WO2021051304A1 - 快门速度调节、安全快门标定方法、便携式设备及无人机 - Google Patents

快门速度调节、安全快门标定方法、便携式设备及无人机 Download PDF

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Publication number
WO2021051304A1
WO2021051304A1 PCT/CN2019/106407 CN2019106407W WO2021051304A1 WO 2021051304 A1 WO2021051304 A1 WO 2021051304A1 CN 2019106407 W CN2019106407 W CN 2019106407W WO 2021051304 A1 WO2021051304 A1 WO 2021051304A1
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Prior art keywords
shutter
speed
shooting
subject
target
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PCT/CN2019/106407
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English (en)
French (fr)
Inventor
王浩伟
赖雅君
Original Assignee
深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2019/106407 priority Critical patent/WO2021051304A1/zh
Priority to CN201980032879.9A priority patent/CN112189334A/zh
Publication of WO2021051304A1 publication Critical patent/WO2021051304A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/70—Circuitry for compensating brightness variation in the scene
    • H04N23/73—Circuitry for compensating brightness variation in the scene by influencing the exposure time
    • 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
    • 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

Definitions

  • This application relates to the field of photographing technology, and in particular to a shutter speed adjustment method, a safety shutter calibration method, a portable device and a drone.
  • existing cameras will set a safety shutter as a reference value to provide users with a minimum shutter speed that will not blur the photos taken under normal circumstances.
  • the safety shutter of the current camera is determined by the reciprocal of the focal length of the lens.
  • the safety shutter that is fixed and set by the traditional determination method, when shooting fast moving objects, there will be blur and smear phenomenon, which will affect the clarity of the photo.
  • one of the objectives of the present invention is to provide a shutter speed adjustment method, a safe shutter calibration method, a portable device and an unmanned aerial vehicle.
  • a shutter speed adjustment method includes: detecting the movement speed of the target object relative to the shooting device; and determining the A safety shutter corresponding to the movement speed of the target object relative to the shooting device; the shutter speed is adjusted based on the safety shutter.
  • a safety shutter calibration method which includes: detecting the uniform motion speed of the target object relative to the shooting device; traversing all available shutter speeds, and using each shutter speed to shoot the Target subject; determine the minimum shutter speed at which the captured target subject can be clearly imaged; calibrate the minimum shutter speed as a safety shutter corresponding to the movement speed.
  • a portable device including a processor and a memory for storing executable instructions of the processor, wherein the processor is configured to execute the shutter speed described in the above embodiments Steps of the adjustment method.
  • an unmanned aerial vehicle including: a pan/tilt for carrying photographing equipment; a processor and a memory for storing executable instructions of the processor, wherein the processor is configured To perform the steps of the shutter speed adjustment method described in the foregoing embodiment; and to send the shutter speed to a photographing device, so that the photographing device photographs the target subject according to the shutter speed.
  • a computer-readable storage medium having a computer program stored thereon, and when the program is executed by a processor, the steps of the shutter speed adjustment method described in the above embodiments are implemented.
  • This application obtains the movement speed of the target object relative to the shooting device, and determines the safety shutter corresponding to the movement speed according to the pre-calibrated mapping relationship between the movement speed and the safety shutter.
  • This safety shutter is used as a reference value and is based on this The safety shutter adjusts the shutter speed, so that the image obtained by shooting the target subject with the shutter speed is a high-definition, non-smearing image.
  • the safety shutter as a reference value is determined according to the movement speed of the target object relative to the shooting device.
  • There are corresponding safety shutters for different movement speeds which makes the safety shutter more reference value and can shoot images without blur or smear. Effectively improve the clarity of photos.
  • Fig. 1 is a flow chart showing a method for adjusting shutter speed according to an exemplary embodiment.
  • Fig. 2 is a flowchart of another shutter speed adjustment method according to an exemplary embodiment.
  • Fig. 3 is a flowchart of another shutter speed adjustment method according to an exemplary embodiment.
  • Fig. 4 is a flowchart of another shutter speed adjustment method according to an exemplary embodiment.
  • Fig. 5 is a flowchart of another shutter speed adjustment method according to an exemplary embodiment.
  • Fig. 6 is a flowchart of a method for calibrating a safety shutter according to an exemplary embodiment.
  • Fig. 7 is a structural block diagram of a portable device applicable to a shutter speed adjustment method according to an exemplary embodiment.
  • Fig. 8 is a structural block diagram of an unmanned aerial vehicle suitable for a shutter speed adjustment method according to an exemplary embodiment.
  • first, second, third, etc. may be used in this application to describe various information, the information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other.
  • first information may also be referred to as second information, and similarly, the second information may also be referred to as first information.
  • word “if” as used herein can be interpreted as "when” or “when” or "in response to determination”.
  • the shutter speed adjustment method of this application can be applied to cameras, such as card cameras, digital cameras, SLR cameras, sports cameras, pan-tilt cameras, etc.; it can also be applied to devices with shooting functions, such as cameras, smart phones, and tablet computers. It can also be applied to devices with the function of setting shooting parameters, such as handheld PTZ, drones, etc.
  • Fig. 1 is a flowchart of a shutter speed adjustment method according to an exemplary embodiment of the application.
  • the shutter speed adjustment method includes steps 101 to 103:
  • Step 101 Detect the moving speed of the target object relative to the camera.
  • the target object refers to the object mainly captured by the camera, and the target object is at least partly included in the field of view of the camera, so that the image formed by the camera after shooting includes at least part of the image of the target object.
  • the shooting field of view is a rectangular frame
  • the target subject is at least partially contained in this rectangular frame
  • another example, if the shooting field of view is a square frame the target subject is at least partly contained in this square frame
  • the shooting field of view is a circular frame
  • the target subject is at least partially contained in this circular frame.
  • the detection of the movement speed may be a module of the camera itself, or an independent module or device, and establish a communication connection with the camera in a wired or wireless manner.
  • the movement speed is determined based on the number of pixels moving within the shooting field of view of the target object in a unit time.
  • the photographing device may be a camera, for example, a card camera, a digital camera, a SLR camera, a sports camera, a pan-tilt camera, etc., or a device with a photographing function, such as a camera, Smartphones, tablets, etc.
  • the method of acquiring the movement speed of the target object relative to the shooting device may include, but is not limited to: background difference method, frame Inter-differential method, optical flow method and/or mixture Gaussian model background method, etc. Any one of the above methods can be used for detection, or any combination of more than one of the above methods can be used for detection.
  • the manner of obtaining the movement speed of the target object relative to the shooting device includes: block matching method and/or optical flow estimation law.
  • the target subject can be determined by focusing, that is, the focus is on the target subject.
  • the focus is on the target subject.
  • objects other than the target subject are determined to be the background.
  • Step 102 Determine the safety shutter corresponding to the movement speed of the target object relative to the shooting device according to the mapping relationship between the pre-calibrated movement speed and the safety shutter.
  • the safety shutter corresponding to the currently detected movement speed of the target object is determined based on the detected movement speed of the target object relative to the imaging device, and the mapping relationship between the movement speed and the safety shutter that has been calibrated in advance.
  • the safety shutter also known as the safety shutter speed
  • the safety shutter speed is a reference value, which is the lowest shutter speed at which the photographed picture is not blurred, and the shutter speed used in actual shooting can be adjusted according to this reference value.
  • the corresponding safety shutters are the first safety shutter and the second safety shutter, respectively , wherein the first movement speed is greater than the second movement speed, and the first safety shutter is greater than the second safety shutter. That is to say, in the mapping relationship between the movement speed and the safety shutter, different movement speeds correspond to different safety shutters.
  • the movement speed of the target subject There is a positive correlation between the movement speed of the target subject and the safety shutter. Exemplarily, the greater the moving speed of the target object, the greater the corresponding safe shutter speed; the lower the moving speed of the target object, the smaller the corresponding safe shutter speed.
  • a range of motion speed may correspond to a safety shutter.
  • shutter speed is used as a term to express exposure time, that is, the effective length of time the shutter of the camera is activated, usually in seconds (s) to indicate the length of exposure time, for example, 30s , 8s, 1s, 1/2s, 1/15s, 1/30s, 1/50s, 1/125s, etc. It can be seen that the lower the numerical order of the shutter speeds listed above, the faster the indicated shutter speeds. It should be understood that this way of representation is not inconsistent with the way of representation in the foregoing embodiment.
  • the mapping relationship may be stored locally or in the server in a collective manner, for example, stored in the local or server in the manner of a list, by viewing the mapping between the movement speed and the safety shutter The safety shutter corresponding to the movement speed can be found in the list.
  • the mapping relationship between the movement speed and the safety shutter is stored locally, after the movement speed is acquired, the mapping relationship in the memory is retrieved to find the safety shutter corresponding to the movement speed, so as to determine the reference value of the safety shutter; when the movement speed
  • the mapping relationship with the safety shutter is stored in the server, after obtaining the movement speed, the movement speed is sent to the server, and the server receives the movement speed, searches for the safety shutter corresponding to the transportation speed, and returns the corresponding safety shutter.
  • the mapping relationship between the movement speed and the safety shutter includes: the safety shutter with a movement speed of zero is the reciprocal of the focal length.
  • the safety shutter corresponding to zero movement speed is determined by the reciprocal of the focal length. That is to say, when it is detected that the target object is still relative to the shooting device, it is determined that the corresponding safety shutter is the reciprocal of the current lens focal length.
  • Step 103 Adjust the shutter speed based on the safety shutter.
  • this step after obtaining the safety shutter corresponding to the movement speed of the target subject, based on the reference value of the safety shutter, adjust the shutter speed used to actually shoot the target subject to make the image of the target subject in the captured picture clear of. It should be understood that the adjusted shutter speed will not be less than the safety shutter, that is, the adjusted shutter speed will not be slower than the safety shutter, so that the image presented by the target subject will be clearer.
  • the currently detected movement speed can be updated in real time, and the corresponding safety shutter can be determined according to the currently detected movement speed, so as to adjust the shutter speed based on the safety shutter.
  • the whole process can be It is completed at a speed of microseconds to improve the clarity of the target image.
  • steps 101 to 103 can be performed by a camera or a device with a shooting function.
  • Steps 101 to 103 can be performed by a device with the function of setting shooting parameters.
  • the device with the function of setting shooting parameters sends the shutter speed adjusted in step 103 to the shooting device, and the shooting device shoots the target subject according to the received shutter speed ; It can also be that steps 101 to 102 are executed by a device with the function of setting shooting parameters, and the device with the function of setting shooting parameters sends the safety shutter determined in step 102 to the shooting device, and the shooting device adjusts the shutter speed according to the received safety shutter , And shoot the target subject according to the adjusted shutter speed.
  • it may be an exposure control module sent to the photographing device.
  • the above-mentioned method provided by the embodiments of the present application obtains the movement speed of the target object relative to the shooting device, and determines the safety shutter corresponding to the movement speed according to the pre-calibrated mapping relationship between the movement speed and the safety shutter.
  • the shutter speed is adjusted based on the safety shutter, so that the image obtained by shooting the target subject with the shutter speed is an unblurred and unsmearing image.
  • the safety shutter as a reference value is determined according to the movement speed of the target object relative to the shooting device.
  • the safety shutter is more secure. It has reference value and can shoot images without blur or smear, effectively improving the sharpness of photos.
  • the shooting mode includes a distant view mode and a non-distance view mode.
  • the shooting distance of the distant view mode is greater than that of the non-distance view mode.
  • the remote view mode focuses on shooting landscape objects, and the non-distance view mode focuses on Shoot non-landscape objects.
  • the non-telephoto mode may be subdivided to include, but is not limited to: close-up mode, close-range mode, medium-range mode, and panoramic mode. The shooting distances of close-up mode, close-range mode, medium-range mode, and panoramic mode are sequentially increased.
  • the field of view in the long-range mode is the person and the wide space environment around it, which is equivalent to viewing the scene and the person from a longer distance.
  • the person is small, and the background is dominant, focusing on shooting Natural scenery, large scenes of mass activities and other scenes; the field of view shot in non-distant mode such as close-up mode, close-up mode, mid-range mode, and panoramic mode dominates the field of view.
  • Close-up shots are the portraits of the characters above the shoulders, close-up shots The shot above the chest of the person, the middle shot is the shot above the knee of the person, and the panorama shot is the whole body of the person.
  • the photographing device has two shooting modes: a distant view mode and a non-distant view mode.
  • the distant view mode is used for shooting
  • the target subject is a landscape subject
  • the non-distance view mode is used for shooting
  • the target subject is a non-landscape subject.
  • the landscape photographs are objects of natural and cultural landscapes, such as the sky, clouds, mountains, forests, flowers, rivers, lakes, and seas, and other natural landscapes, such as buildings.
  • Gardens, event scenes and other cultural landscapes are mainly scenes with wide viewing angles;
  • the non-landscape photographs are objects other than natural landscapes and cultural landscapes, such as people, animals, cars, etc. It should be noted that this application’s Landscape and non-landscape photographs include but are not limited to the examples listed above.
  • FIG. 2 is a flowchart of another shutter speed adjustment method according to an exemplary embodiment of this application. Based on the foregoing embodiment, this embodiment uses how to determine the target object as an example for an exemplary description. As shown in Figure 2, it includes steps 201 to 205:
  • Step 201 When multiple objects are included in the shooting field of view, obtain preset weights of all or part of the objects.
  • the shooting field of the shooting device contains multiple subjects.
  • the preset weight of all or part of the subject in the shooting field of view that is, the target subject can be determined by the preset weight of the subject.
  • the preset weights of all objects in the shooting field of view can be directly obtained, and the preset weights are used in all objects.
  • the subject may be screened first.
  • the subject is filtered according to the category of the subject, and the preset weights of the selected part of the subject are obtained.
  • the target object is determined according to the size of the preset weight.
  • the category of the subject can be determined according to the shooting mode.
  • the value of the preset weight is set according to the categories of different photographic objects.
  • the categories of photographic objects in this embodiment may be broadly classified, for example, classified into landscape photographic objects. , Non-landscape photographs; it can also be a small classification according to the nature or characteristics of the photographs themselves, such as people, animals, vehicles, plants, etc.; it can even be subdivided into animals, vehicles, or plants.
  • the categories of all or part of the photographs may be obtained first.
  • the image can be automatically segmented and the content in the field of view can be identified through the image semantic segmentation technology, and the category of each object can be obtained, and each image can also be obtained through other image recognition technologies.
  • the category of the subject For example, in the shooting field of view, it is recognized that the first subject is a person, the second subject is a dog, the third subject is a tree, the fourth subject is a car, the fifth subject is the sky, and the sixth subject is a grass. Then get the preset weights of people, dogs, trees, cars, sky, and grass respectively.
  • the preset weight can be set using scores (such as 0, 0.1, 0.38, 0.8, 0.95, etc.) or percentages (such as 10%, 40%, 70%, 88%, etc.).
