Control system, method and device for a camera

Abstract

The application discloses a control system, method and device of a shooting device, the shooting device comprising a manual lens (100) for shooting an image, the control system comprising a parameter adjusting ring (10), a motor (20) and a processor (30), the parameter adjusting ring being sleeved on the manual lens and being capable of rotating to adjust the lens parameter size of the manual lens; the motor is used for driving the parameter adjusting ring to rotate; the motor is rotated to different angles based on a first user instruction; the processor is used for acquiring the lens parameter of the manual lens when the motor is at each angle, and calibrating the conversion relationship between the rotation angle of the motor and the lens parameter of the manual lens based on each angle and the corresponding lens parameter; when parameter adjustment is performed, the motor is rotated to adjust the lens parameter of the manual lens, and the target rotation angle of the motor is determined based on the conversion relationship and a target lens parameter. The manual lens of the application can be controlled by an electric signal, and the parameter adjustment duration of the manual lens is reduced.

Description

Technical Field

[0001] This application relates to the field of control of shooting devices, and more particularly to a control system, method and apparatus for a shooting device. Background Technology

[0002] Autofocus lenses require an electrical connection to the shooting device via conductive contacts, allowing the shooting device to control the lens's motor and achieve autofocus. Due to the variety of shooting device models, the contact points for lenses vary, resulting in a very limited range of compatible shooting devices for autofocus lenses, often tied to specific device manufacturers. Furthermore, autofocus lenses generally have a higher price due to their numerous components and complex manufacturing process. Compared to autofocus lenses, manual focus lenses have significant advantages in compatibility and price. However, current manual focus lenses can only be adjusted manually, which leads to slow adjustment, difficulty in achieving precise settings, and a high level of user experience. Consequently, the usage rate of manual focus lenses is far lower than that of autofocus lenses. Summary of the Invention

[0003] This application provides a control system, method, and apparatus for a shooting device.

[0004] A first aspect of this application provides a control system for an imaging device, the imaging device including a manual lens for capturing images, the control system comprising:

[0005] A parameter adjustment ring is fitted onto a manual lens, and the parameter adjustment ring can rotate to adjust the lens parameters of the manual lens;

[0006] A motor is used to drive the parameter adjustment ring to rotate; and

[0007] processor;

[0008] When calibrating the lens parameters of the manual lens, the motor is controlled to rotate to different angles. The processor is used to obtain the lens parameters of the manual lens when the motor is at each angle, and based on each angle and the corresponding lens parameters, calibrate the conversion relationship between the rotation angle of the motor and the lens parameters of the manual lens.

[0009] Specifically, when the lens parameters of the manual lens are adjusted in a fully automatic or semi-automatic manner, the motor is controlled to rotate to a target rotation angle to adjust the lens parameters of the manual lens to the target lens parameters. The target rotation angle of the motor is determined based on the conversion relationship and the target lens parameters.

[0010] A second aspect of this application provides a method for controlling a shooting device, the method comprising:

[0011] When calibrating the lens parameters of the manual lens, the lens parameters of the manual lens of the shooting device are obtained when the motor is controlled to rotate to different angles. A parameter adjustment ring is fitted on the manual lens, and the parameter adjustment ring is rotated by the motor to adjust the size of the lens parameters of the manual lens.

[0012] Based on each angle and the corresponding lens parameters, the conversion relationship between the rotation angle of the motor and the lens parameters of the manual lens is calibrated;

[0013] Specifically, when the lens parameters of the manual lens are adjusted in a fully automatic or semi-automatic manner, the motor is controlled to rotate to a target rotation angle to adjust the lens parameters of the manual lens to the target lens parameters. The target rotation angle of the motor is determined based on the conversion relationship and the target lens parameters.

[0014] A third aspect of this application provides a control device for a shooting apparatus, the device comprising:

[0015] Storage device for storing program instructions; and

[0016] One or more processors invoke program instructions stored in the storage device, wherein, when the program instructions are executed, the one or more processors are individually or collectively configured to implement the method described in the second aspect.

[0017] A fourth aspect of this application provides a control system for a shooting device, the system comprising:

[0018] The control device for the shooting apparatus described in the third aspect; and

[0019] Manual lens.

[0020] A fifth aspect of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in any of the second aspects.

[0021] A sixth aspect of this application provides a control method for a shooting device, the method comprising:

[0022] When the shooting device is in semi-automatic adjustment mode, the feature map of the real-time image captured by the manual lens of the shooting device is displayed on the display device. The manual lens is fitted with a parameter adjustment ring, which is rotated by a motor to adjust the lens parameter size of the manual lens.

[0023] A parameter scale is displayed in the feature map, which is used to characterize the range information of the lens parameters;

[0024] The feature diagram displays the first scale position indicator of the target lens parameter and the second scale position indicator of the current lens parameter on the parameter scale to indicate to the user the input of motor rotation adjustment commands.

[0025] A seventh aspect of this application provides a control device for a shooting apparatus, the device comprising:

[0026] Storage device for storing program instructions; and

[0027] One or more processors invoke program instructions stored in the storage device, wherein, when the program instructions are executed, the one or more processors are individually or jointly configured to implement the method described in the sixth aspect.

[0028] An eighth aspect of this application provides a control system for a shooting device, the system comprising:

[0029] The control device for the shooting apparatus described in the seventh aspect; and

[0030] Manual lens.

[0031] A ninth aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in the sixth aspect.

[0032] A tenth aspect of this application provides a control system for a manual lens, the control system comprising:

[0033] A parameter adjustment ring is fitted onto the manual lens, and the parameter adjustment ring can rotate to adjust the lens parameters of the manual lens;

[0034] An electric motor is used to drive the parameter adjustment ring to rotate;

[0035] processor; and

[0036] Memory;

[0037] The processor is used to calibrate the conversion relationship between the rotation angle of the motor and the lens parameters of the manual lens, and the memory is used to store the conversion relationship.

[0038] The processor is further configured to, when the manual lens is in operation, automatically or semi-automatically adjust the lens parameters of the manual lens based on the conversion relationship. An eleventh aspect of this application provides a control method for a manual lens, the method comprising:

[0039] The conversion relationship between the rotation angle of the calibrated motor and the lens parameters of the manual lens is defined. A parameter adjustment ring is fitted on the manual lens, and the parameter adjustment ring is rotated by the motor to adjust the lens parameters of the manual lens. The conversion relationship is stored in the memory.

[0040] When the manual lens is in working condition, the lens parameters of the manual lens are adjusted automatically or semi-automatically based on the conversion relationship.

[0041] A twelfth aspect of this application provides a control device for a manual lens, the device comprising:

[0042] Storage device for storing program instructions; and

[0043] One or more processors invoke program instructions stored in the storage device, wherein, when the program instructions are executed, the one or more processors are individually or collectively configured to implement the method described in any of the eleventh aspects.

[0044] A thirteenth aspect of this application provides a control system for a manual lens, the system comprising:

[0045] The manual lens control device described in the twelfth aspect; and

[0046] Manual lens.

[0047] A fourteenth aspect of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in any of the eleventh aspects.

[0048] According to the technical solution provided in the embodiments of this application, this application adds a parameter adjustment ring and a motor to drive the parameter adjustment ring to the manual lens. Before using the manual lens, the conversion relationship between the rotation angle of the motor and the lens parameters of the manual lens is calibrated, so that the manual lens can be controlled by electrical signals. This greatly reduces the parameter adjustment time of the manual lens, lowers the threshold for using the manual lens, realizes the auxiliary and automatic adjustment function of the lens parameters of the manual lens, and enables the manual lens to automatically adjust its parameters like an automatic lens, enriching the function of the manual lens and further expanding the application scenarios of the manual lens. Attached Figure Description

[0049] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below.

[0050] Figure 1 This is a schematic diagram of the control system of the shooting device in one embodiment of this application;

[0051] Figure 2 This is a structural block diagram of the control system of the shooting device in one embodiment of this application;

[0052] Figure 3 This is a structural block diagram of the control system of the shooting device in another embodiment of this application;

[0053] Figure 4 This is a schematic diagram illustrating the first conversion relationship between the rotation angle of the calibration motor and the focusing distance of the manual lens in one embodiment of this application.

[0054] Figure 5 This is a schematic diagram illustrating the conversion relationship between the rotation angle of the calibration motor and the lens parameters of the zoom lens in one embodiment of this application.

[0055] Figure 6 This is a schematic diagram illustrating the process of the third conversion relationship between the rotation angle of the calibration motor and the aperture of the manual lens in one embodiment of this application;

[0056] Figure 7 This is a flowchart illustrating the semi-automatic adjustment of lens parameters for a manual lens in one embodiment of this application.

[0057] Figure 8 This is a schematic diagram of the interface display of the display device during assisted focusing in one embodiment of this application;

[0058] Figure 9 This is a schematic diagram of the interface display of the display device during assisted zoom in one embodiment of this application;

[0059] Figure 10 This is a schematic diagram of the interface display of the display device when assisting in aperture adjustment in one embodiment of this application;

[0060] Figure 11 This is a flowchart illustrating the automatic adjustment of lens parameters of a manual lens in one embodiment of this application.

[0061] Figure 12 This is a flowchart illustrating the control method of the imaging device in one embodiment of this application;

[0062] Figure 13 This is a flowchart illustrating the control method of the shooting device in another embodiment of this application;

[0063] Figure 14 This is a schematic diagram of the control device of the shooting device in one embodiment of this application.

[0064] Figure label:

[0065] 100. Manual lens;

[0066] 10. Parameter adjustment ring; 20. Motor; 30. Processor; 40. Transmission assembly; 50. Display device. Detailed Implementation

[0067] Currently, the lens parameters of manual lenses can only be adjusted manually, which has disadvantages such as slow adjustment, difficulty in achieving the correct lens parameters, and a high level of user experience. For example, manual lenses can only be used for manual focusing of the shooting device, which has disadvantages such as slow focusing, easy focus loss, and a high level of user experience. Therefore, the usage rate of manual lenses is far lower than that of automatic lenses.

[0068] To address this, this application adds a parameter adjustment ring and a motor to drive the rotation of the manual lens. Before using the manual lens, the conversion relationship between the motor's rotation angle and the lens parameters of the manual lens is calibrated, enabling the manual lens to be controlled by electrical signals. This significantly reduces the parameter adjustment time of the manual lens, lowers the barrier to entry for using the manual lens, and realizes the auxiliary and automatic adjustment function of the lens parameters of the manual lens. This allows the manual lens to automatically adjust its parameters like an automatic lens, enriching the functionality of the manual lens and further expanding its application scenarios.

[0069] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0070] It should be noted that, unless otherwise specified, the features in the following embodiments and implementation methods can be combined with each other.

[0071] In this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c; a and b; a and c; b and c; or a and b and c, where a, b, and c can be single or multiple.

[0072] Please see Figure 1 The shooting device in this application embodiment includes a manual lens 100 for capturing images.

[0073] Optionally, the manual lens 100 includes a lens barrel and a lens disposed within the lens barrel.

[0074] The shooting device in this embodiment can be mounted on a gimbal, which can be a two-axis gimbal or a three-axis gimbal. Furthermore, the gimbal can be a handheld gimbal or an airborne gimbal. For example, an airborne gimbal can be mounted on a mobile platform such as an unmanned vehicle or unmanned aerial vehicle.

[0075] The shooting device in this application embodiment can also be mounted on other carriers, such as mobile platforms like unmanned vehicles or unmanned aerial vehicles, or the shooting device can be used independently.

[0076] This application provides a control system for a shooting device; please refer to [link / reference]. Figure 1 and Figure 2 The control system of the shooting device may include a parameter adjustment ring 10, a motor 20, and a processor 30. The parameter adjustment ring 10 is fitted onto the manual lens 100, or optionally, onto the lens barrel. The parameter adjustment ring 10 is rotatable to adjust the lens parameters of the manual lens 100, and the motor 20 drives the parameter adjustment ring 10 to rotate. In this embodiment, when calibrating the lens parameters of the manual lens 100, the motor 20 is controlled to rotate to different angles. The processor 30 is used to acquire the lens parameters of the manual lens 100 at each angle, and based on each angle and the corresponding lens parameters, calibrates the conversion relationship between the rotation angle of the motor 20 and the lens parameters of the manual lens 100. When adjusting the lens parameters of the manual lens 100 in a fully automatic or semi-automatic manner, the motor 20 is controlled to rotate to a target rotation angle to adjust the lens parameters of the manual lens 100 to the target lens parameters. The target rotation angle of the motor 20 is determined based on the conversion relationship and the target lens parameters.

[0077] Lens parameters may include at least one of focusing distance, focal length, and aperture. Correspondingly, the conversion relationships may include at least one of the following: a first conversion relationship between the rotation angle of motor 20 and the focusing distance of manual lens 100; a second conversion relationship between the rotation angle of motor 20 and the focal length of manual lens 100; and a third conversion relationship between the rotation angle of motor 20 and the aperture of manual lens 100. It is understood that lens parameters are not limited to the types of lens parameters listed above, and may also include other types of lens parameters.

[0078] For example, manual lens 100 is a manual fixed-focus lens, and the lens parameters can be one or both of focusing distance and aperture; or, for example, manual lens 100 is a manual zoom lens, and the lens parameters can include any one or more of focal length, focusing distance and aperture.

[0079] For example, lens parameters include multiple types, and different types of lens parameters correspond to different parameter adjustment rings 10. These different parameter adjustment rings 10 are arranged along the optical axis of the manual lens 100, meaning that different types of lens parameters can be adjusted using different parameter adjustment rings 10. For example, the manual lens 100 is a manual fixed-focus lens, and its lens parameters include focusing distance. The parameter adjustment ring 10 includes a focusing ring for adjusting the focusing distance, which is fitted onto the outside of the manual fixed-focus lens. For example, the manual lens 100 is a manual zoom lens, and its lens parameters include focusing distance, focal length, and aperture. The parameter adjustment ring 10 includes a zoom ring for adjusting the focal length, a focusing ring for adjusting the focusing distance, and an aperture ring for adjusting the aperture. The zoom ring, focusing ring, and aperture ring are arranged along the optical axis of the manual lens 100.

[0080] Alternatively, different parameter adjustment rings 10 can be driven by different motors 20. Following the embodiment where the manual lens 100 is a manual zoom lens, the zoom ring can be driven by a zoom motor to adjust the focal length of the manual lens 100; the focus ring can be driven by a focus motor to adjust the focusing distance of the manual lens 100; and the aperture ring can be driven by an aperture motor to adjust the aperture size of the manual lens 100. Of course, one or more parameter adjustment rings can also be controlled by the same motor.

[0081] Please see again Figure 1 The control system of the shooting device in this embodiment may further include a transmission assembly 40. One end of the transmission assembly 40 is connected to the output shaft of the motor 20, and the other end cooperates with the parameter adjustment ring 10 to transmit the output torque of the motor 20 to the parameter adjustment ring 10, thereby driving the parameter adjustment ring 10 to rotate. Optionally, the transmission assembly may include a connecting rod and a transmission gear. One end of the connecting rod is connected to the motor 20, and the transmission gear is sleeved on the other end of the connecting rod, meshing with the parameter adjustment ring 10.

[0082] It is understandable that the motor 20 can also be replaced by other rotating devices that can drive the parameter adjustment ring 10 to rotate.

[0083] In this embodiment of the application, the processor 30 ( Figure 1 (Not shown) can be electrically connected to motor 20 (e.g.) Figure 2 (As shown), it can also be left unconnected to motor 20.

[0084] During the calibration of the lens parameters of the manual lens 100, the motor 20 rotates based on the first user command to achieve controlled rotation of the motor 20.

[0085] Optionally, in some embodiments, the first user instruction is generated by the user operating the handle of the motor 20, which drives the motor 20 to rotate. For example, rotating the handle causes the motor 20 to rotate accordingly. In other embodiments, the first user instruction is generated by the user operating the control device of the shooting device. This control device can communicate with the motor 20 via the processor 30, or the control device can communicate directly with the motor 20. The control device can be a remote control, or a smart terminal such as a mobile phone or a smart wearable device.

[0086] In some other embodiments, when calibrating the lens parameters of the manual lens 100, the processor 30 controls the motor 20 to rotate.

[0087] It should be noted that when different motors 20 drive different parameter adjustment rings 10 to rotate, different motors 20 correspond to different handles, so as to control the rotation of the corresponding motor 20 through the handles to achieve rotation adjustment of the different parameter adjustment rings 10; or, the rotation of each motor 20 can be controlled by the control device to achieve rotation adjustment of the corresponding parameter adjustment rings 10.

[0088] Furthermore, please combine Figure 2 and Figure 3 The control device of the shooting apparatus in this application embodiment may further include a display device 50, which is capable of communicating with the processor 30. Optionally, the display device 50 is a screen integrated into the shooting apparatus; alternatively, the display device 50 is the screen of the carrier (such as a gimbal) of the shooting apparatus; alternatively, the display device 50 is the display screen of the control device of the shooting apparatus.

