WO2022061535A1 - Handheld gimbal control method, handheld gimbal, system, and readable storage medium - Google Patents

Abstract

A handheld gimbal control method, a handheld gimbal, a system, and a readable storage medium. The method comprises: obtaining an angle of view of a photographing device (S101); controlling a display apparatus to display an image collected by the photographing device in real time (S102); determining a target object in the image in response to an object selection operation of a user on the image displayed on the display apparatus (S103); and controlling, according to the angle of view and the position of the target object in the image, a handheld gimbal to move (S104). The method improves user experience.

Description

Handheld PTZ control method, handheld PTZ, system and readable storage medium technical field

The present application relates to the technical field of PTZ control, and in particular, to a handheld PTZ control method, a handheld PTZ, a system and a readable storage medium.

Background technique

The handheld gimbal brings great convenience to the use of the camera, and people can easily take pictures with stable images and smooth zooming in various scenes and various sports modes. The smart follow mode of the handheld gimbal is often used by users, and the current trigger of the smart follow mode needs to be realized by means of a mobile terminal or a third-party image transmission device installed with an adapted program application. The trigger method is cumbersome and inconvenient for users to use. , and the shooting parameters of different manufacturers, different series and different models of shooting equipment are different, the existing following algorithms cannot adapt to different manufacturers, different series and different types of shooting equipment, and the following effect is not good.

SUMMARY OF THE INVENTION

Based on this, the embodiments of the present application provide a handheld PTZ control method, a handheld PTZ, a system and a readable storage medium, which aim to improve the convenience and following effect of a user controlling a PTZ intelligently following a target object, and improve user experience .

In a first aspect, an embodiment of the present application provides a method for controlling a handheld PTZ, the handheld PTZ includes a display device, the handheld PTZ is used for carrying a photographing device, and the handheld PTZ is communicatively connected to the photography device , the method includes:

obtaining the field of view of the photographing device;

acquiring an image captured in real time by the photographing device, and controlling the display device to display the image;

In response to a user's object selection operation on the image, determining a target object in the image;

According to the angle of view and the position of the target object in the image, the hand-held pan/tilt head is controlled to move, so that the shooting device can follow the shooting of the target object.

In a second aspect, an embodiment of the present application further provides a handheld pan/tilt, the handheld pan/tilt includes a memory, a processor, and a display device, the handheld pan/tilt is used for carrying a photographing device, and the handheld pan/tilt is connected to the hand-held pan/tilt. Communication connection of shooting equipment;

the memory for storing computer programs;

The processor is configured to execute the computer program and implement the following steps when executing the computer program:

obtaining the field of view of the photographing device;

acquiring an image captured in real time by the photographing device, and controlling the display device to display the image;

In response to a user's object selection operation on the image, determining a target object in the image;

According to the angle of view and the position of the target object in the image, the hand-held pan/tilt head is controlled to move, so that the shooting device can follow the shooting of the target object.

In a third aspect, an embodiment of the present application further provides a shooting system, the shooting system includes the above-mentioned handheld gimbal and a shooting device mounted on the handheld gimbal, the handheld gimbal and the shooting device communication connection.

In a fourth aspect, the present application also provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the above-mentioned handheld cloud The steps of the console control method.

Embodiments of the present application provide a handheld PTZ control method, a handheld PTZ, a system, and a readable storage medium. By acquiring a field of view of a shooting device and an image collected in real time by the shooting device, and controlling a display device to display the image, Then, in response to the user's object selection operation on the image displayed on the display device, the target object in the image is determined, and according to the field of view of the shooting device and the position of the target object in the image, the hand-held pan/tilt is controlled to move, so that the shooting device The following shooting of the target object is convenient for the user to control the gimbal to follow the target object intelligently, improve the convenience of the user to control the gimbal to follow the target object intelligently, and also improve the following effect of the handheld gimbal to the target object, which greatly improves the user's ability to follow the target object. experience.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not limiting of the present application.

Description of drawings

In order to explain the technical solutions of the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. For those of ordinary skill, other drawings can also be obtained from these drawings without any creative effort.

1 is a schematic structural diagram of a handheld PTZ implementing the method for controlling a handheld PTZ provided by an embodiment of the present application;

FIG. 2 is a schematic flowchart of steps of a method for controlling a handheld PTZ provided by an embodiment of the present application;

3 is a schematic diagram of an image displayed by a display device in an embodiment of the present application;

4 is another schematic diagram of an image displayed by a display device in an embodiment of the present application;

5 is another schematic diagram of an image displayed by a display device in an embodiment of the present application;

6 is another schematic diagram of an image displayed by a display device in an embodiment of the present application;

7 is another schematic diagram of an image displayed by a display device in an embodiment of the present application;

8 is another schematic diagram of an image displayed by a display device in an embodiment of the present application;

9 is another schematic diagram of an image displayed by a display device in an embodiment of the present application;

10 is another schematic diagram of an image displayed by a display device in an embodiment of the present application;

11 is another schematic diagram of an image displayed by a display device in an embodiment of the present application;

12 is another schematic diagram of an image displayed by a display device in an embodiment of the present application;

13 is another schematic diagram of an image displayed by a display device in an embodiment of the present application;

14 is another schematic diagram of an image displayed by a display device in an embodiment of the present application;

15 is another schematic diagram of an image displayed by a display device in an embodiment of the present application;

16 is a schematic block diagram of the structure of a handheld cloud platform provided by an embodiment of the present application;

FIG. 17 is a schematic block diagram of the structure of a photographing system provided by an embodiment of the present application.

detailed description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

The flowcharts shown in the figures are for illustration only, and do not necessarily include all contents and operations/steps, nor do they have to be performed in the order described. For example, some operations/steps can also be decomposed, combined or partially combined, so the actual execution order may be changed according to the actual situation.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and features in the embodiments may be combined with each other without conflict.

The handheld gimbal brings great convenience to the use of the camera, and people can easily take pictures with stable images and smooth zooming in various scenes and various sports modes. The smart follow mode of the handheld gimbal is often used by users, and the current trigger of the smart follow mode needs to be realized by means of a mobile terminal or a third-party image transmission device installed with an adapted program application. The trigger method is cumbersome and inconvenient for users to use. , the user experience is not good.

In order to solve the above problems, embodiments of the present application provide a hand-held pan-tilt control method, a hand-held pan-tilt, a system and a readable storage medium, and the hand-held pan-tilt control method can be applied to a hand-held pan-tilt. Please refer to FIG. 1 . FIG. 1 is a schematic structural diagram of a handheld gimbal for implementing the method for controlling a handheld gimbal provided by an embodiment of the present application. The handheld pan/tilt in the embodiment of the present application will be described below with reference to FIG. 1 .

As shown in FIG. 1 , the handheld pan/tilt 100 includes a handle portion 101 , a pan/tilt 102 provided on the handle portion 101 , and a display device 103 provided on the handle portion 101 . It can be integrated with the PTZ 102 or externally connected to the PTZ 102 .