  • scores such as 0, 0.1, 0.38, 0.8, 0.95, etc.
  • percentages such as 10%, 40%, 70%, 88%, etc.
  • the default weight for people is 0.8
  • the default weight for dogs is 0.7
  • the default weight for trees is 0.55
  • the default weight for cars is 0.66
  • the default weight for sky is 0.5
  • the default weight for grass is 0.55. Is 0.2.
  • the size of the preset weight of the same object may be different.
  • Shooting modes include a distant view mode and a non-distance view mode.
  • the distant view mode focuses on shooting landscape objects
  • the non-distance view mode focuses on shooting non-landscape objects. That is to say, in the distant view mode, the preset weight of landscape subjects is greater than that of non-landscape subjects; in the non-distance view mode, the preset weight of non-landscape subjects is greater than that of landscape subjects.
  • Set weights are to say, in the distant view mode, the preset weight of landscape subjects is greater than that of non-landscape subjects; in the non-distance view mode, the preset weight of non-landscape subjects is greater than that of landscape subjects.
  • the adopted photographing mode may be determined first before acquiring the preset weight of the photographic object or acquiring the category of the photographic object. In this way, the accuracy of the preset weights of the acquired photographs can be improved.
  • the category of each object is obtained through image semantic segmentation technology or other image recognition technology, and the objects in the shooting field of view are classified into landscape objects And non-landscape subjects, according to the determined shooting mode, obtain the preset weights of landscape subjects or non-landscape subjects, so as to determine the target subject. If it is determined that the distant view mode is adopted, then the preset weights of the landscape subject can be obtained, and then the target subject can be determined from the landscape subject; if it is determined that the non-distant view mode is adopted, the pre-set weight of the non-landscape subject can be obtained. Just set the weight, and then determine the target subject from the non-landscape subject. In this way, there is no need to obtain the preset weights of all subjects in the shooting field of view, which can effectively improve the processing efficiency of determining the target subject.
  • Step 202 Determine the target object based on a preset weight.
  • the photographic objects are sorted according to the numerical value of the preset weight from large to small or small to large, and the The subject corresponding to the largest value of the preset weight in the sorting is determined as the target subject.
  • people, dogs, trees, cars, sky, and grass are sorted in descending order of the preset weights as follows: people>dogs>cars>trees>sky>grass.
  • the person is determined as the target object; as in the above-mentioned six object examples, if the shooting mode is determined to be the non-distant view mode, the preset weights of the person, dog, and car are obtained, and the preset weights are obtained according to the preset The numerical value of the weight is sorted in the order of: person>dog>car, then the person is determined as the target object.
  • the target subject is determined based on the distance between the position of the subject and the preset position in the shooting field of view, wherein,
  • the target preset weight is a weight used to determine the target photograph among the acquired preset weights.
  • the target preset weight refers to the preset weight of the target object determined according to the preset weight of the object.
  • the target preset weight may be the largest or smallest preset weight among the obtained preset weights, or may be a preset weight of a specified size.
  • the target subject determined according to the preset weight of the subject, that is, there are more than one subject with the same preset weight, and they belong to the same category.
  • the objects corresponding to the preset weights of the target can be further screened to determine one object as the target object, that is, the object corresponding to the current preset weight of the target is not yet the target object.
  • the position of each subject with the largest preset weight value within the shooting field of view can be detected , And respectively calculate the distance between the position of each subject with the largest preset weight value and a position within the preset shooting field of view, and determine the target subject through the distance.
  • the object with the smallest distance may be determined as the target object.
  • the preset position in the shooting field of view may be a position determined based on an experience summary of the shooting composition.
  • the preset position in the shooting field of view may be a center position in the shooting field of view.
  • the preset position in the shooting field of view may be a position of one-third of the shooting field of view.
  • selecting a subject close to the shooting composition position as the target subject can not only obtain a high-definition, non-smearing image, but also make the captured picture have a harmonious layout and improve the beauty of the picture.
  • the position information of the two people is detected, and the positions of the two people and the shooting field of view are calculated respectively. The distance between the center positions, the person with the smallest distance is taken as the target object.
  • the position information in the shooting field of view is expressed in the form of pixel coordinates.
  • the position of the shooting object is (x 1 , y 1 )
  • the preset position in the shooting field of view is (x 2 , y 2 )
  • the distance between the two positions is
  • the coordinates of the central pixel of the photographed object are determined as the position of the photographed object.
  • image semantic segmentation technology or other image recognition technology the image outline of the object can be obtained, and the center pixel and its coordinates are determined within the image outline, and then the position coordinates of the object can be determined.
  • the target subject is determined based on the movement speed of the subject relative to the shooting device, wherein the target preset weight is The obtained preset weight is used to determine the weight of the target object.
  • the target preset weight is The obtained preset weight.
  • each subject with the largest preset weight value is detected, and each subject is obtained separately.
  • the movement speed of the object with the largest preset weight value relative to the camera is determined by the movement speed.
  • the subject with the highest moving speed is determined as the target subject.
  • the corresponding safety shutter is determined according to the speed of the target subject with the highest moving speed, and the shutter speed adjusted by the safety shutter is used to shoot objects in the entire field of view. Not only the image of the target subject is clear, but also Make sure that other subjects with the highest preset weight values are also clear.
  • Step 203 Detect the moving speed of the target object relative to the camera.
  • the target photograph may be determined according to the detected moving speed when the target photograph is determined. Determine the corresponding safety shutter.
  • Step 204 Determine a safety shutter corresponding to the movement speed of the target object relative to the shooting device according to the mapping relationship between the pre-calibrated movement speed and the safety shutter.
  • Step 205 Adjust the shutter speed based on the safety shutter.
  • Steps 203 to 205 are the same as the related technologies in the above steps 101 to 103, and will not be repeated here.
  • the target subject is determined by preset weights, and then the movement speed of the target subject relative to the shooting device is obtained, and the movement speed of the target subject relative to the shooting device is obtained according to
  • the mapping relationship between the pre-calibrated movement speed and the safety shutter is used to determine the safety shutter corresponding to the movement speed.
  • the safety shutter is used as a reference value and the shutter speed is adjusted based on the safety shutter, so that the shutter speed is used to shoot the target.
  • the image obtained by the object is a non-blurred, non-smearing image. In this way, the safety shutter as a reference value is determined according to the movement speed of the target object relative to the shooting device.
  • the safety shutter for different movement speeds. Compared with the traditional method of determining the safety shutter by the reciprocal of the focal length, the safety shutter is more secure. It has reference value and can shoot images without blur or smear, effectively improving the clarity of the photo; automatically determine the target subject through preset weights, which can quickly determine the subject of the shot, without the user's manual selection, and improve the convenience of operation.
  • FIG. 3 shows a flowchart of another shutter speed adjustment method according to an exemplary embodiment of this application.
  • This embodiment takes as an example how to determine the target object based on the exemplary embodiment shown in FIG. 1 Make another exemplary description, as shown in FIG. 3, including steps 301 to 305:
  • Step 301 When multiple objects are included in the shooting field of view, obtain the positions of all or part of the objects in the shooting field of view.
  • the position of all or part of the subject in the shooting field of view can be obtained, that is, through the The position within the shooting field of view is used to determine the target subject.
  • the positions of all objects in the shooting field of view can be directly obtained, and the positions of all objects in the shooting field are determined according to the position of the objects and the The distance of the preset position in the shooting field of view is used to determine the target subject.
  • the photographed objects may be screened first.
  • the screening is performed according to the category of the photographed objects, and the positions of the selected photographic objects are obtained.
  • the target object is determined according to the distance between the position of the object and the preset position in the shooting field of view.
  • the category of the subject can be determined according to the shooting mode.
  • Step 302 Determine a target photographic object based on the distance between the position of the photographic object and a preset position in the photographing field of view.
  • the distance between the position of all or part of the subject and a preset position in the field of view is calculated, and the target shooting is determined by the distance. Things.
  • the object with the smallest distance may be determined as the target object.
  • the preset position in the shooting field of view may be a position determined based on a shooting composition summarized by experience. In this way, selecting a subject close to the shooting composition position as the target subject can not only obtain a high-definition, non-smearing image, but also make the captured picture have a harmonious layout and improve the beauty of the picture.
  • the preset position in the shooting field of view is a center position in the shooting field of view. That is, the target object is determined by calculating the distance between all or part of the object and the center position in the shooting field of view.
  • the center of the field of view is the intersection of the diagonal lines of the field of view; for example, when the field of view is a circle, the center of the field of view is Is the center of the shooting field of view.
  • the photographed object closest to the center position in the photographing field of view is determined as the target photographed object.
  • the object with the smallest distance is selected as the target object.
  • the position of the target object is closest to the center of the shooting field of view, and the vision of the picture is focused on the position close to the center, and due to the improved clarity, the target object is more prominent as the subject and attracts the audience's sight more.
  • the preset position in the shooting field of view is the golden ratio division point in the shooting field of view.
  • the target object is determined by calculating the distance between each object and the dividing point of the golden ratio.
  • the object closest to the golden ratio division point in the shooting field of view is determined as the target object. In this way, the position of the target subject is closest to the golden ratio dividing point of the shooting field of view, making the picture more aesthetic and harmonious.
  • the position information in the shooting field of view is expressed in the form of pixel coordinates.
  • the position of the shooting object is (x 1 , y 1 )
  • the preset position in the shooting field of view is (x 2 , y 2 )
  • the coordinates of the central pixel of the photographed object are determined as the position of the photographed object. For example, through image semantic segmentation technology or other image recognition technology, the image outline of the object can be obtained, and the center pixel and its coordinates are determined within the image outline, and then the position coordinates of the object can be determined.
  • Step 303 Detect the moving speed of the target object relative to the camera.
  • Step 304 Determine a safety shutter corresponding to the movement speed of the target object relative to the shooting device according to the mapping relationship between the pre-calibrated movement speed and the safety shutter.
  • Step 305 Adjust the shutter speed based on the safety shutter.
  • Steps 303 to 305 are the same as the related technologies in the above steps 101 to 103, and will not be repeated here.
  • the currently adopted photographing mode may be determined first, and the acquisition may be obtained through image semantic segmentation technology or other image recognition technology.
  • the subjects in the shooting field of view are divided into landscape subjects and non-landscape subjects.
  • the determined shooting mode obtain the photos of each landscape subject or non-landscape subject in the shooting field of view. Location to determine the target subject.
  • the position of each landscape subject within the shooting field of view can be obtained, and then the target subject can be determined according to the position within the shooting field of view from the landscape subject; if it is determined that the non-distant view is used Mode, it is sufficient to obtain the position of each non-landscape subject within the shooting field of view, and then determine the target subject from the non-landscape subject according to the position within the shooting field of view.
  • the target object when there are multiple objects in the field of view, the target object is determined according to the distance between the position of the object and the preset position in the field of view, and then acquired The moving speed of the target object relative to the camera, and according to the pre-calibrated mapping relationship between the moving speed and the safety shutter, the safety shutter corresponding to the moving speed is determined, and the safety shutter is used as a reference value and adjusted based on the safety shutter
  • the shutter speed is such that the image obtained by shooting the target subject at the shutter speed is an unblurred or smear-free image.
  • the safety shutter as a reference value is determined according to the movement speed of the target object relative to the shooting device. There are corresponding safety shutters for different movement speeds.
  • the safety shutter is more secure. It has reference value and can shoot images without blur or smear, effectively improving the clarity of the photo; determining the target subject based on the location of the subject, not only can quickly determine the subject of the shot, without the user's manual selection, and improve the convenience of operation ; It can also make the captured pictures have a harmonious layout and improve the beauty of the pictures.
  • FIG. 4 is a flowchart of another shutter speed adjustment method according to an exemplary embodiment of this application. This embodiment is based on the exemplary embodiment shown in FIG. 1 and takes how to determine the target object as an example For another exemplary description, as shown in FIG. 4, it includes steps 401 to 405:
  • Step 401 When multiple objects are included in the shooting field of view, obtain the moving speed of all or part of the objects relative to the shooting device.
  • the movement speed of all or part of the subject in the shooting field of view relative to the shooting device is acquired, that is, The target object can be determined by the speed of the object relative to the camera.
  • the speed of movement of all objects in the shooting field relative to the shooting device can be directly obtained, and the speed of all objects in the shooting field is determined according to the speed of the objects. The speed of movement is used to determine the target subject.
  • the subject can be screened first.
  • the screening is performed according to the category of the subject to obtain the moving speed of the selected subject relative to the shooting device.
  • the target object is determined according to the speed of the object.
  • the category of the subject can be determined according to the shooting mode.
  • Step 402 Determine the target photograph based on the movement speed.
  • the target object is determined according to the magnitude of the movement speed of all or part of the object.
  • sorting according to the numerical value of the movement speed from large to small or from small to large in the sorting Specify the subject corresponding to the movement speed to determine the target subject.
  • the subject with the highest moving speed is determined as the target subject.
  • the corresponding safety shutter is determined according to the speed of the target subject with the highest moving speed, and the shutter speed adjusted by the safety shutter is used to shoot objects in the entire field of view. Not only the image of the target subject is clear, but also Make sure that other subjects are also clear.
  • Step 403 Detect the moving speed of the target object relative to the camera.
  • step 403 since the moving speed of the target object relative to the shooting device has been detected in step 401, step 403 may not be required.
  • Step 404 Determine a safety shutter corresponding to the movement speed of the target object relative to the shooting device according to the mapping relationship between the pre-calibrated movement speed and the safety shutter.
  • Step 405 Adjust the shutter speed based on the safety shutter.
  • Steps 403 to 405 are the same as the above steps 101 to 103, and will not be repeated here.
  • the currently adopted photographing mode may be determined first, and each photograph may be acquired through image semantic segmentation technology or other image recognition technology.
  • the category of the subject the subjects in the shooting field of view are divided into landscape subjects and non-landscape subjects.
  • the determined shooting mode the movement speed of each landscape subject or non-landscape subject relative to the shooting device is obtained. In order to determine the target subject.
  • the movement speed of each landscape subject relative to the shooting device can be obtained, and then the target subject can be determined according to the movement speed from the landscape-type subject; if it is determined that the non-vision mode is used, then obtain The movement speed of each non-landscape subject relative to the shooting device is sufficient, and then the target subject is determined from the non-landscape subject according to the movement speed.
  • the target subject is determined according to the movement speed of the subject relative to the shooting device, and the target subject is determined according to the pre-calibrated movement speed and
  • the mapping relationship of the safety shutter is used to determine the safety shutter corresponding to the movement speed.
  • This safety shutter is used as a reference value, and the shutter speed is adjusted based on the safety shutter, so that the image obtained by shooting the target subject with the shutter speed is not blurred Image that does not smear.
  • the safety shutter as a reference value is determined according to the movement speed of the target object relative to the shooting device. There are corresponding safety shutters for different movement speeds.
