Panoramic photographing device and photographing method

Abstract

The application provides a panoramic shooting device and a shooting method, which comprise a frame, an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism, a horizontal rotating mechanism, a multi-degree-of-freedom mechanical arm and a control system; the X-axis moving mechanism is installed at the bottom side inside the frame and is used for driving the horizontal rotating mechanism to move back and forth along the X-axis direction; the horizontal rotating mechanism is used for driving the object to be shot to rotate horizontally around the Z-axis; the Z-axis moving mechanism is installed at the front side or the rear side inside the frame and is used for driving the Y-axis moving mechanism to move up and down along the Z-axis direction; the Y-axis moving mechanism is connected with the multi-degree-of-freedom mechanical arm, and the multi-degree-of-freedom mechanical arm is provided with a camera; the control system controls the movement of each axis moving mechanism, the horizontal rotating mechanism and the multi-degree-of-freedom mechanical arm at least, so as to adjust the relative position and the relative angle of the camera and the object to be shot, to flexibly meet the multi-dimensional and multi-track automatic lens shooting, and to automatically adjust the camera parameters and the light parameters in the shooting process, so as to ensure the shooting quality.

Description

Technical Field

[0001] This invention belongs to the field of camera technology, specifically relating to a panoramic shooting device and shooting method. Background Technology

[0002] With the booming development of e-commerce, online shopping has become a common practice in households. Consumers mainly rely on photos and text descriptions to judge the products they purchase. However, currently, shopping platforms provide a limited number of photos, making it difficult for consumers to fully understand the overall appearance and details of the products, which greatly affects their shopping experience.

[0003] In existing technologies, manual shooting is difficult to achieve continuous panoramic shooting due to problems such as low efficiency and poor angle consistency. Although some customers use camera equipment that can rotate around the product being photographed (such as panning cameras) to capture continuous photos, they can only obtain 360-degree images and cannot flexibly adjust the shooting tilt angle and camera movement, thus failing to show the true form of the product well. Summary of the Invention

[0004] In view of the shortcomings of the prior art described above, the purpose of this invention is to provide a panoramic shooting device and shooting method that can automatically adjust the relative position and relative angle of the photographed product and the camera to flexibly meet the needs of multi-dimensional and multi-track automated camera movement shooting.

[0005] To achieve the above and other related objectives, the present invention provides a panoramic shooting device, comprising a frame, an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism, a horizontal rotation mechanism, a multi-degree-of-freedom robotic arm, and a control system. The X-axis moving mechanism is installed on the bottom side inside the frame and is used to drive the horizontal rotation mechanism to move back and forth along the X-axis. The horizontal rotation mechanism is used to drive the subject to rotate horizontally around the Z-axis. The Z-axis moving mechanism is installed on the front or rear side inside the frame and is used to drive the Y-axis moving mechanism to move up and down along the Z-axis. The Y-axis moving mechanism is connected to the multi-degree-of-freedom robotic arm, and a camera is mounted on the multi-degree-of-freedom robotic arm. The control system adjusts the relative position and relative angle between the camera and the subject by controlling the movement of each axis moving mechanism, the horizontal rotation mechanism, and the multi-degree-of-freedom robotic arm, so as to flexibly meet the needs of multi-dimensional and multi-track automated camera movement shooting.

[0006] Preferably, the multi-degree-of-freedom robotic arm includes a base and an arm assembly; the base is provided with a first joint motor that drives the arm assembly to rotate horizontally; the arm assembly includes multiple independently swingable arm segments to achieve rotation with multiple degrees of freedom.

[0007] Preferably, the arm assembly includes a first arm, a second arm, a third arm, a fourth arm, and a fifth arm connected in sequence; a second joint motor for driving the second arm to swing up and down is provided at the connection between the first arm and the second arm; a third joint motor for driving the third arm to swing up and down is provided at the connection between the second arm and the third arm; a fourth joint motor for driving the fourth arm to swing up and down is provided at the connection between the third arm and the fourth arm; a fifth joint motor for driving the fifth arm to swing up and down is provided at the connection between the fourth arm and the fifth arm, and a sixth joint motor for driving the camera to swing up and down is provided on the fifth arm; the motor axes of the fourth joint motor, the fifth joint motor, and the sixth joint motor are perpendicular to each other; in this way, the multi-degree-of-freedom robotic arm can be used to enable the camera to achieve more complex movement paths, so as to complete various shooting effects such as surround shooting, tilting camera movement, push-pull camera movement, and 360-degree panoramic shooting, thereby greatly improving the shooting and display effect of the product.

[0008] Preferably, the frame is equipped with a lighting system that is connected to the control system; the control system controls at least the opening and closing, brightness and color temperature of the lighting system to meet the different light source requirements of photographed products of different materials and colors.

[0009] Preferably, the lighting system includes a first light panel assembly and a second light panel assembly; the first light panel assembly includes a first light panel and a first light panel motor for adjusting the pitch angle of the first light panel; the second light panel assembly includes a second light panel and a second light panel motor for adjusting the yaw angle of the second light panel; thus, by adjusting the angle, color, and brightness of the light source, the shooting needs of products with different materials and colors can be met, avoiding problems such as distortion and reflection during shooting, and improving the shooting effect.

[0010] The present invention also provides a method for shooting panoramic images using a panoramic shooting device, the method comprising:

[0011] S1. Based on shooting requirements, determine the first motion trajectory of the subject and the second motion trajectory of the camera; the first motion trajectory includes multiple first acquisition points, and the second trajectory includes second acquisition points that correspond one-to-one with the first acquisition points; each set of corresponding first acquisition points and second acquisition points together constitutes a shooting position;

[0012] S2. Based on the size of the subject and the relative spatial position of the camera and the subject at each shooting position, determine the optical zoom focal length of the camera at each shooting position so that the area ratio of the subject in the image meets the first preset requirement.

[0013] S3. Conduct test shots at each camera position to obtain test images from each camera position;

[0014] S4. Determine the quality indicators of each test image; the quality indicators include the overexposure ratio, underexposure ratio, reflective area ratio, sharpness, composition integrity, and color cast of the subject in the test image.

[0015] S5. Input the test images from each shooting position, the corresponding quality indicators of the test images, and the camera and lighting parameters used when shooting the test images into the multimodal large model to obtain a problem list and suggested parameters for each shooting position; the camera parameters include optical zoom focal length, aperture, ISO sensitivity, shutter speed, and white balance; the lighting parameters include the color temperature, brightness, and angle of each light panel.

