WO2022061534A1 - 拍摄控制方法、装置、云台、跟焦器电机及存储介质 - Google Patents

拍摄控制方法、装置、云台、跟焦器电机及存储介质 Download PDF

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Publication number
WO2022061534A1
WO2022061534A1 PCT/CN2020/116893 CN2020116893W WO2022061534A1 WO 2022061534 A1 WO2022061534 A1 WO 2022061534A1 CN 2020116893 W CN2020116893 W CN 2020116893W WO 2022061534 A1 WO2022061534 A1 WO 2022061534A1
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WO
WIPO (PCT)
Prior art keywords
photographing
target
distance
shooting
size
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Application number
PCT/CN2020/116893
Other languages
English (en)
French (fr)
Inventor
黄常建
殷汇鹏
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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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 CN202080017503.3A priority Critical patent/CN113678427B/zh
Priority to PCT/CN2020/116893 priority patent/WO2022061534A1/zh
Publication of WO2022061534A1 publication Critical patent/WO2022061534A1/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
    • H04N23/60—Control of cameras or camera modules
    • H04N23/67—Focus control based on electronic image sensor signals
    • H04N23/671—Focus control based on electronic image sensor signals in combination with active ranging signals, e.g. using light or sound signals emitted toward objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/95—Computational photography systems, e.g. light-field imaging systems
    • H04N23/958—Computational photography systems, e.g. light-field imaging systems for extended depth of field imaging
    • H04N23/959—Computational photography systems, e.g. light-field imaging systems for extended depth of field imaging by adjusting depth of field during image capture, e.g. maximising or setting range based on scene characteristics

Definitions

  • the present application relates to the field of control technology, and in particular, to a shooting control method, device, pan/tilt head, follow focus motor, and storage medium.
  • the sliding zoom of the shooting device can be realized through the gimbal, that is, the Hitchcock-style zoom.
  • the position and focal length of the shooting device change synchronously during shooting, so that the subject remains unchanged in the screen, and the background appears zoomed. This results in a stronger visual impact.
  • the implementation of Hitchcock-style zoom is mainly that the user manually moves the photographing device, and at the same time manually adjusts the focal length of the photographing device or the focal length changes at a fixed rate, and at the same time the user manually adjusts the moving speed of the photographing device according to the fixed rate.
  • the process is cumbersome, and the shooting requirements are relatively high. It is inconvenient for users to easily shoot videos with Hitchcock effect, and the user experience is not good.
  • the embodiments of the present application provide a shooting control method, device, pan/tilt head, follow focus motor, and storage medium, and aim to provide a method that is convenient for a user to easily implement sliding zoom of a shooting device.
  • an embodiment of the present application provides a shooting control method, the method comprising:
  • the follow focus motor engaged with the lens of the photographing device is controlled to drive the zoom of the lens according to the real-time distance, so that the size of the photographing target in the photographing frame of the photographing device is maintained at the target size.
  • an embodiment of the present application further provides a photographing control device, where the photographing control device includes a memory and a processor;
  • the memory for storing computer programs
  • the processor is configured to execute the computer program, and when executing the computer program, implement the steps of the photographing control method described in any one of the specification of this application.
  • an embodiment of the present application further provides a pan/tilt head, the pan/tilt head includes a bearing seat and the photographing control device described in any one of the specification of the present application, wherein a photographing device is detachably carried on the bearing seat superior.
  • an embodiment of the present application further provides a follow focus motor, and the follow focus motor includes the shooting control device described in any one of the specification of the present application.
  • an embodiment of the present application further provides a storage medium, where the storage medium stores a computer program, and when the computer program is executed by a processor, the processor enables the processor to implement any one of the items provided in the specification of the present application. Describe the steps of the shooting control method.
  • the embodiments of the present application provide a shooting control method, device, pan/tilt, follow focus motor and storage medium, and the present application obtains the real-time distance between the shooting device and the shooting target by using the sensor data collected by the distance sensor; and
  • the follow focus motor engaged with the lens of the photographing device is controlled according to the real-time distance to drive the zoom of the lens, so that the size of the photographing target in the photographing picture of the photographing device is maintained at the target size, which is convenient for the user Simple control of the shooting device to achieve sliding zoom, which greatly improves the user experience.
  • FIG. 1 is a schematic block diagram of the structure of a shooting system provided by an embodiment of the present application
  • FIG. 2 is a schematic diagram of a three-dimensional structure of a pan/tilt of a shooting system provided by an embodiment of the present application;
  • FIG. 3 is a schematic diagram of a three-dimensional structure of a photographing device of a photographing system provided by an embodiment of the present application;
  • FIG. 4 is a flowchart of steps of a shooting control method provided by an embodiment of the present application.
  • FIG. 5 is a schematic structural diagram of zooming performed by a lens provided by an embodiment of the present application.
  • FIG. 6 is a schematic structural diagram of the corresponding relationship between the object distance and the focal length when the lens realizes sliding zoom
  • FIG. 7 is a schematic structural block diagram of a photographing control apparatus provided by an embodiment of the present application.
  • the sliding zoom of the shooting device can be realized through the gimbal, that is, the Hitchcock-style zoom.
  • the position and focal length of the shooting device change synchronously during shooting, so that the subject remains unchanged in the screen, and the background appears zoomed. This results in a stronger visual impact.
  • the implementation of Hitchcock-style zoom is mainly that the user manually moves the photographing device, and at the same time manually adjusts the focal length of the photographing device or the focal length changes at a fixed rate, and at the same time the user manually adjusts the moving speed of the photographing device according to the fixed rate.
  • the process is cumbersome, and the shooting requirements are relatively high. It is inconvenient for users to easily shoot videos with Hitchcock effect, and the user experience is not good.
  • the embodiments of the present application provide a shooting control method, a device, a pan/tilt head, a follow focus motor, and a storage medium.
  • Real-time distance control the follow focus motor engaged with the lens of the photographing device to drive the zoom of the lens according to the real-time distance, so that the size of the photographing target in the photographing picture of the photographing device is maintained at the target size . It is convenient for the user to easily control the shooting device to realize sliding zoom, which greatly improves the user experience.
  • FIG. 1 is a schematic structural block diagram of a photographing system provided by an embodiment of the present application.
  • the photographing system 10 includes a gimbal 100, a photographing device 200 mounted on the gimbal 100 and connected to the gimbal 100 in communication, a distance sensor 300 relatively fixed to the photographing device 200, carried on the gimbal 100 and used to drive the photographing device 200 to perform zooming and tracking.
  • the distance sensor 300 can be installed on the pan/tilt 100 or on the photographing device 200, and the photographing device is a single-lens reflex camera, a mirrorless camera or a mirrorless camera, and the distance sensor 300 can be an optical signal distance sensor or an ultrasonic distance sensor, such as,
  • the distance sensor 300 is a TOF (Time of Flight) sensor.
  • the control device 400 may be set independently, and may also be set in the pan/tilt head 100, or in the photographing device 200, or in the follow focus motor 500, which is not limited herein.
  • the pan/tilt head 100 includes a handle portion 101 and a pan/tilt head portion 102 disposed on the handle portion 101 .
  • the pan/tilt part 102 is used to provide a bearing for an external device.
  • the pan/tilt portion 102 includes a bearing seat 1024 and a three-axis motor detachably connected to the bearing seat 1024 .
  • the pan/tilt portion 102 is provided with a bearing seat 1024 , and the photographing device 200 is detachably supported on the bearing seat 1024 .
  • the photographing device 200 may be integrally provided with the pan/tilt unit 102 .
  • the three-axis motor includes a pitch axis motor 1021, a roll axis motor 1022 and a yaw axis motor 1023, which are used to adjust the balance posture of the photographing device 200 mounted on the pan/tilt unit 102, so as to be able to be used anytime, anywhere. Capture high-precision stable images.
  • the gimbal portion 102 is also provided with an inertial measurement unit (Inertial measurement unit, IMU), which can be, for example, at least one of an accelerometer or a gyroscope, which can be used to measure the attitude and acceleration of the gimbal portion 102, so as to measure the attitude of the gimbal portion 102 according to the attitude Adjust the posture of the head unit 102 .
  • IMU inertial measurement unit
  • the handle portion 101 is also provided with an inertial measurement unit (Inertial measurement unit, IMU), for example including at least one of an accelerometer or a gyroscope, which can be used to measure the attitude and acceleration of the handle portion 101, etc., In order to adjust the posture of the pan-tilt portion 102 according to the posture of the handle portion 101 and the posture of the pan-tilt portion 102 .
  • IMU inertial measurement unit
  • the handle portion 101 is provided with a focus wheel 103 , and the focus wheel 103 is used to adjust the shooting parameters of the shooting device 200 mounted on the pan/tilt 102 .
  • the pan/tilt 100 is electrically connected to the follow focus motor 500 matched with the focus wheel 103 , and the focus wheel 103 is used to control the follow focus motor 500 to adjust the photographing device 200 mounted on the pan/tilt 102 through the follow focus motor 500 shooting parameters.
  • the handle portion 101 is also provided with a display screen, and the live view image obtained by the photographing device 200 can be transmitted to the display screen on the handle portion 101 for display. Make a selection or OK.
  • the photographing device 200 is provided with a follow focus ring 202 for adjusting the focal length of the lens 201 .
