WO2022109774A1

WO2022109774A1 - Camera control method, device, and system

Info

Publication number: WO2022109774A1
Application number: PCT/CN2020/131096
Authority: WO
Inventors: 林荣华; 苏铁
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-11-24
Filing date: 2020-11-24
Publication date: 2022-06-02

Abstract

A camera control method, device, and system. A first motion state parameter of a control terminal under the driving of a user may be detected by means of an attitude measurement unit on the control terminal, a second motion state parameter of an adjustment device is determined on the basis of the first motion state parameter of the control terminal, and then the adjustment device is controlled to move to drive an adjustment ring on a lens of a camera to move, so as to adjust camera parameters. By means of somatosensory technology, the user can intuitively make adjustment and control of camera parameters correspond to adjustment and control of the control terminal, so that the camera parameters can be adjusted by one hand, and thus, it is very easy for the user to operate.

Description

Camera control method, device and camera control system

technical field

The present application relates to the field of photography technology, and in particular, to a camera control method, device, and camera control system.

Background technique

In the process of using the camera to shoot images or videos, the user needs to adjust the camera parameters such as the position of the focus, focal length, aperture, etc. in real time according to the shooting requirements. In order to facilitate the user to adjust the camera parameters in real time, an adjustment ring can be set on the camera lens. The adjustment ring is usually used in conjunction with the adjustment device. By controlling the movement of the adjustment device, the adjustment ring can be driven to move to realize the adjustment of the camera parameters. However, it is necessary to provide a solution that is easy for the user to operate on how to realize the adjustment of the camera parameters by means of the control of the adjustment device.

SUMMARY OF THE INVENTION

In view of this, the present application provides a camera control method, device and camera control system.

According to a first aspect of the present application, a method for controlling a camera is provided, wherein a lens of the camera is provided with an adjustment ring, and the adjustment ring is used to drive and cooperate with an adjustment device, so as to drive the adjustment through the movement of the adjustment device The motion of the ring is realized, and the adjustment of the camera parameters is realized, and the method includes:

acquiring a first motion state parameter of the control terminal, where the first motion state parameter is detected by an attitude measurement unit on the control terminal;

determining a second motion state parameter of the adjusting device according to the first motion state parameter;

The adjusting device is controlled to move according to the second motion state parameter to adjust the camera parameter.

According to a second aspect of the present application, there is provided a control device for a camera, the lens of the camera is provided with an adjustment ring, and the adjustment ring is used to drive and cooperate with the adjustment device, so as to drive the adjustment through the movement of the adjustment device The movement of the ring is realized, and the adjustment of the camera parameters is realized. The device includes a processor, a memory, and a computer program stored in the memory and executable by the processor. When the processor executes the calculation program, the following steps are implemented:

According to a third aspect of the present application, a camera control system is provided, the system includes an adjusting device and a pan/tilt, the adjusting device is provided on the pan/tilt, and the adjusting device or the pan/tilt includes the above-mentioned first The control device of the camera provided by the second aspect.

Applying the solution provided by this application, the first motion state parameter of the control terminal driven by the user can be detected by the attitude measurement unit on the control terminal, and the second motion state parameter of the adjusting device can be determined based on the first motion state parameter of the control terminal, and then The movement of the adjustment device is controlled to drive the movement of the adjustment ring on the lens of the camera, thereby adjusting the parameters of the camera. By using the somatosensory technology, the user can intuitively match the adjustment of the camera parameters with the adjustment of the control terminal, and the adjustment of the camera parameters can be realized with one hand, which is very easy for the user to operate, and also enriches the adjustment methods of the camera parameters. experience.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the drawings that are used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative labor.

FIG. 1 is a schematic diagram of an adjustment ring on a camera lens according to an embodiment of the present application.

FIG. 2 is a flowchart of a camera control method according to an embodiment of the present application.

FIG. 3 is a schematic diagram of an adjustment device and a camera meshing with gears according to an embodiment of the present application.

FIG. 4 is a schematic diagram of a camera and an adjustment device mounted on a gimbal according to an embodiment of the present application.

FIG. 5 is a schematic diagram of displaying a distance and a focus position between a shooting object and a camera on an interactive interface of a control terminal according to an embodiment of the present application.

FIG. 6 is a schematic diagram of prompt information displayed on an interactive interface of a control terminal according to an embodiment of the present application.

FIG. 7( a ) is a schematic diagram of an application scenario of an embodiment of the present application.

FIG. 7(b) is a schematic diagram of a control terminal rotating around different axes to control different camera parameters according to an embodiment of the present application.

FIG. 8 is a schematic diagram of an application scenario of another embodiment of the present application.

FIG. 9 is a schematic diagram of a logical structure of a camera control apparatus according to an embodiment of the present application.

FIG. 10 is a schematic diagram of a logical structure of a camera control system according to an embodiment of the present application.

FIG. 11 is a schematic diagram of a logical structure of a camera control system according to another embodiment of the present application.

Detailed ways

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

For some professional shooting scenarios, the user is usually required to manually adjust camera parameters such as the focal position, focal length, aperture, etc. of the camera lens according to the expected shooting effect. The lens of a camera generally includes multiple lens groups. By adjusting the distance between the lens groups, or the distance between the lens group and the photosensitive element, the camera parameters such as focus point position and focal length can be adjusted. Therefore, an adjustment ring is generally set on the lens, and the movement of the adjustment ring can drive the movement of the lens group in the lens, thereby realizing the adjustment of the camera parameters. Usually, the adjustment device can be used to control the movement of the adjustment ring. When adjusting the camera parameters, the user can control the movement of the adjustment device, thereby driving the movement of the adjustment ring to realize the adjustment of the camera parameters.

At present, in order to facilitate the user to control the movement of the adjustment device, a dial can be designed on the pan/tilt that carries the camera and the adjustment device, and the user can turn the dial to control the adjustment device, but this method cannot realize the remote control of the adjustment device, and also It is not conducive to the simultaneous operation of the gimbal operator and the focus operator, and also increases the development cost of the gimbal.

Based on this, the embodiments of the present application provide a solution for adjusting camera parameters that is more conducive to user operation, which can detect the motion state of the control terminal driven by the user, determine the motion state of the adjustment device based on the motion state of the control terminal, and then control the adjustment Device movement. By using the somatosensory technology, the user can intuitively match the adjustment of the camera parameters with the adjustment of the control terminal, and the adjustment of the camera parameters can be realized with one hand, which is very easy for the user to operate, and also enriches the adjustment methods of the camera parameters. experience.

The camera in the embodiment of the present application may be various shooting devices that have a shooting function and support manual adjustment of camera parameters. An adjustment ring can be set on the lens of the camera, and the adjustment ring and the camera lens can be designed integrally or independently. The lens may include one or more adjustment rings. In some scenarios, each adjustment ring may be used to adjust a camera parameter. For example, as shown in Figure 1, a focus ring 11 and a focus ring 12 may be set on the lens. The focus ring 11 is used to adjust the focal position, and the focus ring 12 is used to adjust the focal length of the camera. In some scenarios, it can also be an adjustment ring to adjust various camera parameters at the same time, which can be set according to actual needs.

