CN111901527A - Tracking control method, device, object tracking component and storage medium - Google Patents

Abstract

The present application relates to a tracking control method, apparatus, object tracking means, and storage medium. The method is applied to an object tracking component of a shooting equipment stabilizer; the distance between the object tracking component and a camera of the shooting equipment is smaller than or equal to a preset distance threshold value and is consistent with the direction of the camera; the method comprises the following steps: acquiring detection information of the oriented position to obtain first detection information; when first feature identification information of a target object is determined to exist according to the first detection information, position information of the target object is acquired; and sending a tracking movement instruction to the control part according to the position information, and triggering the control part to carry out position adjustment control according to the position information so as to enable a camera of the shooting equipment to face the target object. Above-mentioned scheme object tracking part just can adjust the camera orientation through interacting with control unit, realizes the target tracking, need not cooperate with specific APP, can effectively improve the efficiency of target tracking.

Description

Tracking control method, device, object tracking component and storage medium

technical field

The present application relates to the field of network technologies, and in particular, to a tracking control method, an apparatus, an object tracking component of a stabilizer of a photographing device, and a storage medium.

Background technique

With the diversification of lifestyles, many people choose to use their mobile phones and other shooting devices to take photos and videos. In order to ensure the shooting effect, more and more stabilizers for shooting equipment have appeared, such as gimbal, handheld stabilizer, etc. In addition to stabilizing the shooting device, these stabilizers can also cooperate with APPs (Applications) to realize intelligent interactive functions such as target tracking.

At present, the stabilizer on the market needs to rely on the specific APP provided by the manufacturer to achieve target tracking, which makes the target tracking efficiency relatively low.

It should be noted that the information disclosed in the above Background section is only for enhancing understanding of the background of the invention, and therefore may contain information that does not form the prior art known to a person of ordinary skill in the art.

SUMMARY OF THE INVENTION

Based on this, it is necessary to provide a tracking control method, device, object tracking component and storage medium of a photographing equipment stabilizer that can improve the efficiency of target tracking in response to the above-mentioned technical problems.

A tracking control method is applied to an object tracking component of a photographic equipment stabilizer; the photographing equipment stabilizer further includes a clamping component and a control component; the object tracking component is fixedly connected to the photographing equipment through the clamping component; the The distance between the object tracking component and the camera of the shooting device is less than or equal to a preset distance threshold, and is consistent with the orientation of the camera; the method includes: acquiring detection information of the oriented position to obtain first detection information; When it is determined according to the first detection information that there is the first feature identification information of the target object, the position information of the target object is acquired; according to the position information, a tracking movement instruction is sent to the control component, and the control component is triggered according to the The position information is used for position adjustment control, so that the camera of the photographing device faces the target object.

In one embodiment, before the acquiring the first detection information of the facing position, the method further includes: acquiring the detection information of the facing position to obtain second detection information; when it is determined according to the second detection information that the target exists When the target contour identification information of the object is obtained, it is determined that the target object exists.

In one embodiment, the acquiring the location information of the target object includes: acquiring the target biometric identification information of the target object; and acquiring the location information of the target object according to the target biometric identification information.

In one embodiment, the acquiring the location information of the target object according to the target biometric identification information includes: acquiring pre-stored biometric identification information corresponding to the target object; when the target biometric identification information matches the When the pre-stored biometric identification information matches, the location information of the target object is acquired.

In one embodiment, acquiring the location information of the target object when it is determined according to the first detection information that there is first feature identification information of the target object includes: acquiring preconfigured first posture feature information; When it is determined according to the first detection information that there is the first feature identification information matching the first posture feature information, the position information of the target object is acquired.

In one embodiment, before acquiring the first detection information of the facing position, the method further includes: acquiring the detection information of the facing position to obtain third detection information; and determining the stabilization of the shooting device according to the third detection information when the shaking frequency is greater than the preset frequency threshold, send a position correction instruction to the control unit, so that the control unit performs position correction control.

In one embodiment, before acquiring the first detection information of the facing position, the method further includes: acquiring the detection information of the facing position to obtain third detection information; and determining the stabilization of the shooting device according to the third detection information when the shaking angle is greater than a preset angle threshold, send a position correction instruction to the control component, so that the control component performs position correction control.

In one embodiment, after the sending the tracking movement instruction to the control component according to the position information, the method further includes: acquiring detection information of the oriented position to obtain fourth detection information; acquiring a pre-configured second posture feature information; when it is determined according to the fourth detection information that there is second feature identification information matching the second posture feature information, stop acquiring the detection information of the facing position.

