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WO2021026789A1 - Procédé de photographie basé sur un cardan portatif, et cardan portatif et support d'enregistrement - Google Patents

Procédé de photographie basé sur un cardan portatif, et cardan portatif et support d'enregistrement Download PDF

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Publication number
WO2021026789A1
WO2021026789A1 PCT/CN2019/100461 CN2019100461W WO2021026789A1 WO 2021026789 A1 WO2021026789 A1 WO 2021026789A1 CN 2019100461 W CN2019100461 W CN 2019100461W WO 2021026789 A1 WO2021026789 A1 WO 2021026789A1
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WO
WIPO (PCT)
Prior art keywords
tilt
handheld
mode
pan
preset
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/CN2019/100461
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English (en)
Chinese (zh)
Inventor
郝祎
许文
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 CN201980033520.3A priority Critical patent/CN112154653B/zh
Priority to CN202210422112.0A priority patent/CN114710623B/zh
Priority to PCT/CN2019/100461 priority patent/WO2021026789A1/fr
Publication of WO2021026789A1 publication Critical patent/WO2021026789A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • H04N23/61—Control of cameras or camera modules based on recognised objects
    • H04N23/611—Control of cameras or camera modules based on recognised objects where the recognised objects include parts of the human body
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/04—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or holding steady relative to, a person, e.g. by chains, e.g. rifle butt or pistol grip supports, supports attached to the chest or head
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/667—Camera operation mode switching, e.g. between still and video, sport and normal or high- and low-resolution modes
    • 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
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects

Definitions

  • This application relates to the field of shooting technology, and in particular to a shooting method based on a handheld PTZ, a handheld PTZ and a storage medium.
  • the intelligent follow-up shooting function involves target tracking and pan-tilt following technology. It can be applied to handheld pan-tilt mounted with camera, or handheld pan-tilt mounted with mobile phone, or integrated pan/tilt camera.
  • the automatic stable balance is achieved.
  • the existing handheld camera has a single shooting form, which cannot meet the user's shooting needs.
  • the present application provides a shooting method based on a handheld pan/tilt, a handheld pan/tilt, and a storage medium, so as to improve the operability of the handheld pan/tilt during shooting, so as to meet different shooting needs of users.
  • the present application provides a shooting method based on a handheld PTZ.
  • the handheld PTZ includes a handheld portion and a PTZ provided on the handheld portion.
  • the PTZ is equipped with a photography device. Methods include:
  • the handheld pan/tilt is switched from the first mode to the second mode, and in the second mode of the handheld pan/tilt, the camera is controlled to continue capturing Video information
  • the first mode is one of a following mode and a target tracking mode
  • the second mode is the other of the following mode and the target tracking mode.
  • the present application also provides another shooting method based on a handheld pan/tilt head.
  • the handheld pan/tilt head includes a handheld portion and a pan/tilt mounted on the handheld portion, and the pan/tilt mount is equipped with a photographing device,
  • the shooting method includes:
  • the shooting device is controlled to track and shoot the target object.
  • the present application also provides a handheld PTZ.
  • the handheld PTZ includes a handheld portion and a PTZ provided on the handheld portion, and the PTZ is equipped with a camera;
  • the handheld pan/tilt also 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 following steps:
  • the handheld pan/tilt is switched from the first mode to the second mode, and in the second mode of the handheld pan/tilt, the camera is controlled to continue capturing Video information
  • the first mode is one of a following mode and a target tracking mode
  • the second mode is the other of the following mode and the target tracking mode.
  • the present application also provides a handheld PTZ.
  • the handheld PTZ includes a handheld portion and a PTZ provided on the handheld portion, and the PTZ is equipped with a camera;
  • the handheld pan/tilt also 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 following steps:
  • the shooting device is controlled to track and shoot the target object.
  • the present application also provides a computer-readable storage medium that stores a computer program, and when the computer program is executed by a processor, the processor implements the aforementioned shooting method.
  • the embodiment of the application provides a shooting method based on a handheld PTZ, a handheld PTZ and a storage medium, by controlling the shooting device in the first mode of the handheld PTZ to collect video information; if the first mode is detected
  • the switching instruction is to switch the handheld pan/tilt from the first mode to the second mode, and in the second mode of the handheld pan/tilt, the camera is controlled to continue to collect video information.
  • the first mode is the follow mode
  • the second mode is the target tracking mode, which realizes the mixed use of the follow mode and target tracking mode in the same video shooting, and also improves the smoothness of the video shooting when the mode is switched.
  • the user shoots a high-precision smooth picture.
  • Fig. 1 is a schematic structural diagram of a handheld pan/tilt provided by an embodiment of the present application
  • FIG. 2 is a schematic flowchart of steps of a handheld camera-based shooting method provided by an embodiment of the present application
  • FIG. 3 is a schematic flowchart of steps of a handheld camera-based shooting method according to another embodiment of the present application.
  • 3a, 3b, and 3c are schematic diagrams of effects of three preset composition positions provided by an embodiment of the present application.
  • FIG. 4 is a schematic diagram of the effect of using the early warning frame provided by the embodiment of the present application.
  • FIG. 5 is a schematic flowchart of steps of a handheld camera-based shooting method according to another embodiment of the present application.
