Control method of handheld gimbal and handheld gimbal

Abstract

This application discloses a control method for a handheld gimbal and a handheld gimbal itself. The control method includes: when the shooting device is in shooting mode, determining a target subject in a specified shooting scene, where the specified shooting scene includes multiple subjects, and the target subject includes at least one subject in a sound-emitting state; determining the position information of the target subject; and adjusting the posture and / or shooting parameters of the shooting device based on the position information to keep the target subject in a preset position within the captured frame. This control method can directly determine the shooting target based on the user's sound state and determine the target's position information, then automatically adjust the posture and / or shooting parameters of the shooting device based on this position information to keep the target in a preset position within the captured frame, eliminating the need for manual operation by the user and thus avoiding shooting stability problems caused by manual operation.

Description

Technical Field

[0001] This application relates to the field of equipment control technology, and more specifically, to a control method for a handheld gimbal and a handheld gimbal. Background Technology

[0002] Handheld shooting devices are currently popular among photography enthusiasts due to their powerful imaging capabilities and compact portability, allowing users to easily capture various beautiful moments in life. However, some handheld devices have limited shooting range. If multiple subjects need to be photographed in a fixed space, users need to frequently manually rotate the device's body or lens to achieve the shot, which can affect shooting stability and the user experience to some extent. Summary of the Invention

[0003] In view of the above problems, this application proposes a control method for a handheld gimbal and a handheld gimbal to improve the above problems.

[0004] In a first aspect, embodiments of this application provide a control method for a handheld gimbal, wherein the handheld gimbal is equipped with a shooting device, and the control method includes: when the shooting device is in a shooting state, determining a target shooting object in a specified shooting scene, wherein the specified shooting scene includes multiple shooting objects, and the target shooting object includes at least one shooting object in a sound-emitting state; determining the position information of the target shooting object; and adjusting the posture of the shooting device and / or the shooting parameters of the shooting device based on the position information, so that the target shooting object is kept at a preset position in the captured image.

[0005] Secondly, this application provides a handheld gimbal, comprising: a handheld part; a gimbal disposed on the handheld part; a shooting device mounted on the gimbal; a memory for storing a computer program; and one or more processors for running the computer program, wherein the computer program, when run by the processors, implements the steps of the method described in the first aspect.

[0006] This application provides a control method for a handheld gimbal and a handheld gimbal itself. When the shooting device is in shooting mode, it determines a target subject in a specified shooting scene, where the specified shooting scene includes multiple subjects, and the target subject includes at least one subject in a sound-emitting state. It then determines the position information of the target subject and adjusts the posture and / or shooting parameters of the shooting device based on the position information to keep the target subject in a preset position within the captured frame. This allows for direct determination of the shooting target and its position information based on the user's voice state. The posture and / or shooting parameters of the shooting device are then automatically adjusted based on this position information to keep the target in a preset position within the captured frame, eliminating the need for manual operation and thus avoiding shooting stability issues caused by manual operation, thereby improving the user's shooting experience. Attached Figure Description

[0007] 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. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0008] Figure 1 An example diagram of the shape of a handheld gimbal provided in an embodiment of this application is shown.

[0009] Figure 2 This illustration shows another example of the shape of the handheld gimbal provided in an embodiment of this application.

[0010] Figure 3 A flowchart of a handheld gimbal control method according to an embodiment of this application is shown.

[0011] Figure 4 shows a schematic diagram of a shooting scene proposed in an embodiment of this application.

[0012] Figure 5 shows a schematic diagram of a shooting scene proposed in another embodiment of this application.

[0013] Figure 6 A flowchart of a control method for a handheld gimbal according to another embodiment of this application is shown.

[0014] Figure 7 A flowchart of a control method for a handheld gimbal is shown in another embodiment of this application.

[0015] Figure 8 An example diagram showing a shooting scene corresponding to a specified shooting scene, provided in an embodiment of this application, is shown.

[0016] Figure 9 A flowchart of a control method for a handheld gimbal according to another embodiment of this application is shown.

[0017] Figure 10 A flowchart of a control method for a handheld gimbal according to another embodiment of this application is shown.

[0018] Figure 11 A flowchart of a control method for a handheld gimbal according to another embodiment of this application is shown.

[0019] Figure 12 A structural block diagram of a handheld gimbal for performing the aforementioned handheld gimbal control method is shown in an embodiment of this application.

[0020] Figure 13 A structural block diagram of a computer-readable storage medium provided in an embodiment of this application is shown. Detailed Implementation

[0021] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0022] When users use handheld shooting devices to shoot in a fixed space, the FOV (field of view) of the handheld shooting device is usually limited. If multiple users are talking in that fixed space, the photographer needs to frequently rotate the body or lens of the handheld shooting device, making the entire shooting process more dependent on manual operation, which can easily affect shooting stability and the user's shooting experience.

[0023] To address the aforementioned issues, the inventors, after extensive research, proposed a control method and handheld gimbal provided in this application. This method allows for the direct determination of the shooting target based on the user's voice state and the target's location information. Then, based on this location information, the posture and / or shooting parameters of the shooting device are automatically adjusted to keep the target in a preset position within the captured image. This eliminates the need for manual operation by the user, thus avoiding shooting stability issues caused by manual operation and improving the user's shooting experience.

[0024] This application provides a control method for a handheld gimbal, which can be applied to handheld gimbals. The gimbal and shooting device configured on the handheld gimbal can be independent devices (i.e., the gimbal and shooting device can be separate units, for example...). Figure 1 The handheld gimbal shown can also be an integrated device (i.e., the gimbal and shooting equipment can be combined into one unit, for example...). Figure 2 (The handheld gimbal shown).

[0025] The shooting device can be, but is not limited to, a smartphone, smart learning machine, tablet computer, laptop computer, PDA (Personal Digital Assistant), camera, wearable device, or other device with shooting function.

[0026] The shooting range of the shooting equipment mounted on the gimbal can change as the gimbal's orientation changes.

