device provided by the embodiment of the present application.
- Fig. 4 is a schematic cross-sectional structure diagram along the A-A direction of Fig. 3;
- FIG. 5 is a schematic diagram of the principle of the closed-loop control of the motor provided by the embodiment of the present application.
- Fig. 6 is a schematic diagram of the principle of the simulated damping operation feeling provided by the embodiment of the present application.
- Fig. 7 is a schematic diagram of the corresponding relationship between the output limit and the motor speed provided by the embodiment of the present application.
- FIG. 8 is a schematic diagram of a preset range corresponding to a preset position provided by an embodiment of the present application.
- Fig. 9 is a schematic diagram of a square wave provided by an embodiment of the present application.
- Fig. 10 is a schematic diagram of the circuit structure of another focus device provided by the embodiment of the present application.
- FIG. 11a to 11c are schematic diagrams of the circuit structure of another focus device provided by the embodiment of the present application.
- Figure 12a and Figure 12b are schematic diagrams of a preset position provided by the embodiment of the present application.
- Fig. 13 is a schematic diagram of another preset position provided by the embodiment of the present application.
- Fig. 14a and Fig. 14b are schematic diagrams in which the output torque provided by the embodiment of the present application is a preset value
- Figure 15a and Figure 15b are schematic diagrams of a setting interface provided by the embodiment of the present application.
- FIGS 16-19 are schematic diagrams of another setting interface provided by the embodiment of the present application.
- Fig. 20 is a schematic flowchart of steps of a control method of a focus focus device provided by an embodiment of the present application.
- Fig. 21 is a schematic block diagram of a control device provided by an embodiment of the present application.
- the current mechanical limit includes two mechanical knobs, which can Manually loosen and adjust the mechanical knob to adjust the limit position.
- the focus equipment does not have a limit function, that is, to switch between limit mode and non-limit mode, and sometimes it is necessary to reset the limit position.
- the mechanical limit of the existing focus equipment cannot meet the needs of users.
- the two limit positions of the focus device correspond to the two limit positions of the controlled object (such as a camera), for example, the two limit positions of the focus device Corresponds to the full travel of the lens zoom or follow focus of the shooting device.
- the follow focus device generally sends an absolute position command to the controlled object.
- limit 1 indicates the minimum absolute position value
- limit 2 indicates the maximum absolute position value.
- the mechanical limit directly blocks the rotation of the operating part, which is used for the user to operate to generate a focus signal, for example, it can also be called a handle or rubber ring in the art.
- the focus-following device when the focus-following device is in the non-limit mode, that is, when the limit function of the focus-following device is not needed, the focus-following device generally pushes the position increment to the controlled object, that is, the operating part in the non-limit mode It can rotate multiple turns without being limited by two limit positions.
- the inventor also found that: in the process of using the focus device, when the user wants to change the control mode and shoot different clips, he may wish to change the limit range of the focus device. If the focus device is a mechanical limit, it needs to be manually set The limit knob is used to adjust the limit range, so the setting process is cumbersome and not accurate enough.
- the inventor also found that: in some special shooting scenes, the focus device needs to remind the user to reach a specific position. Fast and precise focus can be achieved.
- the existing follow-focus equipment does not have the marker point prompt function, which can also be called the Marker point prompt function.
- the embodiments of the present application provide a follow-focus device, a control method for a focus-follow device, a control device, a focus-follow system, a photographing system, and a computer-readable storage medium, which can endow the focus-follow device with more new functions, For example, the software limit function and the marker point prompt function to improve the user's experience, and then improve the user's shooting experience.
- the software limit function is relative to the above-mentioned mechanical limit.
- the software limit function can achieve the same function as the mechanical limit without using a mechanical knob, that is, the limit can be realized through software program control. position, so that the user can switch from limit mode to non-limit mode, or from non-limit mode to limit mode.
- FIG. 1 shows the structure of a follow-focus device 100 provided by an embodiment of the present application.
- the follow focus motor 20 is connected in communication, and the remote controller 10 is used to control the rotation of the follow focus motor 20 to drive the movement of the lens of the shooting device 30. Specifically, it can drive the movement of the focus lens of the shooting device 30 to achieve focusing on the shooting target and also can Realize the follow-focus shooting of the shooting target.
- the remote controller 10 and the follow focus motor 20 are connected in communication, for example, a wireless communication connection, or a wired communication connection of course.
- the remote controller 10 and the follow focus motor 20 shown in FIG. 1 do not constitute a limitation on the specific structural form of the follow focus device 100, that is, the remote controller 10 and the follow focus motor 20 may be of separate design , specifically as shown in FIG. 1 , of course, it can also be designed as one.
- the integrated design is specifically that the remote control 10 and the follow focus motor 20 are set together. For example, they can be set in the same casing or fixed together but detachable.
- the follow focus device 100 may not include the follow focus motor 20, but communicate with the follow focus motor 20 to control the follow focus motor 20, that is, it can be understood that the follow focus motor 20 is a standalone device.
- the follow focus motor 20 includes a gear 21 , which is used to mesh with a focus ring 31 on the photographing device 30 , and the focus ring 31 is fixedly arranged on the lens of the photographing device 30 .
- the follow focus motor 20 is mechanically coupled with the gear 21 to drive the gear 21 to rotate. After the gear 21 rotates, it drives the follow focus ring 31 to rotate. The rotation of the follow focus ring 31 will drive the focus lens of the shooting device 30 to move, thereby realizing the focus on the shooting target.
- both the photographing device 30 and the follow focus motor 20 are set on a fixed device, wherein the fixed device may include a camera bracket, an airborne gimbal or a handheld gimbal, and the like.
- the remote controller 10 can be independent of the fixed device. In other embodiments, the remote controller 10 can also be integrated into the fixed device to facilitate the user's operation. For example, the remote controller 10 can be integrated into the handle of the handheld pan/tilt ( grip).
- both the follow focus motor 20 and the shooting device 30 can be arranged on a camera bracket 40 , the camera bracket 40 is a kind of fixed device, and the gear 21 of the follow focus motor 20 and the shooting device 30
- the follow focus ring 31 is meshed and connected, and is used to drive the follow focus ring 31 to rotate.
- FIG. 2 shows the circuit structure of the focus device 100 .
- the follow-focus device 100 includes an operating part 11, a motor 12, a drive circuit 13 and a main control circuit 14, wherein the motor 12 includes a rotating part (such as a rotor) and a coil, and specifically the remote controller 10 includes an operating part 11.
- the operating part 11 is used for the user to operate and input the focus control signal, for example, when the user rotates the operating part 11, the focus control signal is generated, and the remote controller 10 can drive the camera device 30 through the focus motor 20 according to the focus control signal. Lens movement achieves focus.
- the operating part 11 is mechanically coupled with the rotating part (such as the rotor) of the motor 12, and can drive the rotating part of the motor 12 to rotate together, and give the motor 12 a torque, so that the user can detect the operating part 11 through the motor 12, and at the same time When the rotating part of the motor 12 rotates, it will also drive the operation part 11 to move, thereby providing feedback to the user through the operation part 11 .
- the rotating part such as the rotor
- the rotating part of the motor 12 will also drive the operation part 11 to move when it rotates, and the corresponding operation feeling can be simulated and fed back to the operation part 11.
- the operation feeling can include a damping operation feeling, Certainly, other types of operation senses may also be included, such as rebound operation sense and vibration operation sense, etc., which are not limited here.
- the operating component 11 is, for example, an apron 110, which is mechanically coupled with the rotating part of the motor 12, such as through a shaft connection or through a gear connection, etc. , when the user rotates the apron 110, the apron 110 can drive the rotating part of the motor 12 to rotate together, and at the same time, the rotating part of the motor 12 will also drive the apron 110 to move.
- an apron 110 which is mechanically coupled with the rotating part of the motor 12, such as through a shaft connection or through a gear connection, etc.
- the operating part 11 of the focus device 100 can also be provided with damping grease, which is used to provide a damping operation feeling, and the damping grease can be used to realize the damping operation feeling without using the motor 12 of the focus device 100. Simulates the feel of this damped operation.
- the remote controller 10 further includes a circuit board 15 on which a driving circuit 13 and/or a main control circuit 14 are disposed.
- the drive circuit 13 can be arranged on the circuit board 15, and the circuit board 15 can also be provided with a position sensor, such as a Hall sensor 160, which cooperates with the magnetic ring 16 arranged on the motor 12 to detect the position of the rotating part of the motor 12.
- Angular position information that is, the rotational position of the motor.
- the motor 12 may include a permanent magnet synchronous motor or a DC motor, and of course may also be other types of motors, which are not limited here. As shown in FIG. 4 , the motor 12 includes a rotating part 121 and a coil 122 .
- the driving circuit 13 is connected with the motor 12 to drive the rotating part 121 of the motor 12 to rotate.
- the driving circuit 13 can adopt a three-phase inverter bridge circuit, and drive the rotating part 121 of the motor 12 to rotate through PWM signals.
- the main control circuit 14 is connected with the drive circuit 13, and is used to complete the output torque control and target closed-loop control of the motor 12 according to the angular position information of the rotating part 121 of the motor 12 and the electrical parameters of the coil 122 of the motor 12.
- the main control circuit 14 A processor and memory may be included, and the electrical parameters of the coils of the motor 12 include current and/or voltage.
- a distance measuring device can also be set on the shooting device 30 for measuring the distance from the shooting target to the shooting device 30.
- the distance measuring device can also be set at other positions, such as setting the distance measuring device on the camera bracket 40 superior.
- the lens of the photographing device 30 is coupled to the follow focus motor 20, and the follow focus motor 20 is used to drive the lens of the photographing device 30 to rotate, so that the photographing device 30 adopts a manual follow focus mode or an automatic follow focus mode to perform photographing, wherein, during the photographing
- the follow focus motor 20 communicates with the distance measuring device, and the distance measure device is used to measure the distance from the shooting target to the shooting device, and the distance is used to realize automatic focus shooting.
- the distance measuring device may specifically be, for example, a TOF sensor, and of course it may also be other, such as a laser distance measuring device or a binocular camera.
- the motor 12 of the focus-following device 100 can be controlled to operate in a closed-loop manner according to the target parameters.
- the target closed loop includes at least one of a position closed loop and a velocity closed loop, and corresponding target parameters include target position and target velocity, etc.
- the target closed loop is used to realize the follow-focus combination mode provided by this application, which can also be called AMF
- different target closed-loops can also be used to simulate different types of operation senses, and different types of operation senses correspond to different motor control strategies.
- the embodiments of the present application provide three focus modes, namely: manual focus mode, automatic focus mode and combined focus mode.
- the manual follow focus mode refers to the follow focus mode that requires manual operation by the user.
- the user rotates the rubber ring 110 of the remote control 10, and the remote control 10 controls the follow focus motor 20 to drive the lens of the shooting device 30 according to the angle position information of the rotation of the rubber ring 110.
- the follow-focus shooting mode is realized by moving, or the user directly operates the zoom ring of the shooting device 30 to control the movement of the lens to realize the follow-focus shooting mode.
- the automatic focus mode means that the follow-focus device 100 drives the lens of the shooting device 30 to move according to the distance of the shooting target, so as to realize the follow-focus shooting mode of the shooting target; or it can also refer to driving the internal lens of the shooting device 30 according to the image captured by the shooting device 30 Move to realize the follow-focus shooting mode of the shooting target, that is, the shooting device 30 includes a motor (motor), and the motor (motor) is coupled with the focusing lens of the shooting device 30 so as to realize automatic focusing.
- the shooting device 30 includes a motor (motor), and the motor (motor) is coupled with the focusing lens of the shooting device 30 so as to realize automatic focusing.
- the follow-focus combined mode refers to automatically adopting the automatic follow-focus mode when the manual follow-focus mode stops, or a follow-focus mode that allows the manual follow-focus mode to be executed during the execution of the automatic follow-focus mode.
- the user can choose which mode to use independently. For example, if the user selects the automatic focus mode, the automatic focus mode is used to control the shooting device. For follow-focus shooting, for example, if the user selects the follow-focus combination mode, then the follow-focus combination mode is used to control the shooting device to perform follow-focus shooting.
- the selection instruction of the focus mode can be obtained, and the focus mode includes the focus combination mode, the automatic focus mode and the manual focus mode, and the target follow focus mode is selected among the three follow focus modes according to the selection instruction, so that the shooting The device 30 adopts the target focus mode for shooting.
- a mode selection button may be set on the focus focus device 100 , and a target focus focus mode is determined from three focus focus modes according to the operation of the mode selection button by the user.
- the focus focus device 100 includes a touch display screen, on which the three modes are displayed for selection by the user, and then a selection instruction of a corresponding focus focus mode is generated.
- different target closed-loops can also be used to simulate different types of operating senses, and different types of operating senses correspond to different motor control strategies.
- different types of operating senses can include damping operating senses, The operation feeling of the pulsator or the rebound operation feeling, wherein, the speed closed loop is used to simulate the damping operation feeling, and the position closed loop is used to simulate the pulsator operation feeling and the rebound operation feeling.
- Table 1 shows that different types of operation sense correspond to different motor control strategies
- the damping operation sense corresponds to the speed closed loop, that is, the speed closed loop is used to realize the feedback of the damping operation sense
- the simulated pulsator operation sense and rebound operation sense correspond to the position closed loop, that is, the position closed loop is used to simulate the pulsator operation sense and rebound Play the sense of operation.
- the analog pulsator operation sense and the rebound operation sense both correspond to the position closed loop, but the corresponding motor control strategies are different.
- Table 1 may be stored in the memory of the focus-focusing device, so that after the operation feeling that needs to be simulated is determined, the table is queried to determine the motor control strategy corresponding to the operation feeling that needs to be simulated.
- the main control circuit 14 is also used to: determine the operation feeling that needs to be simulated, and control the operation of the motor 12 based on the motor control strategy corresponding to the operation feeling that needs to be simulated, so as to provide corresponding operation feeling feedback.
- the motor 12 is controlled to run based on the motor control strategy I corresponding to the damping operation feeling, and then the corresponding damping operation feeling feedback is provided;
- another example is determined that the operation feeling that needs to be simulated is The rebound operation sense is based on the motor control strategy III corresponding to the rebound operation sense to control the operation of the motor 12, and then provide the corresponding rebound operation sense feedback.
- the operation of the motor 12 is controlled based on the motor control strategy corresponding to the sense of operation that needs to be simulated. Specifically, the motor 12 can be controlled to run according to the target closed-loop operation corresponding to the sense of operation that needs to be simulated, and the target parameters are determined and the target is input into the target closed-loop for closed-loop adjustment. , to provide corresponding operational feedback.
- the motor can be controlled to run according to the speed closed loop, and the target speed can be determined, and the target speed can be input into the speed closed loop for closed-loop adjustment, thereby providing damping operation Feeling feedback; for another example, if it is determined that the operating feeling to be simulated is the rebounding operating sense, the motor can be controlled to enter the position closed loop, and the target position can be determined to input the target position to the position closed loop for closed-loop adjustment, thereby providing rebounding operating sense feedback.
- the main control circuit 14 when the main control circuit 14 completes the output torque control of the motor 12, it can be specifically used to: realize the current closed-loop control of the motor 12 according to the angle position information of the rotating part 121 and the current of the coil 122, and then The output torque control of the motor 12 is completed. And the current of the coil 122 of the motor 12 has a linear relationship with the output torque, that is, the greater the current of the motor, the greater the output torque, so that the intensity of the same type of operation feeling can be easily adjusted to meet the needs of different users , and then solve the different needs of different users, thereby improving the user experience.
- Determine the operation feeling that needs to be simulated which can be determined according to the detected operating parts. For example, when it is detected that the user operates the rubber ring 110, it is determined that the operation feeling that needs to be simulated is a damping operation feeling; another example is when it is detected that the user operates a rebound When creating a component, determine that the operating feeling that needs to be simulated is the rebound operating feeling. Of course, the determination of the operation feeling that needs to be simulated may also be determined according to the type of operation feeling selected by the user.
- the focus device provided by the embodiment of the present application can simulate the corresponding operation feeling by controlling the corresponding motor control strategy on different target closed loops, and then provide different operation feeling feedback, such as providing damping operation feeling, pulsator operation Feel and rebound operation sense, etc., through the motor to simulate different operation sense, it can not be affected by environmental factors, thereby improving the user experience.
- the corresponding motor control strategy I is: control the motor 12 to run according to the closed-loop speed, set the target speed to zero and input it to the closed-loop speed, so that the motor 12 according to The target speed is adjusted in a closed-loop speed loop to provide damping operation feedback.
- the operating part may specifically be a rotating part, and the rotating part is mechanically coupled with the rotating part of the motor 12.
- the main control circuit 14 controls the The motor runs the motor control strategy I to simulate the damping operation feeling and feeds back to the rotating part so that the user can feel the damping feel.
- the rotating part can specifically be the apron 110, which is used to adjust the focal length of the lens, and the apron 110 and the rotating part 121 of the motor 12 can drive the rotation of the motor 12 through gearing or other means. Parts 121 rotate together.
- the rotating component can also be other components that realize the adjustment of the rotating function, which is not limited here.
- the apron 110 is used as an example to introduce the damping operation feeling.
- the direction of the user’s twist is counterclockwise
- the rubber ring 110 will drive the rotating part 121 of the motor 12 to rotate, for example, it also rotates counterclockwise, and the motor 12 is controlled to run according to the closed-loop speed, and the target speed of zero is input into the closed-loop speed, and the motor 12 is controlled according to the target speed.
- the speed is adjusted in a closed-loop speed.
- the apron 110 rotates counterclockwise (forward rotation), and the speed closed-loop error is negative.
- the motor will output a reverse torque according to the positive rotation speed, which will make the rotating part of the motor 12 121 rotates in the opposite direction (clockwise direction), preventing the user from twisting the apron 110 , thereby providing damping operation feedback to the apron 110 .
- the speed closed-loop error is positive, and the motor will output a positive torque according to the reverse rotation speed, that is, the rotating part 121 of the motor 12 will rotate in the opposite direction (counterclockwise direction)
- the rotation prevents the user from twisting the rubber ring 110, so that the user feels a damping feel. Due to the damping operation feeling simulated by the motor, it will not be affected by environmental factors such as temperature, thereby improving the user experience.
- the rotational speed of the motor 12 is positively correlated with the output torque of the motor 12, and the output torque is not greater than a preset threshold.
- the damping sense cannot increase all the time when twisting, so the output torque is limited not to exceed the preset threshold A 0 , that is, when the motor speed reaches a certain value V 0 , the output torque no longer increases with the speed increase and increase.
- the corresponding motor control strategy II is: control the motor 12 to operate in a closed-loop position, obtain the current position of the rotating part 121 of the motor 12, and determine the target according to the current position gear position, and input the determined target gear position as the target position into the position closed loop, so that the motor 12 can perform position closed-loop adjustment according to the target position, and then provide feedback of the pulsator operation feeling.
- the operating component may specifically be a knob component, such as the knob 111 in FIG.
- the rotating part rotates, it drives the rotating part 11 of the motor 12 to rotate together; when the user operates the knob part, the main control circuit 14 controls the motor 12 to run to simulate the operation feeling of the pulsator and feeds back to the knob part.
- the knob 111 corresponds to different gear functions, specifically six gear functions, namely gear I, gear II, gear III, gear IV, gear V and gear VI, and different gears have Different functions, so that the user can select the corresponding gear function by rotating the knob 111.
- gear I gear I
- gear II gear II
- gear III gear III
- gear IV gear V
- gear VI gear VI
- different gears have Different functions, so that the user can select the corresponding gear function by rotating the knob 111.
- it is necessary to simulate the operation feeling of the pulsator to feed back to the user, so that the user can feel the rotation to a specific gear.
- the target gear position is input into the position closed loop as the target position, so that the motor 12 can perform position closed loop adjustment according to the target position, so that the user can feel the cogging torque in the process of rotating the knob 111, that is, the pulsator operational sense.
- the wave wheel operation sense can be applied to select the corresponding menu option through the knob part, and different menu options correspond to different functions, such as selecting different shooting modes, or selecting different photo brightness levels .
- the corresponding motor control strategy III is: control the motor 12 to run in a position closed loop, and input the zero position as the target position to the position closed loop, so that the motor 12 According to the target position, the closed-loop adjustment of the position is performed, and then the feedback of the rebound operation feeling is provided; the zero position is the middle position of the parameter adjustment range.
- the operating components include a rebound component, which is connected to the rotating part 121 of the motor 12, specifically, it can be connected through a mechanical coupling, and the mechanical coupling connection can be a connection structure for realizing swing, for example, Crank Mechanism.
- the main control circuit controls the motor to run to simulate the rebound operation feeling and feeds back to the resilience component.
- the resilient component may be, for example, a rocker.
- Most of the rebounding operation feeling of the existing rocker is realized by the spring, and the elastic force of the spring will gradually become weaker as the use time increases, thereby affecting the rebounding operation feeling.
- the parameter adjustment range can be the range that the joystick can reach in a certain direction, such as the position that the joystick can reach left and right in the horizontal direction, or the range that the joystick can reach up and down in the vertical direction.
- the rebound component in the rebound operation sense can also be the rubber ring 110 in Figure 1 or Figure 4, when the user rotates the rubber ring 110 to reach or exceed a certain position, the control motor 12 operates in a closed loop according to the position Input the angular position information of the rotating part of the motor corresponding to the position as the target position into the position closed loop, so that the motor 12 can perform position closed-loop adjustment according to the target position, and then provide rebound operation feedback to remind the user that the apron 110 has Turn to or beyond a certain position.
- the angular position information is positively correlated with the output torque of the motor , and the output torque is not greater than a preset threshold. That is, the greater the angle position information deviates from the middle position, the greater the output torque of the corresponding motor, and the stronger the corresponding rebound operation feeling, so a more realistic rebound operation feeling can be simulated.
- the sense of rebound operation cannot always be enhanced with the increase of the angular position information, so the output torque can be limited to not greater than the preset threshold, that is, when the angular position information of the rotating part of the motor reaches the angle S 0 , the output torque is A 0 , the output torque is no longer increasing.
- the corresponding motor control strategy IV is specifically: when the operation part 11 rotates to a preset position or a preset range of the preset position, use the preset The torque is used as the output torque of the motor 12 to control the operation of the motor 12 , wherein the preset torque includes vibration torque, which can make the rotating part of the motor 12 rotate and drive the operating component 11 to rotate back and forth at the preset position.
- the preset position a may specifically be the angular position corresponding to ⁇ , and correspondingly, the preset range of the preset position a may be [ ⁇ - ⁇ , ⁇ + ⁇ ].
- the motor 12 can be controlled to run according to the motor control strategy IV, that is, to use the preset torque
- the output torque of the motor 12 is used to control the operation of the motor 12, so that the rotating part of the motor 12 rotates and drives the operating part 11 to rotate back and forth at the preset position a, so as to provide vibration operation feedback to the user to remind the user that the rotating position of the operating part 11 has been reached. to the preset position.
- ⁇ may be, for example, 0.05°, and of course may also be other values, such as 0.04° or 0.03°, which are not limited herein.
- the ⁇ corresponding to the preset range can be set by the user, so that the user can choose within which angle range the user can feel the vibration operation feeling, thereby improving the user experience.
- the vibration torque includes a torque signal that changes periodically with time, and the periodic change is positive and negative changes in the value of the torque signal, which can also be called a positive and negative alternating signal.
- the torque signal can be one of a sine signal and a cosine signal, and of course it can also be a periodically changing square wave, as specifically shown in FIG. 9 .
- Parameters such as t, f, and A in the formula represent the vibration time, vibration frequency, and vibration intensity that affect the vibration operation feeling respectively. These parameters allow users to set them. By setting these parameters, a more suitable vibration operation feeling (vibration feel) can be obtained.
- parameter values such as a short time (for example, 1s) and a slightly higher frequency (for example, 200-300Hz), so that the user can feel a relatively crisp instantaneous vibration, thereby improving the user experience.
- the vibration intensity that is, the magnitude of the amplitude A
- the vibration intensity can also be set to set the vibration operation feeling of different vibration intensities.
- a parameter setting interface may be provided, and the parameter setting interface is used for the user to set parameter values such as vibration time, vibration frequency and vibration intensity.
- a parameter setting interface can be provided so that the user can input the parameter values of vibration time, vibration frequency and vibration intensity in the parameter setting interface, and can also determine the vibration operation feeling according to the parameter values of vibration time, vibration frequency and vibration intensity.
- the vibration type and the parameter setting interface displays the vibration type to prompt the user, such as strong vibration, weak vibration, etc. So that the user can set the vibration operation feeling suitable for him, thereby improving the user's experience.
- the parameter setting interface includes input boxes corresponding to vibration time, vibration frequency, and vibration intensity.
- the use of the torque signal that changes periodically with time is also convenient for the focus equipment to filter the actual angle signal and shield the vibration during the focus control process, and then send the processed angle signal to the controlled object (Shooting device) Realize follow-focus shooting or focusing.
- the focus control of the photographing device is not affected, thereby relatively improving the photographing quality.
- the vibration operation feeling of the present application is realized by the motor, which not only provides a different vibration operation feeling, but also reduces the additional hardware cost compared with the existing focus equipment by using the motor to provide vibration.
- the driving ability of the motor is generally stronger than that of the vibration motor, and the torque acts directly on the operating part, which is easier for the user to feel when turning the operating part of the focus device.
- the follow-focus device 100 may also include a setting device, which is connected to the main control circuit 14, and the setting device is used for the user to set the preset position of the operating part 11, and the preset position corresponds to a motor A control strategy, the motor control strategy is used to control the movement of the rotating part of the motor 12 and act on the operating component 11 to provide corresponding operational feedback.
- different motor control strategies correspond to different operational sensations, wherein the operational sensation provided by the motor control strategy corresponding to the preset position includes at least one of rebound operational sensation and vibration operational sensation to prompt the user to operate the component
- the rotation position of 11 has reached the preset position or the vicinity of the preset position (preset range).
- the setting device may be a parameter setting unit 18 of the remote controller 10, and the parameter setting unit 18 is used to communicate with the main control circuit 14, so as to obtain the parameters set by the user and send them to the main control circuit 14.
- the parameter may include a preset position, a preset position and a function of the preset position, or a preset position and a motor control strategy corresponding to the preset position.
- the parameter may also include a type of operation feeling, a type of follow-focus mode, and the like.
- the main control circuit 14 After the main control circuit 14 receives the parameter set by the user, it determines the operation feeling that needs to be simulated according to a type of operation feeling included in the parameter; Or, determine the preset position of the operating component 11; or, determine the preset position of the operating component 11 and the motor control strategy corresponding to the preset position.
- the setting device may include at least one of a touch screen, a setting button, and a terminal device.
- the setting device includes one or more of a terminal device 181, a display screen 182 and a setting button 183, the display screen 182 is a touch display screen, and the setting button 183 is a physical button .
- the display screen 182 is connected to the main control circuit 14 to realize a communication connection, or the main control circuit 14 includes a wireless communication module, and the main control circuit 14 establishes a wireless communication connection with the terminal device 181 through the wireless communication module.
- parameters can be set through the terminal device 181 or the display screen 182 , such as setting the type of operation feeling to be simulated or the magnitude of resistance, or selecting the focus mode, or setting the preset position or the selection of the effect of the preset position, etc.
- the magnitude of the resistance is used to adjust the strength of the sense of operation, and the magnitude of the resistance is linearly related to the current of the coil 122 of the motor 12, that is, the greater the resistance is set, the greater the current of the coil 122 of the motor 12, so the damping operation
- By adjusting the resistance the strength of the operation feeling can be adjusted, and then different users may have different requirements for the operation feeling when adjusting the focus device.
- the role of the preset position includes, for example, being used for positioning or marking.
- the wireless communication module is, for example, a Bluetooth module, a WiFi module, or a Zigbee module
- the terminal device is, for example, a mobile phone, a tablet computer, a notebook computer, a desktop computer, or a wearable electronic device.
- the display screen is a touch display, including LED, LCD or OLED displays.
- the parameters set by the user through the terminal device 181 or the display screen 182 include different types of operation senses, such as damping operation senses, pulsator operation senses, rebound operation senses, or vibration operation senses, or different types of follow-focus modes, such as manual focus mode, automatic focus mode or combined focus mode.
- the main control circuit 14 is used to: obtain the operation feeling or follow-focus mode selected by the user from the different types of operation senses displayed on the terminal device 181 or the display screen 182, so as to determine the operation feeling or target follow-focus mode that needs to be simulated.
- the user can set a preset position through the terminal device 181 or the display screen 182 , or set a motor control strategy corresponding to the preset position.
- the main control circuit 14 is used to: acquire the preset position, or acquire the preset position and the motor control strategy corresponding to the preset position.
- the preset position is used to indicate the rotational position of the operating part 11, specifically the rotational position desired by the user for the operating part 11, which may correspond to the controlled object of the follow-focus device 100.
- the preset position may represent The limit point and the mark point, the limit point can represent the entire travel of the focusing lens of the shooting device, and the mark point can be used to represent the focus position of the shooting device.
- the preset position can be represented by an angle value, which can be set by the user according to actual needs.