[0016] S6. Based on the problem list and suggested parameters for each shooting position, adjust the camera parameters and / or lighting parameters at each shooting position, and reshoot to update the test images at each shooting position.

[0017] S7. Obtain the quality index of the updated test images and evaluate the quality of the updated test images based on the quality index.

[0018] S8. If the quality evaluation of the test image is qualified, the camera parameters and lighting parameters used in the test image are taken as the optimal parameters for the corresponding shooting position. If the quality evaluation of the test image is not qualified, S5~S7 are repeated to reshoot and re-evaluate until the test image is qualified. The camera parameters and lighting parameters used in the qualified test image are taken as the optimal parameters for the corresponding shooting position. All optimal parameters are summarized to obtain the optimal parameter set for camera and lighting adjustment.

[0019] S9. Control the subject to move along the first motion trajectory, and simultaneously control the camera to move along the second motion trajectory. Adjust the camera parameters and lighting parameters at each shooting position according to the optimal parameter set to complete the shooting task.

[0020] Preferably, test images that simultaneously meet the following conditions are evaluated as qualified: sharpness S is not less than the sharpness threshold, reflective area R is not greater than the reflective threshold, and overexposure ratio P is not less than the reflective threshold. over No more than 1%, underexposure percentage P under The value is no greater than 5%, the composition is complete, and the color cast ΔWB is no greater than the color cast threshold.

[0021] Preferably, the quality evaluation of the test images includes: calculating the overall score Q of the test images, using the following formula:

[0022] Q = w1×(S / 100) + w2×(1 - R) + w3×C + w4×(1 - P over); where w1, w2, w3, and w4 are weighting coefficients, satisfying w1+w2+w3+w4=1; S is sharpness; R is the proportion of reflective area; C is compositional completeness; when the composition is complete, C is 1; when the composition is incomplete, C=A1 sub / A sub A sub A1 represents the complete imaging area of ​​the main subject in the photograph. sub P represents the area of ​​the main subject within the safe zone of the frame. over The percentage of overexposure;

[0023] If the overall score Q of the test image is not less than the preset score, the quality evaluation of the test image is qualified; otherwise, the quality evaluation of the test image is unqualified.

[0024] Preferably, in step S8, if no qualified test image is obtained after the loop execution number reaches Nmax, the test image with the best overall quality is selected from the historical test images of that shooting position as the qualified test image; where Nmax is 3, 4 or 5; by limiting the number of loop executions, unnecessary resource waste is reduced.

[0025] As described above, the panoramic shooting device and shooting method of the present invention have the following beneficial effects:

[0026] This invention achieves multi-dimensional coordinated movement between the product being photographed and the camera by rotating and moving the product forward and backward, combined with the horizontal movement, lifting and lowering motion of the camera, and the multi-posture adjustment of the multi-degree-of-freedom robotic arm. This facilitates various shooting needs such as surround shooting, push-pull camera movement, tilting camera movement, and 360-degree panoramic shooting, significantly enhancing the richness of the product display. At the same time, it can adjust the color temperature, position, and brightness of the light source according to the color, material, and position of different products to reduce or avoid problems such as reflection and distortion during the shooting process, thereby improving the shooting effect.

[0027] This application uses standard aluminum profiles to build the frame and modularly integrates multiple moving mechanisms to flexibly adjust the travel position according to the size of the product, meeting the shooting needs of different specifications of products, from small ornaments to medium-sized home appliances; while the end of the multi-degree-of-freedom robotic arm is equipped with a quick-release structure that is compatible with a variety of shooting equipment, making it highly expandable.

[0028] Finally, this application supports multiple shooting modes such as preset template shooting and batch shooting, and automatically adjusts camera and lighting parameters during shooting, eliminating the need for repeated manual parameter adjustments, greatly improving shooting efficiency and reducing labor costs. Attached Figure Description

[0029] Figure 1 This is a perspective view of a panoramic shooting device in one embodiment of this application.

[0030] Figure 2 This is a schematic diagram of a horizontal rotation mechanism mounted on an X-axis moving mechanism in one embodiment of this application.

[0031] Figure 3 This is a schematic diagram of the X-axis drive mechanism in one embodiment of this application.

[0032] Figure 4 This is a schematic diagram of a multi-degree-of-freedom robotic arm mounted on a Y-axis moving mechanism in one embodiment of this application.

[0033] Figure 5 This is a schematic diagram of the Y-axis drive mechanism in one embodiment of this application.

[0034] Figure 6 This is a schematic diagram of a Y-axis moving mechanism mounted on a Z-axis moving mechanism in one embodiment of this application.

[0035] Figure 7 This is a first-view schematic diagram of a camera mounted on a multi-degree-of-freedom robotic arm in one embodiment of this application.

[0036] Figure 8 This is a second-view schematic diagram of a camera mounted on a multi-degree-of-freedom robotic arm in one embodiment of this application.

[0037] Figure 9 This is a schematic diagram of a lighting system mounted on a frame in one embodiment of this application.

[0038] Figure 10 This is a schematic diagram of the structure of the first lamp panel assembly and the second lamp panel assembly in one embodiment of this application.

[0039] Explanation of reference numerals in the attached figures

[0040] Frame 100, X-axis moving mechanism 200, X-axis slide rail 210, X-axis drive mechanism 220, X-axis motor 221, driving pulley 222, driven pulley 223, synchronous belt 224, horizontal rotation mechanism 300, horizontal rotation motor 310, loading tray 320, X-axis slide block 330, Z-axis moving mechanism 400, Z-axis lead screw 410, Z-axis seat 411, lead screw drive assembly 420, Z-axis motor 421, Z-axis slide rail 430, Y-axis moving mechanism 500, Y-axis slide rail 510, Y-axis drive mechanism 520, Y-axis motor 521 The system includes a multi-degree-of-freedom robotic arm 600, a base 610, a first joint motor 621, a second joint motor 622, a third joint motor 623, a fourth joint motor 624, a fifth joint motor 625, a sixth joint motor 626, a first arm 631, a second arm 632, a third arm 633, a fourth arm 634, a fifth arm 635, a camera 700, a lighting system 800, a first light panel assembly 810, a first light panel 811, a first hinge base 812, a first light panel motor 813, a second light panel assembly 820, a second light panel 821, a second hinge base 822, and a second light panel motor 823. Detailed Implementation

[0041] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

[0042] Please see Figures 1 to 10 It should be understood that the structures, proportions, sizes, etc., illustrated in the accompanying drawings are merely for illustrative purposes to aid those skilled in the art and to facilitate understanding and reading. They are not intended to limit the scope of the invention and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of the invention, should still fall within the scope of the technical content disclosed in this invention. Furthermore, the terms such as "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity and not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention's implementation.