[0027] Specifically, in one embodiment, the gimbal can be a three-axis gimbal, meaning the gimbal can rotate about its yaw, pitch, and yaw axes respectively. When the gimbal rotates about the roll axis, the roll angle changes; when it rotates about the pitch axis, the pitch angle changes; and when it rotates about the yaw axis, the yaw angle changes. When the gimbal rotates about one or more of these axes, the shooting device can rotate along with the gimbal, allowing it to capture images of the subject from different shooting directions and angles.

[0028] In another implementation, the gimbal can be a two-axis gimbal. In this way, the gimbal can rotate on two rotation axes: pitch and roll, or on two rotation axes: pitch and yaw, or on two rotation axes: roll and yaw, thereby changing the shooting direction and shooting range of the shooting device.

[0029] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0030] Please see Figure 3 This application provides a control method for a handheld gimbal, applicable to a handheld gimbal equipped with a shooting device. This embodiment mainly describes how to control the handheld gimbal. The control method includes:

[0031] Step S110: When the shooting device is in shooting mode, determine the target shooting object in the specified shooting scene. The specified shooting scene includes multiple shooting objects, and the target shooting object includes at least one shooting object in the sound-emitting state.

[0032] This application's implementation method is mainly described using a multi-person shooting scene as an example. That is, the designated shooting scene of this application includes multiple subjects. Optionally, the multi-person scene (designated shooting scene) can be a meeting scene, a family meal scene, a multi-person chat scene, or a multi-person scene inside a car, etc. The specific scene type is not limited and will not be listed here.

[0033] In this approach, in order to effectively track the subject, the target subject in a specified shooting scene can be identified. In this embodiment, the target subject includes at least one subject in a speaking state. That is, among the multiple subjects in this application, there may be only one subject speaking; or there may be multiple subjects speaking simultaneously (e.g., two or more). The specific number of subjects in a speaking state is not limited.

[0034] Optionally, the number of target subjects can be flexibly varied. For example, if only one subject is speaking initially, the number of target subjects is one; if two subjects subsequently "interrupt" and speak continuously, the number of target subjects becomes three; if the two interrupting subjects stop speaking while the initial subject continues speaking, the number of target subjects returns to one. Optionally, when the shooting device first enters shooting mode (e.g., before any subjects begin speaking, this can be considered as just entering shooting mode), if the FOV of the shooting device can cover the locations of multiple subjects, the multiple subjects can be displayed in the center of the shooting screen.

[0035] Optionally, if the field of view (FOV) of the camera does not cover the locations of multiple subjects when the camera first starts shooting, the camera can be aligned with the center of the subjects. Alternatively, the FOV of the camera can be adjusted so that the multiple subjects are displayed in the center of the camera's view.

[0036] As one implementation method, when the shooting device first enters the shooting state, the first detected subject emitting sound can be identified as the target subject, or the subject emitting sound with the loudest volume can be identified as the target subject. The specific process for determining the target subject can be referred to the relevant descriptions in subsequent embodiments, and will not be repeated here.

[0037] By identifying the target subject in a specific shooting scenario, blind tracking can be avoided, thus improving the effective tracking of users who speak.

[0038] Step S120: Determine the location information of the target object.

[0039] If the target subject in a given shooting scene is determined, tracking and shooting the subject solely based on whether the user makes a sound and the volume of that sound may lead to misjudgment. To improve this, and to enable accurate tracking and shooting of the target subject, the location information of the target subject can be determined.

[0040] In this embodiment, the position information of the target object may include the orientation and angle information of the target object relative to the handheld gimbal. Optionally, if there is only one target object, it is necessary to determine the orientation and angle information of this single target object relative to the handheld gimbal; if there are multiple target objects, it is necessary to determine the orientation and angle information of each of the multiple target objects relative to the handheld gimbal separately.

[0041] In some other implementations, the location information of the target object may include positioning information (e.g., latitude and longitude coordinates). In this way, the location information of the target object can be obtained through data communication between an electronic device carried by the subject and a handheld gimbal.

[0042] Optionally, the position of the target object in this embodiment can be fixed. In this case, different target objects correspond to different positions. Alternatively, the position of the target object can also change. For example, a target object can talk and walk slowly. In this case, different target objects can correspond to the same position, while the position of the same target object can change continuously. That is, if the target object moves, its position information will change. In this way, the position information of the target object can be redefined. The principle and specific implementation process of redefined position information will not be elaborated here.

[0043] Optionally, the position of the handheld gimbal in this embodiment can be fixed, for example, the position of the photographer is fixed, or the handheld gimbal is fixed at a certain position in the specified shooting scene; or, the position of the handheld gimbal can also change, for example, the photographer walks while shooting. In this way, the position of different target shooting objects relative to the gimbal may also change. In this way, the position information of the target shooting object can be re-determined. The principle and specific implementation process of re-determination will not be described in detail here.

[0044] By determining the location information of the target subject, we can accurately obtain the specific location of the target subject and know whether the target subject has changed location, thus enabling us to accurately track and photograph the target subject.

[0045] Step S130: Adjust the posture of the shooting device and / or the shooting parameters of the shooting device based on the position information so that the target object is kept in a preset position in the captured image.

[0046] Once the location information of the target object is determined, in order to improve the display effect of the tracking shot, or to avoid the impact of the photographer's hand tremors on the display effect of the tracking shot, the posture and / or shooting parameters of the shooting device can be adjusted based on the location information to keep the target object in a preset position in the captured frame. Here, the captured frame can be understood as the image captured by the shooting device, and the preset position can be the center of the captured frame (i.e., the center of the captured frame), the lower left corner of the captured frame, the lower right corner of the captured frame, or any other position where the image of the target object needs to be displayed; that is, the specific location of the preset position is not limited.