  • the follow focus motor 500 is engaged with the follow focus ring 202 , and the focus distance of the lens 201 is adjusted by driving the follow focus ring 202 to rotate.
  • the follow focus motor 500 may be detachably mounted on the bearing seat 1024 of the pan/tilt unit 102 , or the follow focus motor 500 may be integrally provided with the carrier seat 1024 of the pan/tilt unit 102 .
  • the distance sensor can be detachably installed on the photographing device 200 or on the pan/tilt 100 , so that the distance sensor and the photographing device 200 are relatively fixed.
  • the distance sensor 300 When the distance sensor 300 is detachably mounted on the photographing apparatus 200, it can be mounted on the hot shoe 204 of the photographing apparatus 200.
  • the distance sensor 300 When the distance sensor 300 is detachably installed on the gimbal 100 , it can be installed on the bearing base 1024 of the gimbal 100 .
  • the target size of the shooting target in the shooting screen of the shooting device 200 is set by the user. Specifically, the user obtains the live view screen of the shooting target through the shooting device 200, and adjusts the lens 201 so that the shooting target is located in the live view screen by adjusting the lens 201.
  • the size of the area is the preset target size, and the shooting device 200 can determine the target size of the shooting target according to the instruction by manipulating the shooting device 200 or the PTZ 100 communicatively connected to the shooting device 200 and sending an instruction to the shooting device 200 .
  • the user obtains the live view image of the shooting target through the shooting device 200, and adjusts the focus wheel 103 installed on the handle portion 101 of the pan/tilt 100 to make the size of the area where the shooting target is located in the live view image to be the preset target size, And by manipulating the photographing device 200 or the pan/tilt 100 to issue an instruction to the photographing device 200 , so that the photographing device 200 determines the target size of the photographing target according to the instruction.
  • FIG. 4 is a schematic flowchart of steps of a shooting control method provided by an embodiment of the present application.
  • the shooting control method can be applied to a shooting control device, a pan/tilt head or a follow focus motor.
  • the shooting control method is applied to a pan/tilt head as an example for description, but it is not limited that the shooting control method can only be applied to a cloud camera tower.
  • the photographing control method includes steps S101 to S102.
  • S101 Acquire a real-time distance between a photographing device and a photographing target according to the sensing data collected by the distance sensor.
  • the shooting device is carried on the gimbal and can be detachably installed on the bearing seat of the gimbal, and the shooting device is connected to the gimbal in communication, and the gimbal can send control commands to the shooting device to control the shooting device to perform corresponding operations, such as focusing Or determine the shooting target.
  • the distance sensor is an optical signal distance sensor or an ultrasonic distance sensor, and the distance sensor and the photographing device are relatively fixed.
  • the distance sensor can be detachably installed on the photographing device, or can be detachably installed on a bearing device that carries the photographing device.
  • the bearing device of the photographing device is a pan-tilt
  • the distance sensor can be detachably mounted on the pan-tilt, specifically, the distance The sensor is detachably installed on the bearing seat of the gimbal for bearing the photographing equipment.
  • the sensing data of the distance sensor includes at least the time difference between the reflected signals of the ranging signal.
  • the real-time distance between the shooting device and the shooting target can be calculated according to the time difference between the ranging signal and the reflected signal and the propagation speed of the ranging signal in the propagation medium.
  • the shooting target is the target to be shot selected by the user in the live view image obtained by the shooting device.
  • the user's selection operation of the shooting target may be determined by touching the corresponding button of the shooting device or the display device of the shooting device, or by manipulating the focusing wheel disposed on the handle of the PTZ, or by touching It can be determined by controlling the display screen arranged on the handle of the gimbal, which is not limited here.
  • the distance sensor is a TOF sensor, and the distance sensor is detachably disposed on the hot shoe of the photographing device.
  • the sensing data of the distance sensor includes the propagation speed of the ranging signal in the propagation medium, and the time difference between the ranging signal and the transmitted signal.
  • the shooting device After the shooting device obtains the live view picture, it transmits the live view picture to the display screen set on the handle part of the gimbal for display.
  • the user determines the shooting target by touching the display screen set on the handle part of the gimbal.
  • the station determines the shooting target according to the touch operation.
  • the gimbal controls the distance sensor to obtain the sensing data of the distance between the shooting target and the shooting device. By analyzing the sensing data, the real-time distance between the shooting device and the shooting target can be calculated.
  • the distance sensor includes a transmitting device for transmitting a ranging signal and a receiving device for receiving the shooting target to transmit the ranging signal, and the shooting device is acquired according to the sensing data collected by the distance sensor Real-time distance to the subject, including:
  • the real-time distance between the photographing target and the photographing device is determined according to the reflected signal received by the receiving device.
  • the pan/tilt transmits a real-time ranging signal to the shooting target by controlling the transmitting device, and controls the receiving device to receive the reflected signal, wherein the reflected signal is the signal that the real-time ranging signal encounters.
  • the receiving devices of the distance sensor are multiple and arranged in an array, that is, the receiving devices are arrays of receiving devices, so that the accuracy of the received reflected signals is more accurate.
  • S102 Control the follow focus motor engaged with the lens of the photographing device to drive the zoom of the lens according to the real-time distance, so that the size of the photographing target in the photographing picture of the photographing device is maintained at the target size.
  • the follow focus motor is detachably installed on the bearing seat of the gimbal and engages with the lens of the photographing device, and is used to drive the lens of the photographing device to zoom.
  • the follow focus motor is detachably carried on the bearing seat of the gimbal and is engaged with the focus ring of the lens of the photographing device, and the follow focus motor is electrically connected to the focus wheel of the gimbal, and the focus wheel is rotated by rotating the focus wheel.
  • the output shaft of the follow focus motor can be driven to rotate to control the lens of the photographing device to zoom.
  • the corresponding relationship can be called by measuring the real-time distance between the shooting device and the shooting target, and according to the corresponding relationship
  • the corresponding relationship is to control the follow focus motor engaged with the lens of the shooting device to drive the lens to zoom, so that the size of the shooting target in the shooting screen of the shooting device is maintained at the target size, so as to achieve sliding when shooting with the shooting device. zoom effect.
  • the relative rotational position of the follow focus motor at the corresponding distance when the shooting device and the shooting target are at the corresponding distance so that the relationship between the shooting device and the shooting target can be determined.
  • the corresponding relationship between the distance, the focal length of the lens and the rotation position of the follow focus motor, and the corresponding relationship is called according to the real-time distance to control the follow focus motor engaged with the lens of the shooting device to drive the lens to zoom. , so that the size of the shooting target in the shooting screen of the shooting device is maintained at the target size, so as to realize the sliding zoom effect when the shooting device is used for shooting.
  • the lens is a zoom lens. That is, the lens includes a first lens assembly L1, a second lens assembly L2, and a third lens assembly L3 arranged along the optical axis in sequence, wherein the second lens assembly L2 can be located between the first lens assembly L1 and the third lens assembly L3. It moves in the direction of the optical axis, thereby changing the focal length of the lens. Therefore, there is a first mapping relationship between the position of the second lens assembly L2 in the direction of the optical axis and the focal length of the lens.
  • the first lens assembly L1 may be a single lens, or a lens group including at least two lenses
  • the second lens assembly L2 may be a single lens, or a lens group including at least two lenses
  • the component L3 may be a single lens, or may be a lens group including at least two lenses.
  • the first lens assembly L1, the second lens assembly L2, and the third lens assembly L3 are all single-piece lenses for illustration, but are not limited to the first lens assembly L1, the second lens assembly L2, and the third lens assembly L3.
  • the three-lens assembly L3 can only be a single lens.
  • the zooming of the lens is realized by the follow focus motor driving the displacement of the second lens assembly L2 in the optical axis direction. Therefore, there is a difference between the rotation position of the follow focus motor and the position of the second lens assembly L2 in the optical axis direction.
  • the second mapping relationship is realized by the follow focus motor driving the displacement of the second lens assembly L2 in the optical axis direction.
  • the transmission parameters of the two-lens assembly L2 moving in the direction of the optical axis are constant, and can be calculated by measuring the rotational positions of the two follow focus motors corresponding to the two focal lengths.
  • the current object distance d can be equal to the real-time distance D between the current photographing device and the photographing target.
  • the correlation constant coefficients k 2 and b of the correspondence between the distance D between the photographing device and the photographing target, the focal length f of the lens, and the rotational position mp of the follow focus motor can be measured and calibrated in advance, so as to obtain the calibration
  • the corresponding relationship is stored in the memory of the PTZ. After the target size of the shooting target is determined, the corresponding relationship can be called through the real-time distance between the shooting device and the shooting target, and then the follow focus motor engaged with the lens of the shooting device is controlled according to the corresponding relationship to drive the lens to zoom , so that the size of the shooting target in the shooting screen of the shooting device is maintained at the target size, so as to realize the sliding zoom effect when the shooting device is used for shooting.
  • the shooting device and the shooting target determine the relative rotational position of the follow focus motor at the corresponding distance when the shooting device and the shooting target are at the corresponding distance, so that the shooting device and the shooting target can be determined.