- the preset position can be set to 120°, and the preset position is used for marking, that is, a marking point; for another example, the preset position can be set to 60° and 240°, the preset position is used for limiting, which are respectively the first limiting point and the second limiting point, that is, the first limiting point and the second limiting point constitute the rotation range for limiting the operating part 11,
- the rotation range is specifically [60°, 240°]. In actual shooting, the rotation range [60°, 240°] may be the travel of the focusing lens of the shooting device that the user wishes to travel.
- the operating part 11 may have an angle information mark (such as the angle information shown in Fig. 12a and Fig. 12b), and in other embodiments, the operating part 11 may also have no angle information mark.
- the operating component 11 can also rotate multiple times, so the angle value of the preset position can be greater than 360 degrees.
- the virtual icon corresponding to the operating part 11 can be displayed on the display screen 182, as shown in FIG. It is convenient for users to set up. And when the user operates the operation part 11, the virtual icon can also be displayed. When the user rotates the operation part 11, the virtual icon corresponding to the operation part 11 also rotates, so that the user knows the current rotation position of the operation part 11.
- the preset position of the operating part 11 can be determined according to the rotating position of the rotating part of the motor 12, that is, preset The magnitude of the position may be determined by the rotational position of the rotating portion of the motor 12 .
- the rotational position of the motor 12 is the angular position information of the rotating part of the motor 12, where the angular position information (rotational position) of the rotating part 121 of the motor 12 can be obtained by using a position sensor, or not using The position sensor is obtained by software calculation.
- the remote controller 10 further includes a position sensor 17 for detecting angular position information of the rotating part of the motor 12 and sending the angular position information to the main control circuit 14 .
- the position sensor 17 includes at least one of a magnetic ring Hall sensor, a photoelectric encoder, and a magnetic encoder.
- a magnetic ring position Hall sensor is used, specifically as shown in FIG.
- the ring 16 detects angular position information of the rotating portion of the motor 12 .
- the Hall sensor may be a single-axis Hall sensor or a three-axis Hall sensor, and the number of the Hall sensors is not limited, and may be one or more.
- the angle position information can be obtained by software calculation.
- the main control circuit 14 can specifically obtain the current and voltage of the motor 12 when it is working, and calculate the angle position information of the rotating part of the motor 12 according to the current and voltage.
- the preset position corresponds to a motor control strategy, which is used to control the movement of the rotating part of the motor 12 and act on the operating component 11 to provide corresponding operational feedback.
- the motor control strategy corresponding to the preset position is used to control the operation of the motor 12 and act on the operating part 11, To provide corresponding operational feedback.
- the motor control strategy corresponding to the preset position is the motor control strategy IV
- the preset torque is used as the output torque of the motor 12 to control the operation of the motor 12 and act on the operation Component 11 provides vibration operation feedback. In this way, the user can feel that the operation member 11 has reached the preset position through the vibration operation feeling.
- the motor control strategy corresponding to the preset position can also be the motor control strategy III
- the motor 12 when the operating part 11 rotates to the preset position, the motor 12 is controlled to run in a closed-loop position, and the position closed-loop performs closed-loop adjustment
- the target position is the rotation position of the motor corresponding to the preset position. In this way, the user can feel that the operation member 11 has reached the preset position through the rebound operation feeling.
- the motor control strategy corresponding to the preset position may be any control method that makes the rotating part of the motor move and acts on the operating component 11 .
- the motor control strategy is related to the functions of the preset positions, that is, preset positions with different functions correspond to different motor control strategies.
- the function of the preset position includes at least one of positioning and marking.
- the preset position may include at least one of a limit point and a mark point according to different functions, wherein the limit point includes a first limit point and a second limit point, and the first limit point and the second limit point
- the two limit points are used to determine the rotation range of the operating part
- the marking points are used to prompt the operating part to move to a specific position
- the specific position is a preset preset position.
- the limit point corresponds to the limit mode of the focus device, and specifically includes a first limit point and a second limit point.
- the first limit point and the second limit point limit the rotation range of the operating component 11.
- the software limit method has the same effect as the mechanical knob limit.
- the marking point is used to prompt the operation part 11 to move to a specific position.
- the marking point corresponds to the in-focus position of the photographing device 30 controlled by the follow-focus device 100, so that the user can be prompted to move the operating part 11 through the marking point to a specific position corresponding to the in-focus position. Therefore, it is convenient for the user to achieve fast and accurate focusing, thereby improving the shooting quality.
- the marking point may be any other position that the user wants to mark, and is not limited to the in-focus position.
- it can also be a limit position.
- the marking point is used to prompt the operation part 11 to move to a specific position and may be located between the first limit point and the second limit point, so that the focus device can realize software limit and mark point prompt functions, That is to say, the focus device provides limit mode and marker prompt mode at the same time. In this way, the user experience can be further improved.
- the rotation speed of the motor 12 can also be set to be different on both sides of the rotation position corresponding to the mark point.
- the marked point can correspond to the focus of the shooting device, so that users can shoot at different focus speeds before and after the focus, and thus can shoot videos with various styles.
- the preset position can also be deleted or canceled.
- the preset position for the limit position can be canceled after setting, so that the focus device can be switched from the limit mode to the non-limit mode.
- the function of the preset position is mainly used for limit and marking.
- the function of the preset position can correspond to different motor control strategies in Table 1, and of course it is not limited to the ones in Table 1. motor control strategy.
- the specific motor control strategy corresponding to the preset position for limit and mark is introduced below. It can be understood that the function of the preset position is not limited to limit and mark.
- the preset position is the limit point
- the motor control strategy corresponding to the limit point can specifically be that when the rotational position of the operating part 11 exceeds the first limit point or the second limit point, the motor 12 is controlled according to Position closed-loop operation.
- the target position of the position closed loop is the position corresponding to the first limit point or the second limit point, specifically the angular position information of the rotating part of the motor corresponding to the first limit point and the second limit point , that is, it is used to provide rebound operation feedback when the rotational position of the operating part 11 exceeds the first limit point or the second limit point, and when the user does not operate the operating part 11, since the motor 12 closes the loop according to the position Therefore, it will drive the operating part 11 to return between the first limit point and the second limit point, thereby realizing the software limit function, which is more convenient and more accurate through software limit.
- the output torque of the motor 12 is positively related to the position of the rotating part of the motor, and the torque direction of the output torque is opposite to the rotating direction of the rotating part.
- the output torque of the motor 12 can also adopt a preset value set by the user, that is, the output torque of the motor 12 is a preset value. Value, different preset values make the intensity of rebound operation feel different.
- the control motor 12 when the rotational position of the operating member 11 exceeds the first limit point or the second limit point, the control motor 12 operates in a closed-loop position and uses the preset value as the output torque to control the motor 12, Using this preset value can make the motor output a fixed rebound torque, so that the rebound operation feel can have a "locked" feel like a mechanical limit.
- the control motor 12 when the rotational position of the operating member 11 exceeds the first limit point or the second limit point, the control motor 12 operates in a closed-loop position and slowly rises to a preset value as the output torque By controlling the motor 12, the preset value can also be used to make the motor output a fixed rebound torque, thereby providing different operational feedback.
- X1 represents the first limit point
- X2 represents the second limit point
- the angle difference between X1 and X2 represents the limit range.
- the motor control strategy corresponding to the limit point is specifically: except when the rotational position of the operating part 11 exceeds the first limit point or the second limit point, the motor 12 is controlled according to In addition to position closed-loop operation, when the rotational position of the operating part 11 is between the first limit point and the second limit point, the motor 12 can be controlled to run according to the speed closed-loop, and the target speed of the speed closed-loop is zero, so that A damping operation feeling is provided, through which the user can perceive that the operation member 11 rotates within a limit range.
- the motor 12 when the rotational position of the operating member 11 is between the first limit point and the second limit point, the motor 12 is controlled to operate in a closed-loop speed, and the output torque of the motor 12 is related to the rotational speed of the rotating part of the motor 12 Positive correlation, the torque direction of the output torque of the motor 12 is opposite to the rotation direction of the rotating part of the motor 12 .
- the preset position is used as a mark point
- the motor control strategy corresponding to the mark point is specifically: when the operating part 11 rotates to the mark point or the preset range of the mark point, use the preset torque as the output torque control of the motor 12
- the motor 12 is running, wherein the preset torque includes a vibration torque, and the vibration torque can make the rotating part of the motor 12 rotate and drive the operating part 11 to rotate back and forth at the marked point.
- the vibration torque includes a torque signal that changes periodically with time, and the periodic change is a positive or negative change in the value of the torque signal.
- the torque signal may include one of a sine signal and a cosine signal, and of course it may also be other alternating signals.
- the torque signal includes a plurality of adjustable parameters, and the adjustable parameters affect the vibration time, vibration frequency and/or vibration intensity of the vibration operation feeling.
- the preset torque may also include a damping torque
- the damping torque is the output torque when the motor 12 is controlled to operate in a speed closed loop, and the target speed of the speed closed loop is zero. Therefore, in the process of rotating the operating part, the damping operation feeling can be felt, and when the rotating position of the operating part reaches the preset position, the vibration operating feeling can be felt again.
- the corresponding function is realized by setting the preset position through the setting device, such as realizing the software limit function or the marker point prompt function, wherein the setting device includes a touch screen, a setting button, and a terminal device. at least one.
- the main control circuit is also used to acquire a preset position set by a user, and save the preset position.
- the main control circuit 14 may include a microcontroller unit (Microcontroller Unit; MCU), and the main control circuit 14 is used to obtain the preset position set by the user, and save the preset position in the Flash of the MCU.
- MCU microcontroller Unit
- the main control circuit 14 is further configured to delete the preset location according to a delete instruction.
- the delete command can be a delete command generated by a user trigger, for example, the user operates a delete button on the focus device 100 or a delete button on a touch screen to generate a delete command for deleting a preset position.
- the main control circuit 14 is used to obtain the preset position set by the user. Specifically, it can obtain the preset position set by the user and the function of the preset position. Different functions correspond to different motor control strategies, or, The preset position set by the user in the preset working mode can be obtained, and the functions of the preset positions determined in different preset working modes are different, wherein the preset working mode includes at least one of the following: limit mode and mark Prompt mode.
- the preset position set in the limit mode is used for limit
- the preset position set in the mark prompt mode is used for mark prompt.
- the main control circuit 14 can also be used to obtain the rotation position of the user based on the operation part 11, and store the rotation position as a preset position.
- the rotation position of the user based on the operation part 11, and store the rotation position as a preset position.
- the 60 degrees is saved as the preset position; and stay at this position for a preset time, then save the 60 degrees as the preset position.
- the follow focus device 100 may further include a setting button 183, specifically as shown in FIG. 11c, the setting button 183 is connected to the main control circuit 14, and the setting button 183 is used to set a preset position.
- the user can set the preset position by increasing or decreasing the target value through the setting button 183, such as 0 degrees, and set the preset position by increasing; another example is that the setting button 183 can also be the above-mentioned confirmation button.
- the main control circuit 14 is also configured to determine a preset position and save the preset position based on the user's setting operation on the setting button 183 .
- the setting process of the preset position provided by the embodiment of the present application will be introduced below by taking the setting device as a touch screen as an example.
- the main control circuit 14 can control the touch screen 182 to display a setting interface, which is used for the user to set the preset position of the operating component 11 .
- the setting interface displayed on the touch screen 182 includes an input box, which is used for the user to set a preset position, or, the input box is used for The user enters a preset location and what the preset location does.
- the function of the preset position is, for example, used for marking or for limiting.
- the user can input "mark” or "limit” to indicate the function of the preset position.
- the motor control strategy corresponding to the preset position provides feedback of different operating senses to improve the user experience.
- the default motor control strategy can be used as the motor control strategy corresponding to the preset position.
- the corresponding motor can also be determined according to the characteristics of the preset position input by the user.
- the control strategy such as the preset position for the limit generally includes two limit points, so the motor control strategy corresponding to the limit point can be determined according to the number of limit points, and the number of mark points is generally one, then the mark can be determined.
- the motor control strategy corresponding to the point can also be determined in other ways, for example, the user can select the motor control strategy corresponding to the preset position.
- the setting interface includes a setting icon, which is used to set a preset position.
- the setting icons are specifically shown as the "+” icon and the "-" icon in Figure 16. By operating these two icons You can increase or decrease the value of the preset position to set the preset position.
- the setting interface also includes a setting icon and a virtual icon of the operating part 11.
- the arrow used to represent the value of the preset position Start turning, the value indicated by the arrow indicates the size of the preset position.
- the setting interface in order to facilitate the user to set the preset position, includes a position range [0°-360°] used to indicate the rotational position of the operating component, as shown in Figure 17 specifically, so that the user can set the preset position in the setting interface
- the displayed position range selects the rotational position as the preset position.
- the user can click on the setting interface to set the preset position, or of course drag the indicator icon, and the angle value indicated by the indicator icon is the set preset position.
- the indicator icon in FIG. 17 may be associated with the operation part 11, that is, when the user rotates the operation part 11, the indicator icon rotates with the rotation of the operation part 11, thereby determining the preset position that the user wants to set.
- the setting interface may further include a delete icon, which is used for the user to delete the preset position selected by the user. For example, delete the limit point or mark point selected by the user.
- the limit point is deleted, the focus device switches from the limit mode to the non-limit mode to meet the different needs of users.
- the user selects "marker 1" and then clicks the delete icon, then the "marker 1" can be deleted.
- the state of the preset position may include an active state and an inactive state. Wherein, if the state of the preset position is an active state, when the rotational position of the operating part 11 reaches the preset position, it is necessary to control the movement of the rotating part of the motor 12 and act on the operating part 11 to provide a corresponding operational feedback; if The state of the preset position is inactive, and no control is required on the motor 12, even when the rotational position of the operating member 11 reaches the preset position, there is no need to control the movement of the rotating part of the motor 12.
- the activation state and inactivation state of the preset position can be determined by the user. For example, as shown in FIG. 19 , the preset position and the status icon corresponding to the preset position are displayed through the setting interface, such as Display limit point 1, limit point 2, mark point 1 and mark point 2, where limit point 1 and limit point 2 are a group of corresponding status icons.
- the status icon corresponding to the preset position for example
- the state of the "marker point 1" changes from inactive to active.
- the user clicks the icon again the state of the "marker 1" becomes inactive. active state.
- the preset position when used for limit, when the state of the preset position changes, it will determine the change of the working mode of the focus follow device 100 . Specifically, the state of the preset position changes from the active state to the inactive state, the focus-following device 100 changes from the limit mode to the non-limit mode, the state of the preset position changes from the inactive state to the active state, and the focus-following device 100 From non-limit mode to limit mode. In this way, it is convenient for the user to switch between the limit mode and the non-limit mode at will, so as to be suitable for different shooting scenes, thereby improving the user experience.
- the user uses the focus device to control the camera device to focus or zoom the subject, the user operates the operation part 11, such as rotating the operation part 11 to a preset position, and the main control circuit 14 is used to When it is determined that the operating part 11 is rotated to a preset position, the rotating part of the control motor 12 moves and acts on the operating part 11 to provide corresponding operational feedback, so that the user can feel that the operating part 11 has rotated to a preset position.
- the operation part 11 such as rotating the operation part 11 to a preset position
- the main control circuit 14 is used to When it is determined that the operating part 11 is rotated to a preset position, the rotating part of the control motor 12 moves and acts on the operating part 11 to provide corresponding operational feedback, so that the user can feel that the operating part 11 has rotated to a preset position.
- the user wants to control the shooting device to follow-focus shooting of the subject through the follow-focus device 100, he can set the first limit point and the second limit point, the first limit The point and the second limit point may correspond to the whole stroke or part of the stroke of the focusing lens of the shooting device.
- it can rotate the operating part 11 to control the shooting device to perform focus shooting on the subject.
- the rotating operation part 11 reaches or just exceeds the limit point
- the follow-focus device The main control circuit 14 of 100 will control the movement of the rotating part of the motor 12 and act on the operation part 11 to provide corresponding operation feedback, thereby realizing the software limit function.
- the limit function of the software is convenient for users to set and cancel, that is, to realize the switching between limit mode and non-limit mode, and at the same time, the feedback operation sense can also be set flexibly, which is convenient for users to use and improves user experience.
- the user wants to use the follow focus device 100 to control the shooting device to focus on the subject and give a prompt at the in-focus position.
- the follow-focus device 100 will control the movement of the rotating part of the motor 12 and act on the operation part 11 to provide a corresponding sense of operation Feedback, thus realizing the marker point prompt function.
- an embodiment of the present application also provides a follow focus system
- the follow focus system includes: a fixed device and a follow focus device
- the follow focus device may be the follow focus device described in any one of the above
- the fix device Equipped with shooting equipment the follow-focus equipment can be set on the fixed equipment, or it can be set independently on the fixed equipment.
- the fixed device includes a camera bracket, an airborne gimbal or a handheld gimbal, and the like.
- the follow-focus device 100 if the follow-focus device 100 only includes the remote controller 10 , the follow-focus device 100 is set independently of the fixed device.
- the follow focus device may or may not include a follow focus motor, for example, the follow focus device includes a remote controller and a follow focus motor, or the follow focus device only Including the remote control, both can realize the control of the shooting equipment.
- the focusing device and the photographing device can be directly or indirectly connected by communication.
- the follow focus motor is used to implement the focus operation, there may be no communication connection.
- the focus device can be set on the handheld pan/tilt, for example, on the handle of the handheld pan/tilt, which can be It can be detachably arranged on the grip part of the handheld pan-tilt, or can be integrally arranged with the grip part of the handheld pan-tilt.
- an embodiment of the present application also provides a shooting system, the shooting system includes a shooting device and the follow-focus device described in any one of the above, and the follow-focus device is used to control the shooting device to perform follow-focus shooting of the subject .
- FIG. 20 shows a flow of steps of a control method for a focus-focusing device provided by the present application. User experience.
- the follow focus device includes a motor and an operation part, the operation part is mechanically coupled with the rotating part of the motor, and the operation part is used for inputting a follow focus control signal for operation by a user.
- the method for controlling the focus-following device includes steps S101 to S103.
- the rotational position of the rotating part of the motor is specifically angular position information, which can be obtained through detection by a position sensor, or through software calculation.
- the preset position of the operating part must correspond to an angular position of the rotating part of the motor. Therefore, it can be determined whether the operating part has reached the preset position according to the acquired angular position information of the rotating part of the motor. position, and when the operating part rotates to a preset position, the rotating part of the motor is controlled to move and act on the operating part to provide corresponding operational feedback.
- the operation sense includes a rebound operation sense or a vibration operation sense, etc., and of course may also include other operation senses, such as a damping operation sense.
- preset positions with different functions correspond to different motor control strategies, and the functions of the preset positions include at least one of limit and mark, and different motor control strategies are used for simulation Create different sense of operation, thereby improving user experience.
- the preset position when used for limit, the preset position includes a first limit point and a second limit point, wherein the first limit point and the second limit point are used To limit the range of operation of the operating parts.
- the preset position is used for the motor control strategy corresponding to the position limit, specifically: when the rotational position of the operating part exceeds the first limit point or the second limit point, The motor is controlled to run in a closed loop according to the position, thereby improving the feedback of rebound operation feeling.
- the target position of the position closed loop is the position corresponding to the first limit point or the second limit point, and the positions corresponding to the first limit point and the second limit point are the positions of the rotating part of the motor.
- Angle position so this position can be used for closed-loop adjustment, and the rebound operation sense can be used to realize the limit.
- the output torque of the motor is positively related to the position of the rotating part of the motor, and the torque direction of the output torque is opposite to the rotating direction of the rotating part.
- the motor when the rotational position of the operating part exceeds the first limit point or the second limit point, the motor is controlled to operate in a closed-loop position, and a preset value set by the user can also be obtained , as the output torque of the motor.
- This preset value can realize the "locking" feel of the operating part feedback at the first limit point and the second limit point, which is similar to the limit of a mechanical knob, so it has a more realistic sense.
- the preset value allows the user to set , and realize the flexible setting of the rebound operation feeling, thereby improving the user experience.
- the motor when the rotational position of the operating member is between the first limit point and the second limit point, the motor is controlled to run in a speed closed loop, and the target speed of the speed closed loop is is zero, thereby providing damping operation feedback.
- the output torque of the motor is positively related to the rotational speed of the rotating part of the motor, and the torque direction of the output torque is opposite to the rotating direction of the rotating part.
- the preset position when used for marking prompts, the preset position includes at least one marking point, and the marking point is used to prompt the rotating part of the motor to move to the preset position.
- the mark point corresponds to the in-focus position of the photographing device controlled by the focus-following device, and is used to remind the user when the focus of the photographing device reaches the in-focus position.
- the rotation speed of the motor is different on both sides of the rotation position corresponding to the marking point.
- the corresponding motor control strategy is to use the preset torque as the The output torque of the motor controls the operation of the motor; wherein, the preset torque includes a vibration torque, and the vibration torque can make the rotating part of the motor rotate and drive the operating part to rotate back and forth at the marked point, and then Provides a sense of vibration operation.
- the vibration torque includes a torque signal that changes periodically with time, and the periodic change is a positive or negative change of the value of the torque signal.
- the torque signal includes one of a sine signal and a cosine signal.
- the torque signal includes a plurality of adjustable parameters, and the adjustable parameters affect the vibration time, vibration frequency and/or vibration intensity of the vibration operation feeling.
- the adjustable parameter is a parameter that allows the user to set, that is, the appropriate vibration operation feeling is set by setting different parameter values of the adjustable parameter, so that the user can set the vibration feel suitable for himself, thereby improving the user experience.
- the preset torque also includes a damping torque
- the damping torque is the output torque when the motor operates according to the speed closed loop, and the target speed of the speed closed loop is zero, so that the damping operation can also be fed back feel.
- the method of following the focus device may also acquire a preset position set by a user, and save the preset position.
- the preset location may also be deleted according to a deletion instruction triggered by the user.
- the preset position set by the user is obtained.
- the preset position set by the user and the function of the preset position can be obtained.
- Different functions correspond to different motor control strategies;
- different preset working modes determine the different functions of the preset position, wherein the preset working mode includes at least one of the following: limit mode and mark reminder mode.
- the preset position set by the user is acquired, specifically, the rotational position of the user based on the operating component may be acquired, the rotational position is used as the preset position, and the preset position is saved.
- the preset position set by the user is acquired, specifically, the preset position may be determined and saved based on the setting operation of the setting button by the user.
- the preset position set by the user is obtained, specifically, a setting interface can be displayed through the touch screen display, and the setting interface is used for the user to set the preset position, and the preset position set by the user based on the setting interface can be obtained. and save the preset position.
- the setting interface includes an input box for setting the preset position, or, the setting interface includes a setting icon for setting the preset position.
- the setting interface includes a position range for representing the rotational position of the operating member.
- the preset position set by the user is obtained, specifically, the rotation position selected by the user in the position range displayed on the setting interface can be obtained; the rotation position is used as the preset position, and the preset position is saved.
- the status of the preset location may also be modified according to a status modification instruction, and the status of the preset location includes an active state and an inactive state.
- a change in the state of the preset position determines a change in the working mode of the focus-following device, wherein the state of the preset position changes from an activated state to In the inactive state, the follow-focus device changes from the limit mode to the non-limit mode; the state of the preset position changes from the inactive state to the active state, and the follow-focus device changes from the non-limit mode to the limit mode model.
- the control method of the focus device provided by the above embodiment can also give the focus device more new experience, such as software limit function and marker point prompt function, etc., which improves the user's operation experience of the focus device, that is, the same as The focus device provided by the above embodiments has similar beneficial technical effects, so details will not be repeated here.
- FIG. 21 is a schematic block diagram of a control device provided by an embodiment of the present application. As shown in FIG. 21 , the control device 500 further includes one or more processors 501 and memory 502 .
- the processor 501 may be, for example, a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU), or a digital signal processor (Digital Signal Processor, DSP), etc.
- MCU Micro-controller Unit
- CPU Central Processing Unit
- DSP Digital Signal Processor
- the memory 502 can be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk, or a mobile hard disk.
- the memory 502 is used to store a computer program; the processor 501 is used to execute the computer program, and when executing the computer program, execute the method for controlling the focus-following device as described in any one of the above items.
- the processor is configured to run a computer program stored in the memory, and implement the following steps when executing the computer program:
- the focus-following device includes a motor and an operating part
- the operating part is used for user operation to input a focus control signal
- the operating part is connected to the motor
- the rotating part is mechanically coupled; according to the rotating position, it is determined whether the operating part is rotated to a preset position; when the operating part is rotated to a preset position, the rotating part of the motor is controlled to move and act on the operating part , to provide corresponding operational feedback.
- the operation feeling includes a rebound operation feeling or a vibration operation feeling.
- preset positions with different functions correspond to different motor control strategies, and the functions of the preset positions include at least one of limiting and marking.
- the preset position includes a first limit point and a second limit point, wherein the first limit point and the second limit point are used to limit the operation of the operating component scope.
- the processor is further configured to: when the rotational position of the operating component exceeds the first limit point or the second limit point, control the motor to operate in a closed-loop position.
- the target position of the position closed loop is a position corresponding to the first limit point or the second limit point.
- the output torque of the motor is positively related to the position of the rotating part of the motor, and the torque direction of the output torque is opposite to the rotating direction of the rotating part.
- the processor is further configured to: acquire a preset value set by a user as the output torque of the motor.
- the processor is further configured to: when the rotational position of the operating component is between the first limit point and the second limit point, control the motor to run in a closed loop at a speed , the target speed of the speed closed loop is zero.
- the output torque of the motor is positively related to the rotational speed of the rotating part of the motor, and the torque direction of the output torque is opposite to the rotating direction of the rotating part.
- the preset position includes at least one marking point, and the marking point is used to prompt the rotating part of the motor to move to the preset position.
- the mark point corresponds to the in-focus position of the photographing device controlled by the focus-following device.
- the rotation speed of the motor is different on both sides of the rotation position corresponding to the marking point.
- the processor is further configured to: when the operating part rotates to the mark point or the preset range of the mark point, use the preset torque as the output torque of the motor to control the The motor runs; wherein, the preset torque includes a vibration torque, and the vibration torque can make the rotating part of the motor rotate and drive the operating part to rotate back and forth at the marking point.
- the vibration torque includes a torque signal that changes periodically with time, and the periodic change is a positive or negative change of the value of the torque signal.
- the torque signal includes a plurality of adjustable parameters, and the adjustable parameters affect the vibration time, vibration frequency and/or vibration intensity of the vibration operation feeling.
- the torque signal includes one of a sine signal and a cosine signal.
- the preset torque further includes a damping torque
- the damping torque is the output torque when the motor operates according to a speed closed loop
- the target speed of the speed closed loop is zero.
- the processor is further configured to: acquire a preset position set by a user, and save the preset position.
- the processor is further configured to: delete the preset location according to a deletion instruction.
- the obtaining the preset position set by the user includes:
- the preset working modes include at least one of the following: a limit mode and a marker prompt mode.
- the processor is further configured to: acquire a user's rotational position based on the operating component; use the rotational position as a preset position, and save the preset position.
- the focus device includes a setting button, the setting button is connected to the main control circuit, and the setting button is used to set a preset position; wherein, the processor is also used to: The setting operation of the above-mentioned setting button is performed to determine the preset position and save the preset position.
- the focus-following device includes a touch screen, and the touch screen is connected to the main control circuit; wherein, the processor is also used for:
- a setting interface is displayed through the touch screen, and the setting interface is used for the user to set a preset position; the preset position set by the user based on the setting interface is obtained, and the preset position is saved.
- the setting interface includes an input box for setting the preset position, or, the setting interface includes a setting icon for setting the preset position.
- the setting interface includes a position range for representing the rotational position of the operating component; the processor is further configured to:
- the processor is further configured to: modify the state of the preset position according to the state modification instruction, where the state of the preset position includes an active state and an inactive state.
- a change in the state of the preset position determines a change in the working mode of the focus-following device; wherein, the state of the preset position is changed from the active state to Change to an inactive state, the follow-focus device changes from a limit mode to a non-limit mode; the state of the preset position changes from an inactive state to an active state, and the follow-focus device changes from a non-limit mode to a limit mode.
- control device in the embodiment of the present application has beneficial technical effects similar to the control methods of the focus device in the above-mentioned embodiments, so details will not be repeated here.
- control device can be integrated into the focus equipment, specifically, it can be a part of the main control circuit of the focus equipment; or it can be integrated into the fixed equipment, communicate with the focus equipment, and be able to control the focus equipment; or it can be independent
- the electronic device communicates with the focusing device and is capable of controlling the focusing device.
- the specific form is not specifically limited here.
- Embodiments of the present application also provide a computer-readable storage medium, the computer-readable storage medium stores a computer program, the computer program includes program instructions, and the processor executes the program instructions to implement the above implementation The steps of any one of the methods for controlling the focus device provided by the example.
- the computer-readable storage medium may be an internal storage unit of the focus-following device described in any of the foregoing embodiments, such as a memory or a memory of the focus-following device.
- the computer-readable storage medium can also be an external storage device of the focus device, such as a plug-in hard disk equipped on the focus device, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital , SD) card, flash memory card (Flash Card), etc.
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Abstract
A control method for a follow focus device, and a device and a storage medium. The control method comprises: acquiring a rotation position of a rotation part of an electric motor of a follow focus device (S101); according to the rotation position, determining whether an operation component is rotated to a preset position (S102); and when the operation component is rotated to the preset position, controlling the rotation part of the electric motor to move and act on the operation component, so as to provide corresponding operation sensory feedback (S103).