  • FIG. 6 is a schematic flowchart of steps of a handheld camera-based shooting method according to another embodiment of the present application.
  • FIG. 7 is a schematic flowchart of steps of a handheld camera-based shooting method according to another embodiment of the present application.
  • Fig. 8 is a schematic block diagram of a handheld pan/tilt provided by an embodiment of the present application.
  • FIG. 1 is a schematic diagram of the structure of the handheld PTZ provided in this application.
  • the handheld pan/tilt in the embodiment of the present application will be described below with reference to FIG. 1.
  • the handheld pan/tilt 10 includes a handheld portion 11 and a pan/tilt 12 provided on the handheld portion 11, and the pan/tilt 12 is also equipped with a camera 13.
  • the photographing device 13 is a smart phone, of course, it is also other photographing equipment.
  • the handheld pan/tilt 10 refers to a pan/tilt system or an integrated pan/tilt camera mounted with a photographing device 13.
  • the photographing device 13 may be, for example, a camera, a mobile phone or a camera, etc., and the handheld pan/tilt can be used to shoot anytime and anywhere. A high-precision stable picture.
  • the handheld pan/tilt 10 can carry the camera 13 for fixing the camera 13 and changing the height, inclination and/or direction of the camera 13, or for holding the camera 13 stably in a certain posture and controlling the camera 13 Take the shot.
  • the pan/tilt 12 includes three-axis motors, which are respectively a pitch axis motor 121, a roll axis motor 122 and a yaw axis motor 123, which are used to change the height, inclination and/or angle of the camera 13
  • the direction is used to adjust the balance posture of the camera 13 so as to take high-precision and stable pictures anytime and anywhere.
  • IMU inertial measurement unit
  • pan/tilt 12 can be, for example, at least one of an accelerometer or a gyroscope, which can be used to measure the attitude and acceleration of the camera 13 so as to be based on the detected attitude Adjust the balance posture of the camera 13.
  • the handle 11 is also provided with a control element, so that the user can operate the control element to control the pan-tilt 12 or the camera 13.
  • the control member can be, for example, a button, a trigger, a knob or a rocker, etc., of course, it also includes other forms of physical buttons.
  • the joystick can be used to control the movement of at least one rotating shaft, thereby controlling the movement of the photographing device 13. It is understandable that the remote stick can also be used for other functions.
  • the number of control elements may be one or more.
  • different operation modes can be used to generate different control instructions for the control element, such as different operation modes, such as different pressing times; of course, when the number of control elements is multiple, such as including the first control The second control element, the third control element, etc., different control elements are used to generate different control commands.
  • the handheld pan/tilt head 10 includes a variety of working modes, such as: follow mode, target tracking mode, lock mode, exercise mode, and/or sleep mode.
  • the handheld PTZ 10 performs different actions in different working modes.
  • the follow mode is used to control the camera 13 to perform follow-up shooting.
  • the follow mode may refer to the shooting mode in which the gimbal follows the movement of the handheld part; if the handheld gimbal 10 is in the target tracking mode, After the target object is successfully recognized, the pan/tilt starts to automatically rotate so that the angle of the camera 13 always follows the target object to rotate, and the target object is kept in the captured image.
  • the method for determining the target object can be determined by the user after performing operations such as box selection or clicking on the side of the handheld PTZ, it can also be determined according to a specific posture in the video information, or it can be determined by using the to-be-tracked information in the video information.
  • the position of the object in the screen is determined. There is no specific limitation here.
  • Lock mode means to lock the three axes of the gimbal, and the three axes of the gimbal does not follow; motion mode means the gimbal follows at a preset speed, such as following at the maximum speed of the three axes of the gimbal; sleep mode means to control the handheld The pan/tilt enters the dormant state.
  • the object to follow of the pan/tilt may be the handheld part, the target object, or other objects, which can be specifically set as required, which is not specifically limited here.
  • the handheld pan/tilt head 10 includes a processor, which is used to process input control instructions, or send and receive signals.
  • the processor may be provided inside the handheld portion 11.
  • the processor may be a central processing unit (Central Processing Unit, CPU), and the processor may also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), and application specific integrated circuits (application specific integrated circuits). circuit, ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc.
  • the general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like.
  • the processor can communicate with the camera 13.
  • the user can control the handheld pan/tilt head 10 through an application (APP) setting on the camera 13 (such as a mobile phone).
  • APP application
  • the user can trigger the follow mode mentioned in the embodiment of this application through the APP, or the speed parameter corresponding to the follow mode, so that the handheld pan/tilt can execute the triggered follow mode, or follow the corresponding speed parameter.
  • the existing handheld PTZ can use follow mode or target tracking mode when collecting video information, but when switching between follow mode and target tracking mode, the original video information collection needs to be interrupted. Therefore, it is impossible to mix the follow mode and the target tracking mode in the same video shooting, which is not conducive to the diversity of shooting methods, and the video shooting has limitations.
  • the embodiment of the present invention provides a shooting method based on a handheld pan/tilt head, so that a user can mix the follow mode and the target tracking mode as needed during the shooting of the same video.
  • the shooting method provided by the embodiment of the present application will be introduced in detail based on the handheld pan/tilt in FIG. 1.
  • the shooting device is introduced by taking a mobile phone as an example.