  • the corresponding relationship between the distance, the focal length of the lens and the rotation position of the follow focus motor, and according to the corresponding relationship, the follow focus motor that is engaged with the lens of the shooting device is controlled to drive the lens to zoom, so as to The size of the shooting target in the shooting screen of the shooting device is maintained at the target size, so as to realize the sliding zoom effect when shooting with the shooting device.
  • the shooting control method further includes:
  • the photographing device When the photographing device is at a first distance from the photographing target, determine a first measured distance between the photographing device and the photographing target according to the sensing data collected by the distance sensor, and obtain the follow focus the first measured rotational position of the machine motor;
  • the photographing device When the photographing device is at a second distance from the photographing target, determine a second measured distance between the photographing device and the photographing target according to the sensing data collected by the distance sensor, and obtain the follow focus The second measured rotational position of the machine motor; wherein, when the photographing device and the photographing target are separated by the first distance and the second distance, the size of the photographing target in the photographing picture of the photographing device is the target size;
  • controlling the follow focus motor engaged with the lens of the photographing device to drive the zoom of the lens according to the real-time distance includes:
  • the lens zoom is driven according to the first measurement distance, the first measurement rotation position, the second measurement distance, the second measurement rotation position and the real-time distance.
  • driving the zoom of the lens according to the first measurement distance, the first measurement rotation position, the second measurement distance, the second measurement rotation position and the real-time distance includes:
  • the first measurement distance, the first measurement rotation position, the second measurement distance, and the second measurement rotation position when the size of the shooting target on the shooting screen is the target size, The correspondence between the rotational position of the follow focus motor and the distance between the photographing device and the photographing target;
  • the follow focus motor is controlled to drive the lens to zoom according to the real-time distance and the corresponding relationship.
  • the first distance and the second distance are different in size, and the change in the distance between the photographing device and the photographing target may be realized by moving the photographing device or by moving the photographing target, which is not limited herein.
  • the gimbal adjusts the size of the shooting target in the shooting screen of the shooting device to the target size in response to the corresponding instruction issued by the user, and controls the distance sensor to measure the distance between the shooting target and the shooting device , and obtain the first sensing data obtained by the distance sensor for distance measurement.
  • the first measurement distance D1 between the shooting device and the shooting target can be determined, and the first measurement distance D1 between the shooting device and the shooting target can be recorded at the same time.
  • the distance is the first measurement distance D1
  • the corresponding first measurement rotation position mp1 of the follow focus motor When the distance is the first measurement distance D1, the corresponding first measurement rotation position mp1 of the follow focus motor.
  • the pan/tilt adjusts the size of the shooting target in the shooting screen of the shooting device to the target size in response to the corresponding instruction issued by the user, and controls the distance sensor to perform the shooting on the shooting target and the shooting device. Measure the distance, and obtain the second sensing data obtained by the distance sensor for distance measurement. By analyzing the second sensing data, the second measuring distance D2 between the shooting device and the shooting target can be determined, and the second measuring distance D2 between the shooting device and the shooting target can be recorded at the same time. When the distance between them is the second measurement distance D2, the corresponding second measurement rotation position mp2 of the follow focus motor.
  • the real-time distance D between the shooting device and the shooting target and the The corresponding relationship between the focal length f and the rotational position mp of the follow focus motor is calibrated with an undetermined coefficient, and the lens is zoomed according to the real-time distance D and the calibrated corresponding relationship, so that when the shooting device moves within the focal length variation range, all The size of the photographing target in the photographing screen of the photographing device is the target size.
  • the size of the photographing target in the photographing screen of the photographing device is determined as the target size, specifically:
  • the photographing device When the photographing device is at a first distance from the photographing target, obtain a user's first size selection instruction, and control the follow focus motor to drive the lens to zoom according to the first size selection instruction to zoom the lens.
  • the size of the photographing target in the photographing screen of the photographing device is adjusted to the target size.
  • a first size selection instruction from the user is obtained, and the follow focus motor is controlled to drive the lens to zoom according to the first size selection instruction.
  • Adjust the size of the shooting target in the shooting screen of the shooting device to the target size, wherein the first size selection instruction may be that after the user determines the size of the shooting target, by manipulating the display screen or setting
  • the focus wheel of the gimbal is sent to the shooting device, or it can be triggered by manipulating the corresponding button of the shooting device or displaying the interface.
  • the photographing device is detachably carried on the bearing seat of the gimbal
  • the follow focus motor is detachably carried on the bearing seat of the gimbal
  • the hand-held part of the gimbal is provided with an adjustable
  • the focus wheel, the obtaining the user's first size selection instruction includes:
  • a first rotation operation of the focusing wheel by the user is detected, and a first size selection instruction is determined according to the detected first rotation operation.
  • Rotating the focusing wheel can control the follow focus motor mounted on the bearing base of the gimbal to drive the lens to zoom, thereby adjusting the size of the shooting target in the shooting screen of the shooting device.
  • the gimbal will regard the user's turning operation of the focusing wheel as determining that the shooting target is in the shooting device.
  • the selected command of the first size is displayed on the shooting screen of .
  • the size of the photographing target in the photographing screen of the photographing device is determined as the target size, specifically:
  • a second size selection instruction from the user is acquired, and the follow focus motor is controlled to drive the lens to zoom according to the second size selection instruction to drive the lens to zoom.
  • the size of the photographing target in the photographing screen of the photographing device is adjusted to the target size.
  • a second size selection instruction from the user is obtained, and the follow focus motor is controlled to drive the lens to zoom according to the second size selection instruction.
  • Adjust the size of the shooting target in the shooting screen of the shooting device to the target size, wherein the second size selection instruction may be that after the user determines the size of the shooting target, by manipulating the display screen or setting
  • the focus wheel of the gimbal is sent to the shooting device, or it can be triggered by manipulating the corresponding button of the shooting device or displaying the interface.
  • the photographing device is detachably carried on the bearing seat of the gimbal
  • the follow focus motor is detachably carried on the bearing seat of the gimbal
  • the hand-held part of the gimbal is provided with an adjustable
  • the focus wheel, the obtaining the user's second size selection instruction includes:
  • Rotating the focusing wheel can control the follow focus motor carried on the bearing base of the gimbal to drive the lens to zoom, so as to adjust the size of the shooting target in the shooting screen of the shooting device.
  • the gimbal will regard the user's turning operation of the focusing wheel as determining that the shooting target is in the shooting device's position. In the shooting screen is the selected command of the second size.
  • FIG. 7 is a schematic structural block diagram of a photographing control apparatus provided by an embodiment of the present application.
  • the photographing control device 400 includes a processor 401 and a memory 402, and the processor 401 and the memory 402 are connected through a bus, such as an I2C (Inter-integrated Circuit) bus.
  • a bus such as an I2C (Inter-integrated Circuit) bus.
  • the processor 401 may be a central processing unit (Central Processing Unit, CPU), or other general-purpose processors, digital signal processors (Digital Signal Processors, DSP), application specific integrated circuits (application specific integrated circuits, ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • the general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.
  • the memory 402 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, or a removable hard disk, and the like.
  • ROM Read-Only Memory
  • the processor 401 is configured to run the computer program stored in the memory 402, and implement the following steps when executing the computer program:
  • the follow focus motor engaged with the lens of the photographing device is controlled to drive the zoom of the lens according to the real-time distance, so that the size of the photographing target in the photographing frame of the photographing device is maintained at the target size.
  • processor 401 is further configured to implement the following steps:
  • the photographing device When the photographing device is at a first distance from the photographing target, determine a first measured distance between the photographing device and the photographing target according to the sensing data collected by the distance sensor, and obtain the follow focus the first measured rotational position of the machine motor;
  • the photographing device When the photographing device is at a second distance from the photographing target, determine a second measured distance between the photographing device and the photographing target according to the sensing data collected by the distance sensor, and obtain the follow focus The second measured rotational position of the machine motor, wherein, when the photographing device and the photographing target are separated by the first distance and the second distance, the size of the photographing target in the photographing picture of the photographing device is the target size;
  • the processor 401 controls the follow focus motor engaged with the lens of the photographing device to drive the zoom of the lens according to the real-time distance, it is specifically used for:
  • the lens zoom is driven according to the first measurement distance, the first measurement rotation position, the second measurement distance, the second measurement rotation position and the real-time distance.
  • the processor 401 drives the said first measurement distance, said first measurement rotation position, said second measurement distance, said second measurement rotation position and said real-time distance When the lens is zoomed, it is specifically used for:
  • the first measurement distance, the first measurement rotation position, the second measurement distance, and the second measurement rotation position when the size of the shooting target on the shooting screen is the target size, The correspondence between the rotational position of the follow focus motor and the distance between the photographing device and the photographing target;
  • the follow focus motor is controlled to drive the lens to zoom according to the real-time distance and the corresponding relationship.
  • processor 401 is further configured to implement the following steps:
  • the photographing device When the photographing device is at a first distance from the photographing target, obtain a user's first size selection instruction, and control the follow focus motor to drive the lens to zoom according to the first size selection instruction to zoom the lens.
  • the size of the shooting target in the shooting picture of the shooting device is adjusted to the target size; and/or,
  • a second size selection instruction from the user is acquired, and the follow focus motor is controlled to drive the lens to zoom according to the second size selection instruction to drive the lens to zoom.
  • the size of the photographing target in the photographing screen of the photographing device is adjusted to the target size.