  • the safety shutter is more secure. It has reference value and can shoot images without blur or smear, effectively improving the clarity of the photo; determining the target subject based on the motion speed of the subject, not only can quickly determine the subject of the shot, without the user’s manual selection, which improves the convenience of operation Sex; it can also make shooting objects in the entire field of view, not only the image of the target object is clear, but also to ensure that other objects are also clear.
  • FIG. 5 is a flowchart of another shutter speed adjustment method shown in an exemplary embodiment of this application.
  • This embodiment uses the above-mentioned method provided by the exemplary embodiment shown in FIG. 1 to further improve the shooting effect and
  • the picture quality is taken as an example for an illustrative description, as shown in Fig. 5, including steps 501 to 504:
  • Step 501 Detect the moving speed of the target object relative to the camera.
  • Step 502 Determine a safety shutter corresponding to the movement speed of the target object relative to the shooting device according to the mapping relationship between the pre-calibrated movement speed and the safety shutter.
  • Step 503 Adjust the shutter speed based on the safety shutter.
  • Steps 501 to 503 are the same as the above steps 101 to 103, and will not be repeated here.
  • Step 504 Adjust the sensitivity based on the safety shutter.
  • the sensitivity of the shooting target object is also adjusted according to the determined safety shutter.
  • Sensitivity also known as ISO value, is used to indicate the sensitivity of the photosensitive element of the camera.
  • a v represents the aperture size, and its value increases by one unit, which means that the light input is reduced by half; T v represents the shutter speed, and its value increases by one unit, which means that the light input is reduced by half; S v represents the camera sensitivity, and its value is every Adding a unit means that the camera's sensitivity to the same amount of light has doubled, and the image is doubled in brightness; B v means the average brightness of ambient light, and each unit of increase in its value means that the average brightness of ambient light increases by one. Times; E v represents the current exposure value, when the E v value is the same, it means that it has the same exposure effect.
  • the sensitivity will be increased. Or the average brightness of ambient light.
  • the aperture or shutter speed increases, the amount of light will decrease, that is, the brightness of the captured picture will become lower. Therefore, in order to maintain the brightness of the picture, that is, to keep the exposure consistent, the sensitivity will be increased. Or the average brightness of ambient light.
  • the sensitivity will be reduced or The average brightness of the ambient light.
  • the average brightness of ambient light is fixed, so the exposure requirements are mainly met by adjusting the aperture, shutter speed, and sensitivity.
  • the corresponding sensitivity is adjusted to the first sensitivity and the second sensitivity respectively.
  • the first movement speed is greater than the second movement speed
  • the first sensitivity is greater than the second sensitivity.
  • the corresponding safe shutter speed is higher; the lower the moving speed of the target object is, the corresponding safe shutter speed is smaller.
  • step 503 and step 504 may be executed sequentially or simultaneously.
  • the above method is applied to cameras or devices with shooting functions (such as card cameras, digital cameras, SLR cameras, sports cameras, pan-tilt cameras, cameras, smart phones, tablet computers, etc.)
  • steps 501 to 504 can be performed by a camera or a device with a shooting function.
  • steps 501 to 504 are executed by a device with the function of setting shooting parameters.
  • the device with the function of setting shooting parameters sends the shutter speed and sensitivity adjusted in steps 503 and 504 to the shooting device, and the shooting device according to the received shutter speed and Sensitivity to shoot the target subject; it can also be that steps 501 to 502 are executed by the device with the function of setting shooting parameters.
  • the device with the function of setting shooting parameters sends the safety shutter determined in step 502 to the shooting device, and the shooting device receives To adjust the shutter speed and sensitivity of the safety shutter, and shoot the target subject according to the adjusted shutter speed and sensitivity.
  • it may be an exposure control module sent to the photographing device.
  • the above-mentioned method provided by the exemplary embodiment shown in FIG. 5 obtains the movement speed of the target object relative to the photographing device, and determines the safety shutter corresponding to the movement speed according to the mapping relationship between the movement speed and the safety shutter that has been calibrated in advance, This safety shutter is used as a reference value, and the shutter speed is adjusted based on the safety shutter, so that the image obtained by shooting the target subject with the shutter speed is an unblurred and unsmearing image. In this way, the safety shutter as a reference value is determined according to the movement speed of the target object relative to the shooting device. There are corresponding safety shutters for different movement speeds. Compared with the traditional method of determining the safety shutter by the reciprocal of the focal length, the safety shutter is more secure.
  • the sensitivity is also adjusted based on the determined safety shutter, so that the image obtained by using the combination of the shutter speed and the sensitivity to shoot the target subject is neither blurred nor smeared, and the brightness of the image is maintained. Thereby improving the shooting effect and picture quality.
  • the present application also provides a safety shutter calibration method, which is used to calibrate the mapping relationship between the movement speed and the safety shutter.
  • the safety shutter calibration method can be applied to computer equipment.
  • the computer equipment may include a shooting device, which collects images by a built-in shooting device, or it may be an external shooting device, and the external shooting device sends the collected images to the computer equipment.
  • Fig. 6 is a flowchart of a method for calibrating a safety shutter according to an exemplary embodiment of the application. The method includes steps 601 to 604:
  • Step 601 Detect the moving speed of the target object with respect to the uniform movement of the photographing device.
  • the movement speed of the target object relative to the shooting device is detected and recorded, and the target object moving at a constant speed relative to the shooting device is used for detection.
  • the safety shutter corresponding to the movement speed can avoid the influence of the movement speed variable on the calibration.
  • the movement speed is determined based on the number of pixels moving within the shooting field of view of the target object in a unit time.
  • the methods for obtaining the movement speed of the target object relative to the shooting device include: background difference method, inter-frame difference method, Optical flow method and/or mixture Gaussian model background method. Any one of the above methods can be used for detection, or any combination of more than one of the above methods can be used for detection.
  • the manner of obtaining the movement speed of the target object relative to the shooting device includes: block matching method and/or optical flow estimation law.
  • a relatively static background and/or a target object is used to detect the movement speed.
  • a relatively static background that is, no need to consider the motion state of the background, so that it is easier to detect the movement speed of the target subject;
  • a target subject that is, only need to detect the movement speed of one subject, so that it is easier to detect the target subject's movement speed Movement speed.
  • Using a relatively static background and a target subject there is no need to consider the motion state of the background, only the motion speed of a subject needs to be detected, and the motion speed of detecting the motion speed of the target subject is further reduced.
  • Step 602 traverse all available shutter speeds, and use each shutter speed to shoot the target object.
  • all available shutter speeds refer to all the shutter speeds that the camera can support.
  • Each shutter speed is used to shoot a target subject that moves at a constant speed, and each shutter speed is used to shoot evenly.
  • a picture containing an image of the target subject can be obtained.
  • the shutter speed that the photographing device can support is expressed in a shutter speed range, which can be divided into multiple shutter speed values according to the minimum adjustment accuracy of the photographing device, traverse all shutter speed values, and use each shutter speed value.
  • a shutter speed value to shoot the target subject For example, a camera can support a shutter speed range of 8S-1/8000s, and its minimum adjustment accuracy is 1/7200000. According to the minimum adjustment accuracy of 1/7200000, the shutter speed range 8S-1/8000s is divided into multiple shutters. Speed value, using all divided shutter speed values to shoot the target object one by one.
  • the target object is photographed in an environment with the same light intensity.
  • the photographing device is configured with an aperture of the same size to photograph the target object.
  • the photographing device is configured with the same sensitivity to photograph the target object.
  • Step 603 Determine the minimum shutter speed at which the captured target object can be clearly imaged.
  • the pictures can be sorted according to the numerical value of the shutter speed from largest to smallest or from smallest to largest. Take the pictures from smallest to largest as an example. The higher the shutter speed, the corresponding pictures taken. The higher the clarity of the image of the target subject, in this sorting, the picture gradually changes from blurry to clear. You can find a clear image close to the boundary between blurry imaging and clear imaging by judging. It can be said that the picture is acceptable. Determine the first picture to be clearly imaged, and the corresponding shutter speed used is the minimum shutter speed that can be clearly imaged. That is to say, using the minimum shutter speed to photograph the target subject moving at the motion speed can precisely make the target subject to be sharply imaged.
  • the step of determining the minimum shutter speed at which the captured target subject can be clearly imaged includes: detecting the smear length of the target subject captured with each available shutter speed Determine the image of the target subject with the smear length not greater than the preset smear length; select the image with the largest smear length, and determine the shutter speed used by the selected image as the minimum shutter speed.
  • the smear length of the target subject is detected and compared with the preset A threshold is compared to the preset smear length. This threshold is set as the standard for clear imaging.
  • the smear length is not greater than the preset smear length of the target subject image, and this part of the smear length is not greater than the preset smear length
  • the image of is a clear image. In this part of the image, select the image whose smear length is closest to the preset smear length. This image is an image that can be exactly imaged clearly, and the shutter speed used to shoot the image is determined as the minimum shutter speed that can image clearly.
  • the step of determining the minimum shutter speed at which the captured target object can be clearly imaged includes: setting the shutter speed used for the image of the target object specified by the user to the minimum shutter speed.
  • the minimum shutter speed is determined by manual judgment. After each available shutter speed is used to take pictures of a target subject moving at a certain moving speed at a constant speed, all pictures are displayed to the user, for example, according to the shutter speed value from high to low or from small to large The pictures are displayed in order. After judging all pictures, the user selects an image that can be exactly imaged clearly and sends a designated instruction. After receiving the designated instruction from the user, it is determined that the shutter speed used to shoot the image is the minimum shutter speed.
  • Step 604 Calibrate the minimum shutter speed as a safety shutter corresponding to the movement speed.
  • the minimum shutter speed at which the target object can be clearly imaged is calibrated as the safety shutter corresponding to the movement speed, thereby establishing the mapping relationship between the movement speed and the safety shutter.
  • the step includes: storing the mapping relationship between the movement speed and the safety shutter in a local or a server. So that in actual application, the shutter speed can be adjusted according to the mapping relationship.
  • the mapping relationship between the movement speed and the safety shutter is stored in the local or server in the form of a list, and the safety shutter corresponding to the movement speed is obtained by calling and querying the list, so as to adjust the shutter speed based on the safety shutter. .
  • the mapping relationship between the movement speed and the safety shutter includes: the safety shutter with a movement speed of zero is the reciprocal of the focal length. That is to say, when the moving speed of the target object relative to the shooting device is zero, that is, it is relatively still.
  • the resulting image is a clear image.
  • the safety shutter adjusts the shutter speed to capture clear images.
  • the minimum movement speed is zero, and the corresponding safety shutter is the reciprocal of the focal length; the safety shutter corresponding to the maximum movement speed is the shooting The maximum shutter speed that the device can support.
  • the above-mentioned safety shutter calibration method provided by the exemplary embodiment shown in FIG. 6 detects the movement speed of a uniformly moving target object relative to the photographing device, and uses all the shutter speeds that the photographing device can support to use the uniformly moving target.
  • Shoot the subject determine whether the image of the target subject in each picture is clearly imaged, and determine that the shutter speed corresponding to the picture that can exactly make the target subject is clearly imaged is the minimum shutter speed that can be clearly imaged, and the minimum shutter speed It is calibrated as the safety shutter corresponding to the movement speed.
  • the mapping relationship between the movement speed and the safety shutter is thus obtained, so that when the object in motion needs to be photographed, after the movement speed of the object is obtained, the movement can be determined according to the mapping relationship between the calibrated movement speed and the safety shutter.
  • the safety shutter corresponding to the speed uses this safety shutter as a reference value, and adjusts the shutter speed based on the safety shutter, so that the image obtained by shooting the target subject with the shutter speed is an unblurred and non-smearing image.
  • the safety shutter as a reference value is determined according to the movement speed of the target object relative to the shooting device.
  • the safety shutter is more secure. It has reference value and can shoot images without blur or smear, effectively improving the sharpness of photos.
  • FIG. 7 is a structural block diagram of a portable device shown in an exemplary embodiment of the application.
  • the portable device 70 includes a processor 701 and a memory 702 for storing executable instructions of the processor, wherein the processing The device is configured to perform the steps of the shutter speed adjustment method described in any of the above embodiments.
  • the portable device is a smart terminal with a shooting function
  • the smart terminal further includes a camera, which is electrically connected to the processor;
  • the shutter speed captures the target subject.
  • the smart terminal also has a visual operability interface.
  • the processor can perform the steps of the shutter speed adjustment method: detecting the moving speed of the target object relative to the shooting device; according to the mapping relationship between the pre-calibrated moving speed and the safety shutter, determining the speed of the target object relative to the shooting device.
  • the safety shutter corresponding to the movement speed; the shutter speed is adjusted based on the safety shutter.
  • the user can send a shooting instruction, and the electronic shutter of the smart terminal shoots the target subject according to the received shutter speed, and the image of the target subject obtained by shooting is a clear, unblurred, and non-smearing image.
  • the smart terminal may be a smart phone, a portable computer, a tablet computer, a smart watch, etc., which is not specifically limited in this application.
  • the portable device is a camera
  • the camera further includes a lens and a shutter mechanism, the shutter mechanism is electrically connected to the processor; the lens is used to generate the An optical image of the target subject; the shutter mechanism is used to shoot the target subject according to the shutter speed.
  • the camera further includes a viewfinder and/or a display screen. When the shooting function is activated, the user can view the shooting field of view of the current lens through the viewfinder and/or the display screen.
  • the processor can perform the steps of the shutter speed adjustment method: detect the movement speed of the target subject relative to the shooting device; according to the mapping relationship between the pre-calibrated movement speed and the safety shutter , Determine the safety shutter corresponding to the movement speed of the target object relative to the shooting device; adjust the shutter speed based on the safety shutter.
  • the shutter mechanism shoots the target subject according to the received shutter speed, and the image of the target subject obtained by shooting is a clear, unblurred, and non-smearing image.
  • the camera may be a single-lens reflex camera, a digital camera, a pan-tilt camera, a sports camera, and the like.
  • the camera is a single-lens reflex camera.
  • the user can adjust the shooting field of view by adjusting the focal length of the SLR camera lens.
  • a lens with a larger focal length can be used to shoot scenes such as natural scenery, large scenes of mass activities, etc., that is, shooting in the long-range mode.
  • the processor in the SLR camera of this embodiment can determine that the current shooting mode is the long-range mode, and can determine the target shooting
  • the subject is a landscape subject. When multiple landscape subjects are recognized in the shooting field of view, the preset weight or position within the shooting field of view or the movement speed relative to the camera can be obtained for the preset weight of each landscape subject, and the preset value can be selected.
  • a lens with a small focal length can shoot detailed pictures of people, animals, etc., that is, use the non-distance mode to shoot.
  • the processor in the SLR camera of this embodiment can determine that the current shooting mode is the non-distance mode, and can determine the target shooting The subject is a non-landscape subject.