[0047] In this embodiment, the posture of the shooting device may include the shooting position and shooting angle of the shooting device, and the shooting parameters of the shooting device may include at least one of the following parameters: focal length, optical scaling parameters, digital scaling parameters, shutter speed, aperture parameters, and ISO sensitivity.

[0048] In one implementation, adjusting the posture of the shooting device based on the aforementioned location information can be achieved by controlling the rotation of the gimbal based on this location information to adjust the shooting orientation and angle, thereby aligning the camera of the shooting device with the target object. Optionally, the shooting orientation can be used for coarse adjustment of the shooting device's posture, while the shooting angle can be used for fine adjustment.

[0049] If the shooting parameters of the shooting device are adjusted based on the aforementioned location information, one implementation method is to adjust the focal length of the shooting device based on the location information to bring the target subject within the shooting range of the shooting device. Optionally, if adjusting the focal length of the shooting device based on the location information fails to bring the target subject within the shooting range, at least one of the following parameters of the shooting device—optical scaling, digital scaling, shutter speed, aperture, and ISO—can be adjusted based on the location information to bring the target subject within the shooting range. Alternatively, at least one of the following parameters of the shooting device—focal length, optical scaling, digital scaling, shutter speed, aperture, and ISO—can be directly adjusted based on the location information to bring the target subject within the shooting range.

[0050] Optionally, the attitude adjustment process of the shooting device in this embodiment is real-time, and the shooting parameter adjustment process of the shooting device is also real-time.

[0051] Therefore, by adjusting the posture and / or shooting parameters of the shooting device in real time, the framing requirements of tracking shooting can be better met, the accuracy and stability of tracking shooting can be improved, and the display effect of the tracking shooting image can be enhanced.

[0052] For example, in a specific application scenario, please refer to Figure 4, which shows a schematic diagram of a shooting scenario provided by an embodiment of this application. In this scenario, the handheld gimbal is fixed at a certain location or the photographer holds the handheld gimbal and stays at a certain location. Figure 4A As shown, when subject A speaks, the handheld gimbal can adjust the posture and / or shooting parameters of the shooting device to keep subject A in a preset position within the captured frame. Figure 4B As shown, when subject A stops speaking and subject B speaks, the handheld gimbal can adjust the posture of the shooting device and / or the shooting parameters of the shooting device to keep subject B in a preset position in the captured image.

[0053] For example, in another specific application scenario, please refer to Figure 5, which shows a schematic diagram of a shooting scenario provided by another embodiment of this application. In this scenario, the handheld gimbal moves from shooting location X to shooting location Y. The handheld gimbal can move with the photographer or with other movable platforms, such as... Figure 5AAs shown, when the handheld gimbal is located at shooting location X, the subject A speaks, and the handheld gimbal can adjust the posture and / or shooting parameters of the shooting device to keep the subject A in the preset position of the captured image. As the handheld gimbal moves from shooting location X to shooting location Y, the subject A continues to speak, and the handheld gimbal can still adjust the posture and / or shooting parameters of the shooting device to keep the subject A in the preset position of the captured image throughout the movement.

[0054] When a handheld gimbal is in motion, the relative position of the target object and the handheld gimbal changes in real time. In this scenario, determining the position information of the target object also requires considering the movement information of the handheld gimbal, which includes at least the direction and speed of movement. Based on this movement information, the position information of the target object is determined. This application provides a handheld gimbal control method that, when the shooting device is in shooting mode, determines the target object in a specified shooting scene, where the specified shooting scene includes multiple subjects, including at least one subject in a vocalizing state; determines the position information of the target object; and adjusts the posture and / or shooting parameters of the shooting device based on the position information to keep the target object in a preset position within the captured frame. This allows for direct determination of the shooting target and its position information based on the user's vocalization, followed by automatic adjustment of the shooting device's posture and / or shooting parameters to keep the target in a preset position within the captured frame. This eliminates the need for manual operation by the user, thus avoiding shooting stability issues caused by manual operation and improving the user's shooting experience.

[0055] Meanwhile, by adjusting the posture and / or shooting parameters of the shooting equipment in real time, the framing requirements of tracking shooting can be better met, the accuracy and stability of tracking shooting can be improved, and the display effect of the tracking shooting image can be enhanced.

[0056] Please see Figure 6 Another embodiment of this application provides a control method for a handheld gimbal, applicable to a handheld gimbal equipped with a shooting device. This embodiment mainly describes a method for determining a target scene object. The control method includes:

[0057] Step S210: When the shooting device is in shooting mode, in response to the detected voice signal, the voiceprint features of the voice signal are extracted.

[0058] In this embodiment, when the shooting device is in shooting mode, it can detect in real time whether the subject being shot is speaking (for example, it can detect whether the subject being shot is speaking through speech recognition technology). If the subject being shot is detected to be speaking, the speech signal of the subject being shot will be acquired.

[0059] To distinguish the number of subjects being filmed while speaking, one implementation method is to extract voiceprint features from the speech signal to differentiate the number of subjects by sound category. Optionally, if only one subject is speaking, one voiceprint feature will be extracted; if multiple subjects are speaking, multiple different voiceprint features will be extracted.

[0060] The principles of voiceprint feature extraction (e.g., through voiceprint recognition technology) and the specific extraction process will not be elaborated here. By extracting the voiceprint features of the detected speech signals, the number of target subjects (or people) can be roughly determined.

[0061] Step S220: Determine the target shooting object in the specified shooting scene based on the voiceprint features. The specified shooting scene includes multiple shooting objects, and the target shooting object includes at least one shooting object in a sound-emitting state.

[0062] As one implementation method, the target subject in a specified shooting scene can be determined based on the extracted voiceprint features. For example, if one voiceprint feature is extracted, the subject corresponding to that voiceprint feature can be directly identified as the target subject in the specified shooting scene; and if multiple voiceprint features are extracted, the subjects corresponding to each of those multiple voiceprint features can be directly identified as the target subjects in the specified shooting scene.