  • FIG. 2 is a schematic flowchart of steps of a handheld camera-based shooting method according to an embodiment of the present application.
  • the shooting method based on a handheld PTZ includes step S201 and step S202.
  • S201 In the first mode of the handheld PTZ, control the shooting device to collect video information.
  • the first mode is one of the following mode and the target tracking mode
  • the second mode is the other of the following mode and the target tracking mode
  • the second mode is a target tracking mode; or, if the first mode is a target tracking mode, the second mode is a follow mode.
  • the camera when the camera is controlled to collect video information, it can be detected whether a first mode switching instruction is received, so as to perform mode switching according to the first mode switching instruction. For example, switching the following mode of the handheld pan/tilt head to the target tracking mode.
  • detecting whether the first mode switching instruction is received is specifically: detecting whether the user operates the first control element on the handheld pan/tilt; when it is detected that the user operates the first control element on the handheld pan/tilt, When, the first mode switching instruction is generated.
  • the first control member includes a button, a trigger, or a knob.
  • the generation is triggered according to the user's operation of the first control The first mode switching instruction.
  • one-handed operation can be implemented to trigger target tracking.
  • the shaking of the pan/tilt can be relatively reduced, and the shaking of the picture can be prevented. Accurate and stable picture, and improve user experience.
  • the shooting method based on the handheld pan/tilt may specifically be: in the first mode of the handheld pan/tilt, Control the photographing device to collect image information; if it is detected that the user performs a first operation on the first control member of the handheld pan/tilt, a first mode switching instruction is generated according to the first operation; if a first mode switching is detected Instruction, the handheld pan/tilt is switched from the first mode to the second mode, and in the second mode of the handheld pan/tilt, the camera is controlled to continue to capture image information.
  • the first operation is performed on the first control part of the handheld pan/tilt head.
  • the first control part is a trigger
  • the first operation is that the user pulls the trigger once or pulls the trigger twice in a row.
  • Other operating modes of the trigger are realized by the trigger, thus realizing one-handed operation.
  • the collection of image information can be the collection of video information, or it can be used for real-time output of live image transmission screens.
  • detecting whether the first mode switching instruction is received is specifically: detecting whether the collected video information includes the first preset action posture; when it is detected that the video information includes the first preset action posture, The first mode switching instruction is generated.
  • the first preset action posture is a pre-stored action posture of the user, including gestures, hand action forms, body postures, or other action forms.
  • the first preset action posture is an "OK" gesture or a trajectory of a finger drawing a circle.
  • the trigger target tracking can be achieved without touching the camera.
  • the traditional trigger method of holding a hand-held pan/tilt with one hand and a frame it can relatively reduce the shaking of the picture caused by the shaking of the pan/tilt.
  • the remote control of the handheld PTZ can shoot high-precision stable pictures and improve the user experience.
  • detecting whether the first mode switching instruction is received is specifically: detecting whether the user performs the first preset operation on the interactive interface of the first device; and detecting whether the user performs the first preset operation on the interactive interface of the first device. During the preset operation, the first mode switching instruction is generated.
  • the first device includes the handheld PTZ, the photographing device or the first control device of the handheld PTZ.
  • the interaction interface of the first device may be a software interaction interface displayed on a display screen, or of course, may also be a physical interaction device, such as a touch button, etc.
  • This embodiment uses a software interaction interface as an example for description.
  • the first control device may be a remote control device of the handheld PTZ, such as a remote control, a smart phone, and the like.
  • the first preset operation may include a frame selection operation, a click operation, a sliding operation, or a touch operation.
  • a frame selection operation, a click operation, a sliding operation or a touch operation may be an operation on the target object displayed on the display screen.
  • the target object is a photographing subject, including a person, an animal, a scene or other objects.
  • a first mode switching instruction is detected, and the handheld pan/tilt head is switched from the following mode to the target tracking mode according to the first mode switching instruction.
  • the shooting device is controlled to continue to collect video information, for example, to continue shooting video.
  • the video information collected by the camera in the follow mode of the handheld pan/tilt includes the target object for tracking and shooting. In this way, when the mode is switched, a smooth transition of the shooting screen can be achieved.
  • controlling the shooting device to continue to collect video information is specifically: controlling the shooting device to continue to collect video information along the first position.
  • the first position is the position of the photographing device when the handheld pan/tilt is switched from the first mode to the second mode.
  • the first position is the position of the photographing device when the hand-held pan/tilt is switched from the following mode to the target tracking mode, that is, the position of the photographing device in the following mode at the switching time point.
  • the target tracking mode is adopted and the first position is still used to continue collecting video information. In this way, it will not cause sudden changes in the picture of the video information.
  • the handheld pan/tilt may be in the follow mode or in the target tracking mode, but both will end the collection of video information in the follow mode.
  • the follow mode is used to end the video shooting, which can prevent the sudden change of the video due to the disappearance of the target object, thereby improving the fluency and stability of the video shooting Sex.
  • the instruction for ending the video information collection can be generated by the first control component, for example, it is detected that the user operates the first control component, and the instruction for ending the video information collection is generated.
  • the operation mode of triggering the generation of an instruction to end the video information collection is different from that of triggering the generation of the first mode switching instruction.
  • the instruction for ending the collection of video information can also be in other ways, such as detecting whether the image in the video information includes a preset action posture.