  • the preset weight or the position within the shooting field of view or the movement speed relative to the camera can be obtained for each non-landscape subject , Select the non-landscape subject with the highest preset weight or the shortest distance between the position and the preset position in the shooting field of view or the fastest moving speed as the target subject, and then determine the safe shutter according to the moving speed of the target subject. Adjust the shutter speed based on the safety shutter.
  • the camera is a pan-tilt camera.
  • a pan-tilt camera is a camera that integrates a pan-tilt and camera.
  • gimbal cameras are suitable for handheld users to shoot non-distant scenes, that is, they mainly adopt non-distant scene shooting mode.
  • their main target subjects are non-scenery subjects, such as people, animals, and cars. Wait.
  • the non-landscape subject with the shortest distance between the preset positions or the fastest moving speed is the target subject, and then the safety shutter is determined according to the movement speed of the target subject, and the shutter speed is adjusted based on the safety shutter. Since the pan/tilt camera includes a stabilizer and has an anti-shake function, it can further improve the clarity of the image.
  • the camera is a sports camera.
  • Sports cameras are mainly used for shooting in sports environments such as hiking, mountaineering, rock climbing, cycling, gliding, skiing, swimming, diving, etc.
  • Its processor executes the steps of the shutter speed adjustment method to adjust the shutter speed of the shooting, which can effectively improve the clarity of the image degree.
  • the portable device is a handheld pan/tilt, and the handheld pan/tilt is used to carry photographing equipment; the processor and the memory are arranged in the pan/tilt, and the The processor sends the shutter speed to a photographing device, so that the photographing device photographs the target subject according to the shutter speed.
  • the handheld PTZ can be connected to the shooting device in a wired or wireless manner.
  • the processor is connected to the shooting device, and the processor obtains the video stream captured by the shooting device, and detects the relative difference between the target object and the shooting device in the video stream. Movement speed, according to the movement speed to determine the corresponding safety shutter.
  • the processor sends the safety shutter to the photographing device, and the photographing device adjusts the shutter speed according to the received safety shutter, and uses the adjusted shutter speed to photograph the target object.
  • the processor adjusts the shutter speed according to the safety shutter, and sends the adjusted shutter speed to the photographing device, and the photographing device photographs the target object according to the received shutter speed.
  • the processor of the handheld pan/tilt sends a shooting control instruction to control the shooting device to perform shooting according to the adjusted shutter speed, so as to obtain a picture that can be clearly imaged.
  • the handheld pan/tilt in this embodiment has an anti-shake function, which can further improve the clarity of the image.
  • the photographing device may be a smart phone, a tablet computer, a camera, etc., which is not specifically limited in this application.
  • the application also provides an unmanned aerial vehicle, which is suitable for implementing the shutter speed adjustment method described in any of the foregoing embodiments.
  • Fig. 8 is a structural block diagram of an unmanned aerial vehicle shown in an exemplary embodiment of the application.
  • the unmanned aerial vehicle 80 includes a pan-tilt 801, a processor 802, and a memory 803 for storing executable instructions of the processor.
  • the pan/tilt 801 is used to carry the photographing device 81;
  • the processor 802 is configured to execute the steps of the shutter speed adjustment method described in any of the above embodiments;
  • the processor 802 is also configured to The shutter speed is sent to the photographing device 81, so that the photographing device 81 photographs the target subject according to the shutter speed.
  • UAVs are mainly used to shoot distant scenes, that is, mainly use non-distant scene mode to shoot.
  • the main target subject is non-landscape subjects, such as natural scenery.
  • the landscape subject with the closest distance or the fastest moving speed is the target subject, and the corresponding safety shutter is determined according to the moving speed of the target subject.
  • the processor sends the safety shutter to the photographing device, and the photographing device adjusts the shutter speed according to the received safety shutter, and uses the adjusted shutter speed to photograph the target object.
  • the processor adjusts the shutter speed according to the safety shutter, and sends the adjusted shutter speed to the photographing device, and the photographing device photographs the target object according to the received shutter speed.
  • the processor of the drone sends a shooting control instruction to control the shooting device to perform shooting according to the adjusted shutter speed, so as to obtain a picture that can be clearly imaged. Since the shooting equipment is carried on the drone's pan/tilt, it has an anti-shake function, which can further improve the clarity of the image.
  • the processor 802 is connected to the pan/tilt 801, and the processor 802 controls the rotation of the pan/tilt 801, thereby controlling the rotation of the photographing device 81 carried on the pan/tilt 801.
  • the drone of this embodiment may be a multi-rotor drone, a fixed-wing drone, or other drones, which is not specifically limited in this application.
  • the shooting device can be a smart phone, a tablet computer, a camera, etc., and this application does not make specific limitations.
  • the present application also provides a computer-readable storage medium on which a computer program is stored.
  • the steps implemented when the program is executed by the processor are as follows: detecting the movement speed of the target object relative to the shooting device; according to the pre-calibrated movement speed
  • the mapping relationship with the safety shutter determines the safety shutter corresponding to the movement speed of the target object relative to the shooting device; and adjusts the shutter speed based on the safety shutter.
  • the relevant part can refer to the part of the description of the method embodiment.
  • the device embodiments described above are merely illustrative.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network units.
