WO2021007763A1 - Procédé de commande de dispositif de photographie, dispositif, cardan portatif, et support de stockage - Google Patents

Procédé de commande de dispositif de photographie, dispositif, cardan portatif, et support de stockage Download PDF

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Publication number
WO2021007763A1
WO2021007763A1 PCT/CN2019/096106 CN2019096106W WO2021007763A1 WO 2021007763 A1 WO2021007763 A1 WO 2021007763A1 CN 2019096106 W CN2019096106 W CN 2019096106W WO 2021007763 A1 WO2021007763 A1 WO 2021007763A1
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WO
WIPO (PCT)
Prior art keywords
focus
follow
follow focus
rotation speed
photographing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2019/096106
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English (en)
Chinese (zh)
Inventor
王振动
王协平
黄常建
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
Original Assignee
SZ DJI Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to CN201980033925.7A priority Critical patent/CN112154657B/zh
Priority to PCT/CN2019/096106 priority patent/WO2021007763A1/fr
Publication of WO2021007763A1 publication Critical patent/WO2021007763A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/67—Focus control based on electronic image sensor signals
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B13/00—Viewfinders; Focusing aids for cameras; Means for focusing for cameras; Autofocus systems for cameras
    • G03B13/32—Means for focusing
    • G03B13/34—Power focusing
    • G03B13/36—Autofocus systems
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules

Definitions

  • the embodiments of the present invention relate to the field of pan-tilts, and in particular, to a control method, equipment, handheld pan-tilt and storage medium of a photographing device.
  • the photographing equipment can be mounted on a handheld pan/tilt, which can enhance the stability of the photographing equipment, and make the pictures captured by the photographing equipment more stable.
  • a follow focus device such as a follow focus wheel
  • the handheld pan/tilt When the user turns the follow focus wheel, the handheld pan/tilt generates a follow focus instruction and sends the follow focus instruction to the shooting device, so that the shooting device completes the follow focus action.
  • the embodiments of the present invention provide a control method, equipment, handheld pan/tilt and storage medium of a photographing device, so as to achieve the purpose of following the focus device with the hand.
  • the first aspect of the embodiments of the present invention is to provide a method for controlling a photographing device, the photographing device is mounted on a handheld pan/tilt, the handheld pan/tilt includes a follow focus device, and the method includes:
  • the follow focus parameter is used to indicate the distance between the rotation angle of the follow focus device and the focus movement of the shooting device Correspondence between the two, the rotation speed of the focusing device is positively correlated with the current focusing parameters of the shooting device;
  • a second aspect of the embodiments of the present invention is to provide a control device for a photographing device, the photographing device is mounted on a handheld pan/tilt, the handheld pan/tilt includes a follow focus device and the control device, and the control device includes: Memory and processor;
  • the memory is used to store program codes
  • the processor calls the program code, and when the program code is executed, is used to perform the following operations:
  • the follow focus parameter is used to indicate the distance between the rotation angle of the follow focus device and the focus movement of the shooting device Correspondence between the two, the rotation speed of the focusing device is positively correlated with the current focusing parameters of the shooting device;
  • the third aspect of the embodiments of the present invention is to provide a handheld PTZ, including:
  • PTZ used to carry shooting equipment
  • a base, the head and the base are connected;
  • the fourth aspect of the embodiments of the present invention is to provide a computer-readable storage medium having a computer program stored thereon, and the computer program is executed by a processor to implement the method described in the first aspect.
  • the control method, device, handheld pan/tilt, and storage medium of the photographing equipment obtained in this embodiment obtain the rotation speed of the following focus device, and determine the current tracking of the photographing device according to the rotation speed of the following focus device.
  • Focus parameters so that the rotation speed of the focusing device is positively correlated with the current focusing parameters of the photographing equipment, that is, the faster the focusing device rotates, the focusing device rotates at the same angle to shoot
  • FIG. 1 is a schematic diagram of an application scenario provided by an embodiment of the present invention.