[0043] like Figure 1As shown, the panoramic shooting device provided in this application embodiment includes a frame 100, an X-axis moving mechanism 200, a horizontal rotation mechanism 300, a Z-axis moving mechanism 400, a Y-axis moving mechanism 500, a multi-degree-of-freedom robotic arm 600, a camera 700, and a control system; wherein, the X-axis moving mechanism 200 and the horizontal rotation mechanism 300 together constitute the first pose adjustment mechanism of the object being photographed; the Z-axis moving mechanism 400, the Y-axis moving mechanism 500, and the multi-degree-of-freedom robotic arm 600 together constitute the second pose adjustment mechanism of the camera 700.

[0044] Specifically, the frame 100 is a closed (with door) or partially closed frame with internal space, which can be implemented by means of splicing aluminum profiles, bending and welding sheet metal parts, welding steel pipes (such as square tubes / round tubes), or integral injection molding, etc. In this embodiment, the frame 100 is preferably spliced ​​from aluminum profiles.

[0045] The X-axis moving mechanism 200 is installed on the bottom side inside the frame 100 and is used to drive the horizontal rotation mechanism 300 to move back and forth along the X-axis direction; wherein, the structure of the X-axis moving mechanism 200 is as follows: Figure 2 As shown, it includes an X-axis slide rail 210 and an X-axis drive mechanism 220; the horizontal rotation mechanism 300 is slidably disposed on the X-axis slide rail 210, and the X-axis drive mechanism 220 is used to drive the horizontal rotation mechanism 300 to move back and forth along the X-axis slide rail 210; the setting of the X-axis slide rail 210 can effectively ensure the stability of the sliding of the horizontal rotation mechanism 300.

[0046] In this embodiment, the horizontal rotation mechanism 300 slides 40cm along the X-axis slide rail 210.

[0047] It should be noted that the structural form of the X-axis drive mechanism 220 includes, but is not limited to, various linear drive mechanisms that can drive an object to reciprocate in a specific direction, such as motor + synchronous belt drive, motor lead screw mechanism, motor + gear rack, or motor push rod, and there is no limitation on this; in this embodiment, the X-axis drive mechanism 220 preferably adopts the form of motor + synchronous belt drive.

[0048] Specifically, such as Figure 2 and Figure 3 As shown, the X-axis drive mechanism 220 includes a driving pulley 222, a driven pulley 223, a synchronous belt 224 sleeved on each pulley, and an X-axis motor 221 that drives the driving pulley 222 to rotate. The driving pulley 222 and the driven pulley 223 are arranged along the length of the X-axis slide rail 210 so that the synchronous belt 224 is parallel to the X-axis slide rail 210. The horizontal rotation mechanism 300 located on the X-axis slide rail 210 is connected to the synchronous belt 224. Thus, when the X-axis motor 221 drives the driving pulley 222 to rotate, the synchronous belt 224 moves and drives the horizontal rotation mechanism 300 to move along the X-axis slide rail 210.

[0049] like Figure 2 As shown, the horizontal rotation mechanism 300 is used to drive the subject to rotate horizontally around the Z-axis, with a maximum rotation angle of 360°. Specifically, the horizontal rotation mechanism 300 includes a loading tray 320 and a horizontal rotation motor 310 that drives the loading tray 320 to rotate horizontally. The loading tray 320 is used to carry the subject. The horizontal rotation motor 310 is slidably mounted on the X-axis slide rail 210 and is connected to the moving part of the X-axis drive mechanism 220 (i.e., the synchronous belt 224 of the X-axis drive mechanism 220).

[0050] It should be noted that the shape of the tray 320 includes, but is not limited to, various shapes such as circles or polygons; in order to ensure the stability of the subject being photographed, the tray 320 can also be replaced by various carriers that can stably fix the subject being photographed, such as vacuum adsorption platforms or clamp-type carriers.

[0051] In an alternative embodiment, such as Figure 2 As shown, the horizontal rotation mechanism 300 includes an X-axis slide block 330 slidably disposed on the X-axis slide rail 210; the horizontal rotation motor 310 is fixed on the X-axis slide block 330 and is connected to the moving part of the X-axis drive mechanism 220 (i.e., the synchronous belt 224 of the X-axis drive mechanism 220) through the X-axis slide block 330.

[0052] In an optional embodiment, a bearing is mounted on the X-axis slide 330; wherein the outer ring of the bearing is fixed on the X-axis slide 330, and the inner ring of the bearing is connected to the bearing disk 320 to reduce friction during the rotation of the bearing disk 320.

[0053] The Z-axis moving mechanism 400 is installed on the front or rear side inside the frame and is used to drive the Y-axis moving mechanism 500 to move up and down along the Z-axis.

[0054] It should be noted that the structural form of the Z-axis moving mechanism 400 includes, but is not limited to, a scissor lift, a motor screw structure, or an electric / hydraulic / pneumatic push rod, etc., which are linear drive mechanisms that can drive the object to move back and forth in the vertical direction. In this embodiment, the Z-axis moving mechanism 400 preferably adopts the structure of a motor screw.

[0055] Specifically, such as Figure 6 As shown, the Z-axis moving mechanism 400 includes two Z-axis lead screws 410 spaced apart along the Y-axis direction, and each Z-axis lead screw 410 is threadedly mounted with a Z-axis seat 411; the two ends of the Y-axis moving mechanism 500 are respectively fixed on the two Z-axis seats 411, and the frame 100 is provided with a lead screw drive assembly 420 for driving each Z-axis lead screw to rotate.

[0056] It should be noted that the lead screw drive assembly 420 is equipped with two Z-axis motors 421 that individually drive the Z-axis lead screw 410 to rotate, and the synchronous rotation of the two Z-axis lead screws 410 is achieved with the help of sensors, or it is equipped with only one Z-axis motor 421 and the synchronous rotation of the two Z-axis lead screws 410 is achieved with the help of a synchronous transmission assembly; in this embodiment, in order to reduce the control difficulty, the lead screw drive assembly 420 is preferably equipped with one Z-axis motor 421 for driving.

