WO2022261907A1

WO2022261907A1 - Control method for follow focus device, and device and storage medium

Info

Publication number: WO2022261907A1
Application number: PCT/CN2021/100715
Authority: WO
Inventors: 殷汇鹏; 赵亚辉; 龙彪
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2021-06-17
Filing date: 2021-06-17
Publication date: 2022-12-22
Also published as: CN116746054A

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

Control method, device and storage medium of focus-focusing device

technical field

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.

Background technique

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.

Contents of the invention

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.

In the first aspect, the embodiment of the present application provides a focus-following device, the focus-following device includes:

motor;

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;

a drive circuit, 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;

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.

In addition, the embodiment of the present application also provides another focus-following device, which includes:

motor;

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.

In the second aspect, the embodiment of the present application also provides a method for controlling a focus device, the method including:

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;

determining whether the operating member is rotated to a preset position according to the rotational position;

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.

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;

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.

In the fourth aspect, 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;

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.

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.

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.

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.

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.

Description of drawings

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.

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;

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;

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;

Figures 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.

detailed description

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.

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.

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 .

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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).

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.

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.

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.

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 .

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.

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.

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.

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.

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. 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.

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.

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.

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.

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.

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.

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.

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.

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 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.

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.

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.

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.

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.

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

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.

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.

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.

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.

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.

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.

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.

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.

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 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.

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.

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.

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.

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 .

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.

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.

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.

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.

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.

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.

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.

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.

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 .

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.

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.

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.

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.

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.

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.

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.

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.

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.

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 .

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)

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.

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.

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.

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.

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.

Exemplarily, for example, the parameter setting interface includes input boxes corresponding to vibration time, vibration frequency, and vibration intensity.

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.

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.

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.

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.

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).

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.

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.

In some embodiments, the setting device may include at least one of a touch screen, a setting button, and a terminal device.

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 .

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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 .

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.

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.

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 .

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.

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.

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.

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.

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.

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 .

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

1. The preset position is the limit point

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.

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.

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.

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.

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.

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.

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.

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.

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 .

2. The preset position is used as a mark point

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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 .

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 .

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

In some embodiments, the fixed device includes a camera bracket, an airborne gimbal or a handheld gimbal, and the like.

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.

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.

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.

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.

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 .

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.

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.

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.

As shown in FIG. 20 , the method for controlling the focus-following device includes steps S101 to S103.

S101. Obtain the rotational position of the rotating part of the motor of the focus device;

S102. Determine whether the operating member is rotated to a preset position according to the rotation position;

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

In some embodiments, the rotation speed of the motor is different on both sides of the rotation position corresponding to the marking point.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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 .

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.

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.

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.

Exemplarily, the processor is configured to run a computer program stored in the memory, and implement the following steps when executing the computer program:

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.

In some embodiments, the operation feeling includes a rebound operation feeling or a vibration operation feeling.

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.

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.

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.

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.

In some embodiments, the processor is further configured to: acquire a preset value set by a user as the output torque of the motor.

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.

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.

In some embodiments, the mark point corresponds to the in-focus position of the photographing device controlled by the focus-following device.

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.

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.

In some embodiments, the torque signal includes one of a sine signal and a cosine signal.

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.

In some embodiments, the processor is further configured to: acquire a preset position set by a user, and save the preset position.

In some embodiments, the processor is further configured to: delete the preset location according to a deletion instruction.

In some embodiments, the obtaining the preset position set by the user includes:

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.

In some embodiments, the preset working modes include at least one of the following: a limit mode and a marker prompt mode.

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.

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.

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:

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.

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.

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:

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.

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.

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.

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.

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.

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.

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.