  • FIG. 2 is a flowchart of a method for controlling a photographing device according to an embodiment of the present invention
  • FIG. 3 is a flowchart of a method for controlling a photographing device according to another embodiment of the present invention.
  • Figure 4 is a structural diagram of a control device provided by an embodiment of the present invention.
  • a component when a component is said to be “fixed to” another component, it can be directly on the other component or a central component may also exist. When a component is considered to be “connected” to another component, it can be directly connected to another component or there may be a centered component at the same time.
  • the embodiment of the present invention provides a method for controlling a photographing device.
  • the shooting device is mounted on a handheld pan/tilt.
  • the handheld pan/tilt may include a pan/tilt and a base, the pan/tilt is connected to the base, the pan/tilt is used to carry a photographing device, and the base may specifically be a handle.
  • the shooting device may specifically be a device or device with a shooting function such as a camera or a video camera.
  • the photographing device can be connected to the handheld pan/tilt via a shutter cable.
  • the type of the shutter cable is not limited here.
  • the shutter cable may be a Universal Serial Bus (USB).
  • the handheld pan/tilt head also includes a follow focus device, where the follow focus device may specifically be a follow focus wheel, as shown in FIG. 1.
  • the follow focus wheel may be integrated in the handheld pan/tilt, or the follow focus wheel may be an external accessory of the handheld pan/tilt.
  • the follow focus wheel and the handheld pan/tilt are electrically connected through metal contacts. In this way, the problem of wire winding can be avoided while ensuring the quality of communication.
  • the follow focus wheel can be used to control the shooting device to follow focus.
  • the follow focus wheel can be electrically connected to the follow focus controller in the handheld pan/tilt through metal contacts, and the follow focus controller is electrically connected to the shooting device through a USB bus.
  • the handheld pan/tilt may also communicate with a control terminal, which may specifically be a remote control, a smart phone, a tablet computer, or the like.
  • the control terminal may be installed with an application program (Application, APP) for controlling the handheld PTZ.
  • Application, APP Application, APP
  • This embodiment does not limit the communication mode between the handheld PTZ and the control terminal, for example, it may be a wireless communication mode or a wired communication mode. Specifically, it may be a way of wireless communication via Bluetooth.
  • the rotation angle of the follow focus wheel and the moving distance of the focus of the photographing device are related.
  • the greater the rotation angle of the focus wheel the greater the distance the focus of the camera moves.
  • the embodiment of the present invention usually rotates the focus wheel quickly when the user needs to change the moving distance of the focus in a large range.
  • the speed is used to adjust the follow focus parameters of the shooting device, so that the faster the follow focus wheel rotates, the greater the distance the focus of the shooting device moves, so that the user can quickly control the shooting device to follow focus.
  • the control method of the photographing device will be introduced below in conjunction with specific embodiments.
  • FIG. 2 is a flowchart of a method for controlling a photographing device according to an embodiment of the present invention. As shown in Figure 2, the method in this embodiment may include:
  • Step S201 Obtain the rotation speed of the focusing device.
  • the execution subject of the method in this embodiment may be the follow focus controller as described above, or a part of the handheld pan/tilt head that has control functions other than the follow focus controller.
  • a follow focus controller is taken as an example for schematic description.
  • the user can rotate the follow focus wheel to rotate the follow focus wheel.
  • the control terminal may send a control instruction for controlling the rotation of the follow focus wheel to the handheld pan/tilt, and the handheld pan/tilt may control the rotation of the follow focus wheel.
  • the follow focus wheel can send its rotation speed to the follow focus controller of the handheld pan/tilt in real time or periodically.
  • the follow focus controller receives the rotation speed sent by the follow focus wheel in real time or periodically.
  • the follow focus controller can periodically obtain the rotation angle of the follow focus wheel, for example, with a predetermined time interval as a period. In this way, it can receive the follow focus wheel at a first predetermined time interval.
  • the predetermined time interval may be 10 milliseconds.