Description
本申请涉及拍摄技术领域,尤其涉及一种跟焦设备、跟焦设备的控制方法、控制装置、跟焦系统、拍摄系统及存储介质。The present application relates to the technical field of photographing, and in particular to a focus focus device, a control method of the focus focus device, a control device, a focus focus system, a photographing system and a storage medium.
随着摄影技术的发展,人们对视频的拍摄质量和创意有了更高的要求,不仅希望可以拍摄出画质稳定、清晰和流畅的视频,还希望可以利用跟焦设备进行拍摄,以求拍摄的视频给人耳目一新的感官体验。然而现有的跟焦设备不能给用户较好的体验,比如跟焦设备没有限位功能和标记点提示功能,再比如有些跟焦设备虽然包括机械式限位,但是机械式限位操作不便,由此需要提供一种便于用户使用的跟焦设备。With the development of photography technology, people have higher requirements for the quality and creativity of video shooting. They not only hope to be able to shoot video with stable, clear and smooth quality, but also hope to be able to use follow-focus equipment to shoot, in order to shoot The video gives people a refreshing sensory experience. However, the existing follow-focus devices cannot give users a better experience. For example, the follow-focus devices do not have a limit function and a marker point prompt function. For example, although some follow-focus devices include mechanical limiters, the mechanical limiter is inconvenient to operate. Therefore, it is necessary to provide a follow-focus device that is convenient for users to use.
发明内容Contents of the invention
本申请的实施例供了一种跟焦设备、跟焦设备的控制方法、控制装置、跟焦系统、拍摄系统及存储介质,以提高用户的体验度。Embodiments of the present application provide a focus focus device, a control method for the focus focus device, a control device, a focus focus system, a photographing system, and a storage medium, so as to improve user experience.
第一方面,本申请实施例提供了一种跟焦设备,所述跟焦设备包括:In the first aspect, the embodiment of the present application provides a focus-following device, the focus-following device includes:
电机;motor;
操作部件,用于供用户操作而输入跟焦控制信号,所述操作部件与所述电机的转动部分机械耦合,并能够带动所述电机的转动部分一起转动;An operating part, used for the user to operate to input a focus control signal, the operating part is mechanically coupled with the rotating part of the motor, and can drive the rotating part of the motor to rotate together;
驱动电路,所述驱动电路与所述电机连接,用于驱动所述电机转动;a drive circuit, the drive circuit is connected to the motor and is used to drive the motor to rotate;
主控电路,所述主控电路与所述驱动电路连接,所述主控电路用于通过所述驱动电路控制所述电机的转动部分转动;A main control circuit, the main control circuit is connected to the drive circuit, and the main control circuit is used to control the rotation of the rotating part of the motor through the drive circuit;
其中,所述主控电路还用于:在所述操作部件转动到预设位置时,控制所述电机的转动部分运动并作用于所述操作部件,以提供相应的操作感反馈。Wherein, the main control circuit is further used for: when the operating part is rotated to a preset position, controlling the movement of the rotating part of the motor and acting on the operating part, so as to provide corresponding operating feedback.
此外,本申请实施例还提供另一种跟焦设备,所述跟焦设备包括:In addition, the embodiment of the present application also provides another focus-following device, which includes:
电机;motor;
操作部件,用于供用户操作而输入跟焦控制信号,所述操作部件与所述电机的转动部分机械耦合,并能够带动所述电机的转动部分一起转动;An operating part, used for the user to operate to input a focus control signal, the operating part is mechanically coupled with the rotating part of the motor, and can drive the rotating part of the motor to rotate together;
驱动电路,所述驱动电路与所述电机连接,用于驱动所述电机转动;a drive circuit, the drive circuit is connected to the motor and is used to drive the motor to rotate;
主控电路,所述主控电路与所述驱动电路连接,所述主控电路用于通过所述驱动电路控制所述电机的转动部分转动;A main control circuit, the main control circuit is connected to the drive circuit, and the main control circuit is used to control the rotation of the rotating part of the motor through the drive circuit;
设置装置,所述设置装置与所述主控电路连接,所述设置装置用于供用户设置所述操作部件的预设位置,所述预设位置对应有电机控制策略,所述电机控制策略用于控制所述电机的转动部分运动并作用于所述操作部件,以提供相应的操作感反馈。A setting device, the setting device is connected with the main control circuit, and the setting device is used for the user to set the preset position of the operating part, and the preset position corresponds to a motor control strategy, and the motor control strategy is used It is used to control the movement of the rotating part of the motor and act on the operating component to provide corresponding operating feedback.
第二方面,本申请实施例还提供了一种跟焦设备的控制方法,所述方法包括:In the second aspect, the embodiment of the present application also provides a method for controlling a focus device, the method including:
获取跟焦设备的电机的转动部分的转动位置,其中,所述跟焦设备包括电机和操作部件,所述操作部件用于供用户操作而输入跟焦控制信号,所述操作部件与所述电机的转动部分机械耦合;Acquiring the rotational position of the rotating part of the motor of the focus-following device, wherein the focus-following device includes a motor and an operating part, the operating part is used for user operation to input a focus control signal, and the operating part is connected to the motor The rotating part of the mechanical coupling;
根据所述转动位置确定所述操作部件是否转动到预设位置;determining whether the operating member is rotated to a preset position according to the rotational position;
在所述操作部件转动到预设位置时,控制所述电机的转动部分运动并作用于所述操作部件,以提供相应的操作感反馈。When the operating part rotates to a preset position, the rotating part of the motor is controlled to move and act on the operating part, so as to provide corresponding operating feedback.
第三方面,本申请实施例还提供了一种控制装置,所述控制装置包括存储器和处理器;In a third aspect, the embodiment of the present application further provides a control device, where the control device includes a memory and a processor;
所述存储器用于存储计算机程序;The memory is used to store computer programs;
所述处理器,用于执行所述计算机程序并在执行所述计算机程序时,实现本申请实施例提供的任一项所述的跟焦设备的控制方法。The processor is configured to execute the computer program and, when executing the computer program, implement the method for controlling the focus-following device described in any one of the embodiments of the present application.
第四方面,本申请实施例还提供了一种跟焦系统,所述跟焦系统包括:In the fourth aspect, the embodiment of the present application also provides a follow-focus system, the follow-focus system includes:
固定设备,所述固定设备用于搭载拍摄设备;Fixed equipment, the fixed equipment is used to carry shooting equipment;
本申请实施例提供的任一项所述的跟焦设备,所述跟焦设备设置于所述固定设备或者所述跟焦设备独立于所述固定设备设置,所述跟焦设备用于控制所述拍摄设备对拍摄对象进行跟焦拍摄。According to any one of the following focus devices provided in the embodiments of the present application, the follow focus device is set on the fixed device or the follow focus device is set independently from the fixed device, and the follow focus device is used to control all The photographing device performs follow-focus photography on the subject.
第五方面,本申请实施例还提供了一种拍摄系统,所述拍摄系统包括拍摄设备和本申请实施例提供的任一项所述的跟焦设备,所述跟焦设备用于控制所 述拍摄设备对拍摄对象进行跟焦拍摄。In the fifth aspect, the embodiment of the present application further provides a photographing system, the photographing system includes a photographing device and any one of the follow-focus devices provided in the embodiments of the present application, the follow-focus device is used to control the The photographing device performs follow-focus photography on the subject.
第六方面,本申请实施例还提供了一种计算机可读存储介质,所述计算机可读存储介质存储有计算机程序,所述计算机程序被处理器执行时使所述处理器实现如本申请实施例提供的任一项所述的跟焦设备的控制方法的步骤。In the sixth aspect, the embodiment of the present application also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor realizes the implementation of the present application. The steps of the method for controlling the focus device described in any one of the examples provided.
本申请实施例公开的跟焦设备的控制方法、跟焦设备、控制装置、跟焦系统、拍摄系统及存储介质,赋予了跟焦设备更多新的体验,比如软件限位功能和标记点提示功能等,由此可以提高用户对跟焦设备的操作体验感,进而也提高了用户的拍摄体验。The control method of the focus device, the focus device, the control device, the focus system, the shooting system and the storage medium disclosed in the embodiment of the present application endow the focus device with more new experiences, such as software limit function and marker point prompt Functions, etc., which can improve the user's sense of operating experience with the focus device, thereby improving the user's shooting experience.
应当理解的是,以上的一般描述和后文的细节描述仅是示例性和解释性的,并不能限制本申请。It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
为了更清楚地说明本申请实施例技术方案,下面将对实施例描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图是本申请的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。In order to illustrate the technical solutions of the embodiments of the present application more clearly, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application. Ordinary technicians can also obtain other drawings based on these drawings on the premise of not paying creative work.
图1是本申请实施例提供的一种跟焦设备的结构示意图;Fig. 1 is a schematic structural diagram of a follow-focus device provided by an embodiment of the present application;
图2是本申请实施例提供的一种跟焦设备的电路结构的示意图;Fig. 2 is a schematic diagram of a circuit structure of a follow-focus device provided by an embodiment of the present application;
图3是本申请实施例提供的跟焦设备的电机部分的结构示意图;Fig. 3 is a schematic structural diagram of the motor part of the focus device provided by the embodiment of the present application;
图4是图3沿A-A方向的截面结构示意图;Fig. 4 is a schematic cross-sectional structure diagram along the A-A direction of Fig. 3;
图5是本申请实施例提供的电机的闭环控制的原理示意图;5 is a schematic diagram of the principle of the closed-loop control of the motor provided by the embodiment of the present application;
图6是本申请实施例提供的模拟阻尼操作感的原理示意图;Fig. 6 is a schematic diagram of the principle of the simulated damping operation feeling provided by the embodiment of the present application;
图7是本申请实施例提供的输出限幅与电机速度对应关系的示意图;Fig. 7 is a schematic diagram of the corresponding relationship between the output limit and the motor speed provided by the embodiment of the present application;
图8是本申请实施例提供的预设位置对应的预设范围的示意图;FIG. 8 is a schematic diagram of a preset range corresponding to a preset position provided by an embodiment of the present application;
图9是本申请实施例提供的一种方波的示意图;Fig. 9 is a schematic diagram of a square wave provided by an embodiment of the present application;
图10是本申请实施例提供的另一种跟焦设备的电路结构的示意图;Fig. 10 is a schematic diagram of the circuit structure of another focus device provided by the embodiment of the present application;
图11a至图11c是本申请实施例提供的又一种跟焦设备的电路结构的示意图;11a to 11c are schematic diagrams of the circuit structure of another focus device provided by the embodiment of the present application;
图12a和图12b是本申请实施例提供的一种预设位置的示意图;Figure 12a and Figure 12b are schematic diagrams of a preset position provided by the embodiment of the present application;
图13是本申请实施例提供的另一种预设位置的示意图;Fig. 13 is a schematic diagram of another preset position provided by the embodiment of the present application;
图14a和图14b是本申请实施例提供的输出力矩为预设值的示意图;Fig. 14a and Fig. 14b are schematic diagrams in which the output torque provided by the embodiment of the present application is a preset value;
图15a和图15b是本申请实施例提供的一种设置界面的示意图;Figure 15a and Figure 15b are schematic diagrams of a setting interface provided by the embodiment of the present application;
图16-图19是本申请实施例提供的另一种设置界面的示意图;Figures 16-19 are schematic diagrams of another setting interface provided by the embodiment of the present application;
图20是本申请实施例提供的一种跟焦设备的控制方法的步骤示意流程图;Fig. 20 is a schematic flowchart of steps of a control method of a focus focus device provided by an embodiment of the present application;
图21是本申请实施例提供的一种控制装置的示意性框图。Fig. 21 is a schematic block diagram of a control device provided by an embodiment of the present application.
下面将结合本申请实施例中的附图,对本申请实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例是本申请一部分实施例,而不是全部的实施例。基于本申请中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本申请保护的范围。The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.
还应当理解,在此本申请说明书中所使用的术语仅仅是出于描述特定实施例的目的而并不意在限制本申请。如在本申请说明书和所附权利要求书中所使用的那样,除非上下文清楚地指明其它情况,否则单数形式的“一”、“一个”及“该”意在包括复数形式。It should also be understood that the terminology used in the specification of this application is for the purpose of describing particular embodiments only and is not intended to limit the application. As used in this specification and the appended claims, the singular forms "a", "an" and "the" are intended to include plural referents unless the context clearly dictates otherwise.
还应当进一步理解,在本申请说明书和所附权利要求书中使用的术语“和/或”是指相关联列出的项中的一个或多个的任何组合以及所有可能组合,并且包括这些组合。It should also be further understood that the term "and/or" used in the description of the present application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations .
附图中所示的流程图仅是示例说明,不是必须包括所有的内容和操作/步骤,也不是必须按所描述的顺序执行。例如,有的操作/步骤还可以分解、组合或部分合并,因此实际执行的顺序有可能根据实际情况改变。The flow charts shown in the drawings are just illustrations, and do not necessarily include all contents and operations/steps, nor must they be performed in the order described. For example, some operations/steps can be decomposed, combined or partly combined, so the actual order of execution may be changed according to the actual situation.
随着摄影技术的发展,人们对视频的拍摄质量和创意有了更高的要求,不仅希望可以拍摄出画质稳定、清晰和流畅的视频,还希望可以利用跟焦设备进行拍摄,跟焦设备可以控制拍摄设备对拍摄目标进行跟焦拍摄,由此可以拍摄出更高质量的视频。With the development of photography technology, people have higher requirements for the quality and creativity of video shooting. They not only hope to shoot videos with stable, clear and smooth quality, but also hope to use follow-focus equipment to shoot. Follow-focus equipment The shooting device can be controlled to shoot with focus on the shooting target, so that higher quality videos can be shot.
市面上已有的专业级别的跟焦设备有的没有限位功能,或者部分跟焦设备有限位功能,但是均为机械式限位,目前的机械式限位均包括两个机械式旋钮,可以手动拧松、调节机械式旋钮来调整限位位置。Some of the existing professional-level follow focus devices on the market have no limit function, or some follow focus devices have a limit function, but they are all mechanical limit. The current mechanical limit includes two mechanical knobs, which can Manually loosen and adjust the mechanical knob to adjust the limit position.
发明人发现:在用户使用跟焦设备进行实际拍摄中,由于跟焦拍摄控制的对象、拍摄模式、是否校准过限位等因素的差异,有时用户希望跟焦设备有限位功能,有时又希望跟焦设备没有限位功能,即在限位模式和非限位模式进行切换,有时又需要重新设置限位位置。然而现有的跟焦设备的机械限位无法满足用户的需求。The inventor found that: in the actual shooting of the user using the focus device, due to the differences in the object controlled by the focus shooting, the shooting mode, and whether the limit has been calibrated or not, sometimes the user wants the limit function of the focus device to be limited, and sometimes the user wishes to follow the focus device. The focus equipment does not have a limit function, that is, to switch between limit mode and non-limit mode, and sometimes it is necessary to reset the limit position. However, the mechanical limit of the existing focus equipment cannot meet the needs of users.
具体地,在跟焦设备处于限位模式时,一般跟焦设备的两个限位位置会与被控对象(比如相机)的两个限位位置对应,例如跟焦设备的两个限位位置对应拍摄设备的镜头变焦或跟焦的全行程,此时跟焦设备一般向被控对象推送绝对位置指令,例如限位1表示最小绝对位置值、限位2表示最大绝对位置值,在转到限位位置处时,机械式限位直接挡住操作部件的转动,该操作部件用于供用户操作而产生跟焦信号,比如在本领内也可以称为手柄或胶圈。Specifically, when the focus device is in the limit mode, generally the two limit positions of the focus device correspond to the two limit positions of the controlled object (such as a camera), for example, the two limit positions of the focus device Corresponds to the full travel of the lens zoom or follow focus of the shooting device. At this time, the follow focus device generally sends an absolute position command to the controlled object. For example, limit 1 indicates the minimum absolute position value, and limit 2 indicates the maximum absolute position value. When it is at the limit position, the mechanical limit directly blocks the rotation of the operating part, which is used for the user to operate to generate a focus signal, for example, it can also be called a handle or rubber ring in the art.
具体地,在跟焦设备处于非限位模式时,即当不需要用到跟焦设备的限位功能时,跟焦设备一般会向被控对象推送位置增量,即非限位模式操作部件可以转动多圈,不受两个限位位置的限定。Specifically, when the focus-following device is in the non-limit mode, that is, when the limit function of the focus-following device is not needed, the focus-following device generally pushes the position increment to the controlled object, that is, the operating part in the non-limit mode It can rotate multiple turns without being limited by two limit positions.
发明人还发现:在使用跟焦设备过程中,当用户想更换控制模式、拍摄不同片段时,其可能希望改变跟焦设备的限位范围,如果跟焦设备是机械式限位,需要手动设置限位旋钮来调节限位范围,因此设置过程麻烦且不够准确。The inventor also found that: in the process of using the focus device, when the user wants to change the control mode and shoot different clips, he may wish to change the limit range of the focus device. If the focus device is a mechanical limit, it needs to be manually set The limit knob is used to adjust the limit range, so the setting process is cumbersome and not accurate enough.
此外,发明人还发现:在一些特殊拍摄场景需要跟焦设备提醒用户到达某个特定位置,比如在拍摄时调节拍摄设备对拍摄对象进行对焦,当到达合焦位置时,可以提醒用户,让用户可以做到快速精准合焦。然而现有的跟焦设备却没有该标记点提示功能,也可以称为Marker点提示功能。In addition, the inventor also found that: in some special shooting scenes, the focus device needs to remind the user to reach a specific position. Fast and precise focus can be achieved. However, the existing follow-focus equipment does not have the marker point prompt function, which can also be called the Marker point prompt function.
为此,本申请的实施例提供了一种跟焦设备、跟焦设备的控制方法、控制装置、跟焦系统、拍摄系统及计算机可读存储介质,可以赋予跟焦设备更多新的功能,比如为软件限位功能和标记点提示功能,以提高用户的使用体验,进而提高用户的拍摄体验。To this end, the embodiments of the present application provide a follow-focus device, a control method for a focus-follow device, a control device, a focus-follow system, a photographing system, and a computer-readable storage medium, which can endow the focus-follow device with more new functions, For example, the software limit function and the marker point prompt function to improve the user's experience, and then improve the user's shooting experience.
需要说明的是,软件限位功能是相对上述机械式限位而言,该软件限位功能无需使用机械式旋钮也可以实现和机械式限位同样的功能,即通过软件程序控制的方式实现限位,由此方便用户可以从限位模式至非限位模式,或者从非限位模式至限位模式切换。It should be noted that the software limit function is relative to the above-mentioned mechanical limit. The software limit function can achieve the same function as the mechanical limit without using a mechanical knob, that is, the limit can be realized through software program control. position, so that the user can switch from limit mode to non-limit mode, or from non-limit mode to limit mode.
下面结合附图,对本申请的一些实施方式作详细说明。在不冲突的情况下, 下述的实施例及实施例中的特征可以相互组合。Some implementations of the present application will be described in detail below in conjunction with the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.
请参阅图1,图1示出了本申请实施例提供的跟焦设备100的结构,如图1所示,跟焦设备100包括遥控器10和跟焦器电机20,其中,遥控器10和跟焦器电机20通信连接,遥控器10用于控制跟焦器电机20转动,以驱动拍摄设备30的镜头运动,具体可以驱动拍摄设备30的对焦镜头运动,实现对拍摄目标的对焦以及也可以实现对拍摄目标的跟焦拍摄。Please refer to FIG. 1. FIG. 1 shows the structure of a follow-focus device 100 provided by an embodiment of the present application. As shown in FIG. The follow focus motor 20 is connected in communication, and the remote controller 10 is used to control the rotation of the follow focus motor 20 to drive the movement of the lens of the shooting device 30. Specifically, it can drive the movement of the focus lens of the shooting device 30 to achieve focusing on the shooting target and also can Realize the follow-focus shooting of the shooting target.
其中,遥控器10和跟焦器电机20通信连接,具体可例如为无线通信连接,当然也可以是有线通信连接。Wherein, the remote controller 10 and the follow focus motor 20 are connected in communication, for example, a wireless communication connection, or a wired communication connection of course.
需要说明的是,图1示出的遥控器10和跟焦器电机20,并不构成对跟焦设备100的具体结构形式的限定,即遥控器10和跟焦器电机20可以是分体设计,具体如图1所示,当然也可以为一体设计,该一体设计具体为遥控器10和跟焦器电机20设置在一起,比如设置可以同一壳体内或者固定在一起但可拆卸。It should be noted that the remote controller 10 and the follow focus motor 20 shown in FIG. 1 do not constitute a limitation on the specific structural form of the follow focus device 100, that is, the remote controller 10 and the follow focus motor 20 may be of separate design , specifically as shown in FIG. 1 , of course, it can also be designed as one. The integrated design is specifically that the remote control 10 and the follow focus motor 20 are set together. For example, they can be set in the same casing or fixed together but detachable.
当然,在一些实施例中,跟焦设备100也可以不包括跟焦器电机20,而是与跟焦器电机20通信连接以控制跟焦器电机20,即可以理解为跟焦器电机20是一个独立的设备。Of course, in some embodiments, the follow focus device 100 may not include the follow focus motor 20, but communicate with the follow focus motor 20 to control the follow focus motor 20, that is, it can be understood that the follow focus motor 20 is a standalone device.
跟焦器电机20包括齿轮21,该齿轮21用于和拍摄设备30上的跟焦环31齿合连接,跟焦环31固定设置拍摄设备30的镜头上。跟焦器电机20与齿轮21机械耦合连接以驱动齿轮21转动,齿轮21转动后带动跟焦环31转动,跟焦环31的转动会带动拍摄设备30的对焦镜头运动,从而实现对拍摄目标的跟焦拍摄或者对焦。The follow focus motor 20 includes a gear 21 , which is used to mesh with a focus ring 31 on the photographing device 30 , and the focus ring 31 is fixedly arranged on the lens of the photographing device 30 . The follow focus motor 20 is mechanically coupled with the gear 21 to drive the gear 21 to rotate. After the gear 21 rotates, it drives the follow focus ring 31 to rotate. The rotation of the follow focus ring 31 will drive the focus lens of the shooting device 30 to move, thereby realizing the focus on the shooting target. Follow the focus to shoot or focus.
在一些实施例中,拍摄设备30和跟焦器电机20均设置在固定设备上,其中,固定设备可以包括相机支架、机载云台或手持云台等。In some embodiments, both the photographing device 30 and the follow focus motor 20 are set on a fixed device, wherein the fixed device may include a camera bracket, an airborne gimbal or a handheld gimbal, and the like.
在一些实施例中,遥控器10可以独立于固定设备,在另一些实施例中,遥控器10也可以集成于固定设备,以方便用户操作,比如遥控器10可以集成于手持云台的手柄(握持部)。In some embodiments, the remote controller 10 can be independent of the fixed device. In other embodiments, the remote controller 10 can also be integrated into the fixed device to facilitate the user's operation. For example, the remote controller 10 can be integrated into the handle of the handheld pan/tilt ( grip).
示例性的,如图1所示,跟焦器电机20和拍摄设备30均可以设置在相机支架40上,相机支架40为固定设备一种,跟焦器电机20的齿轮21和拍摄设备30上的跟焦环31齿合连接,用于带动跟焦环31转动。Exemplarily, as shown in FIG. 1 , both the follow focus motor 20 and the shooting device 30 can be arranged on a camera bracket 40 , the camera bracket 40 is a kind of fixed device, and the gear 21 of the follow focus motor 20 and the shooting device 30 The follow focus ring 31 is meshed and connected, and is used to drive the follow focus ring 31 to rotate.
以下将以图1结合图2为例,详细介绍本申请提供的跟焦设备100的具体 结构和工作原理。The specific structure and working principle of the follow focus device 100 provided by the present application will be introduced in detail below by taking Fig. 1 in conjunction with Fig. 2 as an example.
参阅图1时请同时参阅图2,图2示出了跟焦设备100的电路结构。如图2所示,跟焦设备100包括操作部件11、电机12、驱动电路13和主控电路14,其中,该电机12包括转动部分(如转子)和线圈,具体为遥控器10包括操作部件11、电机12、驱动电路13和主控电路14。When referring to FIG. 1 , please refer to FIG. 2 at the same time. FIG. 2 shows the circuit structure of the focus device 100 . As shown in FIG. 2 , the follow-focus device 100 includes an operating part 11, a motor 12, a drive circuit 13 and a main control circuit 14, wherein the motor 12 includes a rotating part (such as a rotor) and a coil, and specifically the remote controller 10 includes an operating part 11. Motor 12, drive circuit 13 and main control circuit 14.
操作部件11用于供用户操作而输入跟焦控制信号,比如用户转动该操作部件11时生成跟焦控制信号,遥控器10可根据该跟焦控制信号通过跟焦器电机20驱动拍摄设备30的镜头运动实现跟焦。The operating part 11 is used for the user to operate and input the focus control signal, for example, when the user rotates the operating part 11, the focus control signal is generated, and the remote controller 10 can drive the camera device 30 through the focus motor 20 according to the focus control signal. Lens movement achieves focus.
操作部件11与电机12的转动部分(如转子)机械耦合,并能够带动电机12的转动部分一起转动,并给电机12一个力矩,由此可以通过电机12检测到用户操作该操作部件11,同时电机12的转动部分在转动时也会驱动操作部件11运动,由此通过操作部件11给用户提供反馈。The operating part 11 is mechanically coupled with the rotating part (such as the rotor) of the motor 12, and can drive the rotating part of the motor 12 to rotate together, and give the motor 12 a torque, so that the user can detect the operating part 11 through the motor 12, and at the same time When the rotating part of the motor 12 rotates, it will also drive the operation part 11 to move, thereby providing feedback to the user through the operation part 11 .
示例性的,在本申请的实施例中,电机12的转动部分在转动时也会驱动操作部件11运动,可以模拟出相应的操作感反馈至该操作部件11,操作感可以包括阻尼操作感,当然还可包括其他类型的操作感,比如回弹操作感和振动操作感等,在此不做限定。Exemplarily, in the embodiment of the present application, the rotating part of the motor 12 will also drive the operation part 11 to move when it rotates, and the corresponding operation feeling can be simulated and fed back to the operation part 11. The operation feeling can include a damping operation feeling, Certainly, other types of operation senses may also be included, such as rebound operation sense and vibration operation sense, etc., which are not limited here.
在一些实施例中,具体如图1、图3或图4所示,操作部件11比如为胶圈110,该胶圈110与电机12的转动部分机械耦合,比如通过轴连接或通过齿轮连接等,当用户转动该胶圈110时,胶圈110能够带动电机12的转动部分一起转动,同时电机12的转动部分在转动时也会带动胶圈110进行运动。In some embodiments, as specifically shown in FIG. 1 , FIG. 3 or FIG. 4 , the operating component 11 is, for example, an apron 110, which is mechanically coupled with the rotating part of the motor 12, such as through a shaft connection or through a gear connection, etc. , when the user rotates the apron 110, the apron 110 can drive the rotating part of the motor 12 to rotate together, and at the same time, the rotating part of the motor 12 will also drive the apron 110 to move.
在一些实施例中,跟焦设备100的操作部件11还可以设有阻尼脂,该阻尼脂用于提供阻尼操作感,利用该阻尼脂实现阻尼操作感,可以不用跟焦设备100的电机12来模拟该阻尼操作感。In some embodiments, the operating part 11 of the focus device 100 can also be provided with damping grease, which is used to provide a damping operation feeling, and the damping grease can be used to realize the damping operation feeling without using the motor 12 of the focus device 100. Simulates the feel of this damped operation.
在一些实施例中,如图3和图4所示,该遥控器10还包括电路板15,该电路板15上设置有驱动电路13和/或主控电路14。具体地,可以将驱动电路13设置在电路板15上,同时电路板15还可以设置位置传感器,比如设置霍尔传感器160,配合设置在电机12上的磁环16,检测电机12的转动部分的角度位置信息,即电机的转动位置。In some embodiments, as shown in FIG. 3 and FIG. 4 , the remote controller 10 further includes a circuit board 15 on which a driving circuit 13 and/or a main control circuit 14 are disposed. Specifically, the drive circuit 13 can be arranged on the circuit board 15, and the circuit board 15 can also be provided with a position sensor, such as a Hall sensor 160, which cooperates with the magnetic ring 16 arranged on the motor 12 to detect the position of the rotating part of the motor 12. Angular position information, that is, the rotational position of the motor.
电机12可以包括永磁同步电机或直流电机,当然也可以是其他类型的电机,在此不做限定。如图4所示,电机12包括转动部分121和线圈122。The motor 12 may include a permanent magnet synchronous motor or a DC motor, and of course may also be other types of motors, which are not limited here. As shown in FIG. 4 , the motor 12 includes a rotating part 121 and a coil 122 .
驱动电路13与电机12连接,用于驱动电机12的转动部分121转动,该驱动电路13具体可以采用三相逆变桥电路,通过PWM信号驱动电机12的转动部分121换相转动。The driving circuit 13 is connected with the motor 12 to drive the rotating part 121 of the motor 12 to rotate. Specifically, the driving circuit 13 can adopt a three-phase inverter bridge circuit, and drive the rotating part 121 of the motor 12 to rotate through PWM signals.
