Image signal processing method, pan / tilt head, image transmission device, pan / tilt head system and storage medium

Abstract

An image signal processing method, a pan-tilt head, a transmission device, a pan-tilt head system and a storage medium, wherein the pan-tilt head system includes an image transmission device and a pan-tilt head, wherein the image transmission device is used to convert a first image signal into a second image signal and the image transmission device is used to perform target object recognition processing on the first image signal output by a shooting device, and the image transmission device transmits the second image signal and the result of the target object recognition processing to the pan-tilt head, so that the pan-tilt head can display according to the second image signal and control the pan-tilt head rotation and / or adjust the shooting parameters of the shooting device according to the result of the target object recognition processing. This embodiment realizes the display of real-time images on the pan-tilt head and transfers the image processing function performed by the pan-tilt head to the image transmission device, thereby improving the accuracy of image processing.

Description

Technical Field

[0001] The present application relates to the field of image signal processing, and in particular to an image signal processing method, a pan-tilt head, a transmission device, a pan-tilt head system and a storage medium. Background Art

[0002] As users' demands for shooting are gradually improved, related technologies provide a gimbal for supporting shooting equipment, which provides a reliable guarantee for stable shooting of the shooting equipment.

[0003] With the development of PTZ technology, a variety of different photo taking or video recording methods can be implemented through the control of the PTZ to meet the personalized needs of users. During the photo taking or video recording process, users often want to see real-time images, and further, they can control the PTZ or shooting equipment according to the real-time images. Therefore, it is necessary to provide a system that facilitates users to watch real-time images and further perform effective control based on real-time images. Summary of the invention

[0004] In view of this, one of the objects of the present application is to provide an image signal processing method, a pan-tilt head, a transmission device, a pan-tilt head system and a storage medium.

[0005] In a first aspect, an embodiment of the present application provides a pan-tilt system, the pan-tilt system comprising a pan-tilt and an image transmission device, the pan-tilt is used to carry a shooting device, and a handheld portion of the pan-tilt is provided with a control module and a display module;

[0006] The image transmission device is used to receive a first image signal output by the shooting device, convert the first image signal into a second image signal, and output the second image signal to the control module through the wiring inside the gimbal; and perform target object recognition processing on the first image signal, and output the result of the target object recognition processing to the control module;

[0007] The control module is used to control the display module to display based on the second image signal; and to control the pan / tilt head to rotate and / or adjust the shooting parameters of the shooting device based on the result of the target object recognition processing;

[0008] The signal quality of the first image signal is higher than the signal quality of the second image signal, and the number of lines and / or line size required to transmit the second image signal meet preset conditions.

[0009] In a second aspect, an embodiment of the present application provides a gimbal, wherein a handheld portion of the gimbal is provided with a control module and a display module, the gimbal is used to carry a shooting device and an image transmission device, a first image signal output by the shooting device is converted into a second image signal by the image transmission device, and then output to the control module through wiring inside the gimbal; and the image transmission device is further used to perform target object recognition processing on the first image signal and output the result of the target object recognition processing to the control module;

[0010] The control module is used to control the display module to display based on the second image signal; and to control the pan / tilt head to rotate and / or adjust the shooting parameters of the shooting device based on the result of the target object recognition processing;

[0011] The signal quality of the first image signal is higher than the signal quality of the second image signal, and the number of lines and / or line size required to transmit the second image signal meet preset conditions.

[0012] In a third aspect, an embodiment of the present application provides an image transmission device, the image transmission device is mounted on a gimbal, the gimbal is also used to carry a shooting device, the handheld portion of the gimbal is provided with a control module and a display module, the image transmission device includes: a first interface, a processor, and a second interface;

[0013] The first interface is used to receive a first image signal output by the shooting device;

[0014] The processor is used to convert the first image signal into a second image signal; and perform target object recognition processing on the first image signal;

[0015] The second interface is used to output the second image signal to the control module through the wiring inside the gimbal, so that the control module controls the display module to display based on the second image signal; and output the result of the target object recognition processing to the control module so that the control module controls the rotation of the gimbal and / or adjusts the shooting parameters of the shooting device based on the result of the target object recognition processing;

[0016] The signal quality of the first image signal is higher than the signal quality of the second image signal, and the number of lines and / or line size required to transmit the second image signal meet preset conditions.

[0017] In a fourth aspect, an embodiment of the present application provides an image signal processing method, which is applied to a gimbal, wherein the gimbal is used to carry a shooting device and an image transmission device, wherein a first image signal output by the shooting device is converted into a second image signal by the image transmission device, and then output to the gimbal through wiring inside the gimbal; and the image transmission device is further used to perform target object recognition processing on the first image signal and output the result of the target object recognition processing to the gimbal;

[0018] The method comprises:

[0019] performing display based on the second image signal; and

[0020] Controlling the rotation of the pan / tilt head and / or adjusting the shooting parameters of the shooting device based on the result of the target object recognition processing;

[0021] The signal quality of the first image signal is higher than the quality of the second image signal, and the number of lines and / or line size required to transmit the second image signal meet preset conditions.

[0022] In a fifth aspect, an embodiment of the present application provides an image signal processing method, which is applied to an image transmission device, wherein the image transmission device is mounted on a gimbal, and the gimbal is also used to carry a shooting device; the image transmission module device includes a first interface and a second interface; the method includes:

[0023] receiving a first image signal output by a photographing device through the first interface;

[0024] converting the first image signal into a second image signal; and performing target object recognition processing on the first image signal; wherein the signal quality of the first image signal is higher than the quality of the second image signal;

[0025] The second image signal is output to the gimbal through the second interface via the wiring inside the gimbal, so that the gimbal displays based on the second image signal; and the result of the target object recognition processing is output to the gimbal so that the gimbal controls its own rotation and / or adjusts the shooting parameters of the shooting device based on the result of the target object recognition processing; wherein the number of lines and / or line size required to transmit the second image signal meets preset conditions.

[0026] In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium having computer instructions stored thereon, which, when executed by a processor, implement the method described in any one of the fourth aspect or the fifth aspect.

[0027] An embodiment of the present application provides an image signal processing method, a gimbal, a transmission device, a gimbal system and a storage medium. The gimbal system includes an image transmission device and a gimbal. The image transmission device converts a first image signal output by a shooting device into a second image signal. The number of lines and / or line sizes required to transmit the second image signal meet preset conditions, so that when the second image signal is transmitted through the wiring inside the gimbal, interference of the gimbal rotation on the second image signal can be avoided, ensuring that the display module at the handheld part of the gimbal can display a stable image signal in real time, and also avoiding the influence of the transmission of the second image signal on the motor control inside the gimbal, thereby ensuring the coordinated operation of various components in the gimbal. Furthermore, since the first image signal is an undamaged signal output by the shooting device and has more complete image information, the signal quality of the first image signal is higher than that of the second image signal. This embodiment transfers the image processing function of the gimbal to the image transmission device, and the image transmission device performs target object recognition processing on the first image signal to obtain a more accurate target object recognition processing result, so that the control module of the gimbal can perform more precise control based on the target object recognition processing result, while also avoiding the problem of body heating of the gimbal due to excessive image processing calculations. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0029] Figure 1 , Figure 2 , Figure 4 , Figure 5 , Figure 6 as well as Figure 8 are different schematic diagrams of the pan / tilt system provided in the embodiments of the present application;

[0030] Figure 3 as well as Fig. 9 Schematic diagrams of different structures of the pan / tilt platforms provided in the embodiments of the present application;

[0031] Figure 7 is a display example diagram of a superimposed signal provided in an embodiment of the present application;

[0032] Fig.10 is a structural schematic diagram of an image transmission device provided in an embodiment of the present application;

[0033] Fig.11 as well as Fig.12 Schematic diagram of different flow charts of the image signal processing method provided in the embodiments of the present application. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only 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 ordinary technicians in this field without creative work are within the scope of protection of this application.