[0089] Additionally, the processor 30 in this application embodiment may include a processor of the shooting device, and / or a processor of the carrier (such as a gimbal) of the shooting device, and / or a processor of the control device of the shooting device.

[0090] It is understandable that there is a one-to-one correspondence between the angle of motor 20 and the lens parameters of manual lens 100, thereby achieving the calibration of the conversion relationship.

[0091] During the calibration conversion, different methods can be used to obtain the aforementioned different angles. For example, in some embodiments, the processor 30 is electrically connected to the motor 20 to determine different angles based on the driving information of the motor 20, such as the number of pulses. In other embodiments, the processor 30 is electrically connected to an angle sensor on the motor 20 to obtain different angles; wherein, the processor 30 may or may not be electrically connected to the motor 20. In still other embodiments, different angles are input to the processor 30 externally. For example, during the calibration process, the rotation angle of the motor 20 is controlled by the user; therefore, the user can input the rotation angle of the motor 20 to the processor 30 through the screen of the shooting device, or the user can input the rotation angle of the motor 20 to the processor 30 through the control device of the shooting device.

[0092] Furthermore, the lens parameters during the calibration process can be obtained from external inputs and / or by sensors on the shooting device.

[0093] In some embodiments, the processor 30 is used to calibrate the conversion relationship between the rotation angle of the motor 20 and the lens parameters based on each angle and the corresponding lens parameters through interpolation. This requires only a few calibrations before the conversion relationship is determined through interpolation. This interpolation method can be linear interpolation or other methods; this application does not specifically limit the interpolation method. In other embodiments, where the number of calibrations is greater, the processor 30 can directly calibrate the conversion relationship between the rotation angle of the motor 20 and the lens parameters based on each angle and the corresponding lens parameters.

[0094] The conversion relationship in this application embodiment can be multiple discrete angles and the lens parameters corresponding to each angle, and the lens parameters corresponding to each angle can be stored in a table format; the conversion relationship can also be a function.

[0095] Users can calibrate multiple manual lenses 100 or perform multiple calibrations on a single manual lens 100.

[0096] Furthermore, if the type of the new manual lens 100 is the same as the type of the old manual lens 100 after the shooting device is replaced, it is not necessary to recalibrate the conversion relationship. When adjusting parameters later, the most recently calibrated conversion relationship can be used directly. Alternatively, the conversion relationship between the rotation angle of the motor 20 and the lens parameters of the new manual lens 100 can be recalibrated. It is understood that recalibrating the conversion relationship applies to both cases where the type of the new manual lens 100 is the same as the old manual lens 100 and cases where the type of the new manual lens 100 is different from the old manual lens 100.

[0097] After installing the parameter adjustment ring 10 and the motor 20 on the manual focus lens, the above conversion relationship needs to be calibrated. The calibration process will be described in detail below, taking the example of using the zoom motor to adjust the focal length of the manual lens 100, the focus motor to adjust the focus distance of the manual lens 100, and the aperture motor to adjust the aperture of the manual lens 100.

[0098] I. Determination of the First Transformation Relation

[0099] Lens parameters include focusing distance. The aforementioned different angles can include: the first angle required for the focusing motor to rotate when the manual lens 100 is aimed at objects at different distances and the sharpness of the image captured by the manual lens 100 is greater than a preset sharpness threshold. The objects at different distances can include objects at different distances from the manual lens 100 or different positions on the same object, with different distances from the manual lens 100. The processor 30 can detect whether the sharpness of the image captured by the manual lens 100 is greater than the preset sharpness threshold based on existing image algorithms. The processor 30 can display the recognition result on the screen of the shooting device, the screen of the carrier of the shooting device, or the display screen of the control device. The preset sharpness threshold can be set as needed. Alternatively, the user can determine whether the manual lens 100 has successfully focused by judging whether the image captured by the manual lens 100 is sharp.

[0100] The aforementioned different distances may include: a first distance, a second distance, and at least one distance between the first and second distances, wherein the first distance is greater than the second distance. Multiple calibrations are performed to improve the calibration accuracy of the first conversion relationship. It should be noted that the selection of the first distance, the second distance, and at least one distance between the first and second distances is related to the user's needs. Based on the performance of the manual lens 100, the first distance and the second distance can be infinity and infinity, respectively; of course, the first distance and the second distance can also be set to other values. Furthermore, the number of different distances can be three or more.

[0101] In this embodiment of the application, the processor 30 is further configured to: when the center of the manual lens 100 is aligned with the object being photographed at a first distance, a second distance, and at least one distance between the first distance and the second distance, respectively, calibrate the first angle of the motor 20 corresponding to the first distance, the second distance, and at least one distance between the first distance and the second distance.

[0102] The distance from the manual lens 100 to the object being photographed is obtained based on a distance sensor detected on the shooting device and / or external input. The distance sensor is electrically connected to the processor 30. Optionally, the distance sensor is arranged parallel to the manual lens 100, so that the distance sensor can accurately measure the current distance from the manual lens 100 to the object being photographed. For example, the distance sensor is a TOF (Time of Flight) sensor built into the shooting device. The processor 30 records the distance from the manual lens 100 to the object being photographed by measuring distance using the TOF sensor, and / or manually measures the distance from the manual lens 100 to the object being photographed. The user then inputs the manually measured distance from the manual lens 100 to the object being photographed to the processor 30 through the screen of the shooting device, the screen of the carrier of the shooting device, or the display screen of the control device.

[0103] In one feasible embodiment, please refer to Figure 4 The calibration process for the first transformation relation may include the following steps:

[0104] (1) Initialize the focusing motor. For example, the user can initialize the focusing motor by operating the control device of the shooting device, such as controlling the focusing motor to return to the origin.

[0105] (2) Align the center of the manual lens 100 with the object at infinity and enter the calibration procedure: Operate the control device of the shooting device or the handle of the focusing motor to make the focusing motor rotate. When the display device 50 indicates that the sharpness of the object in the image captured by the manual lens 100 is greater than the preset sharpness threshold, the focusing motor stops rotating, obtain the current first angle of the focusing motor, and measure the distance from the manual lens 100 to the object by manual measurement or by the TOF sensor built into the shooting device. Then, save the current first angle of the focusing motor and the distance from the manual lens 100 to the object through the shooting device and / or the carrier of the shooting device and / or the control device of the shooting device to complete one calibration.

[0106] (3) Align the center of the manual lens 100 with the object at infinity and complete another calibration according to the calibration procedure in step (2);

[0107] (4) Align the center of the manual lens 100 with the object being photographed at other distances (at least one distance between infinity and near infinity), and complete the remaining calibration according to the calibration procedure in step (2).

[0108] (5) Based on the first angles and distances obtained in the above steps, the processor 30 determines the first conversion relationship between the rotation angle of the focusing motor and the focusing distance of the manual lens 100. For example, the processor 30 determines the first conversion relationship by interpolation based on the first angles and distances obtained in the above steps.

[0109] It should be noted that the order of steps (2), (3) and (4) above can be changed.

[0110] Additionally, it should be noted that the focusing motor can be initialized before each calibration, or it can be initialized only before the first calibration.

[0111] The first conversion relationship calibration applies to both manual focus lenses and manual zoom lenses.

[0112] II. Calibrating the Second Transformation Relation

[0113] Lens parameters include focal length. It is understood that the calibration of the second conversion relationship only applies to manual zoom lenses. Since the focal length of a manual prime lens is fixed, it is not necessary to calibrate the focal length of the manual lens 100 and the rotation angle of the zoom motor.

[0114] In this embodiment, different angles may include different second angles. The zoom motor rotates to different second angles based on a first user command, so that the manual lens 100 is at different focal lengths. For example, different focal lengths include: a first focal length, a second focal length, and at least one focal length between the first and second focal lengths, wherein the first focal length is greater than the second focal length. Multiple calibrations are performed to improve the calibration accuracy of the second conversion relationship. It should be noted that the selection of the first focal length, the second focal length, and at least one focal length between the first and second focal lengths is related to the user's needs. Optionally, the first focal length is the maximum focal length of the manual zoom lens, and the second focal length is the minimum focal length of the manual zoom lens; of course, the first and second focal lengths can also be set to other sizes. Furthermore, the number of different focal lengths can be three or more. In addition, the lens parameters of a manual zoom lens also include the focusing distance. Therefore, for a manual zoom lens, it is necessary to first calibrate the first angle of the zoom motor at different focal lengths to obtain a second conversion relationship between the rotation angle of the zoom motor and the focal length of the manual zoom lens. Then, the manual zoom lens is fixed at one or more focal lengths, and the third rotation angle of the focusing motor at different focusing distances is calibrated to obtain a first conversion relationship between the rotation angle of the focusing motor and the focusing distance of the manual zoom lens. Optionally, in some embodiments, it is not necessary to perform a focusing calibration for each focal length of the manual zoom lens. Once the first conversion relationship between the rotation angle of the focusing motor and the focusing distance of the manual zoom lens at one focal length is calibrated, the first conversion relationship between the rotation angle of the focusing motor and the focusing distance of the manual zoom lens at other focal lengths can be calculated based on the already calibrated first conversion relationship between the rotation angle of the second motor and the focusing distance of the manual zoom lens at the aforementioned focal lengths.

[0115] Specifically, the lens parameters may also include the focusing distance of the shooting device at at least one focal length among different focal lengths. The aforementioned different angles further include: when the manual lens 100 is aimed at an object at different distances at at least one focal length, and the image sharpness of the image captured by the manual lens 100 is greater than a preset sharpness threshold, the third angle required for the zoom motor to rotate. The different distances include any one or more of the following: a third distance, a fourth distance, and at least one distance between the third and fourth distances, wherein the third distance is greater than the fourth distance. Furthermore, the focusing distance is obtained based on detection by a rangefinder sensor on the shooting device and / or external input. For details, please refer to the specific description of the calibration process for the second conversion relationship above.

[0116] In one feasible embodiment, please refer to Figure 5 The calibration process for a manual zoom lens may include the following steps:

[0117] (1) Initialize the zoom motor, as described in the corresponding part of the above embodiment;

[0118] (2) Calibration of the maximum focal length of the manual zoom lens and the second angle of the zoom motor: Operate the control device of the shooting device or the handle of the zoom motor to make the zoom motor rotate until the manual zoom lens is adjusted to the maximum focal length. Then the zoom motor stops rotating. Record the current focal length (i.e., the maximum focal length) of the manual zoom lens and the current second angle of the zoom motor. Then save the current focal length of the manual zoom lens and the current second angle of the zoom motor through the shooting device and / or the carrier of the shooting device and / or the control device of the shooting device to complete one calibration.

[0119] (3) Calibration of the minimum focal length of the manual zoom lens and the second angle of the zoom motor: Operate the control device of the shooting device or the handle of the zoom motor to make the zoom motor rotate until the manual zoom lens is adjusted to the minimum focal length, then the zoom motor stops rotating. Record the current focal length of the manual zoom lens and the current second angle of the zoom motor. Then, save the current focal length of the manual zoom lens and the current second angle of the zoom motor through the shooting device and / or the carrier of the shooting device and / or the control device of the shooting device to complete one calibration.

[0120] (4) Calibration of other focal lengths of the manual zoom lens (at least one focal length between the maximum and minimum focal lengths) and the second angle of the zoom motor: Operate the control device of the shooting device or the handle of the zoom motor to make the zoom motor rotate until the manual zoom lens is adjusted to other focal lengths, at which point the zoom motor stops rotating. Record the current focal length of the manual zoom lens and the current second angle of the zoom motor. Then, save the current focal length of the manual zoom lens and the current second angle of the zoom motor through the shooting device and / or the carrier of the shooting device and / or the control device of the shooting device to complete the remaining calibration.

[0121] (5) Based on the second angles and focal lengths obtained in the above steps, the processor 30 determines the second conversion relationship between the rotation angle of the zoom motor and the focal length of the manual zoom lens. For example, the processor 30 determines the second conversion relationship by interpolation based on the second angles and focal lengths obtained in the above steps.

[0122] (6) The first conversion relationship between the rotation angle of the focusing motor and the focusing distance of the manual zoom lens at at least one of the above different focal lengths is calibrated. For details, please refer to the description of the corresponding part in the above embodiments.

[0123] It should be noted that the order of steps (2), (3) and (4) above can be changed.

[0124] III. Calibrating the Third Transformation Relation

[0125] Lens parameters include aperture. The different angles mentioned above may include different fourth angles. The aperture motor rotates to different fourth angles based on a first user command, so that the manual lens 100 is at different apertures. For example, the different apertures mentioned above include: a first aperture, a second aperture, and at least one aperture between the first and second apertures, wherein the first aperture is larger than the second aperture. It should be noted that the selection of the first aperture, the second aperture, and at least one aperture between the first and second apertures is related to the user's needs. Optionally, the first aperture is the maximum aperture of the manual lens 100, and the second focal length is the minimum aperture of the manual lens 100; of course, the first aperture and the second aperture can also be set to other sizes. Furthermore, the number of different apertures can be three or more.

[0126] In one feasible embodiment, please refer to Figure 6 The calibration process for the third transformation relation may include the following steps:

[0127] (1) Initialize the aperture motor, as described in the corresponding part of the above embodiment;

[0128] (2) Calibration of the maximum aperture of the manual lens 100 and the fourth angle of the aperture motor: Operate the control device of the shooting device or the handle of the aperture motor to make the aperture motor rotate until the manual lens 100 is adjusted to the maximum aperture, at which point the aperture motor stops rotating. Record the current aperture (i.e., the maximum aperture) of the manual lens 100 and the current fourth angle of the aperture motor. Then, save the current aperture of the manual lens 100 and the current fourth angle of the aperture motor through the shooting device and / or the carrier of the shooting device and / or the control device of the shooting device to complete one calibration.

[0129] (3) Calibration of the minimum aperture of the manual lens 100 and the fourth angle of the aperture motor: Operate the control device of the shooting device or the handle of the aperture motor to make the aperture motor rotate until the manual lens 100 is adjusted to the minimum aperture, at which point the aperture motor stops rotating. Record the current aperture of the manual lens 100 and the current fourth angle of the aperture motor. Then, save the current aperture of the manual lens 100 and the current fourth angle of the aperture motor through the shooting device and / or the carrier of the shooting device and / or the control device of the shooting device to complete one calibration.

[0130] (4) Calibration of other apertures of the manual lens 100 (at least one aperture between the maximum aperture and the minimum aperture) and the fourth angle of the aperture motor: Operate the control device of the shooting device or the handle of the aperture motor to make the aperture motor rotate until the manual lens 100 is adjusted to another aperture, at which point the aperture motor stops rotating. Record the current aperture of the manual lens 100 and the current fourth angle of the aperture motor. Then, save the current aperture of the manual lens 100 and the current fourth angle of the aperture motor through the shooting device and / or the carrier of the shooting device and / or the control device of the shooting device to complete the remaining calibration.

[0131] (5) Based on the fourth angles and apertures obtained in the above steps, the processor 30 determines the third conversion relationship between the rotation angle of the aperture motor and the aperture of the manual lens 100. For example, the processor 30 determines the third conversion relationship by interpolation based on the fourth angles and apertures obtained in the above steps.

[0132] It should be noted that the order of steps (2), (3) and (4) above can be changed.

[0133] The third conversion relationship calibration applies to both manual focus lenses and manual zoom lenses.

[0134] Optionally, during the calibration process, the processor 30 can also: if a calibration data deletion instruction is received, delete the corresponding angle and lens parameters according to the instruction, thereby removing non-compliant calibration data in real time. The data deletion instruction can be generated by the user through operating the screen of the shooting device, the screen of the shooting device's carrier, or the display screen of the control device, or it can be generated in other ways. For example, upon completion of each calibration, a pop-up dialog box can be displayed on the screen of the shooting device, the screen of the shooting device's carrier, or the display screen of the control device, instructing the user to choose whether to save or delete the angle and lens parameters of the current calibration.

[0135] Optionally, the corresponding angles and lens parameters calibrated above can be saved one-to-one, for example, based on tables, text, or other methods. The processor 30 can also be used to generate calibration files (i.e., the tables, text, etc. files listed above) based on each angle and its corresponding lens parameters and / or conversion relationships. Furthermore, the processor 30 can also be used to modify the corresponding angles and lens parameters in the calibration file according to a calibration data modification instruction if one is received. The calibration data modification instruction can be generated by the user through operating the screen of the shooting device, the screen of the shooting device's carrier, or the display screen of the control device, or it can be generated in other ways. The specific method of modifying the calibration data can adopt existing data modification methods.

[0136] During the calibration process described above, the number of calibrations can be set as needed. Theoretically, the more calibrations, the better the focusing, zooming, and / or aperture adjustment effects, but this will increase the calibration time. Therefore, setting the number of calibrations to 5 is preferable.