主控电路14与驱动电路13连接,用于根据电机12的转动部分121的角度位置信息和电机12的线圈122的电参数,完成对电机12的输出力矩控制以及目标闭环控制,主控电路14可以包括处理器和存储器,电机12的线圈的电参数包括电流和/或电压。The main control circuit 14 is connected with the drive circuit 13, and is used to complete the output torque control and target closed-loop control of the motor 12 according to the angular position information of the rotating part 121 of the motor 12 and the electrical parameters of the coil 122 of the motor 12. The main control circuit 14 A processor and memory may be included, and the electrical parameters of the coils of the motor 12 include current and/or voltage.
在一些实施例中,还可以在拍摄设备30设置测距装置,用于测量拍摄目标至拍摄设备30的距离,当然也可以将测距装置设置其他位置,比如将测距装置设置在相机支架40上。In some embodiments, a distance measuring device can also be set on the shooting device 30 for measuring the distance from the shooting target to the shooting device 30. Of course, the distance measuring device can also be set at other positions, such as setting the distance measuring device on the camera bracket 40 superior.
拍摄设备30的镜头与跟焦器电机20耦合,跟焦器电机20用于驱动拍摄设备30的镜头转动,以使得拍摄设备30采用手动跟焦模式或自动跟焦模式进行拍摄,其中,在拍摄设备30采用自动跟焦模式进行拍摄时,跟焦器电机20与测距装置通信连接,测距装置用于测量拍摄目标至拍摄设备的距离,该距离用于实现自动跟焦拍摄。The lens of the photographing device 30 is coupled to the follow focus motor 20, and the follow focus motor 20 is used to drive the lens of the photographing device 30 to rotate, so that the photographing device 30 adopts a manual follow focus mode or an automatic follow focus mode to perform photographing, wherein, during the photographing When the device 30 adopts the automatic focus mode to shoot, the follow focus motor 20 communicates with the distance measuring device, and the distance measure device is used to measure the distance from the shooting target to the shooting device, and the distance is used to realize automatic focus shooting.
在一些实施例中,测距装置具体可以例如为TOF传感器,当然也可以为其它,比如激光测距装置或双目相机等。In some embodiments, the distance measuring device may specifically be, for example, a TOF sensor, and of course it may also be other, such as a laser distance measuring device or a binocular camera.
在本申请的实施例中,如图5所示,可以根据目标参数控制跟焦设备100的电机12按照目标闭环运行。具体地,该目标闭环包括位置闭环和速度闭环中的至少一种,相应地目标参数包括目标位置和目标速度等,该目标闭环用于实现本申请提供的跟焦结合模式,也可以称为AMF模式,此外不同的目标闭环还可以用于模拟不同类型的操作感,不同类型的操作感对应不同的电机控制策略。In the embodiment of the present application, as shown in FIG. 5 , the motor 12 of the focus-following device 100 can be controlled to operate in a closed-loop manner according to the target parameters. Specifically, the target closed loop includes at least one of a position closed loop and a velocity closed loop, and corresponding target parameters include target position and target velocity, etc., and the target closed loop is used to realize the follow-focus combination mode provided by this application, which can also be called AMF In addition, different target closed-loops can also be used to simulate different types of operation senses, and different types of operation senses correspond to different motor control strategies.
需要说明的是,基于上述介绍的跟焦设备,本申请的实施例提供的三种跟焦模式,分别为:手动跟焦模式、自动跟焦模式和跟焦结合模式。It should be noted that, based on the focus device described above, the embodiments of the present application provide three focus modes, namely: manual focus mode, automatic focus mode and combined focus mode.
手动跟焦模式是指需要用户手动操作的跟焦模式,比如用户转动遥控器10的胶圈110,遥控器10根据胶圈110转动的角度位置信息控制跟焦器电机20驱动拍摄设备30的镜头运动而实现跟焦拍摄方式,或者是用户直接操作拍摄设备30的变焦环控制镜头移动而实现的跟焦拍摄方式。The manual follow focus mode refers to the follow focus mode that requires manual operation by the user. For example, the user rotates the rubber ring 110 of the remote control 10, and the remote control 10 controls the follow focus motor 20 to drive the lens of the shooting device 30 according to the angle position information of the rotation of the rubber ring 110. The follow-focus shooting mode is realized by moving, or the user directly operates the zoom ring of the shooting device 30 to control the movement of the lens to realize the follow-focus shooting mode.
自动跟焦模式是指跟焦设备100根据拍摄目标的距离驱动拍摄设备30的镜 头移动,实现对拍摄目标的跟焦拍摄方式;或者也可以是指根据拍摄设备30拍摄的图像驱动其内部的镜头移动,实现对拍摄目标的跟焦拍摄方式,即拍摄设备30内包括电机(马达),该电机(马达)与拍摄设备30的对焦镜头耦合连接,以便实现自动对焦。The automatic focus mode means that the follow-focus device 100 drives the lens of the shooting device 30 to move according to the distance of the shooting target, so as to realize the follow-focus shooting mode of the shooting target; or it can also refer to driving the internal lens of the shooting device 30 according to the image captured by the shooting device 30 Move to realize the follow-focus shooting mode of the shooting target, that is, the shooting device 30 includes a motor (motor), and the motor (motor) is coupled with the focusing lens of the shooting device 30 so as to realize automatic focusing.
跟焦结合模式是指在手动跟焦模式停止时自动采用自动跟焦模式,或者所述自动跟焦模式的执行过程中允许执行所述手动跟焦模式的跟焦模式。The follow-focus combined mode refers to automatically adopting the automatic follow-focus mode when the manual follow-focus mode stops, or a follow-focus mode that allows the manual follow-focus mode to be executed during the execution of the automatic follow-focus mode.
在一些实施例中,本申请提供的跟焦设备的三种目标跟焦模式,可以由用户自主选择使用哪一种模式,比如用户选择了自动跟焦模式,则采用自动跟焦模式控制拍摄设备进行跟焦拍摄,再比如用户选择了跟焦结合模式,则采用跟焦结合模式控制拍摄设备进行跟焦拍摄。In some embodiments, among the three target focus modes of the focus device provided in this application, the user can choose which mode to use independently. For example, if the user selects the automatic focus mode, the automatic focus mode is used to control the shooting device. For follow-focus shooting, for example, if the user selects the follow-focus combination mode, then the follow-focus combination mode is used to control the shooting device to perform follow-focus shooting.
具体地,可以获取跟焦模式的选择指令,跟焦模式包括跟焦结合模式、自动跟焦模式和手动跟焦模式,根据选择指令在三种跟焦模式中选择目标跟焦模式,以使得拍摄设备30采用目标跟焦模式进行拍摄。Specifically, the selection instruction of the focus mode can be obtained, and the focus mode includes the focus combination mode, the automatic focus mode and the manual focus mode, and the target follow focus mode is selected among the three follow focus modes according to the selection instruction, so that the shooting The device 30 adopts the target focus mode for shooting.
示例性的,可以在跟焦设备100上设置模式选择按键,根据用户对该模式选择按键的操作从三种跟焦模式中确定目标跟焦模式。或者跟焦设备100包括触控显示屏,在该触控显示屏上显示该三种模式以供用户选择,进而生成相应的跟焦模式的选择指令。Exemplarily, a mode selection button may be set on the focus focus device 100 , and a target focus focus mode is determined from three focus focus modes according to the operation of the mode selection button by the user. Alternatively, the focus focus device 100 includes a touch display screen, on which the three modes are displayed for selection by the user, and then a selection instruction of a corresponding focus focus mode is generated.
此外,不同的目标闭环还可以用于模拟不同类型的操作感,不同类型的操作感对应不同的电机控制策略,示例性的,如表1所示,不同类型的操作感可以包括阻尼操作感、波轮操作感或回弹操作感,其中,速度闭环用于模拟阻尼操作感,位置闭环用于模拟波轮操作感和回弹操作感。In addition, different target closed-loops can also be used to simulate different types of operating senses, and different types of operating senses correspond to different motor control strategies. For example, as shown in Table 1, different types of operating senses can include damping operating senses, The operation feeling of the pulsator or the rebound operation feeling, wherein, the speed closed loop is used to simulate the damping operation feeling, and the position closed loop is used to simulate the pulsator operation feeling and the rebound operation feeling.
表1为不同类型的操作感对应不同的电机控制策略Table 1 shows that different types of operation sense correspond to different motor control strategies
操作感的类型Type of manipulation | 目标闭环target closed loop | 电机控制策略Motor Control Strategy |
阻尼操作感Damping operation feeling | 速度闭环speed closed loop | 电机控制策略ⅠMotor Control Strategy I |
波轮操作感Wave wheel operation feeling | 位置闭环Position closed loop | 电机控制策略ⅡMotor Control Strategy II |
回弹操作感Rebound sense of operation | 位置闭环Position closed loop | 电机控制策略ⅢMotor Control Strategy III |
振动操作感Vibration sense of operation | // | 电机控制策略ⅣMotor Control Strategy IV |
在表1中,阻尼操作感对应速度闭环,即速度闭环用于实现阻尼操作感的反馈,模拟波轮操作感和回弹操作感对应位置闭环,即位置闭环用于模拟波轮 操作感和回弹操作感。虽然模拟波轮操作感和回弹操作感均对应位置闭环,但是对应的电机控制策略却不同。In Table 1, the damping operation sense corresponds to the speed closed loop, that is, the speed closed loop is used to realize the feedback of the damping operation sense, and the simulated pulsator operation sense and rebound operation sense correspond to the position closed loop, that is, the position closed loop is used to simulate the pulsator operation sense and rebound Play the sense of operation. Although the analog pulsator operation sense and the rebound operation sense both correspond to the position closed loop, but the corresponding motor control strategies are different.
需要说明的是,表1中振动操作感与目标闭环无关,即振动操作感对应的电机控制策略Ⅳ与目标闭环无关,按照电机控制策略Ⅳ控制电机运行时,电机可以按照目标闭环运行,也不按照目标闭环运行,表1中的“/”表示与目标闭环无关。It should be noted that the vibration operation sense in Table 1 has nothing to do with the target closed-loop, that is, the motor control strategy IV corresponding to the vibration operation sense has nothing to do with the target closed-loop. Run according to the target closed-loop, "/" in Table 1 indicates that it has nothing to do with the target closed-loop.
具体地,可以将表1存储在跟焦设备的存储器中,以便在确定需要模拟的操作感之后,查询该表以确定该需要模拟的操作感对应的电机控制策略。Specifically, Table 1 may be stored in the memory of the focus-focusing device, so that after the operation feeling that needs to be simulated is determined, the table is queried to determine the motor control strategy corresponding to the operation feeling that needs to be simulated.
在完成对电机12的输出力矩控制后,主控电路14还用于:确定需要模拟的操作感,基于需要模拟的操作感对应的电机控制策略控制电机12运行,以提供相应的操作感反馈。After the output torque control of the motor 12 is completed, the main control circuit 14 is also used to: determine the operation feeling that needs to be simulated, and control the operation of the motor 12 based on the motor control strategy corresponding to the operation feeling that needs to be simulated, so as to provide corresponding operation feeling feedback.
示例性的,比如确定需要模拟的操作感为阻尼操作感,则基于阻尼操作感对应的电机控制策略Ⅰ控制电机12运行,进而提供相应的阻尼操作感反馈;再比如确定需要模拟的操作感为回弹操作感,则基于回弹操作感对应的电机控制策略Ⅲ控制电机12运行,进而提供相应的回弹操作感反馈。Exemplarily, for example, if it is determined that the operation feeling that needs to be simulated is a damping operation feeling, then the motor 12 is controlled to run based on the motor control strategy I corresponding to the damping operation feeling, and then the corresponding damping operation feeling feedback is provided; another example is determined that the operation feeling that needs to be simulated is The rebound operation sense is based on the motor control strategy III corresponding to the rebound operation sense to control the operation of the motor 12, and then provide the corresponding rebound operation sense feedback.
基于需要模拟的操作感对应的电机控制策略控制电机12运行,具体可以控制电机12按照需要模拟的操作感对应的目标闭环运行,确定目标参数并将所述目标输入至所述目标闭环进行闭环调节,以提供相应的操作感反馈。The operation of the motor 12 is controlled based on the motor control strategy corresponding to the sense of operation that needs to be simulated. Specifically, the motor 12 can be controlled to run according to the target closed-loop operation corresponding to the sense of operation that needs to be simulated, and the target parameters are determined and the target is input into the target closed-loop for closed-loop adjustment. , to provide corresponding operational feedback.
示例性的,如图5所示,比如确定需要模拟的操作感为阻尼操作感,则可以控制电机按照速度闭环运行,以及确定目标速度将目标速度输入至速度闭环进行闭环调节,进而提供阻尼操作感反馈;再比如,确定需要模拟的操作感为回弹操作感,则可以控制电机按照位置闭环上,以及确定目标位置将目标位置输入至位置闭环进行闭环调节,进而提供回弹操作感反馈。Exemplarily, as shown in Figure 5, for example, if it is determined that the operation feeling that needs to be simulated is a damping operation feeling, the motor can be controlled to run according to the speed closed loop, and the target speed can be determined, and the target speed can be input into the speed closed loop for closed-loop adjustment, thereby providing damping operation Feeling feedback; for another example, if it is determined that the operating feeling to be simulated is the rebounding operating sense, the motor can be controlled to enter the position closed loop, and the target position can be determined to input the target position to the position closed loop for closed-loop adjustment, thereby providing rebounding operating sense feedback.
在一些实施例中,主控电路14在完成对电机12的输出力矩控制时,具体可以用于:根据转动部分121的角度位置信息和线圈122的电流,实现对电机12的电流闭环控制,进而完成对电机12的输出力矩控制。并且电机12的线圈122的电流与所述输出力矩呈线性关系,即电机的电流越大,其输出力矩就越大,由此可以方便调节同一类型操作感的力度大小,以满足不同用户的需要,进而解决不同用户的差异性需求,由此提高了用户的体验度。In some embodiments, when the main control circuit 14 completes the output torque control of the motor 12, it can be specifically used to: realize the current closed-loop control of the motor 12 according to the angle position information of the rotating part 121 and the current of the coil 122, and then The output torque control of the motor 12 is completed. And the current of the coil 122 of the motor 12 has a linear relationship with the output torque, that is, the greater the current of the motor, the greater the output torque, so that the intensity of the same type of operation feeling can be easily adjusted to meet the needs of different users , and then solve the different needs of different users, thereby improving the user experience.
确定需要模拟的操作感,具体可以根据检测到被操作的操作部件确定,比 如当检测到用户操作胶圈110时,确定需要模拟的操作感为阻尼操作感;再比如当检测到用户操作回弹部件时,确定需要模拟的操作感为回弹操作感。当然,确定需要模拟的操作感,也可以根据用户选择的操作感的类型确定。Determine the operation feeling that needs to be simulated, which can be determined according to the detected operating parts. For example, when it is detected that the user operates the rubber ring 110, it is determined that the operation feeling that needs to be simulated is a damping operation feeling; another example is when it is detected that the user operates a rebound When creating a component, determine that the operating feeling that needs to be simulated is the rebound operating feeling. Of course, the determination of the operation feeling that needs to be simulated may also be determined according to the type of operation feeling selected by the user.
本申请实施例提供的跟焦设备,可以通过在不同的目标闭环上控制电机运行相应的电机控制策略模拟出对应的操作感,进而提供不同的操作感反馈,比如提供阻尼操作感、波轮操作感和回弹操作感等,通过电机模拟不同的操作感,可以不受环境因素的影响,进而提高了用户体验。The focus device provided by the embodiment of the present application can simulate the corresponding operation feeling by controlling the corresponding motor control strategy on different target closed loops, and then provide different operation feeling feedback, such as providing damping operation feeling, pulsator operation Feel and rebound operation sense, etc., through the motor to simulate different operation sense, it can not be affected by environmental factors, thereby improving the user experience.
以下将结合附图介绍本申请实施例提供的四种操作感的具体控制策略,即阻尼操作感对应的电机控制策略、波轮操作感对应的电机控制策略、回弹操作感对应的电机控制策略以及振动操作感对应的电机控制策略。The following will introduce the specific control strategies of the four operating senses provided by the embodiments of the present application in conjunction with the accompanying drawings, namely, the motor control strategy corresponding to the damping operating sense, the motor control strategy corresponding to the pulsator operating sense, and the motor control strategy corresponding to the rebound operating sense And the motor control strategy corresponding to the vibration operation feeling.
在一些实施例中,若需要模拟的操作感为阻尼操作感,对应的电机控制策略Ⅰ为:控制电机12按照速度闭环运行,将目标速度设置为零并输入至速度闭环,以使电机12根据目标速度进行速度闭环调节,进而提供阻尼操作感反馈。In some embodiments, if the simulated operating feeling is a damping operating feeling, the corresponding motor control strategy I is: control the motor 12 to run according to the closed-loop speed, set the target speed to zero and input it to the closed-loop speed, so that the motor 12 according to The target speed is adjusted in a closed-loop speed loop to provide damping operation feedback.
在具体应用中,若需要模拟的操作感为阻尼操作感,操作部件具体可以为转动部件,该转动部件与电机12的转动部分机械耦合连接,在用户操作该转动部件时,主控电路14控制电机运行电机控制策略Ⅰ以模拟阻尼操作感并反馈至该转动部件,以使用户感受到阻尼手感。In a specific application, if the simulated operation feeling is a damping operation feeling, the operating part may specifically be a rotating part, and the rotating part is mechanically coupled with the rotating part of the motor 12. When the user operates the rotating part, the main control circuit 14 controls the The motor runs the motor control strategy I to simulate the damping operation feeling and feeds back to the rotating part so that the user can feel the damping feel.
在一些实施例中,转动部件具体可以为胶圈110,该胶圈110用于调节镜头的焦距,该胶圈110与电机12的转动部分121可以通过齿合等方式,实现带动电机12的转动部分121一起转动。转动部件也可以为其他实现转动功能调节的部件,在此不做限定。In some embodiments, the rotating part can specifically be the apron 110, which is used to adjust the focal length of the lens, and the apron 110 and the rotating part 121 of the motor 12 can drive the rotation of the motor 12 through gearing or other means. Parts 121 rotate together. The rotating component can also be other components that realize the adjustment of the rotating function, which is not limited here.
示例性的,如图6所示,以胶圈110为例介绍阻尼操作感,当用户扭转胶圈110时,比如用户扭转方向为逆时针方向,由于胶圈110与电机12的转动部分121机械耦合连接,因此胶圈110会带动电机12的转动部分121转动,比如也是按照逆时针转动,控制电机12按照速度闭环运行,并将为零的目标速度输入至该速度闭环,电机12根据该目标速度进行速度闭环调节,由于目标速度为零,胶圈110逆时针转动(正向转动),速度闭环误差为负,电机会根据正向转速输出反向转矩,即会使电机12的转动部分121向反方向(顺时针方向)转动,阻碍用户扭转胶圈110,由此可以提供阻尼操作感反馈至胶圈110。Exemplarily, as shown in FIG. 6 , the apron 110 is used as an example to introduce the damping operation feeling. When the user twists the apron 110 , for example, the direction of the user’s twist is counterclockwise, since the apron 110 and the rotating part 121 of the motor 12 are mechanically Coupling connection, so the rubber ring 110 will drive the rotating part 121 of the motor 12 to rotate, for example, it also rotates counterclockwise, and the motor 12 is controlled to run according to the closed-loop speed, and the target speed of zero is input into the closed-loop speed, and the motor 12 is controlled according to the target speed. The speed is adjusted in a closed-loop speed. Since the target speed is zero, the apron 110 rotates counterclockwise (forward rotation), and the speed closed-loop error is negative. The motor will output a reverse torque according to the positive rotation speed, which will make the rotating part of the motor 12 121 rotates in the opposite direction (clockwise direction), preventing the user from twisting the apron 110 , thereby providing damping operation feedback to the apron 110 .
同理,胶圈110顺时针转动(反向转动),速度闭环误差为正,电机会根 据反向转速输出正向转矩,即会使电机12的转动部分121向反方向(逆时针方向)转动,阻碍用户扭转胶圈110,使得用户感受到阻尼手感。由于是使用电机模拟的阻尼操作感,因此不会受温度等环境因素的影响,进而提高了用户的体验。Similarly, if the rubber ring 110 rotates clockwise (reverse rotation), the speed closed-loop error is positive, and the motor will output a positive torque according to the reverse rotation speed, that is, the rotating part 121 of the motor 12 will rotate in the opposite direction (counterclockwise direction) The rotation prevents the user from twisting the rubber ring 110, so that the user feels a damping feel. Due to the damping operation feeling simulated by the motor, it will not be affected by environmental factors such as temperature, thereby improving the user experience.
在一些实施例中,为了使得模拟的阻尼操作感更加真实,以提高用户的体验度。在提供阻尼操作感反馈时,电机12的转速与电机12的输出力矩呈正相关关系,且所述输出力矩不大于预设阈值。In some embodiments, in order to make the simulated damping operation feel more realistic, so as to improve user experience. When providing damping operation feedback, the rotational speed of the motor 12 is positively correlated with the output torque of the motor 12, and the output torque is not greater than a preset threshold.
电机12的转速越快表示用户扭转的速度愉快,由于电机12的转速与电机12的输出力矩呈正相关关系,因此电机12的转速快,电机12的输出力矩就越大,因此对应的阻力就越大,阻尼操作感就越强烈,因此会使得阻尼操作感更加真实。The faster the rotation speed of the motor 12 means that the user is happy with the twisting speed. Since the rotation speed of the motor 12 is positively correlated with the output torque of the motor 12, the faster the rotation speed of the motor 12, the greater the output torque of the motor 12, so the corresponding resistance is greater. The larger the value, the stronger the damping operation feeling, which will make the damping operation feel more realistic.
示例性的,如图7所示,扭转时阻尼感不可能一直增大,因此限定输出力矩不大于预设阈值A
0,即在电机速度到达一定值V
0时,输出力矩不再随着速度增加而增加。
Exemplarily, as shown in Fig. 7, the damping sense cannot increase all the time when twisting, so the output torque is limited not to exceed the preset threshold A 0 , that is, when the motor speed reaches a certain value V 0 , the output torque no longer increases with the speed increase and increase.
在一些实施例中,若需要模拟的操作感为波轮操作感,对应的电机控制策略Ⅱ为:控制电机12按照位置闭环运行,获取电机12的转动部分121的当前位置,根据当前位置确定目标档位位置,并将确定的目标档位位置作为目标位置输入至位置闭环,以使电机12根据目标位置进行位置闭环调节,进而提供波轮操作感反馈。In some embodiments, if the operation feeling to be simulated is a pulsator operation feeling, the corresponding motor control strategy II is: control the motor 12 to operate in a closed-loop position, obtain the current position of the rotating part 121 of the motor 12, and determine the target according to the current position gear position, and input the determined target gear position as the target position into the position closed loop, so that the motor 12 can perform position closed-loop adjustment according to the target position, and then provide feedback of the pulsator operation feeling.
示例性的,在模拟的操作感为波轮操作感时,操作部件具体可以为旋钮部件,比如图1中旋钮111,该旋钮111与电机12的转动部分121连接,具体为轴连接,以在旋转部件转动时,带动电机12的转动部分11一起转动;当用户操作该旋钮部件时,主控电路14控制电机12运行模拟波轮操作感并反馈至该旋钮部件。Exemplarily, when the simulated operating feeling is a pulsator operating feeling, the operating component may specifically be a knob component, such as the knob 111 in FIG. When the rotating part rotates, it drives the rotating part 11 of the motor 12 to rotate together; when the user operates the knob part, the main control circuit 14 controls the motor 12 to run to simulate the operation feeling of the pulsator and feeds back to the knob part.
比如,旋钮111对应不同的档位功能,具体地为六个档位功能,分别为档位Ⅰ、档位Ⅱ、档位Ⅲ、档位Ⅳ、档位Ⅴ和档位Ⅵ,不同档位具有不同功能,以便用户通过旋转该旋钮111选择对应的档位功能,在用户旋转该旋钮111时,需要模拟波轮操作感反馈给用户,以使用户感受到旋转到某个具体的档位。For example, the knob 111 corresponds to different gear functions, specifically six gear functions, namely gear I, gear II, gear III, gear IV, gear V and gear VI, and different gears have Different functions, so that the user can select the corresponding gear function by rotating the knob 111. When the user rotates the knob 111, it is necessary to simulate the operation feeling of the pulsator to feed back to the user, so that the user can feel the rotation to a specific gear.
由于,将目标档位位置作为目标位置输入至位置闭环,以使电机12根据目标位置进行位置闭环调节,进而使得用户在旋转旋钮111的过程中,会有齿槽 转矩的手感,即波轮操作感。Because the target gear position is input into the position closed loop as the target position, so that the motor 12 can perform position closed loop adjustment according to the target position, so that the user can feel the cogging torque in the process of rotating the knob 111, that is, the pulsator operational sense.
需要说明的是,波轮操作感在实际应用中,比如可以应用于通过旋钮部件选择相应的菜单选项,不同的菜单选项对应不同的功能,比如选择不同的拍摄模式,或者,选择不同拍照亮度大小。It should be noted that in practical applications, the wave wheel operation sense can be applied to select the corresponding menu option through the knob part, and different menu options correspond to different functions, such as selecting different shooting modes, or selecting different photo brightness levels .
在一些实施例中,若需要模拟的操作感为回弹操作感,对应的电机控制策略Ⅲ为:控制电机12按照位置闭环运行,将零位位置作为目标位置输入至位置闭环,以使电机12根据目标位置进行位置闭环调节,进而提供回弹操作感反馈;其中,零位位置为参数调节范围的中间位置。In some embodiments, if the operation feeling to be simulated is a rebound operation feeling, the corresponding motor control strategy III is: control the motor 12 to run in a position closed loop, and input the zero position as the target position to the position closed loop, so that the motor 12 According to the target position, the closed-loop adjustment of the position is performed, and then the feedback of the rebound operation feeling is provided; the zero position is the middle position of the parameter adjustment range.
对于回弹操作感,操作部件包括回弹部件,该回弹部件与电机12的转动部分121连接,具体可以通过机械耦合连接,该机械耦合连接可以为用于实现摆动的连接结构等,比如为曲柄连杆机构。其中,在所述回弹部件被操作时,所述主控电路控制所述电机运行模拟回弹操作感并反馈至所述回弹部件。For the sense of rebound operation, the operating components include a rebound component, which is connected to the rotating part 121 of the motor 12, specifically, it can be connected through a mechanical coupling, and the mechanical coupling connection can be a connection structure for realizing swing, for example, Crank Mechanism. Wherein, when the resilience component is operated, the main control circuit controls the motor to run to simulate the rebound operation feeling and feeds back to the resilience component.
示例性的,该回弹部件比如可以为摇杆。现有的摇杆的回弹操作感多数是由弹簧实现的,而弹簧随着使用时间增加,其弹力会逐渐变弱,进而影响回弹操作感。Exemplarily, the resilient component may be, for example, a rocker. Most of the rebounding operation feeling of the existing rocker is realized by the spring, and the elastic force of the spring will gradually become weaker as the use time increases, thereby affecting the rebounding operation feeling.
参数调节范围可以摇杆在某一个方向上达到的范围,比如在水平方向上摇杆左右所能达到的位置,再比如在竖直方向上摇杆上下所能达到的范围。The parameter adjustment range can be the range that the joystick can reach in a certain direction, such as the position that the joystick can reach left and right in the horizontal direction, or the range that the joystick can reach up and down in the vertical direction.
可以理解的是,对于回弹操作感中的回弹部件也可以是图1或图4中胶圈110,当用户转动该胶圈110到达或超过某个位置时,控制电机12按照位置闭环运行,将该位置对应的电机的转动部分的角度位置信息作为目标位置输入至位置闭环,以使电机12根据该目标位置进行位置闭环调节,进而提供回弹操作感反馈,以提示用户胶圈110已转动到或超过某个位置。It can be understood that the rebound component in the rebound operation sense can also be the rubber ring 110 in Figure 1 or Figure 4, when the user rotates the rubber ring 110 to reach or exceed a certain position, the control motor 12 operates in a closed loop according to the position Input the angular position information of the rotating part of the motor corresponding to the position as the target position into the position closed loop, so that the motor 12 can perform position closed-loop adjustment according to the target position, and then provide rebound operation feedback to remind the user that the apron 110 has Turn to or beyond a certain position.
在一些实施例中,为了使得模拟的回弹操作感更加真实,以提高用户的体验度,在提供回弹操作感反馈时,可以限定所述角度位置信息与所述电机的输出力矩呈正相关关系,且所述输出力矩不大于预设阈值。即角度位置信息偏离中间位置越大,对应的电机的输出力矩就越大,对应的回弹操作感就越强,因此可以模拟更为真实的回弹操作感。但是回弹操作感不能一直随着角度位置信息的变大而增强,因此可以限定所述输出力矩不大于预设阈值,即电机的转动部分的角度位置信息到达角度S
0时,输出力矩为A
0,输出力矩不在增大。
In some embodiments, in order to make the simulated sense of rebound operation more realistic and improve user experience, when providing feedback of the sense of rebound operation, it can be defined that the angular position information is positively correlated with the output torque of the motor , and the output torque is not greater than a preset threshold. That is, the greater the angle position information deviates from the middle position, the greater the output torque of the corresponding motor, and the stronger the corresponding rebound operation feeling, so a more realistic rebound operation feeling can be simulated. However, the sense of rebound operation cannot always be enhanced with the increase of the angular position information, so the output torque can be limited to not greater than the preset threshold, that is, when the angular position information of the rotating part of the motor reaches the angle S 0 , the output torque is A 0 , the output torque is no longer increasing.