[0035] With the development of PTZ technology, a variety of different shooting or video recording methods can be performed by controlling the PTZ to meet the personalized needs of users. During the shooting or video recording process, users often hope to see real-time images, and further, the PTZ or shooting equipment can be controlled according to the real-time images.

[0036] In the related art, users can usually view real-time images in the following two ways: first, viewing real-time images through a display screen installed on the shooting device, but in some specific camera positions (such as low-position recording), the position of the display screen makes it difficult for users to observe real-time images; second, the real-time images captured by the shooting device are transmitted to an external terminal device such as a mobile phone, and the real-time images are displayed on the display screen of the external terminal device, but in this way, users need to take into account multiple devices, the operation is cumbersome, and the user experience is poor.

[0037] Furthermore, when controlling the gimbal or shooting device based on real-time images, the related technology usually involves the gimbal or an external terminal device processing the real-time images, and then controlling the gimbal or shooting device based on the processing results. However, considering the problem of excessive amount of image signal data output by the shooting device, the image signal output by the shooting device is compressed and converted before being transmitted to the gimbal or an external terminal. The image signal output by the shooting device may lose part of the image information after compression and conversion, making the result of the processing by the gimbal or the external terminal based on the compressed image signal inaccurate. In addition, since the amount of image processing calculation is usually large, and the gimbal body is usually small, resulting in poor heat dissipation, excessive calculations will cause the gimbal body to heat up, shortening the service life of the gimbal, and affecting the user experience.

[0038] Based on this, the embodiment of the present application realizes the display of real-time images on the gimbal so that users can conveniently watch the real-time images and realize the transfer of the image processing function performed by the gimbal to other devices. Considering that the image signal output by the shooting device is generally in HDMI format, and the number of signal lines of the cable required to transmit the image signal in HDMI format is large, and the cable is thick. For the gimbal, the HDMI data cable with a large number of signal lines and thick cables is inserted into the shaft of each driving motor of the gimbal, which will greatly increase the rotational friction of the shaft of the gimbal when rotating, easily affecting the control performance of the gimbal, and will also cause greater interference to the transmission of the image signal. Therefore, in order to realize the display of real-time images on the gimbal, the embodiment of the present application provides an image transmission device, through which the signal format of the image signal is converted to reduce the number and / or line size of the data lines used to transmit the image signal, while not affecting the control performance of the gimbal, it also improves the anti-interference ability of the image signal. Furthermore, the embodiment of the present application realizes the transfer of the image processing function performed by the gimbal to the image transmission device, and uses the image transmission device to process the image signal output by the shooting device to control the gimbal or the shooting device according to the processing result. Since the image signal output by the shooting device has not undergone other processing, the image information it retains is the most complete, which is beneficial to improve the accuracy of the processing results and avoid the problem of heating of the gimbal body due to excessive image calculation.

[0039] See also Figure 1 The present application embodiment provides a pan-tilt system 10, which includes a pan-tilt 100 and an image transmission device 200; the pan-tilt system 10 can be used as an auxiliary device for photography, filming, and monitoring, and the pan-tilt system 10 can be equipped with a shooting device 300, and can be used in manned aircraft, vehicles, cars, ships, robots, filming, handheld devices and other fields. In one example, such as in the field of handheld devices, please refer to Figure 2 The user can hold the gimbal 100 equipped with the image transmission device 200 and the shooting device 300 to take photos or videos in various ways, such as the smart follow shooting mode, which controls the gimbal 100 to track the shooting object through image recognition.

[0040] In one embodiment, the gimbal 100 is used to carry a shooting device 300, and the shooting device 300 can be fixedly connected to the gimbal 100, or can be detachably connected, and this embodiment does not impose any restrictions on this. In one example, the shooting device 300 can be a third-party shooting device 300, and the shooting device 300 can be detachably connected to the gimbal 100; it can be understood that this embodiment does not impose any restrictions on the type of the third-party shooting device 300.

[0041] The shooting device 300 may be a physical imaging device. The shooting device 300 may be configured to detect electromagnetic radiation (e.g., visible light, infrared light, and / or ultraviolet light) and generate image data based on the detected electromagnetic radiation. The shooting device 300 may include a charge coupled device (CCD) sensor or a complementary metal oxide semiconductor (CMOS) sensor that generates an electrical signal in response to the wavelength of light. The generated electrical signal may be processed to generate image data. The image data generated by the shooting device 300 may include one or more images, which may be static images (e.g., photos), dynamic images (e.g., videos), or a suitable combination thereof. The image data may be multi-color (e.g., RGB, CMYK, HSV) or monochrome (e.g., grayscale, black and white, sepia). The shooting device 300 may include a lens configured to direct light onto an image sensor.

[0042] In one embodiment, the shooting device 300 may be a camera. The camera may be a movie camera or a video camera that captures dynamic image data (e.g., video). The camera may be a camera that captures static images (e.g., photos). The camera may also capture dynamic image data and static images. The camera may switch between capturing dynamic image data and static images. The camera may be used to generate a 2D image of a 3D scene (e.g., an environment, one or more objects, etc.). The image generated by the camera may represent a projection of the 3D scene onto a 2D image plane. Therefore, each point in the 2D image corresponds to a 3D spatial coordinate in the scene. The camera may include optical elements (e.g., lenses, reflectors, filters, etc.). The camera may capture color images, grayscale images, infrared images, etc.

[0043] The shooting device 300 can capture images or image sequences at a specified image resolution. In some embodiments, the image resolution can be defined by the number of pixels in the image. In some embodiments, the image resolution can be greater than or equal to about 352x420 pixels, 480x320 pixels, 720x480 pixels, 1280x720 pixels, 1440x1080 pixels, 1920x1080 pixels, 2048x1080 pixels, 3840x2160 pixels, 4096x2160 pixels, 7680x4320 pixels, or 15360x8640 pixels. In some embodiments, the camera can be a 4K camera or a camera with higher resolution.

[0044] The camera 300 may capture an image sequence at a specified frame rate. In some embodiments, the image sequence may be captured at a standard frame rate such as about 24p, 25p, 30p, 48p, 50p, 60p, 72p, 90p, 100p, 120p, 300p, 50i, or 60i. In some embodiments, the image sequence may be captured at a frame rate less than or equal to about one image per 0.0001 second, 0.0002 second, 0.0005 second, 0.001 second, 0.002 second, 0.005 second, 0.01 second, 0.02 second, 0.05 second, 0.1 second, 0.2 second, 0.5 second, 1 second, 2 seconds, 5 seconds, or 10 seconds.

[0045] The shooting device 300 may have adjustable shooting parameters. Under different shooting parameters, the shooting device 300 may capture different images despite being subjected to exactly the same external conditions (e.g., position, lighting). Shooting parameters may include exposure (e.g., exposure time, shutter speed, aperture, film speed), gain, gamma, region of interest, binning / subsampling, pixel clock, offset, trigger, ISO, etc. Parameters related to exposure may control the amount of light reaching the image sensor in the shooting device 300. For example, shutter speed may control the amount of time it takes for light to reach the image sensor and aperture may control the amount of light that reaches the image sensor in a given time. Parameters related to gain may control the amplification of the signal from the optical sensor. ISO may control the sensitivity level of the camera to available light.