[0057] Specifically, such as Figure 6 As shown, the lead screw drive assembly 420 includes a drive pulley 222, a Z-axis motor 421 that drives the drive pulley 222 to rotate, a driven pulley 223 coaxially mounted on each Z-axis lead screw, and a synchronous belt 224 sleeved on each pulley. In this way, the power of the Z-axis motor 421 can be synchronously transmitted to the two Z-axis lead screws 410 by means of the synchronous belt drive assembly composed of pulleys and synchronous belts 224, so as to realize the smooth lifting and lowering of the Y-axis moving mechanism 500.

[0058] In an alternative embodiment, the synchronous belt drive assembly is equipped with a tensioning pulley for tensioning the synchronous belt 224 to prevent slippage during transmission.

[0059] In an optional embodiment, the Z-axis moving mechanism 400 further includes a Z-axis slide rail 430 to constrain the movement direction of the Z-axis seat 411 and improve the sliding stability of the Z-axis seat 411.

[0060] In this application, the Y-axis movement mechanism 500 is used to drive the multi-degree-of-freedom robotic arm 600 to reciprocate along the Y-axis direction; the structure of the Y-axis movement mechanism 500 is as follows: Figure 4 As shown, it includes a Y-axis slide rail 510 and a Y-axis drive mechanism 520; the multi-degree-of-freedom robotic arm 600 is slidably mounted on the Y-axis slide rail 510, and the Y-axis drive mechanism 520 is used to drive the multi-degree-of-freedom robotic arm 600 to move left and right along the Y-axis slide rail 510; the Y-axis slide rail 510 can effectively ensure the stability of the sliding of the multi-degree-of-freedom robotic arm 600.

[0061] It should be noted that the structural form of the Y-axis drive mechanism 520 includes, but is not limited to, various linear drive mechanisms that can drive an object to reciprocate along a specific direction, such as motor + synchronous belt drive, motor lead screw mechanism, motor + gear rack, or motor push rod. In this embodiment, the Y-axis drive mechanism 520 preferably adopts the form of motor + synchronous belt drive.

[0062] Specifically, such as Figure 4 and Figure 5As shown, the Y-axis drive mechanism 520 includes a driving pulley 222, at least one driven pulley 223, a synchronous belt 224 sleeved on each pulley, and a Y-axis motor 521 that drives the driving pulley 222 to rotate. Any two pulleys are arranged along the length of the Y-axis slide rail 510 such that a portion of the synchronous belt 224 is parallel to the Y-axis slide rail 210. The multi-degree-of-freedom robotic arm 600 located on the Y-axis slide rail 510 is connected to a portion of the synchronous belt 224 parallel to the Y-axis slide rail 210. Thus, when the Y-axis motor 521 drives the driving pulley 222 to rotate, the synchronous belt 224 moves and drives the multi-degree-of-freedom robotic arm 600 to move along the Y-axis slide rail 510.

[0063] It should be noted that the cross-sectional shape of the slide rail involved in this application includes, but is not limited to, various shapes such as circular, dovetail, square, and T-shaped.

[0064] like Figure 7 As shown, the camera 700 is mounted on a multi-degree-of-freedom robotic arm 600 to adjust the pose of the camera 700. The multi-degree-of-freedom robotic arm 600 includes a base 610 and an arm assembly. The base 610 is equipped with a first joint motor 621 that drives the arm assembly to rotate horizontally. The arm assembly includes multiple independently swingable arms to achieve at least the pitch adjustment of the camera 700.

[0065] In a preferred embodiment, such as Figure 7 and Figure 8 As shown, the arm assembly includes a first arm 631, a second arm 632, a third arm 633, a fourth arm 634, and a fifth arm 635 connected in sequence. A second joint motor 622 is provided at the connection between the first arm 631 and the second arm 632 to drive the second arm 632 to swing up and down. A third joint motor 623 is provided at the connection between the second arm 632 and the third arm 633 to drive the third arm 633 to swing up and down. A fourth joint motor 624 is provided at the connection between the third arm 633 and the fourth arm 634 to drive the fourth arm 634 to swing up and down. A fifth joint motor 625 is provided at the connection between the fourth arm 634 and the fifth arm 635 to drive the fifth arm 635 to swing, and a sixth joint motor 626 is provided on the fifth arm 635 to drive the camera 700 to swing. The motor axes of the fourth joint motor 624, the fifth joint motor 625, and the sixth joint motor 626 are perpendicular to each other to achieve pitch adjustment (i.e., vertical tilt adjustment), yaw adjustment (i.e., horizontal rotation adjustment), and tilt adjustment of the camera 700.

[0066] It should be noted that the number of arms and the swing direction of the multi-degree-of-freedom robotic arm 600 can be flexibly adjusted according to the actual situation, and there are no restrictions on this, as long as the user needs can be met.

[0067] This invention achieves multi-dimensional coordinated movement between the subject and the camera by rotating and moving the subject forward and backward, combined with the horizontal movement and vertical motion of the camera 700 and the multi-posture adjustment of the multi-degree-of-freedom robotic arm. This facilitates various shooting needs such as surround shooting, push-pull camera movement, tilting camera movement, and 360-degree panoramic shooting.

[0068] The control system is used to control various moving mechanisms, horizontal rotation mechanism 300, multi-degree-of-freedom robotic arm 600 and camera 700 to achieve multi-dimensional, multi-track, multi-axis linkage automatic shooting.

[0069] The control system can use different hardware platforms such as microcontrollers, PLCs, embedded motion controllers, and industrial computers. It is equipped with an operation panel for human-computer interaction to realize various shooting modes such as preset trajectory shooting and loop shooting, thereby improving shooting efficiency and shooting quality.

[0070] The control system includes a controller, a camera tool interface module, a local algorithm module, a multimodal large model module, a camera execution module, a light source execution module, a camera movement scheduling module, and an experience base and learning module.

[0071] The system comprises the following modules: a camera tool interface module for acquiring native information such as zebra stripes, histograms, and focus; a local algorithm module for calculating quality metrics such as overexposure ratio, reflective area ratio, sharpness, composition integrity, and color cast; a multimodal large model module for comprehensively evaluating input test images and outputting a list of issues and suggested parameters; a camera execution module for setting and verifying parameters such as zoom, exposure, aperture, ISO sensitivity, shutter speed, and white balance via image transmission protocol (PTP); a light source execution module for controlling the angle, brightness, and color temperature of each light panel; a camera movement scheduling module for AI-planned trajectories and executing selected standard camera movement templates or planned trajectories; and an experience base and learning module for accumulating experience, performing similar transfers, and collecting user feedback for evolution.