在一些实施例中,若需要模拟的操作感为振动操作感,对应的电机控制策 略Ⅳ具体为:在操作部件11转动到预设位置或者所述预设位置的预设范围时,利用预设力矩作为电机12的输出力矩控制电机12运行,其中,该预设力矩包括振动力矩,该振动力矩能够使得电机12的转动部分转动并带动操作部件11在所述预设位置处来回转动。In some embodiments, if the operation feeling to be simulated is a vibration operation feeling, the corresponding motor control strategy IV is specifically: when the operation part 11 rotates to a preset position or a preset range of the preset position, use the preset The torque is used as the output torque of the motor 12 to control the operation of the motor 12 , wherein the preset torque includes vibration torque, which can make the rotating part of the motor 12 rotate and drive the operating component 11 to rotate back and forth at the preset position.
示例性的,如图8所示,预设位置a具体可以是θ所对应的角度位置,相应地,该预设位置a的预设范围可以是[θ-Δθ,θ+Δθ]。当操作部件11转动到预设位置a附近或者转动到预设位置a的预设范围[θ-Δθ,θ+Δθ]内时,可以控制电机12按照电机控制策略Ⅳ运行,即利用预设力矩作为电机12的输出力矩控制电机12运行,使得电机12的转动部分转动并带动操作部件11在预设位置a处来回转动,从而给提供振动操作饭反馈,以提示用户操作部件11的转动位置已到达预设位置处。Exemplarily, as shown in FIG. 8 , the preset position a may specifically be the angular position corresponding to θ, and correspondingly, the preset range of the preset position a may be [θ-Δθ, θ+Δθ]. When the operating part 11 rotates to the vicinity of the preset position a or to the preset range [θ-Δθ, θ+Δθ] of the preset position a, the motor 12 can be controlled to run according to the motor control strategy IV, that is, to use the preset torque The output torque of the motor 12 is used to control the operation of the motor 12, so that the rotating part of the motor 12 rotates and drives the operating part 11 to rotate back and forth at the preset position a, so as to provide vibration operation feedback to the user to remind the user that the rotating position of the operating part 11 has been reached. to the preset position.
示例性的,Δθ比如可以为0.05°,当然也可以为其他值,比如为0.04°或0.03°,在此不做限定。在一些实施例中,该预设范围对应的Δθ可以由用户设置,以便用户选择在多大角度范围内即可以感受到振动操作感,进而提高了用户体验。Exemplarily, Δθ may be, for example, 0.05°, and of course may also be other values, such as 0.04° or 0.03°, which are not limited herein. In some embodiments, the Δθ corresponding to the preset range can be set by the user, so that the user can choose within which angle range the user can feel the vibration operation feeling, thereby improving the user experience.
其中,振动力矩包括一个随时间周期性变化的力矩信号,周期性变化为力矩信号的值正负变化,也可以称为正负交变的信号。示例性的,该力矩信号可以正弦信号、余弦信号中的一种,当然也可以是周期性变化的方波,具体如图9所示。Wherein, the vibration torque includes a torque signal that changes periodically with time, and the periodic change is positive and negative changes in the value of the torque signal, which can also be called a positive and negative alternating signal. Exemplarily, the torque signal can be one of a sine signal and a cosine signal, and of course it can also be a periodically changing square wave, as specifically shown in FIG. 9 .
以正弦信号为例,该力矩信号可以是一段时间(例如t=10ms)的正弦波信号,具体可以表示为下式:Taking a sine signal as an example, the torque signal can be a sine wave signal for a period of time (for example t=10ms), which can be specifically expressed as the following formula:
T=A*sin(2πft)T=A*sin(2πft)
公式中的t、f、A等参数分别表示为影响振动操作感的振动时间、振动频率和振动强度,这些参数允许用户设置,通过设置这些参数可以得到更合适的振动操作感(振动手感)。Parameters such as t, f, and A in the formula represent the vibration time, vibration frequency, and vibration intensity that affect the vibration operation feeling respectively. These parameters allow users to set them. By setting these parameters, a more suitable vibration operation feeling (vibration feel) can be obtained.
示例性的,比如,可以是设置短时间(例如1s)、频率略高(例如200~300Hz)等参数值,由此可以让用户感觉比较清脆的瞬间振动,进而提高了用户的体验度。Exemplarily, for example, it is possible to set parameter values such as a short time (for example, 1s) and a slightly higher frequency (for example, 200-300Hz), so that the user can feel a relatively crisp instantaneous vibration, thereby improving the user experience.
示例性的,再比如,还可以设置振动强度,即幅值A的大小,来设置不同振动强度的振动操作感。Exemplarily, for another example, the vibration intensity, that is, the magnitude of the amplitude A, can also be set to set the vibration operation feeling of different vibration intensities.
在一些实施例中,可以提供一个参数设置界面,该参数设置界面用于供用户设置振动时间、振动频率和振动强度等参数值。In some embodiments, a parameter setting interface may be provided, and the parameter setting interface is used for the user to set parameter values such as vibration time, vibration frequency and vibration intensity.
在一些实施例中,可以提供参数设置界面,以便用户在参数设置界面中输入振动时间、振动频率和振动强度的参数值,还可以根据振动时间、振动频率和振动强度的参数值确定振动操作感的振动类型并参数设置界面显示该振动类型以提示用户,比如强烈振动、微弱振动等。以便用户设置适合自己的振动操作感,由此可以提高用户的体验度。In some embodiments, a parameter setting interface can be provided so that the user can input the parameter values of vibration time, vibration frequency and vibration intensity in the parameter setting interface, and can also determine the vibration operation feeling according to the parameter values of vibration time, vibration frequency and vibration intensity. The vibration type and the parameter setting interface displays the vibration type to prompt the user, such as strong vibration, weak vibration, etc. So that the user can set the vibration operation feeling suitable for him, thereby improving the user's experience.
示例性的,比如参数设置界面包括振动时间、振动频率和振动强度对应的输入框等。Exemplarily, for example, the parameter setting interface includes input boxes corresponding to vibration time, vibration frequency, and vibration intensity.
需要说明的是,使用随时间周期性变化的力矩信号,还方便跟焦设备在跟焦控制过程中对实际的角度信号进行滤波、屏蔽振动处理,再将处理后的角度信号发送到被控对象(拍摄设备)实现跟焦拍摄或对焦。由此不影响拍摄设备的跟焦控制,由此相对提高了拍摄质量。It should be noted that the use of the torque signal that changes periodically with time is also convenient for the focus equipment to filter the actual angle signal and shield the vibration during the focus control process, and then send the processed angle signal to the controlled object (Shooting device) Realize follow-focus shooting or focusing. As a result, the focus control of the photographing device is not affected, thereby relatively improving the photographing quality.
还需要说明的是,本申请的振动操作感是通过电机实现的,不仅提供不同的振动操作感,相对现有的跟焦设备采用马达提供振动,可以减少额外的硬件成本,此外驱动操作部件的电机驱动能力一般比振动马达更强,且力矩直接作用在操作部件上,用户在转动跟焦设备的操作部件时更容易感受到。It should also be noted that the vibration operation feeling of the present application is realized by the motor, which not only provides a different vibration operation feeling, but also reduces the additional hardware cost compared with the existing focus equipment by using the motor to provide vibration. The driving ability of the motor is generally stronger than that of the vibration motor, and the torque acts directly on the operating part, which is easier for the user to feel when turning the operating part of the focus device.
以上是对本申请实施例提供的跟焦设备的多种电机控制策略以及反馈至操作部件的操作感的原理性介绍,以下将基于这些电机控制策略对本申请实施例提供的跟焦设备的新功能进行介绍。The above is the principle introduction of the various motor control strategies of the focus device provided by the embodiment of the present application and the operation feeling fed back to the operating parts. The new functions of the focus device provided by the embodiment of the application will be described below based on these motor control strategies introduce.
在申请的实施例中,跟焦设备100还可以包括设置装置,该设置装置与主控电路14连接,该设置装置用于供用户设置操作部件11的预设位置,该预设位置对应有电机控制策略,所述电机控制策略用于控制电机12的转动部分运动并作用于操作部件11,以提供相应的操作感反馈。In the embodiment of the application, the follow-focus device 100 may also include a setting device, which is connected to the main control circuit 14, and the setting device is used for the user to set the preset position of the operating part 11, and the preset position corresponds to a motor A control strategy, the motor control strategy is used to control the movement of the rotating part of the motor 12 and act on the operating component 11 to provide corresponding operational feedback.
在一些实施例中,不同的电机控制策略对应不同的操作感,其中预设位置对应的电机控制策略提供的操作感包括回弹操作感、振动操作感中的至少一种,以提示用户操作部件11的转动位置已经到达预设位置或到达预设位置的附近(预设范围)。In some embodiments, different motor control strategies correspond to different operational sensations, wherein the operational sensation provided by the motor control strategy corresponding to the preset position includes at least one of rebound operational sensation and vibration operational sensation to prompt the user to operate the component The rotation position of 11 has reached the preset position or the vicinity of the preset position (preset range).
示例性的,如图10所示,该设置装置可以是遥控器10的参数设置单元18,参数设置单元18用于与主控电路14通信连接,以便获取用户设置的参数并发 送给主控电路14,该参数可以包括一个预设位置、一个预设位置及所述预设位置的作用或者一个预设位置及所述预设位置对应的电机控制策略。在另一些实施例中,该参数还可以包括一种类型的操作感、一种类型的跟焦模式等等。Exemplarily, as shown in FIG. 10, the setting device may be a parameter setting unit 18 of the remote controller 10, and the parameter setting unit 18 is used to communicate with the main control circuit 14, so as to obtain the parameters set by the user and send them to the main control circuit 14. The parameter may include a preset position, a preset position and a function of the preset position, or a preset position and a motor control strategy corresponding to the preset position. In some other embodiments, the parameter may also include a type of operation feeling, a type of follow-focus mode, and the like.
当主控电路14接收到用户设置的参数后,根据该参数包括的一种类型的操作感,确定需要模拟的操作感;或者,根据该参数包括的一种类型的跟焦模式,确定目标跟焦模式;或者,确定操作部件11的预设位置;再或者,确定操作部件11的预设位置以及预设位置对应的电机控制策略。After the main control circuit 14 receives the parameter set by the user, it determines the operation feeling that needs to be simulated according to a type of operation feeling included in the parameter; Or, determine the preset position of the operating component 11; or, determine the preset position of the operating component 11 and the motor control strategy corresponding to the preset position.
在一些实施例中,该设置装置可以包括触控显示屏、设置按键、终端设备中的至少一种。In some embodiments, the setting device may include at least one of a touch screen, a setting button, and a terminal device.
示例性的,如图11a至图11c所示,设置装置包括终端设备181、显示屏182和设置按键183中的一种或多种,显示屏182为触控显示屏,设置按键183为物理按键。Exemplarily, as shown in Figures 11a to 11c, the setting device includes one or more of a terminal device 181, a display screen 182 and a setting button 183, the display screen 182 is a touch display screen, and the setting button 183 is a physical button .
具体地,显示屏182与主控电路14连接以实现通信连接,或者,主控电路14包括无线通信模块,主控电路14通过无线通信模块与终端设备181建立无线通信连接。进而可以通过终端设备181或者显示屏182设置参数,比如设置需要模拟的操作感的类型或者阻力大小,或者跟焦模式的选择,再或者设置预设位置或预设位置作用的选择等。Specifically, the display screen 182 is connected to the main control circuit 14 to realize a communication connection, or the main control circuit 14 includes a wireless communication module, and the main control circuit 14 establishes a wireless communication connection with the terminal device 181 through the wireless communication module. Furthermore, parameters can be set through the terminal device 181 or the display screen 182 , such as setting the type of operation feeling to be simulated or the magnitude of resistance, or selecting the focus mode, or setting the preset position or the selection of the effect of the preset position, etc.
其中,该阻力大小用于调节操作感的力度,并且该阻力大小与电机12的线圈122的电流呈线性关系,即设置的阻力越大,电机12的线圈122的电流就越大,因此阻尼操作感就越强,由此方便用户设置适合自己的操作感。由此可以满足不同用户对操作感的差异要求,通过调节阻力大小,调节操作感的力度大小,进而满足不同用户对跟焦设备调节时,对需要的操作感可能会存在差异的要求。预设位置作用比如包括用于限位或用于标记等。Wherein, the magnitude of the resistance is used to adjust the strength of the sense of operation, and the magnitude of the resistance is linearly related to the current of the coil 122 of the motor 12, that is, the greater the resistance is set, the greater the current of the coil 122 of the motor 12, so the damping operation The stronger the feeling, the more convenient it is for users to set their own sense of operation. This can meet the different requirements of different users for the operation feeling. By adjusting the resistance, the strength of the operation feeling can be adjusted, and then different users may have different requirements for the operation feeling when adjusting the focus device. The role of the preset position includes, for example, being used for positioning or marking.
其中,无线通信模块比如为蓝牙模块、WiFi模块、Zigbee模块等,终端设备比如为手机、平板电脑、笔记本电脑、台式机电脑或可穿戴电子设备等。显示屏为触控显示器,包括LED、LCD或者OLED等类型的显示器。Wherein, the wireless communication module is, for example, a Bluetooth module, a WiFi module, or a Zigbee module, and the terminal device is, for example, a mobile phone, a tablet computer, a notebook computer, a desktop computer, or a wearable electronic device. The display screen is a touch display, including LED, LCD or OLED displays.
示例性的,用户通过终端设备181或者显示屏182设置的参数包括不同类型的操作感,比如为阻尼操作感、波轮操作感、回弹操作感或振动操作感等,或者不同类型的跟焦模式,比如手动跟焦模式、自动跟焦模式或跟焦结合模式。相应地,主控电路14用于:获取用户在终端设备181或者显示屏182显示的不 同类型的操作感中选择的操作感或跟焦模式,以确定需要模拟的操作感或目标跟焦模式。Exemplarily, the parameters set by the user through the terminal device 181 or the display screen 182 include different types of operation senses, such as damping operation senses, pulsator operation senses, rebound operation senses, or vibration operation senses, or different types of follow-focus modes, such as manual focus mode, automatic focus mode or combined focus mode. Correspondingly, the main control circuit 14 is used to: obtain the operation feeling or follow-focus mode selected by the user from the different types of operation senses displayed on the terminal device 181 or the display screen 182, so as to determine the operation feeling or target follow-focus mode that needs to be simulated.
示例性的,用户可以通过终端设备181或者显示屏182设置预设位置,或者设置预设位置对应的电机控制策略等。相应地,主控电路14用于:获取该预设位置,或者获取预设位置以及预设位置对应的电机控制策略。Exemplarily, the user can set a preset position through the terminal device 181 or the display screen 182 , or set a motor control strategy corresponding to the preset position. Correspondingly, the main control circuit 14 is used to: acquire the preset position, or acquire the preset position and the motor control strategy corresponding to the preset position.
预设位置用于表示操作部件11的转动位置,具体表示为用户希望操作部件11的转动位置,其可以与跟焦设备100的被控对象相对应,示例性的,比如该预设位置可以表示限位点和标记点,限位点可以表示拍摄设备的对焦镜头的全部行程,标记点可以用来表示拍摄设备的合焦位置。The preset position is used to indicate the rotational position of the operating part 11, specifically the rotational position desired by the user for the operating part 11, which may correspond to the controlled object of the follow-focus device 100. For example, the preset position may represent The limit point and the mark point, the limit point can represent the entire travel of the focusing lens of the shooting device, and the mark point can be used to represent the focus position of the shooting device.
预设位置可以用角度值进行表示,具体可以由用户根据实际需求进行设置。示例性的,如图12a和图12b所示,比如可以设置预设位置为120°,该预设位置的作用为用于标记,即为标记点;再比如可以设置预设位置为60°和240°,该预设位置用于限位,分别为第一限位点和第二限位点,即该第一限位点和第二限位点构成用于限制操作部件11的转动范围,转动范围具体为[60°,240°]。在实际拍摄时,该转动范围[60°,240°]可以为用户希望拍摄设备的对焦镜头的行程。The preset position can be represented by an angle value, which can be set by the user according to actual needs. Exemplarily, as shown in Figure 12a and Figure 12b, for example, the preset position can be set to 120°, and the preset position is used for marking, that is, a marking point; for another example, the preset position can be set to 60° and 240°, the preset position is used for limiting, which are respectively the first limiting point and the second limiting point, that is, the first limiting point and the second limiting point constitute the rotation range for limiting the operating part 11, The rotation range is specifically [60°, 240°]. In actual shooting, the rotation range [60°, 240°] may be the travel of the focusing lens of the shooting device that the user wishes to travel.
需要说明的是,在用户设置预设位置之后,跟焦设备100会将该预设位置进行保存。在实际产品中,操作部件11可以有角度信息标记(如图12a和图12b的角度信息),在另一些实施例中,操作部件11也可以没有角度信息标记。It should be noted that after the user sets the preset position, the focus follow device 100 will save the preset position. In an actual product, the operating part 11 may have an angle information mark (such as the angle information shown in Fig. 12a and Fig. 12b), and in other embodiments, the operating part 11 may also have no angle information mark.
还需要说明的是,该操作部件11也可以旋转多圈,因此预设位置的角度值可以大于360度。It should also be noted that the operating component 11 can also rotate multiple times, so the angle value of the preset position can be greater than 360 degrees.
在一些实施例中,在设置该预设位置时可以通过显示屏182显示该操作部件11对应的虚拟图标,具体如图13所示,该虚拟图标可以和操作部件11的形状相同或相似,以方便用户设置。以及在后续用户操作该操作部件11时,还可以显示该虚拟图标,当用户转动操作部件11时,操作部件11对应的虚拟图标也跟着转动,以便用户知晓操作部件11当前的转动位置。In some embodiments, when the preset position is set, the virtual icon corresponding to the operating part 11 can be displayed on the display screen 182, as shown in FIG. It is convenient for users to set up. And when the user operates the operation part 11, the virtual icon can also be displayed. When the user rotates the operation part 11, the virtual icon corresponding to the operation part 11 also rotates, so that the user knows the current rotation position of the operation part 11.
在一些实施例中,对于跟焦设备,由于操作部件11与电机12的转动部分是机械耦合连接,因此操作部件11的预设位置可以根据电机12的转动部分的转动位置确定的,即预设位置的大小可以由电机12的转动部分的转动位置确定的。In some embodiments, for a follow-focus device, since the operating part 11 is mechanically coupled to the rotating part of the motor 12, the preset position of the operating part 11 can be determined according to the rotating position of the rotating part of the motor 12, that is, preset The magnitude of the position may be determined by the rotational position of the rotating portion of the motor 12 .
在一些实施例中,电机12的转动位置即为电机12的转动部分的角度位置信息,其中,获取电机12的转动部分121的角度位置信息(转动位置),可以使用位置传感器获取,或者不使用位置传感器而采用软件计算方式得到。In some embodiments, the rotational position of the motor 12 is the angular position information of the rotating part of the motor 12, where the angular position information (rotational position) of the rotating part 121 of the motor 12 can be obtained by using a position sensor, or not using The position sensor is obtained by software calculation.
示例性的,如图10所示,遥控器10还包括位置传感器17,位置传感器17用于检测电机12的转动部分的角度位置信息,并将角度位置信息发送给主控电路14。其中,位置传感器17包括磁环霍尔传感器、光电编码器、磁编码器中的至少一种。Exemplarily, as shown in FIG. 10 , the remote controller 10 further includes a position sensor 17 for detecting angular position information of the rotating part of the motor 12 and sending the angular position information to the main control circuit 14 . Wherein, the position sensor 17 includes at least one of a magnetic ring Hall sensor, a photoelectric encoder, and a magnetic encoder.
在本申请的实施例中,采用磁环位置霍尔传感器,具体如图4所示,磁环16安装在电机12上,霍尔传感器160安装在电路板15上,通过霍尔传感器160和磁环16检测电机12的转动部分的角度位置信息。In the embodiment of the present application, a magnetic ring position Hall sensor is used, specifically as shown in FIG. The ring 16 detects angular position information of the rotating portion of the motor 12 .
其中,霍尔传感器可以采用单轴霍尔传感器,也可以采用三轴霍尔传感器,同时霍尔传感器的数量也不做限定,可以为一个或者多个。Wherein, the Hall sensor may be a single-axis Hall sensor or a three-axis Hall sensor, and the number of the Hall sensors is not limited, and may be one or more.
示例性的,可以采用软件计算方式得到角度位置信息,主控电路14具体可以获取电机12工作时的电流和电压,并根据所述电流和电压计算得到电机12的转动部分的角度位置信息。Exemplarily, the angle position information can be obtained by software calculation. The main control circuit 14 can specifically obtain the current and voltage of the motor 12 when it is working, and calculate the angle position information of the rotating part of the motor 12 according to the current and voltage.
预设位置对应有电机控制策略,该电机控制策略用于控制电机12的转动部分运动并作用于操作部件11,以提供相应的操作感反馈。具体为,当确定操作部件11转动到该预设位置或者转动到该预设位置附近(预设范围)时,利用该预设位置对应的电机控制策略控制电机12运行并作用于操作部件11,以提供相应的操作感反馈。The preset position corresponds to a motor control strategy, which is used to control the movement of the rotating part of the motor 12 and act on the operating component 11 to provide corresponding operational feedback. Specifically, when it is determined that the operating part 11 rotates to the preset position or near the preset position (preset range), the motor control strategy corresponding to the preset position is used to control the operation of the motor 12 and act on the operating part 11, To provide corresponding operational feedback.
示例性的,比如预设位置对应的电机控制策略为电机控制策略Ⅳ时,当操作部件11转动到该预设位置时,利用预设力矩作为电机12的输出力矩控制电机12运行并作用于操作部件11,提供振动操作感反馈。由此可以通过振动操作感让用户感知到操作部件11到达预设位置。Exemplarily, for example, when the motor control strategy corresponding to the preset position is the motor control strategy IV, when the operating component 11 rotates to the preset position, the preset torque is used as the output torque of the motor 12 to control the operation of the motor 12 and act on the operation Component 11 provides vibration operation feedback. In this way, the user can feel that the operation member 11 has reached the preset position through the vibration operation feeling.
示例性的,再比如预设位置对应的电机控制策略也可以为电机控制策略Ⅲ时,当操作部件11转动到该预设位置时,控制电机12按照位置闭环运行,该位置闭环进行闭环调节的目标位置为预设位置对应的电机的转动位置。由此可以通过回弹操作感让用户感知到操作部件11到达预设位置。Exemplarily, for another example, when the motor control strategy corresponding to the preset position can also be the motor control strategy III, when the operating part 11 rotates to the preset position, the motor 12 is controlled to run in a closed-loop position, and the position closed-loop performs closed-loop adjustment The target position is the rotation position of the motor corresponding to the preset position. In this way, the user can feel that the operation member 11 has reached the preset position through the rebound operation feeling.
需要说明的是,预设位置对应的电机控制策略可以是使得电机的转动部分运动并作用于操作部件11的任何控制方式。It should be noted that the motor control strategy corresponding to the preset position may be any control method that makes the rotating part of the motor move and acts on the operating component 11 .
在一些实施例中,为了提高用户的体验度,电机控制策略与预设位置的作用相关,即具有不同作用的预设位置对应不同的电机控制策略。其中,预设位置的作用包括用于限位、用于标记中的至少一种。In some embodiments, in order to improve user experience, the motor control strategy is related to the functions of the preset positions, that is, preset positions with different functions correspond to different motor control strategies. Wherein, the function of the preset position includes at least one of positioning and marking.
在一些实施例,预设位置按照作用不同可以包括限位点、标记点中的至少一种,其中,限位点包括第一限位点和第二限位点,第一限位点和第二限位点用于确定操作部件的转动范围,标记点用于提示所述操作部件运动至特定位置,该特定位置即为预先设置的预设位置。In some embodiments, the preset position may include at least one of a limit point and a mark point according to different functions, wherein the limit point includes a first limit point and a second limit point, and the first limit point and the second limit point The two limit points are used to determine the rotation range of the operating part, and the marking points are used to prompt the operating part to move to a specific position, and the specific position is a preset preset position.
具体地,限位点对应跟焦设备的限位模式,具体包括第一限位点和第二限位点,第一限位点和第二限位点限定了操作部件11的转动范围,该软件限位方式和机械旋钮限位具有相同的作用。Specifically, the limit point corresponds to the limit mode of the focus device, and specifically includes a first limit point and a second limit point. The first limit point and the second limit point limit the rotation range of the operating component 11. The software limit method has the same effect as the mechanical knob limit.
示例性的,标记点用于提示操作部件11运动至特定位置,比如,标记点与跟焦设备100控制的拍摄设备30的合焦位置相对应,由此可以通过标记点提示用户操作部件11运动至合焦位置对应的特定位置。由此可以方便用户进行快速准确地合焦,进而提高了拍摄质量。Exemplarily, the marking point is used to prompt the operation part 11 to move to a specific position. For example, the marking point corresponds to the in-focus position of the photographing device 30 controlled by the follow-focus device 100, so that the user can be prompted to move the operating part 11 through the marking point to a specific position corresponding to the in-focus position. Therefore, it is convenient for the user to achieve fast and accurate focusing, thereby improving the shooting quality.
可以理解的是,标记点可以是用户想要标记的其他任意位置,并不限定于合焦位置。例如,还可以是限位位置。It can be understood that the marking point may be any other position that the user wants to mark, and is not limited to the in-focus position. For example, it can also be a limit position.
在一些实施例中,标记点用于提示操作部件11运动至特定位置可以位于第一限位点和第二限位点之间,由此跟焦设备可以实现软件限位以及标记点提示功能,即该跟焦设备同时提供了限位模式和标记点提示模式。由此可以进一步地提高了用户的体验度。In some embodiments, the marking point is used to prompt the operation part 11 to move to a specific position and may be located between the first limit point and the second limit point, so that the focus device can realize software limit and mark point prompt functions, That is to say, the focus device provides limit mode and marker prompt mode at the same time. In this way, the user experience can be further improved.
在一些实施例中,还可以设置电机12的转速在所述标记点对应的转动位置的两侧不同。比如,标记点可以对应拍摄设备的焦点,由此可以实现用户希望的在焦点前后使用的不同的跟焦速度进行拍摄,由此可以拍摄出风格多样性的视频。In some embodiments, the rotation speed of the motor 12 can also be set to be different on both sides of the rotation position corresponding to the mark point. For example, the marked point can correspond to the focus of the shooting device, so that users can shoot at different focus speeds before and after the focus, and thus can shoot videos with various styles.
需要说明的是,预设位置还可以删除或取消,比如用于限位的预设位置,在设置完后并取消,由此可以实现跟焦设备从限位模式切换至非限位模式。It should be noted that the preset position can also be deleted or canceled. For example, the preset position for the limit position can be canceled after setting, so that the focus device can be switched from the limit mode to the non-limit mode.
在本申请的实施例中,预设位置的作用主要用于限位和标记,在预设位置的作用不同时可以对应表1中不同的电机控制策略,当然也可以不限定于表1中的电机控制策略。In the embodiment of this application, the function of the preset position is mainly used for limit and marking. When the function of the preset position is different, it can correspond to different motor control strategies in Table 1, and of course it is not limited to the ones in Table 1. motor control strategy.
为了提高用户的体验度,以下对预设位置用于限位和标记对应的具体电机 控制策略进行介绍,可以理解的是,预设位置的作用并不限于用于限位和标记。In order to improve the user experience, the specific motor control strategy corresponding to the preset position for limit and mark is introduced below. It can be understood that the function of the preset position is not limited to limit and mark.
一、预设位置为限位点1. The preset position is the limit point
在预设位置为限位点的实施例中,限位点对应的电机控制策略,具体可以为在操作部件11的转动位置超过第一限位点或第二限位点时,控制电机12按照位置闭环运行。In the embodiment where the preset position is the limit point, the motor control strategy corresponding to the limit point can specifically be that when the rotational position of the operating part 11 exceeds the first limit point or the second limit point, the motor 12 is controlled according to Position closed-loop operation.
其中,该位置闭环的目标位置为所述第一限位点或所述第二限位点对应的位置,具体为第一限位点和第二限位点对应电机的转动部分的角度位置信息,即用于实现当操作部件11的转动位置超过第一限位点或第二限位点时,提供回弹操作感反馈,并在用户不操作该操作部件11时,由于电机12按照位置闭环运行,因此会带动操作部件11返回到第一限位点和第二限位点之间,由此实现了软件限位功能,通过软件限位更为方便且更为准确。Wherein, the target position of the position closed loop is the position corresponding to the first limit point or the second limit point, specifically the angular position information of the rotating part of the motor corresponding to the first limit point and the second limit point , that is, it is used to provide rebound operation feedback when the rotational position of the operating part 11 exceeds the first limit point or the second limit point, and when the user does not operate the operating part 11, since the motor 12 closes the loop according to the position Therefore, it will drive the operating part 11 to return between the first limit point and the second limit point, thereby realizing the software limit function, which is more convenient and more accurate through software limit.
