Shooting method based on handheld gimbal, handheld gimbal and storage medium

Abstract

A shooting method, a handheld gimbal (10) and a storage medium, the method comprising: starting a target tracking mode, controlling the shooting device to track and shoot a target object (S601); if a control instruction for controlling the movement of the gimbal is received, controlling the movement of the gimbal according to the control instruction to change a preset composition position of the target object in image information collected by the shooting device (S602); and controlling the shooting device to track and shoot the target object according to the changed preset composition position (S603).

Description

[0001] This application is a divisional application of the Chinese patent application with application date 20190813, application number 2019800335203, and invention name “Shooting method based on handheld gimbal, handheld gimbal and storage medium”. Technical Field

[0002] The present application relates to the field of shooting technology, and in particular to a shooting method based on a handheld gimbal, a handheld gimbal and a storage medium. Background Art

[0003] The intelligent follow shooting function involves target tracking and gimbal following technology, which can be applied to handheld gimbals mounted with cameras, or handheld gimbals mounted with mobile phones, or integrated gimbal cameras, to achieve automatic stable balance during shooting. However, the existing handheld gimbals have a single shooting form and cannot meet the shooting needs of users. Summary of the invention

[0004] Based on this, the present application provides a shooting method based on a handheld gimbal, a handheld gimbal and a storage medium to improve the operability of the handheld gimbal during shooting so as to meet the different shooting needs of users.

[0005] In a first aspect, the present application provides a shooting method based on a handheld gimbal, wherein the handheld gimbal comprises a handheld portion and a gimbal disposed on the handheld portion, and a shooting device is mounted on the gimbal, and the method comprises:

[0006] In the first mode of the handheld gimbal, controlling the shooting device to collect video information;

[0007] If a first mode switching instruction is detected, the handheld gimbal is switched from the first mode to a second mode, and in the second mode of the handheld gimbal, the shooting device is controlled to continue to collect video information;

[0008] The first mode is one of a following mode and a target tracking mode, and the second mode is the other of the following mode and the target tracking mode.

[0009] In a second aspect, the present application further provides another shooting method based on a handheld gimbal, wherein the handheld gimbal comprises a handheld portion and a gimbal disposed on the handheld portion, and a shooting device is mounted on the gimbal, and the shooting method comprises:

[0010] Turning on the target tracking mode to control the shooting device to track and shoot the target object;

[0011] If a control instruction for controlling the movement of the pan / tilt is received, controlling the movement of the pan / tilt according to the control instruction to change a preset composition position of the target object in the image information collected by the shooting device; and

[0012] According to the changed preset composition position, the shooting device is controlled to track and shoot the target object.

[0013] In a third aspect, the present application further provides a handheld gimbal, the handheld gimbal comprising a handheld portion and a gimbal disposed on the handheld portion, the gimbal being equipped with a shooting device;

[0014] The handheld gimbal also includes a memory and a processor;

[0015] The memory is used to store computer programs;

[0016] The processor is used to execute the computer program and implement the following steps when executing the computer program:

[0017] In the first mode of the handheld gimbal, controlling the shooting device to collect video information;

[0018] If a first mode switching instruction is detected, the handheld gimbal is switched from the first mode to a second mode, and in the second mode of the handheld gimbal, the shooting device is controlled to continue to collect video information;

[0019] The first mode is one of a following mode and a target tracking mode, and the second mode is the other of the following mode and the target tracking mode.

[0020] In a fourth aspect, the present application further provides a handheld gimbal, the handheld gimbal comprising a handheld portion and a gimbal disposed on the handheld portion, the gimbal being equipped with a shooting device;

[0021] The handheld gimbal also includes a memory and a processor;

[0022] The memory is used to store computer programs;

[0023] The processor is used to execute the computer program and implement the following steps when executing the computer program:

[0024] Turning on the target tracking mode to control the shooting device to track and shoot the target object;

[0025] If a control instruction for controlling the movement of the pan / tilt is received, controlling the movement of the pan / tilt according to the control instruction to change a preset composition position of the target object in the image information collected by the shooting device; and

[0026] According to the changed preset composition position, the shooting device is controlled to track and shoot the target object.

[0027] In a fifth aspect, the present application also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the above-mentioned shooting method.

[0028] The embodiment of the present application provides a shooting method based on a handheld gimbal, a handheld gimbal and a storage medium, by controlling the shooting device to collect video information in the first mode of the handheld gimbal; if a first mode switching instruction is detected, the handheld gimbal is switched from the first mode to the second mode, and in the second mode of the handheld gimbal, the shooting device is controlled to continue to collect video information. For example, the first mode is a follow mode, and the second mode is a target tracking mode, thereby realizing the mixed use of the follow mode and the target tracking mode in the same video shooting, and also improving the smoothness of the video shooting when the mode is switched, so that the user can shoot a high-precision smooth picture.

[0029] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of 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 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 work.

[0031] Figure 1 It is a structural schematic diagram of a handheld gimbal provided in one embodiment of the present application;

[0032] Figure 2 This is a flowchart showing the steps of a shooting method based on a handheld gimbal provided in one embodiment of the present application;

[0033] Figure 3 is a schematic flow chart of steps of a shooting method based on a handheld gimbal provided in another embodiment of the present application;

[0034] Figure 3a , 3b 3c are schematic diagrams showing the effects of three preset composition positions provided in the embodiments of the present application;

[0035] Figure 4 This is a schematic diagram of the effect of using the warning frame provided in the embodiment of the present application;

[0036] Figure 5is a schematic flow chart of steps of a shooting method based on a handheld gimbal provided in another embodiment of the present application;

[0037] Figure 6 is a schematic flow chart of steps of a shooting method based on a handheld gimbal provided in another embodiment of the present application;

[0038] Figure 7 is a schematic flow chart of steps of a shooting method based on a handheld gimbal provided in another embodiment of the present application;

[0039] Figure 8 It is a schematic block diagram of a handheld gimbal provided in one embodiment of the present application. DETAILED DESCRIPTION

[0040] 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 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.

[0041] The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may also be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

[0042] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0043] See also Figure 1 , Figure 1 This is a schematic diagram of the structure of the handheld gimbal provided by this application. Figure 1 , the handheld gimbal in the embodiment of the present application is described.

[0044] like Figure 1 As shown, the handheld gimbal 10 includes a handheld portion 11 and a gimbal 12 disposed on the handheld portion 11, and a shooting device 13 is also mounted on the gimbal 12. Exemplarily, the shooting device 13 is a smart phone, and of course, it can also be other camera equipment.

[0045] It can be understood that the handheld gimbal 10 refers to a gimbal system or an integrated gimbal camera mounted with a shooting device 13. The shooting device 13 can be, for example, a camera, a mobile phone or a camera. Using the handheld gimbal, high-precision stable images can be captured anytime and anywhere.

[0046] The handheld gimbal 10 can carry the shooting device 13, and is used to fix the shooting device 13 and change the height, inclination and / or direction of the shooting device 13, or to stably maintain the shooting device 13 in a certain posture and control the shooting device 13 to shoot.