[0072] like Figure 1 and Figure 9 As shown, a lighting system 800 connected to the control system is provided on the frame 100; the control system controls at least the opening and closing, brightness, color temperature and position of the lighting system 800.

[0073] In this embodiment, as Figure 9 and Figure 10As shown, the lighting system 800 includes a first light panel assembly 810 and a second light panel assembly 820; the first light panel assembly 810 is located at least on the left and / or right side of the frame 100, and the first light panel assembly 810 includes a first light panel 811 and a first light panel motor 813 for adjusting the pitch angle of the first light panel 811; the second light panel assembly 820 is located at least on the left and / or right side of the frame 100, and the second light panel assembly 820 includes a second light panel 821 and a second light panel motor 823 for adjusting the yaw angle of the second light panel 821.

[0074] In this way, the color temperature, position, and brightness of each light panel can be adjusted according to the color, material, and position of different products being photographed, so as to reduce or avoid problems such as reflection and distortion during the shooting process and improve the shooting effect.

[0075] It should be noted that the color temperature of each light panel is determined by the brightness ratio of white light and yellow light in the corresponding light panel, and the brightness of each light panel is the sum of the brightness of white light and yellow light in the corresponding light panel.

[0076] To ensure the stability of the angle adjustment of each lamp panel; such as Figure 10 As shown, the end of the first lamp panel 811 away from the first lamp panel motor 813 is rotatably mounted on the frame 100 via the first hinge seat 812; the end of the second lamp panel 821 away from the second lamp panel motor 823 is rotatably mounted on the frame 100 via the second hinge seat 822.

[0077] This application embodiment also provides a shooting method for the above-mentioned panoramic shooting device, the shooting method including:

[0078] S1. Based on shooting requirements, determine the first motion trajectory of the subject and the second motion trajectory of the camera; the first motion trajectory includes multiple first acquisition points, and the second trajectory includes second acquisition points that correspond one-to-one with the first acquisition points; each set of corresponding first acquisition points and second acquisition points together constitutes a shooting position.

[0079] The first motion trajectory is formed by connecting the first acquisition points, and each first acquisition point is used to characterize the pose of the object being photographed when the image is captured at each camera position; the second motion trajectory is formed by connecting the second acquisition points, and each second sampling point is used to characterize the pose of the camera 700 when the image is captured at each camera position.

[0080] It should be noted that the first motion trajectory of the subject and the second motion trajectory of the camera can be determined by either a standard camera movement template selected according to shooting requirements or by AI planning.

[0081] Specifically, the control system of the panoramic shooting device is equipped with multiple standard camera movement templates for users to choose from; the multiple standard camera movement templates include a surround camera movement template, a push-pull camera movement template, a pitch camera movement template, a lift camera movement template, and a 360° panoramic camera movement template; each standard camera movement template includes a first motion trajectory and a second motion trajectory that are set in association.

[0082] Users can interact with the panoramic shooting device through the control panel to select a standard camera movement template that meets their shooting needs. After the user selects a standard camera movement template, the control system can drive the first pose adjustment mechanism and the second pose adjustment mechanism to move according to the selected standard camera movement template, so as to control the subject and the camera 700 to move in tandem according to the first motion trajectory and the second motion trajectory in the corresponding standard camera movement template, so as to realize the switching of each shooting position.

[0083] When the existing standard templates cannot meet the shooting requirements, the user can input the shooting requirements through the control panel; the control system automatically generates a first motion trajectory composed of a first acquisition point and a second motion trajectory composed of a second acquisition point according to the input shooting requirements, so as to generate a new camera movement template, and names and saves the new camera movement template.

[0084] S2. Based on the size of the subject and the relative spatial position of the camera and the subject at each shooting position, determine the optical zoom focal length of the camera at each shooting position so that the area ratio of the subject in the image meets the first preset requirement.

[0085] Specifically, at an optical zoom focal length f, the area of ​​the main subject in the image is p(f) = A. sub / A fra Among them, A sub A represents the area occupied by the main subject in the image at an optical zoom focal length f (this area is equivalently measured by the number of pixels occupied by the main subject); fra This is the area of ​​the entire image (which is equivalently measured by the total number of pixels in the image).

[0086] In practice, when the subject is large, a shorter optical zoom focal length is selected to ensure that the subject is fully captured in the frame; when the subject is small, a longer optical zoom focal length is selected to fill the frame with detail.

[0087] In this embodiment, the first preset requirement is 0.5≤p(f) ≤0.9; before the formal test shot, an optical zoom focal length that makes the area ratio of the main subject in the image p(f) = 0.7 is generally selected.

[0088] For some zoom lenses that lack absolute focal length feedback and cannot directly set the optical zoom focal length, but can only drive the lens forward and backward with pulses, zoom pulse calibration is required in advance to achieve accurate and reproducible zoom. That is, zoom is driven by variable-length pulses, the actual optical zoom focal length after each pulse is recorded, a mapping between "pulse duration and actual optical zoom focal length" is established, and stable and achievable discrete focal lengths are extracted from it, which are called achievable focal length levels.

[0089] During shooting, the zoom is first moved to the wide-angle end for hard reset to establish a reference position. Then, a pulse is applied according to the target optical zoom focal length and closed-loop approximation is performed until the deviation between the measured optical zoom focal length and the target optical zoom focal length is not greater than the threshold ε, which is preferably 1mm. The selected target optical zoom focal length can only be selected from the achievable focal length range.

[0090] The calibration results are permanently saved and can be reused directly after power failure or reconnection without the need for recalibration each time.

[0091] S3. Conduct test shots at each camera position to obtain test images from each camera position.

[0092] It should be noted that the shooting position, the shooting parameters used by the shooting position (including camera parameters and lighting parameters), and the test images obtained by the corresponding shooting position need to be stored together so that the shooting parameters can be adjusted and optimized later based on the quality of the test images.

[0093] S4. Determine the quality indicators of each test image; the quality indicators include the overexposure ratio, underexposure ratio, reflective area ratio, sharpness, composition integrity, and color cast of the subject in the test image.