  • Some or all of the modules can be selected according to actual needs to achieve the objectives of the solutions of the embodiments. Ordinary technicians in this field can understand and implement it without creative work.

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Abstract

一种快门速度调节、安全快门标定方法、便携式设备（70）及无人机（80）。其中，快门速度调节方法包括：检测目标拍摄物相对拍摄装置的运动速度（101）；根据预先标定的运动速度与安全快门的映射关系，确定目标拍摄物相对拍摄装置的运动速度对应的安全快门（102）；基于安全快门调节快门速度（103）。根据目标拍摄物的运动速度确定安全快门，不同运动速度对应不同安全快门，安全快门更具参考价值，拍摄出不模糊、不拖影的图像，有效提高照片清晰度。

Description

快门速度调节、安全快门标定方法、便携式设备及无人机 技术领域
本申请涉及拍摄技术领域，尤其涉及一种快门速度调节、安全快门标定方法、便携式设备及无人机。
背景技术
通常，现有的照相机会设置一个安全快门作为参考值，向用户提供一个在通常情况下使得拍摄的照片不模糊的最低快门速度，目前照相机的安全快门是通过镜头的焦距的倒数确定的。然而，通过传统的确定方式固定设置的安全快门，在拍摄运动速度较快的物体时，会有模糊、拖影的现象，影响照片的清晰度。
发明内容
有鉴于此，本发明的目的之一是提供一种快门速度调节、安全快门标定方法、便携式设备及无人机。
根据本申请实施例的第一方面，提供一种快门速度调节方法，所述方法包括：检测目标拍摄物相对拍摄装置的运动速度；根据预先标定的运动速度与安全快门的映射关系，确定所述目标拍摄物相对拍摄装置的运动速度对应的安全快门；基于所述安全快门调节快门速度。
根据本申请实施例的第二方面，提供一种安全快门标定方法，包括：检测目标拍摄物相对拍摄装置的匀速移动的运动速度；遍历所有可使用的快门速度，利用每个快门速度拍摄所述目标拍摄物；确定所拍摄的目标拍摄物能够清晰成像的最小快门速度；将所述最小快门速度标定为所述运动速度对应的安全快门。
根据本申请实施例的第三方面，提供一种便携式设备，包括处理器及用于存储处理器可执行指令的存储器，其中，所述处理器被配置为执行上述实施例中所述的快门速度调节方法的步骤。
根据本申请实施例的第四方面，提供一种无人机，包括：云台，用于承载拍摄设备；处理器及用于存储处理器可执行指令的存储器，其中，所述处理器被配置为执行上述实施例中所述的快门速度调节方法的步骤；以及将所述快门速度发送给拍摄设备，以使拍摄设备根据所述快门速度拍摄所述目标拍摄物。
根据本申请实施例的第五方面，提供一种计算机可读存储介质，其上存储有计算机程序，所述程序被处理器执行时实现上述实施例中所述的快门速度调节方法的步骤。
本申请的实施例提供的技术方案可以包括以下有益效果：
本申请通过获取目标拍摄物相对拍摄装置的运动速度，并根据预先标定好的运动速度与安全快门的映射关系，来确定该运动速度对应的安全快门，将这个安全快门作为参考值，并基于这个安全快门来调节快门速度，使得采用该快门速度拍摄该目标拍摄物得到的图像为清晰度高的、不拖影的图像。这样，根据目标拍摄物相对拍摄装置的运动速度来确定作为参考值的安全快门，不同运动速度有对应的安全快门，使得安全快门更具有参考价值，能够拍摄出不模糊、不拖影的图像，有效提高照片的清晰度。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本申请。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为一示例性实施例示出的一种快门速度调节方法的流程图。
图2为一示例性实施例示出的另一种快门速度调节方法的流程图。
图3为一示例性实施例示出的另一种快门速度调节方法的流程图。
图4为一示例性实施例示出的另一种快门速度调节方法的流程图。
图5为一示例性实施例示出的另一种快门速度调节方法的流程图。
图6为一示例性实施例示出的一种安全快门标定方法的流程图。
图7为一示例性实施例示出的一种适用快门速度调节方法的便携式设备的结构框图。
图8为一示例性实施例示出的一种适用快门速度调节方法的无人机的结构框图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本申请相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本申请的一些方面相一致的装置和方法的例子。
在本申请使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本申请。在本申请和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。除非另行指出，“前部”、“后部”、“下部”和/或“上部”等类似词语只是为了便于说明，而并非限于一个位置或者一种空间定向。“连接”或者“相连”等类似的词语并非限定于物理的或者机械的连接，而且可以包括电性的连接，不管是直接的还是间接的。“多个”表示至少两个。
应当理解，尽管在本申请可能采用术语第一、第二、第三等来描述各种信息，但这些信息不应限于这些术语。这些术语仅用来将同一类型的信息彼此区分开。例如，在不脱离本申请范围的情况下，第一信息也可以被称为第二信息，类似地，第二信息也可以被称为第一信息。取决于语境，如在此所使用的词语“如果”可以被解释成为 “在……时”或“当……时”或“响应于确定”。
下面结合附图，对本申请的快门速度调节、安全快门标定方法、便携式设备及无人机进行详细说明。在不冲突的情况下，下述的实施例及实施方式中的特征可以相互组合。
本申请的快门速度调节方法可以应用于相机，例如，卡片相机、数码相机、单反相机、运动相机、云台相机等；也可以应用于具备拍摄功能的设备，例如，摄像头、智能手机、平板电脑等；还可以应用于具备设置拍摄参数功能的设备，例如，手持云台、无人机等。
图1所示为本申请一示例性实施例示出的一种快门速度调节方法的流程图，该快门速度调节方法包括步骤101至103：
步骤101，检测目标拍摄物相对拍摄装置的运动速度。
本步骤中，目标拍摄物是指拍摄装置主要拍摄的物体，目标拍摄物至少部分包含在拍摄装置的拍摄视野内，使得拍摄装置拍摄后形成的图片中包含至少部分目标拍摄物的图像。例如，拍摄视野为矩形的画面，目标拍摄物则至少部分包含在这一矩形的画面内；又如，拍摄视野为正方形的画面，目标拍摄物则至少部分包含在这一正方形的画面内；又如，拍摄视野为圆形的画面，目标拍摄物则至少部分包含在这一圆形的画面内。检测目标拍摄物相对拍摄装置的运动速度，即以拍摄装置为参照物，检测目标拍摄物所运动的快慢。执行检测运动速度的可以是一个拍摄装置本身带有的模块，也可以是一个独立的模块或者装置，并通过有线或者无线的方式与拍摄装置建立通信连接。向检测运动速度的模块或者装置输入拍摄装置获取的拍摄视野内的视频流，检测视频流中目标拍摄物相对拍摄装置的运动速度。
在本申请的一种可能的实施方式中，所述运动速度基于所述目标拍摄物单位时间内在拍摄视野内移动的像素点个数确定。也就是说，通过检测目标拍摄物在单位时间内，在拍摄视野内移动了多少个像素点来确定运动速度。因此，目标拍摄物的运动速度的表达式为：目标拍摄物的运动速度＝目标拍摄物在拍摄视野内移动的像素点个数/目标拍摄物的运动时间，其中，像素点个数的单位为pixel，运动时间的单位可以是s(秒)、ms(微秒)或者ns(纳秒)，所述运动速度可以为pixel/s、pixel/ms或者pixel/ns。
在本申请的一种可能的实施方式中，拍摄装置可以是相机，例如，卡片相机、数码相机、单反相机、运动相机、云台相机等，也可以是具备拍摄功能的设备，例如， 摄像头、智能手机、平板电脑等。
一般来说，拍摄装置拍摄主要的目标拍摄物时，往往还拍摄有相对于目标拍摄物的背景，背景的运动状态会影响目标拍摄物的运动速度的检测。在本申请的一种可能的实施方式中，当所述拍摄视野内包含相对静止的背景时，获取所述目标拍摄物相对拍摄装置的运动速度的方式可以包括但不限于：背景差分法、帧间差分法、光流法和/或混合高斯模型背景法等。可以采用上述任一种方法进行检测，也可以采用上述一种以上的方法的任意组合进行检测。在本申请的一种可能的实施方式中，当所述拍摄视野内包含相对运动的背景时，获取所述目标拍摄物相对拍摄装置的运动速度的方式包括：块匹配法和/或光流估计法。
关于在一个拍摄视野内，哪些确定为目标拍摄物，哪些确定为背景的问题，在本申请的一种可能的实施方式中，可通过聚焦的方式以确定目标拍摄物，即将焦点落在目标拍摄物上，除目标拍摄物之外的物体，则确定为背景。
步骤102，根据预先标定的运动速度与安全快门的映射关系，确定所述目标拍摄物相对拍摄装置的运动速度对应的安全快门。
本步骤中，通过检测到的目标拍摄物相对拍摄装置的运动速度，并根据预先标定好的运动速度与安全快门的映射关系，确定当前检测到的目标拍摄物的运动速度对应的安全快门。应该理解的是，安全快门，也称安全快门速度，它是一个参考值，是一个使得拍摄的照片不模糊的最低快门速度，可根据这一参考值，调节实际拍摄时采用的快门速度。
在本申请的一种可能的实施方式中，当所述目标拍摄物的运动速度分别为第一运动速度和第二运动速度时，确定对应的安全快门分别为第一安全快门和第二安全快门，其中，所述第一运动速度大于所述第二运动速度，所述第一安全快门大于所述第二安全快门。也就是说，在运动速度与安全快门的映射关系中，不同大小的运动速度对应不同大小的安全快门。目标拍摄物的运动速度与安全快门呈正相关关系。示例性地，目标拍摄物的运动速度越大，对应的安全快门速度越大；目标拍摄物的运动速度越小，对应的安全快门速度越小。或者说，目标拍摄物的运动速度越快，对应的安全快门速度越快；目标拍摄物的运动速度越慢，对应的安全快门速度越慢。拍摄以较快的运动速度运动的目标拍摄物，作为参考值的安全快门较快，调节实际拍摄时采用的快门速度也是较快；拍摄以较慢的运动速度运动的目标拍摄物，作为参考值的安全快门较慢，调节实际拍摄时采用的快门速度也是较慢。在本申请的一种可能的实施方式 中，可以是一个运动速度范围对应一个安全快门。
需要说明的是，在摄影领域中，快门速度作为用于表达曝光时间的术语，即拍摄装置的快门启动的有效时间长度，通常采用秒(s)作单位来表示曝光时间的长短，例如，30s、8s、1s、1/2s、1/15s、1/30s、1/50s、1/125s等，可见，按照上述列举的快门速度的数值顺序依次越小，表示的快门速度依次越快。需要理解的是，这种表示方式与上述实施例的表示方式并不相矛盾。
在本申请的一种可能的实施方式中，该映射关系可以是以集合的方式存储在本地或者服务器中，例如，以列表的方式存储在本地或者服务器中，通过查看运动速度与安全快门的映射列表能够找到运动速度对应的安全快门。当运动速度与安全快门的映射关系存储在本地时，则在获取运动速度后，调取存储器中的映射关系，找到该运动速度对应的安全快门，从而确定安全快门这一参考值；当运动速度与安全快门的映射关系存储在服务器时，则在获取运动速度后，将运动速度发送至服务器，服务器接收到运动速度，并查找该运送速度相对应的安全快门，并返回对应的安全快门。
在本申请的一种可能的实施方式中，所述运动速度与安全快门的映射关系包括：运动速度为零的安全快门为焦距的倒数。运动速度为零对应的安全快门通过焦距的倒数来确定。也就是说，当检测到目标拍摄物相对拍摄装置为静止时，确定对应的安全快门为当前镜头焦距的倒数。
步骤103，基于所述安全快门调节快门速度。
本步骤中，在取得目标拍摄物的运动速度对应的安全快门后，基于安全快门这个参考值，调节实际拍摄目标拍摄物所采用的快门速度，以使获取的图片上目标拍摄物的图像是清晰的。应该理解的是，调节的快门速度会不小于安全快门，即调节的快门速度会不慢于安全快门，这样，目标拍摄物呈现的图像会更为清晰。
需要理解的是，当目标拍摄物作变速运动时，可实时更新当前检测到的运动速度，并根据当前检测到的运动速度去确定对应的安全快门，从而基于安全快门调节快门速度，整个过程可以是以微秒级的速度完成，以提高目标拍摄物图像的清晰度。
在本申请的一种可能的实施方式中，上述方法应用于相机或者具备拍摄功能的设备(例如卡片相机、数码相机、单反相机、运动相机、云台相机、摄像头、智能手机、平板电脑等)的场景时，步骤101至103可以是由相机或者具备拍摄功能的设备执行。
在本申请的另一种可能的实施方式中，上述方法应用于具备设置拍摄参数功能的设备(例如手持云台、无人机等)的场景时，通常地，这些设备还与拍摄装置配合使用，可以是步骤101至103由具备设置拍摄参数功能的设备执行，具备设置拍摄参数功能的设备将步骤103调节的快门速度发送给拍摄装置，拍摄装置根据接收到的快门速度对目标拍摄物进行拍摄；也可以是步骤101至步骤102由具备设置拍摄参数功能的设备执行，具备设置拍摄参数功能的设备将步骤102确定的安全快门发送给拍摄装置，拍摄装置根据接收到的安全快门来调节快门速度，并根据调节的快门速度对目标拍摄物进行拍摄。在本申请的一种可能的实施方式中，可以是发送到拍摄装置的曝光控制模块。
本申请实施例提供的上述方法，通过获取目标拍摄物相对拍摄装置的运动速度，并根据预先标定好的运动速度与安全快门的映射关系，来确定该运动速度对应的安全快门，将这个安全快门作为参考值，并基于这个安全快门来调节快门速度，使得采用该快门速度拍摄该目标拍摄物得到的图像为不模糊的、不拖影的图像。这样，根据目标拍摄物相对拍摄装置的运动速度来确定作为参考值的安全快门，不同运动速度有对应的安全快门，相较于传统的通过焦距的倒数来确定安全快门的方式，使得安全快门更具有参考价值，能够拍摄出不模糊、不拖影的图像，有效提高照片的清晰度。
一般来说，拍摄装置具有不同的拍摄模式，或者说不同的拍摄景别，是根据拍摄装置与拍摄物的距离不同来区分的。在本申请的一种可能的实施方式中，拍摄模式包括远景模式和非远景模式，远景模式的拍摄距离大于非远景模式的拍摄距离，远景模式侧重于拍摄风景类的物体，非远景模式侧重于拍摄非风景类的物体。作为一种示例，非远景模式可以细分包括但不限于：特写模式、近景模式、中景模式和全景模式，特写模式、近景模式、中景模式和全景模式的拍摄距离依次递增。
以人作为其中一个拍摄物为例子，采用远景模式拍摄的视野范围为人物及其周围广阔的空间环境，相当于从较远的距离观看景物和人物，人物较小，背景占主要地位，侧重拍摄自然景色、群众活动大场面等场景；采用特写模式、近景模式、中景模式和全景模式等非远景模式拍摄的视野范围人占主要地位，特写拍摄的是人物肩部以上的头像的画面，近景拍摄的人物胸部以上的画面，中景拍摄的是人物膝盖部位以上的画面，全景拍摄的是人物全身的画面。
应该理解的是，采用远景模式和非远景模式拍摄物体或者场景，均可应用本申请实施例提供的上述方法去调节快门速度。在本申请的一种可能的实施方式中，拍摄 装置具备远景模式和非远景模式两种拍摄模式，当采用远景模式拍摄时，所述目标拍摄物为风景类拍摄物；当采用非远景模式拍摄时，所述目标拍摄物为非风景类拍摄物。例如单反相机、数码相机、智能手机、平板电脑等。随着科技的发展，还有一些拍摄装置主要采用其中一种拍摄模式进行拍摄，例如运动相机、云台相机等便携式设备，主要采用非远景模式拍摄，则所述目标拍摄物为非风景类拍摄物；又如无人机，主要采用远景模式拍摄，则所述目标拍摄物为风景类拍摄物。关于风景类拍摄物与非风景类拍摄物的划分，所述风景类拍摄物为自然景观和人文景观的对象，例如天空、云朵、山峰、树林、花草、江河湖海等自然景观，又如建筑、园林、活动场景等人文景观，主要是视角宽广的场景；所述非风景类拍摄物为除去自然景观和人文景观以外的对象，例如人、动物、汽车等，需要说明的是，本申请的风景类拍摄物与非风景类拍摄物包括但不限于上述所列举的例子。