  • the photographing device is detachably carried on the bearing seat of the gimbal
  • the follow focus motor is detachably carried on the bearing seat of the gimbal
  • the hand-held part of the gimbal is provided with an adjustable focus wheel
  • the processor 401 obtains the user's first size selection instruction, it is specifically used for:
  • the processor 401 acquires the user's second size selection instruction, it is specifically used for:
  • a second rotation operation of the focus wheel by the user is detected, and a second size selection instruction is determined according to the detected first rotation operation.
  • the distance sensor includes a transmitting device for transmitting a ranging signal and a receiving device for receiving the shooting target to transmit the ranging signal
  • the processor 401 is based on the information collected by the distance sensor.
  • the real-time distance between the photographing target and the photographing device is determined according to the reflected signal received by the receiving device.
  • the photographing device is detachably carried on the bearing seat of the gimbal
  • the follow focus motor is detachably carried on the bearing seat of the gimbal.
  • the target size is set by the user.
  • the shooting target is selected by a user.
  • the photographing device is detachably carried on the bearing seat of the pan/tilt, the pan/tilt is connected in communication with the photographing device, a display screen is provided on the hand-held part of the pan/tilt, and the photographing target is It is determined by detecting a user's selection operation on the display screen displaying the captured image of the capturing device.
  • the distance sensor is detachably provided on the photographing device.
  • the photographing device is detachably carried on the bearing seat of the gimbal, and the distance sensor is detachably carried on the bearing seat of the gimbal.
  • An embodiment of the present application further provides a storage medium, where a computer program is stored in the storage medium, the computer program includes program instructions, and the processor executes the program instructions to implement the steps of the shooting control method provided by the above embodiments .
  • the storage medium may be the shooting control device described in any of the foregoing embodiments, the internal storage unit of the pan/tilt or follow focus motor, such as the hard disk or memory of the shooting control apparatus, pan/tilt or follow focus motor.
  • the storage medium can also be an external storage device of a shooting control device, a gimbal or a follow focus motor, such as a plug-in hard disk equipped on a shooting control device, a gimbal or a follow focus motor, a smart memory card (Smart Media Card). , SMC), secure digital (Secure Digital, SD) card, flash memory card (Flash Card) and so on.

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Abstract

一种拍摄控制方法、装置、云台(100)、跟焦器电机(500)及存储介质，其中所述方法包括：根据距离传感器(300)采集到的传感数据获取拍摄设备(200)与拍摄目标之间的实时距离(S101)；根据所述实时距离控制与所述拍摄设备(200)的镜头啮合的跟焦器电机(500)来驱动所述镜头变焦，以使所述拍摄目标在所述拍摄设备(200)的拍摄画面中的尺寸维持在目标尺寸(S102)。所述方法便于用户简易操控拍摄设备实现滑动变焦。

Description

拍摄控制方法、装置、云台、跟焦器电机及存储介质 技术领域
本申请涉及控制技术领域，尤其涉及一种拍摄控制方法、装置、云台、跟焦器电机及存储介质。
背景技术
目前，可以通过云台实现拍摄设备的滑动变焦，即希区柯克式变焦，具体是在拍摄时拍摄设备的位置和焦距同步变化，实现拍摄主体在画面内维持不变，而背景出现缩放，从而产生更加强烈的视觉冲击效果。然而，希区柯克式变焦的实现方式主要是用户手动移动拍摄设备，同时手动地调整拍摄设备的焦距或者焦距按照固定速率变化，同时用户手动地按照该固定速率调整拍摄设备的运动速度，操作过程较为繁琐，对拍摄要求较高，不便于用户简易地拍摄希区柯克效果的视频，用户体验不好。
发明内容
基于此，本申请实施例提供了一种拍摄控制方法、装置、云台、跟焦器电机及存储介质，旨在提供一种便于用户简易实现拍摄设备滑动变焦的方法。
第一方面，本申请实施例提供了一种拍摄控制方法，所述方法包括：
根据距离传感器采集到的传感数据获取拍摄设备与拍摄目标之间的实时距离；
根据所述实时距离控制与所述拍摄设备的镜头啮合的跟焦器电机来驱动所述镜头变焦，以使所述拍摄目标在所述拍摄设备的拍摄画面中的尺寸维持在目标尺寸。
第二方面，本申请实施例还提供了一种拍摄控制装置，所述拍摄控制装置包括存储器和处理器；
所述存储器，用于存储计算机程序；
所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，实现如本申请说明书任一项所述的拍摄控制方法的步骤。
第三方面，本申请实施例还提供了一种云台，所述云台包括承载座及本申请说明书任一项所述的拍摄控制装置，其中，拍摄设备可拆卸地承载在所述承载座上。
第四方面，本申请实施例还提供了一种跟焦器电机，所述跟焦器电机包括本申请说明书任一项所述拍摄控制装置。