The pan/tilt 102 includes three-axis motors, which are a pitch (pitch) axis motor 1021 , a roll (roll) axis motor 1022 and a yaw (yaw) axis motor 1023 . The balance posture of the photographing device 104 on the camera can be used to capture a stable and smooth picture.

The display device 103 is used to display images collected in real time by the photographing device 104 . In addition, the user can also control the pan/tilt 102 or the photographing device 104 mounted on the pan/tilt 102 by touching the display device 103 . Optionally, the display device 103 is a touch screen. For example, in response to the user's touch operation on the image displayed on the display device 103, the handheld platform 100 obtains the position coordinates of the touch position of the touch operation in the image, and determines the target object in the image according to the position coordinates, Then, according to the position of the target object in the image, the pan/tilt head 102 is controlled to move, so that the shooting device 104 can follow the shooting of the target object. For example, the display device 103 displays a parameter control slider. When the user slides the parameter control slider When , an adjustment instruction of the target shooting parameter is triggered, so that the shooting device 104 adjusts the value of the target shooting parameter based on the adjustment instruction, and the target shooting parameter includes focal length, exposure value, sensitivity and shutter speed.

In one embodiment, the handle portion 101 is further provided with an operation button 105 , so that the user can operate the operation button to control the gimbal 102 or the photographing device 104 mounted on the gimbal 102 . Optionally, the operation buttons 105 are arranged around the display device 103 . The operation key may be, for example, a key, a trigger, a knob or a rocker, etc., of course, other forms of physical keys are also included. For example, the joystick can be used to control the movement of the three axes, thereby controlling the movement of the gimbal 102 , for example, the buttons can be used to control the gimbal 102 to start up. Understandably, the joystick can also be used for other functions.

For example, the display device 103 displays an image containing the frame of the region to be selected, and the image is acquired in real time by the photographing device 104. The handheld pan/tilt 100 responds to the user's first trigger operation on the operation button 105 to obtain the frame of the region to be selected. The current position information in the image; the target object in the image is determined according to the current position information, and the pan/tilt 102 is controlled to move according to the position of the target object in the image, so that the shooting device 104 can follow the target object.

For another example, in response to the user's second trigger operation on the operation button 105, the handheld pan/tilt 100 changes the position of the frame to be selected in the image; in response to the user's first trigger operation on the operation button 105, obtains the frame of the to-be-selected area in the image. The current position information in the image; the target object in the image is determined according to the current position information, and the pan/tilt 102 is controlled to move according to the position of the target object in the image, so that the shooting device 104 can follow and shoot the target object. Wherein, the first trigger operation is different from the second trigger operation.

The handheld pan/tilt 100 includes a processor, and the processor is used to process input control instructions, or send and receive signals. The processor may be provided inside the handle portion 101 . Optionally, the processor may be a central processing unit (Central Processing Unit, CPU), and the processor may also be other general-purpose processors, digital signal processors (Digital Signal Processors, DSP), application specific integrated circuits (application specific integrated circuits) circuit, ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

Hereinafter, the control method of the handheld PTZ provided by the embodiment of the present application will be described in detail with reference to the handheld PTZ in FIG. 1 . It should be noted that the handheld PTZ in FIG. 1 is only used to explain the handheld PTZ control method provided by the embodiments of the present application, but does not constitute a limitation on the application scenarios of the handheld PTZ control methods provided by the embodiments of the present application.

Please refer to FIG. 2 , which is a schematic flowchart of steps of a method for controlling a handheld PTZ provided by an embodiment of the present application.

As shown in FIG. 2 , the hand-held pan-tilt control method includes steps S101 to S104.

S101. Acquire a field of view of the photographing device.

The inventors know that the existing following algorithms do not consider the field of view of the shooting device, but the field of view of the shooting device will affect the follow-up effect, and the field of view of different manufacturers, different series and different models of shooting equipment is different. The existing following algorithms cannot adapt to different manufacturers, different series and different types of shooting equipment, and the following effect is not good.

Since the field of view of different shooting devices is different, and the field of view will affect the effect of the gimbal following the target object, after the handheld gimbal is connected to the shooting device, it is necessary to obtain the field of view of the shooting device. The field of view is adapted to follow the target object, so as to improve the follow-up effect of the handheld gimbal to the target object.

In one embodiment, the method of acquiring the field of view of the photographing device may be: acquiring the field of view of the photographing device in response to the user's first input operation. Wherein, the first input operation includes a user's field of view angle input operation on the field of view angle input pop-up window, and the field of view angle input pop-up window can be displayed by the display device of the handheld pan/tilt or a terminal device connected to the handheld pan/tilt, and the terminal device Can be used for smartphones and tablets etc. For the scene where the user is clear about the field of view of the shooting device, the user can display the field of view input pop-up window through the display device or the connected terminal device, and the user can manually input the field of view of the shooting device. The adaptation of the field of view of the device.

In an embodiment, the manner of acquiring the field of view of the photographing device may further be: acquiring the field of view of the photographing device based on a preset angle of view calibration operation. The preset field-of-view calibration operation may be set based on the actual situation, which is not specifically limited in this embodiment of the present application. For example, control the hand-held gimbal to rotate, and control the shooting device to take pictures when the hand-held gimbal is in the first posture , obtain the first image, when the handheld gimbal is in the second posture, control the shooting device to take pictures to obtain the second image, and then according to the position difference of the same object in the first image and the second image and the handheld gimbal in the first posture The rotation angle between the second posture and the second posture determines the field of view of the photographing device. Through the preset FOV calibration operation, the FOV of the shooting device can be obtained without the need for the user to manually input the FOV of the shooting device, and the FOV of the shooting device can be accurately determined, which is convenient for subsequent follow-up based on the accurate FOV Following the target object enables the shooting device to better follow the target object, improves the following effect, and greatly improves the user experience.

In one embodiment, based on the preset field of view angle calibration operation, the method of acquiring the field of view of the photographing device may be: acquiring the first image obtained by the photographing device in the first posture of the handheld gimbal and the second posture. The first image obtained by shooting; the field of view angle of the shooting device is determined according to the position difference of the same object in the first image and the second image and the rotation angle of the handheld platform between the first posture and the second posture. For example, the target object remains stationary, and the ratio of the image area of the target object in the first image to the first image is K ₁ , and the ratio of the image area of the target object in the first image to the second image is K ₂ , the rotation angle of the handheld gimbal between the first posture and the second posture is β, then the field of view of the photographing device is α, and α=β/(K ₁ −K ₂ ).

In one embodiment, the method of acquiring the first image captured by the handheld gimbal in the first posture and the first image captured in the second posture may be: acquiring the triggered field angle calibration instruction, and according to the The field of view angle calibration command controls the rotation of the handheld gimbal; when the handheld gimbal is in the first attitude, it controls the shooting device to take pictures to obtain the first image; when the handheld gimbal is in the second attitude, it controls the shooting device to take pictures and obtains the second image. image. The FOV calibration command can be triggered by the user operating the FOV calibration button. Of course, the user can also trigger in other ways, for example, through the FOV calibration icon displayed by the display device or the terminal device connected to the handheld pan/tilt.

