WO2018041042A1 - Camera mount control method and device, and image capturing system - Google Patents
Camera mount control method and device, and image capturing system Download PDFInfo
- Publication number
- WO2018041042A1 WO2018041042A1 PCT/CN2017/099108 CN2017099108W WO2018041042A1 WO 2018041042 A1 WO2018041042 A1 WO 2018041042A1 CN 2017099108 W CN2017099108 W CN 2017099108W WO 2018041042 A1 WO2018041042 A1 WO 2018041042A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- camera
- target
- camera pan
- light source
- tilt
- Prior art date
Links
Images
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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
- H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/50—Network services
- H04L67/52—Network services specially adapted for the location of the user terminal
-
- 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
- H04N23/617—Upgrading or updating of programs or applications for camera control
-
- 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
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
- H04N23/661—Transmitting camera control signals through networks, e.g. control via the Internet
Definitions
- the acquiring module is configured to: obtain a target position of the shooting object, detect and acquire a position of the light source, and call a preset photographing manner;
- the control module is configured to: control the camera pan/tilt to move to the target camera position for shooting.
- the embodiment of the present disclosure further provides a computer readable storage medium storing computer executable instructions, which are implemented when the computer executable instructions are executed.
- the detecting the light source position in the above embodiment may include:
- the camera pan/tilt control method in the foregoing embodiment may further include: before controlling the camera pan to move to the target camera position,
- the step of controlling the camera pan/tilt to move to the target imaging position is entered;
- the horizontal plane passing through the camera pan/tilt is used as the coordinate system plane
- calculating the target imaging position of the camera head according to the preset photographing mode, the light source position, and the target position in the above embodiment may include:
- the coordinate origin is located on a line connecting the first projection point and the second projection point, and the distance from the first projection point is the optimal shooting distance
- the obtaining module 21 is configured to: acquire a target position of the photographic object, detect and acquire a position of the light source, and invoke a preset photographing manner;
- the calculating module 22 is configured to: calculate a target imaging position of the camera pan/tilt according to the preset photographing mode, the light source position, and the target position;
- the obtaining module 21 in the above embodiment may be configured to: control the camera pan/tilt to rotate one week, and detect the brightness value of each position in one or more positions through the preview mode; compare one or more positions The brightness value of each position in the position determines the strongest brightness value; the position corresponding to the strongest brightness value is used as the light source position.
- the distance from the second projection point and the distance from the first projection point is half of the optimal shooting distance, centered on the coordinate origin, the most The half of the shooting distance is a radius, and a circular motion trajectory is drawn.
- the target imaging position is determined in the circular motion trajectory; the preset photographing manner includes a smooth light or a side light.
- the coordinate setting method can be adjusted as follows: L is sunlight, and the coordinates are infinity.
- the origin can be adjusted to the L and A lines, with the best shooting distance as the reference half of the position. That is, the distance B' to A after B moves along the circular orbit centered on the coordinate origin to the position B' may be the optimum shooting distance, and the position B' and A are symmetric with respect to the coordinate origin.
- the shooting terminal can draw a better shooting position according to the preset shooting preferences. If the setting is smooth, the shooting position can be set to the same side of the strong light source, that is, the coordinate origin and the coordinate of the object to be photographed. B'. The distance can be determined by the moving track limit and the recommended camera shooting distance.
- this step roughly judges whether there is an interruption or other object blocking on the track of B ⁇ B'. Under normal circumstances, the track can be arbitrarily moved. If it is judged that there is no problem, the movement route B-B' can be determined and moved to the set position, and the result of the movement is as shown in Fig. 7.
- S305 Rotate the camera position, and align the preset subject to start the normal photographing process.
Landscapes
- Engineering & Computer Science (AREA)
- Signal Processing (AREA)
- Multimedia (AREA)
- Computer Networks & Wireless Communication (AREA)
- Software Systems (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Studio Devices (AREA)
Abstract
A camera mount control method, comprising: acquiring a target position of an image capturing object; detecting and acquiring a light source position; calling a default image capturing mode, and calculating, according to the default image capturing mode, the light source position, and a target position, a target image capturing position of a camera mount; and controlling the camera mount to move to the target image capturing position.
Description
本公开涉及但不限于摄像领域，尤其是一种摄像云台控制方法及装置、摄像***。The present disclosure relates to, but is not limited to, the field of imaging, and in particular, to a camera pan/tilt control method and apparatus, and a camera system.
为了便于用户拍照，出现了摄像云台，用户在将摄像云台放置到预定位置后，远程控制摄像设备拍摄。In order to facilitate the user to take a picture, a camera pan/tilt appears, and the user remotely controls the camera device to shoot after placing the camera pan/tilt to a predetermined position.
发明内容Summary of the invention
以下是对本文详细描述的主题的概述。本概述并非是为了限制权利要求的保护范围。The following is an overview of the topics detailed in this document. This Summary is not intended to limit the scope of the claims.
利用摄像云台的方式在增强了用户的使用体验的同时，也存在一些问题，比如用户在拍摄时，更换了摄像对象的位置，就需要重新放置摄像云台，导致用户操作频繁，使用体验差。While using the camera pan/tilt to enhance the user experience, there are also some problems. For example, when the user replaces the position of the camera object during shooting, the camera pan/tilt needs to be repositioned, resulting in frequent user operation and poor user experience. .
本公开实施例提供了一种摄像云台控制方法及装置、摄像***，以使摄像云台不需要用户手动移动。Embodiments of the present disclosure provide a camera pan/tilt control method and apparatus, and a camera system, so that the camera pan/tilt does not require manual movement by a user.
本公开实施例提供了一种摄像云台控制方法，包括：An embodiment of the present disclosure provides a camera pan/tilt control method, including:
获取拍摄对象的目标位置；Get the target position of the subject;
检测并获取光源位置；Detecting and obtaining the position of the light source;
调用预设拍照方式，根据预设拍照方式、光源位置及目标位置，计算摄像云台的目标摄像位置；Calling the preset photographing mode, and calculating the target imaging position of the camera pan/tilt according to the preset photographing mode, the position of the light source and the target position;
控制摄像云台移动至目标摄像位置进行拍摄。Control the camera pan/tilt to move to the target camera position for shooting.
本公开实施例还提供了一种摄像云台控制装置，包括：The embodiment of the present disclosure further provides a camera pan/tilt control device, including:
获取模块，设置为：获取拍摄对象的目标位置，检测并获取光源位置，调用预设拍照方式；
The acquiring module is configured to: obtain a target position of the shooting object, detect and acquire a position of the light source, and call a preset photographing manner;
计算模块，设置为：根据预设拍照方式、光源位置及目标位置，计算摄像云台的目标摄像位置；The calculation module is configured to: calculate a target imaging position of the camera pan/tilt according to the preset photographing mode, the position of the light source, and the target position;
控制模块，设置为：控制摄像云台移动至目标摄像位置进行拍摄。The control module is configured to: control the camera pan/tilt to move to the target camera position for shooting.
本公开实施例还提供了一种摄像***，包括摄像云台、拍摄终端、以及本公开实施例提供的摄像云台控制装置，拍摄终端设置在摄像云台上，摄像云台在摄像云台控制装置的控制下，移动到目标摄像位置后，触发拍摄终端对拍摄对象进行拍摄。The embodiment of the present disclosure further provides an imaging system, including a camera pan/tilt head, a photographing terminal, and a camera pan/tilt head control device provided by the embodiment of the present disclosure. The photographing terminal is disposed on the camera pan/tilt, and the camera pan/tilt is controlled by the camera pan/tilt head. Under the control of the device, after moving to the target imaging position, the shooting terminal is triggered to shoot the subject.