第五方面，本申请实施例还提供了一种存储介质，所述存储介质存储有计算机程序，所述计算机程序被处理器执行时使所述处理器实现如本申请说明书提供的任一项所述拍摄控制方法的步骤。
本申请实施例提供了一种拍摄控制方法、装置、云台、跟焦器电机及存储介质，本申请通过利用距离传感器采集到的传感数据获取拍摄设备与拍摄目标之间的实时距离；并根据所述实时距离控制与所述拍摄设备的镜头啮合的跟焦器电机来驱动所述镜头变焦，以使所述拍摄目标在所述拍摄设备的拍摄画面中的尺寸维持在目标尺寸，便于用户简易操控拍摄设备实现滑动变焦，极大地提高了用户体验。
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的前提下，还可以根据这些附图获得其他的附图。
图1是本申请实施例提供的一种拍摄***的结构示意性框图；
图2是本申请实施例提供的拍摄***的云台立体结构示意图；
图3是本申请实施例提供的拍摄***的拍摄装置立体结构示意图；
图4是本申请实施例提供的一种拍摄控制方法步骤流程图；
图5是本申请实施例提供的镜头进行变焦的结构示意图；
图6是镜头在实现滑动变焦时，物距和焦距对应关系的结构示意图；
图7是本申请实施例提供的一种拍摄控制装置的结构示意性框图。
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。
需要说明的是，在本申请中涉及“第一”、“第二”等的描述仅用于描述目的，而不能理解为指示或暗示其相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。另外，各个实施例之间的技术方案可以相互结合，但是必须是以本领域普通技术人员能够实现为基础，当技术方案的结合出现相互矛盾或无法实现时应当认为这种技术方案的结合不存在，也不在本申请要求的保护范围之内。
附图中所示的流程图仅是示例说明，不是必须包括所有的内容和操作/步骤，也不是必须按所描述的顺序执行。例如，有的操作/步骤还可以分解、组合或部分合并，因此实际执行的顺序有可能根据实际情况改变。
下面结合附图，对本申请的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
目前，可以通过云台实现拍摄设备的滑动变焦，即希区柯克式变焦，具体是在拍摄时拍摄设备的位置和焦距同步变化，实现拍摄主体在画面内维持不变，而背景出现缩放，从而产生更加强烈的视觉冲击效果。然而，希区柯克式变焦的实现方式主要是用户手动移动拍摄设备，同时手动地调整拍摄设备的焦距或者焦距按照固定速率变化，同时用户手动地按照该固定速率调整拍摄设备的运动速度，操作过程较为繁琐，对拍摄要求较高，不便于用户简易地拍摄希区柯克效果的视频，用户体验不好。
为解决上述问题，本申请实施例提供一拍摄控制方法、装置、云台、跟焦器电机及存储介质，该拍摄控制方法根据距离传感器采集到的传感数据获取拍摄设备与拍摄目标之间的实时距离；根据所述实时距离控制与所述拍摄设备的镜头啮合的跟焦器电机来驱动所述镜头变焦，以使所述拍摄目标在所述拍摄设备的拍摄画面中的尺寸维持在目标尺寸。便于用户简易操控拍摄设备实现滑动变焦，极大地提高了用户体验。
请参阅图1，图1是本申请实施例提供的一种拍摄***的结构示意性框图。
拍摄***10包括云台100、搭载于云台100并与云台100通信连接的拍摄设备200、与拍摄设备200相对固定的距离传感器300、承载于云台100并用于驱动拍摄装置200进行变焦跟焦器电机500以及用于根据距离传感器300的传感数据驱动跟焦器电机500控制拍摄装置200变焦的控制装置400。
其中，距离传感器300可以安装于云台100或安装于拍摄设备200，该拍摄设备为单反相机、无反相机或微单相机，该距离传感器300可以是光信号距 离传感器或超声距离传感器，如，距离传感器300为TOF(Time of flight)传感器。
控制装置400可以独立设置，也可以设置在云台100内、或设置在拍摄设备200内、或设置在跟焦器电机500内，在此不做限定。
请参阅图2，云台100包括手柄部101和设于手柄部101上的云台部102。其中，云台部102用于为外部设备提供承载。
具体地，云台部102包括承载座1024以及与承载座1024可拆卸连接的三轴电机。云台部102通过承载座1024来提供承载，拍摄设备200可拆卸承载于承载座1024。可以理解的是，拍摄设备200可以与云台部102一体设置。三轴电机包括俯仰(pitch)轴电机1021、横滚(roll)轴电机1022和平移(yaw)轴电机1023，用于调整搭载于云台部102上的拍摄设备200的平衡姿态，以便随时随地拍摄出高精度的稳定画面。
云台部102上还设置有惯性测量单元(Inertial measurement unit，IMU)，可例如为加速度计或陀螺仪中的至少一种，可以用于测量云台部102的姿态和加速度等，以便根据姿态调整云台部102的姿态。在一实施例中，手柄部101上也设置有惯性测量单元(Inertial measurement unit，IMU)，例如包括加速度计或陀螺仪中的至少一种，可以用于测量手柄部101的姿态和加速度等，以便根据手柄部101的姿态和云台部102的姿态调整云台部102的姿态。
手柄部101上设置有调焦轮103，调焦轮103用于调节搭载于云台102上的拍摄设备200的拍摄参数。或者，云台100与调焦轮103匹配的跟焦器电机500电连接，调焦轮103用于控制跟焦器电机500从而通过跟焦器电机500调节搭载于云台102上的拍摄设备200的拍摄参数。
手柄部101上还设置有显示屏，拍摄设备200获取的实时取景画面可以传输到手柄部101上的显示屏进行显示，用户可以操控手柄部101上的显示屏从而对拍摄设备200需要拍摄的目标进行选择或确定。
请参阅图3，拍摄设备200设置有用于调节镜头201的焦距的跟焦环202。跟焦器电机500与跟焦环202啮合，通过驱动跟焦环202旋转从而实现镜头201的焦距的调节。该跟焦器电机500可以是可拆卸安装于云台部102的承载座1024上，或跟焦器电机500与云台部102的承载座1024一体设置。
用户在需要使用拍摄设备200进行滑动变焦拍摄时，可以将距离传感器可拆卸安装于拍摄设备200上或者云台100上，使得距离传感器与拍摄设备200之间相对固定。当将距离传感器300可拆卸安装于拍摄设备200时，可以安装 于拍摄设备200的热靴204上。当将距离传感器300可拆卸安装于云台100时，可以安装于云台100的承载座1024上。通过距离传感器300获取拍摄目标与拍摄设备200之间的实时距离，并根据实时距离控制跟焦器电机500驱动镜头201进行变焦，从而使得拍摄目标在拍摄设备200的拍摄画面中的尺寸调节为目标尺寸。
其中，拍摄目标在拍摄设备200的拍摄画面中的目标尺寸大小是用户设定，具体可为，用户通过拍摄设备200获取拍摄目标的实时取景画面，通过调节镜头201使得实时取景画面中拍摄目标所在区域的大小为预设目标尺寸，并通过操控拍摄设备200或与拍摄设备200通信连接的云台100向拍摄设备200下发指令，从而使得拍摄设备200根据指令确定拍摄目标的目标尺寸。
或者，用户通过拍摄设备200获取拍摄目标的实时取景画面，通过调节安装于云台100的手柄部101上设置有调焦轮103使得实时取景画面中拍摄目标所在区域的大小为预设目标尺寸，并通过操控拍摄设备200或云台100向拍摄设备200下发指令，从而使得拍摄设备200根据指令确定拍摄目标的目标尺寸。
可以理解的，图1、图2和图3中的拍摄***、拍摄设备、云台以及上述对于拍摄设备、云台各部件的命名仅仅出于标识的目的，并不因此对本申请实施例进行限制。
请参阅图4，图4是本申请实施例提供的一种拍摄控制方法的步骤示意流程图。
该拍摄控制方法可以应用于拍摄控制装置、云台或跟焦器电机，本实施例中，以拍摄控制方法应用于云台为例进行说明，但不局限于该拍摄控制方法仅能应用于云台。
如图4所示，该拍摄控制方法包括步骤S101至步骤S102。
S101：根据距离传感器采集到的传感数据获取拍摄设备与拍摄目标之间的实时距离。
拍摄设备承载于云台并可拆卸安装于云台的承载座上，且拍摄设备与云台通信连接，通过云台可以向拍摄设备发出操控指令，以控制拍摄设备执行相应操作，如，调焦或确定拍摄目标。
距离传感器为光信号距离传感器或超声波距离传感器，且距离传感器与拍摄设备之间相对固定。该距离传感器可拆卸安装于拍摄设备上，或可拆卸安装于承载拍摄设备的承载装置上，如，拍摄设备的承载装置为云台，则距离传感器可拆卸安装于云台上，具体为，距离传感器可拆卸安装于云台用于承载拍摄 设备的承载座上。
距离传感器的传感数据至少包括测距信号反射信号之间的时间差。根据测距信号和反射信号之间时间差和测距信号在传播介质中的传播速度即可计算出拍摄设备和拍摄目标之间的实时距离。
拍摄目标是用户在拍摄设备获取的实时取景画面中所选择出来的待进行拍摄的目标。其中，用户对拍摄目标的选择操作可以是通过触控拍摄设备的相应按钮或拍摄设备的显示装置来确定，或者是通过操控设置于云台的手柄部的调焦轮来确定，或者是通过触控设置于云台的手柄部上的显示屏来确定，在此不做限定。