其中,在控制电机12按照位置闭环运行时,该电机12的输出力矩与电机的转动部分的位置正相关,输出力矩的力矩方向与转动部分的转动方向相反。Wherein, when the motor 12 is controlled to operate in a closed-loop position, the output torque of the motor 12 is positively related to the position of the rotating part of the motor, and the torque direction of the output torque is opposite to the rotating direction of the rotating part.
在一些实施例中,为了方便用户可以灵活设置不同的回弹操作感,提高用户的体验度,该电机12的输出力矩还可以采用用户设置的预设值,即电机12的输出力矩为预设值,不同的预设值使得回弹操作感的强度不同。In some embodiments, in order to facilitate the user to flexibly set different rebound operation senses and improve the user experience, the output torque of the motor 12 can also adopt a preset value set by the user, that is, the output torque of the motor 12 is a preset value. Value, different preset values make the intensity of rebound operation feel different.
示例性的,如图14a所示,在操作部件11的转动位置超过第一限位点或第二限位点时,控制电机12按照位置闭环运行且利用预设值作为输出力矩控制电机12,利用该预设值可以使得电机输出固定的回弹力矩,使得回弹操作感可以像机械限位一样具有“抱死”的手感。Exemplarily, as shown in FIG. 14a, when the rotational position of the operating member 11 exceeds the first limit point or the second limit point, the control motor 12 operates in a closed-loop position and uses the preset value as the output torque to control the motor 12, Using this preset value can make the motor output a fixed rebound torque, so that the rebound operation feel can have a "locked" feel like a mechanical limit.
示例性的,再如图14b所示,在操作部件11的转动位置超过第一限位点或第二限位点时,控制电机12按照位置闭环运行且利用缓慢上升至预设值作为输出力矩控制电机12,利用该预设值也可以使得电机输出固定的回弹力矩,由此可以提供不一样的操作感反馈。Exemplarily, as shown in FIG. 14b, when the rotational position of the operating member 11 exceeds the first limit point or the second limit point, the control motor 12 operates in a closed-loop position and slowly rises to a preset value as the output torque By controlling the motor 12, the preset value can also be used to make the motor output a fixed rebound torque, thereby providing different operational feedback.
需要说明的是,在图14a和图14b中,X1表示第一限位点,X2表示第二限位点,X1至X2之间角度差值表示限位范围。It should be noted that, in Fig. 14a and Fig. 14b, X1 represents the first limit point, X2 represents the second limit point, and the angle difference between X1 and X2 represents the limit range.
在一些实施例中,为了提高用户的体验度,对于限位点对应的电机控制策略具体为:除了操作部件11的转动位置超过第一限位点或第二限位点时,控制电机12按照位置闭环运行之外,还可以在操作部件11的转动位置在第一限位点和第二限位点之间时,控制电机12按照速度闭环运行,速度闭环的目标速度 为零,由此可以提供阻尼操作感,通过阻尼操作感让用户感知到操作部件11在限位范围内转动。In some embodiments, in order to improve the user experience, the motor control strategy corresponding to the limit point is specifically: except when the rotational position of the operating part 11 exceeds the first limit point or the second limit point, the motor 12 is controlled according to In addition to position closed-loop operation, when the rotational position of the operating part 11 is between the first limit point and the second limit point, the motor 12 can be controlled to run according to the speed closed-loop, and the target speed of the speed closed-loop is zero, so that A damping operation feeling is provided, through which the user can perceive that the operation member 11 rotates within a limit range.
在一些实施例中,在操作部件11的转动位置在第一限位点和第二限位点之间时,控制电机12按照速度闭环运行,电机12的输出力矩与电机12的转动部分的转速正相关,电机12的输出力矩的力矩方向与电机12的转动部分的转动方向相反。In some embodiments, when the rotational position of the operating member 11 is between the first limit point and the second limit point, the motor 12 is controlled to operate in a closed-loop speed, and the output torque of the motor 12 is related to the rotational speed of the rotating part of the motor 12 Positive correlation, the torque direction of the output torque of the motor 12 is opposite to the rotation direction of the rotating part of the motor 12 .
二、预设位置作为标记点2. The preset position is used as a mark point
在预设位置为标记点的实施例中,标记点对应的电机控制策略具体为:在操作部件11转动到标记点或者标记点的预设范围时,利用预设力矩作为电机12的输出力矩控制电机12运行,其中,该预设力矩包括振动力矩,振动力矩能够使得电机12的转动部分转动并带动操作部件11在标记点处来回转动。In the embodiment where the preset position is a mark point, the motor control strategy corresponding to the mark point is specifically: when the operating part 11 rotates to the mark point or the preset range of the mark point, use the preset torque as the output torque control of the motor 12 The motor 12 is running, wherein the preset torque includes a vibration torque, and the vibration torque can make the rotating part of the motor 12 rotate and drive the operating part 11 to rotate back and forth at the marked point.
在一些实施例中,振动力矩包括一个随时间周期性变化的力矩信号,所述周期性变化为所述力矩信号的值正负变化。In some embodiments, the vibration torque includes a torque signal that changes periodically with time, and the periodic change is a positive or negative change in the value of the torque signal.
示例性的,所述力矩信号可以包括正弦信号、余弦信号中的一种,当然也可以为其他交变信号。Exemplarily, the torque signal may include one of a sine signal and a cosine signal, and of course it may also be other alternating signals.
在一些实施例中,所述力矩信号包括多个可调参数,所述可调参数影响振动操作感的振动时间、振动频率和/或振动强度。In some embodiments, the torque signal includes a plurality of adjustable parameters, and the adjustable parameters affect the vibration time, vibration frequency and/or vibration intensity of the vibration operation feeling.
在一些实施例中,为了提高用户的体验度,所述预设力矩还可以包括阻尼力矩,所述阻尼力矩为控制电机12按照速度闭环运行时的输出力矩,且速度闭环的目标速度为零。因此在转动操作部件的过程中还可以感受到阻尼操作感并在操作部件的转动位置到达预设位置时,又可以感受到振动操作感。In some embodiments, in order to improve user experience, the preset torque may also include a damping torque, the damping torque is the output torque when the motor 12 is controlled to operate in a speed closed loop, and the target speed of the speed closed loop is zero. Therefore, in the process of rotating the operating part, the damping operation feeling can be felt, and when the rotating position of the operating part reaches the preset position, the vibration operating feeling can be felt again.
由于本申请实施例提供的是软件限位方式,因此没有多余的机械限位旋钮,可以使得跟焦设备外观结构更为简单,便于用户操作,使得跟焦设备更具有竞争力。Since the embodiment of the present application provides a software limit method, there is no redundant mechanical limit knob, which can make the appearance and structure of the focus device simpler, which is convenient for users to operate, and makes the focus device more competitive.
在本申请的实施例中,是通过设置装置设置预设位置实现相应的功能,比如实现软件限位功能或标记点提示功能,其中,设置装置包括触控显示屏、设置按键、终端设备中的至少一种。In the embodiment of the present application, the corresponding function is realized by setting the preset position through the setting device, such as realizing the software limit function or the marker point prompt function, wherein the setting device includes a touch screen, a setting button, and a terminal device. at least one.
在一些实施例中,主控电路还用于获取用户设置的预设位置,并保存所述预设位置。具体地,主控电路14可以包括微控制单元(Microcontroller Unit;MCU),主控电路14用于获取用户设置的预设位置,并将预设位置保存在MCU 的Flash中。In some embodiments, the main control circuit is also used to acquire a preset position set by a user, and save the preset position. Specifically, the main control circuit 14 may include a microcontroller unit (Microcontroller Unit; MCU), and the main control circuit 14 is used to obtain the preset position set by the user, and save the preset position in the Flash of the MCU.
在一些实施例中,主控电路14还用于根据删除指令删除所述预设位置。其中删除指令可以用户触发生成的删除指令,比如用户操作跟焦设备100的删除按键或触控显示屏中删除按钮进而生成用于删除预设位置的删除指令。In some embodiments, the main control circuit 14 is further configured to delete the preset location according to a delete instruction. The delete command can be a delete command generated by a user trigger, for example, the user operates a delete button on the focus device 100 or a delete button on a touch screen to generate a delete command for deleting a preset position.
在一些实施例中,主控电路14用于获取用户设置的预设位置,具体可以获取用户设置的预设位置以及该预设位置的作用,不同的作用对应不同的电机控制策略,或者,还可以获取用户在预设工作模式下设置的预设位置,在不同的预设工作模式确定的预设位置的作用不同,其中,所述预设工作模式包括如下至少一种:限位模式和标记提示模式。In some embodiments, the main control circuit 14 is used to obtain the preset position set by the user. Specifically, it can obtain the preset position set by the user and the function of the preset position. Different functions correspond to different motor control strategies, or, The preset position set by the user in the preset working mode can be obtained, and the functions of the preset positions determined in different preset working modes are different, wherein the preset working mode includes at least one of the following: limit mode and mark Prompt mode.
具体地,比如在限位模式下设置的预设位置,该预设位置的作用为用于限位,在标记提示模式下设置的预设位置,该预设位置的作用为用于标记提示。Specifically, for example, the preset position set in the limit mode is used for limit, and the preset position set in the mark prompt mode is used for mark prompt.
在一些实施例中,主控电路14还可以用于获取用户基于操作部件11的旋转位置,并将该旋转位置作为预设位置进行保存。示例性的,比如用户旋转操作部件11至60度位置时并按下跟焦设备100上的确定按键,则将该60度作为预设位置进行保存;再比如用户选择操作部件11至60度位置时并在该位置停留预设时长,则将该60度作为预设位置进行保存。In some embodiments, the main control circuit 14 can also be used to obtain the rotation position of the user based on the operation part 11, and store the rotation position as a preset position. Exemplarily, for example, when the user rotates the operation part 11 to a position of 60 degrees and presses the confirmation button on the focus device 100, the 60 degrees is saved as the preset position; and stay at this position for a preset time, then save the 60 degrees as the preset position.
在一些实施例中,跟焦设备100还可以包括设置按键183,具体如图11c所示,设置按键183与主控电路14连接,设置按键183用于设置预设位置。比如用户可以通过该设置按键183增加或减小目标值的方式设置预设位置,目标值比如0度,通过增加的方式设置预设位置;再比如设置按键183还可以是上述确定按键。相应地,主控电路14还用于基于用户对设置按键183的设置操作,确定预设位置并保存该预设位置。In some embodiments, the follow focus device 100 may further include a setting button 183, specifically as shown in FIG. 11c, the setting button 183 is connected to the main control circuit 14, and the setting button 183 is used to set a preset position. For example, the user can set the preset position by increasing or decreasing the target value through the setting button 183, such as 0 degrees, and set the preset position by increasing; another example is that the setting button 183 can also be the above-mentioned confirmation button. Correspondingly, the main control circuit 14 is also configured to determine a preset position and save the preset position based on the user's setting operation on the setting button 183 .
以下将以设置装置为触控显示屏为例,介绍本申请实施例提供的预设位置的设置过程。具体地,主控电路14可以控制触控显示屏182显示设置界面,该设置界面用于供用户设置操作部件11的预设位置。The setting process of the preset position provided by the embodiment of the present application will be introduced below by taking the setting device as a touch screen as an example. Specifically, the main control circuit 14 can control the touch screen 182 to display a setting interface, which is used for the user to set the preset position of the operating component 11 .
在一些实施例中,如图15a和图15b所示,在触控显示屏182中显示的设置界面包括输入框,该输入框用于供用户设置预设位置,或者,该输入框用于供用户输入预设位置以及预设位置的作用。In some embodiments, as shown in FIG. 15a and FIG. 15b, the setting interface displayed on the touch screen 182 includes an input box, which is used for the user to set a preset position, or, the input box is used for The user enters a preset location and what the preset location does.
具体地,预设位置的作用比如为用于标记或用于限位,用户可以输入“标记”或“限位”即可以表示预设位置的作用,利用预设位置的作用不同,可以 确定该预设位置对应的电机控制策略,进而提供不同操作感反馈,以提高用户的体验度。Specifically, the function of the preset position is, for example, used for marking or for limiting. The user can input "mark" or "limit" to indicate the function of the preset position. Using the different functions of the preset position, it can be determined The motor control strategy corresponding to the preset position provides feedback of different operating senses to improve the user experience.
需要说明的是,在用户没有输入预设位置的作用时,可以采用默认的电机控制策略作为所述预设位置对应的电机控制策略,当然也可以根据用户输入预设位置的特点确定相应的电机控制策略,比如用于限位的预设位置一般包括两个限定点,由此可以根据限位点的数量确定限定点对应的电机控制策略,而标记点数量一般为一个,则可以确定该标记点对应的电机控制策略,当然还可以其他方式确定限位位置对应的电机控制策略,比如可以由用户选择与该预设位置对应的电机控制策略。It should be noted that when the user does not input the preset position, the default motor control strategy can be used as the motor control strategy corresponding to the preset position. Of course, the corresponding motor can also be determined according to the characteristics of the preset position input by the user. The control strategy, such as the preset position for the limit generally includes two limit points, so the motor control strategy corresponding to the limit point can be determined according to the number of limit points, and the number of mark points is generally one, then the mark can be determined The motor control strategy corresponding to the point, of course, the motor control strategy corresponding to the limit position can also be determined in other ways, for example, the user can select the motor control strategy corresponding to the preset position.
在一些实施例中,设置界面包括设置图标,该设置图标用于设置预设位置,示例性的,设置图标具体如图16中的“+”图标和“-”图标,通过操作这两个图标可以增加或减小预设位置的值,来设置预设位置。In some embodiments, the setting interface includes a setting icon, which is used to set a preset position. Exemplarily, the setting icons are specifically shown as the "+" icon and the "-" icon in Figure 16. By operating these two icons You can increase or decrease the value of the preset position to set the preset position.
在一些实施例中,如图16所示,设置界面还包括设置图标和操作部件11的虚拟图标,当用户操作该“+”图标和“-”图标,用于表示预设位置的值的箭头开始转动,箭头指示的值表示预设位置的大小。在用户设置完之后,可以点击保存按钮保存该预设位置,或者不想保存该预设位置,可以点击删除按钮删除该预设位置。In some embodiments, as shown in FIG. 16, the setting interface also includes a setting icon and a virtual icon of the operating part 11. When the user operates the "+" icon and the "-" icon, the arrow used to represent the value of the preset position Start turning, the value indicated by the arrow indicates the size of the preset position. After the user finishes setting, he can click the save button to save the preset position, or if he doesn't want to save the preset position, he can click the delete button to delete the preset position.
在一些实施例中,为了方便用户设置预设位置,该设置界面包括用于表示操作部件的转动位置的位置范围[0°-360°],具体如图17所示,以便将用户在设置界面显示的位置范围选择的转动位置作为预设位置。In some embodiments, in order to facilitate the user to set the preset position, the setting interface includes a position range [0°-360°] used to indicate the rotational position of the operating component, as shown in Figure 17 specifically, so that the user can set the preset position in the setting interface The displayed position range selects the rotational position as the preset position.
示例性的,用户可以在设置界面点击其想设置预设位置,当然也可以拖动指示图标,该指示图标指示的角度值即为设置的预设位置。Exemplarily, the user can click on the setting interface to set the preset position, or of course drag the indicator icon, and the angle value indicated by the indicator icon is the set preset position.
示例性的,在图17中的指示图标可以与操作部件11相关联,即用户转动操作部件11时,指示图标跟着操作部件11转动而转动,进而确定用户希望设置的预设位置。Exemplarily, the indicator icon in FIG. 17 may be associated with the operation part 11, that is, when the user rotates the operation part 11, the indicator icon rotates with the rotation of the operation part 11, thereby determining the preset position that the user wants to set.
在一些实施例中,设置界面还可以包括删除图标,该删除图标用于供用户删除用户选中的预设位置。比如删除用户选择的限位点或标记点,当删除限位点时跟焦设备从限位模式切换非限位模式,满足用户的不同需求。In some embodiments, the setting interface may further include a delete icon, which is used for the user to delete the preset position selected by the user. For example, delete the limit point or mark point selected by the user. When the limit point is deleted, the focus device switches from the limit mode to the non-limit mode to meet the different needs of users.
示例性的,如图18所示,比如用户选择“标记点1”,再点击删除图标,则可以删除该“标记点1”。Exemplarily, as shown in FIG. 18 , for example, the user selects "marker 1" and then clicks the delete icon, then the "marker 1" can be deleted.
在一些实施例中,预设位置的状态可以包括激活状态和非激活状态。其中,若预设位置的状态为激活状态,当操作部件11的转动位置到达该预设位置时,需要控制电机12的转动部分运动并作用于操作部件11,以提供相应的操作感反馈;若预设位置的状态为非激活状态,不需要对电机12进行任何控制,即使当操作部件11的转动位置到达该预设位置时,也不需要控制电机12的转动部分运动。In some embodiments, the state of the preset position may include an active state and an inactive state. Wherein, if the state of the preset position is an active state, when the rotational position of the operating part 11 reaches the preset position, it is necessary to control the movement of the rotating part of the motor 12 and act on the operating part 11 to provide a corresponding operational feedback; if The state of the preset position is inactive, and no control is required on the motor 12, even when the rotational position of the operating member 11 reaches the preset position, there is no need to control the movement of the rotating part of the motor 12.
在一些实施例中,预设位置的激活状态和非激活状态可以由用户确定,示例性的,比如如图19所示,通过设置界面显示预设位置以及该预设位置对应的状态图标,比如显示限位点1、限位点2、标记点1和标记点2,其中限位点1、限位点2为一组对应个状态图标,当用户点击预设位置对应的状态图标时,比如用户点击了“标记点1”对应状态图标,则该“标记点1”的状态从非激活状态变为激活状态,当用户再次点击该图标时,则该“标记点1”的状态变为非激活状态。In some embodiments, the activation state and inactivation state of the preset position can be determined by the user. For example, as shown in FIG. 19 , the preset position and the status icon corresponding to the preset position are displayed through the setting interface, such as Display limit point 1, limit point 2, mark point 1 and mark point 2, where limit point 1 and limit point 2 are a group of corresponding status icons. When the user clicks the status icon corresponding to the preset position, for example When the user clicks the status icon corresponding to "marker point 1", the state of the "marker point 1" changes from inactive to active. When the user clicks the icon again, the state of the "marker 1" becomes inactive. active state.
在一些实施例中,预设位置用于限位时,当预设位置的状态发生变化会确定跟焦设备100的工作模式的变化。具体地,预设位置的状态由激活状态变化为非激活状态,跟焦设备100由限位模式变成非限位模式,预设位置的状态由非激活状态变化为激活状态,跟焦设备100由非限位模式变成限位模式。由此方便用户随意切换限位模式和非限位模式,以适合不同的拍摄场景,进而提高了用户的体验度。In some embodiments, when the preset position is used for limit, when the state of the preset position changes, it will determine the change of the working mode of the focus follow device 100 . Specifically, the state of the preset position changes from the active state to the inactive state, the focus-following device 100 changes from the limit mode to the non-limit mode, the state of the preset position changes from the inactive state to the active state, and the focus-following device 100 From non-limit mode to limit mode. In this way, it is convenient for the user to switch between the limit mode and the non-limit mode at will, so as to be suitable for different shooting scenes, thereby improving the user experience.
以下将结合上述预设位置的设置过程,详细介绍跟焦设备100在设置完预设位置后的使用过程。The use process of the follow focus device 100 after the preset position is set will be described in detail below in combination with the above-mentioned setting process of the preset position.
具体地,当用户使用该跟焦设备用于控制拍摄设备对拍摄对象进行跟焦或变焦时,用户操作该操作部件11,比如旋转该操作部件11至预设位置,主控电路14用于在确定操作部件11转动到预设位置时,控制电机12的转动部分运动并作用于操作部件11,以提供相应的操作感反馈,由此用户可以感受到操作部件11转动到预设位置。Specifically, when the user uses the focus device to control the camera device to focus or zoom the subject, the user operates the operation part 11, such as rotating the operation part 11 to a preset position, and the main control circuit 14 is used to When it is determined that the operating part 11 is rotated to a preset position, the rotating part of the control motor 12 moves and acts on the operating part 11 to provide corresponding operational feedback, so that the user can feel that the operating part 11 has rotated to a preset position.
示例性的,比如在跟焦拍摄场景中,用户想通过跟焦设备100控制拍摄设备对拍摄对象进行跟焦拍摄时,其可以设置第一限位点和第二限位点,第一限位点和第二限位点可以与拍摄设备的对焦镜头的全部行程或部分行程对应。在设置完第一限位点和第二限位点之后,其可以转动操作部件11控制拍摄设备对 拍摄对象进行跟焦拍摄,当转动操作部件11到达或刚超过限位点时,跟焦设备100的主控电路14会控制电机12的转动部分运动并作用于操作部件11,以提供相应的操作感反馈,进而实现了软件限位功能。该软件限位功能方便用户设置及取消,即实现了限位模式和非限位模式的切换,同时反馈的操作感也可以灵活设置,由此可以方便用户使用,并提高了用户的体验度。Exemplarily, for example, in a follow-focus shooting scene, when the user wants to control the shooting device to follow-focus shooting of the subject through the follow-focus device 100, he can set the first limit point and the second limit point, the first limit The point and the second limit point may correspond to the whole stroke or part of the stroke of the focusing lens of the shooting device. After setting the first limit point and the second limit point, it can rotate the operating part 11 to control the shooting device to perform focus shooting on the subject. When the rotating operation part 11 reaches or just exceeds the limit point, the follow-focus device The main control circuit 14 of 100 will control the movement of the rotating part of the motor 12 and act on the operation part 11 to provide corresponding operation feedback, thereby realizing the software limit function. The limit function of the software is convenient for users to set and cancel, that is, to realize the switching between limit mode and non-limit mode, and at the same time, the feedback operation sense can also be set flexibly, which is convenient for users to use and improves user experience.
示例性的,再比如对焦拍摄场景中,用户想通过跟焦设备100控制拍摄设备对拍摄对象进行对焦并在合焦位置处进行提示,其可以预先设置标记点,该标记点与拍摄设备的合焦位置对应,当用户转动操作部件11控制拍摄设备进行对焦时到达标记点或标记点附近时,跟焦设备100会控制电机12的转动部分运动并作用于操作部件11,以提供相应的操作感反馈,由此实现了标记点提示功能。Exemplarily, for another example in a focus shooting scene, the user wants to use the follow focus device 100 to control the shooting device to focus on the subject and give a prompt at the in-focus position. Corresponding to the focus position, when the user rotates the operation part 11 to control the shooting device to focus and reaches the mark point or near the mark point, the follow-focus device 100 will control the movement of the rotating part of the motor 12 and act on the operation part 11 to provide a corresponding sense of operation Feedback, thus realizing the marker point prompt function.
此外,本申请的实施例还提供了一种跟焦系统,该跟焦系统包括:固定设备和跟焦设备,该跟焦设备可以为上述任一项所述的跟焦设备,固定设备用于搭载拍摄设备,其中,跟焦设备可以设置于该固定设备,也可以独立固定设备设置。In addition, an embodiment of the present application also provides a follow focus system, the follow focus system includes: a fixed device and a follow focus device, the follow focus device may be the follow focus device described in any one of the above, the fix device Equipped with shooting equipment, the follow-focus equipment can be set on the fixed equipment, or it can be set independently on the fixed equipment.
在一些实施例中,所述固定设备包括相机支架、机载云台或手持云台等。In some embodiments, the fixed device includes a camera bracket, an airborne gimbal or a handheld gimbal, and the like.
示例性的,如图1所示,若跟焦设备100仅包括遥控器10时,则跟焦设备100是独立于固定设备设置的。Exemplarily, as shown in FIG. 1 , if the follow-focus device 100 only includes the remote controller 10 , the follow-focus device 100 is set independently of the fixed device.
需要说明的是,在本申请的实施例中,跟焦设备可以包括跟焦器电机,也可以不包括跟焦器电机,比如跟焦设备包括遥控器和跟焦器电机,或者跟焦设备仅包括遥控器,均可以实现对拍摄设备的控制。It should be noted that, in the embodiments of the present application, the follow focus device may or may not include a follow focus motor, for example, the follow focus device includes a remote controller and a follow focus motor, or the follow focus device only Including the remote control, both can realize the control of the shooting equipment.
其中,跟焦设备与拍摄设备可以直接或间接通信连接。当然,当利用跟焦器电机实现跟焦操作时,也可以不存在通信连接。Wherein, the focusing device and the photographing device can be directly or indirectly connected by communication. Of course, when the follow focus motor is used to implement the focus operation, there may be no communication connection.
在一些实施例中,若固定设备为手持云台,则跟焦设备可以设置在手持云台上,比如设置在手持云台的握持部上,该设置在手持云台的握持部可以是可拆卸地设置在手持云台的握持部上,也可以与手持云台的握持部一体化设置。In some embodiments, if the fixed device is a handheld pan/tilt, the focus device can be set on the handheld pan/tilt, for example, on the handle of the handheld pan/tilt, which can be It can be detachably arranged on the grip part of the handheld pan-tilt, or can be integrally arranged with the grip part of the handheld pan-tilt.
此外,本申请的实施例还提供了一种拍摄系统,该拍摄系统包括拍摄设备和上述任一项所述的跟焦设备,跟焦设备用于控制所述拍摄设备对拍摄对象进行跟焦拍摄。In addition, an embodiment of the present application also provides a shooting system, the shooting system includes a shooting device and the follow-focus device described in any one of the above, and the follow-focus device is used to control the shooting device to perform follow-focus shooting of the subject .
以下,将基于上述实施例提供的跟焦设备,介绍本申请实施例提供跟焦设 备的控制方法。Hereinafter, based on the focus-following device provided by the above-mentioned embodiments, the control method of the focus-following device provided by the embodiment of the present application will be introduced.
请参阅图20,图20示出了本申请提供一种跟焦设备的控制方法的步骤流程,该控制方法可以应用于本申请实施例提供的任一项所述的跟焦设备中,以提高用户的体验度。Please refer to FIG. 20. FIG. 20 shows a flow of steps of a control method for a focus-focusing device provided by the present application. User experience.
其中,跟焦设备包括电机和操作部件,操作部件与电机的转动部分机械耦合,操作部件用于供用户操作而输入跟焦控制信号。Wherein, the follow focus device includes a motor and an operation part, the operation part is mechanically coupled with the rotating part of the motor, and the operation part is used for inputting a follow focus control signal for operation by a user.
如图20所示,该跟焦设备的控制方法包括步骤S101至步骤S103。As shown in FIG. 20 , the method for controlling the focus-following device includes steps S101 to S103.
S101、获取跟焦设备的电机的转动部分的转动位置;S101. Obtain the rotational position of the rotating part of the motor of the focus device;
S102、根据所述转动位置确定所述操作部件是否转动到预设位置;S102. Determine whether the operating member is rotated to a preset position according to the rotation position;
S103、在所述操作部件转动到预设位置时,控制所述电机的转动部分运动并作用于所述操作部件,以提供相应的操作感反馈。S103. When the operating member rotates to a preset position, control the rotation part of the motor to move and act on the operating member, so as to provide corresponding operating feedback.
电机的转动部分的转动位置具体为角度位置信息,可以通过位置传感器检测得到,或者通过软件计算方式得到。The rotational position of the rotating part of the motor is specifically angular position information, which can be obtained through detection by a position sensor, or through software calculation.
由于操作部件与电机的转动部分机械耦合,因此操作部件的预设位置必然会对应电机的转动部分的一个角度位置,因此可以根据获取的电机的转动部分的角度位置信息确定操作部件是否到达预设位置,并在在所述操作部件转动到预设位置时,控制所述电机的转动部分运动并作用于所述操作部件,以提供相应的操作感反馈。Since the operating part is mechanically coupled with the rotating part of the motor, the preset position of the operating part must correspond to an angular position of the rotating part of the motor. Therefore, it can be determined whether the operating part has reached the preset position according to the acquired angular position information of the rotating part of the motor. position, and when the operating part rotates to a preset position, the rotating part of the motor is controlled to move and act on the operating part to provide corresponding operational feedback.
在一些实施例中,所述操作感包括回弹操作感或振动操作感等,当然还可以包括其他操作感,比如阻尼操作感。In some embodiments, the operation sense includes a rebound operation sense or a vibration operation sense, etc., and of course may also include other operation senses, such as a damping operation sense.
在一些实施例中,具有不同作用的预设位置对应不同的电机控制策略,所述预设位置的作用包括用于限位、用于标记中的至少一种,不同的电机控制策略用于模拟出不同的操作感,进而提高用户的体验度。In some embodiments, preset positions with different functions correspond to different motor control strategies, and the functions of the preset positions include at least one of limit and mark, and different motor control strategies are used for simulation Create different sense of operation, thereby improving user experience.
在一些实施例中,预设位置用于限位时,该预设位置包括第一限位点和第二限位点,其中,所述第一限位点和所述第二限位点用于限制所述操作部件的运行范围。In some embodiments, when the preset position is used for limit, the preset position includes a first limit point and a second limit point, wherein the first limit point and the second limit point are used To limit the range of operation of the operating parts.