[0047] Among them, the gimbal 12 includes three-axis motors, namely a pitch axis motor 121, a roll axis motor 122 and a yaw axis motor 123, which are used to change the height, inclination and / or direction of the shooting device 13 to adjust the balance posture of the shooting device 13, so as to capture high-precision stable images anytime and anywhere.

[0048] The gimbal 12 is provided with an inertial measurement unit (IMU), which may be, for example, at least one of an accelerometer and a gyroscope, and may be used to measure the posture and acceleration of the camera 13, so as to adjust the balance posture of the camera 13 according to the detected posture.

[0049] The handheld portion 11 is also provided with a control element so that the user can operate the control element to control the pan / tilt head 12 or the camera 13. The control element may be, for example, a button, a trigger, a knob, or a rocker, and of course, other forms of physical buttons are also included.

[0050] The joystick can be used to control the movement of at least one rotating shaft, and further control the movement of the camera 13. It is understandable that the joystick can also be used for other functions.

[0051] In one embodiment, the number of control elements may be one or more. When the number of control elements is one, different control instructions may be generated by using different operation modes for the control element, such as different pressing times; of course, when the number of control elements is multiple, such as including a first control element, a second control element, and a third control element, different control elements are used to generate different control instructions.

[0052] The handheld gimbal 10 includes multiple working modes, such as following mode, target tracking mode, locking mode, motion mode and / or sleep mode, etc. The handheld gimbal 10 performs different actions in different working modes.

[0053] For example, if the handheld gimbal 10 is in a follow mode, the follow mode is used to control the shooting device 13 to follow the shooting. The follow mode may refer to a shooting mode in which the gimbal follows the movement of the handheld part; if the handheld gimbal 10 is in a target tracking mode, after the target object is successfully identified, the gimbal starts to rotate automatically so that the angle of the shooting device 13 always follows the rotation of the target object, keeping the target object in the captured picture. Among them, the method for determining the target object can be determined by the user performing operations such as box selection or point selection on the handheld gimbal side, or it can be determined based on a specific posture in the video information, or it can be determined by using the position of the object to be tracked in the video information in the picture. No specific limitation is made here.

[0054] Lock mode means locking the three axes of the gimbal, and the three axes of the gimbal do not follow; motion mode means the gimbal follows at a preset speed, such as the maximum speed of the three axes of the gimbal; sleep mode means controlling the handheld gimbal to enter sleep mode. In lock mode or motion mode, the gimbal can follow the handheld part, the target object, or other objects. The specific setting can be based on needs and is not specifically limited here.

[0055] The handheld gimbal 10 includes a processor, and the processor is used to process input control instructions, or to send and receive signals, etc. The processor can be disposed inside the handheld part 11 .

[0056] Optionally, the processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0057] The processor can communicate with the shooting device 13. For example, the user can control the handheld gimbal 10 through the application (APP) settings on the shooting device 13 (such as a mobile phone).

[0058] For example, a user can trigger the following mode mentioned in the embodiment of the present application, or the speed parameter corresponding to the following mode, through the APP, so that the handheld gimbal executes the triggered following mode, or follows using the corresponding speed parameter.

[0059] Understandably, Figure 1 The handheld gimbal and the above-mentioned naming of the various components of the handheld gimbal are for identification purposes only and do not limit the embodiments of the present application.

[0060] On the one hand, the existing handheld gimbal can use the follow mode or the target tracking mode when collecting video information, but when switching between the follow mode and the target tracking mode, the collection of the original video information needs to be interrupted. Therefore, the follow mode and the target tracking mode cannot be mixed in the same video shooting, which is not conducive to achieving the diversity of shooting methods and the video shooting has limitations.

[0061] Therefore, the embodiment of the present invention provides a shooting method based on a handheld gimbal, so that the user can mix and use the follow mode and the target tracking mode as needed during the shooting process of the same video.

[0062] The following will be based on Figure 1 The handheld gimbal in the embodiment of the present application provides a detailed description of the shooting method. Among them, in each embodiment of the shooting method, the shooting device is introduced by taking a mobile phone as an example.

[0063] See also Figure 2 , Figure 2 This is a flowchart showing the steps of a shooting method based on a handheld gimbal provided in one embodiment of the present application.

[0064] like Figure 2 As shown, the shooting method based on the handheld gimbal includes step S201 and step S202.

[0065] S201. In a first mode of the handheld gimbal, control the shooting device to collect video information.

[0066] S202: If a first mode switching instruction is detected, the handheld gimbal is switched from the first mode to the second mode, and in the second mode of the handheld gimbal, the shooting device is controlled to continue collecting video information.

[0067] The first mode is one of a following mode and a target tracking mode, and the second mode is the other of the following mode and the target tracking mode.

[0068] Exemplarily, if the first mode is a following mode, the second mode is a target tracking mode; or, if the first mode is a target tracking mode, the second mode is a following mode.

[0069] In the first mode of the handheld gimbal, when controlling the shooting device to collect video information, it can detect whether a first mode switching instruction is received, so as to switch the mode according to the first mode switching instruction, for example, switching the follow mode of the handheld gimbal to the target tracking mode.

[0070] In one embodiment, detecting whether the first mode switching instruction is received specifically includes: detecting whether the user operates the first control element on the handheld gimbal; and generating the first mode switching instruction when detecting that the user operates the first control element on the handheld gimbal. The first control element includes a button, a trigger, or a knob.

[0071] For example, in the follow mode of the handheld gimbal, when controlling the shooting device to capture video, if it is detected that the user operates the first control element, such as the user pulling the trigger, the first mode switching instruction is triggered according to the user operating the first control element.

[0072] This allows one-handed operation to trigger target tracking. Compared to the traditional triggering method of holding the gimbal in one hand and drawing the frame with the other hand, it can relatively reduce the shake of the gimbal and prevent the shake of the picture, thereby allowing high-precision stable pictures to be captured and improving the user experience.

[0073] Among them, when using the first control component of the handheld gimbal to switch between the follow mode and the target tracking mode, optionally, the shooting method based on the handheld gimbal can be specifically: in the first mode of the handheld gimbal, control the shooting device to collect image information; if it is detected that the user performs a first operation on the first control component of the handheld gimbal, generate a first mode switching instruction according to the first operation; if the first mode switching instruction is detected, switch the handheld gimbal from the first mode to the second mode, and in the second mode of the handheld gimbal, control the shooting device to continue collecting image information.

[0074] The first operation is performed on the first control element of the handheld gimbal, for example, the first control element is a trigger, and the first operation is that the user pulls the trigger once or pulls the trigger twice in succession, etc. Of course, other operations on the trigger can also be performed. Mode switching is achieved by the trigger, thereby achieving one-handed operation.

[0075] The collection of image information may be the collection of video information, or may be the real-time output of live image transmission images.

[0076] In one embodiment, detecting whether the first mode switching instruction is received specifically includes: detecting whether the collected video information includes the first preset action gesture; when detecting that the video information includes the first preset action gesture, generating the first mode switching instruction.

[0077] The first preset motion gesture is a pre-stored motion gesture of the user, including a hand gesture, a hand motion form, a body gesture or other motion forms, etc. For example, the first preset motion gesture is an "OK" gesture or a finger drawing a circle trajectory, etc.