[0137] The user can manually control the rotation of the motor 20 in any way, including by using a handle, buttons, or a touchscreen.

[0138] In addition, the recording of calibration data is not limited to recording on the operation screen; it can also be recorded through voice recognition, remote control, and other methods.

[0139] After the above conversion relationship is calibrated, the lens parameters of the manual lens 100 can be semi-automatically adjusted (also known as auxiliary parameter adjustment) or fully automatically adjusted based on the conversion relationship. That is, the adjustment mode of the manual lens 100 in this application embodiment may include fully automatic adjustment mode and / or semi-automatic adjustment mode.

[0140] The control system of the manual lens in this application embodiment may further include a memory (not shown) for storing the above conversion relationship, so that the processor 30 can call the above conversion relationship from the memory when performing fully automatic or semi-automatic adjustment.

[0141] The processor 30 in this embodiment is also used to automatically or semi-automatically adjust the lens parameters of the manual lens based on the above conversion relationship when the manual lens 100 is in working state.

[0142] Optionally, the processor 30 is also configured to: enter the fully automatic adjustment mode when receiving an instruction to indicate the activation of the fully automatic adjustment mode.

[0143] Optionally, the processor 30 is also configured to: enter the semi-automatic adjustment mode when receiving an instruction to indicate the activation of the semi-automatic adjustment mode.

[0144] In some embodiments, the above instructions are triggered by the user, such as by the user operating the first control unit on the shooting device, the second control unit on the carrier of the shooting device, or the control device of the shooting device. The first control unit and the second control unit can be buttons, knobs, or other types of control units.

[0145] In some other embodiments, the above instructions are triggered when the shooting scene meets preset conditions. For example, when tracking a high-speed moving object, automatic control will be faster. For instance, when the speed of the object in the shooting scene obtained by the manual lens 100 is greater than or equal to a preset speed threshold, the processor 30 enters a fully automatic adjustment mode.

[0146] The semi-automatic and fully automatic adjustment methods will be introduced below.

[0147] I. Semi-automatic adjustment method

[0148] The shooting device of this application embodiment may include a semi-automatic adjustment mode. In the semi-automatic adjustment mode, the motor 20 rotates based on a second user command. In this embodiment, the user rotates the motor 20 based on prompts output by the processor 30 through the display device 50 to achieve auxiliary adjustment of lens parameters, which greatly improves efficiency compared to the existing manual adjustment method.

[0149] In this embodiment, the processor 30 may be electrically connected to the motor 20, or the processor 30 may not be electrically connected to the motor 20.

[0150] The second user instruction can be generated in different ways. For example, in some embodiments, the second user instruction is generated by the user operating the motor 20, that is, the user directly rotates the motor 20. In other embodiments, the second user instruction is generated by the user operating the handle of the motor 20, which is used to drive the motor 20 to rotate. In still other embodiments, the second user instruction is generated by operating an external control device (which can be the control device of the shooting device). The external control device is communicatively connected to the processor 30 via the shooting device, and the processor 30 is used to control the rotation of the motor 20 based on the second user instruction. Optionally, the external control device and the shooting device communicate wirelessly to achieve remote control.

[0151] Figure 7 This is a flowchart illustrating the semi-automatic adjustment of lens parameters of the manual lens 100 in one embodiment of this application; please refer to [link / reference]. Figure 7 When the lens parameters of the manual lens 100 are adjusted in a semi-automatic manner, the processor 30 is used to implement steps S701 to S703.

[0152] In S701, when the shooting device is in semi-automatic adjustment mode, the feature map of the real-time image captured by the manual lens 100 is displayed on the display device 50.

[0153] In S702, a parameter scale is displayed in the feature map. The parameter scale is used to characterize the range information of the lens parameters.

[0154] In S703, the first scale position indicator of the target lens parameter on the parameter scale and the second scale position indicator of the current lens parameter on the parameter scale are displayed in the feature map to indicate to the user to input a second user command.

[0155] Optionally, in the feature map, the feature information of the target object is highlighted in a preset display mode, which may include a preset shape or color or a combination of the above modes.

[0156] In addition, the position indicators of the first and second rulers can be set as needed, such as arrows or other marking methods.

[0157] Furthermore, the processor 30 can also be used to display a real-time image via the display device 50 and annotate the target object in the real-time image. This target object is the content of interest to the user during the current parameter adjustment, such as a face, fruit, car, animal, or other area. Optionally, the target object is selected from multiple objects captured by the manual lens 100; for example, the selection can be based on user instructions or on information from the captured image. Understandably, the target object can also be determined in other ways.

[0158] For example, to facilitate interaction, the processor 30 displays real-time images through the screen of the shooting device, the screen of the carrier of the shooting device, or the display screen of the control device, and provides prompts for the ROI (Region of Interest) in the embodiment images, such as... Figure 8 The primary and secondary ROIs can be labeled separately using a selection box method to prompt the user to select one as the target object. In this embodiment, the content of the ROI is transmitted using the center coordinates of the ROI (such as the coordinates of the center point of the human eye in the current screen).

[0159] The following explanation uses the example of a zoom motor used to adjust the focal length of a manual lens 100, a focus motor used to adjust the focus distance of a manual lens 100, and an aperture motor used to adjust the aperture of a manual lens 100 to illustrate the lens parameters of a semi-automatic manual lens 100.

[0160] (I) Assisted Focusing

[0161] Lens parameters include focusing distance, and the conversion relationship includes a first conversion relationship between the rotation angle of the focusing motor and the focusing distance of the manual lens 100. Optionally, the feature map includes a depth map, and the parameter scale includes a first parameter scale, which is used to characterize the range information of the focusing distance of the manual lens 100. In the depth map, the position of the depth information of different objects is determined based on the distance between the different objects and the shooting device and the first conversion relationship, thereby associating the depth information with the first parameter scale and unifying the range reference between the focusing distance and the depth information.

[0162] In this embodiment, the target lens parameters include the actual distance from the target object in the real-time image to the manual lens 100, the current lens parameters include the current focus distance of the manual lens 100, the first scale position identifier is set at the position of the target object in the depth map and can indicate the position of the target object's distance on the first parameter scale, and the second scale position identifier is used to indicate the actual distance from the target object in the real-time image to the manual lens 100.

[0163] The actual distance can be obtained based on a range sensor on the shooting device, which is set parallel to the manual lens 100 to ensure the accuracy of the actual distance measurement. Alternatively, the actual distance can also be obtained based on an external range sensor or through manual measurement.

[0164] Optionally, the second scale position indicator includes a first arrow pointing to the position on the first parameter scale corresponding to the current focus distance, thereby prompting the user about the current focus distance of the manual lens 100.

[0165] Further optionally, a first parameter scale is displayed in a first direction of the depth map, and the extension direction of the first arrow is a second direction, where the first direction represents one of the height and width of the depth map, and the second direction represents the other of the height and width of the depth map, as shown below. Figure 8 In this diagram, the first direction is the height direction of the depth map, and the second direction is the width direction of the depth map. It is understandable that the first and second directions can also be set to other directions.

[0166] Optionally, please see Figure 8 The first parameter ruler is displayed on one side of the depth map, such as on the right side, to avoid obscuring the depth map; of course, the first parameter ruler can also be displayed in other areas of the depth map.

[0167] Optionally, please see again Figure 8 The first arrow extends to both ends of the second direction to provide a clear prompt to the user; of course, the first arrow may also extend only to the end of the second direction facing the first parameter scale.

[0168] In this embodiment, when the focusing motor rotates based on the second user command, the first arrow moves along the first direction until it reaches the first scale position mark (also referred to as the first arrow coinciding with the first scale position mark). The user can determine whether the current focusing distance of the manual lens 100 is equal to the actual distance from the target object in the real-time image to the manual lens 100 by observing whether the first arrow coincides with the first scale position mark in the depth map, thereby determining whether the manual lens 100 has completed focusing. Specifically, when the first arrow in the depth map does not coincide with the first scale position mark, it indicates that the current focusing distance of the manual lens 100 is not equal to the actual distance from the target object in the real-time image to the manual lens 100. The user can operate the handle or control device to rotate the focusing motor, thereby adjusting the focusing distance of the manual lens 100. When adjusting the focusing distance of the manual lens 100, the first arrow will move along the first direction. When the first arrow in the depth map coincides with the first scale position mark, it indicates that the current focusing distance of the manual lens 100 is equal to the actual distance from the target object in the real-time image to the manual lens 100, and focusing is complete. It should be noted that in this embodiment, when the first arrow passes through the center of the first scale position mark, it indicates that the first arrow coincides with the first scale position mark; when the first arrow does not pass through the center of the first scale position mark, it indicates that the first arrow does not coincide with the first scale position mark.

[0169] If the target object is stationary, the position of the first scale indicator remains unchanged; if the target object is moving, the position of the first scale indicator changes. Optionally, during assisted focusing, the display device 50 may also display other content, such as the numerical value of the actual distance from the target object in the real-time image to the manual lens 100.

[0170] The system determines whether the manual lens 100 has completed focusing by checking whether the first and second scale position marks currently displayed on the display device 50 overlap, thereby achieving the effect of assisted focusing. This replaces the existing manual focusing method where the user observes the real-time image for clarity with the naked eye. Furthermore, the assisted focusing method in this embodiment is not affected by environmental factors such as light and temperature, reducing focusing time while greatly improving focusing accuracy.

[0171] (II) Auxiliary zoom

[0172] Lens parameters include focal length, and correspondingly, the conversion relationship includes a second conversion relationship between the rotation angle of the zoom motor and the focal length of the manual lens 100. The parameter scale includes a second parameter scale, which is used to characterize the range information of the focal length of the manual lens 100. In the real-time image, the display size and / or display position of different objects are determined based on the actual size of the objects in the real-time image and the second conversion relationship, thereby associating the display size and / or display position of objects in the real-time image with the second parameter scale, and unifying the range reference between the display size and / or display position of objects in the real-time image and the focal length.

[0173] In this embodiment, the target lens parameters include the target focal length corresponding to the manual lens 100 when the target object is displayed in the real-time image at the target size and / or target position, and the current lens parameters include the current focal length of the manual lens 100. The target size and / or target position can be set by the user. In this embodiment, the first scale position indicator is used to indicate the target focal length, and the second scale position is used to indicate the current focal length.

[0174] Optionally, please see Figure 9 The first scale position marker includes a second arrow, which points to the target focal length on the second parameter scale. The second scale position marker includes a third arrow, which points to the current focal length on the second parameter scale. It is understood that other marking methods can also be used for the first and second scale position markers.

[0175] Optionally, please see again Figure 9 The second parameter scale is displayed in a third direction of the real-time image. The extension directions of the second and third arrows are the fourth direction. The third direction is one of the height and width of the real-time image, and the fourth direction is the other of the height and width of the real-time image. It can be understood that the third and fourth directions can also be set to other directions.

[0176] Optionally, please see again Figure 9 The second parameter ruler is displayed on one side of the live image, such as the right side, to avoid occlusion of the depth map. Of course, the second parameter ruler can also be displayed in other areas of the live image. For example, it can be displayed to the right of the first parameter ruler.

[0177] Optionally, the second and third arrows can be the same size and shape; of course, the second and third arrows can also be different in size and shape.

[0178] In this embodiment, when the zoom motor rotates based on the second user command, the third arrow moves along the third direction until it coincides with the second arrow in the third direction. The user can determine whether the current focal length of the manual lens 100 is equal to the target focal length corresponding to the manual lens 100 when the target object is displayed in the real-time image at the target size and / or target position, thereby determining whether the focal length adjustment of the manual lens 100 is complete. Specifically, when the second and third arrows in the real-time image do not coincide, it indicates that the current focal length of the manual lens 100 is not equal to the target focal length of the manual lens 100 when the target object is displayed in the real-time image at the target size and / or target position. The user can adjust the focal length of the manual lens 100 by operating the handle or control device to rotate the zoom motor. In this way, the display size and / or display position of the target object (i.e., the main ROI) in the real-time image changes accordingly. At the same time, during the adjustment of the focal length of the manual lens 100, the third arrow moves along the third direction. When the second and third arrows in the real-time image coincide, it indicates that the current focal length of the manual lens 100 is equal to the target focal length of the manual lens 100 when the target object is displayed in the real-time image at the target size and / or target position, and the focal length adjustment is complete.

[0179] Furthermore, during assisted zooming, the display device 50 can also display other content, such as the numerical value of the current focal length of the manual lens 100.

[0180] It should be noted that when the target object is displayed in the real-time image at the target size and / or target position using the above-described assisted zoom method, the target object may be blurry in the real-time image. Users can quickly focus using the focus assistance in the above embodiments. In this embodiment, the lens parameters also include the focus distance. The focus distance is adjusted after the focus length adjustment is completed. For details, please refer to the description of the focus assistance section in the above embodiments, which will not be repeated here.

[0181] In addition, since the focal length of the manual lens 100 may change, the current focusing distance of the manual lens 100 will be calculated by adjusting the current focusing distance of the manual lens 100 according to a specific ratio based on the calibrated focal length and the current focal length of the manual lens 100.

[0182] Optionally, in the above embodiments, when performing focus assistance, the depth map is overlaid on one side of the real-time image, such as when the depth map is overlaid on the right side of the real-time image.

[0183] (III) Auxiliary Exposure

[0184] Lens parameters include aperture, and the conversion relationship includes a third conversion relationship between the rotation angle of the aperture motor and the lens aperture. Optionally, the feature map includes a brightness map, and the parameter scale includes a third parameter scale, which is used to characterize the range information of the brightness map and serves as the display reference for the brightness information.

[0185] In this embodiment, the target lens parameters include the target brightness of the target object in the real-time image, the current lens parameters include the current brightness of the target object in the real-time image, and the second scale position indicator is set at the position of the target object in the brightness map. The first scale position indicator is used to indicate the target brightness of the target object in the real-time image, and the second scale position indicator is used to indicate the current brightness of the target object in the real-time image.

[0186] Optionally, the target brightness can be set by the user; alternatively, the target brightness is determined based on the brightness information of different positions in the real-time image. The different positions can be the area surrounded by a preset distance from the center of the target object. When setting the target brightness, the brightness information of different positions in the real-time image is taken into account. After adjusting the aperture of the manual lens 100 based on the target brightness, the brightness information of the real-time image will not be too abrupt and will be more in line with user habits.

[0187] Optionally, please see Figure 10 The first scale position marker includes a fourth arrow, which points to the position of the target brightness on the third parameter scale. It is understood that other marking methods can also be used for the first scale position marker.

[0188] Optionally, please see again Figure 10 The third parameter scale is displayed in the fifth direction of the brightness map, and the fourth arrow extends in the sixth direction. The fifth direction represents one of the height and width of the brightness map, and the sixth direction represents the other. It is understandable that the fifth and sixth directions can also be set to other directions.

[0189] Optionally, please see again Figure 10 The third parameter ruler is displayed on one side of the brightness map, such as on the left side, to avoid the third parameter ruler obscuring the depth map; of course, the third parameter ruler can also be displayed in other areas of the brightness map.

[0190] Optionally, please see again Figure 10 The fourth arrow extends to both ends of the sixth direction, providing a clear prompt to the user; of course, the fourth arrow may also extend only to the end of the sixth direction facing the third parameter scale.

[0191] In this embodiment, when the aperture motor rotates based on the second user command, the second scale position indicator moves along the fifth direction until it coincides with the fourth arrow in the fifth direction. The user can determine whether the current brightness of the target object in the real-time image is equal to the target brightness of the target object in the real-time image by observing whether the second scale position indicator in the brightness diagram coincides with the fourth arrow, thereby determining whether the aperture size of the manual lens 100 has been adjusted. Specifically, when the second scale position indicator in the brightness diagram does not coincide with the fourth arrow, it indicates that the current brightness of the target object in the real-time image is not equal to the target brightness of the target object in the real-time image. The user can rotate the aperture motor by operating the handle or control device to adjust the aperture size of the manual lens 100. When adjusting the aperture size of the manual lens 100, the second scale position indicator will move along the fifth direction; when the second scale position indicator in the brightness diagram coincides with the fourth arrow, it indicates that the current brightness of the target object in the real-time image is equal to the target brightness of the target object in the real-time image, and the aperture adjustment of the manual lens 100 is complete. It should be noted that in this embodiment, when the fourth arrow passes through the center of the second ruler position mark, it indicates that the fourth arrow coincides with the second ruler position mark; when the fourth arrow does not pass through the center of the second ruler position mark, it indicates that the fourth arrow does not coincide with the second ruler position mark.

[0192] Furthermore, during assisted exposure, the display device 50 can also display other content, such as the numerical value of the current brightness of the target object in the real-time image.

[0193] Optionally, in the above embodiments, when performing auxiliary exposure, the brightness map is displayed over one side of the real-time image, such as when the brightness map is displayed over the bottom of the real-time image.