In one embodiment, when it is detected that the photographing device is connected to the handheld platform, the device identification of the photographing device is obtained, and whether the device identification exists in the device identification library of the handheld cloud platform, if the device identification does not exist in the device identification library. device identification, output the FOV calibration prompt information to prompt the user to calibrate the FOV of the shooting device; in response to the user's triggering operation on the FOV calibration button, trigger the FOV calibration instruction; if the device ID library exists The device ID is not processed. Wherein, the device identification is used to identify the manufacturer, series and/or model of the photographing device. When the new shooting device is connected to the handheld pan/tilt, the prompt information for the calibration of the field of view is output, which facilitates the user to calibrate the field of view of the shooting device in time.

S102: Acquire an image captured by the photographing device in real time, and control the display device to display the image.

Wherein, the handheld gimbal can be connected to the photographing device through a control line, such as a shutter release line. The type of the shutter release cable is not limited here, for example, the shutter release cable may be a Universal Serial Bus (Universal Serial Bus, USB). The handheld gimbal can also be connected to the shooting device wirelessly, for example, the handheld gimbal is connected to the shooting device through Bluetooth.

In one embodiment, obtain the image that the photographing equipment collects in real time through the output signal of the high-definition multimedia interface (High Definition Multimedia Interface, HDMI) of the photographing equipment, and control the display device of the handheld platform to display the image that the photographing equipment collects in real time, That is, the first length-width information of the image and the second length-width information of the display device are acquired, the length-width ratio is determined according to the first length-width information and the second length-width information, and the image is processed according to the length-width ratio. Scaling, image enhancement and/or cropping processing is performed to obtain a target image, which is then displayed on a display device. Due to the small size of the display device, it is inconvenient for users to read. Therefore, by performing scaling, image enhancement and/or cropping processing on the image, and then displaying the processed image on the display device, the display effect of the image can be improved and the user can browse easily.

In one embodiment, the handheld pan/tilt includes a handle portion, a pan/tilt provided on the handle portion, and a display device provided on the handle portion. By arranging the display device on the handle portion of the handheld pan/tilt, it is convenient for the user to control the handheld pan/tilt or control the photographing device through the display device.

S103. In response to a user's object selection operation on the image, determine a target object in the image.

Wherein, after the display device displays the image collected in real time by the photographing device, the user can select the target object to be followed through the image displayed by the display device, for example, the user touches a certain area in the image to determine the target object to be followed .

In one embodiment, the object selection operation includes a user's touch operation on the image, and in response to the user's object selection operation on the image, the method of determining the target object in the image may be: in response to the user's operation on the display device. The touch operation on the image, obtain the position coordinates of the touch position of the touch operation in the image; according to the position coordinates, determine the target object in the image, that is, obtain the target image area corresponding to the position coordinates from the image , and perform target recognition on the object in the target image area, and then use the recognized object as the target object to be followed. Through the user's touch operation on the image on the display device, the target object can be determined, and it does not need to be realized through a mobile terminal or a third-party image transmission device installed with an adapted program application, which greatly improves the user's ability to control the PTZ's intelligence. Follow the convenience of the target object and improve the user experience.

3 is a schematic diagram of an image displayed by a display device in an embodiment of the present application. As shown in If you touch the area where the displayed object 13 is located, the handheld gimbal responds to the touch operation, taking the object 13 as the target object to be followed, and if you touch the area where the displayed object 12 is located, the handheld gimbal responds to the touch. Operation, take object 12 as the target object to be followed.

In one embodiment, according to the position coordinates, the method of determining the target object in the image may be: according to the length and width information of the display device and the length and width information of the image, determine the coordinate conversion relationship; according to the coordinate conversion relationship, the position coordinate Convert to obtain the target position coordinates, and determine the target object in the image according to the target position coordinates. Since the image displayed by the display device is an image after coordinate conversion, the position coordinates can be converted through the length and width information of the display device and the length and width information of the image, and then the image can be accurately determined based on the converted position coordinates. target object in .

In one embodiment, a frame to be selected is displayed in the image, the handheld pan/tilt also includes operation buttons, and the object selection operation includes a first trigger operation of the operation button by the user, and in response to the user's object selection operation on the image, The method of determining the target object in the image may be: in response to the user's first triggering operation on the operation button, obtaining current position information of the frame to be selected in the image; and determining the target object in the image according to the current position information. Wherein, the to-be-selected area frame may be located in the center of the image, the operation button may include a button disposed around the display device, and the first trigger operation includes any one of the user's click operation, long-press operation and double-click operation on the button . The target object can be determined through the first trigger operation of the operation button, which does not need to be realized by a mobile terminal or a third-party image transmission device installed with an adapted program application, which greatly improves the convenience of the user to control the PTZ to follow the target object intelligently. properties and improve user experience.

4 is another schematic diagram of an image displayed by a display device in an embodiment of the present application. As shown in FIG. 4 , the image displayed by the display device includes object 11, object 12, object 13, and a candidate for selection. The area frame 14, when detecting the user's double-click operation on the button, performs target recognition on the image area where the area frame 14 to be selected is located. Since there is no target in the image area where the area frame 14 to be selected is located, the display device can output " "Target not recognized" prompt message, as shown in Figure 5, the object 13 moves, and the object 13 is located in the to-be-selected area frame 14. If the user double-clicks the button is detected at this time, the to-be-selected area frame 14 Performing target recognition in the image area where the target area frame 14 is located because the object 13 exists in the image area where the area frame 14 to be selected is located, therefore, the object 13 is taken as the target object.

In one embodiment, in response to the user's object selection operation on the image, the method of determining the target object in the image may also be: in response to the user's second trigger operation on the operation button, changing the position of the frame to be selected in the image. ; in response to the user's first trigger operation on the operation button, obtain the current position information of the frame to be selected in the image; according to the current position information, determine the target object in the image. The position of the area frame to be selected is changed through the second trigger operation of the operation button to change the target object selected by the user, and then the selected target object is determined through the first trigger operation of the operation button, which greatly improves user control. The convenience of the PTZ intelligently follows the target object and improves the user experience.

In one embodiment, in response to the second triggering operation of the operation button by the user, the method of changing the position of the frame to be selected in the image may be: performing target recognition on the image to determine whether there is an object in the image, and if there is an object in the image, If there is an object, according to the second trigger operation, move the to-be-selected area frame to the image area where the object is located to change the position of the to-be-selected area frame in the image, and when there are multiple objects in the image, according to the second trigger operation , select an object from multiple objects as a candidate object, and move the frame of the region to be selected to the image area where the candidate object is located, so as to change the position of the frame of the region to be selected in the image.

The first trigger operation is different from the second trigger operation. For example, the first trigger operation is a double-click operation, and the second trigger operation is a single-click operation. For another example, the operation buttons include a first operation button and a second operation button. The triggering operation includes the user's triggering operation on the first operation button, which may be, for example, a double-click operation on the button, and the second triggering operation includes the user's triggering operation on the second operation button, which may be, for example, a stick operation on a joystick.