A tracking control device is applied to an object tracking component of a photographing equipment stabilizer; the photographing equipment stabilizer further includes a clamping component and a control component; the object tracking component is fixedly connected to the photographing equipment through the clamping component; The distance between the object tracking component and the camera of the shooting device is less than or equal to a preset distance threshold, and is consistent with the orientation of the camera; the device includes: a detection information acquisition module for acquiring detection information of the oriented position , obtain the first detection information; the position information acquisition module is used to obtain the position information of the target object when it is determined that there is the first feature identification information of the target object according to the first detection information; the position adjustment module is used for according to the The position information sends a tracking movement instruction to the control unit, so that the control unit performs position adjustment control according to the position information, so that the camera of the photographing device faces the target object.

In one embodiment, the apparatus further includes: a first information acquisition module, configured to acquire the detection information of the oriented position to obtain the second detection information; and an identification information determination module, used to obtain the second detection information when the detection information is based on the second detection information When it is determined that the target contour identification information of the target object exists, it is determined that the target object exists.

In one embodiment, the location information acquisition module includes: a biometrics acquisition sub-module for acquiring target biometric identification information of the target object; a first location information acquisition sub-module for identifying according to the target biometrics The information acquires the location information of the target object.

In one embodiment, the first location information acquisition sub-module includes: a biometric acquisition unit for acquiring pre-stored biometric identification information corresponding to the target object; a location information acquisition unit for when the target biometric When the identification information matches the pre-stored biometric identification information, the location information of the target object is acquired.

In one embodiment, the position information acquisition module includes: a reference attitude acquisition sub-module for acquiring pre-configured first attitude feature information; a second position information acquisition sub-module for determining when based on the first detection information When the first feature identification information matching the first posture feature information exists, the position information of the target object is acquired.

In one embodiment, the apparatus further includes: a second information acquisition module, configured to acquire detection information of the oriented position to obtain third detection information; and a first correction module, configured to determine according to the third detection information The shaking frequency of the stabilizer of the photographing device; when the shaking frequency is greater than a preset frequency threshold, a position correction instruction is sent to the control unit, so that the control unit performs position correction control.

In one embodiment, the apparatus further includes: a third information acquisition module, configured to acquire detection information of the oriented position to obtain third detection information; and a second correction module, configured to determine according to the third detection information The shaking angle of the stabilizer of the photographing device; when the shaking angle is greater than a preset angle threshold, a position correction instruction is sent to the control unit, so that the control unit performs position correction control.

In one embodiment, the device further includes: a third information acquisition module, configured to acquire detection information of the oriented position, to obtain fourth detection information; a reference attitude acquisition module, used to acquire a preconfigured second attitude feature information; a detection stop module, configured to stop acquiring the detection information of the facing position when it is determined according to the fourth detection information that there is second feature identification information matching the second posture feature information.

An object tracking component of a photographing equipment stabilizer, comprising a memory and a processor, wherein the memory stores a computer program, the photographing equipment stabilizer further includes a clamping component and a control component; the object tracking component passes through the clamping The component is fixedly connected to the shooting device; the distance between the object tracking component and the camera of the shooting device is less than or equal to a preset distance threshold, and is consistent with the direction of the camera; the processor executes the computer program to achieve The following steps: obtain the detection information of the oriented position, and obtain first detection information; when it is determined according to the first detection information that the first feature identification information of the target object exists, obtain the position information of the target object; according to the position The information sends a tracking movement instruction to the control unit, and triggers the control unit to perform position adjustment control according to the position information, so that the camera of the photographing device faces the target object.

A computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, realizes the following steps: acquiring detection information of an oriented position to obtain first detection information; When it is determined that the first feature identification information of the target object exists, the position information of the target object is obtained; according to the position information, a tracking movement instruction is sent to the control part, and the control part is triggered to perform position adjustment control according to the position information , so that the camera of the shooting device faces the target object.