[0046] In one embodiment, the image transmission device 200 can be detachably connected to the pan / tilt head 100. During the use of the pan / tilt head 100, the user can choose whether to mount the image transmission device 200 on the pan / tilt head 100 according to actual needs, thereby facilitating meeting the personalized needs of the user. The image transmission device 200 has an image transmission function, and is used to transmit the image signal output by the shooting device 300 to the pan / tilt head 100 or to an external terminal device via wireless communication.

[0047] In one implementation, see Figure 3 The gimbal 100 includes a shooting device mounting bracket 102, and the shooting device mounting bracket 102 is used to mount the shooting device 300. The image transmission device 200 is used to be detachably connected to the shooting device mounting bracket 102; when the image transmission device 200 is connected to the shooting device mounting bracket 102, the shooting device 300 and the image transmission device 200 are connected, for example, through an HDMI interface, and the first image signal output by the shooting device 300 is transmitted to the image transmission device 200 through the HDMI interface.

[0048] In one embodiment, see Figure 3 The gimbal 100 includes a shooting equipment mounting frame 102 for mounting a shooting equipment, a first driving motor 103 for driving the shooting equipment mounting frame 102, a first axis arm 104 for mounting the first driving motor 103, a second driving motor 105 for driving the first axis arm 104, a second axis arm 106 for mounting the second driving motor 105, a third driving motor 107 for driving the second axis arm 106, and a handheld part 108 for mounting the third driving motor 107.

[0049] Among them, the above-mentioned first driving motor 103 can be a pitch motor of the gimbal 100 installed on the first axis arm 104. The first driving motor 103 can be used to control the shooting equipment 300 mounting frame 102 of the gimbal 100 to rotate / stop in the pitch direction. It can be specifically composed of the P-axis electric adjustment plate of the gimbal 100 and the motor main body structure.

[0050] The above-mentioned second driving motor 105 can be a roll motor of the gimbal 100 installed on the second axis arm 106. The second driving motor 105 can be used to drive the first axis arm 104 to rotate / stop in the roll direction. It can be specifically composed of the R-axis electric adjustment plate of the gimbal 100 and the motor main body structure.

[0051] The third drive motor 107 may be a yaw motor of the gimbal 100 mounted on the handheld portion 108. The third drive motor 107 may be used to drive the second axis arm 106 to rotate / stop in the yaw direction. The third drive motor 107 may be specifically composed of a Y-axis electric adjustment plate of the gimbal 100 and a motor main body structure.

[0052] In one embodiment, see Figure 4 The handheld portion of the gimbal 100 is provided with a control module 110 and a display module 120. The image transmission device 200 is used to receive the first image signal output by the shooting device 300, convert the first image signal into a second image signal, and transmit the first image signal to the second image signal through the internal wiring of the gimbal 100 (such as Figure 3 The first drive motor 103, the first shaft arm 104, the second drive motor 105, the second shaft arm 106 and the third drive motor 107 shown in the figure output the second image signal to the control module 110; and, perform target object recognition processing on the first image signal, and output the result of the target object recognition processing to the control module 110.

[0053] The control module 110 is used to control the display module 120 to display based on the second image signal; and control the pan / tilt head 100 to rotate or adjust the shooting parameters of the shooting device based on the result of the target object recognition processing; wherein the signal quality of the first image signal is higher than the signal quality of the second image signal, and the number of lines and / or line size required to transmit the second image signal meet preset conditions.

[0054] In this embodiment, the image transmission device 200 converts the first image signal output by the shooting equipment 300 into a second image signal, and the number of lines and / or line sizes required for transmitting the second image signal meet preset conditions, so that when the second image signal is transmitted through the wiring inside the gimbal 100, the interference of the rotation of the gimbal 100 on the second image signal can be avoided, ensuring that the display module at the handheld part of the gimbal can display a stable image signal in real time, and also avoiding the influence of the transmission of the second image signal on the motor control inside the gimbal 100, thereby ensuring the coordinated operation of various components in the gimbal 100. Furthermore, since the first image signal is an undamaged signal output by the shooting device 300 and has more complete image information, the signal quality of the first image signal is higher than that of the second image signal. In this embodiment, the image processing function of the gimbal 100 is transferred to the image transmission device 200. The image transmission device 200 performs target object recognition processing on the first image signal, and a more accurate target object recognition processing result can be obtained, so that the control module 110 of the gimbal 100 can perform more precise control based on the target object recognition processing result, and at the same time, the problem of body heating of the gimbal 100 caused by excessive image processing calculation volume is avoided.

[0055] Among them, the preset conditions satisfied by the number of lines and / or line size required for transmitting the second image signal can be specifically set according to the actual application scenario. In one example, a wiring space is formed in the shaft arm and the motor of the gimbal 100, and the number of lines and / or line size required for transmitting the second image signal can be determined according to the size of the wiring space. In one example, the number of lines and / or line size required for transmitting the second image signal is less than the number of lines and / or line size required for transmitting the first image signal, which helps to reduce the impact of the internal wiring of the gimbal 100 on the image signal, such as electromagnetic interference problems, that is, reducing the number of lines and / or line size is also conducive to improving the anti-interference ability of the image signal.

[0056] In one embodiment, see Figure 2, the image transmission device 200 includes a first interface 201 and a second interface 202, the pan-tilt head 100 includes a third interface 101, and a wiring space is formed in the arm and the motor of the pan-tilt head 100. The image transmission device 200 is used to receive the first image signal through the first interface 201, and output the second image signal to the third interface 101 through the second interface 202. The third interface 101 is electrically connected to the control module 110 through the line in the wiring space. This embodiment realizes the transmission of the second image signal converted by the image transmission device 200 to the control module 110, and the number of lines and / or line size required to transmit the second image signal in the wiring space are smaller. Accordingly, the second image signal is less affected by the internal wiring of the pan-tilt head 100, and the anti-interference ability is stronger. It should be noted that Figure 2 The placement position of the image transmission device is only an example, and the image transmission device can also be mounted on the gimbal in other forms.

[0057] In one implementation, the pan / tilt head 100 includes a cable for transmitting the second image signal, the cable passes through the wiring space, and is used to connect the third interface 101 and the control module 110. For example, the cable is sequentially arranged at Figure 3 The first driving motor 103 , the first shaft arm 104 , the second driving motor 105 , the second shaft arm 106 and the third driving motor 107 are shown to transmit the second image signal to the control module 110 located at the handheld part 108 .

[0058] In one implementation, the first image signal is a digital signal, and the second image signal is an analog signal, for example, the first image signal is an HDMI (High Definition Multimedia Interface) digital signal, and the second image signal is a CVBS (Composite Video Broadcast Signal) analog signal or a VGA (Video Graphics Array) analog signal; in another implementation, the first image signal and the second image signal are different types of digital signals, for example, the first image signal is an HDMI digital signal, and the second image signal is an SDI (Serial Digital Interface) digital signal or a DVI (Digital Visual Interface) digital signal. This embodiment realizes the conversion of the first image signal into the second image signal, so that the image signal can be transmitted with a smaller number of lines and / or line diameters, avoiding the influence of the internal wiring of the pan / tilt head 100, and improving the anti-interference capability.

[0059] In one embodiment, when the control module 110 is capable of processing the second image signal and the display module 120 is capable of displaying the second image signal, the control module 110 can control the display module 120 to display based on the second image signal, so that the user can see the real-time image on the gimbal 100, which is convenient for the user to watch and improves the user experience.