The adjusting device in the embodiment of the present application may be various devices for driving the adjusting ring on the lens to move. The adjusting device may include a processor, a motor, and a moving part that drives the adjusting ring to move. The moving part can be driven and cooperated with the adjusting ring of the lens. The processor can control the motor to drive the moving part to move after receiving an adjustment instruction from the user. In some scenarios, the adjustment device may only support controlling the movement of one adjustment ring. For example, the adjustment device only includes one motor and one moving part, and can only adjust one camera parameter at a time. In some scenarios, the adjustment device can support controlling the movement of multiple adjustment rings at the same time, so as to realize adjustment of various camera parameters. For example, the adjusting device may include three motors and three moving parts, each of which is driven and cooperated with an adjusting ring to control the focal position, focal length and aperture respectively.

The control terminal in the embodiment of the present application may be various terminal devices that can detect its own motion state, for example, may be a mobile phone, a tablet, a smart wearable device, and the like. The control terminal is provided with an attitude measurement unit for detecting the motion state parameters of the control terminal. The attitude measurement unit can be an inertial measurement unit (IMU), a gyroscope, an accelerometer, etc., which can be set according to actual needs. Wherein, optionally, the control terminal can be the user's existing terminal equipment, such as a mobile phone, so that the existing electronic equipment and its corresponding attitude detection function can be reused. Compared with the additional development of the remote controller ( For example, an adjustment knob is provided on the remote control, and the user can rotate the adjustment knob on the remote control to remotely control the adjustment device), which can reduce development and design costs. Of course, optionally, the control terminal may also be an additionally configured remote controller.

In some application scenarios, the adjustment device may be connected to the control terminal through wired or wireless communication, and the methods provided in the embodiments of the present application may be executed by the control terminal, or by the adjustment device, or part of the steps by the adjustment device, and part of the steps by Control terminal execution. In some application scenarios, in order to stabilize the camera, the adjustment device and the camera are detachably carried on the gimbal and are connected to the gimbal. The control terminal can also be connected to the gimbal through wired or wireless communication. Therefore, The methods provided in the embodiments of the present application may also be executed by the pan/tilt, or each of the pan/tilt, the adjustment device, and the control terminal may perform a part of the steps, which may be specifically set according to actual requirements.

For ease of distinction, the parameters representing the motion state of the control terminal are collectively referred to as first motion state parameters, and the parameters representing the motion state of the adjusting device are collectively referred to as second motion state parameters.

Specifically, the camera control method provided by the embodiment of the present application is shown in FIG. 2 and includes the following steps:

S202, acquiring a first motion state parameter of a control terminal, where the first motion state parameter is detected by an attitude measurement unit on the control terminal;

S204, determining a second motion state parameter of the adjusting device according to the first motion state parameter;

S206. Control the movement of the adjustment device according to the second movement state parameter to adjust the camera parameter.

The corresponding relationship between the motion state of the control terminal and the motion state of the adjusting device can be predefined, and the user can adjust the camera parameters by driving the motion of the control terminal. For example, the user can hold the control terminal and rotate the control terminal around a predetermined axis, or move the control terminal left and right, up and down, or drive the control terminal to move according to a certain movement track. Of course, the user can also drive and control the movement of the terminal by means of a certain supporting device.

When the control terminal moves under the drive of the user, the first motion state parameter detected by the attitude measurement unit set on the control terminal can be obtained, and then the second motion state parameter of the adjusting device is determined according to the first motion state parameter, and the second motion state parameter of the adjusting device is determined according to the first motion state parameter. The second motion state parameter controls the motion of the adjusting device to adjust the camera parameters to the parameters expected by the user. The second motion state parameter may be determined by the control terminal and then sent to the adjusting device or the pan/tilt, or may be directly determined by the pan/tilt or the adjusting device according to the first motion state parameter sent by the control terminal.

By using the somatosensory technology, the user only needs to drive the control terminal to move in a predetermined form to adjust the camera parameters. The operation is very convenient, and the control terminal can select the user's existing mobile phone, tablet, smart wearable device and other equipment equipped with an attitude measurement unit. , there is no need to develop a special remote control, which can save costs.

In some embodiments, a mapping relationship may be preset and stored in the device executing the method, where the mapping relationship is used to represent the corresponding relationship between the motion state of the control terminal and the motion state of the adjustment device. For example, the mapping relationship may be the corresponding relationship between the movement direction, movement speed, and movement stroke interval of the control terminal and the movement direction, movement speed, and movement stroke interval of the adjusting device, respectively. After the first motion state parameter is determined, the second motion state parameter of the adjusting device may be determined according to the mapping relationship, so as to control the motion of the adjusting device.

In some embodiments, the moving part on the adjustment device may be a gear, and the rotation of the gear can drive the adjustment ring on the lens to rotate, so as to adjust the camera parameters. As shown in FIG. 3 , the adjusting device 31 can be fixed on one side of the lens 32 through some accessories, so that the gear 311 on the adjusting device 31 meshes with the adjusting ring 321 provided on the lens 32 , and the rotation of the gear 311 can drive the adjusting ring 321 to move. The gear 311 of the adjusting device 31 can be rotated clockwise or counterclockwise around a predetermined axis to increase or decrease the value of the camera parameter. For example, taking the focus position as an example, when the gear 311 rotates clockwise, the focus position can be adjusted to move away from the camera, and when the gear 311 rotates counterclockwise, the focus position can be adjusted to move closer to the camera.

In a scenario where a gear is used to drive the movement of the adjustment ring of the lens, in order to allow the user to more finely control the adjustment range and speed of the camera parameters, in some embodiments, the second movement parameter may include the rotation direction of the gear, the One or more of the angle of rotation, the speed of rotation of the gear, or the number of turns of the gear. For example, taking the adjustment of the focus position as an example, the rotation direction of the gear can correspond to the changing trend of the camera parameters, such as moving the focus position forward or backward, and the rotation angle or the number of turns of the gear can correspond to the adjustment range of the camera parameters, such as the focus position The distance of the forward or backward movement, and the rotation speed of the gear can correspond to the speed of adjustment of the camera parameters, for example, fast adjustment or slow adjustment. The value of the rotation parameter of the gear and the value of the rotation parameter of the control terminal may be the same or different. For example, the rotation speed of the gear is 1°/s, and the rotation speed of the control terminal is 0.1°/s, so as to realize the fine control of the gear.