Exemplarily, as shown in FIG. 5, the object 13 is located in the to-be-selected area frame 14, and if the user clicks the button at this time, the to-be-selected area frame 14 changes from the position shown in FIG. 6 or the position shown in FIG. 7 , that is, the area frame 14 to be selected is moved to the area where the object 11 or the object 12 is located. At this time, when the user double-clicks the button, the object 11 or the object located in the area frame 14 to be selected will be moved. 12 as the target object.

Exemplarily, as shown in FIG. 4 , there is no object in the to-be-selected area frame 14 , and if the user performs a stick operation on the joystick and moves the stick to the right, the to-be-selected area frame 14 is composed of the area shown in FIG. 4 . The position shown is changed to the position shown in FIG. 8, that is, the object 12 is located in the area frame 14 to be selected, and if the user continues to hit the stick to the right, the area frame 14 to be selected changes from the position shown in FIG. 9, that is, the object 13 is located in the to-be-selected area frame 14, and if the user continues to move the stick to the right at this time, the to-be-selected area frame 14 changes from the position shown in FIG. 9 to the position shown in 10 , that is, the object 11 is located in the to-be-selected area frame 14 .

S104. Control the movement of the handheld gimbal according to the angle of view and the position of the target object in the image, so that the photographing device can follow the photographing of the target object.

After determining the field of view of the shooting device and the target object, control the movement of the handheld gimbal based on the field of view and the position of the target object in the image, so that the shooting device can follow the shooting of the target object, that is, according to the field of view, determine The target control coefficient of the control loop of the hand-held gimbal is controlled, and the movement of the hand-held gimbal is controlled according to the target control coefficient and the position of the target object in the image. For example, if the control loop is a PID controller, the target control coefficients include a proportional control coefficient P, an integral control coefficient I, and a differential control coefficient D. The target control coefficient of the control loop of the handheld gimbal is determined by the field of view of the shooting device. Based on the determined target control coefficient and the position of the target object in the image, the handheld gimbal can be controlled to better follow the target object and improve the following effect. , which greatly improves the user experience.

Specifically, the position of the target object in the image is used as the reference position, and the current live view picture collected by the shooting device is acquired at preset time intervals; the position of the target object in the current live view picture is determined, and the The current position, and according to the current position of the target object, the position of the base station and the target control coefficient, control the movement of the handheld gimbal, so that the difference between the position of the target object in the current live view screen and the position of the base station is less than the preset position difference . The difference between the preset time and the preset position may be set based on the actual situation, which is not specifically limited in this application.

In one embodiment, if the target control coefficient obtained by calibration based on the field of view of the photographing device does not match the actual motion speed of the target to be followed, there may be a problem of control overshoot in the follow-up control of the handheld gimbal. The control loop is a PID control loop, and the P (proportional) coefficient in the target control coefficients calibrated according to the field of view angle is large. At this time, due to the hysteresis of the control loop, it will cause the hand-held gimbal to shake after overshoot. , resulting in a decrease in the quality of the film. Therefore, in response to the user's second input operation, the target control coefficient is adjusted; according to the position of the target object in the image and the adjusted target control coefficient, the movement of the handheld gimbal is controlled. Wherein, the second input operation may be a user's turning operation on the dial key, or may be a user's touch operation on the control coefficient adjustment icon displayed by the display device or the terminal device. By providing the adjustment function of the target control coefficient, the user can configure the target control coefficient more flexibly, so that the follow-up shooting is more in line with the user's needs, and the user experience is greatly improved.

In an embodiment, the control authority of the control loop may be opened to the user, and in response to the user's second input operation, the method of adjusting the target control coefficient may be: in response to the user's second input operation, reading the Control the coefficient adjustment amount, and adjust the target control coefficient according to the control coefficient adjustment amount; or in response to the user's second input operation, obtain the target control gear from a plurality of control gears, and use the control coefficient corresponding to the target control gear as the adjusted target control coefficient. For example, 1-30 control gears can be opened, each control gear corresponds to a set of control coefficients, and a target control gear can be determined among the above control gears through the second input operation of the user, and the target control gear The corresponding control coefficient is used as the adjusted target control coefficient.

In one embodiment, it is detected whether a preset shaking event occurs in the handheld gimbal; if it is determined that a preset jittering event occurs in the handheld gimbal, the target control coefficient is adjusted; according to the position of the target object in the image and the adjusted target control coefficient, Control the movement of the handheld gimbal. Among them, the gimbal can detect the movement of the gimbal through the built-in IMU (Inertial Measurement Unit), and based on the detected information, you can know whether a preset jitter event occurs in the gimbal. By adjusting the target control coefficient when the handheld gimbal shakes abnormally, the gimbal can better follow the target object and improve the following effect based on the position of the target object in the image and the adjusted target control coefficient.

For example, if the control loop is a PID control loop, when it is determined that a preset jitter event occurs in the handheld gimbal, the proportional coefficient P in the PID control loop can generally be reduced. The amount of control is reduced, which in turn reduces jitter due to overshoot. However, if the proportional coefficient P is reduced too much, the control amount may be too small, causing the gimbal to fail to catch up with the target. Therefore, the proportional coefficient P can be decreased step by step to keep it in a reasonable adjustment range.

In one embodiment, in the process of following the shooting target object, in response to the user's triggering operation on the pan-tilt control part of the hand-held pan-tilt, the motion control amount input by the pan-tilt control part is obtained; The gimbal moves to change the position of the target object within the image. Wherein, the pan-tilt control component includes any one of a joystick and a dial key, and the trigger operation includes any one of a user's operation on the joystick and a user's rotation operation on the dial key. During the process of following the target object, the position of the target object in the image is adjusted through the pan-tilt control component, so as to improve the convenience of the user's composition.

Exemplarily, as shown in FIG. 11 , the target object 21 is located in the central area of the image. After the user operates the joystick and/or the dial button, the hand-held pan/tilt is controlled to move, so that the position of the target object 21 in the image is determined by: The center position shown in FIG. 21 is changed to the left area position shown in FIG. 12 .

In one embodiment, according to the motion control amount, control the movement of the handheld pan/tilt to change the position of the target object in the image, first control the handheld pan/tilt to suspend following the target object, and after suspending the tracking of the target object , according to the motion control amount, control the movement of the hand-held gimbal to change the position of the target object in the image. By pausing to follow the target object, and then controlling the movement of the handheld gimbal to change the position of the target object in the image, the composition of the user can be prevented from changing, and the user experience can be improved.

In one embodiment, within a preset time after responding to the trigger operation, if it is detected that the control part of the gimbal is not operated, the handheld gimbal is controlled to continue to follow the target object. Wherein, the preset time may be set based on the actual situation, which is not specifically limited in this application, for example, the preset time is 2 seconds. By changing the position of the target object in the image for a period of time, when the user does not operate the control part of the gimbal, the handheld gimbal can be controlled to continue to follow the target object, and the user does not need to manually trigger the following of the target object again. Greatly improved user experience.