在一些实施例中,预设位置用于限位时对应的电机控制策略,具体可以为:当所述操作部件的转动位置超过所述第一限位点或所述第二限位点时,控制所述电机按照位置闭环运行,进而提高回弹操作感反馈。In some embodiments, the preset position is used for the motor control strategy corresponding to the position limit, specifically: when the rotational position of the operating part exceeds the first limit point or the second limit point, The motor is controlled to run in a closed loop according to the position, thereby improving the feedback of rebound operation feeling.
可选地,该位置闭环的目标位置为所述第一限位点或所述第二限位点对应 的位置,第一限位点和第二限位点对应的位置为电机的转动部分的角度位置,由此可以利用该位置进行闭环调节,利用回弹操作感实现限位。Optionally, the target position of the position closed loop is the position corresponding to the first limit point or the second limit point, and the positions corresponding to the first limit point and the second limit point are the positions of the rotating part of the motor. Angle position, so this position can be used for closed-loop adjustment, and the rebound operation sense can be used to realize the limit.
在一些实施例中,所述电机的输出力矩与所述电机的转动部分的位置正相关,所述输出力矩的力矩方向与所述转动部分的转动方向相反。In some embodiments, the output torque of the motor is positively related to the position of the rotating part of the motor, and the torque direction of the output torque is opposite to the rotating direction of the rotating part.
在一些实施例中,当所述操作部件的转动位置超过所述第一限位点或所述第二限位点时,控制所述电机按照位置闭环运行,还可以获取用户设置的预设值,作为所述电机的输出力矩。该预设值可以实现在第一限位点和第二限位点处实现操作部件反馈“抱死”手感,类似于机械旋钮限位,因此更具有真实感,同时该预设值允许用户设置,又实现了回弹操作感的灵活设置,进而提高了用户的体验度。In some embodiments, when the rotational position of the operating part exceeds the first limit point or the second limit point, the motor is controlled to operate in a closed-loop position, and a preset value set by the user can also be obtained , as the output torque of the motor. This preset value can realize the "locking" feel of the operating part feedback at the first limit point and the second limit point, which is similar to the limit of a mechanical knob, so it has a more realistic sense. At the same time, the preset value allows the user to set , and realize the flexible setting of the rebound operation feeling, thereby improving the user experience.
在一些实施例中,当所述操作部件的转动位置在所述第一限位点和所述第二限位点之间时,控制所述电机按照速度闭环运行,所述速度闭环的目标速度为零,进而提供阻尼操作感反馈。In some embodiments, when the rotational position of the operating member is between the first limit point and the second limit point, the motor is controlled to run in a speed closed loop, and the target speed of the speed closed loop is is zero, thereby providing damping operation feedback.
在一些实施例中,所述电机的输出力矩与所述电机的转动部分的转速正相关,所述输出力矩的力矩方向与所述转动部分的转动方向相反。In some embodiments, the output torque of the motor is positively related to the rotational speed of the rotating part of the motor, and the torque direction of the output torque is opposite to the rotating direction of the rotating part.
在一些实施例中,预设位置用于标记提示时,该预设位置包括至少一个标记点,所述标记点用于提示所述电机的转动部分运动至预设位置。In some embodiments, when the preset position is used for marking prompts, the preset position includes at least one marking point, and the marking point is used to prompt the rotating part of the motor to move to the preset position.
示例性的,所述标记点与所述跟焦设备控制的拍摄设备的合焦位置相对应,用于在拍摄设备的对焦到达合焦位置时提醒用户。Exemplarily, the mark point corresponds to the in-focus position of the photographing device controlled by the focus-following device, and is used to remind the user when the focus of the photographing device reaches the in-focus position.
在一些实施例中,所述电机的转速在所述标记点对应的转动位置的两侧不同。In some embodiments, the rotation speed of the motor is different on both sides of the rotation position corresponding to the marking point.
在一些实施例中,预设位置用于标记提示时,对应的电机控制策略为当所述操作部件转动到所述标记点或者所述标记点的预设范围时,将预设力矩作为所述电机的输出力矩控制所述电机运行;其中,所述预设力矩包括振动力矩,所述振动力矩能够使得所述电机的转动部分转动并带动所述操作部件在所述标记点处来回转动,进而提供振动操作感。In some embodiments, when the preset position is used for marking prompts, the corresponding motor control strategy is to use the preset torque as the The output torque of the motor controls the operation of the motor; wherein, the preset torque includes a vibration torque, and the vibration torque can make the rotating part of the motor rotate and drive the operating part to rotate back and forth at the marked point, and then Provides a sense of vibration operation.
在一些实施例中,所述振动力矩包括一个随时间周期性变化的力矩信号,所述周期性变化为所述力矩信号的值正负变化。示例性的,比如所述力矩信号包括正弦信号、余弦信号中的一种。In some embodiments, the vibration torque includes a torque signal that changes periodically with time, and the periodic change is a positive or negative change of the value of the torque signal. Exemplarily, for example, the torque signal includes one of a sine signal and a cosine signal.
在一些实施例中,所述力矩信号包括多个可调参数,所述可调参数影响振 动操作感的振动时间、振动频率和/或振动强度。可调参数为允许用户设置的参数,即通过设置不同的可调参数的参数值来设置合适的振动操作感,实现了由用户自己设置适合自己的振动手感,进而提高了用户的体验度。In some embodiments, the torque signal includes a plurality of adjustable parameters, and the adjustable parameters affect the vibration time, vibration frequency and/or vibration intensity of the vibration operation feeling. The adjustable parameter is a parameter that allows the user to set, that is, the appropriate vibration operation feeling is set by setting different parameter values of the adjustable parameter, so that the user can set the vibration feel suitable for himself, thereby improving the user experience.
在一些实施例中,所述预设力矩还包括阻尼力矩,所述阻尼力矩为所述电机按照速度闭环运行时的输出力矩,所述速度闭环的目标速度为零,由此还可以反馈阻尼操作感。In some embodiments, the preset torque also includes a damping torque, the damping torque is the output torque when the motor operates according to the speed closed loop, and the target speed of the speed closed loop is zero, so that the damping operation can also be fed back feel.
在一些实施例中,所述跟焦设备的方法还可以获取用户设置的预设位置,并保存所述预设位置。相应地,也可以根据用户触发的删除指令删除所述预设位置。In some embodiments, the method of following the focus device may also acquire a preset position set by a user, and save the preset position. Correspondingly, the preset location may also be deleted according to a deletion instruction triggered by the user.
在一些实施例中,获取用户设置的预设位置,具体可以获取用户设置的预设位置以及所述预设位置的作用,不同的作用对应不同的电机控制策略;或者,获取用户在预设工作模式下设置的预设位置,不同的预设工作模式确定所述预设位置的作用不同,其中,所述预设工作模式包括如下至少一种:限位模式和标记提示模式。In some embodiments, the preset position set by the user is obtained. Specifically, the preset position set by the user and the function of the preset position can be obtained. Different functions correspond to different motor control strategies; For the preset position set in the mode, different preset working modes determine the different functions of the preset position, wherein the preset working mode includes at least one of the following: limit mode and mark reminder mode.
在一些实施例中,获取用户设置的预设位置,具体可以获取用户基于所述操作部件的旋转位置,将所述旋转位置作为预设位置,并保存所述预设位置。In some embodiments, the preset position set by the user is acquired, specifically, the rotational position of the user based on the operating component may be acquired, the rotational position is used as the preset position, and the preset position is saved.
在一些实施例中,获取用户设置的预设位置,具体可以基于用户对所述设置按键的设置操作,确定预设位置并保存所述预设位置。In some embodiments, the preset position set by the user is acquired, specifically, the preset position may be determined and saved based on the setting operation of the setting button by the user.
在一些实施例中,获取用户设置的预设位置,具体可以通过所述触控显示屏显示设置界面,所述设置界面用于供用户设置预设位置,获取用户基于所述设置界面设置的预设位置,并保存所述预设位置。In some embodiments, the preset position set by the user is obtained, specifically, a setting interface can be displayed through the touch screen display, and the setting interface is used for the user to set the preset position, and the preset position set by the user based on the setting interface can be obtained. and save the preset position.
示例性的,所述设置界面包括用于设置所述预设位置的输入框,或,所述设置界面包括用于设置所述预设位置的设置图标。Exemplarily, the setting interface includes an input box for setting the preset position, or, the setting interface includes a setting icon for setting the preset position.
在一些实施例中,所述设置界面包括用于表示所述操作部件的转动位置的位置范围。由此获取用户设置的预设位置,具体可以获取用户在所述设置界面显示的位置范围选择的转动位置;将所述转动位置作为预设位置,并保存所述预设位置。In some embodiments, the setting interface includes a position range for representing the rotational position of the operating member. In this way, the preset position set by the user is obtained, specifically, the rotation position selected by the user in the position range displayed on the setting interface can be obtained; the rotation position is used as the preset position, and the preset position is saved.
在一些实施例中,为了方便用户使用或不使用该预设位置,还可以根据状态修改指令修改所述预设位置的状态,所述预设位置的状态包括激活状态和非激活状态。In some embodiments, in order to facilitate the user to use or not use the preset location, the status of the preset location may also be modified according to a status modification instruction, and the status of the preset location includes an active state and an inactive state.
示例性的,所述预设位置用于限位时,所述预设位置的状态发生变化确定所述跟焦设备的工作模式的变化,其中,所述预设位置的状态由激活状态变化为非激活状态,所述跟焦设备由限位模式变成非限位模式;所述预设位置的状态由非激活状态变化为激活状态,所述跟焦设备由非限位模式变成限位模式。Exemplarily, when the preset position is used for position limitation, a change in the state of the preset position determines a change in the working mode of the focus-following device, wherein the state of the preset position changes from an activated state to In the inactive state, the follow-focus device changes from the limit mode to the non-limit mode; the state of the preset position changes from the inactive state to the active state, and the follow-focus device changes from the non-limit mode to the limit mode model.
上述实施例提供的跟焦设备的控制方法,也可以赋予了跟焦设备更多新的体验,比如软件限位功能和标记点提示功能等,提高了用户对跟焦设备的操作体验,即与上述实施例提供跟焦设备具有相类似的有益技术效果,故,在此不再赘述。The control method of the focus device provided by the above embodiment can also give the focus device more new experience, such as software limit function and marker point prompt function, etc., which improves the user's operation experience of the focus device, that is, the same as The focus device provided by the above embodiments has similar beneficial technical effects, so details will not be repeated here.
请参阅图21,图21是本申请实施例提供的一种控制装置的示意性框图。如图21所示,该控制装置500还包括一个或多个处理器501和存储器502。Please refer to FIG. 21 . FIG. 21 is a schematic block diagram of a control device provided by an embodiment of the present application. As shown in FIG. 21 , the control device 500 further includes one or more processors 501 and memory 502 .
处理器501例如可以是微控制单元(Micro-controller Unit,MCU)、中央处理单元(Central Processing Unit,CPU)或数字信号处理器(Digital Signal Procesor,DSP)等。The processor 501 may be, for example, a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU), or a digital signal processor (Digital Signal Processor, DSP), etc.
存储器502可以是Flash芯片、只读存储器(ROM,Read-Only Memory)磁盘、光盘、U盘或移动硬盘等。The memory 502 can be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk, or a mobile hard disk.
其中,存储器502用于存储计算机程序;处理器501用于执行所述计算机程序并在执行所述计算机程序时,执行如上任一项所述的跟焦设备的控制方法。Wherein, the memory 502 is used to store a computer program; the processor 501 is used to execute the computer program, and when executing the computer program, execute the method for controlling the focus-following device as described in any one of the above items.
示例性的,所述处理器用于运行存储在存储器中的计算机程序,并在执行所述计算机程序时实现如下步骤:Exemplarily, the processor is configured to run a computer program stored in the memory, and implement the following steps when executing the computer program:
获取跟焦设备的电机的转动部分的转动位置,其中,所述跟焦设备包括电机和操作部件,所述操作部件用于供用户操作而输入跟焦控制信号,所述操作部件与所述电机的转动部分机械耦合;根据所述转动位置确定所述操作部件是否转动到预设位置;在所述操作部件转动到预设位置时,控制所述电机的转动部分运动并作用于所述操作部件,以提供相应的操作感反馈。Acquiring the rotational position of the rotating part of the motor of the focus-following device, wherein the focus-following device includes a motor and an operating part, the operating part is used for user operation to input a focus control signal, and the operating part is connected to the motor The rotating part is mechanically coupled; according to the rotating position, it is determined whether the operating part is rotated to a preset position; when the operating part is rotated to a preset position, the rotating part of the motor is controlled to move and act on the operating part , to provide corresponding operational feedback.
在一些实施例中,所述操作感包括回弹操作感或振动操作感。In some embodiments, the operation feeling includes a rebound operation feeling or a vibration operation feeling.
在一些实施例中,具有不同作用的预设位置对应不同的电机控制策略,所述预设位置的作用包括用于限位、用于标记中的至少一种。In some embodiments, preset positions with different functions correspond to different motor control strategies, and the functions of the preset positions include at least one of limiting and marking.
在一些实施例中,所述预设位置包括第一限位点和第二限位点,其中,所述第一限位点和所述第二限位点用于限制所述操作部件的运行范围。In some embodiments, the preset position includes a first limit point and a second limit point, wherein the first limit point and the second limit point are used to limit the operation of the operating component scope.
在一些实施例中,所述处理器还用于:当所述操作部件的转动位置超过所 述第一限位点或所述第二限位点时,控制所述电机按照位置闭环运行。In some embodiments, the processor is further configured to: when the rotational position of the operating component exceeds the first limit point or the second limit point, control the motor to operate in a closed-loop position.
在一些实施例中,所述位置闭环的目标位置为所述第一限位点或所述第二限位点对应的位置。In some embodiments, the target position of the position closed loop is a position corresponding to the first limit point or the second limit point.
在一些实施例中,所述电机的输出力矩与所述电机的转动部分的位置正相关,所述输出力矩的力矩方向与所述转动部分的转动方向相反。In some embodiments, the output torque of the motor is positively related to the position of the rotating part of the motor, and the torque direction of the output torque is opposite to the rotating direction of the rotating part.
在一些实施例中,所述处理器还用于:获取用户设置的预设值,作为所述电机的输出力矩。In some embodiments, the processor is further configured to: acquire a preset value set by a user as the output torque of the motor.
在一些实施例中,所述处理器还用于:当所述操作部件的转动位置在所述第一限位点和所述第二限位点之间时,控制所述电机按照速度闭环运行,所述速度闭环的目标速度为零。In some embodiments, the processor is further configured to: when the rotational position of the operating component is between the first limit point and the second limit point, control the motor to run in a closed loop at a speed , the target speed of the speed closed loop is zero.
在一些实施例中,所述电机的输出力矩与所述电机的转动部分的转速正相关,所述输出力矩的力矩方向与所述转动部分的转动方向相反。In some embodiments, the output torque of the motor is positively related to the rotational speed of the rotating part of the motor, and the torque direction of the output torque is opposite to the rotating direction of the rotating part.
在一些实施例中,所述预设位置包括至少一个标记点,所述标记点用于提示所述电机的转动部分运动至预设位置。In some embodiments, the preset position includes at least one marking point, and the marking point is used to prompt the rotating part of the motor to move to the preset position.
在一些实施例中,所述标记点与所述跟焦设备控制的拍摄设备的合焦位置相对应。In some embodiments, the mark point corresponds to the in-focus position of the photographing device controlled by the focus-following device.
在一些实施例中,所述电机的转速在所述标记点对应的转动位置的两侧不同。In some embodiments, the rotation speed of the motor is different on both sides of the rotation position corresponding to the marking point.
在一些实施例中,所述处理器还用于:当所述操作部件转动到所述标记点或者所述标记点的预设范围时,将预设力矩作为所述电机的输出力矩控制所述电机运行;其中,所述预设力矩包括振动力矩,所述振动力矩能够使得所述电机的转动部分转动并带动所述操作部件在所述标记点处来回转动。In some embodiments, the processor is further configured to: when the operating part rotates to the mark point or the preset range of the mark point, use the preset torque as the output torque of the motor to control the The motor runs; wherein, the preset torque includes a vibration torque, and the vibration torque can make the rotating part of the motor rotate and drive the operating part to rotate back and forth at the marking point.
在一些实施例中,所述振动力矩包括一个随时间周期性变化的力矩信号,所述周期性变化为所述力矩信号的值正负变化。In some embodiments, the vibration torque includes a torque signal that changes periodically with time, and the periodic change is a positive or negative change of the value of the torque signal.
在一些实施例中,所述力矩信号包括多个可调参数,所述可调参数影响振动操作感的振动时间、振动频率和/或振动强度。In some embodiments, the torque signal includes a plurality of adjustable parameters, and the adjustable parameters affect the vibration time, vibration frequency and/or vibration intensity of the vibration operation feeling.
在一些实施例中,所述力矩信号包括正弦信号、余弦信号中的一种。In some embodiments, the torque signal includes one of a sine signal and a cosine signal.
在一些实施例中,所述预设力矩还包括阻尼力矩,所述阻尼力矩为所述电机按照速度闭环运行时的输出力矩,所述速度闭环的目标速度为零。In some embodiments, the preset torque further includes a damping torque, the damping torque is the output torque when the motor operates according to a speed closed loop, and the target speed of the speed closed loop is zero.
在一些实施例中,所述处理器还用于:获取用户设置的预设位置,并保存 所述预设位置。In some embodiments, the processor is further configured to: acquire a preset position set by a user, and save the preset position.
在一些实施例中,所述处理器还用于:根据删除指令删除所述预设位置。In some embodiments, the processor is further configured to: delete the preset location according to a deletion instruction.
在一些实施例中,所述获取用户设置的预设位置,包括:In some embodiments, the obtaining the preset position set by the user includes:
获取用户设置的预设位置以及所述预设位置的作用,不同的作用对应不同的电机控制策略;或者,获取用户在预设工作模式下设置的预设位置,不同的预设工作模式确定所述预设位置的作用不同。Obtain the preset position set by the user and the function of the preset position, and different functions correspond to different motor control strategies; or obtain the preset position set by the user in the preset working mode, and different preset working modes determine the The functions of the above preset positions are different.
在一些实施例中,所述预设工作模式包括如下至少一种:限位模式和标记提示模式。In some embodiments, the preset working modes include at least one of the following: a limit mode and a marker prompt mode.
在一些实施例中,所述处理器还用于:获取用户基于所述操作部件的旋转位置;将所述旋转位置作为预设位置,并保存所述预设位置。In some embodiments, the processor is further configured to: acquire a user's rotational position based on the operating component; use the rotational position as a preset position, and save the preset position.
在一些实施例中,所述跟焦设备包括设置按键,所述设置按键与主控电路连接,所述设置按键用于设置预设位置;其中,所述处理器还用于:基于用户对所述设置按键的设置操作,确定预设位置并保存所述预设位置。In some embodiments, the focus device includes a setting button, the setting button is connected to the main control circuit, and the setting button is used to set a preset position; wherein, the processor is also used to: The setting operation of the above-mentioned setting button is performed to determine the preset position and save the preset position.
在一些实施例中,所述跟焦设备包括触控显示屏,所述触控显示屏与所述主控电路连接;其中,所述处理器还用于:In some embodiments, the focus-following device includes a touch screen, and the touch screen is connected to the main control circuit; wherein, the processor is also used for:
通过所述触控显示屏显示设置界面,所述设置界面用于供用户设置预设位置;获取用户基于所述设置界面设置的预设位置,并保存所述预设位置。A setting interface is displayed through the touch screen, and the setting interface is used for the user to set a preset position; the preset position set by the user based on the setting interface is obtained, and the preset position is saved.
在一些实施例中,所述设置界面包括用于设置所述预设位置的输入框,或,所述设置界面包括用于设置所述预设位置的设置图标。In some embodiments, the setting interface includes an input box for setting the preset position, or, the setting interface includes a setting icon for setting the preset position.
在一些实施例中,所述设置界面包括用于表示所述操作部件的转动位置的位置范围;所述处理器还用于:In some embodiments, the setting interface includes a position range for representing the rotational position of the operating component; the processor is further configured to:
获取用户在所述设置界面显示的位置范围选择的转动位置;将所述转动位置作为预设位置,并保存所述预设位置。Acquire the rotation position selected by the user in the position range displayed on the setting interface; use the rotation position as a preset position, and save the preset position.
在一些实施例中,所述处理器还用于:根据状态修改指令修改所述预设位置的状态,所述预设位置的状态包括激活状态和非激活状态。In some embodiments, the processor is further configured to: modify the state of the preset position according to the state modification instruction, where the state of the preset position includes an active state and an inactive state.
在一些实施例中,所述预设位置用于限位时,所述预设位置的状态发生变化确定所述跟焦设备的工作模式的变化;其中,所述预设位置的状态由激活状态变化为非激活状态,所述跟焦设备由限位模式变成非限位模式;所述预设位置的状态由非激活状态变化为激活状态,所述跟焦设备由非限位模式变成限位模式。In some embodiments, when the preset position is used for position limitation, a change in the state of the preset position determines a change in the working mode of the focus-following device; wherein, the state of the preset position is changed from the active state to Change to an inactive state, the follow-focus device changes from a limit mode to a non-limit mode; the state of the preset position changes from an inactive state to an active state, and the follow-focus device changes from a non-limit mode to a limit mode.
本申请实施例的控制装置具有与上面所述各个实施例的跟焦设备的控制方法相类似的有益技术效果,故,在此不再赘述。The control device in the embodiment of the present application has beneficial technical effects similar to the control methods of the focus device in the above-mentioned embodiments, so details will not be repeated here.
其中,上述控制装置可以集成于跟焦设备,具体可以为跟焦设备的主控电路的部分;或集成于固定设备,而与跟焦设备通信连接,并能够控制跟焦设备;或者是独立的电子设备,而与跟焦设备通信连接,并能够控制跟焦设备,具体形式此处不做具体限定。Wherein, the above-mentioned control device can be integrated into the focus equipment, specifically, it can be a part of the main control circuit of the focus equipment; or it can be integrated into the fixed equipment, communicate with the focus equipment, and be able to control the focus equipment; or it can be independent The electronic device communicates with the focusing device and is capable of controlling the focusing device. The specific form is not specifically limited here.
本申请的实施例中还提供一种计算机可读存储介质,所述计算机可读存储介质存储有计算机程序,所述计算机程序中包括程序指令,所述处理器执行所述程序指令,实现上述实施例提供的任一种所述的跟焦设备的控制方法的步骤。Embodiments of the present application also provide a computer-readable storage medium, the computer-readable storage medium stores a computer program, the computer program includes program instructions, and the processor executes the program instructions to implement the above implementation The steps of any one of the methods for controlling the focus device provided by the example.
其中,所述计算机可读存储介质可以是前述任一实施例所述的跟焦设备的内部存储单元,例如所述跟焦设备的存储器或内存。所述计算机可读存储介质也可以是所述跟焦设备的外部存储设备,例如所述跟焦设备上配备的插接式硬盘,智能存储卡(Smart Media Card,SMC),安全数字(Secure Digital,SD)卡,闪存卡(Flash Card)等。Wherein, the computer-readable storage medium may be an internal storage unit of the focus-following device described in any of the foregoing embodiments, such as a memory or a memory of the focus-following device. The computer-readable storage medium can also be an external storage device of the focus device, such as a plug-in hard disk equipped on the focus device, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital , SD) card, flash memory card (Flash Card), etc.
以上所述,仅为本申请的具体实施方式,但本申请的保护范围并不局限于此,任何熟悉本技术领域的技术人员在本申请揭露的技术范围内,可轻易想到各种等效的修改或替换,这些修改或替换都应涵盖在本申请的保护范围之内。因此,本申请的保护范围应以权利要求的保护范围为准。The above is only a specific embodiment of the application, but the scope of protection of the application is not limited thereto. Any person familiar with the technical field can easily think of various equivalents within the scope of the technology disclosed in the application. Modifications or replacements, these modifications or replacements shall be covered within the scope of protection of this application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.
Claims (88)
- 一种跟焦设备,其特征在于,所述跟焦设备包括:A follow-focus device, characterized in that the follow-focus device includes:电机;motor;操作部件,用于供用户操作而输入跟焦控制信号,所述操作部件与所述电机的转动部分机械耦合,并能够带动所述电机的转动部分一起转动;An operating part, used for the user to operate to input a focus control signal, the operating part is mechanically coupled with the rotating part of the motor, and can drive the rotating part of the motor to rotate together;驱动电路,所述驱动电路与所述电机连接,用于驱动所述电机转动;a drive circuit, the drive circuit is connected to the motor and is used to drive the motor to rotate;主控电路,所述主控电路与所述驱动电路连接,所述主控电路用于通过所述驱动电路控制所述电机的转动部分转动;A main control circuit, the main control circuit is connected to the drive circuit, and the main control circuit is used to control the rotation of the rotating part of the motor through the drive circuit;其中,所述主控电路还用于:在所述操作部件转动到预设位置时,控制所述电机的转动部分运动并作用于所述操作部件,以提供相应的操作感反馈。Wherein, the main control circuit is further used for: when the operating part is rotated to a preset position, controlling the movement of the rotating part of the motor and acting on the operating part, so as to provide corresponding operating feedback.
- 根据权利要求1所述的跟焦设备,其特征在于,所述操作感包括回弹操作感或振动操作感。The focus-following device according to claim 1, wherein the operation feeling includes a rebound operation feeling or a vibration operation feeling.
- 根据权利要求1所述的跟焦设备,其特征在于,所述预设位置是根据所述电机的转动部分的转动位置确定的。The follow focus device according to claim 1, wherein the preset position is determined according to the rotational position of the rotating part of the motor.
- 根据权利要求1所述的跟焦设备,其特征在于,具有不同作用的预设位置对应不同的电机控制策略,所述预设位置的作用包括用于限位、用于标记中的至少一种。The follow-focus device according to claim 1, wherein the preset positions with different functions correspond to different motor control strategies, and the functions of the preset positions include at least one of positioning and marking .
- 根据权利要求4所述的跟焦设备,其特征在于,所述预设位置包括第一限位点和第二限位点,其中,所述第一限位点和所述第二限位点用于限制所述操作部件的转动范围。The follow focus device according to claim 4, wherein the preset position includes a first limit point and a second limit point, wherein the first limit point and the second limit point Used to limit the rotation range of the operating part.
- 根据权利要求5所述的跟焦设备,其特征在于,所述主控电路还用于:The follow focus device according to claim 5, wherein the main control circuit is also used for:当所述操作部件的转动位置超过所述第一限位点或所述第二限位点时,控制所述电机按照位置闭环运行。When the rotational position of the operating component exceeds the first limit point or the second limit point, the motor is controlled to operate in a closed-loop position.
- 根据权利要求6所述的跟焦设备,其特征在于,所述位置闭环的目标位置为所述第一限位点或所述第二限位点对应的位置。The focus follow device according to claim 6, wherein the target position of the position closed loop is a position corresponding to the first limit point or the second limit point.
- 根据权利要求6所述的跟焦设备,其特征在于,所述电机的输出力矩与所述电机的转动部分的位置正相关,所述输出力矩的力矩方向与所述转动部分的转动方向相反。The follow focus device according to claim 6, wherein the output torque of the motor is positively related to the position of the rotating part of the motor, and the moment direction of the output torque is opposite to the rotating direction of the rotating part.
- 根据权利要求6所述的跟焦设备,其特征在于,所述电机的输出力矩为预设值。The follow focus device according to claim 6, wherein the output torque of the motor is a preset value.
- 根据权利要求5所述的跟焦设备,其特征在于,所述主控电路还用于:The follow focus device according to claim 5, wherein the main control circuit is also used for:当所述操作部件的转动位置在所述第一限位点和所述第二限位点之间时,控制所述电机按照速度闭环运行,所述速度闭环的目标速度为零。When the rotational position of the operating member is between the first limit point and the second limit point, the motor is controlled to run in a speed closed loop, and the target speed of the speed closed loop is zero.
- 根据权利要求10所述的跟焦设备,其特征在于,所述电机的输出力矩与所述电机的转动部分的转速正相关,所述输出力矩的力矩方向与所述转动部分的转动方向相反。The follow focus device according to claim 10, wherein the output torque of the motor is positively correlated with the rotational speed of the rotating part of the motor, and the torque direction of the output torque is opposite to the rotating direction of the rotating part.
- 根据权利要求4所述的跟焦设备,其特征在于,所述预设位置包括至少一个标记点,所述标记点用于提示所述操作部件运动至特定位置。The follow-focus device according to claim 4, wherein the preset position includes at least one marking point, and the marking point is used to prompt the operating component to move to a specific position.
- 根据权利要求12所述的跟焦设备,其特征在于,所述标记点与所述跟焦设备控制的拍摄设备的合焦位置相对应。The focus-following device according to claim 12, wherein the mark point corresponds to a focus position of a photographing device controlled by the focus-following device.
- 根据权利要求12所述的跟焦设备,其特征在于,所述电机的转速在所述标记点对应的转动位置的两侧不同。The follow focus device according to claim 12, wherein the rotation speed of the motor is different on both sides of the rotation position corresponding to the marking point.