[0063] Optionally, the target shooting object can also include a specified number of subjects. In this method, if multiple voiceprint features are extracted, and the number of extracted voiceprint features is greater than the specified number, then the subjects corresponding to the specified number of voiceprint features extracted first (or later) can be directly identified as the target shooting objects in the specified shooting scene. The specific value of the specified number is not limited; for example, the specified number can be 2, 3, or 5.

[0064] By directly determining the target shooting object in a specified shooting scene based on the extracted voiceprint features, the intelligence and speed of target shooting object determination can be improved, thereby enhancing the convenience and efficiency of handheld gimbal control.

[0065] Step S230: Determine the location information of the target object being photographed.

[0066] The specific implementation of step S230 can be referred to the relevant description of step S120 in the foregoing embodiments, and will not be repeated here.

[0067] Step S240: Adjust the posture of the shooting device and / or the shooting parameters of the shooting device based on the position information, so that the target object is kept in a preset position in the captured image.

[0068] The specific implementation of step S240 can be referred to the relevant description of step S130 in the foregoing embodiments, and will not be repeated here.

[0069] This application provides a control method for a handheld gimbal. When the shooting device is in shooting mode, in response to a detected voice signal, the method extracts the voiceprint features of the voice signal; based on the voiceprint features, it determines a target shooting object in a specified shooting scene, where the specified shooting scene includes multiple shooting objects, and the target shooting object includes at least one shooting object in a speaking state; it determines the position information of the target shooting object; and based on the position information, it adjusts the posture and / or shooting parameters of the shooting device to keep the target shooting object in a preset position in the captured frame. This allows the shooting target to be determined directly based on the user's voice state, and the position information of the shooting target can be determined. Then, based on this position information, the posture and / or shooting parameters of the shooting device are automatically adjusted to keep the shooting target in a preset position in the captured frame, eliminating the need for manual operation by the user. This avoids shooting stability problems caused by manual operation and thus improves the user's shooting experience.

[0070] Meanwhile, by directly determining the target shooting object in a specified shooting scene based on the extracted voiceprint features, the intelligence and speed of target shooting object determination can be improved, thereby enhancing the convenience and efficiency of handheld gimbal control.

[0071] Please see Figure 7 Another embodiment of this application provides a control method for a handheld gimbal, applicable to a handheld gimbal equipped with a shooting device. This embodiment mainly describes another method for determining the target scene object. The control method includes:

[0072] Step S310: When the shooting device is in shooting mode, display the shooting screen corresponding to the specified shooting scene.

[0073] In this embodiment, to improve the operability of the handheld gimbal and the user's visual operation experience, when the shooting device is in shooting mode, the handheld gimbal can display the shooting screen corresponding to the aforementioned specified shooting scene, so that the user (shooter) can directly select the target shooting object by touching the shooting screen. Specifically, if the gimbal and shooting device on the handheld gimbal are integrated, the shooting screen corresponding to the specified shooting scene can be displayed through the gimbal's display device; if the gimbal and shooting device on the handheld gimbal are separate devices, the shooting screen corresponding to the specified shooting scene can be displayed through the shooting device's display screen, and the specific device displaying the screen is not limited.

[0074] For example, in a specific application scenario, please refer to Figure 8 This illustration shows an example diagram of a captured image corresponding to a specified shooting scene, provided in an embodiment of this application. For example... Figure 8 As shown, the specified shooting scene includes 3 subjects, and the displayed shooting screen also shows 3 subjects.

[0075] Step S320: In response to the selection operation applied to the plurality of subjects, at least one subject selected by the selection operation is determined as the target subject in a specified shooting scene. The specified shooting scene includes a plurality of subjects, and the target subject includes at least one subject in a sound-emitting state.

[0076] In this embodiment, the specified shooting scene includes multiple subjects, and the user can select a subject by touching it. In this way, in response to a selection operation applied to multiple subjects, at least one subject selected by the selection operation can be determined as the target subject in the specified shooting scene.

[0077] In other words, if a user selects a subject to be photographed, that subject will be designated as the target subject; if a user selects multiple subjects, all of those subjects will be designated as the target subjects.

[0078] It is worth noting that the target subject in this embodiment may include at least one subject that is speaking, and may also include subjects that are not speaking (for example, a choir member who does not speak may still be selected as the target subject).

[0079] By determining the target subject based on user selection, the user's visual experience during tracking and shooting can be enhanced, as well as the operability of tracking and shooting. At the same time, by allowing users to participate in selecting and determining the target subject, the flexibility and fun of determining the target subject can be improved.

[0080] In this embodiment, if the target subject is determined but it is found that the target subject is not within the shooting range of the shooting device, the subject currently displayed on the shooting screen can be determined. Then, in response to the selection operation on the subject displayed on the shooting screen, the subject selected by the selection operation is determined as the target subject in the specified shooting scene.

[0081] In other words, if the focal length of the shooting device is maximized and the shooting frame can encompass the subject initially selected by the user, then these selected subjects can be directly identified as the target subjects in the specified shooting scene.

[0082] If, at its maximum focal length, the camera's viewfinder cannot encompass the initially selected subject, then the target subject can be chosen from the subjects displayed on the camera's viewfinder to define a specific shooting scene. In this method, neither the specific subject nor the number of subjects selected as the target subject is limited.

[0083] Step S330: Determine the location information of the target object being photographed.

[0084] The specific implementation of step S330 can be referred to the relevant description of step S120 in the foregoing embodiments, and will not be repeated here.

[0085] Step S340: Adjust the posture of the shooting device and / or the shooting parameters of the shooting device based on the position information, so that the target object is kept in a preset position in the captured image.

[0086] The specific implementation of step S340 can be referred to the relevant description of step S130 in the foregoing embodiments, and will not be repeated here.