In one embodiment, in response to the user's triggering operation on the pan-tilt control part, the method of acquiring the motion control amount input by the pan-tilt control part may be: in response to the user's operation of the joystick, determining the first position of the hand-held pan-tilt control part. The first rotation control amount of a target motor; at the same time, in response to the user's rotation operation on the dial key, determine the second rotation control amount of the second target motor of the handheld pan-tilt head; according to the first rotation control amount, control the hand-held pan-tilt head The first target motor rotates, and according to the second rotation control amount, the second target motor of the handheld gimbal is controlled to rotate. Wherein, the first target motor is different from the second target motor, the first target motor includes any one of a pitch axis motor, a translation axis motor and a roll axis motor, and the second target motor includes a pitch axis motor, a translation axis motor and a roll axis motor Either of the roller motors. The user can control the handheld gimbal at the same time through the joystick and the dial button, which improves the user's convenience in controlling the gimbal.

In one embodiment, in the process of following the target object, if it is detected that there are multiple objects to be followed in the image, an identification icon is displayed on each object to be followed. Wherein, the identification icon whose object to be followed is the target object is the first identification icon, the identification icon whose object to be followed is not the target object is the second identification icon, and the first identification icon is different from the second identification icon, for example, the first identification icon It includes a first rectangular frame, and the second identification icon includes a second rectangular frame. The color of the first rectangular frame and the second rectangular frame is different. For another example, the tracking logo is displayed in the first rectangular frame, and the second rectangular frame is displayed. There is no tracking mark displayed inside, and the specific form of the tracking mark can be set according to the actual situation, such as a five-pointed star. By displaying an identification icon on each object to be followed, it is convenient for the user to distinguish the target object, and it is also convenient for the user to re-select the target object from a plurality of objects to be followed.

Exemplarily, as shown in FIG. 13 , the image displayed by the display device includes three objects to be followed, namely the object to be followed 31 , the object to be followed 32 and the object to be followed 33 , and the object to be followed 31 , the object to be followed 32 and the The identification icons on the object to be followed 33 are the identification icon 34, the identification icon 35 and the identification icon 36 respectively, and the object to be followed 31 is the target object, therefore, the identification icon 34 displays the tracking mark 37, the identification icon 35 and the identification icon 36 Trace marks are not shown.

In one embodiment, in response to a user's triggering operation on the object switching component, an object to be followed is re-selected from a plurality of objects to be followed as the target object. Among them, the object switching part of the handheld gimbal is set on the handle part, the object switching part is used to switch the target object to follow, and the object switching part includes a joystick, dial keys and buttons, etc. After re-selecting the target object, adjust the object to be followed The identification icon on the re-selected target object is the first identification icon. By setting the object switching component, it is convenient for the user to quickly switch the target object.

Exemplarily, as shown in FIG. 13 , the object to be followed 31 is the target object. If the user operates the object switching component at this time, the target object changes from the object to be followed 31 shown in FIG. 13 to the object to be followed as shown in FIG. 14 . Follow the object 32, and the tracking mark 37 changes from the position shown in FIG. 13 to the position shown in FIG. 14, that is, the tracking mark 37 is located at the identification icon 35 of the object to be followed 32, or the target object is shown in FIG. 13. The object to be followed 31 is changed to the object to be followed 33 as shown in Figure 15, and the tracking mark 37 is changed from the position shown in Figure 13 to the position shown in Figure 15, that is, the tracking mark 37 is located at the position of the object to be followed 33. logo icon 36.

The handheld pan-tilt control method provided by the above-mentioned embodiments obtains the field of view of the photographing device and the image collected in real time by the photographing device, and controls the display device to display the image, and then responds to the user's selection of the object of the image displayed on the display device. Operation, determine the target object in the image, and control the movement of the handheld gimbal according to the field of view of the shooting device and the position of the target object in the image, so that the shooting device can follow the target object, and it is convenient for the user to control the intelligent gimbal. Following the target object improves the convenience for the user to control the PTZ intelligently following the target object, and can also improve the tracking effect of the handheld PTZ to the target object, which greatly improves the user experience.

Please refer to FIG. 16 . FIG. 16 is a schematic block diagram of the structure of a handheld gimbal provided by an embodiment of the present application.

As shown in FIG. 16 , the handheld pan/tilt 200 includes a processor 201, a memory 202, and a display device 203. The processor 201, the memory 202, and the display device 203 are connected through a bus 204, such as an I2C (Inter-integrated Circuit) bus. .

Specifically, the processor 201 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU), or a digital signal processor (Digital Signal Processor, DSP) or the like.

Specifically, the memory 202 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, or the like.

Wherein, the processor 201 is used for running the computer program stored in the memory 202, and implements the following steps when executing the computer program:

obtaining the field of view of the photographing device;

acquiring an image captured in real time by the photographing device, and controlling the display device to display the image;

In response to a user's object selection operation on the image, determining a target object in the image;

According to the angle of view and the position of the target object in the image, the hand-held pan/tilt head is controlled to move, so that the shooting device can follow the shooting of the target object.

In one embodiment, the acquiring the field of view of the photographing device includes performing any of the following operations:

In response to the user's first input operation, acquiring the field of view; or,

The viewing angle is acquired based on a preset viewing angle calibration operation.

In one embodiment, the obtaining the field of view angle based on the preset field of view angle calibration operation includes:

acquiring a first image captured by the photographing device in a first posture of the handheld gimbal and a first image captured in a second posture;

According to the position difference of the same object in the first image and the second image and the rotation angle of the handheld platform between the first posture and the second posture, the visual angle of the photographing device is determined field angle.

In one embodiment, the acquiring the first image obtained by the photographing device in the first posture of the handheld gimbal and the first image photographed in the second posture includes:

acquiring the triggered field angle calibration instruction, and controlling the hand-held pan/tilt to rotate according to the field angle calibration instruction;

When the handheld gimbal is in the first posture, controlling the photographing device to take pictures to obtain the first image;

When the handheld gimbal is in the second posture, the photographing device is controlled to take pictures to obtain the second image.

In an embodiment, the controlling the movement of the handheld gimbal according to the angle of view and the position of the target object in the image includes:

determining the target control coefficient of the control loop of the handheld pan/tilt according to the field of view;

According to the position of the target object in the image and the target control coefficient, the hand-held pan/tilt head is controlled to move.

In one embodiment, the processor is further configured to implement the following steps:

adjusting the target control coefficient in response to the user's second input operation;

According to the position of the target object in the image and the adjusted target control coefficient, the movement of the handheld gimbal is controlled.

In one embodiment, the processor is further configured to implement the following steps:

Detecting whether a preset jitter event occurs in the handheld gimbal;

If it is determined that the preset shaking event occurs, adjusting the target control coefficient;

According to the position of the target object in the image and the adjusted target control coefficient, the movement of the handheld gimbal is controlled.

In one embodiment, the handheld pan/tilt head includes a handle portion, and the display device is disposed on the handle portion.

In an embodiment, the handheld pan/tilt head further includes operation buttons, and the operation buttons are arranged around the display device.

In one embodiment, the object selection operation includes a user's touch operation on the image, and the determining the target object in the image in response to the user's object selection operation on the image includes:

In response to a user's touch operation on the image on the display device, acquiring the position coordinates of the touch position of the touch operation in the image;

According to the position coordinates, the target object in the image is determined.