本公开实施例还提供了一种计算机存储介质，计算机存储介质中存储有计算机可执行指令，计算机可执行指令用于执行前述的摄像云台控制方法。The embodiment of the present disclosure further provides a computer storage medium, where the computer storage medium stores computer executable instructions, and the computer executable instructions are used to execute the foregoing camera pan/tilt control method.
本公开实施例还提供了一种计算机可读存储介质，存储有计算机可执行指令，所述计算机可执行指令被执行时实现上述摄像云台控制方法。The embodiment of the present disclosure further provides a computer readable storage medium storing computer executable instructions, which are implemented when the computer executable instructions are executed.
本公开实施例的有益效果：Advantageous effects of embodiments of the present disclosure:
本公开实施例提供了一种摄像云台控制方法，该方法通过获取并根据光源位置、预设拍照方式、拍摄对象的目标位置来计算摄像云台的最佳位置，并控制摄像云台到最佳位置进行设置，这样就不需要用户手动移动摄像云台，使摄像云台不需要用户手动移动，增强了用户的使用体验。The embodiment of the present disclosure provides a camera pan/tilt control method, which calculates and optimizes the optimal position of the camera pan/tilt according to the position of the light source, the preset photographing mode, and the target position of the photographing object, and controls the camera pan to the most The location is set so that the user does not need to manually move the camera pan/tilt, so that the camera pan/tilt does not require manual movement by the user, which enhances the user experience.
在阅读并理解了附图和详细描述后，可以明白其他方面。Other aspects will be apparent upon reading and understanding the drawings and detailed description.
附图概述BRIEF abstract
图1为本公开实施例提供的一种摄像云台控制方法的流程图；FIG. 1 is a flowchart of a camera pan/tilt control method according to an embodiment of the present disclosure;
图2为本公开实施例提供的摄像云台控制装置的结构示意图；2 is a schematic structural diagram of a camera pan/tilt control device according to an embodiment of the present disclosure;
图3为本公开实施例提供的另一种摄像云台控制方法的流程图；FIG. 3 is a flowchart of another method for controlling a camera pan/tilt according to an embodiment of the present disclosure;
图4是本公开实施例涉及的坐标系的第一种示意图；4 is a first schematic diagram of a coordinate system according to an embodiment of the present disclosure;
图5是本公开实施例涉及的坐标系的第二种示意图；FIG. 5 is a second schematic diagram of a coordinate system according to an embodiment of the present disclosure; FIG.
图6是本公开实施例涉及的摄像云台移动示意图；6 is a schematic diagram of movement of a camera pan-tilt according to an embodiment of the present disclosure;
图7是本公开实施例涉及的摄像云台移动结果示意图。FIG. 7 is a schematic diagram of a camera panning movement result according to an embodiment of the present disclosure.
本公开的较佳实施方式Preferred embodiment of the present disclosure
下面结合附图对本公开的实施方式进行描述。
Embodiments of the present disclosure will be described below with reference to the accompanying drawings.
图1为本公开实施例提供的一种摄像云台控制方法的流程图，由图1可知，本实施例提供的摄像云台控制方法可以包括：FIG. 1 is a flowchart of a camera pan/tilt control method according to an embodiment of the present disclosure. As shown in FIG. 1 , the camera pan/tilt control method provided in this embodiment may include:
S101：获取拍摄对象的目标位置；S101: Acquire a target position of the photographic subject;
在实际应用中，本步骤可以是用户手动输入目标位置，也可以是用户在预览界面选择拍摄对象，由摄像云台控制自动计算用户选择的拍摄对象的目标位置；In practical applications, the step may be that the user manually inputs the target position, or the user selects the shooting object in the preview interface, and the target position of the selected object is automatically calculated by the camera pan/tilt control;
S102：检测并获取光源位置；S102: detecting and acquiring a position of the light source;
S103：调用预设拍照方式，根据预设拍照方式、光源位置及目标位置，计算摄像云台的目标摄像位置；S103: calling a preset photographing mode, and calculating a target imaging position of the camera pan/tilt according to the preset photographing mode, the position of the light source, and the target position;
在实际应用中，预设拍照方式可以是用户设置的拍照方式，此时，预设拍照方式即为用户的喜好拍照方式，如顺光等；In actual application, the preset photographing mode may be a photographing mode set by the user. At this time, the preset photographing mode is a user's favorite photographing manner, such as a smooth light, etc.;
S104：控制摄像云台移动至目标摄像位置进行拍摄；S104: Control the camera pan/tilt to move to the target camera position for shooting;
在实际应用中，目标摄像位置具备这样的属性，在该位置拍摄的照片是用户喜好拍照方式对应的最佳拍摄位置，如具有最佳的顺光拍摄效果的拍摄位置等。In practical applications, the target imaging position has such an attribute that the photo taken at the position is the best shooting position corresponding to the user's favorite photographing mode, such as the shooting position with the best smooth shooting effect.
在一些实施例中，上述实施例中的检测光源位置可以包括：In some embodiments, the detecting the light source position in the above embodiment may include:
控制摄像云台旋转一周，通过预览模式检测一个或多个位置中每个位置的亮度值；Controlling the camera pan/tilt to rotate one week, and detecting the brightness value of each position in one or more positions through the preview mode;
比对一个或多个位置中每个位置的亮度值，确定最强亮度值；Comparing the brightness values of each of the one or more locations to determine the strongest brightness value;
将最强亮度值对应的位置，作为光源位置。The position corresponding to the strongest luminance value is used as the light source position.
在一些实施例中，上述实施例中的摄像云台控制方法，在控制摄像云台移动至目标摄像位置之前，还可以包括：In some embodiments, the camera pan/tilt control method in the foregoing embodiment may further include: before controlling the camera pan to move to the target camera position,
判断摄像云台是否可以移动到目标摄像位置；Determining whether the camera pan/tilt can be moved to the target camera position;
当摄像云台可以移动到目标摄像位置时，进入控制摄像云台移动至目标摄像位置的步骤；When the camera pan/tilt can move to the target imaging position, the step of controlling the camera pan/tilt to move to the target imaging position is entered;
当摄像云台不可以移动到目标摄像位置时，重选光源位置、或修改预设拍照方式、或重选光源位置以及修改预设拍照方式，重新计算新的摄像位置，
并控制摄像云台移动至新的摄像位置。When the camera pan/tilt cannot move to the target camera position, reselect the light source position, or modify the preset photographing mode, or reselect the light source position, and modify the preset photographing mode to recalculate the new camera position.
And control the camera pan to move to the new camera position.
在实际应用中，重选光源位置大致可以是运用到室内场景，并且存在多个光源的情况，在第一次计算时，可以选择光源强度最大的作为光源位置，若此时计算得到的目标摄像位置不可达，就可以重选光源强度次一点的作为光源位置，重选计算摄像位置，而这个位置往往不是最佳的位置了。因此，若出现目标摄像位置不可达，可选地，可以修改预设拍照方式，如将顺光修改为侧光等。In practical applications, the position of the reselected light source can be roughly applied to an indoor scene, and there are multiple light sources. In the first calculation, the light source intensity can be selected as the light source position, and the target image calculated at this time can be selected. If the position is unreachable, you can reselect the light source intensity as the light source position and reselect the calculated image position, which is often not the best position. Therefore, if the target imaging position is unreachable, the preset photographing mode may be modified, for example, the side light is modified to the side light.