  • Step S202 Determine the current follow focus parameter of the shooting device according to the rotation speed of the follow focus device, where the follow focus parameter is used to indicate the rotation angle of the follow focus device and the focus movement of the shooting device The corresponding relationship between the distances, the rotation speed of the focusing device is positively correlated with the current focusing parameters of the shooting device.
  • the follow focus controller can adjust the current follow focus parameters of the photographing device according to the rotation speed of the follow focus wheel.
  • the current follow focus parameters of the photographing device can be changed with the change of the rotation speed of the follow focus wheel.
  • the follow focus parameter of the shooting device is used to indicate the correspondence between the rotation angle of the follow focus wheel and the distance moved by the focus of the shooting device. Normally, the greater the rotation angle of the focus wheel, the greater the distance the focus of the camera moves.
  • the greater the rotation speed of the focus wheel the greater the current focus parameter of the camera.
  • the faster the focus wheel rotates the greater the distance the focus of the photographing device moves when the focus wheel rotates at the same angle.
  • the slower the focus wheel rotates the smaller the distance the focus of the shooting device moves when the focus wheel rotates at the same angle.
  • the rotating speed of the focusing wheel at t0 is 1 rad/s
  • the rotating speed of the focusing wheel at t1 increases to 3 rad/s.
  • the focal distance of the photographing device moves larger than when the follow focus wheel rotates at a speed of 1 rad/s the same angle ⁇ .
  • the speed of turning the follow-focus wheel can be increased, so that when the follow-focus controller detects that the rotation speed of the follow-focus wheel increases, the follow-focus parameters can be adjusted to realize the rapid movement of the focus;
  • the speed of turning the focus wheel can be slowed down, so that when the follow focus controller detects that the rotation speed of the focus wheel decreases, the focus parameters are adjusted to achieve fine adjustment of the focus.
  • the follow focus parameter of the shooting device includes a follow focus gear.
  • the follow focus gear is used to indicate the distance that the focus of the photographing device moves when the follow focus device rotates by a unit angle.
  • the follow focus gear is used to indicate the distance that the focus of the photographing device moves when the follow focus wheel rotates 1 degree.
  • the relationship between the follow focus gear and the moving distance of the focus of the photographing device is not limited to an equal relationship, and may also be a proportional coefficient relationship.
  • the moving distance of the focus of the photographing device may be the following focus gear multiplied by a preset scale factor.
  • the follow focus gear of the photographing device When the rotation speed of the follow focus wheel is greater, the follow focus gear of the photographing device is higher. That is to say, when the follow focus wheel rotates faster, the distance that the focus of the photographing device moves when the follow focus wheel rotates 1 degree.
  • the rotation speed of the focusing wheel can be divided into several step gears.
  • the rotation speed of the focusing wheel can be divided into 3 step gears, and the first step gear is 1rad/s-2rad/s, the second step gear is 2rad/s-3rad/s, and the third step gear is 3rad/s-4rad/s.
  • each step gear corresponds to a follow focus gear of the shooting device.
  • the follow-focus gear corresponding to the first step gear is denoted as follow-focus gear 1.
  • follow-focus gear 1 means that the focal distance of the photographing device moves 1 cm when the follow-focus wheel rotates 1 degree.
  • the follow-focus gear corresponding to the second step gear is denoted as follow-focus gear 2.
  • follow-focus gear 2 indicates that the distance of the focus of the camera when the follow-focus wheel rotates 1 degree is 2 cm.
  • the follow-focus gear corresponding to the third step gear is denoted as follow-focus gear 3.
  • follow-focus gear 3 means that the distance of the focus of the camera when the follow-focus wheel rotates 1 degree is 3 cm.
  • the follow focus controller further includes a memory, and the memory stores a preset control table (see Table 1 below).
  • the control table includes the range of the rotation speed of the follow focus wheel and the follow focus gear of the shooting device. The corresponding relationship. In this way, when the follow focus controller determines the current follow focus parameters of the shooting device, such as the follow focus gear, according to the rotation speed of the follow focus wheel, it can be determined by querying the control table to improve control efficiency.