示例性地，距离传感器为TOF传感器，且该距离传感器可拆卸设置于拍摄设备的热靴上。距离传感器的传感数据包括测距信号在传播介质中的传播速度，测距信号和发射信号之间的时间差。拍摄设备获取到实时取景画面后，将实时取景画面传输给设置在云台的手柄部上的显示屏进行显示，用户通过触控设置在云台的手柄部上的显示屏来确定拍摄目标，云台在检测到用户在显示屏上的触控操作后，根据该触控操作确定拍摄目标。在拍摄目标确定后，云台通过控制距离传感器获取拍摄目标和拍摄设备之间的距离的传感数据，通过解析传感数据，从而可以计算出拍摄设备和拍摄目标之间的实时距离。
在部分实施例中，距离传感器包括用于发射测距信号的发射装置和用于接收所述拍摄目标发射所述测距信号的接收装置，所述根据距离传感器采集到的传感数据获取拍摄设备与拍摄目标之间的实时距离，包括：
根据所述接收装置接收到的反射信号确定所述拍摄目标与所述拍摄设备之间的实时距离。
示例性地，用户在通过操控拍摄设备确定拍摄目标后，云台通过控制发射装置向拍摄目标发射实时测距信号，并控制接收装置接收反射信号，其中，反射信号是实时测距信号遇到所述拍摄目标时的反射信号。计算发射实时测距信号和接收到反射信号之间的时间差；根据所述时间差计算拍摄设备与拍摄目标之间的实时距离。若测距信号在介质中的传播数度为v，发射实时测距信号和接收到反射信号之间的时间差为t，则拍摄设备与拍摄目标之间的实时距离D＝v*t。
较佳地，距离传感器的接收装置为多个且呈阵列设置，即接收装置为接收装置阵列，以使得接到到的反射信号精度更为准确。
S102：根据所述实时距离控制与所述拍摄设备的镜头啮合的跟焦器电机来 驱动所述镜头变焦，以使所述拍摄目标在所述拍摄设备的拍摄画面中的尺寸维持在目标尺寸。
跟焦器电机可拆卸安装于云台的承载座并与拍摄设备的镜头啮合，用于驱动拍摄设备的镜头进行变焦。具体地，跟焦器电机可拆卸地承载于云台的承载座上并与拍摄设备的镜头的跟焦环啮合，且跟焦器电机与云台的调焦轮电连接，通过旋转调焦轮可以驱动跟焦器电机的输出轴转动从而控制拍摄设备的镜头进行变焦。
拍摄装置与拍摄目标之间的距离、镜头的焦距以及跟焦器电机的转动位置之间呈对应关系，通过测取拍摄装置与拍摄目标之间的实时距离即可调用该对应关系，并根据相应的对应关系来控制与拍摄设备的镜头啮合的跟焦器电机来驱动镜头进行变焦，以使拍摄目标在拍摄设备的拍摄画面中的尺寸维持在目标尺寸，从而在使用拍摄设备进行拍摄时实现滑动变焦效果。
或，根据所获取的拍摄装置与拍摄目标之间的实时距离，确定在拍摄装置与拍摄目标相距对应距离时跟焦器电机在对应距离上的相对转动位置，从而可以确定拍摄装置与拍摄目标之间的距离、镜头的焦距以及跟焦器电机的转动位置三者之间的对应关系，并根据实时距离调用相应的对应关系来控制与拍摄设备的镜头啮合的跟焦器电机来驱动镜头进行变焦，以使拍摄目标在拍摄设备的拍摄画面中的尺寸维持在目标尺寸，从而在使用拍摄设备进行拍摄时实现滑动变焦效果。
请参阅图5，示例性地，拍摄设备的镜头可以进行变焦，则镜头为变焦镜头。即镜头包括依次沿光轴设置的第一透镜组件L1、第二透镜组件L2及第三透镜组件L3，其中，第二透镜组件L2可在第一透镜组件L1和第三透镜组件L3之间沿着光轴方向移动，从而改变镜头的焦距，因此，第二透镜组件L2在光轴方向上的位置与镜头焦距之间存在第一映射关系。
该第一映射关系可以表示为：x＝k 1*f+b 1，其中，f为镜头的焦距，x为第二透镜组件L2在光轴方向上的位置，k 1、b 1为常数，该常数可以通过测量两个焦距对应的两个第二透镜组件L2在光轴方向上的位置计算得出。
该第一透镜组件L1可以是单片透镜，也可以是至少包括两片透镜的透镜组，第二透镜组件L2可以是单片透镜，也可以是至少包括两片透镜的透镜组，第三透镜组件L3可以是单片透镜，也可以是至少包括两片透镜的透镜组。
本实施例中，以第一透镜组件L1、第二透镜组件L2及第三透镜组件L3均为单片透镜为例进行说明，但不局限于第一透镜组件L1、第二透镜组件L2 及第三透镜组件L3仅可以为单片透镜。
同时，镜头的变焦是通过跟焦器电机驱动第二透镜组件L2在光轴方向上的位移实现，故，跟焦器电机的转动位置与第二透镜组件L2在光轴方向的位置之间存在第二映射关系。
第二映射关系可以表示为：mp＝k 2*f+b，其中，f为镜头的焦距，mp(motorposition)为跟焦器电机的转动位置，k 2、b是跟焦器电机转动带动第二透镜组件L2在光轴方向移动的传动参数，该传动参数是常数，可以通过测量两个焦距对应的两个跟焦器电机的转动位置计算得出。
进一步，在拍摄装置的拍摄范围内，也即在镜头的焦距f的变化范围内，镜头的焦距f与物距d之间具有如下关系，f＝d*(w1/w2)，其中，d为物距，w1为拍摄目标在拍摄设备的拍摄画面中的像宽，w2为拍摄目标的物宽，如图6所示。
因此，跟焦器电机的转动位置mp可表示为，mp＝k 2*d*(w1/w2)+b。
物距与拍摄装置与拍摄目标之间的距离之间的误差可以忽略，因此，可将当前的物距d可以等同与当前拍摄装置与拍摄目标之间的实时距离D。
因此，跟焦器电机的转动位置等同表示为，mp＝k 2*D*(w1/w2)+b
在一次滑动变焦的拍摄过程中由于w1/w2为定值，k 2为常数，故，在一次滑动变焦的拍摄过程中k 2*(w1/w2)可等同于k＝k 2*D*(w1/w2)，k为常数。
因此，在一次滑动变焦的拍摄过程中跟焦器电机的转动位置可表示为，mp＝k*D*+b，其中，k、b为常数。
即，拍摄装置与拍摄目标之间的实时距离D、镜头的焦距f以及跟焦器电机的转动位置mp之间呈对应关系，也即，通过获取拍摄装置与拍摄目标之间的距离D即可相应控制跟焦器电机的转动位置mp，并根据跟焦器电机的转动位置mp即可调节镜头的焦距f，然后实现拍摄目标在拍摄设备的拍摄画面中尺寸为目标尺寸。
其中，拍摄装置与拍摄目标之间的距离D、镜头的焦距f以及跟焦器电机的转动位置mp三者之间的对应关系的相关常量系数k 2、b可以预先测量并标定，从而获得标定的对应关系并存储于云台的存储器内。在拍摄目标的目标尺寸确定后，可通过拍摄装置与拍摄目标之间的实时距离调用该对应关系，然后根据相应的对应关系来控制与拍摄设备的镜头啮合的跟焦器电机来驱动镜头进行变焦，以使拍摄目标在拍摄设备的拍摄画面中的尺寸维持在目标尺寸，从而在使用拍摄设备进行拍摄时实现滑动变焦效果。
或，根据所获取的拍摄装置与拍摄目标之间的实时距离，确定在拍摄装置与拍摄目标相距对应距离时，跟焦器电机在对应距离上的相对转动位置，从而可以确定拍摄装置与拍摄目标之间的距离、镜头的焦距以及跟焦器电机的转动位置三者之间的对应关系，并根据相应的对应关系来控制与拍摄设备的镜头啮合的跟焦器电机来驱动镜头进行变焦，以使拍摄目标在拍摄设备的拍摄画面中的尺寸维持在目标尺寸，从而在使用拍摄设备进行拍摄时实现滑动变焦效果。
在部分实施例中，所述拍摄控制方法还包括：
在所述拍摄设备与所述拍摄目标相距第一距离时，根据所述距离传感器采集的传感数据确定所述拍摄设备与所述拍摄目标之间的第一测量距离，并获取所述跟焦器电机的第一测量转动位置；
在所述拍摄设备与所述拍摄目标相距第二距离时，根据所述距离传感器采集的传感数据确定所述拍摄设备与所述拍摄目标之间的第二测量距离，并获取所述跟焦器电机的第二测量转动位置；其中，在所述拍摄设备与所述拍摄目标相距所述第一距离和所述第二距离时，所述拍摄目标在所述拍摄设备的拍摄画面中的尺寸为所述目标尺寸；
则，所述根据所述实时距离控制与所述拍摄设备的镜头啮合的跟焦器电机来驱动所述镜头变焦，包括：
根据所述第一测量距离、所述第一测量转动位置、所述第二测量距离、所述第二测量转动位置和所述实时距离来驱动所述镜头变焦。
具体地，所述根据所述第一测量距离、所述第一测量转动位置、所述第二测量距离、所述第二测量转动位置和所述实时距离来驱动所述镜头变焦，包括：
根据所述第一测量距离、所述第一测量转动位置、所述第二测量距离、所述第二测量转动位置确定当所述拍摄目标在所述拍摄画面的尺寸为所述目标尺寸时，所述跟焦器电机的转动位置和所述拍摄设备与所述拍摄目标之间的距离的对应关系；
根据所述实时距离和所述对应关系控制所述跟焦器电机驱动所述镜头变焦。
示例性地，第一距离和第二距离大小不同，拍摄设备与拍摄目标之间的距离改变可以是通过拍摄设备的移动来实现，也可以通过拍摄目标的移动来实现，在此不做限定。
当拍摄设备与拍摄目标相距第一距离时，云台响应用户下发的相应指令调整拍摄目标在拍摄设备的拍摄画面中的尺寸为目标尺寸，并控制距离传感器对拍摄目标和拍摄设备进行测距，并获取距离传感器进行测距获取的第一传感数 据，通过解析第一传感数据即可确定拍摄设备与拍摄目标之间的第一测量距离D1，同时记录在拍摄设备与拍摄目标之间的距离为第一测量距离D1时，跟焦器电机的对应第一测量转动位置mp1。
当拍摄设备与拍摄目标相距第二距离时，云台响应用户下发的相应指令调整拍摄目标在拍摄设备的拍摄画面中的尺寸为所述目标尺寸，并控制距离传感器对拍摄目标和拍摄设备进行测距，并获取距离传感器进行测距获取的第二传感数据，通过解析第二传感数据即可确定拍摄设备与拍摄目标之间的第二测量距离D2，同时记录在拍摄设备与拍摄目标之间的距离为第二测量距离D2时，跟焦器电机的对应第二测量转动位置mp2。
根据所述第一测量距离D1、所述第一测量转动位置mp1、所述第二测量距离D2及所述第二测量转动位置mp2，对拍摄装置与拍摄目标之间的实时距离D、镜头的焦距f以及跟焦器电机的转动位置mp之间的对应关系待定系数进行标定，根据实时距离D和标定的对应关系来驱动所述镜头变焦，从而使得拍摄设备在焦距变化范围内移动时，所述拍摄目标在所述拍摄设备的拍摄画面中的尺寸为所述目标尺寸。