In an embodiment, the determining the target object in the image according to the position coordinates includes:

Determine the coordinate conversion relationship according to the length and width information of the display device and the length and width information of the image;

The position coordinates are converted according to the coordinate conversion relationship to obtain target position coordinates, and the target object in the image is determined according to the target position coordinates.

In an embodiment, a frame to be selected is displayed in the image, the handheld pan/tilt further includes an operation button, the object selection operation includes a first trigger operation of the operation button by the user, the The object selection operation of the image, to determine the target object in the image, includes:

Acquiring current position information of the to-be-selected area frame in the image in response to the user's first trigger operation on the operation button;

According to the current position information, the target object in the image is determined.

In one embodiment, the determining the target object in the image in response to the user's object selection operation on the image includes:

In response to the user's second trigger operation on the operation button, changing the position of the to-be-selected area frame within the image;

Acquiring current position information of the to-be-selected area frame in the image in response to the user's first trigger operation on the operation button;

According to the current position information, the target object in the image is determined.

In one embodiment, the first trigger operation is different from the second trigger operation.

In one embodiment, the handheld pan/tilt further includes a pan/tilt control component, and the processor is further configured to implement the following steps:

In the process of following and photographing the target object, in response to a triggering operation of the pan-tilt control part by the user, acquiring the motion control amount input by the pan-tilt control part;

According to the motion control amount, the hand-held pan/tilt head is controlled to move to change the position of the target object in the image.

In one embodiment, before controlling the motion of the handheld gimbal to change the position of the target object in the image according to the motion control amount, the method further includes:

The handheld gimbal is controlled to suspend following the target object.

In one embodiment, the processor is further configured to implement the following steps:

Within a preset time after responding to the trigger operation, if it is detected that the pan-tilt control component is not operated, the handheld pan-tilt is controlled to continue to follow the target object.

In one embodiment, the pan/tilt control component includes any one of a joystick and a dial key, and the trigger operation includes a user's lever operation on the rocker and a user's rotation of the dial key. any of the operations.

In one embodiment, the acquiring the motion control quantity input by the pan-tilt control component in response to the triggering operation of the pan-tilt control component by the user includes:

In response to the user's manipulation of the joystick, determining the first rotation control amount of the first target motor of the handheld gimbal;

At the same time, in response to the user's rotational operation of the dial key, determining the second rotational control amount of the second target motor of the handheld pan/tilt head;

The controlling the movement of the handheld gimbal according to the movement control amount includes:

According to the first rotation control amount, the first target motor of the handheld gimbal is controlled to rotate, and according to the second rotation control amount, the second target motor of the handheld gimbal is controlled to rotate.

In one embodiment, a first identification icon is displayed on the target object, and the processor is further configured to implement the following steps:

During the process of following the target object, if it is detected that there are multiple objects to be followed in the image, an identification icon is displayed on each of the objects to be followed;

Wherein, the identification icon in which the object to be followed is the target object is the first identification icon, and the identification icon in which the object to be followed is not the target object is the second identification icon.

In one embodiment, the first identification icon includes a first rectangular frame, the second identification icon includes a second rectangular frame, and the color of the first rectangular frame and the second rectangular frame are different.

In one embodiment, a tracking mark is displayed in the first rectangular frame, and no tracking mark is displayed in the second rectangular frame.

In one embodiment, the handheld pan/tilt further includes an object switching component, and the processor is further configured to implement the following steps:

In response to a triggering operation of the object switching component by the user, an object to be followed is reselected from the plurality of objects to be followed as a target object.

In one embodiment, the processor is further configured to implement the following steps:

After the target object is reselected, the identification icon is adjusted so that the identification icon on the reselected target object is the first identification icon.

It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of the description, for the specific working process of the hand-held pan/tilt head described above, you can refer to the corresponding process in the above-mentioned embodiments of the hand-held pan/tilt control method. This will not be repeated here.

Please refer to FIG. 17. FIG. 17 is a schematic block diagram of the structure of a photographing system provided by an embodiment of the present application.

As shown in FIG. 17 , the photographing system 300 includes a handheld gimbal 310 and a photographing device 320 mounted on the handheld gimbal 310 , and the handheld gimbal 310 is communicatively connected to the photographing device 320 .

It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of the description, for the specific working process of the shooting system described above, reference may be made to the corresponding process in the foregoing embodiments of the handheld pan-tilt control method. No longer.

Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and the computer program includes program instructions, and the processor executes the program instructions to realize the provision of the above embodiments. The steps of the hand-held PTZ control method.

Wherein, the computer-readable storage medium may be an internal storage unit of the handheld pan/tilt described in any of the foregoing embodiments, such as a hard disk or a memory of the handheld pan/tilt. The computer-readable storage medium can also be an external storage device of the handheld PTZ, such as a plug-in hard disk equipped on the handheld PTZ, a smart memory card (Smart Media Card, SMC), a Secure Digital (Secure Digital) , SD) card, flash memory card (Flash Card), etc.

It should be understood that the terms used in the specification of the present application herein are for the purpose of describing particular embodiments only and are not intended to limit the present application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural unless the context clearly dictates otherwise.

It will also be understood that, as used in this specification and the appended claims, the term "and/or" refers to and including any and all possible combinations of one or more of the associated listed items.

The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalents within the technical scope disclosed in the present application. Modifications or substitutions shall be covered by the protection scope of this application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (50)

1. A method for controlling a handheld PTZ, characterized in that the handheld PTZ includes a display device, the handheld PTZ is used for carrying a shooting device, and the handheld PTZ is communicatively connected to the shooting device, and the method includes:

   obtaining the field of view of the photographing device;

   acquiring an image captured in real time by the photographing device, and controlling the display device to display the image;

   In response to a user's object selection operation on the image, determining a target object in the image;

   According to the angle of view and the position of the target object in the image, the hand-held pan/tilt head is controlled to move, so that the shooting device can follow the shooting of the target object.
2. The method for controlling a handheld PTZ according to claim 1, wherein the acquiring the field of view of the shooting device comprises performing any of the following operations:

   In response to the user's first input operation, acquiring the field of view; or,

   The viewing angle is acquired based on a preset viewing angle calibration operation.
3. The hand-held pan-tilt control method according to claim 2, wherein the obtaining the field of view angle based on the preset field of view angle calibration operation comprises:

   Acquiring a first image obtained by the photographing device when the handheld gimbal is in a first posture and a first image obtained by being photographed in a second posture;

   According to the position difference of the same object in the first image and the second image and the rotation angle of the handheld platform between the first posture and the second posture, the visual angle of the photographing device is determined field angle.
4. The method for controlling a handheld gimbal according to claim 3, wherein the acquiring a first image captured by the photographing device in a first attitude of the handheld gimbal and a first image captured in a second attitude images, including:

   acquiring the triggered field angle calibration instruction, and controlling the hand-held pan/tilt to rotate according to the field angle calibration instruction;