  • the shooting method of the foregoing embodiment controls the shooting device to collect video information in the first mode of the handheld pan/tilt; when detecting a first mode switching instruction generated by a different trigger mode, the handheld pan/tilt Switch from the first mode to the second mode, and in the second mode of the handheld pan/tilt head, control the camera to continue to collect video information, wherein the first mode is one of follow mode and target tracking mode , The second mode is another one.
  • FIG. 3 is a schematic flowchart of steps of a handheld camera-based shooting method according to another embodiment of the present application.
  • the shooting method based on a handheld pan-tilt includes steps S301 to S303.
  • the first mode is the following mode and the second mode is the target tracking mode as an example for description.
  • the preset composition position is the position of the target object in the video information when the handheld pan/tilt is switched to the target tracking mode. That is, the original position is maintained to compose the target object, and the original position is the position of the target object in the video information when the mode is switched.
  • the preset composition position is also Upper left corner. That is, the currently used composition is that the target object is in the upper left corner of the collected video information, and the camera is controlled by the handheld pan/tilt according to the composition to collect the video information containing the target object.
  • the preset composition position is different from the position of the target object in the video information when the handheld pan/tilt is switched to the target tracking mode, that is, the target object is changed when the target tracking mode is switched to The position in the video information.
  • the target object is placed in the center of the screen, or the target object is placed in a preset position in the screen, and the preset position is a position defined by the photographer.
  • the target object 20 in the video information 130 when switching to the target tracking mode is the upper left corner
  • the target object 20 is placed in the center of the video information 130; or, as shown in FIG. 3c, the target object 20 is placed in the upper right corner of the video information 130.
  • the process of controlling the camera to collect the video information containing the target object through the handheld pan/tilt according to the preset composition position it is detected whether a control instruction for controlling the movement of the pan/tilt is received If a control instruction for controlling the movement of the pan/tilt is detected, the movement of the pan/tilt is controlled according to the control instruction to change the preset composition position of the target object in the video information; according to the changed The composition position is preset, and the camera is controlled by the handheld pan/tilt to collect the video information including the target object.
  • the handheld pan/tilt is used to control the shooting device to collect video information containing the target object.
  • control instructions for controlling the movement of the pan/tilt head there are three ways to generate control instructions for controlling the movement of the pan/tilt head, which are:
  • Manner 1 Generate the control instruction when it is detected that the user has operated the second control element on the handheld platform.
  • the second control member includes a button, a trigger or a knob, etc.
  • the second control element may be the same as the first control element or different.
  • the second control element is the same as the first control element
  • different operation modes can be used to generate different instructions.
  • the second control element and the first control element are both triggers, and the mode switching instruction is triggered once by pulling the trigger. Pulling the trigger twice continuously triggers the generation of the control instruction.
  • the first control element is a trigger and the second control element is a button
  • pulling the trigger triggers the generation of a mode switching instruction
  • pressing the button triggers the generation of the control instruction
  • the second preset action posture is a pre-stored action posture of the user, including gestures, hand action forms or other action forms, and the second preset action posture is different from the first preset action posture .
  • the first preset action posture is an "OK" gesture
  • the second preset action posture may be a "like” gesture.
  • the second device includes the handheld PTZ, the photographing device or the second control device of the handheld PTZ.
  • the second control device may be the same as or different from the first control device.
  • the second preset operation is different from the first preset operation.
  • the first preset operation is a single click operation
  • the second preset operation is a continuous click operation.
  • an early warning frame is set in the collected video information in advance, and the size of the early warning frame is equal to or smaller than the size of the display screen of the photographing device. Due to the realization of different composition methods, it is easy to cause the loss of the target object when collecting video information containing the target object. Before collecting the video information containing the target object, it is also necessary to use the warning frame to prevent the target object from being lost.
  • the specific use process is: detecting whether the target object is located in the preset early warning frame in the video information; if the target object is located in the preset early warning frame, continue to execute the changed Presetting the composition position, and controlling the step of capturing the video information containing the target object by the photographing device through the handheld pan/tilt.
  • the movement of the pan-tilt is controlled to move the target object into the preset early warning frame.
  • the pan/tilt is controlled to move at a preset speed to smoothly move the target object into the preset warning frame.
  • using position information to move the target object into the early warning frame is specifically: acquiring the target object beyond the preset early warning The position information of the part of the frame; the movement of the pan-tilt is controlled according to the position information to move the target object into the warning frame.
  • the left side is the position information. Therefore, it is possible to quickly determine and adjust the yaw axis according to the position information to move the target object into the warning frame.
  • the shooting method of the foregoing embodiment reflects that in the process of collecting video information, if the target tracking mode is adopted, the target object can be recomposed, that is, the position of the target object in the video information can be changed to achieve different shooting effects.
  • FIG. 5 is a schematic flowchart of steps of a handheld camera-based shooting method provided by another embodiment of the present application.
  • the shooting method based on a handheld pan/tilt head includes steps S401 to S403.
  • S401 In the first mode of the handheld PTZ, control the shooting device to collect video information.
  • the first mode of the handheld PTZ is a follow mode
  • the second mode of the handheld PTZ is a target tracking mode
  • the handheld pan/tilt is switched from the following mode to the target tracking mode, and in the target tracking mode of the handheld pan/tilt, the camera is controlled to continue to collect video information.