  • Rotation speed (rad/s)
  • follow focus gear 1rad/s-2rad/s 1 2rad/s-3rad/s 2 3rad/s-4rad/s 3 4rad/s-5rad/s 4 5rad/s-6rad/s 5
  • Step S203 Control the shooting device to follow focus according to the current follow focus parameters of the shooting device.
  • the follow focus controller can convert the rotation speed of the follow focus wheel into the follow focus control command of the shooting device according to the type information of the shooting device and the current follow focus parameters of the shooting device, and control the follow focus The instruction is sent to the shooting device through the shutter release as described above, so that the shooting device can control its own lens to perform follow focus according to the follow focus control instruction, thereby realizing the wire-controlled follow focus of the shooting device.
  • the rotation speed of the following focus device is acquired, and the current follow focus parameters of the shooting device are determined according to the rotation speed of the following focus device, so that the rotation speed of the following focus device is the same as the current speed of the shooting device.
  • the follow focus parameters are positively correlated, that is, the faster the follow focus device rotates, the greater the distance the focus of the shooting device moves when the follow focus device rotates at the same angle, so that when the user is detected to rotate the follow focus
  • the speed of the focus device is faster, the distance that the focus of the shooting device moves when the focus device rotates at the same angle is increased, thereby achieving the purpose of the focus device following the hand.
  • the embodiment of the present invention provides a method for controlling a photographing device.
  • the user can also set the initial follow focus parameters of the shooting device on the control terminal.
  • the user sets the initial focus position of the shooting device on the user interface of the control terminal.
  • the user sets the initial follow-focus gear of the photographing device on the user interface to follow-focus gear 1, that is, when the follow-focus wheel rotates 1 degree, the distance of the focus of the photographing device is 1 cm.
  • the control terminal sends the user's setting information, that is, the initial focus position to the handheld pan/tilt.
  • the determining the current follow focus parameters of the shooting device according to the rotation speed of the following focus device includes: determining according to the rotation speed of the following focus device and the initial follow focus parameters of the shooting device The current follow focus parameters of the shooting device.
  • the initial follow focus parameter of the photographing device is set by the user through the control terminal. Specifically, the initial focus parameters of the photographing device are set by the user through the user interface of the control terminal.
  • the follow focus controller of the handheld pan/tilt receives the initial follow focus gear of the photographing device sent by the control terminal, it determines the initial follow focus gear of the photographing device and the rotation speed of the follow focus wheel.
  • the relationship between the current follow focus gear and the initial follow focus gear of the shooting device here is only a schematic illustration, and is not limited to a specific form. In other embodiments, other expressions may also be used. Form or other functional relationship.
  • the initial focus gear set by the user can be used as the reference gear.
  • the current focus gear of the camera also changes, for example, The faster the focal wheel rotates, the higher the current focus gear of the camera.
  • the current follow focus gear of the photographing device may not change with the rotation speed of the follow focus wheel, and the follow focus controller may control the follow focus of the photographing device only according to the follow focus gear set by the user.
  • the follow focus controller controls the focus of the shooting device according to the initial focus position, and the current focus position of the shooting device is It is the initial focus position of the camera.
  • the current follow focus gear of the photographing device is the updated follow focus gear.
  • the follow focus controller is based on the updated follow focus gear.
  • the follow focus position controls the follow focus of the camera.
  • the APP of the control terminal or the handheld pan/tilt may also be provided with a mode switch button or button.
  • the mode switch button can be used to control the camera to follow focus in two modes.
  • the mode in which the current follow-focus gear of the shooting device changes with the change of the rotation speed of the follow-focus wheel is recorded as follow-focus mode 1
  • the current follow-focus gear of the shooting device does not change with the change of the rotation speed of the follow-focus wheel.
  • the changed mode is recorded as follow focus mode 2.
  • follow focus mode of the shooting device is follow focus mode 1
  • the mode switching button is turned off, the follow focus mode of the shooting device is follow focus mode 2.