   When the handheld gimbal is in the first posture, controlling the photographing device to take pictures to obtain the first image;

   When the handheld gimbal is in the second posture, the photographing device is controlled to take pictures to obtain the second image.
5. The method for controlling a handheld gimbal according to any one of claims 1 to 4, wherein the controlling the movement of the handheld gimbal according to the angle of view and the position of the target object in the image , include:

   determining the target control coefficient of the control loop of the handheld pan/tilt according to the field of view;

   According to the position of the target object in the image and the target control coefficient, the hand-held pan/tilt head is controlled to move.
6. The hand-held PTZ control method according to claim 5, wherein the method further comprises:

   adjusting the target control coefficient in response to the user's second input operation;

   According to the position of the target object in the image and the adjusted target control coefficient, the movement of the handheld gimbal is controlled.
7. The hand-held PTZ control method according to claim 5, wherein the method further comprises:

   Detecting whether a preset jitter event occurs in the handheld gimbal;

   If it is determined that the preset shaking event occurs, adjusting the target control coefficient;

   According to the position of the target object in the image and the adjusted target control coefficient, the movement of the handheld gimbal is controlled.
8. The method for controlling a handheld pan/tilt according to any one of claims 1 to 4, wherein the handheld pan/tilt comprises a handle portion, and the display device is disposed on the handle portion.
9. The method for controlling a handheld pan/tilt head according to any one of claims 1 to 4, wherein the handheld pan/tilt head further comprises an operation button, and the operation button is arranged around the display device.
10. The method for controlling a handheld PTZ according to any one of claims 1-4, wherein the object selection operation comprises a user's touch operation on the image, and the object selection in response to the user's operation on the image The selection operation, which determines the target object in the image, includes:

    In response to a user's touch operation on the image on the display device, acquiring the position coordinates of the touch position of the touch operation in the image;

    According to the position coordinates, the target object in the image is determined.
11. The method for controlling a handheld PTZ according to claim 10, wherein the determining the target object in the image according to the position coordinates comprises:

    Determine the coordinate conversion relationship according to the length and width information of the display device and the length and width information of the image;

    The position coordinates are converted according to the coordinate conversion relationship to obtain target position coordinates, and the target object in the image is determined according to the target position coordinates.
12. The method for controlling a handheld pan/tilt according to any one of claims 1 to 4, wherein a region frame to be selected is displayed in the image, the handheld pan/tilt further includes operation buttons, and the object selection operation includes a user The first trigger operation on the operation button, the determining the target object in the image in response to the user's object selection operation on the image, includes:

    Acquiring current position information of the to-be-selected area frame in the image in response to the user's first trigger operation on the operation button;

    According to the current position information, the target object in the image is determined.
13. The method for controlling a handheld PTZ according to claim 12, wherein the determining the target object in the image in response to a user's object selection operation on the image comprises:

    In response to the user's second trigger operation on the operation button, changing the position of the to-be-selected area frame within the image;

    Acquiring current position information of the to-be-selected area frame in the image in response to the user's first trigger operation on the operation button;

    According to the current position information, the target object in the image is determined.
14. The method for controlling a handheld pan-tilt head according to claim 13, wherein the first triggering operation is different from the second triggering operation.
15. The handheld PTZ control method according to any one of claims 1-4, wherein the handheld PTZ further comprises a PTZ control component, and the method further comprises:

    In the process of following and photographing the target object, in response to a triggering operation of the pan-tilt control part by the user, acquiring the motion control amount input by the pan-tilt control part;

    According to the motion control amount, the hand-held pan/tilt head is controlled to move to change the position of the target object in the image.
16. The method for controlling the hand-held pan-tilt head according to claim 15, wherein before the control of the motion of the hand-held pan-tilt head according to the motion control amount to change the position of the target object in the image, further include:

    The handheld gimbal is controlled to suspend following the target object.
17. The hand-held PTZ control method according to claim 16, wherein the method further comprises:

    Within a preset time after responding to the trigger operation, if it is detected that the pan-tilt control component is not operated, the handheld pan-tilt is controlled to continue to follow the target object.
18. The method for controlling a handheld PTZ according to claim 15, wherein the PTZ control component comprises any one of a joystick and a dial button, and the triggering operation comprises a user pressing a lever on the joystick Any one of the operation and the user's turning operation of the dial key.
19. The hand-held pan-tilt control method according to claim 18, wherein, in response to a triggering operation of the pan-tilt control part by a user, obtaining the motion control amount input by the pan-tilt control part, comprising:

    In response to the user's manipulation of the joystick, determining the first rotation control amount of the first target motor of the handheld gimbal;

    At the same time, in response to the user's rotational operation of the dial key, determining the second rotational control amount of the second target motor of the handheld pan/tilt head;

    The controlling the movement of the handheld gimbal according to the movement control amount includes:

    According to the first rotation control amount, the first target motor of the handheld gimbal is controlled to rotate, and according to the second rotation control amount, the second target motor of the handheld gimbal is controlled to rotate.
20. The method for controlling a handheld PTZ according to any one of claims 1-4, wherein a first identification icon is displayed on the target object, and the method further comprises:

    During the process of following the target object, if it is detected that there are multiple objects to be followed in the image, an identification icon is displayed on each of the objects to be followed;

    Wherein, the identification icon in which the object to be followed is the target object is the first identification icon, and the identification icon in which the object to be followed is not the target object is the second identification icon.
21. The method for controlling a handheld PTZ according to claim 20, wherein the first identification icon comprises a first rectangular frame, the second identification icon comprises a second rectangular frame, and the first rectangular frame and the The color of the second rectangle is different.
22. The method for controlling a handheld PTZ according to claim 21, wherein a tracking mark is displayed in the first rectangular frame, and a tracking mark is not displayed in the second rectangular frame.
23. The method for controlling a handheld PTZ according to claim 20, wherein the handheld PTZ further comprises an object switching component, and the method further comprises:

    In response to a triggering operation of the object switching component by the user, an object to be followed is reselected from the plurality of objects to be followed as a target object.
24. The hand-held PTZ control method according to claim 20, wherein the method further comprises:

    After the target object is reselected, the identification icon is adjusted so that the identification icon on the reselected target object is the first identification icon.
25. A handheld PTZ, characterized in that the handheld PTZ comprises a memory, a processor and a display device, the handheld PTZ is used for carrying a photographing device, and the handheld PTZ is communicatively connected to the photography device;

    the memory for storing computer programs;

    The processor is configured to execute the computer program and implement the following steps when executing the computer program:

    obtaining the field of view of the photographing device;

    acquiring an image captured in real time by the photographing device, and controlling the display device to display the image;

    In response to a user's object selection operation on the image, determining a target object in the image;

    According to the angle of view and the position of the target object in the image, the hand-held pan/tilt head is controlled to move, so that the shooting device can follow the shooting of the target object.
26. The handheld platform according to claim 25, wherein the acquiring the field of view of the photographing device comprises performing any of the following operations:

    In response to the user's first input operation, acquiring the field of view; or,