图2所示为本申请一示例性实施例示出的另一种快门速度调节方法的流程图，本实施例在前述实施例的基础上，以如何确定目标拍摄物为例进行一示例性说明，如图2所示，包括步骤201至205：
步骤201，当拍摄视野内包含多个拍摄物时，获取全部或者部分所述拍摄物的预设权重。
在某些场景中，拍摄装置的拍摄视野内包含了多个拍摄物，当检测到拍摄视野内包含多个拍摄物时，可以先确定哪个拍摄物为主要的目标拍摄物，本步骤中，获取拍摄视野内全部或者部分拍摄物的预设权重，也就是说，可以通过拍摄物的预设权重来确定目标拍摄物。在本申请的一种可能的实施方式中，当检测到拍摄视野内包含多个拍摄物时，可以直接获取拍摄视野内全部拍摄物的预设权重，在全部拍摄物中根据预设权重的大小来确定目标拍摄物。在本申请的另一种可能的实施方式中，可以先对拍摄物进行筛选，作为一种示例，根据拍摄物的类别进行筛选，获取筛选得到的部分拍摄物的预设权重，在该部分拍摄物中根据预设权重的大小来确定目标拍摄物。作为一种示例，拍摄物的类别可根据拍摄模式进行确定。
在本申请的一种可能的实施方式中，所述预设权重的值根据不同拍摄物的类别设置，本实施方式中的拍摄物的类别，可以是大分类，例如，分为风景类拍摄物、非风景类拍摄物；也可以是按照拍摄物本身的性质或特点进行的小分类，例如人、动物、交通工具、植物等；甚至还可以对动物、交通工具或植物等进行细分。在获取全部或者部分拍摄物的预设权重之前，可以先获取全部或者部分拍摄物的类别。
在本申请的一种可能的实施方式中，可通过图像语义分割技术，将图像自动分割并识别出摄视野内的内容，获取每一拍摄物的类别，也可通过其他图像识别技术获取每一拍摄物的类别。例如，在拍摄视野内识别到第一拍摄物是人，第二拍摄物是狗，第三拍摄物是树，第四拍摄物是汽车，第五拍摄物是天空，第六拍摄物是草地，再分别获取人、狗、树、汽车、天空、草地的预设权重。预设权重可以采用分值(如0、0.1、0.38、0.8、0.95等)或者百分数(如10％、40％、70％、88％等)设定。如上述例子中，人的预设权重为0.8、狗的预设权重为0.7、树的预设权重为0.55、汽车的预设权重为0.66，天空的预设权重为0.5、草地的预设权重为0.2。
在本申请的一种可能的实施方式中，在不同的拍摄模式中，同一所述拍摄物的预设权重的大小可以不同。拍摄模式包括远景模式和非远景模式，远景模式侧重于拍摄风景类的物体，非远景模式侧重于拍摄非风景类的物体。也就是说，在远景模式中，风景类拍摄物的预设权重大于非风景类拍摄物的预设权重；在非远景模式中，非风景类拍摄物的预设权重大于风景类拍摄物的预设权重。
例如，如上述的六个拍摄物的例子中，同样是拍摄人、狗、汽车、树、草地和天空，在远景模式中，风景类的树、草地和天空的预设权重大于非风景类的人、狗、汽车的预设权重；而在非远景模式中，非风景类的人、狗、汽车的预设权重则大于风景类的树、草地和天空的预设权重。
在本申请的一种可能的实施方式中，在获取所述拍摄物的预设权重或者获取拍摄物的类别之前，可以先确定采用的拍摄模式。这样，能够提高获取的拍摄物的预设权重的准确性。
在本申请的一种可能的实施方式中，在确定采用的拍摄模式后，通过图像语义分割技术或者其他图像识别技术获取每一个拍摄物的类别，将拍摄视野内拍摄物划分为风景类拍摄物和非风景类拍摄物，根据确定的拍摄模式，获取风景类拍摄物或者非风景类拍摄物的预设权重，从而确定目标拍摄物。若确定采用的是远景模式，则获取风景类拍摄物的预设权重即可，再从风景类拍摄物中确定目标拍摄物；若确定采用的是非远景模式，则获取非风景类拍摄物的预设权重即可，再从非风景类拍摄物中确定目标拍摄物，如此，无需获取拍摄视野内全部拍摄物的预设权重，可以有效提高确定目标拍摄物的处理效率。
步骤202，基于预设权重确定目标拍摄物。
在本申请的一种可能的实施方式中，在获取全部或者部分拍摄物的预设权重之后，将拍摄物按照预设权重的数值由大到小或者由小到大的顺序进行排序，将该排序内中预设权重的数值最大对应的拍摄物确定为目标拍摄物。如上述的六个拍摄物的例子中，人、狗、树、汽车、天空、草地按照预设权重的数值由大到小的顺序进行排序为：人＞狗＞汽车＞树＞天空＞草地，那么，则将人确定为目标拍摄物；又如上述的六个拍摄物的例子中，若确定采用的拍摄模式为非远景模式，则获取人、狗、汽车的预设权重，并按照预设权重的数值由大到小的顺序进行排序为：人＞狗＞汽车，那么，则将人确定为目标拍摄物。
在本申请的一种可能的实施方式中，如果目标预设权重对应的拍摄物不止一个，则基于所述拍摄物的位置与所述拍摄视野内预设位置的距离确定目标拍摄物，其中，所述目标预设权重是所获取的预设权重中用来确定目标拍摄物的权重。本实施方式中，目标预设权重是指根据拍摄物的预设权重确定的目标拍摄物的预设权重。目标预设权重可以是所获取的预设权重中的最大或者最小预设权重，也可以是指定大小的预设权重。
在一些应用场景中，在视野范围内，根据拍摄物的预设权重所确定的目标拍摄物不止一个，也就是说，目标预设权重相同的拍摄物不止一个，它们是属于同一类别的物体，可以对目标预设权重对应的拍摄物作进一步筛选，确定一个拍摄物为目标拍摄物，也就是说，当前的目标预设权重对应的拍摄物还不是目标拍摄物。作为一种示例，当预设权重数值最大的拍摄物对应的数量不止一个时，为了只取一个拍摄物作为目标拍摄物，可以检测每个预设权重数值最大的拍摄物在拍摄视野内的位置，并分别计算每个预设权重数值最大的拍摄物的位置与一个预设的拍摄视野内的位置之间的距离，通过距离来确定目标拍摄物。在本申请的一种可能的实施方式中，可以将距离最小的拍摄物确定为目标拍摄物。在本申请的一种可能的实施方式中，所述拍摄视野内预设位置可以是基于经验总结的拍摄构图确定的位置，例如，所述拍摄视野内预设位置可以是拍摄视野内的中心位置；又如，所述拍摄视野内预设位置可以是拍摄视野的三分之一处的位置等。这样，选取接近拍摄构图位置的拍摄物为目标拍摄物，不仅能够获取清晰度高、不拖影的图像，还能使拍摄的图片具有和谐的布局，提高图片的美感。如上述的六个拍摄物的例子中，在视野范围内获取到的预设权重最大的人的数量有两个时，检测两个人的位置信息，并分别计算两个人的位置与拍摄视野内的中心位置之间的距离，将距离最小的那个人作为目标拍摄物。
在本申请的一种可能的实施方式中，拍摄视野内的位置信息以像素点坐标的形式表示，例如，拍摄物的位置为(x 1，y 1)，预设的拍摄视野内的位置为(x 2，y 2)，则两个位置之间的距离为
Figure PCTCN2019106407-appb-000001
在本申请的一种可能的实施方式中，以拍摄物的中心像素点的坐标确定为该拍摄物的位置。例如，通过图像语义分割技术或者其他图像识别技术，可获取拍摄物的图像轮廓，在图像轮廓内确定中心像素点及其坐标，则确定拍摄物的位置坐标。
在本申请的一种可能的实施方式中，如果目标预设权重对应的拍摄物不止一个，则基于所述拍摄物相对拍摄装置的运动速度确定目标拍摄物，其中，所述目标预设权重是所获取的预设权重中用来确定目标拍摄物的权重。作为一种示例，当预设权重数值最大的拍摄物对应的数量有一个以上时，为了只取一个拍摄物作为目标拍摄物，再检测每个预设权重数值最大的拍摄物，并分别获取每个预设权重数值最大的拍摄物相对拍摄装置的运动速度，通过运动速度来确定目标拍摄物。在本申请的一种可能的实施方式中，将运动速度最大的拍摄物确定为目标拍摄物。这样，根据运动速度最大的目标拍摄物的运动速度去确定对应的安全快门，而基于该安全快门调节的快门速度去拍摄整个视野范围内的物体，不但目标拍摄物的图像是清晰的，也可以确保其他预设权重数值最大的拍摄物也是清晰的。
步骤203，检测目标拍摄物相对拍摄装置的运动速度。
在本申请的一种可能的实施方式中，若已通过检测目标拍摄物相对拍摄装置运动速度来确定目标拍摄物，则可以无需执行步骤203，而根据确定目标拍摄物时检测到的运动速度去确定对应的安全快门。
步骤204，根据预先标定的运动速度与安全快门的映射关系，确定所述目标拍摄物相对拍摄装置的运动速度对应的安全快门。
步骤205，基于所述安全快门调节快门速度。
步骤203至205同上述步骤101至103中相关技术相同，在此不再赘述。
图2所示的示例性实施例提供的上述方法，在视野范围内有多个拍摄物的情况下，通过预设权重确定目标拍摄物，再获取目标拍摄物相对拍摄装置的运动速度，并根据预先标定好的运动速度与安全快门的映射关系，来确定该运动速度对应的安全快门，将这个安全快门作为参考值，并基于这个安全快门来调节快门速度，使得采用该快门速度拍摄该目标拍摄物得到的图像为不模糊的、不拖影的图像。这样，根据目标 拍摄物相对拍摄装置的运动速度来确定作为参考值的安全快门，不同运动速度有对应的安全快门，相较于传统的通过焦距的倒数来确定安全快门的方式，使得安全快门更具有参考价值，能够拍摄出不模糊、不拖影的图像，有效提高照片的清晰度；通过预设权重自动确定目标拍摄物，能够快速确定拍摄的主体，无需用户手动选择，提高操作便利性。
图3所示为本申请一示例性实施例示出的另一种快门速度调节方法的流程图，本实施例在图1所示的示例性实施例的基础上，以如何确定目标拍摄物为例进行另一示例性说明，如图3所示，包括步骤301至305：
步骤301，当拍摄视野内包含多个拍摄物时，获取全部或者部分所述拍摄物在所述拍摄视野内的位置。
当检测到拍摄视野内包含多个拍摄物时，可以先确定哪个拍摄物为主要的目标拍摄物，本步骤中，获取拍摄视野内全部或者部分拍摄物的位置，也就是说，可以通过拍摄物在拍摄视野内的位置来确定目标拍摄物。在本申请的一种可能的实施方式中，当检测到拍摄视野内包含多个拍摄物时，可以直接获取拍摄视野内全部拍摄物的位置，在全部拍摄物中根据拍摄物的位置与所述拍摄视野内预设位置的距离来确定目标拍摄物。在本申请的另一种可能的实施方式中，可以先对拍摄物进行筛选，作为一种示例，根据拍摄物的类别进行筛选，获取筛选得到的部分拍摄物的位置，在该部分拍摄物中根据拍摄物的位置与所述拍摄视野内预设位置的距离来确定目标拍摄物。作为一种示例，拍摄物的类别可根据拍摄模式进行确定。
步骤302，基于所述拍摄物的位置与所述拍摄视野内预设位置的距离确定目标拍摄物。
本步骤中，在获取拍摄视野内的全部或者部分拍摄物的位置后，分别计算全部或者部分拍摄物的位置与一个预设的拍摄视野内的位置之间的距离，通过距离大小来确定目标拍摄物。在本申请的一种可能的实施方式中，可以将距离最小的拍摄物确定为目标拍摄物。在本申请的一种可能的实施方式中，所述拍摄视野内预设位置可以是基于经验总结的拍摄构图确定的位置。这样，选取接近拍摄构图位置的拍摄物为目标拍摄物，不仅能够获取清晰度高、不拖影的图像，还能使拍摄的图片具有和谐的布局，提高图片的美感。
在本申请的一种可能的实施方式中，所述拍摄视野内预设位置为拍摄视野内的 中心位置。也就是说，通过计算全部或者部分拍摄物与拍摄视野内的中心位置之间的距离来确定目标拍摄物。例如，当拍摄视野为矩形或者正方形的画面时，拍摄视野内的中心位置则为拍摄视野的对角线的交点；又如，当拍摄视野为圆形的画面时，拍摄视野内的中心位置则为拍摄视野的圆心。在本申请的一种可能的实施方式中，距离拍摄视野内的中心位置最近的拍摄物确定为目标拍摄物。也就是说，在获取每一拍摄物的位置与拍摄视野内预设位置之间的距离后，选取距离最小的拍摄物为目标拍摄物。这样，目标拍摄物的位置最靠近拍摄视野的中心，将图片的视觉聚焦在接近中心的位置，并且由于提高了清晰度，使得目标拍摄物作为主体更为突出，更加吸引观众的视线。
在本申请的一种可能的实施方式中，所述拍摄视野内预设位置为拍摄视野内的黄金比例分割点。也就是说，通过计算每一个拍摄物与黄金比例分割点之间的距离来确定目标拍摄物。在本申请的一种可能的实施方式中，距离拍摄视野内的黄金比例分割点最近的拍摄物确定为目标拍摄物。这样，目标拍摄物的位置最靠近拍摄视野的黄金比例分割点，使得图片更加具有美感与和谐。
在本申请的一种可能的实施方式中，拍摄视野内的位置信息以像素点坐标的形式表示，例如，拍摄物的位置为(x 1，y 1)，预设的拍摄视野内的位置为(x 2，y 2)，则两个位置之间的距离为
Figure PCTCN2019106407-appb-000002
在本申请的一种可能的实施方式中，以拍摄物的中心像素点的坐标确定为该拍摄物的位置。例如，通过图像语义分割技术或者其他图像识别技术，可获取拍摄物的图像轮廓，在图像轮廓内确定中心像素点及其坐标，则确定拍摄物的位置坐标。
步骤303，检测目标拍摄物相对拍摄装置的运动速度。
步骤304，根据预先标定的运动速度与安全快门的映射关系，确定所述目标拍摄物相对拍摄装置的运动速度对应的安全快门。
步骤305，基于所述安全快门调节快门速度。
步骤303至305同上述步骤101至103中相关技术相同，在此不再赘述。
在本申请的一种可能的实施方式中，在获取每一所述拍摄物在所述拍摄视野内的位置之前，可先确定当前采用的拍摄模式，通过图像语义分割技术或者其他图像识别技术获取每一个拍摄物的类别，将拍摄视野内拍摄物划分为风景类拍摄物和非风景类拍摄物，根据确定的拍摄模式，获取每一风景类拍摄物或者非风景类拍摄物在拍摄 视野内的位置，从而确定目标拍摄物。若确定采用的是远景模式，则获取每一风景类拍摄物在拍摄视野内的位置即可，再从风景类拍摄物中根据在拍摄视野内的位置确定目标拍摄物；若确定采用的是非远景模式，则获取每一非风景类拍摄物在拍摄视野内的位置即可，再从非风景类拍摄物中根据在拍摄视野内的位置确定目标拍摄物。
图3所示的示例性实施例提供的上述方法，在视野范围内有多个拍摄物的情况下，根据拍摄物的位置与拍摄视野内预设位置之间的距离确定目标拍摄物，再获取目标拍摄物相对拍摄装置的运动速度，并根据预先标定好的运动速度与安全快门的映射关系，来确定该运动速度对应的安全快门，将这个安全快门作为参考值，并基于这个安全快门来调节快门速度，使得采用该快门速度拍摄该目标拍摄物得到的图像为不模糊的、不拖影的图像。这样，根据目标拍摄物相对拍摄装置的运动速度来确定作为参考值的安全快门，不同运动速度有对应的安全快门，相较于传统的通过焦距的倒数来确定安全快门的方式，使得安全快门更具有参考价值，能够拍摄出不模糊、不拖影的图像，有效提高照片的清晰度；基于拍摄物的位置确定目标拍摄物，不仅能够快速确定拍摄的主体，无需用户手动选择，提高操作便利性；还能使拍摄的图片具有和谐的布局，提高图片的美感。
图4所示为本申请一示例性实施例示出的另一种快门速度调节方法的流程图，本实施例在图1所示的示例性实施例的基础上，以如何确定目标拍摄物为例进行又一示例性说明，如图4所示，包括步骤401至405：
步骤401，当拍摄视野内包含多个拍摄物时，获取全部或者部分所述拍摄物相对拍摄装置的运动速度。
当检测到拍摄视野内包含多个拍摄物时，可以先确定哪个拍摄物为主要的目标拍摄物，本步骤中，获取拍摄视野内全部或者部分拍摄物相对拍摄装置的运动速度，也就是说，可以通过拍摄物相对拍摄装置的运动速度来确定目标拍摄物。在本申请的一种可能的实施方式中，当检测到拍摄视野内包含多个拍摄物时，可以直接获取拍摄视野内全部拍摄物相对拍摄装置的运动速度，在全部拍摄物中根据拍摄物的运动速度来确定目标拍摄物。在本申请的另一种可能的实施方式中，可以先对拍摄物进行筛选，作为一种示例，根据拍摄物的类别进行筛选，获取筛选得到的部分拍摄物相对拍摄装置的运动速度，在该部分拍摄物中根据拍摄物的运动速度来确定目标拍摄物。作为一种示例，拍摄物的类别可根据拍摄模式进行确定。
步骤402，基于所述运动速度确定所述目标拍摄物。
本步骤中，在获取全部或者部分拍摄物相对拍摄装置的运动速度后，根据全部或者部分拍摄物的运动速度的大小，确定目标拍摄物。在本申请的一种可能的实施方式中，在获取全部或者部分拍摄物相对拍摄装置的运动速度后，按照运动速度的数值由大到小或者由小到大的顺序进行排序，在排序中将指定运动速度对应的拍摄物确定目标拍摄物。
在本申请的一种可能的实施方式中，将运动速度最大的拍摄物确定为目标拍摄物。这样，根据运动速度最大的目标拍摄物的运动速度去确定对应的安全快门，而基于该安全快门调节的快门速度去拍摄整个视野范围内的物体，不但目标拍摄物的图像是清晰的，也可以确保其他的拍摄物也是清晰的。