  • step S201 before acquiring the rotation speed of the following focus device, that is, step S201 as described above, it is also necessary to acquire the follow focus mode of the shooting device. Specifically, the state information of the mode switching button is acquired, and the mode switching button The status information obtains the follow focus mode of the camera. Correspondingly, in step S202, if the follow focus mode of the shooting device is follow focus mode 1, the follow focus controller determines the current follow focus parameters of the shooting device according to the rotation speed of the follow focus device.
  • the photographing device and the handheld pan/tilt are connected through a shutter release, and the method further includes: acquiring the type information of the photographing equipment through the shutter release.
  • the shutter release is a universal serial bus USB.
  • the photographing device and the handheld pan/tilt are connected through a shutter cable.
  • the photographing device can be connected with the follow focus controller in the handheld pan/tilt through a shutter cable.
  • the type of the shutter release is not limited in this embodiment.
  • the shutter release may be a universal serial bus USB.
  • the follow focus controller can obtain the type information of the shooting device through the USB.
  • the initial follow focus parameter of the photographing device is determined according to the type information of the photographing device.
  • the follow focus controller can automatically set the type information according to the type information of the camera.
  • the corresponding initial follow focus parameters for example, the initial follow focus gear.
  • the type information of the shooting device is acquired through the shutter release, and the initial follow focus parameters of the shooting device are determined according to the type information of the shooting device, which improves the compatibility of the handheld PTZ with different types of shooting devices, and realizes the integration A smooth and focused feel.
  • the handheld pan/tilt can further send the type information of the shooting device to the control terminal, and the user can set different initial focusing parameters (such as initial focusing gear) according to actual shooting requirements to meet different requirements.
  • FIG. 3 is a flowchart of a method for controlling a photographing device according to another embodiment of the present invention.
  • the controlling the shooting device to follow focus according to the current follow focus parameters of the shooting device may include:
  • Step S301 Obtain the rotation angle of the focusing device.
  • the follow focus wheel may be provided with an angle sensor for detecting the rotation angle of the follow focus wheel, and the angle sensor may periodically send the rotation angle of the follow focus wheel to the follower.
  • Focus controller For example, the angle sensor collects the rotation angle of the follow focus wheel every 10 milliseconds and sends it to the follow focus controller.
  • the follow focus wheel may periodically send its rotation speed to the follow focus controller of the handheld pan/tilt.
  • the follow focus wheel may send a rotation speed every 10 milliseconds.
  • the follow focus controller can determine the rotation angle of the follow focus wheel according to the rotation speed and transmission period sent by the follow focus wheel.
  • Step S302 Generate a follow focus control instruction according to the current follow focus parameters of the shooting device, the rotation angle of the follow focus device, and the type information of the shooting device.
  • the follow focus controller may generate a follow focus control command according to the current follow focus parameters of the shooting device (for example, the current follow focus gear), the rotation angle of the follow focus wheel, and the type information of the shooting device.
  • the current follow focus parameters of the shooting device for example, the current follow focus gear
  • the rotation angle of the follow focus wheel for example, the rotation angle of the follow focus wheel
  • the type information of the shooting device for example, the current follow focus gear
  • the generating a follow focus control instruction according to the current follow focus parameters of the shooting device, the rotation angle of the follow focus device, and the type information of the shooting device includes: according to the current follow focus parameters of the shooting device The focus parameter and the rotation angle of the follow focus device determine the distance that the focus of the shooting device needs to move; according to the distance that the focus needs to move of the shooting device and the type information of the shooting device, a follow focus control instruction is generated.
  • the current follow-focus gear of the photographing device is the follow-focus gear 3, that is, the focal distance of the photographing device moves 3 cm when the follow-focus wheel rotates by 1 degree.
  • the follow focus controller can determine the distance that the focus of the shooting device needs to move according to the current follow focus gear of the shooting device and the rotation angle of the follow focus wheel. 6 cm. Further, the follow focus controller generates a follow focus control instruction according to the distance that the focus of the shooting device needs to move and the type information of the shooting device.
