CN-122002137-A - Control method and device for follow-up shooting device and storage medium

CN122002137ACN 122002137 ACN122002137 ACN 122002137ACN-122002137-A

Abstract

The application discloses a control method, equipment and storage medium of follow-up shooting equipment, and relates to the technical field of intelligent tracking shooting, wherein the control method of the follow-up shooting equipment comprises the steps of responding to a target object, determining distance information between a shooting component of the follow-up shooting equipment and the target object and/or coordinate information of the target object in a visual field of the shooting component; and circularly acquiring the pose offset of the target object, and adjusting a moving assembly of the follow-up shooting equipment and/or an imaging assembly of the follow-up shooting equipment according to the pose offset acquired each time. The application can realize the technical effect of autonomous movement tracking of the shooting equipment.

Inventors

CHEN WENMING
ZHANG SHIMING
LV ZHOUJIN
LI DAQIN
LIU HAO
LEI QIANG
GAO QUAN
CHEN YONGJIN

Assignees

深圳壹秘科技有限公司

Dates

Publication Date: 20260508
Application Date: 20260408

Claims (10)

1. The utility model provides a follow-up equipment, its characterized in that, follow-up equipment includes moving component, visual angle adjustment subassembly and shooting subassembly, moving component is provided with mobile unit and drive unit, visual angle adjustment subassembly first end connect in moving component, the second end connect in shooting subassembly, visual angle adjustment subassembly includes flexible unit, so that through flexible unit adjustment shooting subassembly with moving component's relative distance.
2. The apparatus according to claim 1, wherein the second end of the viewing angle adjusting member is provided with a rotating unit such that a relative angle of the photographing member and the viewing angle adjusting member is adjusted by the rotating unit.
3. A control method of a heel-beat apparatus, characterized in that the control method of the heel-beat apparatus comprises: Determining distance information between a shooting component of the follow-up shooting device and a target object and/or coordinate information of the target object in a field of view of the shooting component in response to the target object; Adjusting the heel-shooting equipment to an initial pose according to the distance information and/or the coordinate information; And circularly acquiring the pose offset of the target object, and adjusting a moving component of the follow-up shooting equipment and/or adjusting a shooting component of the follow-up shooting equipment according to the pose offset acquired each time.
4. A control method of a heel-flap apparatus according to claim 3, wherein adjusting the heel-flap apparatus to an initial pose according to the distance information and/or the coordinate information comprises: Controlling a moving component of the follow-up device to move a distance corresponding to the difference value according to the difference value between the distance information and the preset target distance so as to adjust the follow-up device to an initial pose, and/or, According to the horizontal deviation of the coordinate information and the center coordinate of the visual field, controlling a rotating unit or a moving component of the follow-up shooting device to rotate by an angle corresponding to the horizontal deviation so as to adjust the follow-up shooting device to an initial pose, and/or, And controlling a telescopic unit of the follow-up device to adjust the distance corresponding to the horizontal deviation according to the vertical deviation of the coordinate information and the center coordinate of the visual field so as to adjust the follow-up device to an initial pose.
5. A control method of a heel-flap apparatus according to claim 3, wherein the pose offset is distance information, the pose offset of the target object is circularly acquired, and the moving assembly of the heel-flap apparatus is adjusted according to the pose offset acquired each time, comprising: acquiring distance information between a shooting component of the follow-up shooting device and the target object according to a first frequency; Acquiring coordinate information of the target object in the visual field of the shooting assembly according to a second frequency; constructing historical position data of the target object under a device coordinate system based on the distance information and the coordinate information; Determining a moving speed corresponding to the historical position data; obtaining a predicted moving path of the target object according to a fitting model corresponding to the moving speed; and adjusting a movement component of the follow-up device based on the predicted movement path.
6. The method for controlling a follow-up device according to claim 5, wherein the obtaining a predicted moving path of the target object according to the fitting model corresponding to the moving speed comprises: if the moving speed is smaller than or equal to a speed threshold, solving a k-degree polynomial curve constructed by the historical position data according to a least square method; and obtaining the predicted moving path of the target object according to the solving result.
7. The method for controlling a follow-up device according to claim 5, wherein the obtaining a predicted moving path of the target object according to the fitting model corresponding to the moving speed comprises: If the moving speed is greater than a speed threshold, constructing a state vector of the target object according to the historical position data; Constructing a state equation according to the state vector, the uniform acceleration transfer matrix and the first covariance matrix; And obtaining the predicted moving path of the target object according to the state equation and the historical position data.
8. The control method of a follow-up shooting device according to claim 3, wherein the pose offset is a coordinate offset, the pose offset of the target object is circularly acquired, and the shooting assembly of the follow-up shooting device is adjusted according to the pose offset acquired each time, comprising: And acquiring coordinate information of the target object in the visual field of the shooting assembly according to the second frequency, and adjusting at least one of the telescopic unit, the rotary unit and the moving assembly according to coordinate deviation of the coordinate information acquired each time and the central coordinate of the visual field so as to adjust the visual angle of the shooting assembly.
9. A control method of a follow-up device according to claim 3, wherein the determining, in response to a target object, distance information of a photographing component of the follow-up device from the target object and/or coordinate information of the target object in a field of view of the photographing component includes: In response to gesture information identified by the shooting component, determining the target object to which the gesture information points, and/or, And responding to the received positioning signal, and determining the target object pointed by the positioning signal.
10. A storage medium, characterized in that the storage medium is a computer-readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, realizes the steps of the control method of a follow-up device according to any one of claims 3 to 9.