[0087] This application provides a control method for a handheld gimbal. When the shooting device is in shooting mode, it displays a shooting screen corresponding to a specified shooting scene. Responding to a selection operation on a plurality of subjects, it identifies at least one subject selected by the selection operation as the target shooting object in the specified shooting scene. The specified shooting scene includes multiple subjects, and the target shooting object includes at least one subject in a sound-emitting state. It determines the position information of the target shooting object and adjusts the posture and / or shooting parameters of the shooting device based on the position information to keep the target shooting object at a preset position in the capture screen. This allows for direct determination of the shooting target and its position information based on the user's voice state. Then, based on this position information, the posture and / or shooting parameters of the shooting device are automatically adjusted to keep the target shooting at a preset position in the capture screen, eliminating the need for manual operation by the user. This avoids shooting stability issues caused by manual operation and improves the user's shooting experience.

[0088] Meanwhile, by determining the target subject based on the user's selection, the user's visual operation experience during the tracking and shooting process can be enhanced, as well as the operability of the tracking and shooting process. At the same time, by allowing users to participate in selecting and determining the target subject, the flexibility and fun of determining the target subject can be improved.

[0089] Please see Figure 9 This application provides another embodiment of a control method for a handheld gimbal, applicable to a handheld gimbal equipped with a shooting device. This embodiment mainly describes another method for determining the target scene object. The control method includes:

[0090] Step S410: When the shooting device is in shooting mode, at least one of the multiple subjects that meets the target conditions is determined as the target subject in the specified shooting scene. The specified shooting scene includes multiple subjects, and the target subject includes at least one subject in a sound-emitting state.

[0091] In this embodiment, there are multiple subjects being filmed. When the filming device is in filming mode, to improve the flexibility and interest in determining the target subject, as one implementation method, at least one subject that meets the target conditions among the multiple subjects can be determined as the target subject in a specified filming scene. The specified filming scene includes multiple subjects, and the target subject includes at least one subject that is emitting sound.

[0092] The target conditions may include at least one of the following: the speaking duration exceeds the preset duration; the speaking is continuous; the speaking frequency exceeds the preset frequency; the time when the speaking begins is closest to the current time; the speaking volume is the loudest; the speaker is closest to the camera; there is an association with the camera; or the user is identified.

[0093] Optionally, the specific value of the preset duration is not limited; for example, the preset duration can be 30 seconds, 1 minute, 2 minutes, etc. For instance, if subject A (assumed to be the target subject) is speaking continuously, and subject B also begins to interrupt, in this way, if subject B's speaking time exceeds (in this embodiment, exceeding can be understood as greater than or equal to) the preset duration, then subject B can also be identified as the target subject. Optionally, if subject B's speaking time does not exceed the preset duration, then subject B's speaking is considered an "interruption" action, meaning that subject B will not be identified as the target subject in this case.

[0094] Optionally, continuous speaking can be understood as speaking without interruption within a certain period of time. In this embodiment, the duration of this certain period of time is longer than the preset duration mentioned above. The specific value of the duration of this certain period of time is not limited, for example, it can be 5 minutes, 10 minutes, or half an hour. In this way, taking the above example as an example, if the subject B's speech after interrupting is continuous, then the subject B can also be identified as the target subject. Optionally, if the subject B's speech after interrupting is not continuous, then the subject B's interruption will be identified as an "interruption" action, and in this way, the subject B will not be identified as the target subject.

[0095] Optionally, if a subject's speech is discontinuous but frequent, for example, exceeding a preset frequency, then that subject can be identified as the target subject. The specific value of the preset frequency is not limited; for example, it could be 10 sentences per minute, 20 sentences per half hour, etc. For instance, if the subject is a host in a meeting setting, their speaking frequency might exceed the preset frequency; in this case, that subject can be identified as the target subject.

[0096] Optionally, if multiple subjects are speaking, those with higher status are likely to start speaking later. For example, leaders usually give a concluding speech at the end of a meeting. In this case, the subject whose starting time is closest to the current time can be identified as the target subject. It should be noted that there can be one or more subjects whose starting time is closest to the current time. If there are multiple subjects whose starting time is closest to the current time, they must all start speaking at the same time and for the same duration; the specific duration is not limited.

[0097] In one implementation, at least one subject with the loudest speaking voice among a plurality of subjects can be identified as the target subject. For example, in a singing competition, to highlight the singing effects of different groups, the subject with the loudest speaking voice can be identified as the target subject. "Loudest speaking voice" refers to the subject with the highest sound pressure level among the plurality of subjects.

[0098] In one implementation, when there are multiple subjects being filmed, an important person may stand at the very front of the subjects (for example, the lead dancer in a group dance will stand at the very front). In this case, the subjects standing at the very front will also be closest to the filming device. In this way, in order to highlight the effect of tracking filming, at least one subject closest to the filming device can be identified as the target subject.

[0099] In one implementation, when the number of subjects is large and it is difficult to determine a valid target, at least one subject associated with the shooting device can be directly identified as the target. This association can be a device identifier carrying the shooting device. Optionally, if the subject is the owner of the shooting device, they may possess a login account and facial image linked to the device. In this way, when the owner is photographed by the shooting device, their identity can be automatically identified, thus identifying them as the target. Optionally, the association can also be based on the highest frequency of logging into the shooting device or the number of times the user logs into the shooting device.

[0100] In one implementation, before the camera is in shooting mode, identification tags can be added to all subjects being filmed, with different tags for each subject. Then, when the camera is in shooting mode, these identification tags can be displayed on the camera's screen. In this way, users (subjects) with specific identification tags can be identified as the target subjects. These specific identification tags could be the identity tag of the meeting host, the identity tag of a content sharer, or the identity tag of a user with a specific membership level in the meeting software.

[0101] By determining the target subject based on various target conditions, the flexibility and interest in determining the target subject can be improved.

[0102] Step S420: Determine the location information of the target object.

[0103] The specific implementation of step S420 can be referred to the relevant description of step S120 in the foregoing embodiments, and will not be repeated here.

[0104] Step S430: Adjust the posture of the shooting device and / or the shooting parameters of the shooting device based on the position information, so that the target object is kept in a preset position in the captured image.