[0060] In one embodiment, when the control module 110 does not support processing the second image signal, refer to Figure 5 , the control module 110 includes a converter 1101, the converter 1101 is used to receive the second image signal and convert the second image signal into a third image signal, the signal format of the third image signal is a signal format that the control module 110 can process. In one implementation, if the third image signal is in a signal format that the display module 120 can display, the control module 110 is also used to control the display module 120 to display based on the third image signal, so that the user can see the real-time image on the pan-tilt head 100, which is convenient for the user to watch and improves the user experience. In another implementation, if the third image signal is in a signal format that the display module 120 does not support, please refer to Figure 6 The control module 110 also includes a controller 1102, which is used to process the third image signal to obtain a fourth image signal, and transmit the fourth image signal to the display module 120 for display. The signal format of the fourth signal is a signal format that can be displayed by the display module 120, so that the user can see the real-time image on the gimbal 100, which is convenient for the user to watch and improves the user experience.

[0061] In one example, for the convenience of transmission, the third image signal may be a signal in a YUV format, and in order to comply with the display format of a display, the fourth image signal may be a signal in an RGB format.

[0062] In one implementation, the first image signal and the third image signal may be different types of digital signals, and the second image signal may be an analog signal; or, the first image signal, the second image signal, and the third image signal may be different types of digital signals. This embodiment realizes the conversion of the first image signal into the second image signal, so that the image signal can be transmitted with a smaller number of lines and / or line diameters, avoiding the influence of the internal wiring of the gimbal 100, and improving the anti-interference ability. In one implementation, in order to avoid the influence of the wiring of the gimbal 100, the signal converter 1101 and the controller 1102 may be arranged as close as possible, for example, the signal converter 1101 and the controller 1102 are arranged on the same circuit board, so as to avoid electromagnetic interference from the internal wiring of the gimbal 100 during the image signal transmission process.

[0063] In one embodiment, when the control module 110 is capable of processing the second image signal but the display module 120 does not support the signal format of the second image signal, the control module 110 is further configured to convert the second image signal into a fourth image signal, wherein the signal format of the fourth signal is a signal format that can be displayed by the display module 120, thereby enabling the user to see real-time images on the gimbal 100, facilitating user viewing and improving the user experience.

[0064] In an example, in order to facilitate transmission, the second image signal may be a signal in a YUV format, and in order to comply with a display format of a display, the fourth image signal may be a signal in an RGB format.

[0065] In one embodiment, in addition to converting the image signal, the image transmission device 200 can also perform target object recognition processing on the first image signal, and the target object includes but is not limited to a human body or an object, which can be specifically set according to the actual application scenario. In one implementation, the display module 120 has a touch interaction function, and the control module 110 can generate a recognition instruction based on the interaction data input by the user on the display module 120. For example, the interaction data can be a user performing a frame selection operation on the target object in the image displayed on the display module 120. Then, the control module 110 can generate a recognition instruction for the target object based on the frame selection operation, and transmit the recognition instruction to the image transmission device 200, so that the image transmission device 200 can perform target object recognition processing on the first image signal based on the recognition instruction. This embodiment realizes transferring the image processing function of the gimbal 100 to the image transmission device 200. The image transmission device 200 performs target object recognition processing on the undamaged first image signal, and can obtain a more accurate target object recognition processing result, so that the control module 110 of the gimbal 100 can perform more precise control based on the target object recognition processing result, and also avoids the problem of body heating of the gimbal 100 due to excessive image processing calculation amount.

[0066] Wherein, when performing target object recognition processing, the image transmission device 200 is specifically used to perform target object recognition processing on the first image signal based on a preset calculation model, obtain the result of the target object recognition processing and transmit it to the control module 110 of the gimbal 100, so that the control module 110 can control the rotation of the gimbal 100 and / or adjust the shooting parameters of the shooting device based on the result of the target object recognition processing. In an example, the control module 110 can control the gimbal 100 to rotate freely about three rotational degrees of freedom in the environment based on the result of the target object recognition processing to achieve tracking shooting of the target object, and / or (and / or represents both or one of the two), the control module 110 can adjust the shooting parameters of the shooting parameters based on the result of the target object recognition processing, such as exposure parameters, zoom parameters, and focus parameters.

[0067] It is understandable that the embodiments of the present application do not impose any restrictions on the computing model, and specific settings can be made according to the actual application scenario. In one example, the computing model can be a pre-trained neural network model, and the neural network model can be trained based on a machine learning algorithm or a deep learning algorithm. During training, several training images can be obtained, and the training images carry target object labels. The several training images are input into the preset neural network model for training, and the target object prediction results are obtained. Then, according to the difference between the target object prediction results and the target object labels, the parameters of the preset neural network model are adjusted to obtain a trained neural network model.

[0068] It is understandable that the present application does not impose any restrictions on the target object. In one example, in a scenario where the gimbal system 10 is used for intelligent follow-up shooting, a designated person may be tracked and shot. The image transmission device 200 performs target object recognition processing on the first image signal based on a preset computing model to identify the designated person. Then, the control module 110 of the gimbal 100 controls the gimbal 100 to rotate and / or adjusts the shooting parameters of the shooting device according to the information of the identified designated person, so that the designated person always remains within the shooting field of view of the shooting device 300.

[0069] In one embodiment, the display module 120 has a touch interaction function, and the user can control the pan-tilt head 100 or the image transmission device 200 by interacting with the display module 120. The display module 120 can also display the parameters of the pan-tilt head 100 and / or the image transmission device 200, so that the user can understand the operating status of the pan-tilt head 100 and / or the image transmission device 200 in real time, and can adjust the parameters of the pan-tilt head 100 and / or the image transmission device 200 by interacting with the display module 120 to achieve personalized shooting needs.

[0070] In one implementation, the gimbal 100 can receive the interaction data input by the user through the display module 120 and feed it back to the image transmission module, and the image transmission device 200 is specifically used to receive the interaction data input by the user through the display module 120, and perform target object recognition processing on the first image signal based on the interaction data and the preset calculation model. In one example, a recognition instruction can be generated based on the interaction data, and the recognition instruction is used to specify the target object to be recognized this time. For example, the interaction data can be a box selection operation performed by the user on the target object in the image displayed on the display module 120, and the control module 110 can generate a recognition instruction for the target object according to the box selection operation.

[0071] In one implementation, the gimbal 100 can receive interactive data input by the user through the display module 120 and feed it back to the control module 110. The control module 110 can also control the rotation of the gimbal 100 and / or adjust the shooting parameters of the shooting device according to the interactive data input by the user through the display module 120. For example, the gimbal 100 can be controlled to rotate freely about three rotational degrees of freedom in the environment, and the gimbal 100 can be realized. The centering function (used to adjust the shooting device 300 to the center position), the front and back flipping function (used to change the shooting direction of the shooting device 300), etc. For example, the shooting frame rate, exposure parameters, etc. of the shooting device are adjusted.

[0072] In another embodiment, the gimbal 100 further includes an interactive component, such as a button, etc., and the user can operate the interactive component to control the gimbal 100, the shooting device 300 or the image transmission device 200. In one implementation, the image transmission device 200 receives the interactive data input by the user through the interactive component, and performs target object recognition processing on the first image signal based on the interactive data and the preset calculation model. In another implementation, the control module 110 receives the interactive data input by the user through the interactive component, and controls the gimbal 100 to rotate and / or adjust the shooting parameters of the shooting device based on the interactive data.

[0073] In one embodiment, the control module 110 controls the pan / tilt head 100 to rotate and / or adjusts the shooting parameters of the shooting device based on the result of the target object recognition processing, and can also control the display module 120 to display based on the result of the target object recognition processing. Figure 6 In the embodiment shown, the control module 110 may superimpose the result of the target object recognition processing with the fourth image signal, and control the display module 120 to display according to the superimposed signal, for example, Figure 7 As shown, in the image indicated by the fourth image signal, a rectangular frame can be displayed in the area where the target object is located in the image according to the result of the target object recognition.