Correspondingly, in order to more intuitively correspond to the adjustment of the movement state of the gear and the adjustment of the movement state of the control terminal, when adjusting the movement state of the gear, the movement form of the control terminal can be set to rotate around one or more predetermined axes. , so that the rotation of the gear and the rotation of the control terminal can be more intuitively corresponded, which is convenient for the user to operate. Therefore, in some embodiments, the first motion state parameter of the control terminal may be one or more of a rotation direction, a rotation angle, a rotation speed, or a rotation number of rotations of the control terminal around a predetermined axis. The rotation direction, rotation angle, rotation speed or rotation number of the control terminal correspond to the rotation direction, rotation angle, rotation speed or rotation number of the gear, respectively. Of course, the motion form of the control terminal is not limited to rotation. For example, other motion forms such as left and right movement, up and down movement are also possible. When other motion forms are adopted, it is only necessary to correspond the motion state to the rotation state of the gear.

In some embodiments, when the control terminal rotates in a first direction around a first predetermined axis, the gear rotates in a second direction around a second predetermined axis, and the first direction and the second direction are clockwise or counterclockwise, respectively direction. Generally, the gear can rotate clockwise or counterclockwise along the rotation axis of the gear (that is, the second predetermined axis), so a rotation axis, that is, the first predetermined axis, can be pre-defined for the control terminal, and the control terminal can rotate along the first predetermined axis When rotating clockwise, the gear can rotate clockwise around the second predetermined axis. By setting the rotation directions of the two to be both clockwise and counterclockwise, it is convenient for the user to operate. Of course, when the control terminal rotates clockwise around the first predetermined axis, the gear may rotate counterclockwise around the second predetermined axis, which can be specifically set according to user requirements.

In some embodiments, the rotation speed of the gear can be set to be positively correlated with the rotation speed of the control terminal. For example, when the user wants to quickly adjust the camera parameters, the control terminal can be quickly rotated, and the gear will also rotate rapidly. When the user wants to adjust slowly, the control terminal can be turned at a slower speed so that the gears rotate slowly. By associating the rotation speed of the control terminal with the rotation speed of the gear, the user's needs for fast adjustment and slow adjustment of camera parameters in different application scenarios can be met.

In some embodiments, the rotation angle of the gear may be set to be positively correlated with the rotation angle of the control terminal. For example, the rotation angle of the gear can be consistent with the rotation angle of the control terminal. For example, when the gear rotates 1°, the control terminal also rotates by 1°. When the control terminal rotates one circle, the gear also rotates one circle. In some embodiments, in order to improve the adjustment accuracy of the camera parameters and realize the fine control of the camera parameters, the ratio of the rotation angle of the control terminal to the rotation angle of the gear can also be increased. For example, after the control terminal rotates 360°, the gear only rotates 180°, or a smaller angle, so that the movement of the gear can be adjusted more precisely, and the camera parameters can be adjusted more finely. Of course, in some embodiments, in order to meet the adjustment requirements in different scenarios, the control terminal can be set to different adjustment modes, and different adjustment modes correspond to different adjustment precisions. For example, the coarse adjustment mode and the fine adjustment mode can be set. In the coarse adjustment mode, the ratio of the rotation angle of the control terminal to the rotation angle of the gear is small. For example, if the control terminal rotates 1°, the gear also rotates 1°. In the fine adjustment mode, the ratio of the rotation angle of the control terminal to the rotation angle of the gear Larger, for example, the control terminal rotates 1°, and the gear rotates 0.1°. Different adjustment modes can be switched through the switching control of the settings on the control terminal, or can be switched by the user performing a predetermined action.

In some embodiments, when adjusting the camera parameters, the gear may need to rotate several times. Therefore, the number of rotations of the gear can be set to be positively correlated with the number of rotations of the control terminal. The user can adjust the number of rotations of the control terminal to achieve Adjustment of the number of turns of the gear.

In the process of adjusting the camera parameters by rotating the control terminal, the user can determine whether the current camera parameters are appropriate through the real-time image collected by the camera. Determines whether the current focal length is appropriate, and determines how to adjust the motion state of the control terminal according to the shooting effect of the current image. In some embodiments, in order to facilitate the user to view the shooting effect of the image in real time, the control terminal can be connected to the camera in communication, and the image collected by the camera can be sent to the control terminal in real time, so as to be displayed to the user through the interactive interface of the control terminal, so that the user is adjusting During the process, it can be determined in real time how to adjust the motion state of the control terminal according to the shooting effect of the image.

In some embodiments, in order to facilitate the user to view the image displayed on the interactive interface of the control terminal, the rotation angle of the control terminal may be set to not exceed a preset angle, so that during the rotation of the control terminal, the image displayed on the interactive interface will not be displayed on the user's interface. Within the visible range, the user can clearly watch the content displayed on the interactive interface.

When users watch the interactive interface of the control terminal, they usually place the interactive interface of the control terminal at the position with the best viewing angle. For example, when placing the control terminal, the interactive interface of the control terminal will have a certain inclination angle with the ground, which is more convenient. users watch. Therefore, in some embodiments, when setting the rotation angle of the control terminal, the rotation angle may be determined according to the inclination angle of the interactive interface of the control terminal relative to the vertical direction. The inclination angle may be the angle between the interactive interface and the vertical direction when the control terminal is placed in the best viewing angle position, and the inclination angle may be used as a reference to rotate a certain angle clockwise and counterclockwise respectively, Obtain an angle range, and ensure that the interactive interface is within the visual range of the user within the angle range, so as to obtain the final rotation angle range of the control terminal. The inclination angle can be preset, for example, the inclination angle can be determined according to the user's usage habits in different scenarios, for example, it can also be inclined backward by a certain angle, or inclined forward by a certain angle, and the angle can be set according to specific application scenarios. the size of. Of course, the tilt angle can also be determined according to the user's operation, for example, the user tilts the user terminal for a preset period of time and reads it.

In some embodiments, in order to stabilize the camera, the camera can be detachably carried on the gimbal, the camera and the gimbal can be connected through wired or wireless communication, and the images captured by the camera can pass through the support mechanism that carries the gimbal. The interactive interface is displayed to the user. In this scenario, the user can watch the image displayed on the interactive interface of the pan-tilt support mechanism while rotating the control terminal, and adjust the motion state of the control terminal in real time according to the shooting effect of the image. In some embodiments, the camera may also be equipped with a monitor, and the image collected by the camera can be displayed in real time through the monitor. During the process of rotating the control terminal, the user can view the shooting effect of the image through the monitor, and make adjustments to the camera parameters. Adjustment.

In some embodiments, the camera parameters to be adjusted may include one or more types, the control terminal may be set to rotate around one or more axes, and the first motion state parameter may be the rotation of the control terminal around the one or more axes Rotation state parameters, the rotation state parameters corresponding to each axis can be used to adjust at least one camera parameter. For example, in some scenarios, assuming that the camera parameters to be adjusted include three parameters: focus position, focal length and aperture size, the control terminal can be set to rotate around an axis, and the control terminal can be adjusted to Controls the state of different camera parameters. The switching instruction may be triggered by a control on the interactive interface of the control terminal, or may be triggered by a user performing a preset manipulation action on the control terminal. In some scenarios, it is assumed that the camera parameters to be adjusted include three parameters: focus position, focal length and aperture size, the control terminal can be set to rotate around three axes, and the rotation state parameter of the control terminal rotating around one axis corresponds to one type of camera parameter. adjust.