[0078] In this way, target tracking can be triggered without touching the shooting device. Compared with the traditional triggering method of holding the handheld gimbal in one hand and the frame in the other hand, the shaking of the gimbal caused by the shaking of the picture can be relatively reduced, and the handheld gimbal can be controlled from a distance, thereby capturing high-precision stable pictures and improving the user experience.

[0079] In another embodiment, detecting whether the first mode switching instruction is received specifically includes: detecting whether the user performs a first preset operation on the interactive interface of the first device; and generating the first mode switching instruction when detecting that the user performs the first preset operation on the interactive interface of the first device.

[0080] Among them, the first device includes the handheld gimbal, the shooting device or the first control device of the handheld gimbal. The interactive interface of the first device can be a software interactive interface displayed on a display screen, and of course it can also be a physical interactive device, such as a touch button, etc. This embodiment is explained by taking the software interactive interface as an example. The first control device can be a remote control device of the handheld gimbal, such as a remote control, a smart phone, etc. By operating the interactive interface of the first device to generate a first mode switching instruction, mode switching or target object selection can be quickly performed.

[0081] The first preset operation may include a frame selection operation, a click operation, a slide operation or a touch operation.

[0082] It is understandable that the frame selection operation, click operation, slide operation or touch operation may be an operation on a target object displayed on the display screen, wherein the target object is a photographed subject, including a person, an animal, a scene or other object.

[0083] For example, a first mode switching instruction is detected, and the handheld gimbal is switched from the following mode to the target tracking mode according to the first mode switching instruction. In the target tracking mode of the handheld gimbal, the shooting device is controlled to continue to collect video information, such as continuing to shoot video. When switching from the following mode to the target tracking mode, the video information collected by the shooting device in the following mode of the handheld gimbal includes the target object for tracking and shooting. In this way, when the mode is switched, a smooth transition of the shooting picture can be achieved.

[0084] It is understandable that the handheld gimbal can also be switched from the target tracking mode to the following mode. In one embodiment, controlling the camera to continue to collect video information is specifically: controlling the camera to continue to collect video information along a first position. The first position is the position of the camera when the handheld gimbal is switched from the first mode to the second mode.

[0085] For example, the first position is the position of the shooting device when the handheld gimbal switches from the following mode to the target tracking mode, that is, the position of the shooting device in the following mode at the switching time point. When switching to the target tracking mode, the target tracking mode still uses the first position to continue to collect video information. In this way, no sudden change in the video information is caused.

[0086] In one embodiment, during the process of collecting video information, it can be detected whether an instruction for ending the collection of video information is received; if an instruction for ending the collection of video information is received, then in the follow mode of the handheld gimbal, the shooting device is controlled to continue collecting video information for a preset time, and the collection of video information is ended when the preset time is exceeded. Wherein, when the instruction for ending the collection of video information is received, the handheld gimbal can be in the follow mode or in the target tracking mode, but the collection of video information will be ended in the follow mode. In this way, if an instruction for ending the collection of video information is detected in the target tracking mode, the video shooting is ended in the follow mode, which can prevent the sudden change of the video due to the disappearance of the target object, thereby improving the smoothness and stability of the video shooting.

[0087] The instruction for ending the video information collection may be generated by the first control element, for example, when the user operates the first control element, an instruction for ending the video information collection is generated. In the actual implementation process, the operation method of triggering the generation of the instruction for ending the video information collection is different from the operation method of triggering the generation of the first mode switching instruction.

[0088] It is understandable that the instruction for ending the video information collection may also be implemented in other ways, such as detecting whether the image in the video information includes a preset action posture.

[0089] The shooting method of the above embodiment controls the shooting device to collect video information in the first mode of the handheld gimbal; when a first mode switching instruction generated by a different triggering method is detected, the handheld gimbal is switched from the first mode to the second mode, and in the second mode of the handheld gimbal, the shooting device is controlled to continue to collect video information, wherein the first mode is one of the following mode and the target tracking mode, and the second mode is another mode. In this way, a smooth transition between the following mode and the target tracking mode is achieved during the shooting process, solving the problem that the following mode and the target tracking mode cannot be mixed in the same video shooting, and improving the fluency and stability of video shooting.

[0090] See also Figure 3 , Figure 3 This is a flowchart showing the steps of a shooting method based on a handheld gimbal provided in another embodiment of the present application.

[0091] like Figure 3 As shown, the shooting method based on the handheld gimbal includes steps S301 to S303.

[0092] S301. In a first mode of the handheld gimbal, control the shooting device to collect video information, wherein the first mode is a follow mode.

[0093] S302: If a first mode switching instruction is detected, the handheld gimbal is switched from the first mode to a second mode, where the second mode is a target tracking mode.

[0094] S303, in the target tracking mode of the handheld gimbal, according to a preset composition position of the target object tracked by the handheld gimbal in the video information, controlling the shooting device through the handheld gimbal to collect video information containing the target object.

[0095] Exemplarily, the first mode is a following mode and the second mode is a target tracking mode.

[0096] The preset composition position is the position of the target object in the video information when the handheld gimbal switches to the target tracking mode, that is, the target object is composed while maintaining the original position, which is the position of the target object in the video information when the mode is switched.

[0097] For example, in Figure 3aAs shown, when the target tracking mode is switched, the position of the target object 20 in the video information 130 is the upper left corner, and the target object is composed while maintaining the original position, and the preset composition position is also the upper left corner. That is, the currently used composition is the upper left corner of the target object in the collected video information, and the handheld gimbal controls the shooting device to collect video information containing the target object according to the composition.

[0098] Of course, the preset composition position is different from the position of the target object in the video information when the handheld gimbal is switched to the target tracking mode, that is, the position of the target object in the video information when the handheld gimbal is switched to the target tracking mode is changed, such as placing the target object in the center of the picture, or placing the target object at a preset position in the picture, which is a position customized by the photographer.

[0099] For example, if the position of the target object 20 in the video information 130 is the upper left corner when the target tracking mode is switched, the position of the target object in the video information is changed when the target tracking mode is switched. Figure 3b As shown, the target object 20 is placed in the center of the video information 130; or Figure 3c As shown, the target object 20 is placed at the upper right corner of the video information 130 .

[0100] In one embodiment, during the process of controlling the shooting device to collect video information containing the target object through the handheld pan-tilt according to a preset composition position, it is detected whether a control instruction for controlling the movement of the pan-tilt is received; if the control instruction for controlling the movement of the pan-tilt is detected, the movement of the pan-tilt is controlled according to the control instruction to change the preset composition position of the target object in the video information; according to the changed preset composition position, the shooting device is controlled to collect video information containing the target object through the handheld pan-tilt.

[0101] For example, according to Figure 3b In the process of controlling the shooting device to collect video information containing the target object by the handheld gimbal, if a control instruction of the user operating the joystick to control the movement of the gimbal is detected, the gimbal is slowly controlled to move the target object to the preset composition position (center of the picture) in the image. Figure 3c The position in the image (upper right corner of the image) is set to obtain a new composition. According to the new composition, i.e., the changed preset composition position, the shooting device is controlled by the handheld gimbal to collect video information containing the target object.