[0194] II. Fully Automatic Adjustment

[0195] The shooting device includes a fully automatic adjustment mode. Figure 11 This is a flowchart illustrating the automatic adjustment of lens parameters of the manual lens 100 in one embodiment of this application; please refer to [link / reference]. Figure 11 When automatically adjusting the lens parameters of the manual lens 100, the processor 30 is used to implement step S1101.

[0196] In S1101, when the shooting device is in fully automatic adjustment mode, the motor 20 is controlled to rotate based on the target rotation angle.

[0197] Taking the zoom motor used to adjust the focal length of the manual lens 100, the focus motor used to adjust the focusing distance of the manual lens 100, and the aperture motor used to adjust the aperture of the manual lens 100 as an example, the implementation of S1101 will be described.

[0198] (I) Autofocus

[0199] Lens parameters include focusing distance, and the conversion relationship includes a first conversion relationship between the rotation angle of the focusing motor and the focusing distance of the lens. The target rotation angle is determined based on the first conversion relationship and the distance information from the target object currently being photographed by the manual lens 100 to the manual lens 100. Based on this target rotation angle, the processor 30 controls the rotation of the focusing motor to realize the autofocus function of the manual lens 100. For example, the first conversion relationship is a function, and the distance information from the target object currently being photographed by the manual lens 100 to the manual lens 100 can be directly input into this function to determine the target rotation angle.

[0200] The distance information from the target object currently being photographed by the manual lens 100 to the manual lens 100 can be determined based on the actual distance detected by the range sensor on the shooting device.

[0201] Limited by the measurement range of the range sensor on the shooting device, different methods can be used to determine the distance information from the target object currently being shot by the manual lens 100 to the manual lens 100 in order to improve the accuracy of the distance information. In this embodiment, when the actual distance detected by the range sensor on the shooting device is less than or equal to a preset distance threshold, the distance information from the target object currently being shot by the manual lens 100 to the manual lens 100 is determined based on the actual distance. When the actual distance detected by the range sensor on the shooting device is greater than the preset distance threshold, the sensor's distance is no longer used for automatic focusing; instead, existing image processing methods are used to determine whether the lens parameters of the manual lens have been adjusted, such as whether focusing has been completed. The preset distance threshold can be determined based on the measurement range of the range sensor. Within a distance range greater than the preset distance threshold, the measurement accuracy of the range sensor decreases; within a distance range less than or equal to the preset distance threshold, the measurement accuracy of the range sensor meets the user's needs.

[0202] When the actual distance detected by the range sensor on the shooting device falls within different numerical ranges, the processor 30 controls the focus motor to rotate in different ways based on the target rotation angle.

[0203] 1. The actual distance detected by the ranging sensor on the shooting device is less than or equal to the preset distance threshold.

[0204] The processor 30 is used to control the rotation angle of the target by the focusing motor when the actual distance detected by the range sensor on the shooting device is less than or equal to a preset distance threshold. In other words, the processor 30 controls the rotation angle of the target by the focusing motor in a one-step manner.

[0205] The autofocus function can be implemented by a multi-chip system or by a single-chip system.

[0206] Optionally, the shooting device is mounted on a gimbal. The processor 30 includes a first processor and a second processor. The first processor acquires real-time images captured by the manual lens 100 and transmits these images to the second processor. The second processor acquires the actual distance detected by the range sensor, extracts features from the real-time image based on the actual distance, obtains the target object and its first position information in the real-time image, and sends this first position information to the gimbal. The gimbal then rotates based on this first position information to position the target object at a preset position in the real-time image. Using two processors 30 reduces the performance requirements compared to using a single processor 30.

[0207] Optionally, the second processor is further configured to transmit the depth / distance / feature information of each pixel in the real-time image or the depth information of each pixel in the real-time image and the first position information of the target object in the real-time image to the first processor. The first processor is configured to highlight the feature information of the target object in the above feature map in a preset display mode based on the depth information of each pixel in the real-time image and / or the first position information of the target object in the real-time image.

[0208] In this embodiment of the application, the ROI can be determined by the second processor based on the global depth map or indicated by the first processor.

[0209] Optionally, the depth information of each pixel in the real-time image carries the corresponding time information and identity ID information of the real-time image, thereby maintaining the synchronization of image data information.

[0210] 2. The actual distance detected by the distance sensor on the shooting device is greater than the preset distance threshold.

[0211] The processor 30 is used to: when the actual distance detected by the range sensor on the shooting device is greater than the preset distance threshold, control the focus motor to rotate gradually based on the preset rotation angle until the focus motor rotates by the target rotation angle. At this time, the processor 30 adopts a strategy of gradually controlling the rotation of the focus motor.

[0212] Optionally, the processor 30 is used to: control the focus motor to gradually rotate based on a preset rotation angle using contrast-detection autofocus (CDAF) or phase-detection autofocus (PDAF) until the focus motor rotates to the target rotation angle. The preset rotation angle can be set as needed, such as 1 degree or other values. It is understood that contrast-detection autofocus (CDAF) or phase-detection autofocus (PDAF) can also be replaced with other existing focusing methods.

[0213] In one example, processor 30 includes chip 1 (i.e., the second processor) and chip 2 (i.e., the first processor), and the autofocus process may include the following steps:

[0214] (1) Chip 2 acquires real-time images captured by manual lens 100 and sends the real-time images to chip 1 through hardware communication;

[0215] (2) The sensing module running on chip 1 generates a depth map based on the depth information measured by the TOF distance sensor and the real-time image, and aligns the depth map according to the image resolution received from chip 2.

[0216] (3) The perception module sends the aligned depth map to the machine learning module on chip 1 and the AF module on chip 2, and sends the real-time image acquired by chip 2 to the machine learning module.

[0217] (4) The machine learning module performs feature recognition on the real-time image based on the depth information measured by the received TOF distance sensor, extracts the ROI coordinate data in the current real-time image, and sends the ROI coordinate data to the AF module of chip 2.

[0218] (5) The machine learning module sends the coordinate data of the center point of the ROI to the gimbal based on the ROI coordinate data.

[0219] (6) The gimbal calculates the required rotation angle of each motor 20 of the gimbal based on the coordinate data of the center point of the ROI, and controls the motor 20 of the gimbal to rotate to the corresponding position.

[0220] (7) The AF of chip 2 fuses the received depth map and ROI coordinate data to obtain the distance from each ROI coordinate point to the current manual lens 100, and obtains TOF-ROI data.

[0221] (8) Since the distance measurement of TOF has a range limitation, in order to focus on targets outside the range of TOF, the AF module will extract the ROI of the current real-time image through image processing to obtain CDAF-ROI data with light phase information.

[0222] (9) The AF module makes decisions based on TOF-ROI data and CDAF-ROI data (for example, when the distance is close or far, the confidence of TOF-ROI data will decrease, and CDAF-ROI data will be used for focusing), calculates the angle that the focusing motor needs to rotate, and controls its rotation.

[0223] (10) Repeat the above steps until focusing is complete.

[0224] The calculation of ROI and AF are performed on two different chips. The following methods can be used to keep the image data information synchronized:

[0225] (1) Based on the local time of chip 2, chip 1 can obtain the reference time of chip 2 through hardware communication with chip 2. The timestamps transmitted between systems are all based on the time of chip 2.

[0226] (2) The real-time image transmitted from chip 2 to chip 1 contains timestamp and frame ID information;

[0227] (3) The ROI coordinate data transmitted from the machine learning module of chip 1 to the AF module of chip 2 includes the timestamp and frame ID information of the real-time image (i.e., at what time point and based on which real-time image the ROI was calculated).

[0228] (4) The depth map transmitted from the machine perception module of chip 1 to the AF module of chip 2 contains the timestamp and frame ID information of the real-time image (i.e., at what time point the depth map is aligned with which real-time image).

[0229] (5) The AF module matches the image frame data according to the timestamp and frame ID information in steps (4) and (5) to accurately obtain the depth information of each ROI coordinate point.

[0230] It is understandable that the alignment of image data information can be achieved using other algorithms.

[0231] In addition, if the shooting device does not have a range sensor, existing focusing methods such as contrast-detection CDAF or phase-detection PDAF will be used to autofocus the calibrated manual lens 100.

[0232] (II) Automatic zoom

[0233] Lens parameters include focal length, and the conversion relationship includes a second conversion relationship between the rotation angle of the zoom motor and the focal length of the lens. The target rotation angle includes a first target rotation angle, which is determined based on the second conversion relationship and the target focal length. The processor 30 controls the zoom motor to rotate based on this target rotation angle, thereby realizing the automatic zoom function of the manual lens 100. For example, if the second conversion relationship is a function, the distance information from the target focal length to the manual lens 100 can be directly input into this function to determine the target rotation angle.

[0234] Optionally, the target focal length is set by the user; alternatively, the target focal length is determined based on the position of the target object in the real-time image captured by the manual lens 100 and the ratio of the target size to the area of ​​the real-time image. The target size can be a fixed size or set by the user. Understandably, the target focal length can also be set in other ways.

[0235] Optionally, the result of automatic zoom is that the area ratio of the main ROI in the live image is the largest. Generally, the upper and lower edges of the main ROI are close to the upper and lower edges of the live image. The specific area ratio after zoom can be set by the user. For example, setting it to 50% means that the height of the object after zoom is half of that in the live image.

[0236] In one example, the steps to implement the auto zoom function of manual lens 100 are as follows:

[0237] When the user has selected a main ROI or a main ROI exists in the live image, the processor 30 will calculate the zoomed focal length (or the required magnification / reduction factor) based on the position and area ratio of the main ROI according to the area ratio set by the user after zooming, and control the zoom motor to complete the zoom in one step. Optionally, the current focal length of the manual lens will be displayed in real time during the zooming process. The reason for obtaining the position of the main ROI is that during the zooming process, the vertical coordinate of the center point of the main ROI may not be on the center line of the current image. At this time, the processor 30 will control the gimbal to adjust the main ROI to the center line during the zooming process. It should be noted that the ROI after automatic zoom is blurred in the live image, but the focal length of the manual lens 100 no longer changes. The processor 30 will complete the automatic focusing process of the current live image according to the automatic focusing method in the above embodiment. The lens parameters in this embodiment also include the focusing distance, which the processor 30 uses to control the zoom motor to rotate based on the first target rotation angle. The conversion relationship includes a first conversion relationship between the rotation angle of the zoom motor and the focusing distance of the lens. The target rotation angle includes a second target rotation angle, which is determined based on the first conversion relationship and the distance information from the target object currently being photographed by the manual lens 100 to the manual lens 100. The processor 30 is used to: after controlling the zoom motor to rotate based on the first target rotation angle, control the focusing motor to rotate based on the second target rotation angle. For details, please refer to the description of the autofocus process in the above embodiments, which will not be repeated here.

[0238] (III) Automatic Exposure

[0239] Lens parameters include aperture, and the conversion relationship includes a third conversion relationship between the rotation angle of motor 20 and the lens aperture. The target rotation angle is determined based on the third conversion relationship and the ambient light intensity at the current position of the shooting device. Based on this target rotation angle, processor 30 controls the aperture motor to rotate, thereby realizing the automatic exposure function of manual lens 100. For example, the third conversion relationship can be a function, and the ambient light intensity at the current position of the shooting device can be directly input into the function to determine the target rotation angle.

[0240] During automatic exposure, the processor sets the aperture size of the manual lens based on the ambient light intensity of the shooting device, and then determines the target rotation angle by combining the third conversion relationship. For example, in a scene where the light is too dim, the manual lens can be adjusted to the maximum aperture; if the light is too bright, the aperture size is reduced.

[0241] This application also provides a control method for a shooting device; please refer to [link / reference]. Figure 12 The control method of the shooting device may include steps S1201 to S1202.

[0242] In S1201, when calibrating the lens parameters of the manual lens, the lens parameters of the manual lens of the shooting device are obtained when the motor is controlled to rotate to different angles. A parameter adjustment ring is fitted on the manual lens. The parameter adjustment ring is rotated by the motor to adjust the size of the lens parameters of the manual lens.

[0243] In S1202, based on each angle and the corresponding lens parameters, the conversion relationship between the motor rotation angle and the lens parameters is calibrated. When the lens parameters of the manual lens are adjusted in a fully automatic or semi-automatic manner, the motor is controlled to rotate to the target rotation angle to adjust the lens parameters of the manual lens to the target lens parameters. The target rotation angle of the motor is determined based on the conversion relationship and the target lens parameters.

[0244] In some embodiments, lens parameters include at least one of focusing distance, focal length, and aperture.

[0245] In some embodiments, the lens parameters include multiple types, with different types of lens parameters corresponding to different parameter adjustment rings, and the different parameter adjustment rings are arranged along the optical axis of the manual lens.

[0246] In some embodiments, different parameter adjustment rings are driven by different motors.

[0247] In some embodiments, different angles are determined based on the motor's drive information; or, different angles are acquired by an angle sensor on the motor; or, different angles are input from an external source.

[0248] In some embodiments, lens parameters are obtained from external inputs and / or sensor detection on the shooting device.

[0249] In some embodiments, the lens parameters include the focusing distance, and the different angles include: manually pointing the lens at the object at different distances to take pictures, and when the sharpness of the image of the object taken by the manual lens is greater than a preset sharpness threshold, the first angle that the motor needs to rotate.

[0250] In some embodiments, the different distances include: a first distance, a second distance, and at least one distance between the first distance and the second distance, wherein the first distance is greater than the second distance.

[0251] In some embodiments, the method further includes: when the center of the manual lens is aligned with an object at a first distance, a second distance, and at least one distance between the first distance and the second distance, respectively, calibrating a first angle of the motor corresponding to the first distance, the second distance, and at least one distance between the first distance and the second distance.

[0252] In some embodiments, the focusing distance is obtained based on a range sensor detected on the shooting device and / or external input.

[0253] In some embodiments, lens parameters include focal length, and different angles include different second angles; the motor rotates to different second angles based on a first user command so that the manual lens is at different focal lengths.

[0254] In some embodiments, different focal lengths include: a first focal length, a second focal length, and at least one focal length between the first focal length and the second focal length, wherein the first focal length is greater than the second focal length.

[0255] In some embodiments, the lens parameters also include the focusing distance of the shooting device at at least one focal length among different focal lengths; the different angles also include: a third angle required for the motor to rotate when the shooting device manually points the lens at different distances to shoot objects at at least one focal length, and the image of the shooting object taken by the manual lens has a sharpness greater than a preset sharpness threshold.

[0256] In some embodiments, the different distances include: a third distance, a fourth distance, and at least one distance between the third distance and the fourth distance, wherein the third distance is greater than the fourth distance.

[0257] In some embodiments, the focusing distance is obtained based on a range sensor detected on the shooting device and / or external input.

[0258] In some embodiments, lens parameters include aperture, and different angles include different fourth angles; the motor rotates to different fourth angles based on a first user command so that the manual lens is at different apertures.

[0259] In some embodiments, different apertures include: a first aperture, a second aperture, and at least one aperture between the first aperture and the second aperture, wherein the first aperture is larger than the second aperture.

[0260] In some embodiments, based on each angle and the corresponding lens parameters, the conversion relationship between the motor rotation angle and the lens parameters is calibrated, including: based on each angle and the corresponding lens parameters, the conversion relationship between the motor rotation angle and the lens parameters is calibrated by interpolation.

[0261] In some embodiments, the shooting device includes a semi-automatic adjustment mode, in which the motor rotates based on a second user command.

[0262] In some embodiments, the second user instruction is generated by the user operating the motor; or, the second user instruction is generated by the user operating a handle, which is used to drive the motor to rotate; or, the second user instruction is generated by operating an external control device.

[0263] In some embodiments, the method further includes: when the shooting device is in a semi-automatic adjustment mode, displaying a feature map of a real-time image captured by a manual lens via a display device; displaying a parameter scale in the feature map, the parameter scale being used to characterize the range information of the lens parameters; and displaying a first scale position identifier of the target lens parameter on the parameter scale and a second scale position identifier of the current lens parameter on the parameter scale in the feature map to instruct the user to input a second user command.

[0264] In some embodiments, the lens parameters include a focusing distance, the feature map includes a depth map, and the conversion relationship includes a first conversion relationship between the rotation angle of the motor and the focusing distance of the manual lens; in the depth map, the position where the depth information of different objects is displayed is determined based on the distance between the different objects and the shooting device and the first conversion relationship.

[0265] In some embodiments, the parameter scale includes a first parameter scale, which is used to characterize the range information of the focusing distance of the manual lens; the target lens parameter includes the actual distance from the target object in the real-time image to the manual lens; the current lens parameter includes the current focusing distance of the manual lens; and the first scale position identifier is set at the position of the target object in the depth map.

[0266] In some embodiments, the actual distance is obtained based on a ranging sensor on the shooting device.

[0267] In some embodiments, the range sensor is arranged parallel to the manual lens.