In some embodiments, the camera parameter may be one or more of the focal position of the lens, the focal length of the lens, or the aperture size of the lens. Of course, it can also be other camera parameters that can be adjusted by a similar method, which is not limited in this embodiment of the present application.

In some embodiments, the adjustment device may be provided with a communication module, the control terminal may also be provided with a communication module, and the adjustment device and the control terminal may be directly connected in communication. For example, both the adjustment device and the control terminal can be provided with wireless communication modules such as a WIFI module and a Bluetooth module, and the two can be connected by means of wireless communication, enabling users to remotely control camera parameters. Of course, the two may also be connected through wired communication, which is not limited in this embodiment of the present application. In this way, in some application scenarios without a gimbal, for example, the camera and the adjustment device are set on a tripod, the camera parameters can also be adjusted remotely through the control terminal.

In some embodiments, in order to stabilize the camera, the camera can be detachably carried on the gimbal, and at the same time, the adjustment device can also be detachably carried on the gimbal, and both the camera and the adjustment device can be wired or wireless. Connected to the PTZ, the PTZ can communicate directly with the control terminal in a wired or wireless manner. The first motion state parameter collected by the control terminal can be sent to the pan-tilt, and after the pan-tilt determines the second motion state parameter, the adjustment device is controlled to move.

In some embodiments, as shown in FIG. 4 , in the scenario where the gimbal 41 is used to stabilize the camera 42 , the gimbal 41 may be disposed on the support mechanism 43 , and the support mechanism 43 may also be provided with a connecting piece, and the connecting piece includes A rotating structure 431 that can be rotated around one or more rotation axes, and the control terminal 44 can be detachably installed on the rotating structure 431. When the control terminal 44 is installed on the rotating structure 431, the user can drive the control terminal 44 around the rotating structure 431. One or more rotating shafts of the rotating structure 431 rotate, thereby controlling the movement of the adjusting device 45 . By arranging the control terminal on the connecting piece on the support mechanism of the pan/tilt head, a support point and a rotation axis can be provided for the control terminal, and under the driving of the user, the control terminal can rotate smoothly and continuously around the rotating shaft on the connecting piece , compared with the user directly holding the control terminal to rotate, the rotation of the control terminal will be more stable and more convenient for the user to control.

In some embodiments, the connector can be detachably connected to the support structure of the pan/tilt head, and when the user needs to use the connector to fix the control terminal, the connector can be installed on the support structure.

When adjusting the focal position of the camera lens, the user needs to know the distance between the object being photographed and the camera, so as to adjust the focal position according to the distance. Generally speaking, the focus operator predicts the distance between the target object and the camera based on experience, and then adjusts the focus position according to the predicted distance, which requires a higher experience for the focus operator. In some embodiments, in order to facilitate the user to adjust the focus position more accurately, the distance between the camera and the target object to be photographed can also be pre-determined, and then the distance is sent to the control terminal, which is displayed to the user through the interactive interface of the control terminal, so that the user can The motion state of the control terminal is adjusted according to the distance to realize the adjustment of the camera parameters. In some embodiments, a distance sensor may be provided on the camera, and the distance between the photographed target object and the camera is measured by the distance sensor. The distance sensor may be a single-point ranging sensor or a 3D ranging sensor, for example, may be an infrared range finder, a laser radar, a depth sensor, or the like.

In some scenarios, if the distance sensor is a single-point ranging sensor, the user can select the target object to be photographed through the interactive interface of the control terminal, and then the distance measuring sensor can measure the distance between the target object selected by the user and the camera, and then send it to the camera. Control the terminal and display it to the user. In some scenes, if the distance sensor is a 3D distance sensor, the distance sensor can collect the distance between each object and the camera in the entire shooting scene, and then send the distance to the control terminal, so that the user can shoot according to the target object and the camera. Distance adjusts the position of the focal point. The display mode of distance is not limited, as long as the user can clearly know the corresponding relationship between each object and the distance. For example, in some embodiments, the distance between each object and the camera in the scene can be displayed in the form of a depth map. distance. In some embodiments, as shown in FIG. 5 , the distance between each object and the camera may also be marked in the image.

In some embodiments, in addition to sending the distance between the photographed target object and the camera to the control terminal and displaying it to the user, the current position of the camera focus may also be sent to the control terminal, so as to be displayed to the user through the interactive interface of the control terminal. Among them, the position of the focus can also be displayed in various forms. For example, the distance between the current focus position and the camera can be used to indicate the focus position, so that the user can determine the focus position according to the distance, as shown in Figure 5. Of course, it can also be marked on the image. Which object in the scene is currently focused on, so that the user knows the position of the current focus, as shown in Figure 6. When the user knows the distance between each object in the scene and the camera and the position of the current focus, it is more convenient for the user to determine the adjustment strategy and quickly adjust the focus to the plane where the target object the user wants to shoot is located. For example, if the distance between the current focus position and the camera is 5m, and the distance between the target object the user wants to shoot and the camera is 7m, the user knows that the focus position needs to be moved away from the camera, so that the user can quickly determine the How to adjust the motion state of the control terminal improves the efficiency of the user adjusting camera parameters. That is, by feeding back the distance and the position of the focus, the control strategy can be adjusted based on the distance and the position of the focus.

After the user knows the distance between the target object to be photographed and the camera, he may still not know how to adjust the motion state of the control terminal to adapt to the distance. For example, the current distance between the target object to be photographed and the camera is 5m. How far should the control terminal rotate, or in which direction, the focus will just be on the target object to be photographed. Therefore, it is necessary to continuously adjust by observing the images collected by the camera. . In order to allow the user to achieve the adjustment purpose more quickly, in some embodiments, prompt information may be generated according to the distance between the target object to be photographed and the camera, and the prompt information may be used to prompt the first motion state parameter matching the distance, such as , control the rotation angle, rotation direction or rotation speed of the terminal. For example, if the current focus position is close to the target distance, adjust slowly; if the current focus position is far away from the target, adjust quickly, and then send the prompt information to The control terminal is displayed to the user through the interactive interface. As shown in FIG. 6 , the user can accurately adjust the first motion state parameter of the control terminal according to the prompt information, and quickly adjust the camera parameters.

In some embodiments, the user can set the limit point of the adjustment device during the movement process through the control terminal, and then store the limit point set by the user. For example, after the user adjusts the adjustment device to a certain movement stroke point, The limit point determination instruction is sent through the control provided by the interactive interface of the control terminal, and then the adjustment device can store the current movement stroke point of the adjustment device as the limit point. Wherein, the movement stroke point may be determined according to the movement stroke interval of the adjustment device that the user wants to define, for example, may be the end point of the stroke interval. The movement range of the adjusting device is defined by the limit point, so that the adjusting device will not exceed the defined range of travel during the movement.