[0102] In the target tracking shooting, the gimbal is controlled by moving the joystick up, down, left, and right on the handheld part to change the position of the target object in the picture corresponding to the video information to achieve a new composition, and the target object is tracked and shot through the new composition (the changed preset composition position). In this way, an interactive way of re-composition is realized during the target tracking process, thereby improving the user's shooting experience.

[0103] In the embodiment of the present application, there are three ways to generate control instructions for controlling the movement of the gimbal, namely:

[0104] Method 1: When it is detected that the user operates the second control element on the handheld gimbal, the control instruction is generated. The second control element includes a button, a trigger or a knob, etc. The second control element may be the same as the first control element or different from the first control element.

[0105] When the second control member is the same as the first control member, different operating methods can be used to generate different instructions. For example, the second control member and the first control member are both triggers. Pulling the trigger once triggers the generation of a mode switching instruction, and pulling the trigger twice in succession triggers the generation of the control instruction.

[0106] When the second control element is different from the first control element, for example, the first control element is a trigger and the second control element is a button, pulling the trigger triggers the generation of the mode switching instruction, and pressing the button triggers the generation of the control instruction.

[0107] Method 2: When it is detected that the video information contains a second preset action posture, the control instruction is generated.

[0108] The second preset action posture is a pre-stored action posture of the user, including a hand gesture, a hand action form or other action forms, and the second preset action posture is different from the first preset action posture. For example, the first preset action posture is an "OK" gesture, and the second preset action posture can be a "like" gesture.

[0109] Method three: when it is detected that the user performs a second preset operation on the interactive interface of the second device, the control instruction is generated.

[0110] Wherein, the second device includes the handheld gimbal, the shooting device or the second control device of the handheld gimbal. The second control device may be the same as or different from the first control device. When the second control device may be the same as the first control device, the second preset operation is different from the first preset operation. For example, the first preset operation is a single click operation, and the second preset operation is a continuous click operation.

[0111] In one embodiment, a warning frame is pre-set in the collected video information, and the size of the warning frame is equal to or smaller than the size of the display screen of the shooting device. Due to the different composition methods, it is easy to cause the target object to be lost when collecting video information containing the target object. Before collecting the video information containing the target object, the warning frame needs to be used to prevent the target object from being lost.

[0112] The specific usage process is: detect whether the target object is located in the preset warning frame in the video information; if the target object is located in the preset warning frame, continue to execute the step of controlling the shooting device to collect video information containing the target object through the handheld gimbal according to the changed preset composition position.

[0113] In addition, if the target object exceeds the preset warning frame, the pan-tilt is controlled to move to move the target object into the preset warning frame. Specifically, the pan-tilt is controlled to move at a preset speed to smoothly move the target object into the preset warning frame.

[0114] In one embodiment, in order to quickly move the target object into the warning frame, the target object is moved into the warning frame using orientation information, specifically: obtaining the orientation information of the portion of the target object that exceeds the preset warning frame; and controlling the movement of the gimbal according to the orientation information to move the target object into the warning frame.

[0115] For example, Figure 5 As shown, if the target object 20 is detected to be beyond the preset warning frame 131, the left side of the warning frame 131 is the orientation information. Therefore, the yaw axis can be quickly determined to be adjusted according to the orientation information to move the target object into the warning frame.

[0116] The shooting method of the above embodiment reflects that in the process of collecting video information, if the target tracking mode is adopted, the target object can be recomposed, that is, the position of the target object in the video information can be changed to achieve different shooting effects.

[0117] See also Figure 5 , Figure 5 This is a flowchart showing the steps of a shooting method based on a handheld gimbal provided in another embodiment of the present application.

[0118] like Figure 5 As shown, the shooting method based on the handheld gimbal includes steps S401 to S403.

[0119] S401. In the first mode of the handheld gimbal, control the shooting device to collect video information.

[0120] S402: If a first mode switching instruction is detected, the handheld gimbal is switched from the first mode to the second mode, and in the second mode of the handheld gimbal, the shooting device is controlled to continue collecting video information.

[0121] S403: If an instruction for canceling the second mode is received, stop the shooting device from collecting video information.

[0122] Exemplarily, the first mode of the handheld gimbal is a following mode, and the second mode of the handheld gimbal is a target tracking mode.

[0123] Specifically, the handheld gimbal is switched from the following mode to the target tracking mode, and in the target tracking mode of the handheld gimbal, the shooting device is controlled to continue collecting video information.

[0124] Specifically, upon receiving an instruction for canceling the second mode, the shooting device is stopped from collecting video information according to the instruction, and shooting is completed. The generating of the instruction for canceling the second mode includes:

[0125] Upon detecting that the user operates the third control element on the handheld gimbal, an instruction for canceling the second mode is generated.

[0126] Wherein, the third control element includes a button, a trigger or a knob, etc. The third control element may be the same as the first control element and the second control element, or may be different. When the third control element and the first control element and the second control element are the same, different operation modes may be used to generate different instructions.

[0127] When it is detected that the video information includes a third preset action gesture, the instruction for canceling the second mode is generated.

[0128] The third preset action posture is a pre-stored action posture of the user, including a hand gesture, a hand action form or other action forms. The third preset action posture is different from the second preset action posture and the first preset action posture. For example, the first preset action posture is an "OK" gesture, the second preset action posture can be a "like" gesture, and the third preset action posture is a "fist" gesture.

[0129] When it is detected that the user performs a third preset operation on the interactive interface of the third device, the instruction for canceling the second mode is generated.

[0130] The third device includes the handheld gimbal, the shooting device or a third control device of the handheld gimbal. The third control device may be the same as or different from the first control device and the second control device. When they are the same, the third preset operation is different from the first preset operation and the second preset operation.

[0131] In one embodiment, if an instruction for canceling the second mode is received, the shooting device is stopped from collecting video information, which may be ending the shooting of the video information or pausing the shooting of the video information.

[0132] In one embodiment, if an instruction to cancel the second mode is received, the shooting of video information does not need to be stopped. Instead, it means switching the handheld gimbal from the second mode to the first mode, and in the first mode of the handheld gimbal, controlling the shooting device to continue collecting video information.

[0133] Specifically, if an instruction for canceling the second mode is received, the handheld gimbal is switched from the target tracking mode to the following mode, and in the following mode of the handheld gimbal, the shooting device is controlled to continue collecting video information.

[0134] Upon receiving an instruction for canceling the second mode, the control of the shooting device to collect video information is not stopped immediately, but the handheld gimbal is switched from the target tracking mode to the following mode, and in the following mode of the handheld gimbal, the shooting device is controlled to continue collecting video information.

[0135] In one embodiment, in the following mode of the handheld gimbal, the camera is controlled to continuously collect video information for a preset time, and the camera is stopped from collecting video information after the preset time. For example, if the preset time period is 2 seconds, when the handheld gimbal switches to the following mode, the camera is controlled to continuously collect video information for 2 seconds, and the camera stops shooting after 2 seconds. In particular, during the process of shooting in the target tracking mode, if an instruction to cancel the target tracking mode is received, the shooting is not stopped immediately, but the shooting is stopped only after the following mode is continued, thereby further improving the smoothness of the picture shooting.