The above-mentioned tracking control method, device, object tracking component and storage medium of a shooting device stabilizer, the shooting device stabilizer includes an object tracking component, the object tracking component is fixed to the shooting device through a clamping component, and the object tracking component and the camera of the shooting device are connected. The distance between them is less than or equal to the preset distance threshold and is consistent with the orientation of the camera. At this time, the detection information obtained by the object tracking component is relatively close to the information that can be captured by the shooting device. Further, the object tracking component is based on the first. When the detection information determines that the first feature identification information of the target object exists, the position information of the target object is obtained, and the control component is triggered to perform position adjustment control, so that the camera of the photographing device faces the target object to achieve the purpose of target tracking. In the above technical solution, the distance between the object tracking component and the camera is small enough and the orientations of the two are consistent. Accordingly, the object tracking component can adjust the orientation of the camera by interacting with the control component to achieve target tracking, that is, through the stabilizer of the shooting device. Target tracking can be achieved without the need to cooperate with a specific APP, which can effectively improve the efficiency of target tracking.

Description of drawings

1 is an application environment diagram of the tracking control method in one embodiment;

2 is a schematic diagram of a fixed connection between an object tracking component and a photographing device in one embodiment;

3 is a schematic diagram of a fixed connection between an object tracking component and a photographing device in yet another embodiment;

4 is a schematic diagram of a fixed connection between an object tracking component and a photographing device in another embodiment;

5 is a schematic flowchart of a tracking control method in one embodiment;

6 is a schematic flowchart of a tracking control method in another embodiment;

7 is a structural block diagram of a tracking control device in one embodiment;

FIG. 8 is a diagram of the internal structure of a computer device in one embodiment.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application will be described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application.

The tracking control method provided by the present application can be applied to the application environment shown in FIG. 1 . The application environment includes a photographing device stabilizer, and the photographing device stabilizer includes an object tracking part 101 , a clamping part 102 and a control part 103 . The object tracking component 101 is fixedly connected to the photographing device through the clamping component 102 (it should be noted that the arrows in FIG. 1 indicate that the object tracking component 101 is fixed on the clamping component 102, and then is fixedly connected to the photographing device. There can also be other fixed connection methods in the environment). The object tracking component 101 is connected to the control component 103 through a network, and the two communicate through the network connection, thereby realizing position adjustment, so that the camera of the photographing device is directed toward the target object to achieve the purpose of target tracking. The photographing device may be any electronic device equipped with a camera and having a photographing function, and may be a camera, a smart phone, a tablet computer, or the like. The stabilizer can be various devices that have a position stabilization effect on the clamped device, such as a hand-held stabilizer, a pan-tilt stabilizer, and the like.

In one embodiment, a tracking control method is provided, which is applied to an object tracking part of a camera stabilizer; the camera stabilizer further includes a gripping part and a control part; the object tracking part passes through the gripping part. The component is fixedly connected to the photographing device; the distance between the object tracking component and the camera of the photographing device is less than or equal to a preset distance threshold, and is consistent with the orientation of the camera.

Among them, the object tracking component refers to the component that can track the object in front, and may be a component that realizes object tracking based on visual detection technology, radar detection technology, infrared detection technology, etc. (taking visual detection technology as an example, at this time, the object tracking component It can be called a vision tracking component or a vision tracking module). Further, the object tracking component may be a photographing device, a radar detector, an infrared detector, and the like. In one embodiment, in order to ensure the portability of the stabilizer of the photographing device, the object tracking component is implemented by a small-sized device, such as a miniature camera, a small infrared detector, and the like.

Based on the technology used, the object tracking component can detect different objects in a targeted manner. Taking the visual tracking component as an example, the detected objects can be various objects that can be detected by visual detection technology, such as: people, buildings, animals, etc. . Further, the object tracking component may be a component fixedly configured on the stabilizer of the photographing device, or may be an independent component independent of other components in the stabilizer of the photographing device.

A clamping part refers to a part that can fix an object on another object by a clamping mechanism. When fixedly connected to the photographing device through the clamping part, the object tracking part, the clamping part and the photographing device are in a relatively static state. Among them, the fixed connection means that the object tracking part, the clamping part, and the photographing device are integrally connected; it can also be that the clamping part is integrally connected with the object tracking part or the clamping part, assuming that the clamping part and the object tracking part are integrally connected Connection (as an object tracking device as a whole), the object tracking device can be mounted on the shooting device by clamping; it can also be that the clamping part is movably connected to the object tracking part and the clamping part, and the clamping part passes through A specific way (for example: screw connection, snap connection, etc.) is respectively matched and connected with the object tracking component and the photographing device.

The control part refers to the part with logic control function and position movement function. Further, the control component may include a processor and a connecting shaft, the processor can implement logical operations, and output control instructions according to the results of the logical operations, and the connecting shaft can rotate according to the control instructions output by the processor, thereby driving the shooting equipment, clamping Parts, etc. for position adjustment. In some embodiments, network communication can be performed between the control component and the photographing device by means of Bluetooth, wired communication, or the like.