In some embodiments, the adjustment device may include a mechanical limit point. In order to prevent the adjustment device from hitting the limit during movement, a limit point may be set and stored according to the mechanical limit point of the adjustment device, so that the set limit point can be passed through. The movement travel interval of the adjusting device is limited within the travel interval defined by the mechanical limit point of the adjusting device. For example, the user can make the adjustment device move to the mechanical limit point, and let the adjustment device hit the limit, and then, at this time, the limit point determination command can be sent through the control on the control terminal, then the gimbal or adjustment device can adjust the adjustment The current movement travel point of the device is saved as the limit point. During the movement of the adjustment device in the future, the movement range of the adjustment device can be controlled not to exceed the travel range limited by the limit point to avoid hitting the limit.

In some embodiments, in order to avoid the problem of inaccurate adjustment of camera parameters caused by incorrect adjustment of the camera parameters by the user. The limit point can also be used to control the deviation between the movement stroke point of the adjusting device and the target stroke point to be smaller than the preset deviation, wherein the target stroke point is the stroke point corresponding to the preset distance, and the preset distance is determined according to the type of camera parameters distance. Taking the adjustment of the focus position as an example, assuming that the focus distance is 10m, the adjustment device should move to the A position. Therefore, a limit point can be set within a certain distance from the A position, such as the B position at 9.5m and the 10.5m position. Then adjust the adjustment device to the B position, send the limit point determination command through the control on the control terminal, so that the B position is stored as the limit point, and then adjust the adjustment device to the C position, through the control terminal. to send the limit point determination command to store the C position as the limit point. When the user uses the control terminal to adjust the camera parameters next time, if the focusing distance is determined to be 10m, the adjustment device can control its travel range within the range of 9.5m-10.5m during the movement process to avoid inaccurate camera parameters caused by overshoot. The problem.

In order to further explain the camera control method provided by the embodiments of the present application, the following explanation is given with reference to several specific application scenarios.

As shown in FIG. 7( a ), which is a schematic diagram of an application scenario of an embodiment of the application, the user can hold the mobile phone 71 and rotate the mobile phone 71 to adjust the camera parameters of the camera 72 , and the follow focus device 73 can be fixed on the On one side of the lens 721 of the camera 72, the follow focus device 73 may include a motor (not shown in the figure) and a gear 731. The gear 731 meshes with the adjustment ring 722 on the lens 721, and the rotation of the gear 721 drives the adjustment ring 722 to rotate to achieve Adjustment of camera parameters. Wherein, in some scenarios, the follow focus device 73 may include three motors and three gears, the three gears are respectively meshed with three adjustment rings on the camera lens, and the three adjustment rings are respectively used to adjust the focus position, focal length and aperture size , the adjustment ring of the lens can be driven to rotate by the rotation of the gear, so as to adjust the above three parameters. Wherein, the follow focus device 73 is provided with a Bluetooth module, and the mobile phone 71 can remotely control the follow focus device 73 by communicating with the Bluetooth module in the user's mobile phone 71 through the Bluetooth module. The mobile phone 71 is internally provided with an inertial measurement unit for detecting the motion state parameters of the mobile phone. As shown in Figure 7(b), the mobile phone 71 can be rotated around the three axes of X, Y, and Z, and the rotation around different axes corresponds to the adjustment of different camera parameters. Rotate around the Z axis to adjust the aperture size. The rotation parameters of the mobile phone rotating around a certain axis can correspond to the rotation parameters of the gears. For example, when the mobile phone rotates clockwise, the gears also rotate clockwise. The angle is also bigger.

A preset APP can be installed in the mobile phone 71 , and the user can enter the adjustment mode of camera parameters by opening the APP. The user can rotate the mobile phone according to the axis corresponding to the camera parameters to be adjusted. After the inertial measurement unit in the mobile phone detects the rotation parameters of the mobile phone, the mobile phone rotation parameters can be sent to the follow focus device 73, and the follow focus device 73 can be based on the pre-stored parameters. The mapping relationship between the rotation parameters of the mobile phone and the rotation parameters of the gear determines the rotation direction, angle and speed of the gear, thereby controlling the rotation of the gear. The camera 72 can be connected to the mobile phone 71 for communication, and the images collected by the camera 72 can be sent to the mobile phone 71 in real time, and displayed to the user through the mobile phone 71 . The user can determine whether the current parameter is adjusted to an appropriate value according to the shooting effect of the image. Wherein, in order to facilitate the user to view the images on the mobile phone screen, the rotation angle range of the mobile phone 71 can be set within a certain angle range, so that the content displayed on the mobile phone screen is always within the user's visual range during the rotation of the mobile phone 71 .

Of course, in order to facilitate the user to adjust the focus position, a distance sensor can also be set at the camera 72. The distance sensor can detect the distance between each object in the shooting scene and the camera, and then send the distance between each object and the camera to the mobile phone. At the same time, the camera can also send the current The position of the focus is sent to the mobile phone, so that the mobile phone displays the distance between each object and the camera, and the position of the current focus to the user, which is convenient for the user to determine the adjustment strategy. At the same time, the mobile phone can also generate prompt information according to the distance between each object and the camera, prompting the user in which direction to rotate the mobile phone if he wants to adjust the focus position to the object and the rotation angle, so that the user can quickly rotate the mobile phone according to the prompt information. The focus is adjusted to the appropriate position.

Of course, the user can also set the limit point on the mobile phone. For example, the user can adjust the follow focus device 73 to the mechanical limit point 73 of the follow focus device, and then set and save the current travel point of the follow focus device on the mobile phone as the limit point. In order to limit the movement range of the follow focus device within the range of travel defined by the mechanical limit point of the follow focus device, to avoid the follow focus device hitting the limit and damaging the motor. At the same time, for some scenarios where the focusing distance needs to be limited, the user can also adjust the follow focus device to the travel point B and travel point C that are a certain distance before and after the target focusing distance corresponding to the travel point A, and then set and save the current focus of the follow focus device on the mobile phone. The travel points B and C are used as limit points, so that the user can limit the movement of the follow focus between the travel points B and C during the process of adjusting the focus position, so as to avoid the problem of inaccurate camera parameters caused by overshoot. .

By using the somatosensory technology, the user only needs to drive the mobile phone to move in a predetermined form to adjust the camera parameters, the operation is very convenient, and there is no need to develop a special remote control, which can save costs.

As shown in FIG. 8 , it is a schematic diagram of another application scenario of the present application. The camera 81 is detachably carried on the gimbal 82, the gimbal 82 is set on the support mechanism 83 of the gimbal, the support mechanism 83 includes a user interface 831, and the camera 81 communicates with the support mechanism 83 of the gimbal in a wired or wireless manner. connect. The follow focus device 84 is detachably carried on the support mechanism 83 of the gimbal, and is connected to the support mechanism 83 in a wired or wireless manner. The gear 841 of the follow focus device 84 meshes with the adjustment ring 811 on the lens of the camera 81, The adjustment ring 811 is driven by the rotation of the gear 841 to adjust the camera parameters. The support mechanism 83 includes a connecting piece, and the connecting piece includes a rotating structure 832 that can rotate around one or more axes (one axis is taken as an example in the figure), and the mobile phone 85 is fixed on the rotating structure 832. Under the driving of the user, the mobile phone 85 It can rotate smoothly and continuously around the rotating shaft of the rotating structure 832 . The mobile phone 85 can be connected to the support structure 83 in a wired or wireless manner.