[0105] The specific implementation of step S430 can be referred to the relevant description of step S130 in the foregoing embodiments, and will not be repeated here.

[0106] This application provides a control method for a handheld gimbal. When the shooting device is in shooting mode, it identifies at least one of a plurality of subjects that meets target conditions as the target subject in a specified shooting scene. The specified shooting scene includes a plurality of subjects, and the target subject includes at least one subject in a sound-emitting state. The method then determines the position information of the target subject and adjusts the posture and / or shooting parameters of the shooting device based on the position information to keep the target subject in a preset position within the captured frame. This allows for direct determination of the shooting target and its position information based on the user's voice state. The posture and / or shooting parameters of the shooting device are then automatically adjusted based on this position information to keep the target in a preset position within the captured frame, eliminating the need for manual operation and thus avoiding shooting stability issues caused by manual operation, thereby improving the user's shooting experience.

[0107] At the same time, by determining the target subject based on various different target conditions, the flexibility and interest in determining the target subject can be improved.

[0108] Please see Figure 10 This application provides a control method for a handheld gimbal, applicable to a handheld gimbal equipped with a shooting device. This embodiment mainly describes a method for determining the position information of a target scene object. The control method includes:

[0109] Step S510: When the shooting device is in shooting mode, determine the target shooting object in the specified shooting scene. The specified shooting scene includes multiple shooting objects, and the target shooting object includes at least one shooting object in a sound-emitting state.

[0110] The specific implementation of step S510 can be referred to the relevant descriptions of step S110, or step S210 and step S220, or step S310 and step S320, or step S410 in the foregoing embodiments, and will not be repeated here.

[0111] Step S520: Obtain the sound information of the target object being photographed.

[0112] In this embodiment, the sound information may include sound field information (which can also be understood as sound source location information). When a target subject in a specified shooting scene is determined, in order to accurately track and shoot the target subject, the sound information of the target subject can be acquired to roughly pinpoint its location.

[0113] As one implementation method, the handheld gimbal is equipped with a microphone array, which can identify the sound information of the target object to be photographed, so that the approximate location of the target object can be determined based on the sound information. The specific implementation process of sound information identification will not be described in detail here.

[0114] Step S530: Obtain the image features of the target object.

[0115] To more accurately locate the position of the target subject, this embodiment can also acquire image features of the target subject. These image features may include at least one of facial image features, gesture features, mouth movement features, and torso features.

[0116] As one implementation method, image features of the target subject can be obtained through image recognition, face recognition, action recognition, and / or gesture recognition. Optionally, the specific implementation principle and process of each recognition process will not be elaborated here.

[0117] Step S540: Determine the location information of the target object based on the sound information and the image features.

[0118] As one implementation method, the position information of the target object can be determined based on the acquired sound information and image features. Specifically, the orientation information of the target object relative to the handheld gimbal can be determined through the sound information, and then the angle information of the target object relative to the handheld gimbal can be determined through the image features, thereby obtaining the precise position information of the target object relative to the handheld gimbal.

[0119] Optionally, the more accurate the positional information of the target object relative to the handheld gimbal, the better the subsequent tracking and shooting effect of the target object can be.

[0120] Step S550: Adjust the posture of the shooting device and / or the shooting parameters of the shooting device based on the position information, so that the target object is kept in a preset position in the captured image.

[0121] The specific implementation of step S550 can be referred to the relevant description of step S130 in the foregoing embodiments, and will not be repeated here.

[0122] This application provides a control method for a handheld gimbal. When the shooting device is in shooting mode, it determines a target object in a specified shooting scene, where the specified shooting scene includes multiple objects, and the target object includes at least one object in a sound-emitting state. The method involves: acquiring the sound information of the target object; acquiring the image features of the target object; determining the position information of the target object based on the sound information and the image features; and adjusting the posture and / or shooting parameters of the shooting device based on the position information to keep the target object in a preset position within the captured frame. This allows for direct determination of the shooting target and its position information based on the user's sound state, followed by automatic adjustment of the shooting device's posture and / or shooting parameters to keep the target in a preset position within the captured frame. This eliminates the need for manual operation by the user, thus avoiding shooting stability issues caused by manual operation and improving the user's shooting experience.

[0123] Meanwhile, by combining the sound information and image features of the target object to determine its position, the accuracy of the determined position relative to the handheld gimbal can be improved. This makes it easier to adjust the shooting equipment accurately afterward, thereby improving the overall tracking and shooting effect.

[0124] Please see Figure 11This application provides another embodiment of a control method for a handheld gimbal. This handheld gimbal control method can be applied to a handheld gimbal equipped with a shooting device. This embodiment mainly describes another method for determining the position information of a target scene object. The control method includes:

[0125] Step S610: When the shooting device is in shooting mode, determine the target shooting object in the specified shooting scene. The specified shooting scene includes multiple shooting objects, and the target shooting object includes at least one shooting object in the sound-emitting state.

[0126] The specific implementation of step S610 can be referred to the relevant descriptions of step S110, or step S210 and step S220, or step S310 and step S320, or step S410 in the foregoing embodiments, and will not be repeated here.

[0127] Step S620: Obtain the location information corresponding to the voiceprint feature based on the preset mapping relationship table, and use it as the location information of the target shooting object.

[0128] In this embodiment, if the positions of multiple subjects in a specified shooting scene are relatively fixed and their positions do not change during the shooting process (or the change is very small, such as a slight change in the upper body tilting), a correspondence between different subjects and their respective voiceprint features and position information can be established in advance, and this correspondence can be stored in the form of a preset mapping table.

[0129] In this approach, when it is necessary to determine the location information of the subject (or target subject) currently in a vocal state, the location information corresponding to the identified voiceprint features can be directly obtained based on the preset mapping table and used as the location information of the target subject.