[0268] In some embodiments, the second scale position identifier includes a first arrow pointing to a position on the first parameter scale corresponding to the current focus distance.

[0269] In some embodiments, a first parameter scale is displayed in a first direction of the depth map, and the extension direction of the first arrow is a second direction. The first direction is one of the height and width of the depth map, and the second direction is the other of the height and width of the depth map.

[0270] In some embodiments, a first parameter scale is displayed on one side of the depth map, and a first arrow extends to both ends of a second direction.

[0271] In some embodiments, when the motor rotates based on a second user command, the first arrow moves along a first direction until the first arrow moves to the first scale position mark in the first direction.

[0272] In some embodiments, lens parameters include focal length, and the conversion relationship includes a second conversion relationship between the rotation angle of the motor and the focal length of the manual lens; in the real-time image, the display size and / or display position of different objects are determined based on the actual size of the different objects in the real-time image and the second conversion relationship.

[0273] In some embodiments, the parameter scale includes a second parameter scale, which is used to characterize the range information of the focal length of the manual lens; the target lens parameter includes the target focal length of the manual lens when the target object is displayed in the real-time image at the target size and / or target position; and the current lens parameter includes the current focal length of the manual lens.

[0274] In some embodiments, the first scale position identifier includes a second arrow pointing to the target focal length on the second parameter scale.

[0275] In some embodiments, the second scale position indicator includes a third arrow pointing to the current focal length on the second parameter scale.

[0276] In some embodiments, the second parameter scale is displayed in a third direction of the real-time image, the extension direction of the second arrow and the third arrow is the fourth direction, the third direction is one of the height and width of the real-time image, and the fourth direction is the other of the height and width of the real-time image.

[0277] In some embodiments, a second parameter scale is displayed on one side of the live image.

[0278] In some embodiments, when the motor rotates based on a second user command, the third arrow moves along a third direction until it coincides with the second arrow in the third direction.

[0279] In some embodiments, the lens parameters also include the focus distance, which is adjusted after the focus adjustment is completed.

[0280] In some embodiments, lens parameters include aperture, feature map includes brightness map, and conversion relationship includes a third conversion relationship between the rotation angle of the motor and the aperture of the lens.

[0281] In some embodiments, the parameter scale includes a third parameter scale, which is used to characterize the range information of the brightness map; the target lens parameter includes the target brightness of the target object in the real-time image, the current lens parameter includes the current brightness of the target object in the real-time image, and the second scale position identifier is set at the position of the target object in the brightness map.

[0282] In some embodiments, the target brightness is determined based on brightness information at different locations in a real-time image.

[0283] In some embodiments, the first scale position identifier includes a fourth arrow, which points to the position on the third parameter scale corresponding to the target brightness.

[0284] In some embodiments, the third parameter scale is displayed in the fifth direction of the luminance map, the fourth arrow extends in the sixth direction, the fifth direction is one of the height and width of the luminance map, and the sixth direction is the other of the height and width of the luminance map.

[0285] In some embodiments, a third parameter scale is displayed on one side of the brightness graph, and a fourth arrow extends to both ends of a sixth direction.

[0286] In some embodiments, when the motor rotates based on a second user command, the second scale position indicator moves along a fifth direction until it coincides with the fourth arrow in the fifth direction.

[0287] In some embodiments, the feature information of the target object is highlighted in the feature map using a preset display method.

[0288] In some embodiments, the method further includes: displaying a real-time image via a display device; and annotating the target object in the real-time image.

[0289] In some embodiments, the target object is selected from a plurality of objects captured by a manual lens.

[0290] In some embodiments, selection is made based on user instructions or based on captured image information.

[0291] In some embodiments, the shooting device includes a fully automatic adjustment mode, and the method includes: when the shooting device is in the fully automatic adjustment mode, controlling the rotation of a motor based on the target rotation angle.

[0292] In some embodiments, the lens parameters include the focusing distance, the conversion relationship includes a first conversion relationship between the rotation angle of the motor and the focusing distance of the lens, and the target rotation angle is determined based on the first conversion relationship and the distance information from the target object currently being photographed by the manual lens to the manual lens.

[0293] In some embodiments, when the actual distance detected by the ranging sensor on the shooting device is less than or equal to a preset distance threshold, the distance information is determined based on the actual distance.

[0294] In some embodiments, controlling the motor to rotate based on the target rotation angle includes: when the actual distance is less than or equal to a preset distance threshold, controlling the motor to rotate by the target rotation angle.

[0295] In some embodiments, the shooting device is mounted on a gimbal, and the method further includes: acquiring a real-time image captured by a manual lens through a first processor, and transmitting the real-time image to a second processor; acquiring the actual distance detected by a ranging sensor through the second processor, and performing feature extraction on the real-time image based on the actual distance to obtain the target object and the first position information of the target object in the real-time image, and sending the first position information to the gimbal, wherein the gimbal rotates based on the first position information to position the target object at a preset position in the real-time image.

[0296] In some embodiments, the method further includes: transmitting depth information of each pixel of the real-time image and first position information of the target object in the real-time image to the first processor via the second processor; and highlighting the feature information of the target object in a preset display mode in the feature map of the real-time image based on the depth information of each pixel of the real-time image and / or the first position information of the target object in the real-time image via the first processor.

[0297] In some embodiments, the depth information of each pixel in a real-time image carries the corresponding time information and identity ID information of the real-time image.

[0298] In some embodiments, when the actual distance detected by the ranging sensor on the shooting device is greater than a preset distance threshold, the lens parameters of the manual lens are determined based on the image processing method to determine whether the adjustment is complete.

[0299] In some embodiments, controlling the motor to rotate based on a target rotation angle includes: when the actual distance is greater than a preset threshold, controlling the motor to rotate gradually based on a preset rotation angle until the motor rotates to the target rotation angle.

[0300] In some embodiments, based on a preset rotation angle, controlling the motor to rotate gradually until the motor rotates to the target rotation angle includes: based on the preset rotation angle, controlling the motor to rotate gradually through contrast-detection CDAF or phase-detection PDAF until the motor rotates to the target rotation angle.

[0301] In some embodiments, the lens parameters include focal length, the conversion relationship includes a second conversion relationship between the rotation angle of the motor and the focal length of the lens, and the target rotation angle includes a first target rotation angle, which is determined based on the second conversion relationship and the target focal length.

[0302] In some embodiments, the target focal length is determined based on the actual size of the target object in a real-time image captured by a manual lens and the target size.

[0303] In some embodiments, the lens parameters further include a focusing distance, and the motor includes a zoom motor and a focusing motor, the zoom motor being used to adjust the focal length of the manual lens, and the focusing motor being used to adjust the focusing distance of the manual lens; controlling the motor rotation based on the target rotation angle includes: controlling the zoom motor rotation based on a first target rotation angle.

[0304] In some embodiments, the conversion relationship includes a first conversion relationship between the rotation angle of the motor and the focusing distance of the lens, and the target rotation angle includes a second target rotation angle, which is determined based on the first conversion relationship and the distance information from the target object currently being photographed by the manual lens to the manual lens; the method further includes: after controlling the zoom motor to rotate based on the first target rotation angle, controlling the focusing motor to rotate based on the second target rotation angle.

[0305] In some embodiments, the lens parameters include the aperture, and the conversion relationship includes a third conversion relationship between the rotation angle of the motor and the aperture of the lens. The target rotation angle is determined based on the third conversion relationship and the light intensity of the environment in which the shooting device is currently located.

[0306] In some embodiments, the method further includes: obtaining a calibration data deletion instruction; and deleting the corresponding angle and lens parameters according to the calibration data deletion instruction.

[0307] In some embodiments, the method further includes generating a calibration file based on each angle and the corresponding lens parameters and / or conversion relationships.

[0308] In some embodiments, the method further includes: obtaining a calibration data modification instruction; and modifying the corresponding angle and lens parameters in the calibration file according to the calibration data modification instruction.

[0309] The specific implementation process of the control method of the shooting device in this application embodiment can be found in the description of the control system of the shooting device in the above embodiment, and will not be repeated here.

[0310] This application embodiment also provides a control system for an imaging device, the control system including:

[0311] A parameter adjustment ring is fitted onto a manual lens. The parameter adjustment ring can be rotated to adjust the lens parameters of the manual lens.

[0312] The motor is used to drive the parameter adjustment ring to rotate;

[0313] processor; and

[0314] Memory;

[0315] The processor is used to calibrate the conversion relationship between the rotation angle of the motor and the lens parameters of the manual lens, and the memory is used to store the conversion relationship.

[0316] The processor is also used to automatically or semi-automatically adjust the lens parameters of the manual lens based on the conversion relationship when the manual lens is in operation.

[0317] In some embodiments, the adjustment mode of the manual lens includes a fully automatic adjustment mode, and the processor is further configured to: enter the fully automatic adjustment mode when receiving an instruction to initiate the fully automatic adjustment mode.

[0318] In some embodiments, the processor is further configured to: control the motor rotation based on the target rotation angle in fully automatic adjustment mode.

[0319] In some embodiments, the lens parameters include the focusing distance, the conversion relationship includes a first conversion relationship between the rotation angle of the motor and the focusing distance of the lens, and the target rotation angle is determined based on the first conversion relationship and the distance information from the target object currently being photographed by the manual lens to the manual lens.

[0320] In some embodiments, when the actual distance detected by the ranging sensor on the shooting device is less than or equal to a preset distance threshold, the distance information is determined based on the actual distance.

[0321] In some embodiments, the processor is further configured to: control the motor to rotate the target rotation angle when the actual distance is less than or equal to a preset distance threshold.

[0322] In some embodiments, the processor is further configured to: when the actual distance detected by the ranging sensor on the shooting device is greater than a preset distance threshold, determine whether the lens parameters of the manual lens have been adjusted based on the image processing method.

[0323] In some embodiments, the processor is further configured to: when the actual distance is greater than a preset threshold, control the motor to rotate gradually based on a preset rotation angle until the motor rotates to the target rotation angle.

[0324] In some embodiments, the processor is further configured to: control the motor to rotate gradually by contrast-detection CDAF or phase-detection PDAF based on a preset rotation angle, until the motor rotates to the target rotation angle.

[0325] In some embodiments, the manual lens adjustment mode includes a semi-automatic adjustment mode, and the processor is further configured to: enter the semi-automatic adjustment mode when receiving an instruction to activate the semi-automatic adjustment mode.

[0326] In some embodiments, the processor is further configured to:

[0327] In semi-automatic adjustment mode, feature maps of real-time images captured by a manual lens are displayed on the display device;

[0328] The feature map displays a parameter scale, which is used to characterize the range information of lens parameters;

[0329] The feature map displays the first scale position marker of the target lens parameters on the parameter scale and the second scale position marker of the current lens parameters on the parameter scale to indicate to the user the input of a second user command.

[0330] In some embodiments, the lens parameters include the focusing distance, the feature map includes a depth map, and the conversion relationship includes a first conversion relationship between the rotation angle of the motor and the focusing distance of the manual lens.

[0331] In the depth map, the position of the depth information of different objects is determined based on the distance between the different objects and the imaging device and the first transformation relationship.

[0332] In some embodiments, the parameter scale includes a first parameter scale, which is used to characterize the range information of the focusing distance of a manual lens;

[0333] The target lens parameters include the actual distance from the target object in the real-time image to the manual lens, the current lens parameters include the current focus distance of the manual lens, and the first scale position marker is set at the position of the target object in the depth map.

[0334] In some embodiments, the actual distance is obtained based on a range sensor on the shooting device.

[0335] In some embodiments, the range sensor is arranged parallel to the manual lens.

[0336] In some embodiments, the second scale position identifier includes a first arrow pointing to a position on the first parameter scale corresponding to the current focus distance.

[0337] In some embodiments, a first parameter scale is displayed in a first direction of the depth map, and the extension direction of the first arrow is a second direction. The first direction is one of the height and width of the depth map, and the second direction is the other of the height and width of the depth map.

[0338] In some embodiments, a first parameter scale is displayed on one side of the depth map, and a first arrow extends to both ends of a second direction.

[0339] In some embodiments, when the motor rotates based on a second user command, the first arrow moves along a first direction until the first arrow moves to the first scale position mark in the first direction.

[0340] In some embodiments, the instruction is triggered by the user, or the instruction is triggered based on the shooting scene meeting preset conditions.

[0341] This application embodiment also provides a method for controlling a manual lens, the method comprising:

[0342] The conversion relationship between the rotation angle of the calibrated motor and the lens parameters of the manual lens is established. A parameter adjustment ring is fitted on the manual lens. The parameter adjustment ring is rotated by the motor to adjust the lens parameters of the manual lens. The conversion relationship is stored in the memory.

[0343] When the manual lens is in operation, the lens parameters are adjusted automatically or semi-automatically based on the conversion relationship.

[0344] In some embodiments, the manual lens adjustment mode includes a fully automatic adjustment mode, and the method further includes:

[0345] When a command is received indicating that the fully automatic adjustment mode should be activated, the fully automatic adjustment mode is entered.

[0346] In some embodiments, fully automatic adjustment of lens parameters for manual lenses based on conversion relationships includes:

[0347] In fully automatic adjustment mode, the motor rotation is controlled based on the target rotation angle.

[0348] In some embodiments, the lens parameters include the focusing distance, the conversion relationship includes a first conversion relationship between the rotation angle of the motor and the focusing distance of the lens, and the target rotation angle is determined based on the first conversion relationship and the distance information from the target object currently being photographed by the manual lens to the manual lens.

[0349] In some embodiments, when the actual distance detected by the ranging sensor on the shooting device is less than or equal to a preset distance threshold, the distance information is determined based on the actual distance.

[0350] In some embodiments, controlling the motor rotation based on a target rotation angle includes:

[0351] When the actual distance is less than or equal to the preset distance threshold, control the motor to rotate the target by the rotation angle.

[0352] In some embodiments, the method further includes:

[0353] When the actual distance detected by the range sensor on the shooting device is greater than the preset distance threshold, the lens parameters of the manual lens are determined based on the image processing method.

[0354] In some embodiments, controlling the motor rotation based on a target rotation angle includes:

[0355] When the actual distance is greater than the preset threshold, the motor is controlled to rotate gradually based on the preset rotation angle until the motor rotates to the target rotation angle.

[0356] In some embodiments, based on a preset rotation angle, the motor is controlled to rotate gradually until the motor rotates to a target rotation angle, including:

[0357] Based on a preset rotation angle, the motor is gradually rotated by contrast-detection CDAF or phase-detection PDAF until the motor rotates to the target rotation angle.

[0358] In some embodiments, the manual lens adjustment mode includes a semi-automatic adjustment mode, and the method further includes:

[0359] When a command is received indicating that the semi-automatic adjustment mode should be activated, the system enters the semi-automatic adjustment mode.

[0360] In some embodiments, the method further includes:

[0361] In semi-automatic adjustment mode, feature maps of real-time images captured by a manual lens are displayed on the display device;

[0362] The feature map displays a parameter scale, which is used to characterize the range information of lens parameters;

[0363] The feature map displays the first scale position marker of the target lens parameters on the parameter scale and the second scale position marker of the current lens parameters on the parameter scale to indicate to the user the input of a second user command.

[0364] In some embodiments, the lens parameters include the focusing distance, the feature map includes a depth map, and the conversion relationship includes a first conversion relationship between the rotation angle of the motor and the focusing distance of the manual lens.

[0365] In the depth map, the position of the depth information of different objects is determined based on the distance between the different objects and the imaging device and the first transformation relationship.

[0366] In some embodiments, the parameter scale includes a first parameter scale, which is used to characterize the range information of the focusing distance of a manual lens;

[0367] The target lens parameters include the actual distance from the target object in the real-time image to the manual lens, the current lens parameters include the current focus distance of the manual lens, and the first scale position marker is set at the position of the target object in the depth map.

[0368] In some embodiments, the actual distance is obtained based on a range sensor on the shooting device.

[0369] In some embodiments, the range sensor is arranged parallel to the manual lens.

[0370] In some embodiments, the second scale position identifier includes a first arrow pointing to a position on the first parameter scale corresponding to the current focus distance.

[0371] In some embodiments, a first parameter scale is displayed in a first direction of the depth map, and the extension direction of the first arrow is a second direction. The first direction is one of the height and width of the depth map, and the second direction is the other of the height and width of the depth map.

[0372] In some embodiments, a first parameter scale is displayed on one side of the depth map, and a first arrow extends to both ends of a second direction.

[0373] In some embodiments, when the motor rotates based on a second user command, the first arrow moves along a first direction until the first arrow moves to the first scale position mark in the first direction.

[0374] In some embodiments, the instruction is triggered by the user, or the instruction is triggered based on the shooting scene meeting preset conditions.

[0375] For the parts not covered, please refer to the descriptions of the corresponding parts in the above embodiments, which will not be repeated here.