A preset APP can be installed in the mobile phone 85 , and the user can enter the adjustment mode of camera parameters by opening the APP. The user can control the rotation of the rotating structure 832, thereby driving the mobile phone to rotate. After the inertial measurement unit in the mobile phone detects the rotation parameters of the mobile phone, it can send the mobile phone rotation parameters to the support mechanism 83, and the support mechanism 83 can be based on the pre-stored mobile phone rotation parameters and The mapping relationship of the rotation parameters of the gear determines the rotation direction, angle and speed of the gear, and then sends the rotation parameters of the determined size to the follow focus unit 84 so that the follow focus unit 84 controls the rotation of the gear 841 to adjust the camera parameters.

During the process of rotating the mobile phone 85 to adjust the camera parameters, the user can view the real-time image captured by the camera through the interactive interface 831 on the support mechanism 83, and adjust the camera parameters according to the shooting effect of the image.

By using the somatosensory technology, the user only needs to drive the mobile phone to move in a predetermined form to adjust the camera parameters, the operation is very convenient, and by using the connection provided by the gimbal to control the rotation of the mobile phone, the mobile phone can be rotated more smoothly, making the camera more stable. The adjustment of parameters is more refined.

Correspondingly, an embodiment of the present application further provides a control device for a camera, the lens of the camera is provided with an adjustment ring, and the adjustment ring is used to drive and cooperate with the adjustment device, so as to drive the adjustment device through the movement of the adjustment device. The movement of the adjustment ring is adjusted to realize the adjustment of the camera parameters. As shown in FIG. 9 , the apparatus includes a processor 91 , a memory 92 , and a computer program stored in the memory 92 and executable by the processor 91 . The following steps are implemented when the device 91 executes the calculation program:

In some embodiments, when the processor is configured to determine the second motion state parameter of the adjusting device according to the first motion state parameter, the processor is specifically configured to:

The second motion state parameter is determined according to the first motion state parameter and a preset mapping relationship, where the mapping relationship is used to represent the corresponding relationship between the motion state of the control terminal and the motion state of the adjustment device.

In some embodiments, the adjusting device includes a gear, and the rotation of the gear can drive the adjusting ring to rotate.

In some embodiments, the second motion state parameter includes the rotation direction of the gear, the rotation angle of the gear, the rotation speed of the gear and/or the rotation number of the control terminal.

In some embodiments, the first motion state parameter includes the rotation direction of the control terminal, the rotation speed of the control terminal, the rotation angle of the control terminal, and/or the rotation number of the control terminal.

In some embodiments, when the control terminal rotates in a first direction around a first predetermined axis, the gear rotates in a second direction around a second predetermined axis, and the first direction and the second direction are respectively clockwise Clockwise or counterclockwise; and/or

The rotational speed of the gear is positively correlated with the rotational speed of the control terminal; and/or

The rotation angle of the gear is positively correlated with the rotation angle of the control terminal; and/or

The number of rotations of the gear is positively correlated with the number of rotations of the control terminal.

In some embodiments, the image captured by the camera is displayed to the user through the interactive interface of the control terminal; and/or

The camera is detachably carried on the gimbal, the camera is connected in communication with the gimbal, and the images collected by the camera are displayed to the user through the interactive interface of the support mechanism that carries the gimbal.

In some embodiments, if the image captured by the camera is displayed to the user through the interactive interface of the control terminal, the rotation angle of the control terminal does not exceed a preset angle, so that the interactive interface of the control terminal displays the image. The image is within the visual range of the user.

In some embodiments, the preset angle is determined based on an inclination angle of the interactive interface of the control terminal relative to the vertical direction.

In some embodiments, the camera parameters include one or more parameters, the first motion state parameters include rotation state parameters of the control terminal rotating around one or more axes, and the rotation state parameters corresponding to each axis are for adjusting at least one of the camera parameters.

In some embodiments, the camera parameters include the focal position of the lens, the focal length of the lens, and/or the aperture size of the lens.

In some embodiments, the adjustment device is provided with a communication module, and the adjustment device is directly connected in communication with the control terminal.

In some embodiments, the camera and the adjusting device can be detachably carried on a pan/tilt, the pan/tilt is connected in communication with the control terminal, and the adjusting device is connected in communication with the pan/tilt.

In some embodiments, the pan/tilt is provided on a support mechanism, and the support mechanism is further provided with a connecting member, the connecting member includes a rotating structure that can rotate around one or more rotation axes, and the control terminal is detachable installed on the rotating structure;

When the control terminal is mounted on the rotating structure, the control terminal can be rotated around the one or more rotation axes by the user's driving.

In some embodiments, the connector is detachably connected to the support mechanism.

In some embodiments, the processor is further configured to:

The distance between the camera and the photographed target object is sent to the control terminal, so as to be displayed to the user through the interactive interface of the control terminal.

In some embodiments, the camera is provided with a distance sensor, and the distance is measured by the distance sensor.

In some embodiments, the processor is further configured to:

Generate prompt information according to the distance, and send the prompt information to the control terminal to be displayed to the user through the interactive interface of the control terminal, where the prompt information is used to prompt the user for the prompt information that matches the distance. The first motion state parameter.

In some embodiments, the processor is further configured to:

The position of the current focus of the camera is determined, and the position of the focus is sent to the control terminal, so as to display the position of the focus to the user through the interactive interface of the control terminal.

In some embodiments, the processor is further configured to:

In response to the limit point determination instruction sent by the control terminal, the current movement stroke point of the adjustment device is stored as a limit point, so as to define a movement stroke interval of the adjustment device according to the limit point.

In some embodiments, the limit point is used to control the movement travel interval of the adjustment device within the travel interval defined by the mechanical limit point of the adjustment device; or

The limit point is used to control the deviation between the movement stroke point of the adjusting device and the target stroke point to be less than a preset deviation, wherein the target stroke point is the stroke point corresponding to the preset distance, and the preset distance is determined according to the type of the camera parameter. The specific implementation process of the camera control device for adjusting the camera parameters may refer to the descriptions in the embodiments of the above methods, and details are not described herein again.

Wherein, the control device of the camera may be integrated into the adjustment device or the pan/tilt; it may also be independent of the adjustment device or the pan/tilt, and be able to communicate with the control terminal and the adjustment device.

In addition, an embodiment of the present application also provides a camera control system, the camera control system includes an adjusting device and a pan/tilt, the adjusting device is provided on the pan/tilt, and the adjusting device or the pan/tilt includes any of the above-mentioned embodiments. camera controls.