[0074] In one embodiment, see Figure 8, the image transmission device 200 is also used to wirelessly connect to the terminal device 400 and transmit the first image signal to the terminal device 400. In one implementation, since the data volume of the first image signal output by the shooting device 300 is large and is not conducive to wireless transmission, the first image signal can be compressed and the compressed image signal can be transmitted to the terminal device 400. The terminal device 400 includes but is not limited to computers, mobile phones, remote controllers, tablets and other devices with display functions.

[0075] In order to facilitate the connection between the image transmission device and the terminal device 400, when the image transmission device 200 is connected to the pan-tilt system 10, the image transmission device 200 can transmit wireless connection information to the control module 110 of the pan-tilt system 10, so that the control module 110 can control the display module 120 to display the wireless connection information of the image transmission device 200, so that the terminal device 400 can be wirelessly connected to the image transmission device 200 based on the wireless connection information. In this embodiment, the wireless connection information is displayed on the display module 120, so as to facilitate the connection between the image transmission device and the terminal device 400, which is conducive to improving the connection efficiency. Among them, the wireless connection information includes but is not limited to a graphic code or an ID mark, which can be specifically set according to the actual application scenario.

[0076] In one implementation, when the image transmission device 200 is electrically connected to the control module 110, it is determined that the image transmission device 200 is connected to the PTZ system 10. Further, in order to let the user know that the image transmission device 200 has been connected to the PTZ system 10, the control module 110 can control the display module 120 to output visual prompt information to prompt the user, which is conducive to improving the user's experience.

[0077] In another implementation, when the image transmission device 200 is electrically connected to the control module 110 and the shooting device 300, it is determined that the image transmission device 200 is connected to the pan-tilt system 10. Further, in order to let the user know that the image transmission device 200 has been connected to the pan-tilt system 10, the control module 110 can control the display module 120 to output visual prompt information and the shooting device can also output visual prompt information (such as flashing indicator light) to prompt the user.

[0078] Accordingly, the present application embodiment also provides a pan / tilt platform 100, see Fig. 9The handheld part of the gimbal 100 is provided with a control module 110 and a display module 120. The gimbal 100 is used to carry a shooting device and an image transmission device. The first image signal output by the shooting device is converted into a second image signal by the image transmission device, and then output to the control module 110 through the wiring inside the gimbal 100; and the image transmission device is also used to perform target object recognition processing on the first image signal and output the result of the target object recognition processing to the control module 110.

[0079] The control module 110 is used to control the display module 120 to display based on the second image signal; and control the rotation of the pan / tilt head 100 and / or adjust the shooting parameters of the shooting device based on the result of the target object recognition processing; wherein the signal quality of the first image signal is higher than the signal quality of the second image signal, and the number of lines and / or line size required to transmit the second image signal meet preset conditions.

[0080] The pan / tilt platform 100 is used for detachably connecting with the image transmission device.

[0081] In one embodiment, the gimbal 100 includes a camera mounting bracket, and the image transmission device is used to be detachably connected to the camera mounting bracket.

[0082] In one embodiment, the gimbal 100 includes a third interface, and a wiring space is formed in the arm and the motor of the gimbal 100; the gimbal 100 is used to receive the second image signal output by the image transmission device through the third interface, and the third interface is electrically connected to the control module 110 through the line in the wiring space.

[0083] In one embodiment, the first image signal is a digital signal, and the second image signal is an analog signal; or, the first image signal and the second image signal are digital signals of different types.

[0084] In one embodiment, the first image signal is an HDMI digital signal, and the second image signal is a CVBS analog signal; or, the first image signal is an HDMI digital signal, and the second image signal is an SDI digital signal.

[0085] In one embodiment, the control module 110 includes a signal converter and a controller.

[0086] The signal converter is used for receiving the second image signal, and converting the second image signal into a third image signal and outputting it to the controller.

[0087] The controller is used to process the third image signal to obtain the fourth image signal, and transmit the fourth image signal to the display module 120 for display; wherein the signal format of the third image signal is a signal format that can be processed by the controller, and the signal format of the fourth signal is a signal format that can be displayed by the display module 120.

[0088] In one embodiment, the third image signal is a signal in a YUV format, and the fourth image signal is a signal in an RGB format.

[0089] In one embodiment, the signal converter and the controller are disposed on the same circuit board.

[0090] In one embodiment, the first image signal and the third image signal are digital signals of different types, and the second image signal is an analog signal; or, the first image signal, the second image signal and the third image signal are digital signals of different types.

[0091] In one embodiment, the control module 110 is also used to receive interaction data input by the user through the display module 120 and output it to the image transmission device, so that the image transmission device performs target object recognition processing on the first image signal based on the interaction data and a preset calculation model.

[0092] In one embodiment, the control module 110 is further configured to control the display module 120 to perform display based on the result of the target object recognition process.

[0093] In one embodiment, the display module 120 is further used to display the wireless connection information of the image transmission device when the image transmission device is connected to the PTZ system 100, so that the terminal device can be wirelessly connected to the image transmission device based on the wireless connection information.

[0094] In one embodiment, the wireless connection information includes at least one of the following: a graphic code or an ID mark.

[0095] In one embodiment, the display module 120 is specifically used to display the wireless connection information of the image transmission device when the image transmission device is electrically connected to the control module 110, or the image transmission device is electrically connected to the control module 110 and the shooting device.

[0096] Accordingly, see Fig.10, the embodiment of the present application further provides an image transmission device 200, the image transmission device 200 is mounted on a gimbal, the gimbal is also used to carry a shooting device, the handheld portion of the gimbal is provided with a control module and a display module, the image transmission device 200 includes: a first interface 201, a processor 203 and a second interface 202;

[0097] The first interface 201 is used to receive a first image signal output by the shooting device.

[0098] The processor 203 is configured to convert the first image signal into a second image signal; and perform target object recognition processing on the first image signal.

[0099] The second interface 202 is specifically used to output the second image signal to the control module through the wiring inside the gimbal, so that the control module controls the display module to display based on the second image signal; and output the result of the target object recognition processing to the control module so that the control module controls the rotation of the gimbal or adjusts the shooting parameters of the shooting device based on the result of the target object recognition processing.

[0100] The signal quality of the first image signal is higher than the signal quality of the second image signal, and the number of lines and / or line size required to transmit the second image signal meet preset conditions.

[0101] In one embodiment, the image transmission device 200 is used to be detachably connected to the pan / tilt head.

[0102] In one embodiment, the pan / tilt head includes a camera mounting bracket, and the image transmission device 200 is used to be detachably connected to the camera mounting bracket.

[0103] In one embodiment, the first image signal is a digital signal, and the second image signal is an analog signal; or, the first image signal and the second image signal are digital signals of different types.

[0104] In one embodiment, the first image signal is an HDMI digital signal, and the second image signal is a CVBS analog signal; or, the first image signal is an HDMI digital signal, and the second image signal is an SDI digital signal.

[0105] In one embodiment, the processor 203 is further configured to perform target object recognition processing on the first image signal based on a preset computing model.

[0106] In one embodiment, the processor 203 is specifically configured to receive interaction data input by a user through the display module, and perform target object recognition processing on the first image signal based on the interaction data and the preset calculation model.

[0107] In one embodiment, the image transmission device 200 further includes a wireless signal transmitter, and the wireless signal transmitter is used to transmit the first image signal to a terminal device.

[0108] In one embodiment, the image transmission device 200 is also used to transmit the wireless connection information of the image transmission device 200 to the display module of the pan-tilt system when the image transmission device 200 is connected to the pan-tilt system, so that the display module of the pan-tilt system displays the wireless connection information, and the terminal device can be wirelessly connected to the image transmission device 200 based on the wireless connection information.