[0094] Specifically, the overexposure ratio P over =N over / N sub ; where N over N represents the number of overexposed pixels in the main image of the subject; sub This represents the total number of pixels in the main image of the photographed subject.

[0095] Underexposure percentage P under =N under / N sub ; where N under N represents the number of underexposed pixels in the main image of the subject; sub This represents the total number of pixels in the main image of the photographed subject.

[0096] It should be noted that overexposed pixels are pixels with excessively high brightness, and underexposed pixels are pixels with excessively low brightness. Since pixel brightness is usually measured by grayscale values, this application defines pixels with grayscale values ​​exceeding a first grayscale threshold as overexposed pixels, and pixels with grayscale values ​​below a second grayscale threshold as underexposed pixels. In this embodiment, the acquired test image is an 8-bit depth image with a grayscale value range of 0 to 255. In this case, the first grayscale threshold is preferably 250, and the second grayscale threshold is preferably 5.

[0097] The formula for calculating the reflective area ratio R is as follows:

[0098] R= N ref / N sub ;

[0099] Where, N ref N represents the number of pixels with specular highlights in the main subject of the photograph; sub This represents the total number of pixels in the main image of the photographed subject.

[0100] It should be noted that specular highlight pixels refer to pixels that are bright and have a significant contrast difference from surrounding pixels; specular highlight pixels can be found and determined based on local area statistics and other methods, and there are no restrictions on this.

[0101] The formula for calculating sharpness S is as follows:

[0102] S=min ( Var_Lap / Var_ref , 1 ) × 100;

[0103] Where Var_Lap is the variance of the Laplacian response of the subject image; Var_ref is the reference value of the variance of the Laplacian response of the subject or similar subjects under the best focus calibration, which is determined through experimental calibration; min( Var_Lap / Var_ref , 1 ) is the minimum value between Var_Lap / Var_ref and 1.

[0104] It should be noted that the Laplacian response variance of the subject image is the variance of the response value obtained after applying the Laplacian operator convolution to the grayscale image of the subject image. The larger the value, the sharper the image edges and the more accurate the focus.

[0105] The Var_ref obtained from the experimental calibration can be archived and saved according to the category of the photographed object for reuse.

[0106] The function of min( Var_Lap / Var_ref , 1 ) is to truncate the ratio to 1, thereby strictly limiting the range of sharpness S to 0~100.

[0107] The compositional completeness C is determined as follows:

[0108] When the composition is complete, C is 1; when the composition is incomplete, C = A1. sub / A sub A sub The complete image area of ​​the main subject (i.e., the projected area of ​​the main subject on the plane of the image, including any portion that extends beyond the boundaries of the image due to improper composition); A1 sub It refers to the area of ​​the main subject within the safe zone of the frame.

[0109] It should be noted that a complete composition means that, on the basis that the area ratio of the main subject in the image meets the first preset requirement, the main subject is completely located within the safe area of ​​the image; the safe area is a square area completely located within the image, and the boundary of the safe area has a safe margin m with the boundary of the image.

[0110] The safety margin m can be set by the user, as long as it satisfies: m ≥ η×min(W, H).

[0111] Where η is the scaling factor, typically 3%; W is the width of the image; H is the height of the image; and min(W, H) is the minimum value between W and H.

[0112] Since the width and height of the image are known, the size of the safe zone in the image can be determined when the safety margin is fixed.

[0113] The formula for calculating color cast ΔWB is as follows:

[0114] ΔWB = ||E—Z|| ; where E is the chromaticity coordinate (xE, yE) of the white point estimated based on the gray world hypothesis in the CIE 1931 chromaticity diagram; Z is the chromaticity coordinate (xZ, yZ) of the neutral white point in the CIE 1931 chromaticity diagram; ||⋅|| is the Euclidean norm, that is, ΔWB is actually the chromaticity distance between points E and Z.

[0115] In this embodiment, the neutral white point is taken as the D65 standard light source, and its chromaticity coordinates are (0.3127, 0.3290).

[0116] It should be noted that the control system can acquire native camera information such as zebra stripes, histograms, focus peaking, and live view images. The area covered by the zebra stripes represents the region where pixel grayscale values ​​exceed a first grayscale threshold, which can be directly used to quickly identify overexposed pixel sets and adjust the overexposure percentage (P). over The number of overexposed pixels N on which the calculation is based overVerification is performed; the pixel counts at the highlight end (pixel grayscale value exceeding the first grayscale threshold) and the shadow end (pixel grayscale value below the second grayscale threshold) of the histogram correspond to the number of overexposed pixels N, respectively. over With the number of underexposed pixels N under Furthermore, the overall distribution of the histogram can be used to quickly determine whether the exposure is off; the relative deviation between the means of the red, green, and blue channels of the histogram can be used to quickly estimate the white point in the gray world (i.e., the white point estimated by the gray world hypothesis), thus assisting in the calculation of color cast ΔWB; the focus edge range indicated by peak focus is corroborated by the Laplacian response variance Var_Lap on which sharpness S is based, used to assist in determining whether the focus is accurate; the live view is used to quickly determine whether the subject touches the boundary of the image frame and whether it is completely within the safe zone of the frame, thus assisting in the judgment of composition integrity C. Therefore, the camera's native information and the quantitative indicators calculated by the local algorithm complement each other: the former provides fast and intuitive problem localization, while the latter provides quantifiable and comparable values. The combination of the two can improve the efficiency and reliability of determining various quality indicators.

[0117] S5. Input the test images from each shooting position, the corresponding quality indicators of the test images, and the camera and lighting parameters used when shooting the test images into the multimodal large model to obtain a problem list and suggested parameters for each shooting position; the camera parameters include optical zoom focal length, aperture, ISO sensitivity, shutter speed, and white balance; the lighting parameters include the color temperature, brightness, and angle of each light panel.

[0118] Among them, the multimodal large model is an open-source multimodal large model that has been fine-tuned with a local test dataset. It can output a list of problems containing problem types and locations, as well as suggested parameters associated with the problem list, based on the input test images, the quality index corresponding to the test images, and the camera and lighting parameters used when the test images were taken.

[0119] It should be noted that exposure is determined by the linkage of aperture, shutter speed, and ISO sensitivity; when shooting still life, a lower ISO sensitivity is preferred to ensure image quality; aperture can control depth of field (for example, when the subject is large, a smaller aperture is used to ensure overall sharpness; when the subject is small, a larger aperture can be used to highlight details with a shallower depth of field); all camera parameters are sent and read back by the self-developed camera control algorithm via PTP (Image Transfer Protocol), and the setting results are polled and verified to ensure that the parameters are truly effective.