  • the generating a follow focus control instruction according to the distance to be moved by the focus of the shooting device and the type information of the shooting device includes: determining the follow focus of the shooting device according to the type information of the shooting device Focus step value; according to the distance that the focus of the shooting device needs to move and the follow focus step value of the shooting device, a follow focus control instruction is generated.
  • the follow focus step value can be understood as the distance that the focus of the shooting device can move every time the follow focus controller sends a follow focus control command to the shooting device .
  • the distance that the focus of the shooting device can move is 1 cm.
  • the distance that the focus of the shooting device can move is 2 cm.
  • the follow focus controller needs to send 6 follow focus control commands to the shooting device.
  • Step S303 Send the follow focus control instruction to the photographing device.
  • the follow focus controller sends 6 follow focus control instructions to the shooting device, and the shooting device controls the lens of the shooting device to follow focus according to the 6 follow focus control instructions, so that the focus of the shooting device moves 6 cm .
  • This embodiment obtains the rotation angle of the follow focus device, and generates a follow focus control command based on the current follow focus parameters of the shooting device, the rotation angle of the follow focus device, and the type information of the shooting device, and then sends the follow focus control command to the shooting device.
  • the device realizes the follow focus control of the shooting device.
  • the damping grease of the follow focus wheel may be applied unevenly, and the communication link between the follow focus wheel and the handheld gimbal and/or the communication link between the handheld gimbal and the shooting settings may have a long transmission delay.
  • the follow focus step value of the shooting device is too large, the focus of the shooting device may jump, and the user feels stuck.
  • the focus jumps and freezes, which will directly affect the video shooting effect and give users a sense of incoherence.
  • this embodiment proposes a method for smoothing the rotation speed of the follow focus wheel so that the rotation speed of the follow focus wheel is continuous.
  • the follow focus controller may create a timer for detecting the time interval at which the follow focus wheel sends the rotation speed to the follow focus controller.
  • the follow focus controller can perform interpolation processing on the unreceived rotation speed. For example, a multi-order difference algorithm is used for interpolation processing.
  • the performing interpolation processing on the rotation speed of the following focus device that has not been received includes: determining the rotation speed of the following focus device that has not been received according to historical time. The speed of rotation of the focal device.
  • the follow focus controller can be based on the speed at t1.
  • the rotation speed of the focusing wheel normally received at time and t2 predict the rotation speed of the focusing wheel at time t3, and use the predicted rotation speed as the rotation speed of the focusing wheel at time t3.
  • the rotation speed of the follow focus wheel becomes smooth and continuous, and avoids the occurrence of problems such as the jump of the focus of the shooting device and the user's hand feeling stuck.
  • the follow focus wheel when the follow focus wheel stops rotating, the follow focus wheel may be affected by damping and produce a reverse rotation speed.
  • the follow focus wheel sends the reverse rotation speed to the follower
  • the follow focus control command generated by the follow focus controller will cause the focus of the shooting device to rebound, thereby causing the shooting device to have problems of virtual focus and out of focus.
  • the base of the handheld gimbal may vibrate due to some reasons, causing the follow focus wheel to send a non-directional speed to the follow focus controller, which causes the problem of virtual focus and out of focus on the shooting device.
  • the method further includes: filtering the rotation speed of the following focus device.
  • the follow focus controller receives the rotation speed of the follow focus wheel, it further filters the rotation speed of the follow focus wheel, so as to filter out the abnormal rotation speed.
  • the filtering processing on the rotation speed of the follow focus device includes: filtering out a rotation speed less than or equal to a first preset threshold.
  • the follow focus controller may adopt a dead zone control method to regard a rotation speed less than or equal to the first preset threshold as zero speed.
  • the filtering processing on the rotation speed of the follow focus device includes: filtering out a rotation speed greater than or equal to a second preset threshold.
  • the follow focus controller may also filter out the rotation speed greater than or equal to the second preset threshold.
  • the first preset threshold and the second preset threshold may be the same or different.