[0130] In other words, when the positional relationship between multiple subjects in a specified shooting scene is relatively fixed and their positions have not changed, the positional information of the target subject can be obtained directly by looking up a table, which can speed up the acquisition of the target subject's positional information and thus improve the control efficiency of the handheld gimbal.

[0131] Optionally, this embodiment can also pre-establish the correspondence between different subjects and their various corresponding voiceprint features, location information, and identity identifiers. In this way, the above-mentioned preset mapping relationship table can store the correspondence between the subject, the voiceprint features of the subject, the location information of the subject, and the identity identifier of the subject, so that the location information of the target subject can be obtained more quickly and accurately based on the preset mapping relationship table.

[0132] Step S630: Adjust the posture of the shooting device and / or the shooting parameters of the shooting device based on the position information, so that the target object is kept in a preset position in the captured image.

[0133] The specific implementation of step S630 can be referred to the relevant description of step S130 in the foregoing embodiments, and will not be repeated here.

[0134] This application provides a control method for a handheld gimbal. When the shooting device is in shooting mode, it determines a target object in a specified shooting scene. The specified shooting scene includes multiple objects, and the target object includes at least one object in a vocalizing state. Based on a preset mapping table, it obtains location information corresponding to voiceprint features as the location information of the target object. Based on the location information, it adjusts the posture and / or shooting parameters of the shooting device to keep the target object in a preset position within the captured frame. This allows the handheld gimbal to directly determine the shooting target and its location information based on the user's voice state, and then automatically adjusts the posture and / or shooting parameters of the shooting device to keep the target in a preset position within the captured frame. This eliminates the need for manual operation by the user, thus avoiding shooting stability issues caused by manual operation and improving the user's shooting experience.

[0135] Meanwhile, when the positional relationship between multiple subjects in a specified shooting scene is relatively fixed and their positions have not changed, the positional information of the target subject can be obtained by directly looking up a table, which can speed up the acquisition of the target subject's positional information and thus improve the control efficiency of the handheld gimbal.

[0136] Based on the same inventive concept, this application also provides a handheld gimbal for implementing the control method of the handheld gimbal mentioned above.

[0137] Please see Figure 12 Based on the aforementioned handheld gimbal control method, this application embodiment also provides a handheld gimbal 100 capable of executing the aforementioned handheld gimbal control method. The handheld gimbal 100 includes a memory 102, one or more (only one shown in the figure) processors 104 coupled together, a handheld unit 106, a gimbal 107, and a shooting device 108. The memory 102, handheld unit 106, gimbal 107, and shooting device 108 are all connected to the processor 104 via communication lines. The gimbal 107 is mounted on the handheld unit 106, and the shooting device 108 is mounted on the gimbal 107. The memory 102 stores a program capable of executing the contents of the aforementioned embodiment, and the processor 104 can execute the program stored in the memory 102.

[0138] The processor 104 may include one or more processing cores. The processor 104 connects to various parts within the handheld gimbal 100 via various interfaces and lines, executing instructions, programs, code sets, or instruction sets stored in the memory 102, and calling data stored in the memory 102 to perform various functions and process data of the handheld gimbal 100. Optionally, the processor 104 may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 104 may integrate one or a combination of several of the following: Central Processing Unit (CPU), Graphics Processing Unit (GPU), and modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the displayed content; and the modem handles wireless communication. It is understood that the modem may also not be integrated into the processor 104 and may be implemented separately through a communication chip.

[0139] The memory 102 may include random access memory (RAM) or read-only memory (ROM). The memory 102 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 102 may include a program storage area and a data storage area. The program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as touch functionality, sound playback functionality, image playback functionality, etc.), and instructions for implementing the aforementioned embodiments. The data storage area may also store data created during use of the handheld gimbal 100 (such as phonebook data, audio and video data, chat log data, etc.).

[0140] Those skilled in the art will understand that Figure 12 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the handheld gimbal to which the present application is applied. A specific handheld gimbal may include more or fewer components than those shown in the figure, or may combine certain components, or may have different component arrangements.

[0141] In one exemplary embodiment, a handheld gimbal is provided, including a handheld part; a gimbal disposed on the handheld part; a shooting device mounted on the gimbal; a memory for storing a computer program; and one or more processors for running the computer program, the computer program being configured to: when the shooting device is in a shooting state, determine a target shooting object in a specified shooting scene, the specified shooting scene including multiple subjects, the target shooting object including at least one subject in a sound-emitting state; determine the position information of the target shooting object; and adjust the posture of the shooting device and / or the shooting parameters of the shooting device based on the position information, so that the target shooting object is kept at a preset position in the captured image.

[0142] In one exemplary embodiment, the computer program is specifically configured to: extract the voiceprint features of the detected voice signal in response to the voice signal; and determine the target shooting object in a specified shooting scene based on the voiceprint features.

[0143] In an exemplary embodiment, before determining the target subject in a specified shooting scene, the computer program is further configured to: display a shooting screen corresponding to the specified shooting scene; in this manner, when determining the target subject in the specified shooting scene, the computer program is specifically configured to: in response to a selection operation applied to the plurality of subjects, determine at least one subject selected by the selection operation as the target subject in the specified shooting scene.

[0144] In an exemplary embodiment, the computer program is further configured to: if the target object is not within the shooting range of the shooting device, determine the object displayed on the shooting screen; and in response to a selection operation applied to the object displayed on the shooting screen, determine the object selected by the selection operation as the target object in the specified shooting scene.

[0145] In an exemplary embodiment, the computer program is specifically configured to: identify at least one of the plurality of subjects that meets the target conditions as the target subject in the specified shooting scene; the target conditions include at least one of the following: speaking duration exceeds a preset duration; speaking is continuous; speaking frequency exceeds a preset frequency; the time when speaking begins is closest to the current time; the speaking volume is the loudest; the subject is closest to the shooting device; there is an association with the shooting device; or the subject is a user with a specified identity.

[0146] In an exemplary embodiment, the computer program is specifically configured to: acquire sound information of the target object; acquire image features of the target object; and determine the location information of the target object based on the sound information and the image features.