[0136] It should be noted that the instruction to cancel the second mode may also be generated by the triggering method of the first mode switching instruction, but in actual application, the triggering method of the first mode switching instruction should be distinguished. The generation method of the instruction to cancel the second mode also includes multiple methods.

[0137] The shooting method of the above embodiment not only realizes the smooth transition between the follow mode and the target tracking mode during the shooting process, solves the problem that the follow mode and the target tracking mode cannot be mixed in the same video shooting, improves the fluency and stability of video shooting, but also enriches the application method of receiving the instruction for canceling the second mode.

[0138] See also Figure 6 , Figure 6 This is a flowchart showing the steps of a shooting method based on a handheld gimbal provided in another embodiment of the present application.

[0139] like Figure 6 As shown, the shooting method based on the handheld gimbal includes steps S501 to S503.

[0140] S501. In the first mode of the handheld gimbal, control the shooting device to collect video information.

[0141] S502: If a first mode switching instruction is detected, the handheld gimbal is switched from the first mode to the second mode, and in the second mode of the handheld gimbal, the shooting device is controlled to continue collecting video information.

[0142] S503: If a second mode switching instruction is detected, control the handheld gimbal or the shooting device to execute a preset operation matching the second mode switching instruction.

[0143] Exemplarily, the first mode is a follow mode, and the second mode is a target tracking mode. Specifically, in the follow mode of the handheld gimbal, the camera is controlled to collect video information. If a first mode switching instruction is detected, the handheld gimbal is switched from the follow mode to the target tracking mode, and in the target tracking mode of the handheld gimbal, the camera is controlled to continue collecting video information.

[0144] The second mode switching instruction may also be generated by the triggering method of the first mode switching instruction, but in actual applications, the triggering method of the first mode switching instruction should be distinguished. The generation method of the second mode switching instruction also includes multiple methods.

[0145] The second mode switching instruction is generated in different ways, and accordingly, the preset operations corresponding to the second mode switching instruction are different.

[0146] For example, when the second mode switching instruction is generated by the user continuously controlling the fourth control element on the fourth device, the preset operation is that the handheld gimbal enters a third mode, and the third mode is different from the first mode and the second mode. For example, the third mode is a locking mode.

[0147] Among them, the fourth device includes the handheld gimbal, the shooting device or a fourth control device of the handheld gimbal.

[0148] In addition, when the user releases the operation on the fourth control member, the handheld gimbal exits the third mode.

[0149] For example, when the second mode switching instruction is generated by the user controlling the fourth control element on the fourth device once, the preset operation is that the handheld gimbal enters or exits the follow mode; wherein the fourth device includes the handheld gimbal, the shooting device or the fourth control device of the handheld gimbal.

[0150] For example, when the second mode switching instruction is generated by the user controlling the fourth control element on the fourth device twice in succession, the preset operation is that the gimbal rotates to a preset position (such as returning to the center), or the handheld gimbal exits or enters a sleep state; wherein the fourth device includes the handheld gimbal, the shooting device or the fourth control device of the handheld gimbal.

[0151] For example, when the second mode switching instruction is generated in such a way that the user controls the fourth control element on the fourth device once and continues to control the fourth control element, the preset operation is that the gimbal enters the fourth mode, and the fourth mode is different from the first mode and the second mode. For example, the fourth mode is a sports mode. Among them, the fourth device includes the handheld gimbal, the shooting device or the fourth control device of the handheld gimbal. It can be understood that the operation of the fourth mode can be during the continuous control of the fourth control element, and when the user releases the operation of the fourth control element, the handheld gimbal exits the fourth mode. Of course, the fourth mode can also start to run after the fourth control element continues to control for a preset period of time.

[0152] For another example, when the second mode switching instruction is generated by the user controlling the fourth control element on the fourth device three times in a row, the preset operation is to control the shooting device to switch between front shooting and rear shooting, or to control the rotation of the gimbal so that the shooting device switches between two opposite shooting directions; wherein the fourth device includes the handheld gimbal, the shooting device or the fourth control device of the handheld gimbal.

[0153] It should be noted that S502 and S503 may occur in the illustrated sequence or in other sequences. When S503 occurs, if it does not affect the continued acquisition of video information, the acquisition of video information may not be interrupted, so as to achieve continuous acquisition of video information using different modes.

[0154] The shooting method of the above embodiment not only realizes the smooth transition between the follow mode and the target tracking mode during the shooting process, solves the problem that the follow mode and the target tracking mode cannot be used simultaneously in the same video shooting, and further improves the process and stability of video picture shooting; at the same time, it also provides more mode switching methods in the follow mode and the target tracking mode shooting process, thereby improving the user's shooting experience.

[0155] On the other hand, in the prior art, when collecting image information using the target tracking mode, the screen position of the target object used for tracking in the image information is often fixed. The user cannot complete a new composition during the collection of image information in the target tracking mode, and can only use the initial screen composition method, always placing the target object at a fixed position on the screen for shooting, which may not meet the user's composition requirements, thereby reducing the user's shooting experience.

[0156] Therefore, an embodiment of the present invention provides a shooting method based on a handheld gimbal, so that in a target tracking mode, the user can adjust the position of the target object in the picture by controlling the gimbal to form a new composition, and use the new composition to collect image information.

[0157] See also Figure 7 , Figure 7 The present invention provides a flowchart of a shooting method based on a handheld gimbal according to an embodiment of the present invention. The shooting method based on a handheld gimbal can realize re-composition during target tracking, thereby improving the user's shooting experience.

[0158] like Figure 7 As shown, the shooting method based on the handheld gimbal includes steps S601 to S603.

[0159] S601: Turn on the target tracking mode and control the shooting device to track and shoot the target object.

[0160] S602: If a control instruction for controlling the movement of the pan / tilt platform is received, control the movement of the pan / tilt platform according to the control instruction to change a preset composition position of the target object in the image information collected by the shooting device.

[0161] S603: Control the shooting device to track and shoot the target object according to the changed preset composition position.

[0162] Specifically, the target tracking mode is turned on, and the target tracking mode can also be switched from other modes, such as switching from the follow mode to the target tracking mode. When the handheld gimbal is in the target tracking mode, the shooting device is controlled to track and shoot the target object.

[0163] The image information collected by the photographing device includes video information corresponding to the captured video or photo information corresponding to the captured photo.

[0164] In one embodiment, controlling the camera to track and shoot the target object is specifically: according to the preset composition position of the target object tracked by the handheld gimbal in the image information collected by the camera, controlling the camera to track and shoot the target object. The preset composition position can be defined according to the needs of the user, and of course the original position can also be maintained. In this way, composition is achieved during the target tracking and shooting process, the interaction method is increased, and the user experience is improved.

[0165] For example, the preset composition position is the initial position of the target object in the image information when the handheld gimbal enters the target tracking mode, that is, the target object is composed while maintaining its original position in the collected image information to obtain the preset composition position.

[0166] For another example, the preset composition position is different from the initial position of the target object in the image information when the handheld gimbal enters the target tracking mode. Different from the initial position, for example, the target object can be placed in the center of the corresponding screen of the image information or other positions, that is, the user can define the corresponding position by himself.