  • the abnormal rotation speed is filtered out, which can avoid the problems of virtual focus and out-of-focus of the shooting device.
  • the embodiment of the present invention provides a control device of a photographing device.
  • the photographing device is mounted on a handheld pan/tilt, the handheld pan/tilt includes a follow focus device and the control device, and the control device may specifically be the follow focus controller as described above.
  • FIG. 4 is a structural diagram of a control device provided by an embodiment of the present invention. As shown in FIG.
  • the control device 40 includes: a memory 41 and a processor 42; the memory is used to store program codes; and the processor 42 calls the program Code, when the program code is executed, it is used to perform the following operations: obtain the rotation speed of the follow focus device; determine the current follow focus parameters of the photographing device according to the rotation speed of the follow focus device, where the The follow focus parameter is used to indicate the correspondence between the rotation angle of the follow focus device and the distance moved by the focus of the shooting device, and the rotation speed of the follow focus device is positively related to the current follow focus parameter of the shooting device ; According to the current follow focus parameters of the shooting device, control the shooting device to follow focus.
  • the follow focus parameter of the shooting device includes a follow focus gear.
  • the processor 42 determines the current follow focus parameters of the shooting device according to the rotation speed of the following focus device, it is specifically configured to: according to the rotation speed of the following focus device and the initial follow focus of the shooting device The focus parameter determines the current follow focus parameter of the shooting device.
  • the initial follow focus parameter of the photographing device is set by the user through the control terminal.
  • the initial follow focus parameter of the photographing device is set by the user through the user interface of the control terminal.
  • the photographing device and the handheld pan/tilt are connected through a shutter release, and the processor 42 is further configured to obtain the type information of the photographing equipment through the shutter release.
  • the shutter release is a universal serial bus USB.
  • the processor 42 may determine the initial follow focus parameter of the photographing device according to the type information of the photographing device.
  • control device further includes: a first communication interface 43, the first communication interface 43 is used to communicate with the shooting device; the processor 42 controls the shooting device according to the current focus parameters of the shooting device When performing follow focus, it is specifically used to: obtain the rotation angle of the follow focus device; generate the follow focus according to the current follow focus parameters of the shooting device, the rotation angle of the follow focus device and the type information of the shooting device Control instruction; the follow focus control instruction is sent to the shooting device through the first communication interface 43.
  • first communication interface 43 the first communication interface 43 is used to communicate with the shooting device
  • the processor 42 controls the shooting device according to the current focus parameters of the shooting device When performing follow focus, it is specifically used to: obtain the rotation angle of the follow focus device; generate the follow focus according to the current follow focus parameters of the shooting device, the rotation angle of the follow focus device and the type information of the shooting device Control instruction; the follow focus control instruction is sent to the shooting device through the first communication interface 43.
  • the processor 42 when the processor 42 generates a follow focus control instruction according to the current follow focus parameters of the shooting device, the rotation angle of the follow focus device, and the type information of the shooting device, it is specifically configured to:
  • the current follow focus parameters of the device and the rotation angle of the follow focus device determine the distance that the focus of the shooting device needs to move; according to the distance that the focus needs to move of the shooting device and the type information of the shooting device, a follower is generated Focus control instructions.
  • the processor 42 when the processor 42 generates a follow focus control instruction according to the distance that the focus of the photographing device needs to move and the type information of the photographing device, it is specifically configured to: determine the type information of the photographing device The follow focus step value of the shooting device; according to the distance that the focus of the shooting device needs to move and the follow focus step value of the shooting device, a follow focus control instruction is generated.
  • control device further includes: a second communication interface 44, the second communication interface 44 is used to communicate with the focus device; the processor 42 is further used: if the second communication interface 44 is within a preset time If the rotation speed of the focusing device is not received, interpolation processing is performed on the rotation speed of the focusing device that has not been received.
  • the processor 42 interpolates the unreceived rotation speed of the following focus device, it is specifically configured to: determine the unreceived rotation speed of the following focus device according to the received rotation speed in the historical time. The rotation speed of the follow focus device.