[0109] In one embodiment, the wireless connection information includes at least one of the following: a graphic code or an ID mark.

[0110] In one embodiment, the image transmission device 200 is specifically used to transmit the wireless connection information of the image transmission device 200 to the display module of the gimbal when the image transmission device 200 is electrically connected to the control module, or the image transmission device 200 is electrically connected to the control module and the shooting device.

[0111] Accordingly, see Fig.11 The embodiment of the present application also provides an image signal processing method, which is applied to a gimbal, wherein the gimbal is used to carry a shooting device and an image transmission device, wherein a first image signal output by the shooting device is converted into a second image signal by the image transmission device and then output to the gimbal through the wiring inside the gimbal; and the image transmission device is also used to perform target object recognition processing on the first image signal and output the result of the target object recognition processing to the gimbal. The method includes:

[0112] In step S101 , display is performed based on the second image signal.

[0113] In step S102, the pan / tilt head is controlled to rotate and / or the shooting parameters of the shooting device are adjusted based on the result of the target object recognition processing; wherein the signal quality of the first image signal is higher than the quality of the second image signal, and the number of lines and / or line size required to transmit the second image signal meet preset conditions.

[0114] In one embodiment, the pan / tilt head is used to be detachably connected to the image transmission device.

[0115] In one embodiment, the gimbal includes a camera mounting bracket, and the image transmission device is used to be detachably connected to the camera mounting bracket.

[0116] In one embodiment, the gimbal includes a third interface, and the shaft arm and the motor of the gimbal form a wiring space.

[0117] The method further includes: receiving the second image signal output by the image transmission device through the third interface, and transmitting the second image signal in the routing space.

[0118] In one embodiment, the first image signal is a digital signal, and the second image signal is an analog signal; or, the first image signal and the second image signal are digital signals of different types.

[0119] In one embodiment, the first image signal is an HDMI digital signal, and the second image signal is a CVBS analog signal; or, the first image signal is an HDMI digital signal, and the second image signal is an SDI digital signal.

[0120] In one embodiment, the display based on the second image signal includes: receiving the second image signal and converting the second image signal into a third image signal; processing the third image signal to obtain the fourth image signal; wherein the signal format of the third image signal is a signal format that can be processed by the controller, and the signal format of the fourth signal is a signal format that can be displayed by the display module.

[0121] In one embodiment, the third image signal is a signal in a YUV format, and the fourth image signal is a signal in an RGB format.

[0122] In one embodiment, the first image signal and the third image signal are digital signals of different types, and the second image signal is an analog signal; or, the first image signal, the second image signal and the third image signal are digital signals of different types.

[0123] In one embodiment, it also includes: receiving interaction data input by a user and outputting it to the image transmission device; the interaction data is used to enable the image transmission device to perform target object recognition processing on the first image signal based on the interaction data and a preset calculation model.

[0124] In one embodiment, the method further comprises: displaying based on the result of the target object recognition processing.

[0125] In one embodiment, the method further includes: when the image transmission device is connected to the PTZ system, displaying the wireless connection information of the image transmission device, so that the terminal device can be wirelessly connected to the image transmission device based on the wireless connection information.

[0126] In one embodiment, displaying the wireless connection information of the image transmission device includes: displaying the wireless connection information of the image transmission device when the image transmission device is electrically connected to the gimbal, or when the image transmission device is electrically connected to both the gimbal and the shooting device.

[0127] In one embodiment, the wireless connection information includes at least one of the following: a graphic code or an ID mark.

[0128] Accordingly, see Fig.12 The embodiment of the present application also provides an image signal processing method, which is applied to an image transmission device, wherein the image transmission device is mounted on a gimbal, and the gimbal is also used to carry a shooting device; the image transmission module device includes a first interface and a second interface; the method includes:

[0129] In step S201, a first image signal output by a photographing device is received through the first interface.

[0130] In step S202, the first image signal is converted into a second image signal; and target object recognition processing is performed on the first image signal; wherein the signal quality of the first image signal is higher than that of the second image signal.

[0131] In step S203, the second image signal is output to the gimbal through the second interface via the wiring inside the gimbal, so that the gimbal displays based on the second image signal; and the result of the target object recognition processing is output to the gimbal so that the gimbal controls its own rotation and / or adjusts the shooting parameters of the shooting device based on the result of the target object recognition processing; wherein the number of lines and / or line size required to transmit the second image signal meets preset conditions.

[0132] In one embodiment, the image transmission device is used to be detachably connected to the pan / tilt head.

[0133] In one embodiment, the gimbal includes a camera mounting bracket, and the image transmission device is used to be detachably connected to the camera mounting bracket.

[0134] In one embodiment, the first image signal is a digital signal, and the second image signal is an analog signal; or, the first image signal and the second image signal are digital signals of different types.

[0135] In one embodiment, the first image signal is an HDMI digital signal, and the second image signal is a CVBS analog signal; or, the first image signal is an HDMI digital signal, and the second image signal is an SDI digital signal.

[0136] In one embodiment, the method further includes: performing target object recognition processing on the first image signal based on a preset computing model.

[0137] In one embodiment, the target object recognition processing of the first image signal based on a preset computing model includes: receiving interaction data input by the user through the gimbal, and performing target object recognition processing on the first image signal based on the interaction data and the preset computing model.

[0138] In one embodiment, the method further includes: transmitting the first image signal to the terminal device.

[0139] In one embodiment, it also includes: when the image transmission device is connected to the pan-tilt system, the wireless connection information of the image transmission device is transmitted to the pan-tilt system, so that the pan-tilt system displays the wireless connection information; wherein the terminal device can be wirelessly connected to the image transmission device based on the wireless connection information.

[0140] In one embodiment, the wireless connection information of the image transmission device is transmitted to the gimbal when the image transmission device is connected to the gimbal system, including: when the image transmission device is electrically connected to the gimbal, or when the image transmission device is electrically connected to the control module and the shooting device, the wireless connection information of the image transmission device is transmitted to the gimbal.

[0141] In one embodiment, the wireless connection information includes at least one of the following: a graphic code or an ID mark.

[0142] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory including instructions, and the above instructions can be executed by a processor of the device to perform the above method. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0143] A non-transitory computer-readable storage medium, when the instructions in the storage medium are executed by a processor of a terminal, enables the terminal to execute the above method.

[0144] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. The terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprises a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0145] The method and device provided in the embodiments of the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A pan / tilt system, characterized in that: The pan-tilt system includes a pan-tilt and an image transmission device, the pan-tilt is used to carry a shooting device, the shooting device can be detachably connected to the pan-tilt, and the shooting device can communicate with the pan-tilt through the image transmission device, and the pan-tilt includes a control module and a display module; The image transmission device is used to receive a first image signal output by the shooting device, convert the first image signal into a second image signal, and output the second image signal to the control module; and perform target object recognition processing on the first image signal, and output the result of the target object recognition processing to the control module; wherein the first image signal is a digital signal, and the second image signal is an analog signal; or, the first image signal and the second image signal are different types of digital signals; the second image signal is transmitted through the line in the wiring space formed inside the shaft arm and the motor of the gimbal, and the number of lines and / or the size of the lines required to transmit the second image signal are less than the number of lines and / or the size of the lines required to transmit the first image signal; The control module is used to control the display module to display based on the second image signal, and to control the rotation of the pan / tilt head and / or adjust the shooting parameters of the shooting device based on the result of the target object recognition processing.

2. The system according to claim 1, characterized in that The image transmission device is used for detachably connecting with the pan / tilt head.

3. The system according to claim 2, characterized in that The pan head comprises a shooting equipment mounting frame, and the image transmission device is used for being detachably connected to the shooting equipment mounting frame.