在部分实施例中，在拍摄设备与所述拍摄目标相距第一距离时，确定拍摄目标在所述拍摄设备的拍摄画面中的尺寸为所述目标尺寸，具体为：
在所述拍摄设备与所述拍摄目标相距第一距离时，获取用户的第一尺寸选中指令，根据所述第一尺寸选中指令控制所述跟焦器电机来驱动所述镜头变焦以将所述拍摄目标在所述拍摄设备的拍摄画面中的尺寸调节至所述目标尺寸。
示例性地，当所述拍摄设备与所述拍摄目标相距第一距离，获取用户的第一尺寸选中指令，根据所述第一尺寸选中指令控制所述跟焦器电机来驱动所述镜头变焦以将所述拍摄目标在所述拍摄设备的拍摄画面中的尺寸调节至所述目标尺寸，其中，第一尺寸选中指令可以是用户确定拍摄目标尺寸后，通过操控设置于云台的显示屏或设置于云台的调焦轮向拍摄设备下发，也可以是操控拍摄设备相应按钮或显示界面触发。
在部分实施例中，所述拍摄设备可拆卸地承载在云台的承载座上，所述跟焦器电机可拆卸地承载在云台的承载座上，所述云台的手持部设置有调焦轮，所述获取用户的第一尺寸选中指令，包括：
检测所述用户对所述调焦轮的第一转动操作，根据所述检测到的第一转动操作确定第一尺寸选中指令。
转动调焦轮可以控制承载于云台的承载座上的跟焦器电机驱动镜头进行变 焦，从而调整拍摄目标在拍摄设备的拍摄画面中的尺寸大小。当用户转动调焦轮到第一位置时，使得拍摄目标在拍摄设备的拍摄画面中的尺寸为目标尺寸，则云台将用户对调焦轮的转动操作，视为确定确定拍摄目标在拍摄设备的拍摄画面中为第一尺寸的选中指令。
在部分实施例中，在拍摄设备与所述拍摄目标相距第二距离时，确定拍摄目标在所述拍摄设备的拍摄画面中的尺寸为所述目标尺寸，具体为：
在所述拍摄设备与所述拍摄目标相距第二距离时，获取用户的第二尺寸选中指令，根据所述第二尺寸选中指令控制所述跟焦器电机来驱动所述镜头变焦以将所述拍摄目标在所述拍摄设备的拍摄画面中的尺寸调节至所述目标尺寸。
示例性地，当所述拍摄设备与所述拍摄目标相距第二距离，获取用户的第二尺寸选中指令，根据所述第二尺寸选中指令控制所述跟焦器电机来驱动所述镜头变焦以将所述拍摄目标在所述拍摄设备的拍摄画面中的尺寸调节至所述目标尺寸，其中，第二尺寸选中指令可以是用户确定拍摄目标尺寸后，通过操控设置于云台的显示屏或设置于云台的调焦轮向拍摄设备下发，也可以是操控拍摄设备相应按钮或显示界面触发。
在部分实施例中，所述拍摄设备可拆卸地承载在云台的承载座上，所述跟焦器电机可拆卸地承载在云台的承载座上，所述云台的手持部设置有调焦轮，所述获取用户的第二尺寸选中指令，包括：
转动调焦轮可以控制承载于云台的承载座上的跟焦器电机驱动镜头进行变焦，从而调整拍摄目标在拍摄设备的拍摄画面中的尺寸大小。当用户转动调焦轮到第二位置时，使得拍摄目标在拍摄设备的拍摄画面中的尺寸为目标尺寸，则云台将用户对调焦轮的转动操作，视为确定拍摄目标在拍摄设备的拍摄画面中为第二尺寸的选中指令。
请参阅图7，图7是本申请实施例提供的一种拍摄控制装置的结构示意性框图。
该拍摄控制装置400包括处理器401和存储器402，处理器401和存储器402通过总线连接，该总线比如为I2C(Inter-integrated Circuit)总线。
其中，处理器401可以是中央处理单元(Central Processing Unit，CPU)，还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(application specific integrated circuit，ASIC)、现场可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等，通用处理器可以是微处理器或者该处理器也可以 是任何常规的处理器等。
存储器402可以是Flash芯片、只读存储器(ROM，Read-Only Memory)磁盘、光盘、U盘或移动硬盘等。
处理器401用于运行存储在存储器402中的计算机程序，并在执行所述计算机程序时实现如下步骤：
根据距离传感器采集到的传感数据获取拍摄设备与拍摄目标之间的实时距离；
根据所述实时距离控制与所述拍摄设备的镜头啮合的跟焦器电机来驱动所述镜头变焦，以使所述拍摄目标在所述拍摄设备的拍摄画面中的尺寸维持在目标尺寸。
在部分实施例中，处理器401还用于实现如下步骤：
在所述拍摄设备与所述拍摄目标相距第一距离时，根据所述距离传感器采集的传感数据确定所述拍摄设备与所述拍摄目标之间的第一测量距离，并获取所述跟焦器电机的第一测量转动位置；
在所述拍摄设备与所述拍摄目标相距第二距离时，根据所述距离传感器采集的传感数据确定所述拍摄设备与所述拍摄目标之间的第二测量距离，并获取所述跟焦器电机的第二测量转动位置，其中，在所述拍摄设备与所述拍摄目标相距所述第一距离和所述第二距离时，所述拍摄目标在所述拍摄设备的拍摄画面中的尺寸为所述目标尺寸；
所述处理器401根据所述实时距离控制与所述拍摄设备的镜头啮合的跟焦器电机来驱动所述镜头变焦时，具体用于：
根据所述第一测量距离、所述第一测量转动位置、所述第二测量距离、所述第二测量转动位置和所述实时距离来驱动所述镜头变焦。
在部分实施例中，所述处理器401根据所述第一测量距离、所述第一测量转动位置、所述第二测量距离、所述第二测量转动位置和所述实时距离来驱动所述镜头变焦时，具体用于：
根据所述第一测量距离、所述第一测量转动位置、所述第二测量距离、所述第二测量转动位置确定当所述拍摄目标在所述拍摄画面的尺寸为所述目标尺寸时，所述跟焦器电机的转动位置和所述拍摄设备与所述拍摄目标之间的距离的对应关系；
根据所述实时距离和所述对应关系控制所述跟焦器电机驱动所述镜头变焦。
在部分实施例中，处理器401还用于实现如下步骤：
在所述拍摄设备与所述拍摄目标相距第一距离时，获取用户的第一尺寸选中指令，根据所述第一尺寸选中指令控制所述跟焦器电机来驱动所述镜头变焦以将所述拍摄目标在所述拍摄设备的拍摄画面中的尺寸调节至所述目标尺寸；和/或，
在所述拍摄设备与所述拍摄目标相距第二距离时，获取用户的第二尺寸选中指令，根据所述第二尺寸选中指令控制所述跟焦器电机来驱动所述镜头变焦以将所述拍摄目标在所述拍摄设备的拍摄画面中的尺寸调节至所述目标尺寸。
在部分实施例中，所述拍摄设备可拆卸地承载在云台的承载座上，所述跟焦器电机可拆卸地承载在云台的承载座上，所述云台的手持部设置有调焦轮，其中，
所述处理器401获取用户的第一尺寸选中指令时，具体用于：
检测所述用户对所述调焦轮的第一转动操作，根据所述检测到的第一转动操作确定第一尺寸选中指令；和/或，
所述处理器401获取用户的第二尺寸选中指令时，具体用于：
检测所述用户对所述调焦轮的第二转动操作，根据所述检测到的第一转动操作确定第二尺寸选中指令。
在部分实施例中，所述距离传感器包括用于发射测距信号的发射装置和用于接收所述拍摄目标发射所述测距信号的接收装置，所述处理器401根据距离传感器采集到的传感数据获取拍摄设备与拍摄目标之间的实时距离时，具体用于：
根据所述接收装置接收到的反射信号确定所述拍摄目标与所述拍摄设备之间的实时距离。
在部分实施例中，所述拍摄设备可拆卸地承载在云台的承载座上，所述跟焦器电机可拆卸地承载在云台的承载座上。
在部分实施例中，所述目标尺寸是由用户设置的。
在部分实施例中，所述拍摄目标是由用户选中的。
在部分实施例中，所述拍摄设备可拆卸地承载在云台的承载座上，所述云台与所述拍摄设备通信连接，所述云台的手持部上设置显示屏，所述拍摄目标是通过检测用户对所述显示所述拍摄设备的拍摄图像的显示屏的选择操作确定的。
在部分实施例中，所述距离传感器可拆卸地设置在所述拍摄设备上。
在部分实施例中，所述拍摄设备可拆卸地承载在云台的承载座上，所述距 离传感器可拆卸地承载在云台的承载座上。
需要说明的是，所属领域的技术人员可以清楚地了解到，为了描述的方便和简洁，上述描述的拍摄控制装置的具体工作过程，可以参考前述拍摄控制方法实施例中的对应过程，在此不再赘述。
本申请实施例还提供一种存储介质，所述存储介质存储有计算机程序，所述计算机程序中包括程序指令，所述处理器执行所述程序指令，实现上述实施例提供的拍摄控制方法的步骤。
其中，所述存储介质可以是前述任一实施例所述的拍摄控制装置、云台或跟焦器电机的内部存储单元，例如拍摄控制装置、云台或跟焦器电机的硬盘或内存。所述存储介质也可以是拍摄控制装置、云台或跟焦器电机的外部存储设备，例如拍摄控制装置、云台或跟焦器电机上配备的插接式硬盘，智能存储卡(Smart Media Card，SMC)，安全数字(Secure Digital，SD)卡，闪存卡(Flash Card)等。
还应当理解，在本申请说明书和所附权利要求书中使用的术语“和/或”是指相关联列出的项中的一个或多个的任何组合以及所有可能组合，并且包括这些组合。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到各种等效的修改或替换，这些修改或替换都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以权利要求的保护范围为准。

Claims (27)

  1. 一种拍摄控制方法，其特征在于，所述方法包括：
    根据距离传感器采集到的传感数据获取拍摄设备与拍摄目标之间的实时距离；