  • generating the instruction for canceling the second mode includes:
  • the instruction for canceling the second mode is generated.
  • the third control member includes a button, a trigger, or a knob.
  • the third control element may be the same as or different from the first control element and the second control element. When the same, different operations can be used to generate different instructions.
  • the instruction for canceling the second mode is generated.
  • the third preset action posture is a pre-stored action posture of the user, including gestures, hand action forms, or other action forms. And the third preset action posture is different from the second preset action posture and the first preset action posture.
  • the first preset action posture is an "OK" gesture
  • the second preset action posture may be a "like” gesture
  • the third preset action posture is a "fist" gesture.
  • the instruction for canceling the second mode is generated.
  • the third device includes the handheld PTZ, the photographing device or the third control device of the handheld PTZ.
  • the third control device may be the same as or different from the first control device and the second control device.
  • the third preset operation is different from the first preset operation and the second preset operation.
  • stopping the capture device from collecting video information may be ending the shooting of the video information, or it may be stopping the shooting of the video information.
  • the shooting of video information may not be stopped, but it means switching the hand-held motion from the second mode to the first mode.
  • Mode and in the first mode of the handheld pan/tilt, controlling the shooting device to continue collecting video information.
  • the hand-held motion is switched from the target tracking mode to the following mode, and in the following mode of the hand-held pan/tilt head, Control the shooting device to continue to collect video information.
  • the camera Upon receiving the instruction for canceling the second mode, it does not immediately stop controlling the shooting device to collect video information, but switches the hand-held movement from the target tracking mode to the follow mode, and the hand-held cloud In the following mode of the station, the camera is controlled to continue to collect video information.
  • the camera in the follow mode of the handheld pan/tilt, the camera is controlled to continue the collection of video information for a preset period of time, and the camera stops controlling the capture of video information when the preset period of time is exceeded.
  • the preset time period is 2 seconds
  • the camera is controlled to collect video information for 2 seconds, and then stop shooting after 2 seconds.
  • the follow mode in the process of shooting in the target tracking mode, if the instruction to cancel the target tracking mode is received, the shooting will not be stopped immediately, but the follow mode will be used to continue shooting before the shooting stops, which can further improve the fluency of the screen shooting .
  • the instruction to cancel the second mode may also adopt the trigger generation method of the first mode switching instruction, but in actual applications, the trigger generation method of the first mode switching instruction should be distinguished.
  • the method of generating the instruction to cancel the second mode also includes multiple methods.
  • the shooting method of the foregoing embodiment not only realizes the smooth transition between the follow mode and the target tracking mode during the shooting process, but also solves the problem that the follow mode and target tracking mode cannot be mixed in the same video shooting, and improves the smoothness and stability of video shooting It also enriches the application methods for receiving instructions for canceling the second mode.
  • FIG. 6 is a schematic flowchart of steps of a handheld camera-based shooting method according to another embodiment of the present application.
  • the shooting method based on a handheld pan/tilt head includes steps S501 to S503.
  • S501 In the first mode of the handheld PTZ, control the shooting device to collect video information.
  • the first mode is a follow mode
  • the second mode is a target tracking mode.
  • the camera is controlled to collect video information. If the first mode switching instruction is detected, switch the handheld PTZ from the following mode to the target tracking mode, and in the target tracking mode of the handheld PTZ, control the shooting device to continue to capture video information.
  • the second mode switching instruction may also adopt the trigger generation method of the first mode switching instruction, but in practical applications, the trigger generation method of the first mode switching instruction should be distinguished.
  • the generation method of the second mode switching instruction also includes multiple methods.
  • the generation manner of the second mode switching instruction is different, and accordingly, the preset operation corresponding to the second mode switching instruction is different.
  • the preset operation is that the handheld pan/tilt enters the third mode
  • the third mode is different In the first mode and the second mode.
  • the third mode is a locked mode.
  • the fourth device includes the handheld PTZ, the photographing device, or the fourth control device of the handheld PTZ.
  • the handheld pan/tilt head exits the third mode.
  • the preset operation is that the handheld pan/tilt enters or exits the follow mode; wherein,
  • the fourth device includes the handheld PTZ, the photographing device or the fourth control device of the handheld PTZ.
  • the preset operation is that the pan/tilt head rotates to a preset position (such as centering) , Or the handheld pan/tilt exits or enters a dormant state; wherein, the fourth device includes the handheld pan/tilt, the photographing device or the fourth control device of the handheld pan/tilt.
  • the preset operation is that the pan/tilt enters the first Four modes
  • the fourth mode is different from the first mode and the second mode.
  • the fourth mode is a sports mode.
  • the fourth device includes the handheld PTZ, the photographing device or the fourth control device of the handheld PTZ. It can be understood that the operation of the fourth mode may be during the continuous control of the fourth control element, and when the user releases the operation on the fourth control element, the handheld pan/tilt will exit the fourth mode.
  • the fourth mode can also start running after the fourth control member continues to control the preset time.
  • the preset operation is to control the camera between the front and rear shooting. Or control the rotation of the pan/tilt, so that the photographing device is switched between two opposite photographing directions; wherein, the fourth device includes the handheld pan/tilt, the photographing device or the camera The fourth control device of the handheld PTZ.