    The viewing angle is acquired based on a preset viewing angle calibration operation.
27. The handheld gimbal according to claim 26, wherein the obtaining the field of view angle based on the preset field of view angle calibration operation comprises:

    Acquiring a first image obtained by the photographing device when the handheld gimbal is in a first posture and a first image obtained by being photographed in a second posture;

    According to the position difference of the same object in the first image and the second image and the rotation angle of the handheld platform between the first posture and the second posture, the visual angle of the photographing device is determined field angle.
28. The handheld gimbal according to claim 27, wherein the acquiring a first image captured by the photographing device in a first posture of the handheld gimbal and a first image captured in a second posture, include:

    acquiring the triggered field angle calibration instruction, and controlling the hand-held pan/tilt to rotate according to the field angle calibration instruction;

    When the handheld gimbal is in the first posture, controlling the photographing device to take pictures to obtain the first image;

    When the handheld gimbal is in the second posture, the photographing device is controlled to take pictures to obtain the second image.
29. The handheld gimbal according to any one of claims 25-28, wherein the movement of the handheld gimbal is controlled according to the angle of view and the position of the target object in the image, include:

    determining the target control coefficient of the control loop of the handheld pan/tilt according to the field of view;

    According to the position of the target object in the image and the target control coefficient, the hand-held pan/tilt head is controlled to move.
30. The handheld PTZ according to claim 29, wherein the processor is further configured to implement the following steps:

    adjusting the target control coefficient in response to the user's second input operation;

    According to the position of the target object in the image and the adjusted target control coefficient, the movement of the handheld gimbal is controlled.
31. The handheld PTZ according to claim 29, wherein the processor is further configured to implement the following steps:

    Detecting whether a preset jitter event occurs in the handheld gimbal;

    If it is determined that the preset jitter event occurs, adjusting the target control coefficient;

    According to the position of the target object in the image and the adjusted target control coefficient, the movement of the handheld gimbal is controlled.
32. The handheld cloud platform according to any one of claims 25-28, characterized in that, the handheld cloud platform includes a handle portion, and the display device is arranged on the handle portion.
33. The handheld PTZ according to any one of claims 25-28, characterized in that, the handheld PTZ further comprises operation buttons, and the operation buttons are arranged around the display device.
34. The handheld cloud platform according to any one of claims 25-28, wherein the object selection operation comprises a user's touch operation on the image, and the object selection operation in response to the user's operation on the image , determine the target object in the image, including:

    In response to a user's touch operation on the image on the display device, acquiring the position coordinates of the touch position of the touch operation in the image;

    According to the position coordinates, the target object in the image is determined.
35. The handheld PTZ according to claim 34, wherein the determining the target object in the image according to the position coordinates comprises:

    Determine the coordinate conversion relationship according to the length and width information of the display device and the length and width information of the image;

    The position coordinates are converted according to the coordinate conversion relationship to obtain target position coordinates, and the target object in the image is determined according to the target position coordinates.
36. The handheld pan/tilt according to claim 25, wherein a frame to be selected is displayed in the image, the handheld pan/tilt further includes an operation button, and the object selection operation includes a user pressing the first operation button on the operation button. Triggering the operation of determining the target object in the image in response to the user's object selection operation on the image, including:

    Acquiring current position information of the to-be-selected area frame in the image in response to the user's first trigger operation on the operation button;

    According to the current position information, the target object in the image is determined.
37. The handheld platform according to claim 36, wherein the determining the target object in the image in response to the user's object selection operation on the image comprises:

    In response to the user's second trigger operation on the operation button, changing the position of the to-be-selected area frame within the image;

    Acquiring current position information of the to-be-selected area frame in the image in response to the user's first trigger operation on the operation button;

    According to the current position information, the target object in the image is determined.
38. The handheld gimbal according to claim 37, wherein the first triggering operation is different from the second triggering operation.
39. The handheld PTZ according to any one of claims 25-28, wherein the handheld PTZ further comprises a PTZ control component, and the processor is further configured to implement the following steps:

    In the process of following and photographing the target object, in response to a triggering operation of the pan-tilt control part by the user, acquiring the motion control amount input by the pan-tilt control part;

    According to the motion control amount, the hand-held pan/tilt head is controlled to move to change the position of the target object in the image.
40. The handheld gimbal according to claim 39, wherein before the controlling the movement of the handheld gimbal to change the position of the target object in the image according to the motion control amount, the method further comprises:

    The handheld gimbal is controlled to suspend following the target object.
41. The handheld PTZ according to claim 40, wherein the processor is further configured to implement the following steps:

    Within a preset time after responding to the trigger operation, if it is detected that the pan-tilt control component is not operated, the handheld pan-tilt is controlled to continue to follow the target object.
42. The hand-held PTZ according to claim 39, wherein the PTZ control component comprises any one of a joystick and a dial button, and the triggering operation comprises a user's stick operation on the joystick and Any one of the user's rotation operations on the dial keys.
43. The handheld PTZ according to claim 42, wherein, in response to a triggering operation of the PTZ control part by the user, acquiring the motion control quantity input by the PTZ control part comprises:

    In response to the user's manipulation of the joystick, determining the first rotation control amount of the first target motor of the handheld gimbal;

    At the same time, in response to the user's rotation operation of the dial key, determine the second rotation control amount of the second target motor of the handheld platform;

    The controlling the movement of the handheld gimbal according to the movement control amount includes:

    According to the first rotation control amount, the first target motor of the handheld pan/tilt is controlled to rotate, and according to the second rotation control amount, the second target motor of the handheld pan/tilt is controlled to rotate.
44. The handheld cloud platform according to any one of claims 25-28, wherein a first identification icon is displayed on the target object, and the processor is further configured to implement the following steps:

    During the process of following the target object, if it is detected that there are multiple objects to be followed in the image, an identification icon is displayed on each of the objects to be followed;

    Wherein, the identification icon in which the object to be followed is the target object is the first identification icon, and the identification icon in which the object to be followed is not the target object is the second identification icon.
45. The hand-held platform according to claim 44, wherein the first identification icon comprises a first rectangular frame, the second identification icon comprises a second rectangular frame, the first rectangular frame and the second rectangular frame The rectangles are colored differently.
46. The handheld pan/tilt according to claim 45, wherein a tracking mark is displayed in the first rectangular frame, and no tracking mark is displayed in the second rectangular frame.
47. The handheld PTZ according to claim 44, wherein the handheld PTZ further comprises an object switching component, and the processor is further configured to implement the following steps:

    In response to a triggering operation of the object switching component by the user, an object to be followed is reselected from the plurality of objects to be followed as a target object.
48. The handheld platform according to claim 44, wherein the processor is further configured to implement the following steps:

    After the target object is reselected, the identification icon is adjusted so that the identification icon on the reselected target object is the first identification icon.
49. A photographing system, characterized in that, the photographing system comprises the handheld cloud platform according to any one of claims 25-48 and a photography device mounted on the handheld cloud platform, the handheld cloud platform and the Shooting device communication connection.
50. A computer-readable storage medium, characterized in that, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the method described in any one of claims 1-24. The steps of the hand-held PTZ control method described above.

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