在一些实施例中，上述实施例中的摄像云台控制方法，在控制摄像云台移动至目标摄像位置之前，还可以包括：In some embodiments, the camera pan/tilt control method in the foregoing embodiment may further include: before controlling the camera pan to move to the target camera position,
判断目标摄像位置、光源位置及目标位置是否在同一直线上；Determining whether the target imaging position, the light source position, and the target position are on the same line;
若不在同一直线上，则进入控制摄像云台移动至目标摄像位置的步骤；If not on the same line, then enter the step of controlling the camera pan to move to the target imaging position;
若在同一直线上，则修改预设拍照方式，重新计算新的摄像位置，并控制摄像云台移动至新的摄像位置。If it is on the same line, modify the preset camera mode, recalculate the new camera position, and control the camera pan to move to the new camera position.
在一些实施例中，如图4所示，当光源为室内照明设备时，上述实施例中的根据预设拍照方式、光源位置及目标位置，计算摄像云台的目标摄像位置可以包括：In some embodiments, as shown in FIG. 4, when the light source is an indoor lighting device, calculating the target imaging position of the camera head according to the preset photographing mode, the light source position, and the target position in the above embodiment may include:
将穿过摄像云台的水平面作为坐标系平面；The horizontal plane passing through the camera pan/tilt is used as the coordinate system plane;
以光源位置在坐标系平面上的投影为坐标原点；The projection of the position of the light source on the coordinate system plane is taken as the coordinate origin;
以坐标原点为中心，坐标原点到摄像云台的距离为半径，绘制圆形运动轨迹；Centering on the origin of the coordinate, the distance from the origin of the coordinate to the camera head is a radius, and a circular motion trajectory is drawn;
获取目标位置在坐标系平面上的投影点；Obtain a projection point of the target position on the coordinate system plane;
根据投影点及预设拍照方式，在圆形运动轨迹确定目标摄像位置；预设拍照方式包括顺光或者侧光。According to the projection point and the preset photographing manner, the target imaging position is determined in the circular motion trajectory; the preset photographing manner includes a smooth light or a side light.
在一些实施例中，如图5所示，当光源为太阳时，上述实施例中的根据预设拍照方式、光源位置及目标位置，计算摄像云台的目标摄像位置可以包括：In some embodiments, as shown in FIG. 5, when the light source is the sun, calculating the target imaging position of the camera head according to the preset photographing mode, the light source position, and the target position in the above embodiment may include:
将穿过摄像云台的水平面作为坐标系平面；
The horizontal plane passing through the camera pan/tilt is used as the coordinate system plane;
获取目标位置在坐标系平面上的第一投影点；Obtaining a first projection point of the target position on the coordinate system plane;
获取光源位置在坐标系平面上的第二投影点；Obtaining a second projection point of the light source position on the coordinate system plane;
获取摄像云台的最佳拍摄距离；Get the best shooting distance of the camera head;
根据第一投影点、第二投影点及最佳拍摄距离，确定坐标原点；坐标原点位于第一投影点与第二投影点的连线上、且与第一投影点的距离为最佳拍摄距离的一半；Determining a coordinate origin according to the first projection point, the second projection point, and the optimal shooting distance; the coordinate origin is located on a line connecting the first projection point and the second projection point, and the distance from the first projection point is the optimal shooting distance Half of
以坐标原点为中心，最佳拍摄距离的一半为半径，绘制圆形运动轨迹；Centering on the origin of the coordinates, half of the best shooting distance is the radius, and a circular motion trajectory is drawn;
根据投影点及预设拍照方式，在圆形运动轨迹确定目标摄像位置；预设拍照方式包括顺光或者侧光。According to the projection point and the preset photographing manner, the target imaging position is determined in the circular motion trajectory; the preset photographing manner includes a smooth light or a side light.
图2为本公开实施例提供的摄像云台控制装置的结构示意图，由图2可知，本实施例提供的摄像云台控制装置可以包括：2 is a schematic structural diagram of a camera pan/tilt control device according to an embodiment of the present disclosure. As shown in FIG. 2, the camera pan/tilt control device provided in this embodiment may include:
获取模块21，设置为：获取拍摄对象的目标位置，检测并获取光源位置，调用预设拍照方式；The obtaining module 21 is configured to: acquire a target position of the photographic object, detect and acquire a position of the light source, and invoke a preset photographing manner;
计算模块22，设置为：根据预设拍照方式、光源位置及目标位置，计算摄像云台的目标摄像位置；The calculating module 22 is configured to: calculate a target imaging position of the camera pan/tilt according to the preset photographing mode, the light source position, and the target position;
控制模块23，设置为：控制摄像云台移动至目标摄像位置进行拍摄。The control module 23 is configured to: control the camera pan/tilt to move to the target imaging position for shooting.
在一些实施例中，上述实施例中的获取模块21可以是设置为：控制摄像云台旋转一周，通过预览模式检测一个或多个位置中每个位置的亮度值；比对一个或多个位置中每个位置的亮度值，确定最强亮度值；将最强亮度值对应的位置，作为光源位置。In some embodiments, the obtaining module 21 in the above embodiment may be configured to: control the camera pan/tilt to rotate one week, and detect the brightness value of each position in one or more positions through the preview mode; compare one or more positions The brightness value of each position in the position determines the strongest brightness value; the position corresponding to the strongest brightness value is used as the light source position.
在一些实施例中，上述实施例中的计算模块22还可以设置为：在控制模块23控制摄像云台移动至目标摄像位置之前，判断摄像云台是否可以移动到目标摄像位置；当摄像云台可以移动到目标摄像位置时，触发控制模块控制摄像云台移动至目标摄像位置；当摄像云台不可以移动到目标摄像位置时，重选光源位置、或修改预设拍照方式、或重选光源位置以及修改预设拍照方式，重新计算新的摄像位置，并触发控制模块控制摄像云台移动至新的摄像位置。
In some embodiments, the calculation module 22 in the above embodiment may further be configured to: before the control module 23 controls the camera pan to move to the target camera position, determine whether the camera pan can move to the target camera position; When moving to the target imaging position, the trigger control module controls the camera pan to move to the target camera position; when the camera pan can not move to the target camera position, reselect the light source position, or modify the preset camera mode, or reselect the light source Position and modify the preset camera mode, recalculate the new camera position, and trigger the control module to control the camera pan to move to the new camera position.
在一些实施例中，上述实施例中的计算模块22还可以设置为：在控制模块23控制摄像云台移动至目标摄像位置之前，判断目标摄像位置、光源位置及目标位置是否在同一直线上；若不在同一直线上，则触发控制模块控制摄像云台移动至目标摄像位置；若在同一直线上，则修改预设拍照方式，重新计算新的摄像位置，并触发控制模块控制摄像云台移动至新的摄像位置。In some embodiments, the calculation module 22 in the above embodiment may further be configured to: before the control module 23 controls the camera pan to move to the target imaging position, determine whether the target imaging position, the light source position, and the target position are on the same line; If not on the same line, the trigger control module controls the camera pan to move to the target camera position; if on the same line, modify the preset camera mode, recalculate the new camera position, and trigger the control module to control the camera pan to move to New camera location.