步骤403，检测目标拍摄物相对拍摄装置的运动速度。
在本申请的一种可能的实施方式中，由于在步骤401中已检测到了目标拍摄物相对拍摄装置的运动速度，可无需执行步骤403。
步骤404，根据预先标定的运动速度与安全快门的映射关系，确定所述目标拍摄物相对拍摄装置的运动速度对应的安全快门。
步骤405，基于所述安全快门调节快门速度。
步骤403至405同上述步骤101至103，在此不再赘述。
在本申请的一种可能的实施方式中，在获取每一所述拍摄物相对拍摄装置的运动速度之前，可先确定当前采用的拍摄模式，通过图像语义分割技术或者其他图像识别技术获取每一个拍摄物的类别，将拍摄视野内拍摄物划分为风景类拍摄物和非风景类拍摄物，根据确定的拍摄模式，获取每一风景类拍摄物或者非风景类拍摄物相对拍摄装置的运动速度，从而确定目标拍摄物。若确定采用的是远景模式，则获取每一风景类拍摄物相对拍摄装置的运动速度即可，再从风景类拍摄物中根据运动速度确定目标拍摄物；若确定采用的是非远景模式，则获取每一非风景类拍摄物相对拍摄装置的运动速度即可，再从非风景类拍摄物中根据运动速度确定目标拍摄物。
图4所示的示例性实施例提供的上述方法，在视野范围内有多个拍摄物的情况下，根据拍摄物相对拍摄装置的运动速度确定目标拍摄物，并根据预先标定好的运动速度与安全快门的映射关系，来确定该运动速度对应的安全快门，将这个安全快门作为参考值，并基于这个安全快门来调节快门速度，使得采用该快门速度拍摄该目标拍摄物得到的图像为不模糊的、不拖影的图像。这样，根据目标拍摄物相对拍摄装置的 运动速度来确定作为参考值的安全快门，不同运动速度有对应的安全快门，相较于传统的通过焦距的倒数来确定安全快门的方式，使得安全快门更具有参考价值，能够拍摄出不模糊、不拖影的图像，有效提高照片的清晰度；基于拍摄物的运动速度确定目标拍摄物，不仅能够快速确定拍摄的主体，无需用户手动选择，提高操作便利性；还能使拍摄整个视野范围内的物体，不但目标拍摄物的图像是清晰的，也可以确保其他拍摄物也是清晰的。
图5所示为本申请一示例性实施例示出的另一种快门速度调节方法的流程图，本实施例利用图1所示的示例性实施例提供的上述方法，以如何进一步提高拍摄效果及图片质量为例进行一示例性说明，如图5所示，包括步骤501至504：
步骤501，检测目标拍摄物相对拍摄装置的运动速度。
步骤502，根据预先标定的运动速度与安全快门的映射关系，确定所述目标拍摄物相对拍摄装置的运动速度对应的安全快门。
步骤503，基于所述安全快门调节快门速度。
步骤501至503同上述步骤101至103，在此不再赘述。
步骤504，基于所述安全快门调节感光度。
本步骤中，还根据确定的安全快门调节拍摄目标拍摄物所采用的感光度。感光度，又称ISO值，用于表示拍摄装置的感光元件的灵敏程度。
一般来说，照片是否清晰与曝光量有关，而曝光量与光圈、快门速度、感光度有关，上述几个参数之间的关系可以通过曝光方程来表示：E v＝A v+T v＝S v+B v。其中，A v表示光圈大小，其值每增加一个单位，表示进光量减少一半；T v表示快门速度快慢，其值每增加一个单位，表示进光量减少一半；S v表示相机感度，其值每增加一个单位，表示相机对同样进光量的敏感程度增加一倍，表现在图像上就是亮度增加一倍；B v表示环境光的平均亮度，其值每增加一个单位，表示环境光平均亮度增加一倍；E v表示当前曝光值，当E v值一样时，表示具有相同的曝光效果。
可以理解，当光圈或者快门速度增大时，进光量会减小，也就是说，拍摄得到的图片的亮度会变低，因此，为了保持图片的亮度，即保持曝光一致，会增大感光度或者环境光的平均亮度。同理，当光圈或者快门速度减小时，进光量会增大，也就是说，拍摄得到的图片的亮度会变高，因此，为了保持图片的亮度，即保持曝光一致， 会减小感光度或者环境光的平均亮度。一般地，环境光的平均亮度是固定的，因此主要通过调节光圈、快门速度和感光度来满足曝光需求。
在本申请的一种可能的实施方式中，当所述目标拍摄物的运动速度分别为第一运动速度和第二运动速度时，调节对应的感光度分别为第一感光度和第二感光度，其中，所述第一运动速度大于所述第二运动速度，所述第一感光度大于所述第二感光度。由于目标拍摄物的运动速度越大，对应的安全快门速度越大；目标拍摄物的运动速度越小，对应的安全快门速度越小。当根据较大的安全快门速度调节快门速度时，可以适当调节感光度增大，以使在提高拍摄到的图片清晰度的情况下保持图片的亮度；同理，当根据较小的安全快门速度调节快门速度时，可以适当调节感光度减小。
需要说明的是，步骤503和步骤504可以是先后执行，也可以是同时执行。
在本申请的一种可能的实施方式中，上述方法应用于相机或者具备拍摄功能的设备(例如卡片相机、数码相机、单反相机、运动相机、云台相机、摄像头、智能手机、平板电脑等)的场景时，步骤501至504可以是由相机或者具备拍摄功能的设备执行。
在本申请的另一种可能的实施方式中，上述方法应用于具备设置拍摄参数功能的设备(例如手持云台、无人机等)的场景时，通常地，这些设备还与拍摄装置配合使用，可以是步骤501至504由具备设置拍摄参数功能的设备执行，具备设置拍摄参数功能的设备将步骤503和504调节的快门速度和感光度发送给拍摄装置，拍摄装置根据接收到的快门速度和感光度对目标拍摄物进行拍摄；也可以是步骤501至步骤502由具备设置拍摄参数功能的设备执行，具备设置拍摄参数功能的设备将步骤502确定的安全快门发送给拍摄装置，拍摄装置根据接收到的安全快门来调节快门速度和感光度，并根据调节的快门速度和感光度对目标拍摄物进行拍摄。在本申请的一种可能的实施方式中，可以是发送到拍摄装置的曝光控制模块。
图5所示的示例性实施例提供的上述方法，获取目标拍摄物相对拍摄装置的运动速度，并根据预先标定好的运动速度与安全快门的映射关系，来确定该运动速度对应的安全快门，将这个安全快门作为参考值，并基于这个安全快门来调节快门速度，使得采用该快门速度拍摄该目标拍摄物得到的图像为不模糊的、不拖影的图像。这样，根据目标拍摄物相对拍摄装置的运动速度来确定作为参考值的安全快门，不同运动速度有对应的安全快门，相较于传统的通过焦距的倒数来确定安全快门的方式，使得安全快门更具有参考价值，能够拍摄出不模糊、不拖影的图像，有效提高照片的清晰度。 为了进一步提高拍摄效果，还基于确定的安全快门来调节感光度，使得采用该快门速度与感光度的组合拍摄该目标拍摄物所得到的图像既不模糊、不拖影，也保持图像的亮度，从而提高拍摄效果及图片质量。
以上实施方式中的各种技术特征可以任意进行组合，只要特征之间的组合不存在冲突或矛盾，但是限于篇幅，未进行一一描述。
本申请还提供了一种安全快门标定方法，用于标定运动速度与安全快门的映射关系。所述安全快门标定方法可以应用于计算机设备中，该计算机设备可以包括拍摄装置，由自带的拍摄装置进行图像采集，也可以是外接拍摄装置，外接的拍摄装置将采集的图像发送给计算机设备。如图6所示为本申请一示例性实施例示出的一种安全快门标定方法的流程图，该方法包括步骤601至604：
步骤601，检测目标拍摄物相对拍摄装置的匀速移动的运动速度。
本步骤中，检测目标拍摄物相对拍摄装置的运动速度，并记录下来，采用相对拍摄装置作匀速移动的目标拍摄物进行检测，一方面有利于获取运动速度，另一方面，也有利于标定该运动速度对应的安全快门，能够避免运动速度的变量对标定的影响。
在本申请的一种可能的实施方式中，所述运动速度基于所述目标拍摄物单位时间内在拍摄视野内移动的像素点个数确定。也就是说，通过检测目标拍摄物在单位时间内，在拍摄视野内移动了多少个像素点来确定运动速度。因此，目标拍摄物的运动速度的表达式为：目标拍摄物的运动速度＝目标拍摄物在拍摄视野内移动的像素点个数/目标拍摄物的运动时间，其中，像素点个数的单位为pixel，运动时间的单位可以是s(秒)、ms(微秒)或者ns(纳秒)，所述运动速度可以为pixel/s、pixel/ms或者pixel/ns。
在本申请的一种可能的实施方式中，当所述拍摄视野内包含相对静止的背景时，获取所述目标拍摄物相对拍摄装置的运动速度的方式包括：背景差分法、帧间差分法、光流法和/或混合高斯模型背景法。可以采用上述任一种方法进行检测，也可以采用上述一种以上的方法的任意组合进行检测。在本申请的一种可能的实施方式中，当所述拍摄视野内包含相对运动的背景时，获取所述目标拍摄物相对拍摄装置的运动速度的方式包括：块匹配法和/或光流估计法。
为了便于标定运动速度与安全快门的映射关系，在本申请的一种可能的实施方式中，采用相对静止的背景和/或一个目标拍摄物进行运动速度的检测。采用相对静止的背景，即无需考虑背景的运动状态，以便更容易检测目标拍摄物的运动速度；采用 一个目标拍摄物，即只需检测一个拍摄物的运动速度，以便更容易检测目标拍摄物的运动速度。采用相对静止的背景和一个目标拍摄物，无需考虑背景的运动状态，只需检测一个拍摄物的运动速度，进一步降低检测目标拍摄物的运动速度的运动速度。
步骤602，遍历所有可使用的快门速度，利用每个快门速度拍摄所述目标拍摄物。
本步骤中，所有可使用的快门速度是指拍摄装置可支持使用的所有快门速度，分别采用每一个快门速度对在该运动速度下匀速移动的目标拍摄物进行拍摄，利用每一个快门速度拍摄均可获取一张包含目标拍摄物图像的图片。在本申请的一种可能的实施方式中，拍摄装置可支持使用的快门速度以快门速度范围表示，可以根据拍摄装置的最小调节精度划分为多个快门速度值，遍历所有快门速度值，利用每个快门速度值拍摄目标拍摄物。例如，某个拍摄装置可支持使用的快门速度范围是8S-1/8000s，其最小调节精度为1/7200000，根据最小调节精度1/7200000将快门速度范围8S-1/8000s划分为多个快门速度值，采用划分的所有快门速度值逐一拍摄目标拍摄物。
为了避免其他因素影响运动速度与安全快门的映射关系的标定，在本申请的一种可能的实施方式中，所述目标拍摄物在同一光照强度的环境下进行拍摄。在本申请的一种可能的实施方式中，所述拍摄装置配置同一大小的光圈对所述目标拍摄物进行拍摄。在本申请的一种可能的实施方式中，所述拍摄装置配置同一大小的感光度对所述目标拍摄物进行拍摄。
步骤603，确定所拍摄的目标拍摄物能够清晰成像的最小快门速度。
本步骤中，在遍历所有可使用的快门速度对在该运动速度下匀速移动的目标拍摄物进行拍摄获取多张图片后，判断每一张图片中目标拍摄物的图像是否清晰成像，这些图片当中有模糊成像的，也有清晰成像的。在一些例子中，可按照快门速度的数值由大到小或者由小到大的顺序对图片进行排序，以图片按照由小到大的顺序排列为例，快门速度越大，其对应拍摄的图片中目标拍摄物的图像的清晰度越高，在这个排序中，图片由模糊逐渐变成清晰，可以通过判断找到在模糊成像与清晰成像的边界靠近清晰成像的图片，可以说，该图片是可确定为清晰成像的第一张图片，其对应使用的快门速度为能够清晰成像的最小快门速度。也就是说，采用该最小快门速度拍摄在该运动速度下移动的目标拍摄物，能够恰好使得目标拍摄物清晰成像。
关于如何判断在模糊成像与清晰成像的边界靠近清晰成像的图片，可采用机器 判断或者人工判断的方式。
在本申请的一种可能的实施方式中，确定所拍摄的目标拍摄物能够清晰成像的最小快门速度的步骤包括：检测利用每个可使用的快门速度拍摄的所述目标拍摄物的拖影长度；确定所述拖影长度不大于预设拖影长度的目标拍摄物的图像；选取所述拖影长度最大的图像，并将所选取的图像所使用的快门速度确定为最小快门速度。
当拍摄运动中的拍摄物时，获得的图像上会有拖影，拖影严重的会产生视觉模糊，图像的细节不够清晰。本实施方式中，可根据拖影长度来判断图像是否清晰。在利用每个可使用的快门速度分别为以某运动速度匀速移动的目标拍摄物拍摄了图片后，检测每一张图片上目标拍摄物的图像的拖影长度的大小，并与预先设定的一个阈值即预设拖影长度相比，这个阈值设置为清晰成像的标准，确定拖影长度不大于预设拖影长度的目标拍摄物的图像，这部分拖影长度不大于预设拖影长度的图像即为清晰成像的图像。在这部分图像中，选取其拖影长度最接近预设拖影长度的图像，该图像为能够恰好清晰成像的图像，拍摄该图像所采用的快门速度则确定为能够清晰成像的最小快门速度。
在本申请的一种可能的实施方式中，确定所拍摄的目标拍摄物能够清晰成像的最小快门速度的步骤包括：将用户指定的目标拍摄物的图像所使用的快门速度为最小快门速度。本实施方式中，则通过人工判断的方式去确定最小快门速度。在利用每个可使用的快门速度分别为以某运动速度匀速移动的目标拍摄物拍摄了图片后，将所有图片显示给用户，例如，按照快门速度的数值由大到小或者由小到大的顺序对图片排序进行展示，用户经过判断所有图片，选取能够恰好清晰成像的图像并发送指定指令，在接收到用户的指定指令后，确定拍摄该图像所使用的快门速度为最小快门速度。
步骤604，将所述最小快门速度标定为所述运动速度对应的安全快门。
本步骤中，将能够恰好使得目标拍摄物清晰成像的最小快门速度标定为该运动速度对应的安全快门，由此建立了该运动速度与该安全快门之间的映射关系。在完成一个运动速度标定对应的安全快门后，则改变运动速度的大小，循环执行步骤601至步骤604，获取不同的运动速度与不同的安全快门之间的映射关系。
在本申请的一种可能的实施方式中，所述将所述最小快门速度标定为所述运动速度对应的安全快门的步骤之后包括：将运动速度与安全快门的映射关系存储于本地或者服务器。以便在实际应用时，能够根据该映射关系调节快门速度。在本申请的一 种可能的实施方式中，运动速度与安全快门的映射关系以列表的形式存储于本地或者服务器，通过调用、查询列表获取运动速度对应的安全快门，从而基于安全快门调节快门速度。
在本申请的一种可能的实施方式中，所述运动速度与安全快门的映射关系包括：运动速度为零的安全快门为焦距的倒数。也就是说，当目标拍摄物相对拍摄装置的运动速度为零时，即相对静止，拍摄相对静止的目标拍摄物，采用焦距的倒数的安全快门进行拍摄，得到的图像为清晰成像的图像，根据该安全快门调节快门速度，即可拍摄得到清晰的图像。
在本申请的一种可能的实施方式中，在运动速度与安全快门的映射关系中，最小的运动速度为零，其对应的安全快门为焦距的倒数；最大的运动速度对应的安全快门为拍摄装置可支持使用的最大快门速度。
图6所示的示例性实施例提供的上述安全快门标定方法，通过检测匀速移动的目标拍摄物相对拍摄装置的运动速度，并采用拍摄装置所有可支持使用的快门速度对该匀速移动中的目标拍摄物进行拍摄，判断每一张图片中目标拍摄物的图像是否清晰成像，确定能够恰好使得目标拍摄物清晰成像的图片对应使用的快门速度为能够清晰成像的最小快门速度，将该最小快门速度标定为该运动速度所对应的安全快门。由此得到运动速度与安全快门的映射关系，使得在需要拍摄运动中的物体时，在获取了物体的运动速度后，可根据上述标定好的运动速度与安全快门的映射关系，来确定该运动速度对应的安全快门，将这个安全快门作为参考值，并基于这个安全快门来调节快门速度，使得采用该快门速度拍摄该目标拍摄物得到的图像为不模糊的、不拖影的图像。这样，根据目标拍摄物相对拍摄装置的运动速度来确定作为参考值的安全快门，不同运动速度有对应的安全快门，相较于传统的通过焦距的倒数来确定安全快门的方式，使得安全快门更具有参考价值，能够拍摄出不模糊、不拖影的图像，有效提高照片的清晰度。
本申请还提供了一种便携式设备，适用于执行上述任一实施例中所述的快门速度调节方法。如图7所示为本申请一示例性实施例示出的一种便携式设备的结构框图，该便携式设备70包括：处理器701及用于存储处理器可执行指令的存储器702，其中，所述处理器被配置为执行上述任一实施例中所述的快门速度调节方法的步骤。