[0376] This application also provides a control method for a shooting device; please refer to [link / reference]. Figure 13 The method may include:

[0377] In S1301, when the shooting device is in semi-automatic adjustment mode, the feature map of the real-time image captured by the manual lens of the shooting device is displayed through the display device. A parameter adjustment ring is fitted on the manual lens, and the parameter adjustment ring is rotated by a motor to adjust the lens parameter size of the manual lens.

[0378] In S1302, a parameter scale is displayed in the feature map, the parameter scale being used to characterize the range information of the lens parameters;

[0379] In S1303, the first scale position indicator of the target lens parameter and the second scale position indicator of the current lens parameter are displayed on the parameter scale in the feature diagram to indicate to the user to input motor rotation adjustment commands.

[0380] In this embodiment, the semi-automatic adjustment mode is the same as the semi-automatic adjustment mode in the above embodiment, and the motor rotation adjustment command is the second user command in the above embodiment.

[0381] In some embodiments, the lens parameters include a focusing distance, and the feature map includes a depth map; in the depth map, the position where the depth information of different objects is displayed is determined based on the distance between the different objects and the shooting device and a pre-calibrated conversion relationship between the rotation angle of the motor and the focusing distance of the manual lens.

[0382] In some embodiments, the target lens parameters include the actual distance from the target object in the real-time image to the manual lens, the current lens parameters include the current focus distance of the manual lens, and the first scale position identifier is set at the position of the target object in the depth map.

[0383] In some embodiments, the actual distance is obtained based on a range sensor on the shooting device.

[0384] In some embodiments, the range sensor is arranged parallel to the manual lens.

[0385] In some embodiments, the second scale position identifier includes an arrow pointing to a position on the parameter scale corresponding to the current focus distance.

[0386] In some embodiments, a parameter scale is displayed in a first direction of the depth map, and the arrow extends in a second direction. The first direction represents one of the height and width of the depth map, and the second direction represents the other of the height and width of the depth map.

[0387] In some embodiments, a parameter scale is displayed on one side of the depth map, with arrows extending to both ends in a second direction.

[0388] In some embodiments, when the motor rotates based on a motor rotation adjustment command, the arrow moves along a first direction until the arrow moves to the first scale position mark in the first direction.

[0389] In some embodiments, the process of calibrating the conversion relationship includes: obtaining the focus distance of the manual lens of the shooting device when the motor is at each angle, the motor rotating to different angles based on a first user instruction; and calibrating the conversion relationship between the rotation angle of the motor and the focus distance of the lens based on each angle and the corresponding focus distance.

[0390] In some embodiments, different angles include: a first angle required for the motor to rotate when the image of the object being photographed by the manual lens is at a different distance and the image of the object being photographed by the manual lens has a resolution greater than a preset resolution threshold.

[0391] In some embodiments, the different distances include: a first distance, a second distance, and at least one distance between the first distance and the second distance, wherein the first distance is greater than the second distance.

[0392] In some embodiments, the focusing distance is obtained based on a range sensor detected on the shooting device and / or external input.

[0393] In some embodiments, different angles are determined based on the motor's drive information; or, different angles are acquired by an angle sensor on the motor; or, different angles are input from an external source.

[0394] In some embodiments, the feature information of the target object is highlighted in the feature map using a preset display method.

[0395] In some embodiments, the method further includes: displaying a real-time image via a display device; and annotating the target object in the real-time image.

[0396] In some embodiments, the target object is selected from a plurality of objects captured by a manual lens.

[0397] In some embodiments, selection is made based on user instructions or based on captured image information.

[0398] The control of the shooting device in this application embodiment can be described by referring to the corresponding parts of the above embodiments, and will not be repeated here.

[0399] Corresponding to the control method of the shooting device in the above embodiments, this application also provides a control device for the shooting device. Please refer to... Figure 14 The control device of the shooting apparatus in this application embodiment may include a storage device and one or more processors.

[0400] The storage device is used to store program instructions. The storage device stores the executable computer program of the control method of the shooting device. The storage device may include at least one type of storage medium, including flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, magnetic disk, optical disk, etc. Furthermore, the control device of the shooting device can cooperate with a network storage device that performs the storage function of the memory via a network connection. The memory can be an internal storage unit of the control device of the shooting device, such as the hard disk or RAM of the control device. The memory can also be an external storage device of the control device, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the control device. Further, the memory may include both internal storage units of the control device and external storage devices. The memory is used to store computer programs and other programs and data required by the device. The memory can also be used to temporarily store data that has been output or will be output.

[0401] One or more processors invoke program instructions stored in a storage device. When the program instructions are executed, the one or more processors are individually or jointly configured to implement the program as described in this application. Figure 12 or Figure 13 The control method of the shooting device in the illustrated embodiment can be referred to the control method of the shooting device in the above embodiment for the description of the control device of the shooting device in this embodiment.

[0402] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0403] This application also provides a control system for a shooting device, including a control device for the shooting device described above and a manual lens.

[0404] Furthermore, embodiments of this application also provide a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the control method of the shooting device in any of the above embodiments.

[0405] The computer-readable storage medium can be an internal storage unit of the control system of the shooting device described in any of the foregoing embodiments, such as a hard disk or memory. The computer-readable storage medium can also be an external storage device of the control system of the shooting device, such as a plug-in hard disk, smart media card (SMC), SD card, flash card, etc., equipped on the device. Furthermore, the computer-readable storage medium can include both internal storage units of the control system of the shooting device and external storage devices. The computer-readable storage medium is used to store the computer program and other programs and data required by the control system of the shooting device, and can also be used to temporarily store data that has been output or will be output.

[0406] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0407] The above-disclosed embodiments are only some of the embodiments of this application, and should not be construed as limiting the scope of this application. Therefore, any equivalent changes made in accordance with the claims of this application shall still fall within the scope of this application.

Claims

1. A control system for a manual lens, characterized in that, The control system includes: A parameter adjustment ring is fitted onto the manual lens, and the parameter adjustment ring can rotate to adjust the lens parameters of the manual lens; An electric motor is used to drive the parameter adjustment ring to rotate; processor; and Memory; The processor is used to calibrate the conversion relationship between the rotation angle of the motor and the lens parameters of the manual lens, and the memory is used to store the conversion relationship. The processor is also configured to perform semi-automatic adjustment of the lens parameters of the manual lens based on the conversion relationship when the manual lens is in working state. The manual lens adjustment mode includes a semi-automatic adjustment mode, and the processor is further configured to: enter the semi-automatic adjustment mode when receiving an instruction to activate the semi-automatic adjustment mode; In the semi-automatic adjustment mode, a feature map of the real-time image captured by the manual lens is displayed on the display device; A parameter scale is displayed in the feature map, which is used to characterize the range information of the lens parameters; The feature diagram displays the first scale position identifier of the target lens parameter on the parameter scale and the second scale position identifier of the current lens parameter on the parameter scale to indicate to the user to input a second user command.

2. The control system for a manual lens according to claim 1, characterized in that, The manual lens adjustment mode includes a fully automatic adjustment mode, and the processor is further configured to: enter the fully automatic adjustment mode when receiving an instruction to activate the fully automatic adjustment mode.

3. The control system for a manual lens according to claim 2, characterized in that, The processor is also used for: In the fully automatic adjustment mode, the motor rotation is automatically controlled based on the target rotation angle.

4. The control system for a manual lens according to claim 3, characterized in that, The lens parameters include the focusing distance, and the conversion relationship includes a first conversion relationship between the rotation angle of the motor and the focusing distance of the lens. The target rotation angle is determined based on the first conversion relationship and the distance information from the target object currently being photographed by the manual lens to the manual lens.

5. The control system for a manual lens according to claim 4, characterized in that, When the actual distance detected by the ranging sensor is less than or equal to a preset distance threshold, the distance information is determined based on the actual distance.

6. The control system for a manual lens according to claim 5, characterized in that, The processor is also used for: When the actual distance is less than or equal to a preset distance threshold, the motor is controlled to rotate the target by the specified rotation angle.

7. The control system for a manual lens according to claim 4, characterized in that, The processor is also used to: when the actual distance detected by the ranging sensor is greater than a preset distance threshold, determine whether the lens parameters of the manual lens have been adjusted based on image processing.

8. The control system for a manual lens according to claim 7, characterized in that, The processor is further configured to: when the actual distance is greater than the preset distance threshold, control the motor to rotate gradually based on a preset rotation angle until the motor rotates by the target rotation angle.

9. The control system for a manual lens according to claim 7, characterized in that, The processor is also used for: Based on a preset rotation angle, the motor is gradually rotated by contrast-detection CDAF or phase-detection PDAF until the motor rotates to the target rotation angle.

10. The control system for a manual lens according to claim 1, characterized in that, The lens parameters include the focusing distance, the feature map includes the depth map, and the conversion relationship includes a first conversion relationship between the rotation angle of the motor and the focusing distance of the manual lens. In the depth map, the position where the depth information of different objects is displayed is determined based on the distance between the different objects and the manual lens and the first conversion relationship.

11. The control system for a manual lens according to claim 10, characterized in that, The parameter scale includes a first parameter scale, which is used to characterize the range information of the focusing distance of the manual lens; The target lens parameters include the actual distance from the target object in the real-time image to the manual lens, the current lens parameters include the current focus distance of the manual lens, and the first scale position marker is set at the position of the target object in the depth map.

12. The control system for a manual lens according to claim 11, characterized in that, The actual distance is obtained based on a ranging sensor.

13. The control system for a manual lens according to claim 12, characterized in that, The ranging sensor is positioned parallel to the manual lens.

14. The control system for a manual lens according to claim 11, characterized in that, The second scale position indicator includes a first arrow, which points to the position on the first parameter scale corresponding to the current focus distance.

15. The control system for a manual lens according to claim 14, characterized in that, The first parameter scale is displayed in a first direction of the depth map, and the extension direction of the first arrow is a second direction. The first direction is one of the height and width of the depth map, and the second direction is the other of the height and width of the depth map.

16. The control system for a manual lens according to claim 15, characterized in that, The first parameter scale is displayed on one side of the depth map, and the first arrow extends to both ends of the second direction.

17. The control system for a manual lens according to claim 15, characterized in that, When the motor rotates based on the second user command, the first arrow moves along the first direction until the first arrow moves to the position marked on the first scale in the first direction.

18. The control system for a manual lens according to claim 1 or 2, characterized in that, The instruction is triggered by the user, or the instruction is triggered when the shooting scene meets preset conditions.

19. A method for controlling a manual lens, characterized in that, The method includes: The conversion relationship between the rotation angle of the calibrated motor and the lens parameters of the manual lens is defined. A parameter adjustment ring is fitted on the manual lens. The parameter adjustment ring is rotated by the motor to adjust the lens parameters of the manual lens. The conversion relationship is stored in the memory. When the manual lens is in working state, the lens parameters of the manual lens are semi-automatically adjusted based on the conversion relationship; The manual lens adjustment mode includes a semi-automatic adjustment mode, and the method further includes: When a command is received to activate the semi-automatic adjustment mode, the system enters the semi-automatic adjustment mode. In the semi-automatic adjustment mode, a feature map of the real-time image captured by the manual lens is displayed on the display device; A parameter scale is displayed in the feature map, which is used to characterize the range information of the lens parameters; The feature diagram displays the first scale position identifier of the target lens parameter on the parameter scale and the second scale position identifier of the current lens parameter on the parameter scale to indicate to the user to input a second user command.

20. The manual lens control method according to claim 19, characterized in that, The manual lens adjustment mode includes a fully automatic adjustment mode, and the method further includes: When a command is received to activate the fully automatic adjustment mode, the system enters the fully automatic adjustment mode.

21. The manual lens control method according to claim 20, characterized in that, In the fully automatic adjustment mode, the motor rotation is controlled based on the target rotation angle.

22. The manual lens control method according to claim 21, characterized in that, The lens parameters include the focusing distance, and the conversion relationship includes a first conversion relationship between the rotation angle of the motor and the focusing distance of the lens. The target rotation angle is determined based on the first conversion relationship and the distance information from the target object currently being photographed by the manual lens to the manual lens.

23. The manual lens control method according to claim 22, characterized in that, When the actual distance detected by the ranging sensor is less than or equal to a preset distance threshold, the distance information is determined based on the actual distance.

24. The manual lens control method according to claim 23, characterized in that, The step of controlling the motor rotation based on the target rotation angle includes: When the actual distance is less than or equal to a preset distance threshold, the motor is controlled to rotate the target by the specified rotation angle.

25. The manual lens control method according to claim 22, characterized in that, The method further includes: When the actual distance detected by the ranging sensor is greater than the preset distance threshold, the lens parameters of the manual lens are determined based on the image processing method to see if the adjustment is complete.

26. The manual lens control method according to claim 25, characterized in that, The step of controlling the motor rotation based on the target rotation angle includes: When the actual distance is greater than the preset distance threshold, the motor is controlled to rotate gradually based on the preset rotation angle until the motor rotates to the target rotation angle.

27. The manual lens control method according to claim 26, characterized in that, The step of controlling the motor to rotate gradually based on a preset rotation angle until the motor rotates to the target rotation angle includes: Based on a preset rotation angle, the motor is gradually rotated by contrast-detection CDAF or phase-detection PDAF until the motor rotates to the target rotation angle.

28. The manual lens control method according to claim 19, characterized in that, The lens parameters include the focusing distance, the feature map includes the depth map, and the conversion relationship includes a first conversion relationship between the rotation angle of the motor and the focusing distance of the manual lens. In the depth map, the position where the depth information of different objects is displayed is determined based on the distance between the different objects and the manual lens and the first conversion relationship.

29. The manual lens control method according to claim 28, characterized in that, The parameter scale includes a first parameter scale, which is used to characterize the range information of the focusing distance of the manual lens; The target lens parameters include the actual distance from the target object in the real-time image to the manual lens, the current lens parameters include the current focus distance of the manual lens, and the first scale position marker is set at the position of the target object in the depth map.

30. The manual lens control method according to claim 29, characterized in that, The actual distance is obtained based on a ranging sensor.

31. The manual lens control method according to claim 30, characterized in that, The ranging sensor is positioned parallel to the manual lens.

32. The manual lens control method according to claim 29, characterized in that, The second scale position indicator includes a first arrow, which points to the position on the first parameter scale corresponding to the current focus distance.

33. The manual lens control method according to claim 32, characterized in that, The first parameter scale is displayed in a first direction of the depth map, and the extension direction of the first arrow is a second direction. The first direction is one of the height and width of the depth map, and the second direction is the other of the height and width of the depth map.

34. The manual lens control method according to claim 33, characterized in that, The first parameter scale is displayed on one side of the depth map, and the first arrow extends to both ends of the second direction.

35. The manual lens control method according to claim 33, characterized in that, When the motor rotates based on the second user command, the first arrow moves along the first direction until the first arrow moves to the position marked on the first scale in the first direction.

36. The manual lens control method according to claim 19 or 20, characterized in that, The instruction is triggered by the user, or the instruction is triggered when the shooting scene meets preset conditions.

37. A control device for a manual lens, characterized in that, The device includes: Storage device for storing program instructions; and One or more processors invoke program instructions stored in the storage device, wherein, when the program instructions are executed, the one or more processors are individually or collectively configured to carry out the method of any one of claims 19 to 36.

38. A control system for a manual lens, characterized in that, The system includes: The control device for a manual lens as described in claim 37; and Manual lens.

39. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method described in any one of claims 19 to 36.

40. A control system for a shooting device, characterized in that, The shooting device includes a manual lens for capturing images, and the control system includes: A parameter adjustment ring is fitted onto a manual lens, and the parameter adjustment ring can rotate to adjust the lens parameters of the manual lens; A motor is used to drive the parameter adjustment ring to rotate; and processor; When calibrating the lens parameters of the manual lens, the motor is controlled to rotate to different angles. The processor is used to obtain the lens parameters of the manual lens when the motor is at each angle, and based on each angle and the corresponding lens parameters, calibrate the conversion relationship between the rotation angle of the motor and the lens parameters of the manual lens. When the lens parameters of the manual lens are semi-automatically adjusted, the motor is controlled to rotate to a target rotation angle to adjust the lens parameters of the manual lens to the target lens parameters. The target rotation angle of the motor is determined based on the conversion relationship and the target lens parameters. The manual lens adjustment mode includes a semi-automatic adjustment mode, and the processor is further configured to: enter the semi-automatic adjustment mode when receiving an instruction to activate the semi-automatic adjustment mode; In the semi-automatic adjustment mode, a feature map of the real-time image captured by the manual lens is displayed on the display device; A parameter scale is displayed in the feature map, which is used to characterize the range information of the lens parameters; The feature diagram displays the first scale position identifier of the target lens parameter on the parameter scale and the second scale position identifier of the current lens parameter on the parameter scale to indicate to the user to input a second user command.

41. The control system of the shooting device according to claim 40, characterized in that, The processor is also configured to automatically or semi-automatically adjust the lens parameters of the manual lens based on the conversion relationship when the manual lens is in operation.