在一些实施例中，当光源为室内照明设备时，上述实施例中的计算模块22可以是设置为：将穿过摄像云台的水平面作为坐标系平面，以光源位置在坐标系平面上的投影为坐标原点，以坐标原点为中心，坐标原点到摄像云台的距离为半径，绘制圆形运动轨迹，获取目标位置在坐标系平面上的投影点，根据投影点及预设拍照方式，在圆形运动轨迹确定目标摄像位置；当光源为太阳时，计算模块22可以是设置为：将穿过摄像云台的水平面作为坐标系平面，获取目标位置在坐标系平面上的第一投影点，获取光源位置在坐标系平面上的第二投影点，获取摄像云台的最佳拍摄距离，根据第一投影点、第二投影点及最佳拍摄距离，确定坐标原点，坐标原点位于第一投影点与第二投影点的连线上、且与第一投影点的距离为最佳拍摄距离的一半，以坐标原点为中心，最佳拍摄距离的一半为半径，绘制圆形运动轨迹，根据投影点及预设拍照方式，在圆形运动轨迹确定目标摄像位置；预设拍照方式包括顺光或者侧光。In some embodiments, when the light source is an indoor lighting device, the calculation module 22 in the above embodiment may be configured to: use a horizontal plane passing through the camera head as a coordinate system plane, and a projection of the light source position on the coordinate system plane. For the coordinate origin, centered on the coordinate origin, the distance from the coordinate origin to the camera head is the radius, draw a circular motion trajectory, and obtain the projection point of the target position on the coordinate system plane. According to the projection point and the preset photographing mode, in the circle The shape motion track determines the target imaging position; when the light source is the sun, the calculation module 22 may be configured to: use the horizontal plane passing through the camera pan/tilt as the coordinate system plane, and obtain the first projection point of the target position on the coordinate system plane, and obtain The second projection point of the light source position on the coordinate system plane acquires the optimal shooting distance of the camera pan/tilt, and determines the coordinate origin according to the first projection point, the second projection point and the optimal shooting distance, and the coordinate origin is located at the first projection point. The distance from the second projection point and the distance from the first projection point is half of the optimal shooting distance, centered on the coordinate origin, the most The half of the shooting distance is a radius, and a circular motion trajectory is drawn. According to the projection point and the preset photographing manner, the target imaging position is determined in the circular motion trajectory; the preset photographing manner includes a smooth light or a side light.
在实际应用中，图2所示实施例中的所有功能模块，都可以采用处理器、可编程逻辑器件等方式实现。In practical applications, all the functional modules in the embodiment shown in FIG. 2 can be implemented by using a processor, a programmable logic device, or the like.
对应地，本公开实施例也提供了一种摄像***，该摄像***可以包括摄像云台、拍摄终端、以及本公开实施例提供的摄像云台控制装置，拍摄终端设置在摄像云台上，摄像云台在摄像云台控制装置的控制下，移动到目标摄像位置后，触发拍摄终端对拍摄对象进行拍摄。Correspondingly, the embodiment of the present disclosure also provides a camera system, which may include a camera pan/tilt, a photographing terminal, and a camera pan/tilt control device provided by an embodiment of the present disclosure. The photographing terminal is disposed on the camera pan/tilt, and the camera is photographed. Under the control of the camera pan/tilt control device, the pan/tilt moves to the target imaging position, and triggers the shooting terminal to shoot the subject.
在实际应用中，摄像云台还可以包括运动装置，该运动装置可以包括控制芯片、检测仪、步进电机及轮胎等移动件，控制芯片在接收到目标摄像位置后，可以通过检测仪检测环境等参数，如是否有障碍物等，确定当前位置到目标摄像位置的运动轨迹，然后根据运动轨迹控制步进电机工作，进而控
制轮胎等移动件进行移动，使得摄像云台移动到目标摄像位置。In practical applications, the camera pan can also include a motion device, which can include a moving component such as a control chip, a detector, a stepping motor, and a tire. After receiving the target imaging position, the control chip can detect the environment through the detector. Such parameters, such as whether there are obstacles, etc., determine the motion trajectory of the current position to the target imaging position, and then control the stepper motor work according to the motion trajectory, and then control
The moving parts such as tires are moved to move the camera pan to the target imaging position.
在实际应用中，拍摄终端可以是手机等设备，摄像云台控制装置可以设置在拍摄终端内部，也可以是独立的设备，通过通信接口，如USB接口等控制摄像云台移动。In practical applications, the shooting terminal may be a mobile phone or the like, and the camera pan/tilt control device may be disposed inside the shooting terminal or may be an independent device, and controls the camera pan/tilt movement through a communication interface such as a USB interface.
下面结合应用场景，通过实例对本公开实施例做诠释说明。The embodiments of the present disclosure are explained by way of examples in conjunction with application scenarios.
本实例提供一种基于带移动控制的手机终端，不需要人工参与的自动拍照方式，该方式不同于传统的自动拍照方式，可以根据现场情况，找到一个比较理想的拍摄地点和角度，提升智能无人拍照体验。同时也可以避免因为对准强光拍摄，对摄像头带来的物理损伤。在到达指定范围后，可以锁定一个拍摄对象，之后可以开始判断当前现场的光线情况确认最佳的拍摄位置，之后可以进行运动线路查询，判断到这个拍摄位置是否存在可行的运动路线，如果有，则可以执行运动指令，并移动到指定位置，把摄像头对准拍摄对象，进行有效拍摄；如果到这个拍摄位置的运动路线受阻，则可以重新选择拍摄位置。This example provides a mobile phone terminal based on mobile control with no need for manual participation. This method is different from the traditional automatic camera mode. It can find an ideal shooting location and angle according to the scene, and improve the intelligence. People take pictures. At the same time, it can also avoid the physical damage to the camera caused by the shooting of the glare. After reaching the specified range, you can lock a subject, then you can start to judge the current scene light condition to confirm the best shooting position, then you can query the motion line to determine whether there is a feasible motion route at this shooting position, if any, Then you can execute the motion command and move to the specified position, aim the camera at the subject for effective shooting; if the motion route to this shooting position is blocked, you can reselect the shooting position.
以平坦轨道上指定物体拍照点光源为例，假定终端所绑定的云台提供了在地面上移动的功能，并且终端可以通过和云台的数据交互，指挥云台进行移动。Taking the photo point source of the specified object on the flat track as an example, it is assumed that the pan/tilt bound to the terminal provides the function of moving on the ground, and the terminal can interact with the data of the gimbal to command the gimbal to move.
如图3所示，本实例提供的自动拍照方式可以包括以下步骤：As shown in FIG. 3, the automatic photographing manner provided in this example may include the following steps:
S301：设置摄像对象及拍摄喜好。S301: Set the camera object and shooting preferences.
到达拍摄范围，可以设定拍摄物体，预设定拍摄喜好：顺光(当然也可以设置成侧光或者其他光线喜好等，相应地，后面移动算法可以进行调整)。When you reach the shooting range, you can set the subject, pre-set the shooting preferences: smooth light (of course, you can also set the side light or other light preferences, etc., accordingly, the rear movement algorithm can be adjusted).
S302：检测光源位置。S302: Detect the position of the light source.
可以旋转云台一周，通过拍照预览模式检测当前的最强亮度值，辅助获取环境光传感器的检查值，来确认当前的最强光源的位置，根据本领域双摄像头配置的相机，是可以确认点光源的方向和距离信息的，并可以以最强光源为原点建立坐标体系。可以根据这个坐标体系，确定出被拍摄物体和当前云台的坐标。如果检测到当前有多个光源，可以以最强光源为准。
You can rotate the pan/tilt for one week, detect the current strongest brightness value through the photo preview mode, and assist in obtaining the inspection value of the ambient light sensor to confirm the position of the current strongest light source. According to the camera of the dual camera configuration in the field, the point can be confirmed. The direction and distance information of the light source, and the coordinate system can be established with the strongest light source as the origin. According to this coordinate system, the coordinates of the object to be photographed and the current pan/tilt can be determined. If it is detected that there are currently multiple light sources, the strongest light source can be used.