4. The system according to claim 1, characterized in that The image transmission device includes a first interface and a second interface, and the pan / tilt head includes a third interface; The image transmission device is used to receive the first image signal through the first interface, and output the second image signal to the third interface through the second interface. The third interface is electrically connected to the control module through the line in the wiring space.

5. The system according to claim 1, characterized in that The first image signal is an HDMI digital signal, and the second image signal is a CVBS analog signal; or, The first image signal is an HDMI digital signal, and the second image signal is an SDI digital signal.

6. The system according to claim 1, characterized in that The control module includes a signal converter and a controller; The signal converter is used to receive the second image signal, and convert the second image signal into a third image signal and output it to the controller; The controller is used for processing the third image signal to obtain a fourth image signal, and transmitting the fourth image signal to the display module for display; The signal format of the third image signal is a signal format that can be processed by the controller, and the signal format of the fourth image signal is a signal format that can be displayed by the display module.

7. The system according to claim 6, characterized in that The third image signal is a signal in a YUV format, and the fourth image signal is a signal in an RGB format.

8. The system according to claim 6, characterized in that The signal converter and the controller are arranged on the same circuit board.

9. The system according to claim 6, characterized in that The first image signal and the third image signal are digital signals of different types, and the second image signal is an analog signal; Alternatively, the first image signal, the second image signal and the third image signal are digital signals of different types.

10. The system according to claim 1, characterized in that The image transmission device is specifically used to perform target object recognition processing on the first image signal based on a preset calculation model.

11. The system according to claim 10, characterized in that The image transmission device is specifically used to receive interaction data input by the user through the display module, and perform target object recognition processing on the first image signal based on the interaction data and the preset calculation model.

12. The system according to claim 1, characterized in that The control module is further configured to control the display module to perform display based on the result of the target object recognition processing.

13. The system according to claim 1, characterized in that The image transmission device is also used to wirelessly connect to a terminal device and transmit the first image signal to the terminal device.

14. The system according to claim 13, characterized in that The display module is also used to display the wireless connection information of the image transmission device when the image transmission device is connected to the pan-tilt system, so that the terminal device can be wirelessly connected to the image transmission device based on the wireless connection information.

15. The system according to claim 14, characterized in that The wireless connection information includes at least one of the following: a graphic code or an ID mark.

16. The system according to claim 14, characterized in that When the image transmission device is electrically connected to the control module, determining that the image transmission device is connected to the PTZ system; or When the image transmission device is electrically connected to the control module and the shooting equipment, it is determined that the image transmission device is connected to the pan / tilt system.

17. A pan / tilt head, characterized in that: The gimbal includes a control module and a display module. The gimbal is used to carry a shooting device and an image transmission device. The shooting device is detachably connected to the gimbal. The shooting device can communicate with the gimbal through the image transmission device. After a first image signal output by the shooting device is converted into a second image signal through the image transmission device, the second image signal is output to the control module through the wiring inside the gimbal; and The image transmission device is further used to perform target object recognition processing on the first image signal and output the result of the target object recognition processing to the control module; wherein the first image signal is a digital signal and the second image signal is an analog signal; or, the first image signal and the second image signal are digital signals of different types; the second image signal is transmitted through the line in the wiring space formed inside the shaft arm and the motor of the pan / tilt head, and the number of lines and / or the size of the lines required to transmit the second image signal are less than the number of lines and / or the size of the lines required to transmit the first image signal; The control module is used to control the display module to display based on the second image signal; and control the rotation of the pan / tilt head and / or adjust the shooting parameters of the shooting device based on the result of the target object recognition processing.

18. The pan / tilt head according to claim 17, characterized in that: The pan head is used for detachably connecting with the image transmission device.

19. The pan / tilt head according to claim 18, characterized in that: The pan head comprises a shooting equipment mounting frame, and the image transmission device is used for being detachably connected to the shooting equipment mounting frame.

20. The pan / tilt head according to claim 17, characterized in that: The pan / tilt platform includes a third interface; The pan / tilt head is used to receive the second image signal output by the image transmission device through the third interface, and the third interface is electrically connected to the control module through the line in the wiring space.

21. The pan / tilt head according to claim 17, characterized in that: The first image signal is an HDMI digital signal, and the second image signal is a CVBS analog signal; or, The first image signal is an HDMI digital signal, and the second image signal is an SDI digital signal.

22. The pan / tilt head according to claim 17, characterized in that: The control module includes a signal converter and a controller; The signal converter is used to receive the second image signal, and convert the second image signal into a third image signal and output it to the controller; The controller is used for processing the third image signal to obtain a fourth image signal, and transmitting the fourth image signal to the display module for display; The signal format of the third image signal is a signal format that can be processed by the controller, and the signal format of the fourth image signal is a signal format that can be displayed by the display module.

23. The pan / tilt head according to claim 22, characterized in that: The third image signal is a signal in a YUV format, and the fourth image signal is a signal in an RGB format.

24. The pan / tilt head according to claim 22, characterized in that: The signal converter and the controller are arranged on the same circuit board.

25. The pan / tilt platform according to claim 22, characterized in that: The first image signal and the third image signal are digital signals of different types, and the second image signal is an analog signal; Alternatively, the first image signal, the second image signal and the third image signal are digital signals of different types.

26. The pan / tilt platform according to claim 17, characterized in that: The control module is also used to receive interaction data input by the user through the display module and output it to the image transmission device, so that the image transmission device performs target object recognition processing on the first image signal based on the interaction data and a preset calculation model.

27. The pan / tilt platform according to claim 17, characterized in that: The control module is further configured to control the display module to perform display based on the result of the target object recognition processing.

28. The pan / tilt head according to claim 27, characterized in that: The display module is also used to display the wireless connection information of the image transmission device when the image transmission device is connected to the pan-tilt system, so that the terminal device can be wirelessly connected to the image transmission device based on the wireless connection information.

29. The pan / tilt platform according to claim 28, characterized in that: The wireless connection information includes at least one of the following: a graphic code or an ID mark.

30. The pan / tilt platform according to claim 28, characterized in that: The display module is specifically used to display the wireless connection information of the image transmission device when the image transmission device is electrically connected to the control module, or when the image transmission device is electrically connected to the control module and the shooting device.

31. An image transmission device, characterized in that: The image transmission device is mounted on the gimbal, and the gimbal is also used to carry a shooting device, and the shooting device is detachably connected to the gimbal. The shooting device can communicate with the gimbal through the image transmission device. The gimbal includes a control module and a display module. The image transmission device includes: a first interface, a processor, and a second interface; The first interface is used to receive a first image signal output by the shooting device; The processor is used to convert the first image signal into a second image signal; and perform target object recognition processing on the first image signal; wherein the first image signal is a digital signal and the second image signal is an analog signal; or the first image signal and the second image signal are digital signals of different types; The second interface is used to output the second image signal to the control module through the wiring inside the gimbal, so that the control module controls the display module to display based on the second image signal; and output the result of the target object recognition processing to the control module so that the control module controls the rotation of the gimbal and / or adjusts the shooting parameters of the shooting device based on the result of the target object recognition processing; wherein, the second image signal is transmitted through the lines in the wiring space formed inside the shaft arm and motor of the gimbal, and the number of lines and / or line size required to transmit the second image signal is less than the number of lines and / or line size required to transmit the first image signal.

32. The device according to claim 31, characterized in that The image transmission device is used for detachably connecting with the pan / tilt head.

33. The device according to claim 32, characterized in that The pan head comprises a shooting equipment mounting frame, and the image transmission device is used for being detachably connected to the shooting equipment mounting frame.