[0120] It should be noted that the color temperature of each light panel is determined by the brightness ratio of white light and yellow light in the corresponding light panel, and the brightness of each light panel is the sum of the brightness of white light and yellow light in the corresponding light panel.

[0121] Specifically, the correlated color temperature CCT(α) of the light board can be calculated by the following linear approximation formula:

[0122] CCT(α) = CCT w - α×( CCT w -CCT y );

[0123] where α is the proportion of yellow light in the total light of the light board, satisfying α = L y / (L y + L w ), L y is the yellow light luminance; L w is the white light luminance;

[0124] CCT w , CCT y are the color temperature reference value of white light and the color temperature reference value of yellow light respectively, which are specifically obtained through actual measurement and calibration.

[0125] The final color temperature is corrected through a closed loop of test shooting - evaluation - re-shooting, which does not depend on open-loop absolute accuracy.

[0126] S6. Adjust the camera parameters and / or lighting parameters at each shooting position according to the problem list and suggested parameters of each shooting position, and re-shoot to update the test shot image at each shooting position.

[0127] S7. Acquire the quality index of the updated test shot image, and perform quality evaluation on the updated test shot image according to the quality index.

[0128] The quality evaluation includes but is not limited to the following two methods.

[0129] First quality evaluation method:

[0130] A test shot image that simultaneously meets the following conditions is evaluated as qualified: the definition S is not less than the definition threshold, the reflective area proportion R is not greater than the reflection threshold, the overexposure proportion P over is not greater than 1%, the underexposure proportion P under is not greater than 5%, the composition is complete, and the chromatic aberration is not greater than the chromatic aberration threshold; otherwise, the test shot image is unqualified.

[0131] Herein, the definition threshold, reflection threshold, and chromatic aberration threshold can be determined as required; in this embodiment, the definition threshold is 80, the reflection threshold is 1%, and the chromatic aberration threshold is 0.05.

[0132] Second quality evaluation method:

[0133] Calculate the comprehensive score Q of the test shot image, and the calculation formula is:

[0134] Q = w1×(S / 100) + w2×(1 - R) + w3×C + w4×(1 - P over ) ;

[0135] Where w1, w2, w3, and w4 are weighting coefficients that satisfy w1 + w2 + w3 + w4 = 1. In this embodiment, w1 = 0.35, w2 = 0.25, w3 = 0.25, and w4 = 0.15.

[0136] S represents clarity;

[0137] R represents the percentage of reflective area;

[0138] C represents the completeness of the composition; when the composition is complete, C is 1; when the composition is incomplete, C = A1. sub / A sub A sub The complete image area of ​​the main subject (i.e., the projected area of ​​the main subject on the plane of the image, including any portion that extends beyond the boundaries of the image due to improper composition); A1 sub The area of ​​the main subject within the safe zone of the frame;

[0139] P over The percentage of overexposure;

[0140] If the overall score Q of the test image is not less than the preset score, the quality evaluation of the test image is qualified; otherwise, the quality evaluation of the test image is unqualified.

[0141] In this embodiment, the preset score is 0.85.

[0142] S8. If the quality evaluation of the test image is qualified, the camera parameters and lighting parameters used in the test image are taken as the optimal parameters for the corresponding shooting position. If the quality evaluation of the test image is not qualified, steps S5 to S7 are repeated to reshoot and re-evaluate until the test image is qualified. The camera parameters and lighting parameters used in the qualified test image are taken as the optimal parameters for the corresponding shooting position. All optimal parameters are summarized to obtain the optimal parameter set for camera and lighting adjustment.

[0143] In this embodiment, if no qualified test image is obtained after the loop execution number of any shooting position reaches Nmax, then the test image with the best overall quality is selected from the historical test images of that shooting position as the qualified test image; where Nmax is 3, 4 or 5.

[0144] By limiting the number of loop executions, the period for determining the optimal parameter set can be effectively shortened, thereby achieving the goal of shortening the shooting cycle.

[0145] It should be noted that when selecting the best overall quality test image from the historical test images of the shooting position as a qualified test image, manual intervention is required so that the optimal parameters used for that shooting position can be confirmed or further optimized and updated by the user; the optimized parameters will be collected as preference samples for subsequent learning.

[0146] S9. Control the subject to move along the first motion trajectory, and simultaneously control the camera to move along the second motion trajectory. Adjust the camera parameters and lighting parameters at each shooting position according to the optimal parameter set to complete the shooting task.

[0147] In addition, the shooting method of this application has at least a fully automatic hosting mode and a manual confirmation and fine-tuning mode to meet the different usage needs of users.

[0148] The advantages of the shooting method in this application compared to the traditional manual shooting method are shown in Table 1. As can be seen from Table 1, the shooting method in this application is significantly better than the traditional manual shooting method in terms of the number of iterations, average time consumption, manual intervention rate, number of iterations, first-time test shot pass rate, and reflection / overexposure reproduction rate, effectively improving shooting efficiency and reducing manual labor intensity.

[0149] Table 1. The shooting method used in this application versus the traditional manual shooting method.

[0150] index Traditional manual shooting method This application's shooting method Average number of adjustment rounds 8-10 rounds The cap is reached in 5 rounds, averaging 2 rounds. First test shooting pass rate Approximately 30% Approximately 80% Average time Approximately 3 minutes Approximately 30 seconds Reflection / Overexposure Recurrence Rate Approximately 25% Approximately 5% Human intervention rate Approximately 90% Approximately 30%

[0151] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A panoramic shooting device, characterized in that, The system includes a frame (100), an X-axis moving mechanism (200), a Y-axis moving mechanism (500), a Z-axis moving mechanism (400), a horizontal rotation mechanism (300), a multi-degree-of-freedom robotic arm (600), and a control system. The X-axis moving mechanism (200) is installed on the bottom side inside the frame (100) and is used to drive the horizontal rotation mechanism (300) to move back and forth along the X-axis. The horizontal rotation mechanism (300) is used to drive the subject to rotate horizontally around the Z-axis. The Z-axis moving mechanism (400) is installed on the front or rear side inside the frame and is used to drive the Y-axis moving mechanism (500) to move up and down along the Z-axis. The Y-axis moving mechanism (500) is connected to the multi-degree-of-freedom robotic arm (600), and a camera (700) is provided on the multi-degree-of-freedom robotic arm (600). The control system controls at least the movement of each axis moving mechanism, the horizontal rotation mechanism (300), and the multi-degree-of-freedom robotic arm (600) to adjust the relative position and relative angle between the camera (700) and the subject.