以室内场景为例，如图4所示，B为云台，A为被摄物体，L为检测到的最强点光源。以L为坐标原点、A的方向为X轴，可以建立平面坐标***，之后可以确认B的坐标位置。假设B沿着以坐标原点为圆心的圆形轨道可以移动。A有可能不在轨道上。Taking an indoor scene as an example, as shown in FIG. 4, B is a pan/tilt, A is a subject, and L is the strongest point source detected. With L as the coordinate origin and A direction as the X axis, a plane coordinate system can be established, and then the coordinate position of B can be confirmed. Assume that B can move along a circular orbit centered on the origin of the coordinate. A may not be on the track.
以室外场景为例，如图5所示，如果是自然界环境，可能会出现太阳光这样无法确认距离、只有方向的平行光源，坐标的建立方式可以调整为：L为太阳光，坐标为无穷大。原点可以调整到L和A连线上，以最佳拍摄距离为参考的一半的位置。即B沿着以坐标原点为圆心的圆形轨道移动到位置B’后的距离B’到A可以为最佳拍摄距离，位置B’与A关于坐标原点成中心对称。Taking the outdoor scene as an example, as shown in Fig. 5, if it is a natural environment, there may be a parallel light source such as sunlight that cannot confirm the distance and only the direction. The coordinate setting method can be adjusted as follows: L is sunlight, and the coordinates are infinity. The origin can be adjusted to the L and A lines, with the best shooting distance as the reference half of the position. That is, the distance B' to A after B moves along the circular orbit centered on the coordinate origin to the position B' may be the optimum shooting distance, and the position B' and A are symmetric with respect to the coordinate origin.
S303：计算最佳位置。S303: Calculate the optimal position.
拍摄终端可以根据预设的拍摄喜好，拟定一个较好的拍摄位置，假如设定是顺光，则可以设定拍摄位置到强光源的同一侧，即坐标原点和被拍摄物体坐标的连线上B’。距离可以按照移动轨道限制以及推荐的摄像头拍摄距离来确定。The shooting terminal can draw a better shooting position according to the preset shooting preferences. If the setting is smooth, the shooting position can be set to the same side of the strong light source, that is, the coordinate origin and the coordinate of the object to be photographed. B'. The distance can be determined by the moving track limit and the recommended camera shooting distance.
S304：根据设定的位置，终端判断运行路线是否可以执行。S304: The terminal determines whether the running route can be executed according to the set position.
如图7所示，本步骤大致是判断B→B’的轨道上有无中断或者其他物体阻挡，正常情况下，轨道可以是可以任意移动的。如果判断没有问题，则可以确定移动路线B-B’，并移动到设定的位置，移动结果如图7所示。As shown in Fig. 7, this step roughly judges whether there is an interruption or other object blocking on the track of B→B'. Under normal circumstances, the track can be arbitrarily moved. If it is judged that there is no problem, the movement route B-B' can be determined and moved to the set position, and the result of the movement is as shown in Fig. 7.
S305：旋转摄像头位置，对准预设拍摄对象开始正常拍照流程。S305: Rotate the camera position, and align the preset subject to start the normal photographing process.
本实例也可以适应于无轨道的可移动平面云台或者是飞行器云台中，上面的无人拍照流程和方式对于这些场景也同样适用。This example can also be adapted to a non-orbiting movable plane pan/tilt or an aircraft pan/tilt. The above unmanned photographing processes and methods are equally applicable to these scenarios.
综上可知，通过本公开实施例的实施，至少存在以下有益效果：In summary, through the implementation of the embodiments of the present disclosure, at least the following beneficial effects exist:
本公开实施例提供了一种摄像云台控制方法，该方法通过获取并根据光源位置、预设拍照方式、目标位置来计算摄像云台的最佳位置，并控制摄像云台到最佳位置进行设置，这样就不需要用户手动移动摄像云台，使摄像云台不需要用户手动移动，增强了用户的使用体验。
The embodiment of the present disclosure provides a camera pan/tilt control method, which calculates and optimizes the optimal position of the camera pan/tilt according to the position of the light source, the preset photographing mode, and the target position, and controls the camera pan to the optimal position. Setting, so that the user does not need to manually move the camera pan/tilt, so that the camera pan/tilt does not require manual movement by the user, which enhances the user experience.
本公开实施例还提供了一种计算机可读存储介质，存储有计算机可执行指令，所述计算机可执行指令被执行时实现上述摄像云台控制方法。The embodiment of the present disclosure further provides a computer readable storage medium storing computer executable instructions, which are implemented when the computer executable instructions are executed.
本领域内的技术人员可以明白，本公开的实施例可提供为方法、***、或计算机程序产品。因此，本公开实施例可采用硬件实施例、软件实施例、或结合软件和硬件方面的实施例的形式。而且，本公开实施例可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器和光学存储器等)上实施的计算机程序产品的形式。Those skilled in the art will appreciate that embodiments of the present disclosure can be provided as a method, system, or computer program product. Thus, embodiments of the present disclosure may take the form of a hardware embodiment, a software embodiment, or a combination of software and hardware aspects. Moreover, embodiments of the present disclosure may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) including computer usable program code.
本公开实施例可以是参照根据本公开实施例的方法、设备(***)、和计算机程序产品的流程图、或方框图、或流程图和方框图来描述的。可以理解可由计算机程序指令实现流程图中的每一流程、或方框图中的每一方框、或流程图和方框图中的每一流程和每一方框、以及流程图中流程的结合、或方框图中方框的结合、或流程图中流程和方框图中方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程、或方框图一个方框或多个方框、或流程图至少一个流程和方框图至少一个方框中指定的功能的装置。Embodiments of the present disclosure may be described with reference to flowchart illustrations, or block diagrams, or flowcharts and block diagrams of a method, apparatus (system), and computer program product according to embodiments of the present disclosure. It will be understood that each flow in the flowcharts, or each block in the block diagram, or each of the flowcharts and block diagrams, and combinations of Combination of, or a combination of the flow in the flowchart and the blocks in the block diagram. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing device to produce a machine for the execution of instructions for execution by a processor of a computer or other programmable data processing device. Means for implementing the functions specified in one or more flows of the flowchart, or a block or blocks of the block diagram, or at least one block of the flowchart and at least one block of the block diagram.
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程、或方框图一个方框或多个方框、或流程图至少一个流程和方框图至少一个方框中指定的功能。The computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device. The apparatus implements the functions specified in one or more flows of the flowchart, or a block or blocks of the block diagram, or at least one block of the flowchart and at least one block of the block diagram.
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程、或方框图一个方框或多个方框、或流程图至少一个流程和方框图至少一个方框中指定的功能的步骤。These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device. The instructions provide steps for implementing the functions specified in one or more flows of the flowchart, or a block or blocks of the block diagram, or at least one block of the flowchart and at least one block of the block diagram.
本领域普通技术人员可以理解，上文中所公开方法中的全部或某些步骤、***、装置中的功能模块/单元可以被实施为软件、固件、硬件及其适当
的组合。在硬件实施方式中，在以上描述中提及的功能模块/单元之间的划分不一定对应于物理组件的划分；例如，一个物理组件可以具有多个功能，或者一个功能或步骤可以由若干物理组件合作执行。某些组件或所有组件可以被实施为由处理器，如数字信号处理器或微处理器执行的软件，或者被实施为硬件，或者被实施为集成电路，如专用集成电路。这样的软件可以分布在计算机可读介质上，计算机可读介质可以包括计算机存储介质(或非暂时性介质)和通信介质(或暂时性介质)。如本领域普通技术人员公知的，术语计算机存储介质包括在用于存储信息(诸如计算机可读指令、数据结构、程序模块或其他数据)的任何方法或技术中实施的易失性和非易失性、可移除和不可移除介质。计算机存储介质包括但不限于随机存取存储器(RAM，Random Access Memory)、只读存储器(ROM，Read-Only Memory)、电可擦除只读存储器(EEPROM，Electrically Erasable Programmable Read-only Memory)、闪存或其他存储器技术、光盘只读存储器(CD-ROM，Compact Disc Read-Only Memory)、数字多功能盘(DVD)或其他光盘存储、磁盒、磁带、磁盘存储或其他磁存储装置、或者可以用于存储期望的信息并且可以被计算机访问的任何其他的介质。此外，本领域普通技术人员公知的是，通信介质通常包含计算机可读指令、数据结构、程序模块或者诸如载波或其他传输机制之类的调制数据信号中的其他数据，并且可包括任何信息递送介质。Those of ordinary skill in the art will appreciate that all or some of the steps, systems, and functional blocks/units of the methods disclosed above may be implemented as software, firmware, hardware, and the like.