  • the processor 42 obtains the rotation speed of the following focus device, it is further used to filter the rotation speed of the following focus device.
  • the processor 42 when the processor 42 performs filtering processing on the rotation speed of the follow focus device, it is specifically configured to filter out rotation speeds that are less than or equal to a first preset threshold.
  • the processor 42 when the processor 42 performs filtering processing on the rotation speed of the following focus device, it is specifically configured to filter out a rotation speed greater than or equal to a second preset threshold.
  • the follow focus device includes a follow focus wheel.
  • the rotation speed of the following focus device is acquired, and the current follow focus parameters of the shooting device are determined according to the rotation speed of the following focus device, so that the rotation speed of the following focus device is the same as the current speed of the shooting device.
  • the follow focus parameters are positively correlated, that is, the faster the follow focus device rotates, the greater the distance the focus of the shooting device moves when the follow focus device rotates at the same angle, so when the focus of the shooting device changes When it is larger, if it is detected that the user is turning the focusing device faster, increase the distance that the focus of the shooting device moves when the focusing device rotates at the same angle, thereby achieving the purpose of the focusing device following the hand .
  • the embodiment of the present invention provides a handheld PTZ.
  • the handheld PTZ includes a PTZ, a base, and the follow focus device and control equipment as described in the above embodiment.
  • the pan/tilt is used to carry shooting equipment; the base is connected with the pan/tilt.
  • the control device can be used to execute the technical solutions of the foregoing method embodiments, and its implementation principles and technical effects are similar, and will not be repeated here.
  • this embodiment also provides a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the control method of the photographing device described in the foregoing embodiment.
  • the disclosed device and method may be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components can be combined or It can be integrated into another system, or some features can be ignored or not implemented.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
  • the functional units in the various embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
  • the above-mentioned integrated unit may be implemented in the form of hardware, or may be implemented in the form of hardware plus software functional units.
  • the above-mentioned integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium.
  • the above-mentioned software functional unit is stored in a storage medium and includes several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor execute the method described in the various embodiments of the present invention. Part of the steps.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code .

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Abstract

L'invention concerne un procédé de commande de dispositif de photographie, un dispositif, un cardan portatif, et un support de stockage, le procédé comprenant les étapes consistant à : acquérir la vitesse de rotation d'un appareil de suivi de mise au point, déterminer des paramètres de suivi de mise au point courants d'un dispositif de photographie sur la base de la vitesse de rotation de l'appareil de suivi de mise au point, et effectuer une corrélation positive entre la vitesse de rotation de l'appareil de suivi de mise au point et les paramètres de suivi de mise au point courants du dispositif de photographie ; plus la rotation de l'appareil de suivi de mise au point est rapide, plus la distance à laquelle le point focal du dispositif de photographie se déplace est grande lorsque l'appareil de suivi de mise au point tourne au même angle ; ainsi, lorsque le changement de point focal du dispositif de photographie est plus grand, s'il est détecté que l'utilisateur fait tourner l'appareil de suivi de mise au point plus rapidement, la distance à laquelle le point focal du dispositif de photographie se déplace est augmentée lorsque l'appareil de suivi de mise au point tourne au même angle, ce qui permet d'atteindre l'objectif de suivi de la main par l'appareil de suivi de mise au point.
PCT/CN2019/096106 2019-07-16 2019-07-16 Procédé de commande de dispositif de photographie, dispositif, cardan portatif, et support de stockage Ceased WO2021007763A1 (fr)

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CN201980033925.7A CN112154657B (zh) 2019-07-16 2019-07-16 拍摄设备的控制方法、设备、手持云台及存储介质
PCT/CN2019/096106 WO2021007763A1 (fr) 2019-07-16 2019-07-16 Procédé de commande de dispositif de photographie, dispositif, cardan portatif, et support de stockage

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CN115933724A (zh) * 2023-01-10 2023-04-07 中国人民解放军海军航空大学 一种无人机跟踪目标时的控制方法、系统、设备及介质

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