The preset distance threshold can be adjusted according to the actual situation, which can be the length of a specific object, such as the length of the shooting device [it can be the length of the clipped shooting device, or it can be a specific type of shooting device (such as: mobile phone, SLR camera, etc. )], it can also be a specific length value, such as: 10cm, 5cm, 1cm, etc. The distance between the object tracking member and the camera of the photographing device may refer to the distance between the center (or edge) of the tracking member and the center (or edge) of the camera lens (which may specifically refer to the lens). Further, the distance between the object tracking component and the camera of the photographing device is less than or equal to the preset distance threshold, so that the distance between the object tracking component and the camera is small enough. For normal shooting, the object tracking part can be as close to the camera as possible. Specifically, the distance between the object tracking component and the camera of the shooting device refers to the distance between the edge of the object tracking component and the edge of the camera, and the preset distance threshold is 0, that is, the object tracking component is set at the edge of the camera, just Do not block the field of view of the camera to ensure that the camera can shoot normally.

Further, when the distance between the object to be photographed and the photographing equipment is relatively far, such as when the distance between the photographing object and the photographing equipment is greater than 10 meters (it should be noted that this distance can be adjusted according to the actual situation), the object tracking The distance between the part and the camera can be a slightly larger value, for example: 10cm. When the distance between the object to be shot and the shooting device is relatively close, such as in the Selfie state, the distance between the shooting object and the shooting device is less than 0.5 meters (it should be noted that this distance can be adjusted according to the actual situation), Then the distance between the object tracking part and the camera can be a slightly smaller value, for example: 1cm. Therefore, the distance between the object tracking component and the camera can be adjusted according to the distance between the photographing device and the photographing object. Further, the preset distance threshold is multiplied by the distance between the photographing device and the photographing object by a set coefficient (for example: 0.1) is obtained.

The orientation of the object tracking component and the camera is consistent with that of the camera may refer to that the orientation of the probe of the object tracking component is consistent with the orientation of the camera. Further, the consistent orientation may refer to the coincidence of the field of view of the probe of the object tracking component and the camera higher than a set threshold (this threshold may be determined according to the actual situation, for example: 80%, 90%, etc.).

In one embodiment, the orientations of the object tracking component and the camera are consistent with each other: when the photographing device is in a shooting state, the object tracking module and the camera of the shooting device have the same orientation, and when not in a shooting state, the orientations of the two may be inconsistent. Further, the camera of the photographing device in the photographing state and the object tracking component in the object tracking state may be oriented in the same direction. Wherein, being in the object tracking state may refer to: the object tracking component is in the activated state, or the object tracking component is in the state of acquiring forward detection information, or the object tracking component is in the state of acquiring the position information of the target object.

At least one camera can be set on the shooting device, and the orientation of these cameras can be consistent or inconsistent. Taking a mobile phone as an example, if there are two or more cameras, these cameras may all be rear cameras, or both may be front cameras, or may have both front cameras and rear cameras. Further, in some embodiments, the object tracking component may be set according to the setting direction of the camera of the photographing device. For example, on a mobile phone equipped with a front-facing camera and a rear-facing camera, a front-facing object tracking component (the probe is facing the front of the phone where the screen is located, that is, in the same direction as the front-facing camera) and a rear-facing object tracking component can be set respectively. (The probe is facing the back of the phone, that is, in the same direction as the rear camera), or only the rear object tracking component can be set (in this case, the object tracking component can start the object tracking when the rear camera of the phone is shooting process, and do not start the object tracking process when the front camera is in the shooting state) or only set the front object tracking component.

In some embodiments, the object tracking module may be coupled with an orientation adjustment mechanism. The control part can control the orientation of the probe of the object tracking module through the direction adjustment mechanism. Further, the orientation of the object tracking component can be adjusted according to the orientation of the camera and the activation state, so that its orientation is consistent with the orientation of the camera. The following is an example of the orientation adjustment of the object tracking component: taking a mobile phone with a front camera and a rear camera, assuming that the front object tracking component and the rear object tracking component are set, in the initial state, the front object tracking component and the rear object tracking component are set. The object tracking components are all turned off. When the control component receives the activation information of the rear camera sent by the mobile phone, the control component sends a startup instruction to the rear object tracking component. The front camera and the rear object tracking component in the object tracking state are all facing the back of the phone, and the two are facing the same. Taking a mobile phone with a front camera and a rear camera as an example, assuming that there is only one object tracking component and the initial state of the object tracking component is to face the front of the mobile phone, when the control component receives the rear camera activation information sent by the mobile phone , by controlling the direction adjustment mechanism to make the probe of the object tracking component face the back of the mobile phone (for example, by rotating the direction to make the probe of the object tracking component face the back of the mobile phone), at the same time, the control component controls the object tracking component to start, at this time, in The rear camera in the shooting state and the object tracking component in the tracking state are both facing the back of the phone, and the two are facing the same.