The combination. In a hardware implementation, the division between functional modules/units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component may have multiple functions, or one function or step may be composed of several physical The components work together. Some or all of the components may be implemented as software executed by a processor, such as a digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on a computer readable medium, which may include computer storage media (or non-transitory media) and communication media (or transitory media). As is well known to those of ordinary skill in the art, the term computer storage medium includes volatile and nonvolatile, implemented in any method or technology for storing information, such as computer readable instructions, data structures, program modules or other data. Sex, removable and non-removable media. Computer storage media include, but are not limited to, Random Access Memory (RAM), Read-Only Memory (ROM), and Electrically Erasable Programmable Read-only Memory (EEPROM). Flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical disc storage, magnetic cassette, magnetic tape, disk storage or other magnetic storage device, or Any other medium used to store the desired information and that can be accessed by the computer. Moreover, it is well known to those skilled in the art that communication media typically includes computer readable instructions, data structures, program modules, or other data in a modulated data signal, such as a carrier wave or other transport mechanism, and can include any information delivery media. .
本领域的普通技术人员可以理解，可以对本公开的技术方案进行修改或者等同替换，而不脱离本公开技术方案的精神和范围，均应涵盖在本公开的权利要求范围当中。A person skilled in the art can understand that the technical solutions of the present disclosure may be modified or equivalent, without departing from the spirit and scope of the present disclosure, and should be included in the scope of the claims of the present disclosure.
本公开实施例提供了一种摄像云台控制方法，该方法通过获取并根据光源位置、预设拍照方式、拍摄对象的目标位置来计算摄像云台的最佳位置，并控制摄像云台到最佳位置进行设置，这样就不需要用户手动移动摄像云台，使摄像云台不需要用户手动移动，增强了用户的使用体验。
The embodiment of the present disclosure provides a camera pan/tilt control method, which calculates and optimizes the optimal position of the camera pan/tilt according to the position of the light source, the preset photographing mode, and the target position of the photographing object, and controls the camera pan to the most The location is set so that the user does not need to manually move the camera pan/tilt, so that the camera pan/tilt does not require manual movement by the user, which enhances the user experience.
Claims (13)
- 一种摄像云台控制方法，包括：A camera pan/tilt control method includes:获取拍摄对象的目标位置；Get the target position of the subject;检测并获取光源位置；Detecting and obtaining the position of the light source;调用预设拍照方式，根据所述预设拍照方式、光源位置及目标位置，计算摄像云台的目标摄像位置；Calling a preset photographing mode, and calculating a target photographing position of the camera head according to the preset photographing mode, the position of the light source, and the target position;控制所述摄像云台移动至所述目标摄像位置。Controlling the camera pan to move to the target camera position.
- 如权利要求1所述的摄像云台控制方法，其中，所述检测并获取光源位置包括：The camera pan/tilt control method according to claim 1, wherein the detecting and acquiring the light source position comprises:控制所述摄像云台旋转一周，通过预览模式检测一个或多个位置中每个位置的亮度值；Controlling the camera pan/tilt to rotate one week, and detecting a brightness value of each position in one or more positions through a preview mode;比对一个或多个位置中每个位置的亮度值，确定最强亮度值；Comparing the brightness values of each of the one or more locations to determine the strongest brightness value;将最强亮度值对应的位置，作为所述光源位置。The position corresponding to the strongest luminance value is taken as the light source position.
- 如权利要求1所述的摄像云台控制方法，在控制所述摄像云台移动至所述目标摄像位置之前，还包括：The camera pan/tilt control method according to claim 1, further comprising: before controlling the camera pan to move to the target camera position,判断所述摄像云台是否可以移动到所述目标摄像位置；Determining whether the camera pan/tilt can be moved to the target imaging position;当所述摄像云台可以移动到所述目标摄像位置时，进入控制所述摄像云台移动至所述目标摄像位置的步骤；When the camera pan/tilt can move to the target imaging position, enter a step of controlling the camera pan to move to the target imaging position;当所述摄像云台不可以移动到所述目标摄像位置时，重选所述光源位置、或修改所述预设拍照方式、或重选所述光源位置以及修改所述预设拍照方式，重新计算新的摄像位置，并控制所述摄像云台移动至所述新的摄像位置。Reselecting the position of the light source, or modifying the preset photographing mode, or reselecting the position of the light source, and modifying the preset photographing mode, when the camera pantop is not movable to the target photographing position, Calculating a new imaging position and controlling the camera pan to move to the new imaging position.
- 如权利要求1所述的摄像云台控制方法，在控制所述摄像云台移动至所述目标摄像位置之前，还包括：The camera pan/tilt control method according to claim 1, further comprising: before controlling the camera pan to move to the target camera position,判断所述目标摄像位置、所述光源位置及所述目标位置是否在同一直线上；Determining whether the target imaging position, the light source position, and the target position are on the same line;若不在同一直线上，则进入控制所述摄像云台移动至所述目标摄像位置的步骤； If not on the same line, then enter a step of controlling the camera pan to move to the target imaging position;若在同一直线上，则修改所述预设拍照方式，重新计算新的摄像位置，并控制所述摄像云台移动至所述新的摄像位置。If they are on the same line, modify the preset photographing mode, recalculate the new photographing position, and control the camera pan to move to the new photographing position.
- 如权利要求1至4任一项所述的摄像云台控制方法，其中，当光源为室内照明设备时，根据所述预设拍照方式、光源位置及目标位置，计算摄像云台的目标摄像位置包括：The camera pan/tilt control method according to any one of claims 1 to 4, wherein when the light source is an indoor lighting device, the target imaging position of the camera pan/tilt is calculated according to the preset photographing mode, the light source position, and the target position. include:将穿过所述摄像云台的水平面作为坐标系平面；Using a horizontal plane passing through the camera platform as a coordinate system plane;以所述光源位置在所述坐标系平面上的投影为坐标原点；Projecting the position of the light source on the coordinate system plane as a coordinate origin;以所述坐标原点为中心，所述坐标原点到所述摄像云台的距离为半径，绘制圆形运动轨迹；Centering on the coordinate origin, the distance from the coordinate origin to the camera head is a radius, and a circular motion track is drawn;获取所述目标位置在所述坐标系平面上的投影点；Obtaining a projection point of the target position on a plane of the coordinate system;根据所述投影点及预设拍照方式，在所述圆形运动轨迹确定所述目标摄像位置；所述预设拍照方式包括顺光或者侧光。Determining the target imaging position in the circular motion trajectory according to the projection point and a preset photographing manner; the preset photographing manner includes a smooth light or a side light.