[0167] Furthermore, the control instruction for controlling the movement of the pan / tilt head may control the movement of the pan / tilt head to adjust the relative movement of the shooting device, thereby changing the preset composition position of the target object in the image information captured by the shooting device.

[0168] Exemplarily, a method of generating a control instruction for controlling the movement of the gimbal includes:

[0169] When it is detected that a user operates a second control element on the handheld gimbal, the control instruction is generated.

[0170] Wherein, the second control member includes a button, a trigger or a knob, etc. The second control member may be the same as the first control member or different. When the second control member is the same, different operation modes may be used to generate different instructions. For example, the second control member and the first control member are both triggers, and pulling the trigger once triggers the generation of a mode switching instruction, and pulling the trigger twice in succession triggers the generation of the control instruction. When the second control member is different, for example, the first control member is a trigger and the second control member is a button, pulling the trigger triggers the generation of a mode switching instruction, and pressing the button triggers the generation of the control instruction.

[0171] When it is detected that the image information contains a second preset action posture, the control instruction is generated.

[0172] The second preset action posture is a pre-stored user's action posture, including a hand gesture, a hand movement form or other action forms. The second preset action posture is different from the first preset action posture. For example, the first preset action posture is an "OK" gesture, and the second preset action posture can be a "like" gesture.

[0173] When it is detected that the user performs a second preset operation on the interactive interface of the second device, the control instruction is generated.

[0174] Wherein, the second device includes the handheld gimbal, the shooting device or the second control device of the handheld gimbal. The second device may be the same as the first device or different. When the second device may be the same as the first device, the second preset operation is different from the first preset operation. For example, the first preset operation is a single click operation, and the second preset operation is a continuous click operation.

[0175] In one embodiment, a warning frame may be set in advance in the collected image information, and the size of the warning frame is equal to or smaller than the size of the display screen of the shooting device. Since different composition methods are implemented, it is easy to cause the target object to be lost when collecting image information containing the target object. Before collecting the image information containing the target object according to the changed preset composition position, the warning frame needs to be used to prevent the target object from being lost.

[0176] The specific usage process is: detecting whether the target object is located in the preset warning frame in the image information; if the target object is located in the preset warning frame, continuing to execute the step of controlling the shooting device to collect image information containing the target object through the handheld gimbal according to the changed preset composition position.

[0177] In addition, if the target object exceeds the preset warning frame, the pan-tilt is controlled to move to move the target object into the preset warning frame. Specifically, the pan-tilt is controlled to move at a preset speed to smoothly move the target object into the preset warning frame.

[0178] In one embodiment, in order to quickly move the target object into the warning frame, the target object is moved into the warning frame using orientation information, specifically: obtaining the orientation information of the portion of the target object that exceeds the preset warning frame; and controlling the movement of the gimbal according to the orientation information to move the target object into the warning frame.

[0179] Furthermore, in target tracking shooting, a new composition is achieved by changing the position of the target object being tracked in the picture corresponding to the image information, that is, the changed preset composition position, and the target object is tracked and shot through the new composition (the changed preset composition position). In this way, an interactive method of re-composition is achieved in the process of target tracking, thereby improving the user's shooting experience.

[0180] In one embodiment, when the photographing device is controlled to perform tracking photographing of the target object, if an instruction for canceling the target tracking mode is received, the photographing device is stopped from collecting image information.

[0181] In one embodiment, when controlling the shooting device to track and shoot the target object, if an instruction to cancel the target tracking mode is received, the handheld gimbal is switched from the target tracking mode to the following mode, and in the following mode of the handheld gimbal, the shooting device is controlled to continue collecting image information.

[0182] In another embodiment, when the shooting device is controlled to track and shoot the target object, if an instruction for canceling the target tracking mode is received, the handheld gimbal is switched from the target tracking mode to the following mode. In the following mode of the handheld gimbal, the shooting device is controlled to collect image information for a preset time period, and the shooting device is stopped from being controlled to collect image information when the preset time period is exceeded.

[0183] During the process of shooting in the target tracking mode, if a cancel shooting command is received, the shooting will not be stopped immediately but the follow mode will be used to continue shooting before stopping shooting, thereby further improving the smoothness of the picture shooting.

[0184] The shooting method of the above embodiment controls the shooting device to track and shoot the target object by turning on the target tracking mode; if a control instruction for controlling the movement of the gimbal is received, the gimbal is controlled to move according to the control instruction to change the preset composition position of the target object in the image information collected by the shooting device; and according to the changed preset composition position, the shooting device is controlled to track and shoot the target object. In this way, an interactive method of re-composition is realized in the process of target tracking, thereby improving the user's shooting experience.

[0185] See also Figure 8 , Figure 8 7 is a schematic block diagram of a handheld gimbal provided in an embodiment of the present application. The handheld gimbal 700 includes a processor 710 and a memory 720, and the processor 710 and the memory 720 are connected via a bus, such as an I2C (Inter-integrated Circuit) bus.

[0186] Specifically, the processor 710 may be a micro-controller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP).

[0187] Specifically, the memory 720 may be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a mobile hard disk.

[0188] The processor 710 is used to run a computer program stored in the memory, and implement the following steps when executing the computer program:

[0189] In the first mode of the handheld gimbal, the shooting device is controlled to collect video information; if a first mode switching instruction is detected, the handheld gimbal is switched from the first mode to the second mode, and in the second mode of the handheld gimbal, the shooting device is controlled to continue collecting video information; wherein the first mode is one of a following mode and a target tracking mode, and the second mode is the other of the following mode and the target tracking mode.

[0190] In one embodiment, the processor, when controlling the camera to continue collecting video information, implements:

[0191] Control the shooting device to continue collecting video information along a first position; wherein the first position is the position of the shooting device when the handheld gimbal switches from the first mode to the second mode.

[0192] In one embodiment, the shooting method further includes:

[0193] If an instruction for ending the video information collection is received, then in the follow mode of the handheld gimbal, the shooting device is controlled to continue collecting video information for a preset time period, and the collection of video information is ended when the preset time period is exceeded.

[0194] In one embodiment, the processor further implements: when detecting that a user operates a first control element on the handheld gimbal, generating the first mode switching instruction.

[0195] In one embodiment, the processor further implements: when detecting that the video information includes a first preset motion gesture, generating the first mode switching instruction.

[0196] In one embodiment, the processor further implements: when detecting that a user performs a first preset operation on an interactive interface of a first device, generating the first mode switching instruction; wherein the first device includes the handheld gimbal, the shooting device or the first control device of the handheld gimbal.

[0197] In one embodiment, in the target tracking mode of the handheld gimbal, when controlling the shooting device to collect video information, the processor further implements:

[0198] According to a preset composition position of a target object tracked by the handheld gimbal in the video information, the handheld gimbal is used to control the shooting device to collect video information containing the target object.

[0199] In one embodiment, the preset composition position is the position of the target object in the video information when the handheld gimbal switches to the target tracking mode.

[0200] In one embodiment, the preset composition position is different from the position of the target object in the video information when the handheld gimbal switches to the target tracking mode.

[0201] In one embodiment, the processor further implements:

[0202] If a control instruction for controlling the movement of the pan-tilt head is detected, the movement of the pan-tilt head is controlled according to the control instruction to change the preset composition position of the target object in the video information; according to the changed preset composition position, the shooting device is controlled by the handheld pan-tilt head to collect video information containing the target object.