- 根据权利要求12所述的跟焦设备,其特征在于,所述主控电路还用于:The follow focus device according to claim 12, wherein the main control circuit is also used for:当所述操作部件转动到所述标记点或者所述标记点的预设范围时,利用预设力矩作为所述电机的输出力矩控制所述电机运行;When the operating part rotates to the mark point or the preset range of the mark point, use the preset torque as the output torque of the motor to control the operation of the motor;其中,所述预设力矩包括振动力矩,所述振动力矩能够使得所述电机的转动部分转动并带动所述操作部件在所述标记点处来回转动。Wherein, the preset torque includes a vibration torque, and the vibration torque can make the rotating part of the motor rotate and drive the operating part to rotate back and forth at the marking point.
- 根据权利要求15所述的跟焦设备,其特征在于,所述振动力矩包括一个随时间周期性变化的力矩信号,所述周期性变化为所述力矩信号的值正负变化。The follow-focus device according to claim 15, wherein the vibration torque includes a torque signal that changes periodically with time, and the periodic change is a positive or negative change of the value of the torque signal.
- 根据权利要求16所述的跟焦设备,其特征在于,所述力矩信号包括多个可调参数,所述可调参数影响振动操作感的振动时间、振动频率和/或振动强度。The follow-focus device according to claim 16, wherein the torque signal includes a plurality of adjustable parameters, and the adjustable parameters affect the vibration time, vibration frequency and/or vibration intensity of the vibration operation feeling.
- 根据权利要求16所述的跟焦设备,其特征在于,所述力矩信号包括正弦信号、余弦信号中的一种。The follow focus device according to claim 16, wherein the torque signal includes one of a sine signal and a cosine signal.
- 根据权利要求15所述的跟焦设备,其特征在于,所述预设力矩还包括阻尼力矩,所述阻尼力矩为所述电机按照速度闭环运行时的输出力矩,所述速度闭环的目标速度为零。The follow focus device according to claim 15, wherein the preset torque further includes a damping torque, the damping torque is the output torque of the motor when it operates in a speed closed loop, and the target speed of the speed closed loop is zero.
- 根据权利要求1-19任一项所述的跟焦设备,其特征在于,所述主控电路还用于:The follow-focus device according to any one of claims 1-19, wherein the main control circuit is also used for:获取用户设置的预设位置,并保存所述预设位置。Obtain the preset position set by the user, and save the preset position.
- 根据权利要求20所述的跟焦设备,其特征在于,所述主控电路还用于:The follow focus device according to claim 20, wherein the main control circuit is also used for:根据删除指令删除所述预设位置。The preset position is deleted according to the delete instruction.
- 根据权利要求20所述的跟焦设备,其特征在于,所述获取用户设置的预设位置,包括:The follow focus device according to claim 20, wherein said obtaining the preset position set by the user comprises:获取用户设置的预设位置以及所述预设位置的作用,不同的作用对应不同的电机控制策略;或者,Obtain the preset position set by the user and the function of the preset position, and different functions correspond to different motor control strategies; or,获取用户在预设工作模式下设置的预设位置,不同的预设工作模式确定的所述预设位置的作用不同。The preset position set by the user in the preset working mode is obtained, and the functions of the preset positions determined by different preset working modes are different.
- 根据权利要求22所述的跟焦设备,其特征在于,所述预设工作模式包括如下至少一种:限位模式和标记提示模式。The follow-focus device according to claim 22, wherein the preset working modes include at least one of the following: a limit mode and a marker prompt mode.
- 根据权利要求20所述的跟焦设备,其特征在于,所述主控电路还用于:The follow focus device according to claim 20, wherein the main control circuit is also used for:获取用户基于所述操作部件的旋转位置;Acquiring the rotational position of the user based on the operating component;将所述旋转位置作为预设位置,并保存所述预设位置。The rotation position is used as a preset position, and the preset position is saved.
- 根据权利要求20所述的跟焦设备,其特征在于,所述跟焦设备包括设置按键,所述设置按键与主控电路连接,所述设置按键用于设置预设位置;The follow-focus device according to claim 20, characterized in that the follow-focus device includes a setting button, the setting button is connected to the main control circuit, and the setting button is used to set a preset position;其中,所述主控电路还用于:Wherein, the main control circuit is also used for:基于用户对所述设置按键的设置操作,确定预设位置并保存所述预设位置。Based on the setting operation of the setting button by the user, the preset position is determined and saved.
- 根据权利要求20所述的跟焦设备,其特征在于,所述跟焦设备包括触控显示屏,所述触控显示屏与所述主控电路连接;The focus-following device according to claim 20, wherein the focus-following device comprises a touch screen, and the touch screen is connected to the main control circuit;其中,所述主控电路还用于:Wherein, the main control circuit is also used for:通过所述触控显示屏显示设置界面,所述设置界面用于供用户设置预设位置;displaying a setting interface through the touch screen, and the setting interface is used for the user to set a preset position;获取用户基于所述设置界面设置的预设位置,并保存所述预设位置。Acquire the preset position set by the user based on the setting interface, and save the preset position.
- 根据权利要求26所述的跟焦设备,其特征在于,所述设置界面包括用于设置所述预设位置的输入框,或,所述设置界面包括用于设置所述预设位置的设置图标。The follow focus device according to claim 26, wherein the setting interface includes an input box for setting the preset position, or the setting interface includes a setting icon for setting the preset position .
- 根据权利要求26所述的跟焦设备,其特征在于,所述设置界面包括用 于表示所述操作部件的转动位置的位置范围;The follow-focus device according to claim 26, wherein the setting interface includes a position range for representing the rotational position of the operating component;所述主控电路还用于:The main control circuit is also used for:获取用户在所述设置界面显示的位置范围选择的转动位置;Obtain the rotation position selected by the user in the position range displayed on the setting interface;将所述转动位置作为预设位置,并保存所述预设位置。The rotation position is used as a preset position, and the preset position is saved.
- 根据权利要求20所述的跟焦设备,其特征在于,所述主控电路还用于:The follow focus device according to claim 20, wherein the main control circuit is also used for:根据状态修改指令修改所述预设位置的状态,所述预设位置的状态包括激活状态和非激活状态。The state of the preset position is modified according to the state modification instruction, and the state of the preset position includes an active state and an inactive state.
- 根据权利要求29所述的跟焦设备,其特征在于,所述预设位置用于限位时,所述预设位置的状态发生变化确定所述跟焦设备的工作模式的变化;The follow-focus device according to claim 29, wherein when the preset position is used for position limitation, a change in the state of the preset position determines a change in the working mode of the focus-follow device;其中,所述预设位置的状态由激活状态变化为非激活状态,所述跟焦设备由限位模式变成非限位模式;所述预设位置的状态由非激活状态变化为激活状态,所述跟焦设备由非限位模式变成限位模式。Wherein, the state of the preset position changes from an active state to an inactive state, and the focus focus device changes from a limit mode to a non-limit mode; the state of the preset position changes from an inactive state to an active state, The follow-focus device changes from a non-limited mode to a limited mode.
- 一种跟焦设备,其特征在于,所述跟焦设备包括:A follow-focus device, characterized in that the follow-focus device includes:电机;motor;操作部件,用于供用户操作而输入跟焦控制信号,所述操作部件与所述电机的转动部分机械耦合,并能够带动所述电机的转动部分一起转动;An operating part, used for user operation to input a focus control signal, the operating part is mechanically coupled with the rotating part of the motor, and can drive the rotating part of the motor to rotate together;驱动电路,所述驱动电路与所述电机连接,用于驱动所述电机转动;a drive circuit, the drive circuit is connected to the motor and is used to drive the motor to rotate;主控电路,所述主控电路与所述驱动电路连接,所述主控电路用于通过所述驱动电路控制所述电机的转动部分转动;A main control circuit, the main control circuit is connected to the drive circuit, and the main control circuit is used to control the rotation of the rotating part of the motor through the drive circuit;设置装置,所述设置装置与所述主控电路连接,所述设置装置用于供用户设置所述操作部件的预设位置,所述预设位置对应有电机控制策略,所述电机控制策略用于控制所述电机的转动部分运动并作用于所述操作部件,以提供相应的操作感反馈。A setting device, the setting device is connected with the main control circuit, and the setting device is used for the user to set the preset position of the operating part, and the preset position corresponds to a motor control strategy, and the motor control strategy is used It is used to control the movement of the rotating part of the motor and act on the operating component to provide corresponding operating feedback.
- 根据权利要求31所述的跟焦设备,其特征在于,所述电机控制策略与所述预设位置的作用相关,所述预设位置的作用包括用于限位、用于标记中的至少一种。The follow-focus device according to claim 31, wherein the motor control strategy is related to the function of the preset position, and the function of the preset position includes at least one of positioning and marking kind.
- 根据权利要求32所述的跟焦设备,其特征在于,所述预设位置包括限位点、标记点中的一种;The follow-focus device according to claim 32, wherein the preset position includes one of a limit point and a mark point;其中,所述限位点包括第一限位点和第二限位点,所述第一限位点和第二限位点用于确定所述操作部件的转动范围,所述标记点用于提示所述操作部件 运动至特定位置。Wherein, the limit points include a first limit point and a second limit point, the first limit point and the second limit point are used to determine the rotation range of the operating part, and the mark points are used for Prompting the operation part to move to a specific position.
- 根据权利要求33所述的跟焦设备,其特征在于,所述标记点与所述跟焦设备控制的拍摄设备的合焦位置相对应。The focus-following device according to claim 33, wherein the mark point corresponds to a focus position of a photographing device controlled by the focus-following device.
- 根据权利要求33所述的跟焦设备,其特征在于,所述电机的转速在所述标记点对应的转动位置的两侧不同。The follow focus device according to claim 33, wherein the rotation speed of the motor is different on both sides of the rotation position corresponding to the marking point.
- 根据权利要求32所述的跟焦设备,其特征在于,不同的电机控制策略对应不同的操作感,所述操作感包括回弹操作感、振动操作感中的一种。The follow focus device according to claim 32, characterized in that different motor control strategies correspond to different operational sensations, and the operational sensations include one of rebound operational sensations and vibration operational sensations.
- 根据权利要求31所述的跟焦设备,其特征在于,所述预设位置是根据所述电机的转动部分的转动位置确定的。The follow focus device according to claim 31, wherein the preset position is determined according to the rotational position of the rotating part of the motor.
- 根据权利要求33所述的跟焦设备,其特征在于,所述限位点对应的电机控制策略包括:The follow focus device according to claim 33, wherein the motor control strategy corresponding to the limit point includes:在所述操作部件的转动位置超过所述第一限位点或所述第二限位点时,控制所述电机按照位置闭环运行。When the rotational position of the operating component exceeds the first limit point or the second limit point, the motor is controlled to operate in a closed-loop position.
- 根据权利要求38所述的跟焦设备,其特征在于,所述位置闭环的目标位置为所述第一限位点或所述第二限位点对应的位置。The focus follow device according to claim 38, wherein the target position of the position closed loop is a position corresponding to the first limit point or the second limit point.
- 根据权利要求38所述的跟焦设备,其特征在于,所述电机的输出力矩与所述电机的转动部分的位置正相关,所述输出力矩的力矩方向与所述转动部分的转动方向相反。The follow focus device according to claim 38, wherein the output torque of the motor is positively related to the position of the rotating part of the motor, and the torque direction of the output torque is opposite to the rotating direction of the rotating part.
- 根据权利要求38所述的跟焦设备,其特征在于,所述电机的输出力矩为预设值。The follow focus device according to claim 38, wherein the output torque of the motor is a preset value.
- 根据权利要求38所述的跟焦设备,其特征在于,所述限位点对应的电机控制策略还包括:The focus-following device according to claim 38, wherein the motor control strategy corresponding to the limit point further includes:在所述操作部件的转动位置在所述第一限位点和所述第二限位点之间时,控制所述电机按照速度闭环运行,所述速度闭环的目标速度为零。When the rotational position of the operating member is between the first limit point and the second limit point, the motor is controlled to run in a speed closed loop, and the target speed of the speed closed loop is zero.
- 根据权利要求42所述的跟焦设备,其特征在于,所述电机的输出力矩与所述电机的转动部分的转速正相关,所述输出力矩的力矩方向与所述转动部分的转动方向相反。The follow focus device according to claim 42, wherein the output torque of the motor is positively correlated with the rotational speed of the rotating part of the motor, and the torque direction of the output torque is opposite to the rotating direction of the rotating part.
- 根据权利要求33所述的跟焦设备,其特征在于,所述标记点对应的电机控制策略包括:The focus-following device according to claim 33, wherein the motor control strategy corresponding to the marking point comprises:在所述操作部件转动到所述标记点或者所述标记点的预设范围时,利用预 设力矩作为所述电机的输出力矩控制所述电机运行;When the operating part rotates to the mark point or the preset range of the mark point, the preset torque is used as the output torque of the motor to control the operation of the motor;其中,所述预设力矩包括振动力矩,所述振动力矩能够使得所述电机的转动部分转动并带动所述操作部件在所述标记点处来回转动。Wherein, the preset torque includes a vibration torque, and the vibration torque can make the rotating part of the motor rotate and drive the operating part to rotate back and forth at the marking point.
- 根据权利要求44所述的跟焦设备,其特征在于,所述振动力矩包括一个随时间周期性变化的力矩信号,所述周期性变化为所述力矩信号的值正负变化。The follow-focus device according to claim 44, wherein the vibration torque includes a torque signal that changes periodically with time, and the periodic change is a positive or negative change of the value of the torque signal.
- 根据权利要求45所述的跟焦设备,其特征在于,所述力矩信号包括多个可调参数,所述可调参数影响振动操作感的振动时间、振动频率和/或振动强度。The follow-focus device according to claim 45, wherein the torque signal includes a plurality of adjustable parameters, and the adjustable parameters affect the vibration time, vibration frequency and/or vibration intensity of the vibration operation feeling.
- 根据权利要求45所述的跟焦设备,其特征在于,所述力矩信号包括正弦信号、余弦信号中的一种。The follow focus device according to claim 45, wherein the torque signal includes one of a sine signal and a cosine signal.
- 根据权利要求31-47任一项所述的跟焦设备,其特征在于,所述设置装置包括触控显示屏、设置按键、终端设备中的至少一种。The follow-focus device according to any one of claims 31-47, wherein the setting device includes at least one of a touch screen, a setting button, and a terminal device.
- 根据权利要求48所述的跟焦设备,其特征在于,所述触控显示屏用于显示设置界面,所述设置界面用于供用户设置所述操作部件的预设位置。The follow-focus device according to claim 48, wherein the touch display screen is used to display a setting interface, and the setting interface is used for a user to set a preset position of the operating component.
- 根据权利要求49所述的跟焦设备,其特征在于,所述设置界面包括用于设置所述预设位置的输入框,或,所述设置界面包括用于设置所述预设位置的设置图标。The follow focus device according to claim 49, wherein the setting interface includes an input box for setting the preset position, or, the setting interface includes a setting icon for setting the preset position .
- 根据权利要求49所述的跟焦设备,其特征在于,所述设置界面包括用于表示所述操作部件的转动位置的位置范围,以便将用户在所述设置界面显示的位置范围选择的转动位置作为预设位置。The follow-focus device according to claim 49, wherein the setting interface includes a position range for representing the rotational position of the operating member, so that the rotational position selected by the user in the position range displayed on the setting interface as a default position.
- 根据权利要求49所述的跟焦设备,其特征在于,所述设置界面包括删除图标,所述删除图标用于供用户删除用户选中的预设位置。The follow-focus device according to claim 49, wherein the setting interface includes a delete icon, and the delete icon is used for the user to delete the preset position selected by the user.
- 根据权利要求31所述的跟焦设备,其特征在于,所述预设位置的状态包括激活状态和非激活状态。The follow-focus device according to claim 31, wherein the state of the preset position includes an active state and an inactive state.
- 根据权利要求53所述的跟焦设备,其特征在于,所述预设位置用于限位时,所述预设位置的状态发生变化确定所述跟焦设备的工作模式的变化;The follow-focus device according to claim 53, wherein when the preset position is used for position limitation, a change in the state of the preset position determines a change in the working mode of the focus-follow device;其中,所述预设位置的状态由激活状态变化为非激活状态,所述跟焦设备由限位模式变成非限位模式;所述预设位置的状态由非激活状态变化为激活状态,所述跟焦设备由非限位模式变成限位模式。Wherein, the state of the preset position is changed from an active state to an inactive state, and the focus focus device is changed from a limit mode to a non-limit mode; the state of the preset position is changed from an inactive state to an active state, The follow-focus device changes from a non-limited mode to a limited mode.
- 一种跟焦设备的控制方法,其特征在于,所述方法包括:A method for controlling a focus device, characterized in that the method includes:获取跟焦设备的电机的转动部分的转动位置,其中,所述跟焦设备包括电机和操作部件,所述操作部件用于供用户操作而输入跟焦控制信号,所述操作部件与所述电机的转动部分机械耦合;Acquiring the rotational position of the rotating part of the motor of the focus-following device, wherein the focus-following device includes a motor and an operating part, the operating part is used for user operation to input a focus control signal, and the operating part is connected to the motor The rotating part of the mechanical coupling;根据所述转动位置确定所述操作部件是否转动到预设位置;determining whether the operating member is rotated to a preset position according to the rotational position;在所述操作部件转动到预设位置时,控制所述电机的转动部分运动并作用于所述操作部件,以提供相应的操作感反馈。When the operating part rotates to a preset position, the rotating part of the motor is controlled to move and act on the operating part, so as to provide corresponding operating feedback.
- 根据权利要求55所述的方法,其特征在于,所述操作感包括回弹操作感或振动操作感。The method according to claim 55, wherein the operation feeling includes a rebound operation feeling or a vibration operation feeling.
- 根据权利要求55所述的方法,其特征在于,具有不同作用的预设位置对应不同的电机控制策略,所述预设位置的作用包括用于限位、用于标记中的至少一种。The method according to claim 55, wherein the preset positions with different functions correspond to different motor control strategies, and the functions of the preset positions include at least one of position limiting and marking.
- 根据权利要求57所述的方法,其特征在于,所述预设位置包括第一限位点和第二限位点,其中,所述第一限位点和所述第二限位点用于限制所述操作部件的运行范围。The method according to claim 57, wherein the preset position includes a first limit point and a second limit point, wherein the first limit point and the second limit point are used for Limit the operating range of the operating part.
- 根据权利要求58所述的方法,其特征在于,所述方法包括:The method according to claim 58, characterized in that said method comprises:当所述操作部件的转动位置超过所述第一限位点或所述第二限位点时,控制所述电机按照位置闭环运行。When the rotational position of the operating component exceeds the first limit point or the second limit point, the motor is controlled to operate in a closed-loop position.
- 根据权利要求59所述的方法,其特征在于,所述位置闭环的目标位置为所述第一限位点或所述第二限位点对应的位置。The method according to claim 59, wherein the target position of the position closed loop is the position corresponding to the first limit point or the second limit point.
- 根据权利要求59所述的方法,其特征在于,所述电机的输出力矩与所述电机的转动部分的位置正相关,所述输出力矩的力矩方向与所述转动部分的转动方向相反。The method according to claim 59, wherein the output torque of the motor is positively related to the position of the rotating part of the motor, and the moment direction of the output torque is opposite to the rotating direction of the rotating part.
- 根据权利要求59所述的方法,其特征在于,所述方法还包括:The method of claim 59, further comprising:获取用户设置的预设值,作为所述电机的输出力矩。Obtain the preset value set by the user as the output torque of the motor.
- 根据权利要求58所述的方法,其特征在于,所述方法包括:The method according to claim 58, characterized in that said method comprises:当所述操作部件的转动位置在所述第一限位点和所述第二限位点之间时,控制所述电机按照速度闭环运行,所述速度闭环的目标速度为零。When the rotational position of the operating member is between the first limit point and the second limit point, the motor is controlled to run in a speed closed loop, and the target speed of the speed closed loop is zero.
- 根据权利要求63所述的方法,其特征在于,所述电机的输出力矩与所述电机的转动部分的转速正相关,所述输出力矩的力矩方向与所述转动部分的 转动方向相反。The method according to claim 63, wherein the output torque of the motor is positively correlated with the rotational speed of the rotating part of the motor, and the torque direction of the output torque is opposite to the rotating direction of the rotating part.
- 根据权利要求57所述的方法,其特征在于,所述预设位置包括至少一个标记点,所述标记点用于提示所述电机的转动部分运动至预设位置。The method according to claim 57, wherein the preset position includes at least one marking point, and the marking point is used to prompt the rotating part of the motor to move to the preset position.
- 根据权利要求65所述的方法,其特征在于,所述标记点与所述跟焦设备控制的拍摄设备的合焦位置相对应。The method according to claim 65, wherein the mark point corresponds to a focus position of a photographing device controlled by the focus-following device.
- 根据权利要求65所述的方法,其特征在于,所述电机的转速在所述标记点对应的转动位置的两侧不同。The method according to claim 65, wherein the rotational speed of the motor is different on both sides of the rotational position corresponding to the marking point.
- 根据权利要求65所述的方法,其特征在于,所述方法包括:The method according to claim 65, characterized in that said method comprises:当所述操作部件转动到所述标记点或者所述标记点的预设范围时,将预设力矩作为所述电机的输出力矩控制所述电机运行;When the operating part rotates to the mark point or the preset range of the mark point, the preset torque is used as the output torque of the motor to control the operation of the motor;其中,所述预设力矩包括振动力矩,所述振动力矩能够使得所述电机的转动部分转动并带动所述操作部件在所述标记点处来回转动。Wherein, the preset torque includes a vibration torque, and the vibration torque can make the rotating part of the motor rotate and drive the operating part to rotate back and forth at the marking point.
- 根据权利要求68所述的方法,其特征在于,所述振动力矩包括一个随时间周期性变化的力矩信号,所述周期性变化为所述力矩信号的值正负变化。The method according to claim 68, wherein the vibration torque includes a torque signal that changes periodically with time, and the periodic change is a positive or negative change of the value of the torque signal.
- 根据权利要求69所述的方法,其特征在于,所述力矩信号包括多个可调参数,所述可调参数影响振动操作感的振动时间、振动频率和/或振动强度。The method according to claim 69, wherein the torque signal includes a plurality of adjustable parameters, and the adjustable parameters affect the vibration time, vibration frequency and/or vibration intensity of the vibration operation feeling.
- 根据权利要求69所述的方法,其特征在于,所述力矩信号包括正弦信号、余弦信号中的一种。The method according to claim 69, wherein the torque signal includes one of a sine signal and a cosine signal.
- 根据权利要求68所述的方法,其特征在于,所述预设力矩还包括阻尼力矩,所述阻尼力矩为所述电机按照速度闭环运行时的输出力矩,所述速度闭环的目标速度为零。The method according to claim 68, wherein the preset torque further includes a damping torque, the damping torque is the output torque when the motor operates according to a speed closed loop, and the target speed of the speed closed loop is zero.
- 根据权利要求55-72任一项所述的方法,其特征在于,所述方法包括:The method according to any one of claims 55-72, wherein the method comprises:获取用户设置的预设位置,并保存所述预设位置。Obtain the preset position set by the user, and save the preset position.
- 根据权利要求73所述的方法,其特征在于,所述方法包括:The method according to claim 73, characterized in that said method comprises:根据删除指令删除所述预设位置。The preset position is deleted according to the delete instruction.
- 根据权利要求73所述的方法,其特征在于,所述获取用户设置的预设位置,包括:The method according to claim 73, wherein said obtaining the preset position set by the user comprises:获取用户设置的预设位置以及所述预设位置的作用,不同的作用对应不同的电机控制策略;或者,Obtain the preset position set by the user and the function of the preset position, and different functions correspond to different motor control strategies; or,获取用户在预设工作模式下设置的预设位置,不同的预设工作模式确定所 述预设位置的作用不同。Acquire the preset position set by the user in the preset working mode. Different preset working modes determine the different functions of the preset position.
- 根据权利要求75所述的方法,其特征在于,所述预设工作模式包括如下至少一种:限位模式和标记提示模式。The method according to claim 75, wherein the preset working modes include at least one of the following: a limit mode and a marking prompt mode.
- 根据权利要求73所述的方法,其特征在于,所述方法包括:The method according to claim 73, characterized in that said method comprises:获取用户基于所述操作部件的旋转位置;Acquiring the rotational position of the user based on the operating component;将所述旋转位置作为预设位置,并保存所述预设位置。The rotation position is used as a preset position, and the preset position is saved.
- 根据权利要求73所述的方法,其特征在于,所述跟焦设备包括设置按键,所述设置按键与主控电路连接,所述设置按键用于设置预设位置;The method according to claim 73, wherein the focus focus device includes a setting button, the setting button is connected to the main control circuit, and the setting button is used to set a preset position;其中,所述方法还包括:Wherein, the method also includes:基于用户对所述设置按键的设置操作,确定预设位置并保存所述预设位置。Based on the setting operation of the setting button by the user, the preset position is determined and saved.
- 根据权利要求73所述的方法,其特征在于,所述跟焦设备包括触控显示屏,所述触控显示屏与所述主控电路连接;The method according to claim 73, characterized in that, the focus-following device includes a touch screen, and the touch screen is connected to the main control circuit;其中,所述方法还包括:Wherein, the method also includes:通过所述触控显示屏显示设置界面,所述设置界面用于供用户设置预设位置;displaying a setting interface through the touch screen, and the setting interface is used for the user to set a preset position;获取用户基于所述设置界面设置的预设位置,并保存所述预设位置。Acquire the preset position set by the user based on the setting interface, and save the preset position.
- 根据权利要求79所述的方法,其特征在于,所述设置界面包括用于设置所述预设位置的输入框,或,所述设置界面包括用于设置所述预设位置的设置图标。The method according to claim 79, wherein the setting interface includes an input box for setting the preset position, or the setting interface includes a setting icon for setting the preset position.
- 根据权利要求79所述的方法,其特征在于,所述设置界面包括用于表示所述操作部件的转动位置的位置范围;所述方法还包括:The method according to claim 79, wherein the setting interface includes a position range for representing the rotational position of the operating component; the method further comprises:获取用户在所述设置界面显示的位置范围选择的转动位置;Obtain the rotation position selected by the user in the position range displayed on the setting interface;将所述转动位置作为预设位置,并保存所述预设位置。The rotation position is used as a preset position, and the preset position is saved.
- 根据权利要求73所述的方法,其特征在于,所述方法包括:The method according to claim 73, characterized in that said method comprises:根据状态修改指令修改所述预设位置的状态,所述预设位置的状态包括激活状态和非激活状态。The state of the preset position is modified according to the state modification instruction, and the state of the preset position includes an active state and an inactive state.
- 根据权利要求82所述的方法,其特征在于,所述预设位置用于限位时,所述预设位置的状态发生变化确定所述跟焦设备的工作模式的变化;The method according to claim 82, characterized in that, when the preset position is used for position limitation, a change in the state of the preset position determines a change in the working mode of the focus focus device;其中,所述预设位置的状态由激活状态变化为非激活状态,所述跟焦设备由限位模式变成非限位模式;所述预设位置的状态由非激活状态变化为激活状 态,所述跟焦设备由非限位模式变成限位模式。Wherein, the state of the preset position is changed from an active state to an inactive state, and the focus focus device is changed from a limit mode to a non-limit mode; the state of the preset position is changed from an inactive state to an active state, The follow-focus device changes from a non-limited mode to a limited mode.
- 一种控制装置,其特征在于,所述控制装置包括存储器和处理器;A control device, characterized in that the control device includes a memory and a processor;所述存储器用于存储计算机程序;The memory is used to store computer programs;所述处理器,用于执行所述计算机程序并在执行所述计算机程序时,实现权利要求55-83任一项所述的跟焦设备的控制方法。The processor is configured to execute the computer program and realize the control method of the focus-following device according to any one of claims 55-83 when the computer program is executed.
- 一种跟焦系统,其特征在于,所述跟焦系统包括:A follow-focus system, characterized in that the follow-focus system comprises:固定设备,所述固定设备用于搭载拍摄设备;Fixed equipment, the fixed equipment is used to carry shooting equipment;权利要求1-54任一项所述的跟焦设备,所述跟焦设备设置于所述固定设备或者所述跟焦设备独立于所述固定设备设置,所述跟焦设备用于控制所述拍摄设备对拍摄对象进行跟焦拍摄。The focus-following device according to any one of claims 1-54, the focus-following device is arranged on the fixed device or the focus-following device is set independently of the fixed device, and the focus-following device is used to control the The photographing device performs follow-focus photography on the subject.
- 根据权利要求85所述的跟焦系统,其特征在于,所述固定设备包括相机支架、机载云台或手持云台。The follow focus system according to claim 85, wherein the fixing device includes a camera bracket, an airborne pan/tilt or a handheld pan/tilt.
- 一种拍摄系统,其特征在于,所述拍摄系统包括拍摄设备和权利要求1-54任一项所述的跟焦设备,所述跟焦设备用于控制所述拍摄设备对拍摄对象进行跟焦拍摄。A photographing system, characterized in that the photographing system comprises a photographing device and the follow-focus device according to any one of claims 1-54, the follow-focus device is used to control the photographing device to focus on the subject shoot.
- 一种计算机可读存储介质,其特征在于,所述计算机可读存储介质存储有计算机程序,所述计算机程序被处理器执行时使所述处理器实现如权利要求55-83任一项所述的跟焦设备的控制方法的步骤。A computer-readable storage medium, characterized in that, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements any one of claims 55-83. The steps of the control method of the follow-focus device.
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