- 如权利要求1至4任一项所述的摄像云台控制方法，其中，当光源为太阳时，根据所述预设拍照方式、光源位置及目标位置，计算摄像云台的目标摄像位置包括：The camera pan/tilt control method according to any one of claims 1 to 4, wherein, when the light source is the sun, calculating the target imaging position of the camera head according to the preset photographing mode, the light source position and the target position comprises:将穿过所述摄像云台的水平面作为坐标系平面；Using a horizontal plane passing through the camera platform as a coordinate system plane;获取所述目标位置在所述坐标系平面上的第一投影点；Obtaining a first projection point of the target position on a plane of the coordinate system;获取所述光源位置在所述坐标系平面上的第二投影点；Obtaining a second projection point of the light source position on the coordinate system plane;获取所述摄像云台的最佳拍摄距离；Obtaining an optimal shooting distance of the camera pan/tilt;根据所述第一投影点、第二投影点及最佳拍摄距离，确定坐标原点；所述坐标原点位于所述第一投影点与第二投影点的连线上、且与所述第一投影点的距离为所述最佳拍摄距离的一半；Determining a coordinate origin according to the first projection point, the second projection point, and an optimal shooting distance; the coordinate origin is located on a line connecting the first projection point and the second projection point, and the first projection The distance of the point is half of the optimal shooting distance;以所述坐标原点为中心，所述最佳拍摄距离的一半为半径，绘制圆形运动轨迹；Centering on the coordinate origin, half of the optimal shooting distance is a radius, and a circular motion trajectory is drawn;根据所述投影点及预设拍照方式，在所述圆形运动轨迹确定所述目标摄像位置；所述预设拍照方式包括顺光或者侧光。Determining the target imaging position in the circular motion trajectory according to the projection point and a preset photographing manner; the preset photographing manner includes a smooth light or a side light.
- 一种摄像云台控制装置，包括： A camera pan/tilt control device includes:获取模块，设置为：获取拍摄对象的目标位置，检测并获取光源位置，调用预设拍照方式；The acquiring module is configured to: obtain a target position of the shooting object, detect and acquire a position of the light source, and call a preset photographing manner;计算模块，设置为：根据所述预设拍照方式、光源位置及目标位置，计算摄像云台的目标摄像位置；a calculation module, configured to: calculate a target imaging position of the camera pan/tilt according to the preset photographing mode, the light source position, and the target position;控制模块，设置为：控制所述摄像云台移动至所述目标摄像位置。The control module is configured to: control the camera pan to move to the target camera position.
- 如权利要求7所述的摄像云台控制装置，其中，所述获取模块设置为：控制所述摄像云台旋转一周，通过预览模式检测一个或多个位置中每个位置的亮度值；比对一个或多个位置中每个位置的亮度值，确定最强亮度值；将最强亮度值对应的位置，作为所述光源位置。The camera pan/tilt control device according to claim 7, wherein the acquisition module is configured to: control the camera pan/tilt to rotate one week, and detect a brightness value of each of the one or more positions through a preview mode; The brightness value of each of the one or more positions determines the strongest brightness value; the position corresponding to the strongest brightness value is taken as the light source position.
- 如权利要求7所述的摄像云台控制装置，所述计算模块还设置为：在所述控制模块控制所述摄像云台移动至所述目标摄像位置之前，判断所述摄像云台是否可以移动到所述目标摄像位置；当所述摄像云台可以移动到所述目标摄像位置时，触发所述控制模块控制所述摄像云台移动至所述目标摄像位置；当所述摄像云台不可以移动到所述目标摄像位置时，重选所述光源位置、或修改所述预设拍照方式、或重选所述光源位置以及修改所述预设拍照方式，重新计算新的摄像位置，并触发所述控制模块控制所述摄像云台移动至所述新的摄像位置。The camera pan/tilt control device according to claim 7, wherein the calculation module is further configured to: determine whether the camera pan/tilt can move before the control module controls the camera pan to move to the target camera position Go to the target imaging position; when the camera pan can move to the target imaging position, trigger the control module to control the camera pan to move to the target imaging position; when the camera pan is not available Moving to the target imaging position, reselecting the light source position, or modifying the preset photographing mode, or reselecting the light source position, and modifying the preset photographing mode, recalculating the new photographing position, and triggering The control module controls the camera pan to move to the new camera position.
- 如权利要求7所述的摄像云台控制装置，所述计算模块还设置为：在所述控制模块控制所述摄像云台移动至所述目标摄像位置之前，判断所述目标摄像位置、所述光源位置及所述目标位置是否在同一直线上；若不在同一直线上，则触发所述控制模块控制所述摄像云台移动至所述目标摄像位置；若在同一直线上，则修改所述预设拍照方式，重新计算新的摄像位置，并触发所述控制模块控制所述摄像云台移动至所述新的摄像位置。The camera pan/tilt control device according to claim 7, wherein the calculation module is further configured to: before the control module controls the camera pan to move to the target camera position, determine the target camera position, the Whether the position of the light source and the target position are on the same line; if not on the same line, triggering the control module to control the camera pan to move to the target imaging position; if on the same line, modifying the pre- The photographing mode is set, the new imaging position is recalculated, and the control module is triggered to control the camera pan to move to the new imaging position.
- 如权利要求7至10任一项所述的摄像云台控制装置，其中，The camera head control device according to any one of claims 7 to 10, wherein当光源为室内照明设备时，所述计算模块是设置为：将穿过所述摄像云台的水平面作为坐标系平面，以所述光源位置在所述坐标系平面上的投影为坐标原点，以所述坐标原点为中心，所述坐标原点到所述摄像云台的距离为半径，绘制圆形运动轨迹，获取所述目标位置在所述坐标系平面上的投影点，根据所述投影点及预设拍照方式，在所述圆形运动轨迹确定所述目标摄像位 置；When the light source is an indoor lighting device, the calculation module is configured to: use a horizontal plane passing through the camera platform as a coordinate system plane, and use a projection of the light source position on the coordinate system plane as a coordinate origin, The coordinate origin is centered, the distance from the coordinate origin to the camera head is a radius, a circular motion trajectory is drawn, and a projection point of the target position on the coordinate system plane is obtained, according to the projection point and Presetting a photographing manner, determining the target camera position in the circular motion trajectory Set当光源为太阳时，所述计算模块是设置为：将穿过所述摄像云台的水平面作为坐标系平面，获取所述目标位置在所述坐标系平面上的第一投影点，获取所述光源位置在所述坐标系平面上的第二投影点，获取所述摄像云台的最佳拍摄距离，根据所述第一投影点、第二投影点及最佳拍摄距离，确定坐标原点，所述坐标原点位于所述第一投影点与第二投影点的连线上、且与所述第一投影点的距离为所述最佳拍摄距离的一半，以所述坐标原点为中心，所述最佳拍摄距离的一半为半径，绘制圆形运动轨迹，根据所述投影点及预设拍照方式，在所述圆形运动轨迹确定所述目标摄像位置；所述预设拍照方式包括顺光或者侧光。When the light source is the sun, the calculation module is configured to: use a horizontal plane passing through the camera platform as a coordinate system plane, acquire a first projection point of the target position on the coordinate system plane, and obtain the a second projection point of the light source position on the coordinate system plane, acquiring an optimal shooting distance of the camera pan/tilt, determining a coordinate origin according to the first projection point, the second projection point, and an optimal shooting distance, The coordinate origin is located on a line connecting the first projection point and the second projection point, and a distance from the first projection point is half of the optimal shooting distance, centered on the coordinate origin, The half of the optimal shooting distance is a radius, and a circular motion trajectory is drawn, and the target imaging position is determined in the circular motion trajectory according to the projection point and a preset photographing manner; the preset photographing manner includes a smooth light or Side light.