[0203] In one embodiment, the processor further implements: generating the control instruction when detecting that a user operates a second control element on the handheld gimbal.

[0204] In one embodiment, the processor further implements: generating the control instruction when detecting that the video information contains a second preset action gesture.

[0205] In one embodiment, the processor further implements: generating the control instruction when detecting that the user performs a second preset operation on the interactive interface of the second device; wherein the second device includes the handheld gimbal, the shooting device or a second control device of the handheld gimbal.

[0206] In one embodiment, before the processor controls the shooting device to collect video information containing the target object through the handheld gimbal according to the changed preset composition position, the processor further implements:

[0207] In the video information, detect whether the target object is located in a preset warning frame; if the target object is located in the preset warning frame, continue to execute the step of controlling the shooting device to collect video information containing the target object through the handheld gimbal according to the changed preset composition position.

[0208] In one embodiment, after implementing the step of detecting in the video information whether the target object is located within a preset warning frame, the processor further implements:

[0209] If the target object exceeds the preset warning frame, the pan / tilt platform is controlled to move the target object into the preset warning frame.

[0210] In one embodiment, when the processor controls the movement of the pan / tilt platform to move the target object into the early warning frame, the processor implements:

[0211] Acquire the position information of the portion of the target object that exceeds the preset warning frame; and control the movement of the pan / tilt platform according to the position information to move the target object into the warning frame.

[0212] In one embodiment, the size of the warning frame is equal to or smaller than the size of the display screen of the shooting device.

[0213] In one embodiment, after the processor controls the shooting device to continue to collect video information in the second mode of the handheld gimbal, the processor further implements:

[0214] If an instruction for canceling the second mode is received, the shooting device is stopped from collecting video information.

[0215] In one embodiment, after the processor controls the shooting device to continue to collect video information in the second mode of the handheld gimbal, the processor further implements:

[0216] If an instruction for canceling the second mode is received, the handheld gimbal is switched from the second mode to the first mode, and in the first mode of the handheld gimbal, the shooting device is controlled to continue collecting video information.

[0217] In one embodiment, the processor further implements: upon detecting that the user operates a third control element on the handheld gimbal, generating the instruction for canceling the second mode.

[0218] In one embodiment, the processor further implements: when detecting that the video information includes a third preset motion gesture, generating the instruction for canceling the second mode.

[0219] In one embodiment, the processor further implements: when detecting that the user performs a third preset operation on the interactive interface of the third device, generating the instruction for canceling the second mode;

[0220] Among them, the third device includes the handheld gimbal, the shooting device or a third control device of the handheld gimbal.

[0221] In one embodiment, the processor further implements: if a second mode switching instruction is detected, controlling the handheld gimbal or the shooting device to execute a preset operation matching the second mode switching instruction.

[0222] In one embodiment, the second mode switching instruction is generated in different ways, and the preset operations corresponding to the second mode switching instruction are different.

[0223] In one embodiment, when the second mode switching instruction is generated by the user continuously controlling the fourth control element on the fourth device, the preset operation is that the handheld gimbal enters a third mode, and the third mode is different from the first mode and the second mode; wherein the fourth device includes the handheld gimbal, the shooting device or the fourth control device of the handheld gimbal.

[0224] In one embodiment, when the user releases the operation on the fourth control member, the handheld gimbal exits the third mode.

[0225] In one embodiment, the third mode is a locking mode.

[0226] In one embodiment, when the second mode switching instruction is generated by the user controlling the fourth control element on the fourth device once, the preset operation is that the handheld gimbal enters or exits the follow mode; wherein the fourth device includes the handheld gimbal, the shooting device or the fourth control device of the handheld gimbal.

[0227] In one embodiment, when the second mode switching instruction is generated by the user controlling the fourth control element on the fourth device twice in a row, the preset operation is that the gimbal rotates to a preset position, or the handheld gimbal exits or enters a sleep state; wherein the fourth device includes the handheld gimbal, the shooting device or the fourth control device of the handheld gimbal.

[0228] In one embodiment, when the second mode switching instruction is generated by the user controlling the fourth control element on the fourth device once and then continuously controlling the fourth control element, the preset operation is that the gimbal enters a fourth mode, and the fourth mode is different from the first mode and the second mode;

[0229] Among them, the fourth device includes the handheld gimbal, the shooting device or a fourth control device of the handheld gimbal.

[0230] In one embodiment, when the user releases the operation on the fourth control element, the handheld gimbal exits the fourth mode.

[0231] In one embodiment, the fourth mode is a sports mode.

[0232] In one embodiment, when the second mode switching instruction is generated by the user controlling the fourth control element on the fourth device three times in a row, the preset operation is to control the shooting device to switch between front shooting and rear shooting, or to control the pan / tilt head to rotate so that the shooting device switches between two opposite shooting directions;

[0233] Among them, the fourth device includes the handheld gimbal, the shooting device or a fourth control device of the handheld gimbal.

[0234] In some embodiments, the processor is used to execute the computer program and implement the following steps when executing the computer program:

[0235] Turn on the target tracking mode and control the shooting device to track and shoot the target object; if a control instruction for controlling the movement of the gimbal is received, control the movement of the gimbal according to the control instruction to change the preset composition position of the target object in the image information collected by the shooting device; and according to the changed preset composition position, control the shooting device to track and shoot the target object.

[0236] In one embodiment, the processor further implements: generating the control instruction when detecting that a user operates a second control element on the handheld gimbal.

[0237] In one embodiment, the processor further implements: generating the control instruction when detecting that the image information includes a second preset action gesture.

[0238] In one embodiment, the processor further implements: generating the control instruction when detecting that the user performs a second preset operation on the interactive interface of the second device;

[0239] Among them, the second device includes the handheld gimbal, the shooting device or the second control device of the handheld gimbal.

[0240] In one embodiment, before the processor controls the shooting device to track and shoot the target object according to the changed preset composition position, the processor further implements:

[0241] Detect in the image information whether the target object is located in a preset warning frame; if the target object is located in the preset warning frame, continue to execute the step of controlling the shooting device to track and shoot the target object according to the changed preset composition position.

[0242] In one embodiment, after detecting in the image information whether the target object is located within a preset warning box, the processor further implements:

[0243] If the target object exceeds the preset warning frame, the pan / tilt platform is controlled to move the target object into the preset warning frame.

[0244] In one embodiment, the processor, when controlling the movement of the pan / tilt platform to move the target object into the warning frame, implements:

[0245] Acquire the position information of the portion of the target object that exceeds the preset warning frame; and control the movement of the pan / tilt platform according to the position information to move the target object into the warning frame.

[0246] In one embodiment, the size of the warning frame is equal to or smaller than the size of the display screen of the shooting device.

[0247] In one embodiment, after the processor controls the shooting device to track and shoot the target object according to the changed preset composition position, the processor further implements:

[0248] If an instruction for canceling the target tracking mode is received, the photographing device is stopped from collecting image information.