2. The panoramic shooting device according to claim 1, characterized in that, The multi-degree-of-freedom robotic arm (600) includes a base (610) and an arm assembly; the base (610) is provided with a first joint motor (621) for driving the horizontal rotation of the arm assembly; the arm assembly includes multiple independently swingable arm segments.

3. A panoramic shooting device according to claim 2, characterized in that, The arm assembly includes a first arm (631), a second arm (632), a third arm (633), a fourth arm (634), and a fifth arm (635) connected in sequence; a second joint motor (622) is provided at the connection between the first arm (631) and the second arm (632) to drive the second arm (632) to swing up and down; a third joint motor (623) is provided at the connection between the second arm (632) and the third arm (633) to drive the third arm (633) to swing up and down; a fourth joint motor (624) is provided at the connection between the third arm (633) and the fourth arm (634) to drive the fourth arm (634) to swing up and down; a fifth joint motor (625) is provided at the connection between the fourth arm (634) and the fifth arm (635) to drive the fifth arm (635) to swing, and a sixth joint motor (626) is provided on the fifth arm (635) to drive the camera (700) to swing. The motor axes of the fourth joint motor (624), the fifth joint motor (625), and the sixth joint motor (626) are perpendicular to each other.

4. The panoramic shooting device according to claim 1, characterized in that, The frame (100) is equipped with a lighting system (800) that is connected to the control system signal; the control system controls at least the opening and closing, brightness and color temperature of the lighting system (800).

5. A panoramic shooting device according to claim 4, characterized in that, The lighting system (800) includes a first lamp panel assembly (810) and a second lamp panel assembly (820); the first lamp panel assembly (810) includes a first lamp panel (811) and a first lamp panel motor (813) for adjusting the pitch angle of the first lamp panel (811); the second lamp panel assembly (820) includes a second lamp panel (821) and a second lamp panel motor (823) for adjusting the yaw angle of the second lamp panel (821).

6. A shooting method of the panoramic shooting device as described in claim 5, the shooting method comprising: S1. Based on shooting requirements, determine the first motion trajectory of the subject and the second motion trajectory of the camera; the first motion trajectory includes multiple first acquisition points, and the second trajectory includes second acquisition points that correspond one-to-one with the first acquisition points; each set of corresponding first acquisition points and second acquisition points together constitutes a shooting position; S2. Based on the size of the subject and the relative spatial position of the camera and the subject at each shooting position, determine the optical zoom focal length of the camera at each shooting position so that the area ratio of the subject in the image meets the first preset requirement. S3. Conduct test shots at each camera position to obtain test images from each camera position; S4. Determine the quality indicators of each test image; the quality indicators include the overexposure ratio, underexposure ratio, reflective area ratio, sharpness, composition integrity, and color cast of the subject in the test image. S5. Input the test images from each shooting position, the corresponding quality indicators of the test images, and the camera and lighting parameters used when shooting the test images into the multimodal large model to obtain a problem list and suggested parameters for each shooting position; the camera parameters include optical zoom focal length, aperture, ISO sensitivity, shutter speed, and white balance; the lighting parameters include the color temperature, brightness, and angle of each light panel. S6. Based on the problem list and suggested parameters for each shooting position, adjust the camera parameters and / or lighting parameters at each shooting position, and reshoot to update the test images at each shooting position. S7. Obtain the quality index of the updated test images and evaluate the quality of the updated test images based on the quality index. S8. If the quality evaluation of the test image is qualified, the camera parameters and lighting parameters used in the test image are taken as the optimal parameters for the corresponding shooting position. If the quality evaluation of the test image is not qualified, S5~S7 are repeated to reshoot and re-evaluate until the test image is qualified. The camera parameters and lighting parameters used in the qualified test image are taken as the optimal parameters for the corresponding shooting position. All optimal parameters are summarized to obtain the optimal parameter set for camera and lighting adjustment. S9. Control the subject to move along the first motion trajectory, and simultaneously control the camera to move along the second motion trajectory. Adjust the camera parameters and lighting parameters at each shooting position according to the optimal parameter set to complete the shooting task.

7. The shooting method according to claim 6, characterized in that, A test shot image that simultaneously meets the following conditions is evaluated as qualified: the sharpness S is not less than the sharpness threshold, the reflective area ratio R is not greater than the reflective threshold, and the overexposure ratio P over is not greater than 1%, and the underexposure ratio P under is not greater than 5%, the composition is complete, and the chromatic deviation ΔWB is not greater than the chromatic deviation threshold.

8. The shooting method according to claim 6, characterized in that, The quality evaluation of the test images includes: The overall score Q of the test images is calculated using the following formula: Q = w1×(S / 100) + w2×(1 -R) + w3×C + w4×(1 - P over ) ; Where w1, w2, w3, and w4 are weighting coefficients, satisfying w1+w2+w3+w4=1; S represents clarity; R represents the percentage of reflective area; C represents the completeness of the composition; when the composition is complete, C is 1; when the composition is incomplete, C = A1. sub / A sub A sub A1 represents the complete imaging area of ​​the main subject in the photograph. sub The area of ​​the main subject within the safe zone of the frame; P over The percentage of overexposure; If the overall score Q of the test image is not less than the preset score, the quality evaluation of the test image is qualified; otherwise, the quality evaluation of the test image is unqualified.

9. The shooting method according to claim 6, characterized in that, In step S8, if no qualified test image is obtained after the loop execution number of any shooting position reaches Nmax, then the test image with the best overall quality is selected from the historical test images of that shooting position as the qualified test image; where Nmax is 3, 4 or 5.

10. A shooting method according to claim 6, characterized in that, The control system is equipped with multiple standard camera movement templates for users to select from. These templates include a surround camera movement template, a push-pull camera movement template, a tilt camera movement template, a lift camera movement template, and a 360° panoramic camera movement template. Each standard camera movement template includes a first motion trajectory and a second motion trajectory that are associated with it. The control system controls the subject and the camera to move in tandem according to the first motion trajectory and the second motion trajectory in the corresponding standard camera movement template, based on the standard camera movement template selected by the user.

Images