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

A follow-focus device, characterized in that the follow-focus device includes:

motor;

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;

a drive circuit, 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;

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.
The focus-following device according to claim 1, wherein the operation feeling includes a rebound operation feeling or a vibration operation feeling.
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.
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 .
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.
The follow focus device according to claim 5, wherein the main control circuit is also used for:

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.
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.
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.
The follow focus device according to claim 6, wherein the output torque of the motor is a preset value.
The follow focus device according to claim 5, wherein the main control circuit is also used for:

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.
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.
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.
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.
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.
The follow focus device according to claim 12, wherein the main control circuit is also used for:

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;

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 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.
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.
The follow focus device according to claim 16, wherein the torque signal includes one of a sine signal and a cosine signal.
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.
The follow-focus device according to any one of claims 1-19, wherein the main control circuit is also used for:

Obtain the preset position set by the user, and save the preset position.
The follow focus device according to claim 20, wherein the main control circuit is also used for:

The preset position is deleted according to the delete instruction.
The follow focus device according to claim 20, wherein said obtaining the preset position set by the user comprises:

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,

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.
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.
The follow focus device according to claim 20, wherein the main control circuit is also used for:

Acquiring the rotational position of the user based on the operating component;

The rotation position is used as a preset position, and the preset position is saved.
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;

Wherein, the main control circuit is also used for:

Based on the setting operation of the setting button by the user, the preset position is determined and saved.
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;

Wherein, the main control circuit is also used for:

displaying a setting interface through the touch screen, and the setting interface is used for the user to set a preset position;

Acquire the preset position set by the user based on the setting interface, and save the preset position.
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 .
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;

The main control circuit is also used for:

Obtain the rotation position selected by the user in the position range displayed on the setting interface;

The rotation position is used as a preset position, and the preset position is saved.
The follow focus device according to claim 20, wherein the main control circuit is also used for:

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.
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;

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.
A follow-focus device, characterized in that the follow-focus device includes:

motor;

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;

a drive circuit, 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, 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.
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.
The follow-focus device according to claim 32, wherein the preset position includes one of a limit point and a mark point;

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.
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.
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.
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.
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.
The follow focus device according to claim 33, wherein the motor control strategy corresponding to the limit point includes:

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.
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.
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.
The follow focus device according to claim 38, wherein the output torque of the motor is a preset value.
The focus-following device according to claim 38, wherein the motor control strategy corresponding to the limit point further includes:

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.
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.
The focus-following device according to claim 33, wherein the motor control strategy corresponding to the marking point comprises:

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;

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 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.
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.
The follow focus device according to claim 45, wherein the torque signal includes one of a sine signal and a cosine signal.
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.
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.
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 .
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.
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.
The follow-focus device according to claim 31, wherein the state of the preset position includes an active state and an inactive state.
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;

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.
A method for controlling a focus device, characterized in that the method includes:

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;

determining whether the operating member is rotated to a preset position according to the rotational position;

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.
The method according to claim 55, wherein the operation feeling includes a rebound operation feeling or a vibration operation feeling.
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.
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.
The method according to claim 58, characterized in that said method comprises:

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.
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.
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.
The method of claim 59, further comprising:

Obtain the preset value set by the user as the output torque of the motor.
The method according to claim 58, characterized in that said method comprises:

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.
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.
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.
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.
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.
The method according to claim 65, characterized in that said method comprises:

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;

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 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.
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.
The method according to claim 69, wherein the torque signal includes one of a sine signal and a cosine signal.
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.
The method according to any one of claims 55-72, wherein the method comprises:

Obtain the preset position set by the user, and save the preset position.
The method according to claim 73, characterized in that said method comprises:

The preset position is deleted according to the delete instruction.
The method according to claim 73, wherein said obtaining the preset position set by the user comprises:

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,

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.
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.
The method according to claim 73, characterized in that said method comprises:

Acquiring the rotational position of the user based on the operating component;

The rotation position is used as a preset position, and the preset position is saved.
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;

Wherein, the method also includes:

Based on the setting operation of the setting button by the user, the preset position is determined and saved.
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;

Wherein, the method also includes:

displaying a setting interface through the touch screen, and the setting interface is used for the user to set a preset position;

Acquire the preset position set by the user based on the setting interface, and save the preset position.
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.
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:

Obtain the rotation position selected by the user in the position range displayed on the setting interface;

The rotation position is used as a preset position, and the preset position is saved.
The method according to claim 73, characterized in that said method comprises:

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.
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;

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.
A control device, characterized in that 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 realize the control method of the focus-following device according to any one of claims 55-83 when the computer program is executed.
A follow-focus system, characterized in that the follow-focus system comprises:

Fixed equipment, the fixed equipment is used to carry shooting equipment;

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.
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.
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.
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.