[0249] In one embodiment, after the processor controls the shooting device to track and shoot the target object according to the changed preset composition position, the processor further implements:

[0250] If an instruction for canceling the target tracking mode is received, the handheld gimbal is switched from the target tracking mode to the following mode, and in the following mode of the handheld gimbal, the shooting device is controlled to continue collecting image information.

[0251] In one embodiment, when the processor starts the target tracking mode and controls the shooting device to track and shoot the target object, the processor implements:

[0252] The target tracking mode is turned on, and according to the preset composition position of the target object tracked by the handheld gimbal in the image information collected by the shooting device, the shooting device is controlled to track and shoot the target object.

[0253] In one embodiment, the preset composition position is an initial position of the target object in the image information when the handheld gimbal enters the target tracking mode.

[0254] In one embodiment, the preset composition position is different from an initial position of the target object in the image information when the handheld gimbal enters the target tracking mode.

[0255] A computer-readable storage medium is also provided in an embodiment of the present application, wherein the computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and the processor executes the program instructions to implement the steps of the handheld gimbal-based shooting method provided in the above embodiment.

[0256] The computer-readable storage medium may be an internal storage unit of the handheld gimbal described in any of the aforementioned embodiments, such as a hard disk or memory of the handheld gimbal. The computer-readable storage medium may also be an external storage device of the handheld gimbal, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc., equipped on the handheld gimbal.

[0257] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A shooting method based on a handheld gimbal, wherein the handheld gimbal comprises a handheld portion and a gimbal disposed on the handheld portion, wherein the gimbal can be equipped with a shooting device, and wherein: include: If a control instruction for controlling the pan / tilt head is received, changing a preset composition position of the target object in the image information collected by the shooting device according to the control instruction; as well as Detecting in the image information whether the target object is located within a preset warning frame; If the target object is located within the preset warning frame, the shooting device is controlled to track and shoot the target object according to the changed preset composition position.

2. The shooting method according to claim 1, characterized in that: The shooting method further includes: When it is detected that a user operates a second control element on the handheld gimbal, the control instruction is generated.

3. The shooting method according to claim 1, characterized in that: The shooting method further includes: When it is detected that the image information contains a second preset action posture, the control instruction is generated.

4. The shooting method according to claim 1, characterized in that: The shooting method further includes: When detecting that the user performs a second preset operation on the interactive interface of the second device, generating the control instruction; Among them, the second device includes the handheld gimbal, the shooting device or the second control device of the handheld gimbal.

5. The shooting method according to claim 1, characterized in that: After detecting in the image information whether the target object is located within a preset warning frame, the shooting method further includes: If the target object exceeds the preset warning frame, the pan / tilt platform is controlled to move the target object into the preset warning frame.

6. The shooting method according to claim 1, characterized in that: The controlling the movement of the pan / tilt platform to move the target object into the warning frame includes: Acquire the position information of the part of the target object beyond the preset warning box; The movement of the pan / tilt head is controlled according to the position information to move the target object into the early warning frame.

7. The shooting method according to claim 1, characterized in that: The size of the warning frame is equal to or smaller than the size of the display screen of the shooting device.

8. The shooting method according to claim 1, characterized in that: After controlling the photographing device to track and photograph the target object according to the changed preset composition position, the photographing method further includes: If an instruction for canceling the target tracking mode is received, the photographing device is stopped from collecting image information.

9. The shooting method according to claim 1, characterized in that: After controlling the photographing device to track and photograph the target object according to the changed preset composition position, the photographing method further includes: If an instruction for canceling the target tracking mode is received, the handheld gimbal is switched from the target tracking mode to the following mode, and in the following mode of the handheld gimbal, the shooting device is controlled to continue collecting image information.

10. The shooting method according to claim 1, characterized in that: The shooting method further includes: The target tracking mode is turned on, and according to the preset composition position of the target object tracked by the handheld gimbal in the image information collected by the shooting device, the shooting device is controlled to track and shoot the target object.

11. The shooting method according to claim 10, characterized in that: The preset composition position is the initial position of the target object in the image information when the handheld gimbal enters the target tracking mode.

12. The shooting method according to claim 10, characterized in that: The preset composition position is different from the initial position of the target object in the image information when the handheld gimbal enters the target tracking mode.

13. A handheld gimbal, characterized in that: It comprises a handheld part and a gimbal arranged on the handheld part, and the gimbal can be equipped with a shooting device; The handheld gimbal also includes a memory and a processor; The memory is used to store computer programs; The processor is used to execute the computer program and implement the following steps when executing the computer program: If a control instruction for controlling the pan / tilt head is received, changing a preset composition position of the target object in the image information collected by the shooting device according to the control instruction; as well as Detecting in the image information whether the target object is located within a preset warning frame; If the target object is located within the preset warning frame, the shooting device is controlled to track and shoot the target object according to the changed preset composition position.

14. The handheld gimbal according to claim 13, characterized in that: The processor also implements: When it is detected that a user operates a second control element on the handheld gimbal, the control instruction is generated.

15. The handheld gimbal according to claim 13, characterized in that: The processor also implements: When it is detected that the image information contains a second preset action posture, the control instruction is generated.

16. The handheld gimbal according to claim 13, characterized in that: The processor also implements: When detecting that the user performs a second preset operation on the interactive interface of the second device, generating the control instruction; Among them, the second device includes the handheld gimbal, the shooting device or the second control device of the handheld gimbal.

17. The handheld gimbal according to claim 13, characterized in that: After the processor detects in the image information whether the target object is located in a preset warning box, the processor further implements: If the target object exceeds the preset warning frame, the pan / tilt platform is controlled to move the target object into the preset warning frame.

18. The handheld gimbal according to claim 17, characterized in that: The processor controls the movement of the pan / tilt platform to move the target object into the warning frame, and implements: Acquire the position information of the part of the target object beyond the preset warning box; The movement of the pan / tilt head is controlled according to the position information to move the target object into the early warning frame.

19. The handheld gimbal according to claim 13, characterized in that: The size of the warning frame is equal to or smaller than the size of the display screen of the shooting device.

20. The handheld gimbal according to claim 13, characterized in that: After the processor controls the shooting device to track and shoot the target object according to the changed preset composition position, the processor further implements: If an instruction for canceling the target tracking mode is received, the photographing device is stopped from collecting image information.

21. The handheld gimbal according to claim 13, characterized in that: After the processor controls the shooting device to track and shoot the target object according to the changed preset composition position, the processor further implements: If an instruction for canceling the target tracking mode is received, the handheld gimbal is switched from the target tracking mode to the following mode, and in the following mode of the handheld gimbal, the shooting device is controlled to continue collecting image information.

22. The handheld gimbal according to claim 13, characterized in that: The processor is also used to implement: The target tracking mode is turned on, and according to the preset composition position of the target object tracked by the handheld gimbal in the image information collected by the shooting device, the shooting device is controlled to track and shoot the target object.

23. The handheld gimbal according to claim 22, characterized in that: The preset composition position is the initial position of the target object in the image information when the handheld gimbal enters the target tracking mode.

24. The handheld gimbal according to claim 22, characterized in that: The preset composition position is different from the initial position of the target object in the image information when the handheld gimbal enters the target tracking mode.

25. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the shooting method according to any one of claims 1 to 12.

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