    根据所述实时距离控制与所述拍摄设备的镜头啮合的跟焦器电机来驱动所述镜头变焦，以使所述拍摄目标在所述拍摄设备的拍摄画面中的尺寸维持在目标尺寸。
  2. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    在所述拍摄设备与所述拍摄目标相距第一距离时，根据所述距离传感器采集的传感数据确定所述拍摄设备与所述拍摄目标之间的第一测量距离，并获取所述跟焦器电机的第一测量转动位置；
    在所述拍摄设备与所述拍摄目标相距第二距离时，根据所述距离传感器采集的传感数据确定所述拍摄设备与所述拍摄目标之间的第二测量距离，并获取所述跟焦器电机的第二测量转动位置；
    其中，在所述拍摄设备与所述拍摄目标相距所述第一距离和所述第二距离时，所述拍摄目标在所述拍摄设备的拍摄画面中的尺寸为所述目标尺寸；
    所述根据所述实时距离控制与所述拍摄设备的镜头啮合的跟焦器电机来驱动所述镜头变焦，包括：
    根据所述第一测量距离、所述第一测量转动位置、所述第二测量距离、所述第二测量转动位置和所述实时距离来驱动所述镜头变焦。
  3. 根据权利要求2所述的方法，其特征在于，所述根据所述第一测量距离、所述第一测量转动位置、所述第二测量距离、所述第二测量转动位置和所述实时距离来驱动所述镜头变焦，包括：
    根据所述第一测量距离、所述第一测量转动位置、所述第二测量距离、所述第二测量转动位置确定当所述拍摄目标在所述拍摄画面的尺寸为所述目标尺寸时，所述跟焦器电机的转动位置和所述拍摄设备与所述拍摄目标之间的距离的对应关系；
    根据所述实时距离和所述对应关系控制所述跟焦器电机驱动所述镜头变焦。
  4. 根据权利要求2所述的方法，其特征在于，所述方法还包括：
    在所述拍摄设备与所述拍摄目标相距第一距离时，获取用户的第一尺寸选 中指令，根据所述第一尺寸选中指令控制所述跟焦器电机来驱动所述镜头变焦以将所述拍摄目标在所述拍摄设备的拍摄画面中的尺寸调节至所述目标尺寸；和/或，
    在所述拍摄设备与所述拍摄目标相距第二距离时，获取用户的第二尺寸选中指令，根据所述第二尺寸选中指令控制所述跟焦器电机来驱动所述镜头变焦以将所述拍摄目标在所述拍摄设备的拍摄画面中的尺寸调节至所述目标尺寸。
  5. 根据权利要求4所述的方法，其特征在于，所述拍摄设备可拆卸地承载在云台的承载座上，所述跟焦器电机可拆卸地承载在云台的承载座上，所述云台的手持部设置有调焦轮，其中，
    所述获取用户的第一尺寸选中指令包括：
    检测所述用户对所述调焦轮的第一转动操作，根据所述检测到的第一转动操作确定第一尺寸选中指令；和/或，
    所述获取用户的第二尺寸选中指令包括：
    检测所述用户对所述调焦轮的第二转动操作，根据所述检测到的第一转动操作确定第二尺寸选中指令。
  6. 根据权利要求1所述的方法，其特征在于，所述距离传感器包括用于发射测距信号的发射装置和用于接收所述拍摄目标发射所述测距信号的接收装置，所述根据距离传感器采集到的传感数据获取拍摄设备与拍摄目标之间的实时距离，包括：
    根据所述接收装置接收到的反射信号确定所述拍摄目标与所述拍摄设备之间的实时距离。
  7. 根据权利要求1所述的方法，其特征在于，所述拍摄设备可拆卸地承载在云台的承载座上，所述跟焦器电机可拆卸地承载在云台的承载座上。
  8. 根据权利要求1所述的方法，其特征在于，所述目标尺寸是由用户设置的。
  9. 根据权利要求1所述的方法，其特征在于，所述拍摄目标是由用户选中的。
  10. 根据权利要求9所述的方法，其特征在于，所述拍摄设备可拆卸地承载在云台的承载座上，所述云台与所述拍摄设备通信连接，所述云台的手持部上设置显示屏，所述拍摄目标是通过检测用户对所述显示所述拍摄设备的拍摄图像的显示屏的选择操作确定的。
  11. 根据权利要求1所述的方法，其特征在于，所述距离传感器可拆卸地 设置在所述拍摄设备上。
  12. 根据权利要求1所述的方法，其特征在于，所述拍摄设备可拆卸地承载在云台的承载座上，所述距离传感器可拆卸地承载在云台的承载座上。
  13. 一种拍摄控制装置，其特征在于，所述拍摄控制装置包括存储器和处理器；
    所述存储器，用于存储计算机程序；
    所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，实现如下步骤：
    根据距离传感器采集到的传感数据获取拍摄设备与拍摄目标之间的实时距离；
    根据所述实时距离控制与所述拍摄设备的镜头啮合的跟焦器电机来驱动所述镜头变焦，以使所述拍摄目标在所述拍摄设备的拍摄画面中的尺寸维持在目标尺寸。
  14. 根据权利要求13所述的拍摄控制装置，其特征在于，所述处理器还用于实现如下步骤：
    在所述拍摄设备与所述拍摄目标相距第一距离时，根据所述距离传感器采集的传感数据确定所述拍摄设备与所述拍摄目标之间的第一测量距离，并获取所述跟焦器电机的第一测量转动位置；
    在所述拍摄设备与所述拍摄目标相距第二距离时，根据所述距离传感器采集的传感数据确定所述拍摄设备与所述拍摄目标之间的第二测量距离，并获取所述跟焦器电机的第二测量转动位置；
    其中，在所述拍摄设备与所述拍摄目标相距所述第一距离和所述第二距离时，所述拍摄目标在所述拍摄设备的拍摄画面中的尺寸为所述目标尺寸；
    所述处理器根据所述实时距离控制与所述拍摄设备的镜头啮合的跟焦器电机来驱动所述镜头变焦时，具体用于：
    根据所述第一测量距离、所述第一测量转动位置、所述第二测量距离、所述第二测量转动位置和所述实时距离来驱动所述镜头变焦。
  15. 根据权利要求14所述的拍摄控制装置，其特征在于，所述处理器根据所述第一测量距离、所述第一测量转动位置、所述第二测量距离、所述第二测量转动位置和所述实时距离来驱动所述镜头变焦时，具体用于：
    根据所述第一测量距离、所述第一测量转动位置、所述第二测量距离、所述第二测量转动位置确定当所述拍摄目标在所述拍摄画面的尺寸为所述目标尺 寸时，所述跟焦器电机的转动位置和所述拍摄设备与所述拍摄目标之间的距离的对应关系；
    根据所述实时距离和所述对应关系控制所述跟焦器电机驱动所述镜头变焦。
  16. 根据权利要求14所述的拍摄控制装置，其特征在于，所述处理器还用于实现如下步骤：
    在所述拍摄设备与所述拍摄目标相距第一距离时，获取用户的第一尺寸选中指令，根据所述第一尺寸选中指令控制所述跟焦器电机来驱动所述镜头变焦以将所述拍摄目标在所述拍摄设备的拍摄画面中的尺寸调节至所述目标尺寸；和/或，
    在所述拍摄设备与所述拍摄目标相距第二距离时，获取用户的第二尺寸选中指令，根据所述第二尺寸选中指令控制所述跟焦器电机来驱动所述镜头变焦以将所述拍摄目标在所述拍摄设备的拍摄画面中的尺寸调节至所述目标尺寸。
  17. 根据权利要求16所述的拍摄控制装置，其特征在于，所述拍摄设备可拆卸地承载在云台的承载座上，所述跟焦器电机可拆卸地承载在云台的承载座上，所述云台的手持部设置有调焦轮，其中，
    所述处理器获取用户的第一尺寸选中指令时，具体用于：
    检测所述用户对所述调焦轮的第一转动操作，根据所述检测到的第一转动操作确定第一尺寸选中指令；和/或，
    所述处理器获取用户的第二尺寸选中指令时，具体用于：
    检测所述用户对所述调焦轮的第二转动操作，根据所述检测到的第一转动操作确定第二尺寸选中指令。
  18. 根据权利要求13所述的拍摄控制装置，其特征在于，所述距离传感器包括用于发射测距信号的发射装置和用于接收所述拍摄目标发射所述测距信号的接收装置，所述处理器根据距离传感器采集到的传感数据获取拍摄设备与拍摄目标之间的实时距离时，具体用于：
    根据所述接收装置接收到的反射信号确定所述拍摄目标与所述拍摄设备之间的实时距离。
  19. 根据权利要求13所述的拍摄控制装置，其特征在于，所述拍摄设备可拆卸地承载在云台的承载座上，所述跟焦器电机可拆卸地承载在云台的承载座上。
  20. 根据权利要求13所述的拍摄控制装置，其特征在于，所述目标尺寸是由用户设置的。
  21. 根据权利要求13所述的拍摄控制装置，其特征在于，所述拍摄目标是由用户选中的。
  22. 根据权利要求21所述的拍摄控制装置，其特征在于，所述拍摄设备可拆卸地承载在云台的承载座上，所述云台与所述拍摄设备通信连接，所述云台的手持部上设置显示屏，所述拍摄目标是通过检测用户对所述显示所述拍摄设备的拍摄图像的显示屏的选择操作确定的。
  23. 根据权利要求13所述的拍摄控制装置，其特征在于，所述距离传感器可拆卸地设置在所述拍摄设备上。
  24. 根据权利要求13所述的拍摄控制装置，其特征在于，所述拍摄设备可拆卸地承载在云台的承载座上，所述距离传感器可拆卸地承载在云台的承载座上。
  25. 一种云台，其特征在于，所述云台包括承载座及如权利要求13-24中任一项所述的拍摄控制装置，其中，拍摄设备可拆卸地承载在所述承载座上。
  26. 一种跟焦器电机，其特征在于，所述跟焦器电机包括如权利要求13-24中任一项所述的拍摄控制装置。
  27. 一种存储介质，其特征在于，所述存储介质存储有拍摄控制程序，所述拍摄控制程序被处理器执行时使所述处理器实现如权利要求1-12中任一项所述的拍摄控制方法的步骤。
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