34. The device according to claim 31, characterized in that The first image signal is an HDMI digital signal, and the second image signal is a CVBS analog signal; or, The first image signal is an HDMI digital signal, and the second image signal is an SDI digital signal.

35. The device according to claim 31, characterized in that The processor is further configured to perform target object recognition processing on the first image signal based on a preset computing model.

36. The device according to claim 35, characterized in that The processor is specifically configured to receive interaction data input by a user through the display module, and perform target object recognition processing on the first image signal based on the interaction data and the preset calculation model.

37. The device according to claim 31, characterized in that The image transmission device further includes a wireless signal transmitter, and the wireless signal transmitter is used to transmit the first image signal to a terminal device.

38. The device according to claim 37, characterized in that The image transmission device is also used to transmit the wireless connection information of the image transmission device to the display module of the pan-tilt system when the image transmission device is connected to the pan-tilt system, so that the display module of the pan-tilt displays the wireless connection information, and the terminal device can be wirelessly connected to the image transmission device based on the wireless connection information.

39. The device according to claim 38, characterized in that The wireless connection information includes at least one of the following: a graphic code or an ID mark.

40. The device according to claim 38, characterized in that The image transmission device is specifically used to transmit the wireless connection information of the image transmission device to the display module of the gimbal when the image transmission device is electrically connected to the control module, or the image transmission device is electrically connected to the control module and the shooting device.

41. An image signal processing method, characterized in that: Applied to a gimbal, the gimbal is used to carry a shooting device and an image transmission device, the shooting device is detachably connected to the gimbal, the shooting device can communicate with the gimbal through the image transmission device, and a first image signal output by the shooting device is converted into a second image signal by the image transmission device and then output to the gimbal through the wiring inside the gimbal; and the image transmission device is also used to perform target object recognition processing on the first image signal and output the result of the target object recognition processing to the gimbal; the first image signal is a digital signal, and the second image signal is an analog signal; or, the first image signal and the second image signal are different types of digital signals; the second image signal is transmitted through the wiring space formed in the shaft arm and the motor of the gimbal, and the number of lines and / or the size of lines required to transmit the second image signal are less than the number of lines and / or the size of lines required to transmit the first image signal; The method comprises: performing display based on the second image signal; and The pan / tilt head is controlled to rotate and / or the shooting parameters of the shooting device are adjusted based on the result of the target object recognition processing.

42. The method according to claim 41, characterized in that The pan head is used for detachably connecting with the image transmission device.

43. The method according to claim 42, characterized in that The pan head comprises a shooting equipment mounting frame, and the image transmission device is used for being detachably connected to the shooting equipment mounting frame.

44. The method according to claim 41, characterized in that The pan / tilt platform includes a third interface; The method further comprises: The second image signal output by the image transmission device is received through the third interface, and the second image signal is transmitted in the wiring space.

45. The method according to claim 41, characterized in that The first image signal is an HDMI digital signal, and the second image signal is a CVBS analog signal; or, The first image signal is an HDMI digital signal, and the second image signal is an SDI digital signal.

46. ​​The method according to claim 41, characterized in that The displaying based on the second image signal comprises: receiving the second image signal, and converting the second image signal into a third image signal; The third image signal is processed to obtain a fourth image signal; wherein the signal format of the third image signal is a signal format that can be processed by the control module in the gimbal, and the signal format of the fourth image signal is a signal format that can be displayed by the display module in the gimbal.

47. The method according to claim 46, characterized in that The third image signal is a signal in a YUV format, and the fourth image signal is a signal in an RGB format.

48. The method according to claim 46, characterized in that The first image signal and the third image signal are digital signals of different types, and the second image signal is an analog signal; Alternatively, the first image signal, the second image signal and the third image signal are digital signals of different types.

49. The method according to claim 41, characterized in that Also includes: receiving interactive data input by a user, and outputting the interactive data to the image transmission device; The interaction data is used to enable the image transmission device to perform target object recognition processing on the first image signal based on the interaction data and a preset calculation model.

50. The method according to claim 41, characterized in that The method further includes: displaying based on the result of the target object recognition processing.

51. The method according to claim 41, characterized in that Also includes: When the image transmission device is connected to the PTZ system, the wireless connection information of the image transmission device is displayed, so that the terminal device can be wirelessly connected to the image transmission device based on the wireless connection information.

52. The method according to claim 51, characterized in that The display of the wireless connection information of the image transmission device includes: When the image transmission device is electrically connected to the pan-tilt head, or the image transmission device is electrically connected to both the pan-tilt head and the shooting device, the wireless connection information of the image transmission device is displayed.

53. The method according to claim 51, characterized in that The wireless connection information includes at least one of the following: a graphic code or an ID mark.

54. An image signal processing method, characterized in that: Applicable to an image transmission device, the image transmission device is mounted on a pan head, the pan head is also used to carry a shooting device, the shooting device is detachably connected to the pan head, and the shooting device can communicate with the pan head through the image transmission device; The image transmission device comprises a first interface and a second interface; the method comprises: receiving a first image signal output by a photographing device through the first interface; converting the first image signal into a second image signal; and performing target object recognition processing on the first image signal; wherein the first image signal is a digital signal and the second image signal is an analog signal; or the first image signal and the second image signal are digital signals of different types; The second image signal is output to the gimbal through the second interface via the wiring inside the gimbal, so that the gimbal displays based on the second image signal; and the result of the target object recognition processing is output to the gimbal so that the gimbal controls its own rotation and / or adjusts the shooting parameters of the shooting device based on the result of the target object recognition processing; wherein, the second image signal is transmitted through the lines in the wiring space formed inside the shaft arm and the motor of the gimbal, and the number of lines and / or the size of the lines required to transmit the second image signal are less than the number of lines and / or the size of the lines required to transmit the first image signal.

55. The method according to claim 54, characterized in that The image transmission device is used for detachably connecting with the pan / tilt head.

56. The method according to claim 55, characterized in that The pan head comprises a shooting equipment mounting frame, and the image transmission device is used for being detachably connected to the shooting equipment mounting frame.

57. The method according to claim 54, characterized in that The first image signal is an HDMI digital signal, and the second image signal is a CVBS analog signal; or, The first image signal is an HDMI digital signal, and the second image signal is an SDI digital signal.

58. The method according to claim 54, characterized in that Also includes: The first image signal is subjected to target object recognition processing based on a preset computing model.

59. The method according to claim 58, characterized in that The performing target object recognition processing on the first image signal based on a preset computing model includes: The interactive data input by the user through the pan-tilt platform is received, and target object recognition processing is performed on the first image signal based on the interactive data and the preset calculation model.

60. The method of claim 54, wherein: Also includes: The first image signal is transmitted to a terminal device.

61. The method according to claim 60, characterized in that Also includes: When the image transmission device is connected to the pan-tilt system, the wireless connection information of the image transmission device is transmitted to the pan-tilt system so that the pan-tilt system displays the wireless connection information; wherein the terminal device can be wirelessly connected to the image transmission device based on the wireless connection information.

62. The method according to claim 61, characterized in that The method of transmitting the wireless connection information of the image transmission device to the pan-tilt system when the image transmission device is connected to the pan-tilt system includes: When the image transmission device is electrically connected to the pan-tilt head, or the image transmission device is electrically connected to the control module in the pan-tilt head and the shooting device, the wireless connection information of the image transmission device is transmitted to the pan-tilt head.

63. The method according to claim 61, characterized in that The wireless connection information includes at least one of the following: a graphic code or an ID mark.

64. A computer-readable storage medium, characterized in that Computer instructions are stored thereon, and when the instructions are executed by a processor, the method described in any one of claims 41 to 53 or claims 54 to 63 is implemented.

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