[0147] In an exemplary embodiment, the computer program is specifically configured to: obtain location information corresponding to the voiceprint features based on a preset mapping table, and use it as the location information of the target shooting object.

[0148] In one exemplary embodiment, the computer program is specifically configured to: control the rotation of the gimbal based on the location information to adjust the shooting position and shooting angle of the shooting device so that the camera of the shooting device is aimed at the target object.

[0149] In one exemplary embodiment, the computer program is specifically configured to: adjust the focal length of the shooting device based on the location information so that the target object is within the shooting range of the shooting device.

[0150] Please refer to Figure 13 This diagram illustrates a structural block diagram of a computer-readable storage medium provided in an embodiment of this application. The computer-readable storage medium 700 stores program code that can be called by a processor to execute the methods described in the above method embodiments.

[0151] The computer-readable storage medium 700 may be an electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read-Only Memory), EPROM, hard disk, or ROM. Optionally, the computer-readable storage medium 700 includes a non-transitory computer-readable storage medium. The computer-readable storage medium 700 has storage space for program code 710 that performs any of the method steps described above. This program code can be read from or written to one or more computer program products. The program code 710 may be compressed, for example, in a suitable form.

[0152] In summary, the handheld gimbal control method and handheld gimbal provided in this application, when the shooting device is in shooting mode, determines the target shooting object in a specified shooting scene, wherein the specified shooting scene includes multiple shooting objects, and the target shooting object includes at least one shooting object in a sound-emitting state; determines the position information of the target shooting object; and adjusts the posture and / or shooting parameters of the shooting device based on the position information to keep the target shooting object in a preset position in the captured frame. This allows the shooting target to be determined directly based on the user's voice state, and the position information of the shooting target to be determined. Then, based on the position information, the posture and / or shooting parameters of the shooting device are automatically adjusted to keep the shooting target in a preset position in the captured frame, eliminating the need for manual operation by the user. Therefore, it avoids shooting stability problems caused by manual operation, thereby improving the user's shooting experience.

[0153] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A control method for a handheld gimbal, characterized in that, The handheld gimbal is equipped with a shooting device, and the control method includes: When the shooting device is in shooting mode, a target shooting object is determined in a specified shooting scene. The specified shooting scene includes multiple shooting objects, and the target shooting object includes at least one shooting object in a sound-emitting state. Determine the location information of the target object; Based on the location information, the posture of the shooting device and / or the shooting parameters of the shooting device are adjusted to keep the target object in a preset position in the captured image.

2. The method according to claim 1, characterized in that, The process of determining the target subject in a specified shooting scene includes: When the handheld gimbal is in a moving state, a target shooting object in a specified shooting scene is determined. The specified shooting scene includes multiple shooting objects, and the target shooting object includes at least one shooting object in a sound-emitting state.

3. The method according to claim 2, characterized in that, Determining the location information of the target object includes: Obtain the movement information of the handheld gimbal; Based on the movement information of the handheld gimbal, the location information of the target object is determined.

4. The method according to claim 3, characterized in that, The movement information of the handheld gimbal includes its movement speed and direction.

5. The method according to claim 1, characterized in that, The process of determining the target subject in a specified shooting scene includes: In response to the detected speech signal, the voiceprint features of the speech signal are extracted; The target shooting object in the specified shooting scene is determined based on the voiceprint features.

6. The method according to claim 1, characterized in that, Before determining the target subject in the specified shooting scene, the method further includes: Display the captured image corresponding to the specified shooting scene; The process of determining the target subject in a specified shooting scene includes: In response to a selection operation applied to the plurality of subjects, at least one subject selected by the selection operation is determined as the target subject in the specified shooting scene.

7. The method according to claim 6, characterized in that, The method further includes: If the target object is not within the shooting range of the shooting device, the object being photographed displayed on the shooting screen is determined; In response to a selection operation on the subject displayed on the shooting screen, the subject selected by the selection operation is determined as the target subject in the specified shooting scene.

8. The method according to claim 1, characterized in that, The process of determining the target subject in a specified shooting scene includes: At least one of the multiple subjects that meets the target conditions is identified as the target subject in the specified shooting scene. The target condition includes at least one of the following: The speaking time exceeded the preset time. Speak continuously; Speaking at a frequency exceeding the preset frequency; The moment when you start speaking is closest to the current time; Closest to the shooting equipment; It is related to the filming equipment; Specify the user's identity.

9. The method according to any one of claims 5-8, characterized in that, Determining the location information of the target object includes: Acquire the sound information of the target object; Obtain the image features of the target object; The location information of the target object is determined based on the sound information and the image features.

10. The method according to any one of claims 5-8, characterized in that, Determining the location information of the target object includes: The location information corresponding to the voiceprint features is obtained based on a preset mapping table and used as the location information of the target shooting object.

11. The method according to claim 1, characterized in that, Adjusting the posture of the shooting device based on the location information includes: Based on the location information, the gimbal is rotated to adjust the shooting position and angle of the shooting device so that the camera of the shooting device is aimed at the target object.

12. The method according to claim 1, characterized in that, Adjusting the shooting parameters of the shooting device based on the location information includes: The focal length of the shooting device is adjusted based on the location information so that the target object is within the shooting range of the shooting device.

13. The method according to claim 1, characterized in that, The method further includes: If the location information changes, the location information of the target object to be photographed should be re-determined; The attitude of the shooting device and / or the shooting parameters of the shooting device are adjusted based on the redefined position information in order to continuously track the target object.

14. The method according to claim 1, characterized in that, The preset position includes the center of the captured image.

15. A handheld gimbal, comprising: Handheld part; The gimbal is mounted on the handheld part; The camera is mounted on the gimbal. Memory, used to store computer programs; One or more processors are configured to run the computer program, which, when run by the processors, implements the steps of the method according to any one of claims 1 to 14.

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