42. The control system of the shooting device according to claim 41, characterized in that, The manual lens adjustment mode includes a fully automatic adjustment mode, and the processor is further configured to: enter the fully automatic adjustment mode when receiving an instruction to activate the fully automatic adjustment mode.

43. The control system of the shooting device according to claim 40 or 42, characterized in that, The instruction is triggered by the user, or the instruction is triggered when the shooting scene meets preset conditions.

44. The control system of the shooting device according to claim 40, characterized in that, The lens parameters include at least one of focusing distance, focal length, and aperture.

45. The control system of the shooting device according to claim 44, characterized in that, The lens parameters include a variety of parameters, and different types of lens parameters correspond to different parameter adjustment rings. These different parameter adjustment rings are arranged along the optical axis of the manual lens.

46. ​​The control system of the shooting device according to claim 45, characterized in that, The different parameter adjustment rings are driven by different motors.

47. The control system of the shooting device according to claim 40, characterized in that, The processor is electrically connected to the motor to determine the different angles based on the motor's drive information; or, The processor is electrically connected to an angle sensor on the motor to acquire the different angles; or... The different angles are input to the processor from the outside.

48. The control system of the shooting device according to claim 40, characterized in that, The lens parameters are obtained from external input and / or by sensors on the shooting device.

49. The control system of the shooting device according to claim 40, characterized in that, The lens parameters include the focusing distance, and the different angles include: The manual lens is aimed at objects at different distances to take pictures, and the motor needs to rotate a first angle when the clarity of the image taken by the manual lens is greater than a preset clarity threshold.

50. The control system of the shooting device according to claim 49, characterized in that, The different distances include: a first distance, a second distance, and at least one distance between the first distance and the second distance, wherein the first distance is greater than the second distance.

51. The control system of the shooting device according to claim 50, characterized in that, The processor is also used for: When the center of the manual lens is aligned with the object being photographed at a first distance, a second distance, and at least one distance between the first distance and the second distance, the first angle of the motor corresponding to the first distance, the second distance, and at least one distance between the first distance and the second distance is calibrated.

52. The control system of the shooting device according to claim 45, characterized in that, The distance is obtained based on the distance sensor on the shooting device and / or external input.

53. The control system of the shooting device according to claim 40, characterized in that, The lens parameters include focal length, and the different angles include different second angles; The motor rotates to different second angles based on a first user command, so that the manual lens is at different focal lengths.

54. The control system of the shooting device according to claim 53, characterized in that, The different focal lengths include: A first focal length, a second focal length, and at least one focal length between the first focal length and the second focal length, wherein the first focal length is greater than the second focal length.

55. The control system of the shooting device according to claim 53, characterized in that, The lens parameters also include the focusing distance of the shooting device at at least one of the different focal lengths; The different angles also include: The shooting device, at at least one focal length, has its manual lens aimed at objects at different distances to capture images, and the motor needs to rotate a third angle when the image captured by the manual lens has a resolution greater than a preset resolution threshold.

56. The control system of the shooting device according to claim 55, characterized in that, The different distances include: a third distance, a fourth distance, and at least one distance between the third distance and the fourth distance, wherein the third distance is greater than the fourth distance.

57. The control system of the shooting device according to claim 55, characterized in that, The distance is obtained based on the distance sensor on the shooting device and / or external input.

58. The control system of the shooting device according to claim 40, characterized in that, The lens parameters include aperture, and the different angles include different fourth angles; The motor rotates to different fourth angles based on a first user command, so that the manual lens is at different apertures.

59. The control system of the shooting device according to claim 58, characterized in that, The different apertures include: A first aperture, a second aperture, and at least one aperture between the first aperture and the second aperture, wherein the first aperture is larger than the second aperture.

60. The control system of the shooting device according to claim 40, characterized in that, The processor is used for: Based on each angle and the corresponding lens parameters, the conversion relationship between the rotation angle of the motor and the lens parameters is determined by interpolation.

61. The control system of the shooting device according to claim 40, characterized in that, The shooting device includes a semi-automatic adjustment mode, in which the motor rotates based on a second user command.

62. The control system of the shooting device according to claim 61, characterized in that, The second user instruction is generated by the user operating the motor; or, The second user command is generated by the user operating a handle, which is used to drive the motor to rotate; or, The second user instruction is generated by an external control device that is connected to the processor via the camera device. The processor controls the rotation of the motor based on the second user instruction.

63. The control system of the shooting device according to claim 62, characterized in that, The lens parameters include the focusing distance, the feature map includes the depth map, and the conversion relationship includes a first conversion relationship between the rotation angle of the motor and the focusing distance of the manual lens. In the depth map, the position where the depth information of different objects is displayed is determined based on the distance between the different objects and the shooting device and the first conversion relationship.

64. The control system of the shooting device according to claim 63, characterized in that, The parameter scale includes a first parameter scale, which is used to characterize the range information of the focusing distance of the manual lens; The target lens parameters include the actual distance from the target object in the real-time image to the manual lens, the current lens parameters include the current focus distance of the manual lens, and the first scale position marker is set at the position of the target object in the depth map.

65. The control system of the shooting device according to claim 64, characterized in that, The actual distance is obtained based on the distance measuring sensor on the shooting device.

66. The control system of the shooting device according to claim 65, characterized in that, The ranging sensor is positioned parallel to the manual lens.

67. The control system of the shooting device according to claim 64, characterized in that, The second scale position indicator includes a first arrow, which points to the position on the first parameter scale corresponding to the current focus distance.

68. The control system of the shooting device according to claim 67, characterized in that, The first parameter scale is displayed in a first direction of the depth map, and the extension direction of the first arrow is a second direction. The first direction is one of the height and width of the depth map, and the second direction is the other of the height and width of the depth map.

69. The control system of the shooting device according to claim 68, characterized in that, The first parameter scale is displayed on one side of the depth map, and the first arrow extends to both ends of the second direction.

70. The control system of the shooting device according to claim 68, characterized in that, When the motor rotates based on the second user command, the first arrow moves along the first direction until the first arrow moves to the position marked on the first scale in the first direction.

71. The control system of the shooting device according to claim 62, characterized in that, The lens parameters include focal length, and the conversion relationship includes a second conversion relationship between the rotation angle of the motor and the focal length of the manual lens; In the real-time image, the display size and / or display position of different objects are determined based on the actual size of the different objects in the real-time image and the second transformation relationship.

72. The control system of the shooting device according to claim 71, characterized in that, The parameter scale includes a second parameter scale, which is used to characterize the range information of the focal length of the manual lens; The target lens parameters include the target focal length corresponding to the manual lens when the target object is displayed in the real-time image at the target size and / or target position, and the current lens parameters include the current focal length of the manual lens.

73. The control system of the shooting device according to claim 72, characterized in that, The first scale position marker includes a second arrow, which points to the target focal length on the second parameter scale.

74. The control system of the shooting device according to claim 73, characterized in that, The second scale position indicator includes a third arrow, which points to the current focal length on the second parameter scale.

75. The control system of the shooting device according to claim 74, characterized in that, The second parameter scale is displayed in a third direction of the real-time image, and the extension direction of the second arrow and the third arrow is a fourth direction. The third direction is one of the height and width of the real-time image, and the fourth direction is the other of the height and width of the real-time image.

76. The control system of the shooting device according to claim 75, characterized in that, The second parameter scale is displayed on one side of the real-time image.

77. The control system of the shooting device according to claim 75, characterized in that, When the motor rotates based on the second user command, the third arrow moves along the third direction until it coincides with the second arrow in the third direction.

78. The control system of the shooting device according to claim 71, characterized in that, The lens parameters also include the focusing distance, which is adjusted after the focus adjustment is completed.

79. The control system of the shooting device according to claim 62, characterized in that, The lens parameters include aperture, the feature map includes brightness map, and the conversion relationship includes a third conversion relationship between the rotation angle of the motor and the aperture of the lens.

80. The control system of the shooting device according to claim 79, characterized in that, The parameter scale includes a third parameter scale, which is used to characterize the range information of the brightness map; The target lens parameters include the target brightness of the target object in the real-time image, the current lens parameters include the current brightness of the target object in the real-time image, and the second scale position marker is set at the position of the target object in the brightness map.

81. The control system of the shooting device according to claim 80, characterized in that, The target brightness is determined based on the brightness information at different locations in the real-time image.

82. The control system of the shooting device according to claim 80, characterized in that, The first scale position marker includes a fourth arrow, which points to the position on the third parameter scale corresponding to the target brightness.

83. The control system of the shooting device according to claim 82, characterized in that, The third parameter scale is displayed in the fifth direction of the brightness map, the fourth arrow extends in the sixth direction, the fifth direction is one of the height and width of the brightness map, and the sixth direction is the other of the height and width of the brightness map.

84. The control system of the shooting device according to claim 83, characterized in that, The third parameter scale is displayed on one side of the brightness diagram, and the fourth arrow extends to both ends of the sixth direction.

85. The control system of the shooting device according to claim 83, characterized in that, When the motor rotates based on the second user command, the second scale position indicator moves along the fifth direction until it coincides with the fourth arrow in the fifth direction.

86. The control system of the shooting device according to claim 62, characterized in that, In the feature map, the feature information of the target object is highlighted in a preset display mode.

87. The control system of the shooting device according to claim 62, characterized in that, The processor is also used for: The real-time image is displayed via the display device; The target object is labeled in the real-time image.

88. The control system of the shooting device according to claim 87, characterized in that, The target object is selected from a plurality of objects captured by the manual lens.

89. The control system of the shooting device according to claim 88, characterized in that, The selection can be based on user instructions or on captured image information.

90. The control system of the shooting device according to claim 40, characterized in that, The shooting device includes a fully automatic adjustment mode. When the shooting device is in the fully automatic adjustment mode, the processor is used to: The motor is controlled to rotate based on the target rotation angle.

91. The control system of the shooting device according to claim 90, characterized in that, The lens parameters include the focus distance. The conversion relationship includes a first conversion relationship between the rotation angle of the motor and the focusing distance of the lens, and the target rotation angle is determined based on the first conversion relationship and the distance information from the target object currently being photographed by the manual lens to the manual lens.

92. The control system of the shooting device according to claim 91, characterized in that, When the actual distance detected by the ranging sensor on the shooting device is less than or equal to a preset distance threshold, the distance information is determined based on the actual distance.

93. The control system of the shooting device according to claim 92, characterized in that, The processor is used for: When the actual distance is less than or equal to a preset distance threshold, the motor is controlled to rotate the target by the specified rotation angle.

94. The control system of the shooting device according to claim 93, characterized in that, The shooting device is mounted on a gimbal, and the processor includes a first processor and a second processor; The first processor is used to acquire the real-time image captured by the manual lens and transmit the real-time image to the second processor; The second processor is used to acquire the actual distance detected by the ranging sensor, and to extract features from the real-time image based on the actual distance to obtain the target object and the first position information of the target object in the real-time image. The first position information is then sent to the gimbal, and the gimbal rotates based on the first position information to position the target object in the real-time image at a preset position.

95. The control system of the shooting device according to claim 94, characterized in that, The second processor is further configured to transmit the depth information of each pixel in the real-time image and the first position information of the target object in the real-time image to the first processor; The first processor is used to highlight the feature information of the target object in a preset display mode in the feature map of the real-time image based on the depth information of each pixel of the real-time image and / or the first position information of the target object in the real-time image.

96. The control system of the shooting device according to claim 94, characterized in that, The depth information of each pixel in the real-time image carries the corresponding time information and identity ID information of the real-time image.

97. The control system of the shooting device according to claim 91, characterized in that, When the actual distance detected by the ranging sensor on the shooting device is greater than a preset distance threshold, the lens parameters of the manual lens are determined based on the image processing method to see if the adjustment is complete.

98. The control system of the shooting device according to claim 97, characterized in that, The processor is used for: When the actual distance is greater than the preset distance threshold, the motor is controlled to rotate gradually based on the preset rotation angle until the motor rotates to the target rotation angle.

99. The control system of the shooting device according to claim 98, characterized in that, The processor is used for: Based on a preset rotation angle, the motor is gradually rotated by contrast-detection CDAF or phase-detection PDAF until the motor rotates to the target rotation angle.

100. The control system of the shooting device according to claim 90, characterized in that, The lens parameters include focal length, the conversion relationship includes a second conversion relationship between the rotation angle of the motor and the focal length of the lens, and the target rotation angle includes a first target rotation angle, which is determined based on the second conversion relationship and the target focal length.

101. The control system of the shooting device according to claim 100, characterized in that, The target focal length is determined based on the position of the target object in the real-time image captured by the manual lens and the ratio of the target size to the area of ​​the real-time image.

102. The control system of the shooting device according to claim 100, characterized in that, The lens parameters also include a focusing distance, and the motor includes a zoom motor and a focusing motor. The zoom motor is used to adjust the focal length of the manual lens, and the focusing motor is used to adjust the focusing distance of the manual lens. The processor is used for: Based on the first target rotation angle, the zoom motor is controlled to rotate.

103. The control system of the shooting device according to claim 102, characterized in that, The conversion relationship includes a first conversion relationship between the rotation angle of the motor and the focusing distance of the lens, and the target rotation angle includes a second target rotation angle, which is determined based on the first conversion relationship and the distance information from the target object currently being photographed by the manual lens to the manual lens. The processor is used for: After controlling the zoom motor to rotate based on the first target rotation angle, the focusing motor is then controlled to rotate based on the second target rotation angle.

104. The control system of the shooting device according to claim 90, characterized in that, The lens parameters include aperture. The conversion relationship includes a third conversion relationship between the rotation angle of the motor and the aperture of the lens, and the target rotation angle is determined based on the third conversion relationship and the light intensity of the environment in which the shooting device is currently located.

105. The control system of the shooting device according to claim 40, characterized in that, The processor is used for: The calibration data deletion command was obtained; According to the calibration data deletion command, delete the corresponding angle and lens parameters.

106. The control system of the shooting device according to claim 40, characterized in that, The processor is used to generate a calibration file based on each angle and the corresponding lens parameters and / or the conversion relationship.

107. The control system of the shooting device according to claim 106, characterized in that, The processor is used for: Receive calibration data modification instructions; Modify the corresponding angles and lens parameters in the calibration file according to the calibration data modification instructions.

108. A control method for a shooting device, characterized in that, The method includes: The lens parameters of the manual lens of the shooting device are obtained when the motor is at each angle. A parameter adjustment ring is fitted on the manual lens. The parameter adjustment ring is rotated by the motor to adjust the lens parameters of the manual lens. The motor rotates to different angles based on a first user command. Based on each angle and the corresponding lens parameters, the conversion relationship between the rotation angle of the motor and the lens parameters of the manual lens is calibrated; During parameter adjustment, the motor is rotated to adjust the lens parameters of the manual lens, and the target rotation angle of the motor is determined based on the conversion relationship and the target lens parameters. The shooting device includes a semi-automatic adjustment mode. When the shooting device is in the semi-automatic adjustment mode, the motor rotates based on a second user command. The second user instruction is generated by the user operating the motor; or, the second user instruction is generated by the user operating a handle, the handle being used to drive the motor to rotate; or, the second user instruction is generated by operating an external control device. The method further includes: When the shooting device is in the semi-automatic adjustment mode, the feature map of the real-time image captured by the manual lens is displayed on the display device; A parameter scale is displayed in the feature map, which is used to characterize the range information of the lens parameters; The feature diagram displays the first scale position identifier of the target lens parameter on the parameter scale and the second scale position identifier of the current lens parameter on the parameter scale to indicate to the user to input the second user command.

109. The control method for the shooting device according to claim 108, characterized in that, The lens parameters include at least one of focusing distance, focal length, and aperture.

110. The control method for the shooting device according to claim 109, characterized in that, The lens parameters include a variety of parameters, and different types of lens parameters correspond to different parameter adjustment rings. These different parameter adjustment rings are arranged along the optical axis of the manual lens.

111. The control method for the shooting device according to claim 110, characterized in that, The different parameter adjustment rings are driven by different motors.

112. The control method for the shooting device according to claim 108, characterized in that, The different angles are determined based on the driving information of the motor; or, The different angles are obtained by an angle sensor on the motor; or... The different angles are input from the outside.

113. The control method for the shooting device according to claim 108, characterized in that, The lens parameters are obtained from external input and / or by sensors on the shooting device.

114. The control method for the shooting device according to claim 108, characterized in that, The lens parameters include the focusing distance, and the different angles include: The manual lens is aimed at objects at different distances to take pictures, and the motor needs to rotate a first angle when the clarity of the image taken by the manual lens is greater than a preset clarity threshold.

115. The control method for the shooting device according to claim 114, characterized in that, The different distances include: a first distance, a second distance, and at least one distance between the first distance and the second distance, wherein the first distance is greater than the second distance.