Description

Control method and device for follow-up shooting device and storage medium Technical Field The present application relates to the field of intelligent tracking shooting technologies, and in particular, to a control method and apparatus for a follow-up shooting device, and a storage medium. Background At present, in the mobile tracking shooting work in the shooting field, still taking a manually operated shooting device as a core implementation mode, shooting personnel need to hold or control the shooting device in the whole process, and the space position and the shooting angle of the device are adjusted in real time, so that the follow-up shooting of a dynamic target is completed. In order to alleviate the load pressure of equipment and the trouble of operation of shooting personnel, auxiliary devices such as auxiliary exoskeletons, special control controllers and the like are arranged in the related technology. However, the auxiliary means can only reduce the somatosensory burden of the shooting personnel from the physical aspect, and can not fundamentally replace manual real-time judgment and manual adjustment actions, and the shooting precision and consistency are highly dependent on the operation proficiency of the personnel. And fatigue is easy to generate in the manual continuous operation, so that the stability of tracking shooting is difficult to ensure. Disclosure of Invention The application mainly aims to provide a control method, equipment and storage medium of a follow-up shooting device, and aims to solve the technical problem of lack of mobile tracking capability in the prior art. In order to achieve the above object, the present application provides a follow-up shooting device, which comprises a moving assembly, a viewing angle adjusting assembly and a shooting assembly, wherein the moving assembly is provided with a moving unit and a driving unit, a first end of the viewing angle adjusting assembly is connected with the moving assembly, a second end of the viewing angle adjusting assembly is connected with the shooting assembly, and the viewing angle adjusting assembly comprises a telescopic unit, so that the relative distance between the shooting assembly and the moving assembly is adjusted through the telescopic unit. In an embodiment, the second end of the viewing angle adjusting assembly is provided with a rotating unit, so that the relative angle between the photographing assembly and the viewing angle adjusting assembly is adjusted by the rotating unit. In addition, in order to achieve the above object, the present application further provides a control method of a follow-up device, the control method of the follow-up device comprising: determining distance information between a shooting component of the follow-up shooting device and the target object and/or coordinate information of the target object in the field of view of the shooting component in response to the target object; Adjusting the follow-up shooting equipment to an initial pose according to the distance information and/or the coordinate information; And circularly acquiring the pose offset of the target object, and adjusting a moving component of the follow-up shooting equipment and/or adjusting a shooting component of the follow-up shooting equipment according to the pose offset acquired each time. In an embodiment, adjusting the follow-up device to an initial pose according to the distance information and/or the coordinate information includes: controlling the distance corresponding to the moving difference of the moving component of the follow-up device according to the difference between the distance information and the preset target distance so as to adjust the follow-up device to the initial pose, and/or, According to the horizontal deviation of the coordinate information and the center coordinate of the visual field, controlling a rotating unit or a moving component of the follow-up device to rotate by an angle corresponding to the horizontal deviation so as to adjust the follow-up device to an initial pose, and/or, And controlling a telescopic unit of the follow-up device to adjust the distance corresponding to the horizontal deviation according to the vertical deviation of the coordinate information and the center coordinate of the visual field so as to adjust the follow-up device to the initial pose. In an embodiment, the pose offset is distance information, the pose offset of the target object is circularly acquired, and the moving component of the follow-up shooting device is adjusted according to the pose offset acquired each time, including: Acquiring distance information between a shooting component of follow-up shooting equipment and a target object according to a first frequency; acquiring coordinate information of the target object in the field of view of the shooting assembly according to the second frequency; Constructing historical position data of the target object under a device coordinate system