在本申请的一种可能的实施方式中，所述便携式设备为具有拍摄功能的智能终端，所述智能终端还包括摄像头，所述摄像头与所述处理器电性连接；所述摄像头用 于根据所述快门速度拍摄所述目标拍摄物。本实施方式中，智能终端还具有可视化可操作性界面，用户通过发送指令启动拍摄功能时，摄像头拍摄的成像的视频流展示在可视化可操作性界面上，用户通过移动智能终端将目标拍摄物出现在拍摄视野内，处理器可执行快门速度调节方法的步骤：检测目标拍摄物相对拍摄装置的运动速度；根据预先标定的运动速度与安全快门的映射关系，确定所述目标拍摄物相对拍摄装置的运动速度对应的安全快门；基于所述安全快门调节快门速度。用户可发送拍摄指令，智能终端的电子快门则根据接收到的快门速度对目标拍摄物进行拍摄，拍摄所得到的目标拍摄物的图像为清晰的、不模糊、不拖影的图像。所述智能终端可以是智能手机、便携式电脑、平板电脑、智能手表等，本申请不作具体的限定。
在本申请的一种可能的实施方式中，所述便携式设备为相机，所述相机还包括镜头和快门机构，所述快门机构与所述处理器电性连接；所述镜头用于生成所述目标拍摄物的光学影像；所述快门机构用于根据所述快门速度拍摄所述目标拍摄物。本实施方式中，所述相机还包括观景窗和/或显示屏，当启动拍摄功能时，用户可通过观景窗和/或显示屏查看当前镜头的拍摄视野，用户可通过移动相机将镜头对准目标拍摄物，使得目标拍摄物出现在拍摄视野内，处理器可执行快门速度调节方法的步骤：检测目标拍摄物相对拍摄装置的运动速度；根据预先标定的运动速度与安全快门的映射关系，确定所述目标拍摄物相对拍摄装置的运动速度对应的安全快门；基于所述安全快门调节快门速度。当用户按下快门按钮时，快门机构则根据接收到的快门速度对目标拍摄物进行拍摄，拍摄所得到的目标拍摄物的图像为清晰的、不模糊、不拖影的图像。所述相机可以是单反相机、数码相机、云台相机、运动相机等。
在本申请的一种可能的实施方式中，所述相机为单反相机。用户可通过调节单反相机镜头的焦距来调节拍摄视野。例如，采用焦距较大的镜头，可拍摄自然景色、群众活动大场面等场景，即采用远景模式拍摄，本实施例单反相机中的处理器，可判断当前拍摄模式为远景模式，可确定目标拍摄物为风景类拍摄物，当识别到拍摄视野内包括多个风景类拍摄物时，可获取每一风景类拍摄物的预设权重或者在拍摄视野内的位置或者相对相机的运动速度，选取预设权重最大的或者位置与拍摄视野内预设位置之间的距离最近的或者运动速度最大的风景类拍摄物为目标拍摄物，再去根据目标拍摄物的运动速度确定安全快门，基于安全快门调节快门速度。又如，采用焦距较小的镜头，可拍摄人物、动物等细节画面，即采用非远景模式拍摄，本实施例单反相机中的处理器，可判断当前拍摄模式为非远景模式，可确定目标拍摄物为非风景类拍摄物，当识别到拍摄视野内包括多个非风景类拍摄物时，可获取每一非风景类拍摄物的 预设权重或者在拍摄视野内的位置或者相对相机的运动速度，选取预设权重最大的或者位置与拍摄视野内预设位置之间的距离最近的或者运动速度最大的非风景类拍摄物为目标拍摄物，再去根据目标拍摄物的运动速度确定安全快门，基于安全快门调节快门速度。
在本申请的一种可能的实施方式中，所述相机为云台相机。云台相机是将云台与相机集成一体的相机。云台相机相较于便携、小巧，适用于用户手持拍摄非远景的画面，即主要采用非远景模式拍摄，这样，其主要的目标拍摄物为非风景类拍摄物，例如，人、动物、汽车等。在拍摄运动中的非风景类拍摄物时，可获取每一非风景类拍摄物的预设权重或者在拍摄视野内的位置或者相对相机的运动速度，选取预设权重最大的或者位置与拍摄视野内预设位置之间的距离最近的或者运动速度最大的非风景类拍摄物为目标拍摄物，再去根据目标拍摄物的运动速度确定安全快门，基于安全快门调节快门速度。由于云台相机包括有稳定器，具有防抖功能，能够进一步提高图像的清晰度。
在本申请的一种可能的实施方式中，所述相机为运动相机。运动相机主要应用于徒步、登山、攀岩、骑行、滑翔、滑雪、游泳、潜水等运动环境下拍摄，其处理器执行快门速度调节方法的步骤来调节拍摄的快门速度，能够有效提高图像的清晰度。
在本申请的一种可能的实施方式中，所述便携式设备为手持云台，所述手持云台用于承载拍摄设备；所述处理器及所述存储器设置于所述云台内，所述处理器将所述快门速度发送给拍摄设备，以使拍摄设备根据所述快门速度拍摄所述目标拍摄物。所述手持云台可通过有线或者无线的方式与拍摄设备连接，示例性地，处理器与拍摄设备连接，处理器获取拍摄设备拍取的视频流，检测视频流中目标拍摄物相对拍摄设备的运动速度，根据运动速度确定对应的安全快门。在本申请的一种可能的实施方式中，处理器将安全快门发送给拍摄设备，拍摄设备根据接收到的安全快门调节快门速度，采用调节后的快门速度对目标拍摄物进行拍摄。在本申请的一种可能的实施方式中，处理器根据安全快门调节快门速度，将调节后的快门速度发送给拍摄设备，拍摄设备根据接收到的快门速度对目标拍摄物进行拍摄。在本申请的一种可能的实施方式中，手持云台的处理器通过发送拍摄控制指令，控制拍摄设备根据调节后的快门速度执行拍摄，以获得能够清晰成像的图片。本实施例的手持云台，具有防抖功能，能够进一步提高图像的清晰度。拍摄设备可以是智能手机、平板电脑、相机等，本申请不作具体的限定。
本申请还提供了一种无人机，适用于执行上述任一实施例中所述的快门速度调节方法。如图8所示为本申请一示例性实施例示出的一种无人机的结构框图，该无人机80包括：云台801、处理器802及用于存储处理器可执行指令的存储器803，其中，所述云台801用于承载拍摄设备81；所述处理器802被配置为执行上述任一实施例中所述的快门速度调节方法的步骤；所述处理器802还被配置为将所述快门速度发送给拍摄设备81，以使拍摄设备81根据所述快门速度拍摄所述目标拍摄物。无人机主要应用于拍摄远景的画面，即主要采用非远景模式拍摄，这样，其主要的目标拍摄物为非风景类拍摄物，例如，自然风光等。在拍摄风景类拍摄物时，可获取每一风景类拍摄物的预设权重或者在拍摄视野内的位置或者相对拍摄设备的运动速度，选取预设权重最大的或者位置与拍摄视野内预设位置之间的距离最近的或者运动速度最大的风景类拍摄物为目标拍摄物，再根据目标拍摄物的运动速度确定对应的安全快门。在本申请的一种可能的实施方式中，处理器将安全快门发送给拍摄设备，拍摄设备根据接收到的安全快门调节快门速度，采用调节后的快门速度对目标拍摄物进行拍摄。在本申请的一种可能的实施方式中，处理器根据安全快门调节快门速度，将调节后的快门速度发送给拍摄设备，拍摄设备根据接收到的快门速度对目标拍摄物进行拍摄。在本申请的一种可能的实施方式中，无人机的处理器通过发送拍摄控制指令，控制拍摄设备根据调节后的快门速度执行拍摄，以获得能够清晰成像的图片。由于拍摄设备承载在无人机的云台上，具有防抖功能，能够进一步提高图像的清晰度。在本申请的一种可能的实施方式中，处理器802与云台801连接，处理器802控制云台801的转动，从而控制承载于云台801的拍摄设备81转动。本实施例的无人机可以是多旋翼式无人机、固定翼式无人机，或者其他无人机，本申请不作具体的限定。拍摄设备可以是智能手机、平板电脑、相机等，本申请不作具体的限定。
本申请还提供了一种计算机可读存储介质，其上存储有计算机程序，所述程序被处理器执行时实现的步骤如下：检测目标拍摄物相对拍摄装置的运动速度；根据预先标定的运动速度与安全快门的映射关系，确定所述目标拍摄物相对拍摄装置的运动速度对应的安全快门；基于所述安全快门调节快门速度。
对于装置实施例而言，由于其基本对应于方法实施例，所以相关之处参见方法实施例的部分说明即可。以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领 域普通技术人员在不付出创造性劳动的情况下，即可以理解并实施。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
上述对本申请特定实施例进行了描述。其它实施例在所附权利要求书的范围内。在一些情况下，在权利要求书中记载的动作或步骤可以按照不同于实施例中的顺序来执行并且仍然可以实现期望的结果。另外，在附图中描绘的过程不一定要求示出的特定顺序或者连续顺序才能实现期望的结果。在某些实施方式中，多任务处理和并行处理也是可以的或者可能是有利的。
本领域技术人员在考虑说明书及实践这里申请的发明后，将容易想到本申请的其它实施方案。本申请旨在涵盖本申请的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本申请的一般性原理并包括本申请未申请的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本申请的真正范围和精神由下面的权利要求指出。
应当理解的是，本申请并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本申请的范围仅由所附的权利要求来限制。
以上对本发明实施例所提供的方法和装置进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。

Claims (30)

  1. 一种快门速度调节方法，其特征在于，包括：
    检测目标拍摄物相对拍摄装置的运动速度；
    根据预先标定的运动速度与安全快门的映射关系，确定所述目标拍摄物相对拍摄装置的运动速度对应的安全快门；
    基于所述安全快门调节快门速度。
  2. 根据权利要求1所述的快门速度调节方法，其特征在于，所述运动速度基于所述目标拍摄物单位时间内在拍摄视野内移动的像素点个数确定。
  3. 根据权利要求1所述的快门速度调节方法，其特征在于，当所述目标拍摄物的运动速度分别为第一运动速度和第二运动速度时，确定对应的安全快门分别为第一安全快门和第二安全快门，其中，所述第一运动速度大于所述第二运动速度，所述第一安全快门大于所述第二安全快门。
  4. 根据权利要求1所述的快门速度调节方法，其特征在于，检测目标拍摄物相对拍摄装置的运动速度之前，还包括确定目标拍摄物的步骤：
    当拍摄视野内包含多个拍摄物时，获取全部或者部分所述拍摄物的预设权重；
    基于预设权重确定目标拍摄物。
  5. 根据权利要求4所述的快门速度调节方法，其特征在于，所述预设权重的值根据不同拍摄物的类别设置。
  6. 根据权利要求4所述的快门速度调节方法，其特征在于，所述基于预设权重确定目标拍摄物的步骤包括：
    如果目标预设权重对应的拍摄物不止一个，则基于所述拍摄物的位置与所述拍摄视野内预设位置的距离确定目标拍摄物，其中，所述目标预设权重是所获取的预设权重中用来确定目标拍摄物的权重。
  7. 根据权利要求4所述的快门速度调节方法，其特征在于，所述基于预设权重确定目标拍摄物的步骤包括：
    如果目标预设权重对应的拍摄物不止一个，则基于所述拍摄物相对拍摄装置的运动速度确定目标拍摄物，其中，所述目标预设权重是所获取的预设权重中用来确定目标拍摄物的权重。
  8. 根据权利要求1所述的快门速度调节方法，其特征在于，所述方法应用于便携式设备，所述目标拍摄物为非风景类拍摄物；或，
    所述方法应用于无人机，所述目标拍摄物为风景类拍摄物。
  9. 根据权利要求4或5所述的快门速度调节方法，其特征在于，在不同的拍摄模式中，同一所述拍摄物的预设权重的大小不同。
  10. 根据权利要求9所述的快门速度调节方法，其特征在于，在远景模式中，风景类拍摄物的预设权重大于非风景类拍摄物的预设权重。
  11. 根据权利要求9所述的快门速度调节方法，其特征在于，在非远景模式中，非风景类拍摄物的预设权重大于风景类拍摄物的预设权重。
  12. 根据权利要求8至11任一项中所述的快门速度调节方法，其特征在于，所述风景类拍摄物为自然景观和人文景观的对象，所述非风景类拍摄物为除去自然景观和人文景观以外的对象。
  13. 根据权利要求1所述的快门速度调节方法，其特征在于，检测目标拍摄物相对拍摄装置的运动速度之前，还包括确定目标拍摄物的步骤：
    当拍摄视野内包含多个拍摄物时，获取全部或者部分所述拍摄物在所述拍摄视野内的位置；
    基于所述拍摄物的位置与所述拍摄视野内预设位置的距离确定目标拍摄物。
  14. 根据权利要求1所述的快门速度调节方法，其特征在于，检测目标拍摄物相对拍摄装置的运动速度之前，还包括确定目标拍摄物的步骤：
    当拍摄视野内包含多个拍摄物时，获取全部或者部分所述拍摄物相对拍摄装置的运动速度；
    基于所述运动速度确定所述目标拍摄物。
  15. 根据权利要求1所述的快门速度调节方法，其特征在于，所述方法还包括：基于所述安全快门调节感光度。
  16. 根据权利要求15所述的快门速度调节方法，其特征在于，当所述目标拍摄物的运动速度分别为第一运动速度和第二运动速度时，调节对应的感光度分别为第一感光度和第二感光度，其中，所述第一运动速度大于所述第二运动速度，所述第一感光度大于所述第二感光度。
  17. 一种安全快门标定方法，其特征在于，所述方法包括：
    检测目标拍摄物相对拍摄装置的匀速移动的运动速度；
    遍历所有可使用的快门速度，利用每个快门速度拍摄所述目标拍摄物；
    确定所拍摄的目标拍摄物能够清晰成像的最小快门速度；
    将所述最小快门速度标定为所述运动速度对应的安全快门。
  18. 根据权利要求17所述的快门速度调节方法，其特征在于，所述运动速度基于 所述目标拍摄物单位时间内在拍摄视野内移动的像素点个数确定。
  19. 根据权利要求17所述的安全快门标定方法，其特征在于，所述将所述最小快门速度标定为所述运动速度对应的安全快门的步骤之后包括：
    将运动速度与安全快门的映射关系存储于本地或者服务器。
  20. 根据权利要求19所述的安全快门标定方法，其特征在于，所述运动速度与安全快门的映射关系包括：运动速度为零的安全快门为焦距的倒数。
  21. 根据权利要求17所述的安全快门标定方法，其特征在于，确定所拍摄的目标拍摄物能够清晰成像的最小快门速度的步骤包括：
    检测利用每个可使用的快门速度拍摄的所述目标拍摄物的拖影长度；
    确定所述拖影长度不大于预设拖影长度的目标拍摄物的图像；
    选取所述拖影长度最大的图像，并将所选取的图像所使用的快门速度确定为最小快门速度。
  22. 根据权利要求17所述的安全快门标定方法，其特征在于，确定所拍摄的目标拍摄物能够清晰成像的最小快门速度的步骤包括：
    将用户指定的目标拍摄物的图像所使用的快门速度为最小快门速度。
  23. 一种便携式设备，其特征在于，包括处理器及用于存储处理器可执行指令的存储器，其中，所述处理器被配置为执行权利要求1至16任一项中所述的快门速度调节方法的步骤。
  24. 根据权利要求23所述的便携式设备，其特征在于，所述便携式设备为具有拍摄功能的智能终端，所述智能终端还包括摄像头，所述摄像头与所述处理器电性连接；
    所述摄像头用于根据所述快门速度拍摄所述目标拍摄物。
  25. 根据权利要求23所述的便携式设备，其特征在于，所述便携式设备为相机，所述相机还包括镜头和快门机构，所述快门机构与所述处理器电性连接；
    所述镜头用于生成所述目标拍摄物的光学影像；
    所述快门机构用于根据所述快门速度拍摄所述目标拍摄物。
  26. 根据权利要求25所述的便携式设备，其特征在于，所述相机为云台相机。
  27. 根据权利要求25所述的便携式设备，其特征在于，所述相机为运动相机。
  28. 根据权利要求23所述的便携式设备，其特征在于，所述便携式设备为手持云台，所述手持云台用于承载拍摄设备；
    所述处理器及所述存储器设置于所述云台内，所述处理器将所述快门速度发送给拍摄设备，以使拍摄设备根据所述快门速度拍摄所述目标拍摄物。
  29. 一种无人机，其特征在于，包括：
    云台，用于承载拍摄设备；
    处理器及用于存储处理器可执行指令的存储器，其中，所述处理器被配置为执行权利要求1至16任一项中所述的快门速度调节方法的步骤；以及将所述快门速度发送给拍摄设备，以使拍摄设备根据所述快门速度拍摄所述目标拍摄物。
  30. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，所述程序被处理器执行时实现权利要求1至16任一项中所述的快门速度调节方法的步骤。
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