In some embodiments, the control system of the camera further includes a control terminal, the control terminal is connected in communication with the adjustment device, or the control terminal is connected in communication with the PTZ, and the control terminal is provided with an attitude measurement unit for Detect the motion state parameters of the control terminal.

As shown in FIG. 10 , an embodiment of the present application provides a camera control system. The system 100 includes: an adjustment device 1001 and a control terminal 1002 , and the adjustment device 1001 is used for driving with an adjustment ring provided on the camera lens. The adjustment device 1001 is in communication with the control terminal 1002, and the control terminal is provided with an attitude measurement unit. ;

The attitude measurement unit is used to detect the first motion state parameter of the control terminal;

The adjusting device is configured to acquire a first motion state parameter of the control terminal, determine a second motion state parameter of the adjusting device according to the first motion state parameter, and move based on the second motion state parameter to adjust the camera parameters.

Wherein, for the specific implementation process of the camera control system for adjusting the camera parameters, reference may be made to the descriptions in each embodiment of the above method, and details are not repeated here.

As shown in FIG. 11 , a camera control system is provided in another embodiment of the present application. As shown in FIG. 11 , the system 110 includes: an adjustment device 1103 , a control terminal 1102 and a pan/tilt 1101 , the camera and The adjusting device 1103 can be detachably carried on the pan/tilt 1101, the pan/tilt 1101 is connected to the adjusting device 1103 in communication, and the adjusting device 1103 is used to drive and cooperate with the adjusting ring provided on the camera lens, In order to drive the movement of the adjustment ring through the movement of the adjustment device 1103 and realize the adjustment of the camera parameters, the pan-tilt 1101 is connected to the control terminal 1102 in communication, and the control terminal is provided with an attitude measurement unit;

The pan/tilt is used to obtain the first motion state parameter of the control terminal, determine the second motion state parameter of the adjusting device according to the first motion state parameter, and send the second motion state parameter to the adjusting device ;

The adjusting device is configured to move based on the second motion state parameter to adjust the camera parameter.

Correspondingly, an embodiment of the present specification further provides a computer storage medium, where a program is stored in the storage medium, and when the program is executed by a processor, the control method of the camera in any of the foregoing embodiments is implemented.

Embodiments of the present specification may take the form of a computer program product embodied on one or more storage media having program code embodied therein, including but not limited to disk storage, CD-ROM, optical storage, and the like. Computer-usable storage media includes permanent and non-permanent, removable and non-removable media, and storage of information can be accomplished by any method or technology. Information may be computer readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), Flash Memory or other memory technology, Compact Disc Read Only Memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage, Magnetic tape cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

For the apparatus embodiments, since they basically correspond to the method embodiments, reference may be made to the partial descriptions of the method embodiments for related parts. The device embodiments described above are only illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in One place, or it can be distributed over multiple network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment. Those of ordinary skill in the art can understand and implement it without creative effort.

It should be noted that, in this document, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any relationship between these entities or operations. any such actual relationship or sequence exists. The terms "comprising", "comprising" or any other variation thereof are intended to encompass non-exclusive inclusion such that a process, method, article or device comprising a list of elements includes not only those elements, but also other not expressly listed elements, or also include elements inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element.

The methods and devices provided by the embodiments of the present invention have been described in detail above. The principles and implementations of the present invention are described with specific examples in this paper. The descriptions of the above embodiments are only used to help understand the methods of the present invention and its implementation. At the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation and application scope. To sum up, the content of this description should not be construed as a limitation to the present invention. .

Claims

A method for controlling a camera, characterized in that a lens of the camera is provided with an adjustment ring, and the adjustment ring is used to drive and cooperate with an adjustment device, so as to drive the movement of the adjustment ring through the movement of the adjustment device, and To realize the adjustment of camera parameters, the method includes:

acquiring a first motion state parameter of the control terminal, where the first motion state parameter is detected by an attitude measurement unit on the control terminal;

determining a second motion state parameter of the adjusting device according to the first motion state parameter;

The adjusting device is controlled to move according to the second motion state parameter to adjust the camera parameter.
The method according to claim 1, wherein the determining the second motion state parameter of the adjusting device according to the first motion state parameter comprises:

The second motion state parameter is determined according to the first motion state parameter and a preset mapping relationship, where the mapping relationship is used to represent the corresponding relationship between the motion state of the control terminal and the motion state of the adjustment device.
The method according to claim 2, wherein the adjusting device comprises a gear, and the rotation of the gear can drive the adjusting ring to rotate.
The method according to claim 3, wherein the second motion state parameter comprises the rotation direction of the gear, the rotation angle of the gear, the rotation speed of the gear and/or the rotation of the control terminal Number of turns.
The method according to claim 4, wherein the first motion state parameter comprises the rotation direction of the control terminal, the rotation speed of the control terminal, the rotation angle of the control terminal and/or the control terminal The number of turns of the terminal.
The method according to claim 5, wherein when the control terminal rotates in a first direction around a first predetermined axis, the gear rotates in a second direction around a second predetermined axis, and the first direction and the said second direction is clockwise or counterclockwise, respectively; and/or

The rotational speed of the gear is positively correlated with the rotational speed of the control terminal; and/or

The rotation angle of the gear is positively correlated with the rotation angle of the control terminal; and/or

The number of rotations of the gear is positively correlated with the number of rotations of the control terminal.
The method according to claim 5, wherein the image captured by the camera is displayed to a user through an interactive interface of the control terminal; and/or

The camera is detachably carried on the gimbal, the camera is connected in communication with the gimbal, and the images collected by the camera are displayed to the user through the interactive interface of the support mechanism that carries the gimbal.
The method according to claim 7, wherein if the image captured by the camera is displayed to the user through the interactive interface of the control terminal, the rotation angle of the control terminal does not exceed a preset angle, so that the The image displayed on the interactive interface of the control terminal is located within the visual range of the user.
The method according to claim 8, wherein the preset angle is determined based on an inclination angle of the interactive interface of the control terminal relative to a vertical direction.
The method according to any one of claims 1-9, wherein the camera parameters include one or more parameters, and the first motion state parameter includes a rotation of the control terminal around one or more axes State parameters, the rotation state parameters corresponding to each axis are used to adjust at least one of the camera parameters.
The method according to claim 10, wherein the camera parameters include the focal position of the lens, the focal length of the lens and/or the aperture size of the lens.
The method according to any one of claims 1-9, wherein the adjusting device is provided with a communication module, and the adjusting device is directly connected in communication with the control terminal.
The method according to any one of claims 1-9, wherein the camera and the adjusting device can be detachably carried on a pan/tilt, the pan/tilt is connected in communication with the control terminal, and the The adjusting device is connected in communication with the pan/tilt.
The method according to claim 13, wherein the pan/tilt head is provided on a support mechanism, the support mechanism is further provided with a connecting member, and the connecting member comprises a rotating structure capable of rotating around one or more rotation axes , the control terminal is detachably mounted on the rotating structure;