  • S502 and S503 can occur in the time sequence shown in the figure, or other time sequences.
  • S503 occurs, if the continuous collection of video information is not affected, the collection of video information may not be interrupted to achieve Use different modes to continuously collect video information.
  • the shooting method of the foregoing embodiment not only realizes the smooth transition between the follow mode and the target tracking mode during the shooting process, but also solves the problem that the follow mode and the target tracking mode cannot be used at the same time in the same video shooting, and further improves the video picture shooting process Performance and stability; at the same time, it also provides more mode switching methods during the shooting process in follow mode and target tracking mode, thereby improving the user's shooting experience.
  • the position of the target object used for tracking in the image information is often fixed, and the user cannot view the image information in the target tracking mode.
  • the initial picture composition method can be used, and the target object is always placed in a fixed position on the picture for shooting, which may not meet the user's composition requirements, thereby reducing the user's shooting experience.
  • the embodiment of the present invention provides a shooting method based on a handheld pan/tilt.
  • the user can adjust the position of the target object in the frame by controlling the pan/tilt to form a new composition and use the new The composition of the image is collected for image information.
  • FIG. 7 is a schematic flowchart of steps of a handheld camera-based shooting method according to an embodiment of the present application.
  • the handheld camera-based shooting method can recompose the image during target tracking, so as to improve the user's shooting experience.
  • the shooting method based on a handheld pan/tilt head includes steps S601 to S603.
  • S603 Control the shooting device to track and shoot the target object according to the changed preset composition position.
  • the target tracking mode when the target tracking mode is turned on, it is also possible to switch from other modes to the target tracking mode, such as switching from the follow mode to the target tracking mode.
  • the handheld pan/tilt When the handheld pan/tilt is in the target tracking mode, the camera is controlled to track and photograph the target object.
  • the image information collected by the shooting device includes video information corresponding to the captured video or photo information corresponding to the captured photo.
  • controlling the photographing device to track and photograph the target object is specifically: controlling the photographing device according to the preset composition position of the target object tracked by the handheld pan/tilt in the image information collected by the photographing device Tracking and shooting the target object.
  • the preset composition position can be defined according to the needs of the user, and of course the original position can also be maintained. As a result, composition is realized in the target tracking and shooting process, interactive modes are increased, and user experience is improved.
  • the preset composition position is the initial position of the target object in the image information when the handheld pan/tilt enters the target tracking mode. That is, the original position of the target object in the collected image information is maintained to compose the target object, and the preset composition position is obtained.
  • the preset composition position is different from the initial position of the target object in the image information when the handheld pan/tilt head enters the target tracking mode.
  • the target object can be placed in the center of the screen corresponding to the image information or other positions, that is, the user can define the corresponding position by himself.
  • control instruction for controlling the movement of the pan-tilt may control the movement of the pan-tilt to adjust the relative movement of the photographing device, thereby changing the preset composition position of the target object in the image information collected by the photographing device.
  • the method of generating a control instruction for controlling the movement of the pan-tilt includes:
  • the control instruction is generated.
  • the second control member includes a button, a trigger, or a knob.
  • the second control element can be the same as the first control element or different.
  • different operation modes can be used to generate different instructions.
  • the second control part and the first control part are both triggers. Pulling the trigger once triggers the generation of mode switching instructions, and pulling the trigger twice continuously triggers the generation of the control. Instruction; when different, for example, the first control element is a trigger and the second control element is a button, pulling the trigger triggers the generation of a mode switching instruction, and pressing the button triggers the generation of the control instruction.
  • the control instruction is generated.
  • the second preset action posture is a pre-stored action posture of the user, including gestures, hand action forms or other action forms. And the second preset action posture is different from the first preset action posture.
  • the first preset action posture is an "OK" gesture
  • the second preset action posture may be a "like” gesture.
  • the control instruction is generated.
  • the second device includes the handheld PTZ, the photographing device or the second control device of the handheld PTZ.
  • the second device may be the same as or different from the first device.
  • the second preset operation is different from the first preset operation.
  • the first preset operation is a single click operation
  • the second preset operation is a continuous click operation.
  • an early warning frame may be set in the collected image information in advance, and the size of the early warning frame is equal to or smaller than the size of the display screen of the photographing device. Due to the realization of different composition methods, it is easy to cause the loss of the target object when collecting image information containing the target object. Before collecting the image information containing the target object according to the changed preset composition position, it is also necessary to use the warning frame to prevent the target object from being lost.
  • the specific use process is: detecting whether the target object is located in the preset warning frame in the image information; if the target object is located in the preset warning frame, continue to execute the changed according to the Presetting the composition position, and controlling the step of capturing the image information containing the target object by the photographing device through the handheld pan/tilt.
  • the movement of the pan-tilt is controlled to move the target object into the preset early warning frame.
  • the pan/tilt is controlled to move at a preset speed to smoothly move the target object into the preset warning frame.
  • using position information to move the target object into the early warning frame is specifically: acquiring the target object beyond the preset early warning The position information of the part of the frame; the movement of the pan-tilt is controlled according to the position information to move the target object into the warning frame.
  • a new composition is realized by changing the position of the tracked target object in the frame corresponding to the image information, that is, the changed preset composition position, and the new composition (changed preset Composition position) to track the target object.