116. The control method for the shooting device according to claim 115, characterized in that, The method further includes: When the center of the manual lens is aligned with the object being photographed at a first distance, a second distance, and at least one distance between the first distance and the second distance, the first angle of the motor corresponding to the first distance, the second distance, and at least one distance between the first distance and the second distance is calibrated.

117. The control method for the shooting device according to claim 114, characterized in that, The distance is obtained based on the distance sensor on the shooting device and / or external input.

118. The control method for the shooting device according to claim 108, characterized in that, The lens parameters include focal length, and the different angles include different second angles; The motor rotates to different second angles based on a first user command, so that the manual lens is at different focal lengths.

119. The control method for the shooting device according to claim 118, characterized in that, The different focal lengths include: A first focal length, a second focal length, and at least one focal length between the first focal length and the second focal length, wherein the first focal length is greater than the second focal length.

120. The control method for the shooting device according to claim 118, characterized in that, The lens parameters also include the focusing distance of the shooting device at at least one of the different focal lengths; The different angles also include: The shooting device, at at least one focal length, has its manual lens aimed at objects at different distances to capture images, and the motor needs to rotate a third angle when the image captured by the manual lens has a resolution greater than a preset resolution threshold.

121. The control method for the shooting device according to claim 120, characterized in that, The different distances include: a third distance, a fourth distance, and at least one distance between the third distance and the fourth distance, wherein the third distance is greater than the fourth distance.

122. The control method for the shooting device according to claim 120, characterized in that, The distance is obtained based on the distance sensor on the shooting device and / or external input.

123. The control method for the shooting device according to claim 108, characterized in that, The lens parameters include aperture, and the different angles include different fourth angles; The motor rotates to different fourth angles based on the first user command, so that the manual lens is at different apertures.

124. The control method for the shooting device according to claim 123, characterized in that, The different apertures include: A first aperture, a second aperture, and at least one aperture between the first aperture and the second aperture, wherein the first aperture is larger than the second aperture.

125. The control method for the shooting device according to claim 108, characterized in that, The process of calibrating the conversion relationship between the motor's rotation angle and the lens parameters based on each angle and the corresponding lens parameters includes: Based on each angle and the corresponding lens parameters, the conversion relationship between the rotation angle of the motor and the lens parameters is determined by interpolation.

126. The control method for the shooting device according to claim 108, characterized in that, The lens parameters include the focusing distance, the feature map includes the depth map, and the conversion relationship includes a first conversion relationship between the rotation angle of the motor and the focusing distance of the manual lens. In the depth map, the position where the depth information of different objects is displayed is determined based on the distance between the different objects and the shooting device and the first conversion relationship.

127. The control method for the shooting device according to claim 126, characterized in that, The parameter scale includes a first parameter scale, which is used to characterize the range information of the focusing distance of the manual lens; The target lens parameters include the actual distance from the target object in the real-time image to the manual lens, the current lens parameters include the current focus distance of the manual lens, and the first scale position marker is set at the position of the target object in the depth map.

128. The control method for the shooting device according to claim 127, characterized in that, The actual distance is obtained based on the distance measuring sensor on the shooting device.

129. The control method for the shooting device according to claim 128, characterized in that, The ranging sensor is positioned parallel to the manual lens.

130. The control method for the shooting device according to claim 127, characterized in that, The second scale position indicator includes a first arrow, which points to the position on the first parameter scale corresponding to the current focus distance.

131. The control method for the shooting device according to claim 130, characterized in that, The first parameter scale is displayed in a first direction of the depth map, and the extension direction of the first arrow is a second direction. The first direction is one of the height and width of the depth map, and the second direction is the other of the height and width of the depth map.

132. The control method for the shooting device according to claim 131, characterized in that, The first parameter scale is displayed on one side of the depth map, and the first arrow extends to both ends of the second direction.

133. The control method for the shooting device according to claim 131, characterized in that, When the motor rotates based on the second user command, the first arrow moves along the first direction until the first arrow moves to the position marked on the first scale in the first direction.

134. The control method for the shooting device according to claim 108, characterized in that, The lens parameters include focal length, and the conversion relationship includes a second conversion relationship between the rotation angle of the motor and the focal length of the manual lens; In the real-time image, the display size and / or display position of different objects are determined based on the actual size of the different objects in the real-time image and the second transformation relationship.

135. The control method for the shooting device according to claim 134, characterized in that, The parameter scale includes a second parameter scale, which is used to characterize the range information of the focal length of the manual lens; The target lens parameters include the target focal length corresponding to the manual lens when the target object is displayed in the real-time image at the target size and / or target position, and the current lens parameters include the current focal length of the manual lens.

136. The control method for the shooting device according to claim 135, characterized in that, The first scale position marker includes a second arrow, which points to the target focal length on the second parameter scale.

137. The control method for the shooting device according to claim 136, characterized in that, The second scale position indicator includes a third arrow, which points to the current focal length on the second parameter scale.

138. The control method for the shooting device according to claim 137, characterized in that, The second parameter scale is displayed in a third direction of the real-time image, and the extension direction of the second arrow and the third arrow is a fourth direction. The third direction is one of the height and width of the real-time image, and the fourth direction is the other of the height and width of the real-time image.

139. The control method for the shooting device according to claim 137, characterized in that, The second parameter scale is displayed on one side of the real-time image.

140. The control method for the shooting device according to claim 138, characterized in that, When the motor rotates based on the second user command, the third arrow moves along the third direction until it coincides with the second arrow in the third direction.

141. The control method for the shooting device according to claim 134, characterized in that, The lens parameters also include the focusing distance, which is adjusted after the focus adjustment is completed.

142. The control method for the shooting device according to claim 108, characterized in that, The lens parameters include aperture, the feature map includes brightness map, and the conversion relationship includes a third conversion relationship between the rotation angle of the motor and the aperture of the lens.

143. The control method for the shooting device according to claim 142, characterized in that, The parameter scale includes a third parameter scale, which is used to characterize the range information of the brightness map; The target lens parameters include the target brightness of the target object in the real-time image, the current lens parameters include the current brightness of the target object in the real-time image, and the second scale position marker is set at the position of the target object in the brightness map.

144. The control method for the shooting device according to claim 143, characterized in that, The target brightness is determined based on the brightness information at different locations in the real-time image.

145. The control method for the shooting device according to claim 143, characterized in that, The first scale position marker includes a fourth arrow, which points to the position on the third parameter scale corresponding to the target brightness.

146. The control method for the shooting device according to claim 145, characterized in that, The third parameter scale is displayed in the fifth direction of the brightness map, the fourth arrow extends in the sixth direction, the fifth direction is one of the height and width of the brightness map, and the sixth direction is the other of the height and width of the brightness map.

147. The control method for the shooting device according to claim 146, characterized in that, The third parameter scale is displayed on one side of the brightness diagram, and the fourth arrow extends to both ends of the sixth direction.

148. The control method for the shooting device according to claim 146, characterized in that, When the motor rotates based on the second user command, the second scale position indicator moves along the fifth direction until it coincides with the fourth arrow in the fifth direction.

149. The control method for the shooting device according to claim 108, characterized in that, In the feature map, the feature information of the target object is highlighted in a preset display mode.

150. The control method for the shooting device according to claim 108, characterized in that, The method further includes: The real-time image is displayed via the display device; The target object is labeled in the real-time image.

151. The control method for the shooting device according to claim 150, characterized in that, The target object is selected from a plurality of objects captured by the manual lens.

152. The control method for the shooting device according to claim 151, characterized in that, The selection can be based on user instructions or on captured image information.

153. The control method for the shooting device according to claim 108, characterized in that, The shooting device includes a fully automatic adjustment mode, and the method includes: When the shooting device is in the fully automatic adjustment mode, the motor is controlled to rotate based on the target rotation angle.

154. The control method for the shooting device according to claim 153, characterized in that, The lens parameters include the focus distance. The conversion relationship includes a first conversion relationship between the rotation angle of the motor and the focusing distance of the lens, and the target rotation angle is determined based on the first conversion relationship and the distance information from the target object currently being photographed by the manual lens to the manual lens.

155. The control method for the shooting device according to claim 154, characterized in that, When the actual distance detected by the ranging sensor on the shooting device is less than or equal to a preset distance threshold, the distance information is determined based on the actual distance.

156. The control method for the shooting device according to claim 155, characterized in that, The step of controlling the motor rotation based on the target rotation angle includes: When the actual distance is less than or equal to a preset distance threshold, the motor is controlled to rotate the target by the specified rotation angle.

157. The control method for the shooting device according to claim 156, characterized in that, The shooting device is mounted on a gimbal, and the method further includes: The first processor acquires the real-time image captured by the manual lens and transmits the real-time image to the second processor. The second processor acquires the actual distance detected by the ranging sensor, and performs feature extraction on the real-time image based on the actual distance to obtain the target object and the first position information of the target object in the real-time image. The first position information is then sent to the gimbal, which rotates based on the first position information to position the target object at a preset position in the real-time image.

158. The control method for the shooting device according to claim 157, characterized in that, The method further includes: The second processor transmits the depth information of each pixel in the real-time image and the first position information of the target object in the real-time image to the first processor. Based on the depth information of each pixel in the real-time image and / or the first position information of the target object in the real-time image, the first processor highlights the feature information of the target object in a preset display mode in the feature map of the real-time image.

159. The control method for the shooting device according to claim 158, characterized in that, The depth information of each pixel in the real-time image carries the corresponding time information and identity ID information of the real-time image.

160. The control method for the shooting device according to claim 154, characterized in that, When the actual distance detected by the ranging sensor on the shooting device is greater than a preset distance threshold, the lens parameters of the manual lens are determined based on the image processing method to see if the adjustment is complete.

161. The control method for the shooting device according to claim 160, characterized in that, The step of controlling the motor rotation based on the target rotation angle includes: When the actual distance is greater than the preset distance threshold, the motor is controlled to rotate gradually based on the preset rotation angle until the motor rotates to the target rotation angle.

162. The control method for the shooting device according to claim 161, characterized in that, The step of controlling the motor to rotate gradually based on a preset rotation angle until the motor rotates to the target rotation angle includes: Based on a preset rotation angle, the motor is gradually rotated by contrast-detection CDAF or phase-detection PDAF until the motor rotates to the target rotation angle.

163. The control method for the shooting device according to claim 153, characterized in that, The lens parameters include focal length, the conversion relationship includes a second conversion relationship between the rotation angle of the motor and the focal length of the lens, and the target rotation angle includes a first target rotation angle, which is determined based on the second conversion relationship and the target focal length.

164. The control method for the shooting device according to claim 163, characterized in that, The target focal length is determined based on the target size of the target object in the real-time image captured by the manual lens and the ratio of the target size to the area of ​​the real-time image.

165. The control method for the shooting device according to claim 163, characterized in that, The lens parameters also include a focusing distance, and the motor includes a zoom motor and a focusing motor. The zoom motor is used to adjust the focal length of the manual lens, and the focusing motor is used to adjust the focusing distance of the manual lens. The step of controlling the motor rotation based on the target rotation angle includes: Based on the first target rotation angle, the zoom motor is controlled to rotate.

166. The control method for the shooting device according to claim 165, characterized in that, The conversion relationship includes a first conversion relationship between the rotation angle of the motor and the focusing distance of the lens, and the target rotation angle includes a second target rotation angle, which is determined based on the first conversion relationship and the distance information from the target object currently being photographed by the manual lens to the manual lens. The method further includes: After controlling the zoom motor to rotate based on the first target rotation angle, the focusing motor is then controlled to rotate based on the second target rotation angle.

167. The control method for the shooting device according to claim 153, characterized in that, The lens parameters include aperture. The conversion relationship includes a third conversion relationship between the rotation angle of the motor and the aperture of the lens, and the target rotation angle is determined based on the third conversion relationship and the light intensity of the environment in which the shooting device is currently located.

168. The control method for the shooting device according to claim 108, characterized in that, The method further includes: The calibration data deletion command was obtained; According to the calibration data deletion command, delete the corresponding angle and lens parameters.

169. The control method for the shooting device according to claim 108, characterized in that, The method further includes: A calibration file is generated based on each angle and its corresponding lens parameters and / or the aforementioned conversion relationship.

170. The control method for the shooting device according to claim 169, characterized in that, The method further includes: Receive calibration data modification instructions; Modify the corresponding angles and lens parameters in the calibration file according to the calibration data modification instructions.

171. A control device for a shooting apparatus, characterized in that, The device includes: Storage device for storing program instructions; and One or more processors invoke program instructions stored in the storage device, wherein, when the program instructions are executed, the one or more processors are individually or collectively configured to carry out the method of any one of claims 108 to 170.

172. A control system for a shooting device, characterized in that, The system includes: The control device for the shooting apparatus as claimed in claim 171; and Manual lens.

173. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the program implements the method described in any one of claims 108 to 170.

174. A control method for a shooting device, characterized in that, The method includes: When the shooting device is in semi-automatic adjustment mode, the feature map of the real-time image captured by the manual lens of the shooting device is displayed on the display device. The manual lens is fitted with a parameter adjustment ring, which is rotated by a motor to adjust the lens parameter size of the manual lens. A parameter scale is displayed in the feature map, which is used to characterize the range information of the lens parameters; The feature diagram displays the first scale position indicator of the target lens parameter and the second scale position indicator of the current lens parameter on the parameter scale to indicate to the user the input of motor rotation adjustment commands.

175. The control method for the shooting device according to claim 174, characterized in that, The lens parameters include the focus distance, and the feature map includes a depth map; In the depth map, the position of the depth information of different objects is determined based on the distance between the different objects and the shooting device, as well as a pre-calibrated conversion relationship between the rotation angle of the motor and the focusing distance of the manual lens.

176. The control method for the shooting device according to claim 175, characterized in that, The target lens parameters include the actual distance from the target object in the real-time image to the manual lens, the current lens parameters include the current focus distance of the manual lens, and the first scale position marker is set at the position of the target object in the depth map.

177. The control method for the shooting device according to claim 176, characterized in that, The actual distance is obtained based on the distance measuring sensor on the shooting device.

178. The control method for the shooting device according to claim 177, characterized in that, The ranging sensor is positioned parallel to the manual lens.

179. The control method for the shooting device according to claim 176, characterized in that, The second scale position indicator includes an arrow that points to the position on the parameter scale corresponding to the current focus distance.

180. The control method for the shooting device according to claim 179, characterized in that, The parameter scale is displayed in a first direction on the depth map, and the arrow extends in a second direction. The first direction is one of the height and width of the depth map, and the second direction is the other of the height and width of the depth map.

181. The control method for the shooting device according to claim 180, characterized in that, The parameter scale is displayed on one side of the depth map, and the arrows extend to both ends of the second direction.

182. The control method for the shooting device according to claim 180, characterized in that, When the motor rotates based on the motor rotation adjustment command, the arrow moves along the first direction until the arrow moves to the first scale position mark in the first direction.

183. The control method for the shooting device according to claim 175, characterized in that, The process of defining the transformation relationship includes: The focusing distance of the manual lens of the shooting device is obtained when the motor is at each angle, and the motor rotates to different angles based on a first user command; Based on each angle and its corresponding focusing distance, the conversion relationship between the rotation angle of the motor and the focusing distance of the lens is calibrated.

184. The control method for the shooting device according to claim 183, characterized in that, The different angles include: The manual lens is aimed at objects at different distances to take pictures, and the motor needs to rotate a first angle when the clarity of the image taken by the manual lens is greater than a preset clarity threshold.

185. The control method for the shooting device according to claim 184, characterized in that, The different distances include: a first distance, a second distance, and at least one distance between the first distance and the second distance, wherein the first distance is greater than the second distance.

186. The control method for the shooting device according to claim 185, characterized in that, The distance is obtained based on the distance sensor on the shooting device and / or external input.

187. The control method for the shooting device according to claim 183, characterized in that, The different angles are determined based on the driving information of the motor; or, The different angles are obtained by an angle sensor on the motor; or... The different angles are input from the outside.

188. The control method for the shooting device according to claim 174, characterized in that, In the feature map, the feature information of the target object is highlighted in a preset display mode.

189. The control method for the shooting device according to claim 174, characterized in that, The method further includes: The real-time image is displayed via the display device; The target object is labeled in the real-time image.

190. The control method for the shooting device according to claim 189, characterized in that, The target object is selected from a plurality of objects captured by the manual lens.

191. The control method for the shooting device according to claim 190, characterized in that, The selection can be based on user instructions or on captured image information.

192. A control device for a shooting apparatus, characterized in that, The device includes: Storage device for storing program instructions; and One or more processors invoke program instructions stored in the storage device, wherein, when the program instructions are executed, the one or more processors are individually or collectively configured to carry out the method of any one of claims 174 to 191.

193. A control system for a shooting device, characterized in that, The system includes: The control device for the shooting apparatus as claimed in claim 192; and Manual lens.

194. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the program implements the method described in any one of claims 174 to 191.

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