When the control terminal is mounted on the rotating structure, the control terminal can be rotated around the one or more rotation axes by the user's driving.
The method of claim 14, wherein the connecting member is detachably connected to the supporting mechanism.
The method according to any one of claims 1-9, wherein the method further comprises:

The distance between the camera and the photographed target object is sent to the control terminal, so as to be displayed to the user through the interactive interface of the control terminal.
The method according to claim 16, wherein the camera is provided with a distance sensor, and the distance is measured by the distance sensor.
The method of claim 16, wherein the method further comprises:

Generate prompt information according to the distance, and send the prompt information to the control terminal to be displayed to the user through the interactive interface of the control terminal, where the prompt information is used to prompt the user for the prompt information that matches the distance. The first motion state parameter.
The method of claim 16, wherein the method further comprises:

The position of the current focus of the camera is determined, and the position of the focus is sent to the control terminal, so as to display the position of the focus to the user through the interactive interface of the control terminal.
The method according to any one of claims 1-9, wherein the method further comprises:

In response to the limit point determination instruction sent by the control terminal, the current movement stroke point of the adjustment device is stored as a limit point, so as to define a movement stroke interval of the adjustment device according to the limit point.
The method according to claim 20, wherein the limit point is used to control the movement range of the adjusting device within the range of travel defined by the mechanical limit point of the adjusting device; or

The limit point is used to control the deviation between the movement stroke point of the adjusting device and the target stroke point to be less than a preset deviation, wherein the target stroke point is the stroke point corresponding to the preset distance, and the preset distance is determined according to the type of the camera parameter.
A camera control device, characterized in that the lens of the camera is provided with an adjustment ring, and the adjustment ring is used to drive and cooperate with the adjustment device, so as to drive the movement of the adjustment ring through the movement of the adjustment device, and To realize the adjustment of camera parameters, the apparatus includes a processor, a memory, and a computer program stored in the memory and executable by the processor, and the processor implements the following steps when executing the calculation program:

acquiring a first motion state parameter of the control terminal, where the first motion state parameter is detected by an attitude measurement unit on the control terminal;

determining a second motion state parameter of the adjusting device according to the first motion state parameter;

The adjusting device is controlled to move according to the second motion state parameter to adjust the camera parameter.
The device according to claim 22, wherein when the processor is configured to determine the second motion state parameter of the adjusting device according to the first motion state parameter, it is specifically used for:

The second motion state parameter is determined according to the first motion state parameter and a preset mapping relationship, where the mapping relationship is used to represent the corresponding relationship between the motion state of the control terminal and the motion state of the adjustment device.
The device according to claim 23, wherein the adjusting device comprises a gear, and the rotation of the gear can drive the adjusting ring to rotate.
The device according to claim 24, wherein the second motion state parameter comprises the rotation direction of the gear, the rotation angle of the gear, the rotation speed of the gear and/or the rotation circle of the gear number.
The device according to claim 25, wherein the first motion state parameter comprises a rotation direction of the control terminal, a rotation speed of the control terminal, a rotation angle of the control terminal and/or the control terminal The number of turns of the terminal.
The device according to claim 26, wherein when the control terminal rotates in a first direction around a first predetermined axis, the gear rotates in a second direction around a second predetermined axis, and the first direction and the said second direction is clockwise or counterclockwise, respectively; and/or

The rotational speed of the gear is positively correlated with the rotational speed of the control terminal; and/or

The rotation angle of the gear is positively correlated with the rotation angle of the control terminal; and/or

The number of rotations of the gear is positively correlated with the number of rotations of the control terminal.
The device according to claim 27, wherein the image captured by the camera is displayed to the user through an interactive interface of the control terminal; and/or

The camera is detachably carried on the gimbal, the camera is connected in communication with the gimbal, and the images collected by the camera are displayed to the user through the interactive interface of the support mechanism that carries the gimbal.
The device according to claim 28, wherein if the image captured by the camera is displayed to the user through the interactive interface of the control terminal, the rotation angle of the control terminal does not exceed a preset angle, so that the The image displayed on the interactive interface of the control terminal is located within the visual range of the user.
The device according to claim 29, wherein the preset angle is determined based on an inclination angle of the interactive interface of the control terminal relative to a vertical direction.
The device according to any one of claims 22-30, wherein the camera parameters include one or more parameters, and the first motion state parameter includes a rotation of the control terminal around one or more axes State parameters, the rotation state parameters corresponding to each axis are used to adjust at least one of the camera parameters.
The device according to claim 31, wherein the camera parameters include the focal position of the lens, the focal length of the lens and/or the aperture size of the lens.
The device according to any one of claims 22-30, wherein the adjustment device is provided with a communication module, and the adjustment device is directly connected to the control terminal in communication.
The device according to any one of claims 22 to 30, wherein the camera and the adjusting device can be detachably carried on a pan/tilt, the pan/tilt is connected in communication with the control terminal, and the The adjusting device is connected in communication with the pan/tilt.
The device according to claim 34, wherein the pan/tilt head is provided on a support mechanism, the support mechanism is further provided with a connecting member, and the connecting member comprises a rotating structure capable of rotating around one or more rotation axes , the control terminal is detachably mounted on the rotating structure;

When the control terminal is mounted on the rotating structure, the control terminal can be rotated around the one or more rotation axes by the user's driving.
The device of claim 35, wherein the connecting member is detachably connected to the supporting mechanism.
The apparatus according to any one of claims 22-30, wherein the processor is further configured to:

The distance between the camera and the photographed target object is sent to the control terminal, so as to be displayed to the user through the interactive interface of the control terminal.
The device of claim 37, wherein the camera is provided with a distance sensor, and the distance is measured by the distance sensor.
The apparatus of claim 37, wherein the processor is further configured to:

Generate prompt information according to the distance, and send the prompt information to the control terminal to be displayed to the user through the interactive interface of the control terminal, where the prompt information is used to prompt the user for the prompt information that matches the distance. The first motion state parameter.
The apparatus of claim 37, wherein the processor is further configured to:

The position of the current focus of the camera is determined, and the position of the focus is sent to the control terminal, so as to display the position of the focus to the user through the interactive interface of the control terminal.
The apparatus according to any one of claims 22-30, wherein the processor is further configured to:

In response to the limit point determination instruction sent by the control terminal, the current movement stroke point of the adjustment device is stored as a limit point, so as to define a movement stroke interval of the adjustment device according to the limit point.
The device according to claim 41, wherein the limit point is used to control the movement range of the adjusting device within the range of travel defined by the mechanical limit point of the adjusting device; or

The limit point is used to control the deviation between the movement stroke point of the adjusting device and the target stroke point to be less than a preset deviation, wherein the target stroke point is the stroke point corresponding to the preset distance, and the preset distance is determined according to the type of the camera parameter.
A camera control system, characterized in that the system includes an adjusting device and a pan/tilt, the adjusting device is provided on the pan/tilt, and the adjusting device or the pan/tilt includes any one of claims 22-42 The control device described in item.