  • the new composition changed preset Composition position
  • the photographing device when controlling the photographing device to track and photograph the target object, if an instruction for canceling the target tracking mode is received, the photographing device stops collecting image information.
  • the hand-held motion is switched from the target tracking mode to Follow mode, and in the follow mode of the handheld pan/tilt, control the photographing device to continue collecting image information.
  • the hand-held motion is switched from the target tracking mode
  • the camera In the follow mode, in the follow mode of the handheld pan/tilt, the camera is controlled to continuously collect image information for a preset period of time, and when the preset period of time is exceeded, control of the camera to collect image information is stopped.
  • the shooting will not be stopped immediately but the follow mode is used to continue shooting before the shooting stops, which can further improve the fluency of the picture shooting.
  • the shooting method of the above embodiment controls the shooting device to track and shoot the target object by turning on the target tracking mode; if a control instruction for controlling the movement of the pan/tilt is received, the pan/tilt is controlled according to the control instruction Exercise to change the preset composition position of the target object in the image information collected by the shooting device; and control the shooting device to track and shoot the target object according to the changed preset composition position.
  • a control instruction for controlling the movement of the pan/tilt is received, the pan/tilt is controlled according to the control instruction Exercise to change the preset composition position of the target object in the image information collected by the shooting device; and control the shooting device to track and shoot the target object according to the changed preset composition position.
  • FIG. 8 is a schematic block diagram of a handheld pan/tilt head provided by an embodiment of the present application.
  • the handheld pan-tilt 700 includes a processor 710 and a memory 720, and the processor 710 and the memory 720 are connected by a bus, such as an I2C (Inter-integrated Circuit) bus.
  • I2C Inter-integrated Circuit
  • the processor 710 may be a micro-controller unit (MCU), a central processing unit (CPU), a digital signal processor (Digital Signal Processor, DSP), or the like.
  • MCU micro-controller unit
  • CPU central processing unit
  • DSP Digital Signal Processor
  • the memory 720 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk, or a mobile hard disk.
  • the processor 710 is configured to run a computer program stored in a memory, and implement the following steps when executing the computer program:
  • the camera In the first mode of the handheld pan/tilt, the camera is controlled to collect video information; if a first mode switching instruction is detected, the handheld pan/tilt is switched from the first mode to the second mode, and In the second mode of the handheld pan/tilt head, the camera is controlled to continue to collect video information; wherein, the first mode is one of a follow mode and a target tracking mode, and the second mode is The other of the following mode and the target tracking mode.
  • the processor realizes the control of the shooting device to continue to collect video information, so as to realize:
  • the camera is controlled to continue to collect video information along a first position; wherein the first position is the position of the camera when the handheld pan/tilt is switched from the first mode to the second mode.
  • the shooting method further includes:
  • the camera is controlled to continue the collection of video information for a preset period of time, and the video is ended when the preset period is exceeded Information collection.
  • the processor further implements: generating the first mode switching instruction when detecting that the user operates the first control element on the handheld pan/tilt.
  • the processor further implements: generating the first mode switching instruction when detecting that the video information includes a first preset motion posture.
  • the processor further implements: when detecting that the user performs a first preset operation on the interactive interface of the first device, generate the first mode switching instruction; wherein, the first device includes all The handheld PTZ, the photographing device or the first control device of the handheld PTZ.
  • the processor when controlling the shooting device to collect video information, the processor further implements:
  • the handheld pan/tilt may be used to control the shooting device to collect video information containing the target object.
  • the preset composition position is the position of the target object in the video information when the handheld pan/tilt is switched to the target tracking mode.
  • the preset composition position is different from the position of the target object in the video information when the handheld pan/tilt is switched to the target tracking mode.
  • the processor further implements:
  • the movement of the pan/tilt is controlled according to the control instruction to change the preset composition position of the target object in the video information; according to the changed forecast Set the composition position, and control the shooting device through the handheld pan/tilt to collect video information including the target object.
  • the processor further implements: generating the control instruction when detecting that the user operates the second control element on the handheld pan/tilt.
  • the processor further implements: generating the control instruction when detecting that the video information includes a second preset motion posture.
  • the processor further implements: when detecting that the user performs a second preset operation on the interactive interface of the second device, generate the control instruction; wherein, the second device includes the handheld cloud The second control device of the platform, the photographing device or the handheld PTZ.
  • the handheld pan/tilt controls the shooting device to collect the video information including the target object, and further realizes:
  • the handheld pan/tilt controls the step of capturing the video information including the target object by the photographing device.
  • the processor after the processor implements the detection in the video information whether the target object is located in a preset warning frame, it further implements:
  • the processor when the processor realizes the control of the movement of the pan/tilt to move the target object into the warning frame, it realizes:
  • the size of the warning frame is equal to or smaller than the size of the display screen of the photographing device.
  • the processor controls the shooting device to continue to collect video information, and further realizes:
  • the processor controls the shooting device to continue to collect video information, and further realizes:
  • the processor further implements: upon detecting that the user operates the third control element on the handheld pan/tilt, it generates the instruction for canceling the second mode.
  • the processor further implements: when detecting that the video information includes a third preset motion posture, generate the instruction for canceling the second mode.