- 一种摄像***，包括摄像云台、拍摄终端、以及如权利要求7至11任一项所述的摄像云台控制装置，所述拍摄终端设置在所述摄像云台上，所述摄像云台在所述摄像云台控制装置的控制下，移动到目标摄像位置后，触发所述拍摄终端对拍摄对象进行拍摄。An imaging system comprising a camera pan/tilt, a photographing terminal, and the camera pan/tilt control device according to any one of claims 7 to 11, wherein the photographing terminal is disposed on the camera pan/tilt, the camera pan/tilt Under the control of the camera pan/tilt control device, after moving to the target imaging position, the imaging terminal is triggered to capture the subject.
- 一种计算机可读存储介质，存储有计算机可执行指令，所述计算机可执行指令被执行时实现如权利要求1至6中任一权利要求所述的摄像云台控制方法。 A computer readable storage medium storing computer executable instructions, the computer executable instructions being executed to implement the camera pan/tilt control method according to any one of claims 1 to 6.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610802902.6 | 2016-09-05 | ||
| CN201610802902.6A CN107800948B (en) | 2016-09-05 | 2016-09-05 | Camera shooting cloud deck control method and device and camera shooting system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2018041042A1 true WO2018041042A1 (en) | 2018-03-08 |
Family
ID=61300024
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2017/099108 WO2018041042A1 (en) | 2016-09-05 | 2017-08-25 | Camera mount control method and device, and image capturing system |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107800948B (en) |
| WO (1) | WO2018041042A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111443735A (en) * | 2020-03-25 | 2020-07-24 | 浙江大华技术股份有限公司 | Method, device and system for maintaining posture of vehicle-mounted pan-tilt camera |
| CN113706634A (en) * | 2021-09-23 | 2021-11-26 | 福建汇川物联网技术科技股份有限公司 | Visual calibration method and device, electronic equipment and storage medium |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114554301A (en) | 2018-09-29 | 2022-05-27 | 深圳市大疆创新科技有限公司 | Video processing method, video processing device, shooting system and computer readable storage medium |
| CN112925351B (en) * | 2019-12-06 | 2022-08-02 | 杭州萤石软件有限公司 | Method and device for controlling light source of vision machine |
| CN115225931A (en) * | 2022-07-29 | 2022-10-21 | 深圳盈天下视觉科技有限公司 | Live broadcasting method, device and system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102685207A (en) * | 2012-03-20 | 2012-09-19 | 西安联客信息技术有限公司 | Intelligent photographic method based on cloud service and cloud service equipment |
| CN103268124A (en) * | 2013-04-22 | 2013-08-28 | 天津市亚安科技股份有限公司 | Method for controlling cradle head motion and cradle head |
| WO2015188768A1 (en) * | 2014-06-13 | 2015-12-17 | Byd Company Limited | Device and method for controlling ptz camera to track object |
| CN105258691A (en) * | 2014-07-15 | 2016-01-20 | 中兴通讯股份有限公司 | Automatic shooting parameter acquiring method and automatic shooting parameter acquiring apparatus |
| CN105872371A (en) * | 2016-03-31 | 2016-08-17 | 纳恩博（北京）科技有限公司 | Information processing method and electronic device |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101888537B (en) * | 2010-06-28 | 2014-12-10 | 中兴通讯股份有限公司 | Method for realizing all-around monitoring with single camera and monitoring client |
| WO2015083152A2 (en) * | 2013-12-03 | 2015-06-11 | Yariv Erad | Apparatus and method for photographing a person using a movable remote device |
| CN104853096B (en) * | 2015-04-30 | 2018-03-27 | 广东欧珀移动通信有限公司 | The determination method and terminal of a kind of acquisition parameters based on rotating camera |
| CN104902172A (en) * | 2015-05-19 | 2015-09-09 | 广东欧珀移动通信有限公司 | Determination method of shooting position and shooting terminal |
-
2016
- 2016-09-05 CN CN201610802902.6A patent/CN107800948B/en active Active
-
2017
- 2017-08-25 WO PCT/CN2017/099108 patent/WO2018041042A1/en active Application Filing
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102685207A (en) * | 2012-03-20 | 2012-09-19 | 西安联客信息技术有限公司 | Intelligent photographic method based on cloud service and cloud service equipment |
| CN103268124A (en) * | 2013-04-22 | 2013-08-28 | 天津市亚安科技股份有限公司 | Method for controlling cradle head motion and cradle head |
| WO2015188768A1 (en) * | 2014-06-13 | 2015-12-17 | Byd Company Limited | Device and method for controlling ptz camera to track object |
| CN105258691A (en) * | 2014-07-15 | 2016-01-20 | 中兴通讯股份有限公司 | Automatic shooting parameter acquiring method and automatic shooting parameter acquiring apparatus |
| CN105872371A (en) * | 2016-03-31 | 2016-08-17 | 纳恩博（北京）科技有限公司 | Information processing method and electronic device |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111443735A (en) * | 2020-03-25 | 2020-07-24 | 浙江大华技术股份有限公司 | Method, device and system for maintaining posture of vehicle-mounted pan-tilt camera |
| CN111443735B (en) * | 2020-03-25 | 2023-10-24 | 浙江大华技术股份有限公司 | Method, device and system for maintaining posture of vehicle-mounted pan-tilt camera |
| CN113706634A (en) * | 2021-09-23 | 2021-11-26 | 福建汇川物联网技术科技股份有限公司 | Visual calibration method and device, electronic equipment and storage medium |
| CN113706634B (en) * | 2021-09-23 | 2024-02-23 | 福建汇川物联网技术科技股份有限公司 | Visual calibration method and device, electronic equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107800948B (en) | 2020-10-13 |
| CN107800948A (en) | 2018-03-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2018041042A1 (en) | Camera mount control method and device, and image capturing system | |
| US20230224592A1 (en) | Image processing device and associated methodology for generating panoramic images | |
| US8379138B2 (en) | Imaging apparatus, imaging apparatus control method, and computer program | |
| US9270893B2 (en) | Monitoring method and camera | |
| US20130258089A1 (en) | Eye Gaze Based Image Capture | |
| EP2975837A1 (en) | Camera shooting method and device | |
| EP2840445A1 (en) | Photograph shooting method and electronic device | |
| CN107509066B (en) | Method for adjusting projected image and projector | |
| CN106603912B (en) | Video live broadcast control method and device | |
| KR20160093759A (en) | Multiple camera control apparatus and method for maintaining the position and size of the object in continuous service switching point | |
| US8434879B2 (en) | Control device and projection-type video-image display device | |
| JP6532958B2 (en) | Smart airplane device photographing method, smart airplane device, program and recording medium | |
| WO2019104569A1 (en) | Focusing method and device, and readable storage medium | |
| CN104580901A (en) | Shooting parameter determining method and terminal | |
| KR20180016534A (en) | Method and system for assisting a user in capturing an image or video | |
| WO2016062083A1 (en) | Focusing method, device and terminal | |
| TW202011218A (en) | System and method for controlling image capturing apparatus | |
| WO2020052440A1 (en) | Device control method and apparatus for photographing | |
| JP2015139029A (en) | Imaging apparatus | |
| JP2004297675A (en) | Moving photographic apparatus | |
| CN103927728B (en) | A kind for the treatment of method and apparatus of image | |
| US8964108B2 (en) | Photographing and electronic apparatus using same based on light blocking analysis | |
| US9854150B2 (en) | Auto-focus control in a camera to prevent oscillation | |
| JP2019129474A (en) | Image shooting device | |
| JP2016085248A (en) | Exposure computation device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 17845344 Country of ref document: EP Kind code of ref document: A1 |
|
| NENP | Non-entry into the national phase |
Ref country code: DE |
|
| 122 | Ep: pct application non-entry in european phase |
Ref document number: 17845344 Country of ref document: EP Kind code of ref document: A1 |