  • the processor further implements: when detecting that the user performs a third preset operation on the interactive interface of the third device, generating the instruction for canceling the second mode;
  • the third device includes the handheld PTZ, the photographing device or the third control device of the handheld PTZ.
  • the processor further implements: if a second mode switching instruction is detected, controlling the handheld pan/tilt or camera to perform a preset operation that matches the second mode switching instruction.
  • the second mode switching instruction is generated in a different manner, and the preset operations corresponding to the second mode switching instruction are different.
  • the preset operation is that the handheld pan/tilt enters the third mode, and The third mode is different from the first mode and the second mode; wherein, the fourth device includes the handheld pan/tilt, the photographing device or the fourth control device of the handheld pan/tilt.
  • the handheld pan/tilt head exits the third mode.
  • the third mode is a locked mode.
  • the preset operation is that the handheld pan/tilt enters or exits the follow mode ;
  • the fourth device includes the handheld PTZ, the photographing device or the fourth control device of the handheld PTZ.
  • the preset operation is that the pan/tilt head rotates to a preset position, Or the handheld PTZ exits or enters a dormant state; wherein, the fourth device includes the handheld PTZ, the photographing device or the fourth control device of the handheld PTZ.
  • the preset operation is the The pan/tilt enters a fourth mode, which is different from the first mode and the second mode;
  • the fourth device includes the handheld PTZ, the photographing device, or the fourth control device of the handheld PTZ.
  • the handheld pan/tilt head exits the fourth mode.
  • the fourth mode is a sports mode.
  • the preset operation is to control the camera to shoot before and after the camera. Switch between setting and shooting, or control the rotation of the pan-tilt, so that the shooting device can switch between two opposite shooting directions;
  • the fourth device includes the handheld PTZ, the photographing device, or the fourth control device of the handheld PTZ.
  • the processor is configured to execute the computer program and when executing the computer program, implement the following steps:
  • the processor further implements: generating the control instruction when detecting that the user operates the second control element on the handheld pan/tilt.
  • the processor further implements: generating the control instruction when detecting that the image information includes a second preset motion posture.
  • the processor further implements: generating the control instruction when detecting that the user performs a second preset operation on the interactive interface of the second device;
  • the second device includes the handheld PTZ, the photographing device or the second control device of the handheld PTZ.
  • the processor before the processor realizes that the processor controls the shooting device to track and shoot the target object according to the changed preset composition position, it further realizes:
  • the photographing device tracks and photographs the target object.
  • the processor realizes the detection in the image information whether the target object is located in a preset warning frame, it further realizes:
  • the processor realizes the control of the movement of the pan/tilt to move the target object into the warning frame to realize:
  • the size of the warning frame is equal to or smaller than the size of the display screen of the photographing device.
  • the processor after the processor realizes that the processor controls the shooting device to track and shoot the target object according to the changed preset composition position, it further realizes:
  • the processor after the processor realizes that the processor controls the shooting device to track and shoot the target object according to the changed preset composition position, it further realizes:
  • the processor when the processor realizes the activation of the target tracking mode and controls the photographing device to track and photograph the target object, it realizes:
  • the target tracking mode is turned on, and the shooting device is controlled to track and shoot the target object according to the preset composition position of the target object tracked by the handheld pan/tilt in the image information collected by the shooting device.
  • the preset composition position is the initial position of the target object in the image information when the handheld pan/tilt enters the target tracking mode.
  • the preset composition position is different from the initial position of the target object in the image information when the handheld pan/tilt enters the target tracking mode.
  • the 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 foregoing implementation
  • the example provides the steps of the shooting method based on the handheld PTZ.
  • the computer-readable storage medium may be the internal storage unit of the handheld pan/tilt head described in any of the foregoing embodiments, such as the hard disk or memory of the handheld pan/tilt head.
  • the computer-readable storage medium may also be an external storage device of the handheld PTZ, such as a plug-in hard disk equipped on the handheld PTZ, a smart memory card (Smart Media Card, SMC), and a secure digital (Secure Digital) , SD) card, flash card (Flash Card), etc.

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Abstract

L'invention concerne un procédé de photographie, un cardan portatif (10) et un support d'enregistrement. Le procédé consiste à : dans un premier mode d'un cardan portatif (10), commander à un appareil photographique (13) de collecter des informations vidéo ; et si une instruction de commutation de premier mode est détectée, commuter le cardan portatif (10) du premier mode vers un second mode, et dans le second mode du cardan portatif (10), commander à l'appareil photographique (13) de continuer à collecter des informations vidéo, le premier mode étant un mode parmi un mode de suivi et un mode de poursuite de cible, et le second mode étant l'autre.
PCT/CN2019/100461 2019-08-13 2019-08-13 Procédé de photographie basé sur un cardan portatif, et cardan portatif et support d'enregistrement Ceased WO2021026789A1 (fr)

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CN201980033520.3A CN112154653B (zh) 2019-08-13 2019-08-13 基于手持云台的拍摄方法、手持云台及存储介质
CN202210422112.0A CN114710623B (zh) 2019-08-13 2019-08-13 基于手持云台的拍摄方法、手持云台及存储介质
PCT/CN2019/100461 WO2021026789A1 (fr) 2019-08-13 2019-08-13 Procédé de photographie basé sur un cardan portatif, et cardan portatif et support d'enregistrement

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