The relationship between the probe of the object tracking component and the camera in distance and orientation makes the field of view of the two close enough. At this time, it can be approximated that the object that can be captured by the camera can also be detected by the object tracking component. Therefore, in the case where the camera stabilizer cannot communicate with the camera (that is, the camera is not installed with a specific APP capable of communicating with the stabilizer), the position adjustment control can be performed according to the detection information of the object tracking component to achieve The purpose of adjusting the position of the photographing equipment.

In one embodiment, the way in which the object tracking component is fixedly connected to the photographing device through the clamping component may be but not limited to the following forms:

1) The clamping part includes a first clamping part fixedly connected with the control part; the first clamping part is used for clamping the photographing device; the object tracking part is arranged on the first clamping part to be fixedly connected to the photographing device. As shown in FIG. 2 , the photographing device is a mobile phone, and the mobile phone stabilizer 201 passes through a first clamping part 202 (two first clamping parts 202 are shown in FIG. 2 , and the two clamping parts cooperate to clamp the mobile phone, In an actual application scenario, the number of the first clamping parts can be more or less) to clamp the mobile phone 203, and the object tracking part 204 can be fixed on the first clamping part 202 at this time, realizing the object tracking part , a fixed connection between the first clamping part and the mobile phone. At this time, the orientation of the object tracking component 204 and the mobile phone camera 205 is the same and the distance between them is small. It should be noted that, the object tracking member may be arranged at any position of the first clamping portion. In addition, when there are two or more first clamping parts, the object tracking component may be arranged on all the first clamping parts, or may be selectively arranged on some of the first clamping parts.

2) The clamping part includes a second clamping part arranged on the object tracking part; the object tracking part clamps the photographing device through the second clamping part, so as to be fixedly connected to the photographing device. In this clamping method, the object tracking component can be an external accessory on the stabilizer of the photographing device, which can be disassembled and installed arbitrarily, and can also be clamped on the photographing device or any position on the stabilizer of the photographing device. As shown in FIG. 3 , the photographing device is a mobile phone, and the mobile phone stabilizer 301 clamps the mobile phone 303 through the clamping part 302 . At this time, the object tracking part 304 is clamped by the second clamping part (not shown in FIG. 3 ) on the mobile phone 303 At the position close to the camera 305, the fixed connection between the object tracking component, the second clamping part and the mobile phone is realized. At this time, the orientation of the object tracking component 304 and the mobile phone camera 305 is the same and the distance between them is small enough.

3) The clamping part further includes a motor provided with a third clamping part; one end of the motor clamps the photographing device through the third clamping part, and the other end is fixedly connected with the control part; the object tracking part is arranged on the motor to be fixedly connected to the motor; filming equipment. As shown in FIG. 4 , the photographing device is a mobile phone, the mobile phone stabilizer 401 clamps the mobile phone 403 through the clamping part 402, the mobile phone stabilizer 401 is provided with a motor 404, and one end of the motor 404 clamps the mobile phone through the third clamping part, The other end is connected with the connecting shaft on the mobile phone stabilizer, and the object tracking part 405 is fixed on the motor 404, so as to realize the fixed connection between the object tracking part, the third clamping part, the motor and the mobile phone. At this time, the orientation of the object tracking component 405 and the camera 406 of the mobile phone are the same, and the distance between them is small.

It should be noted that the clamping member can fix the photographing device. The object tracking component does not need to communicate with a specific APP on the shooting device to achieve position adjustment. Therefore, in some embodiments, the position of the target object can also be achieved without a shooting device mounted on the stabilizer of the shooting device. track. At this time, the object tracking component acquires the position information of the target object, and the control component adjusts the position of the object tracking component according to the position information, so that the object tracking component always faces the target object.

Further, based on the above structure, as shown in FIG. 5 , a tracking control method is provided. Taking the method applied to the object tracking component in FIG. 1 as an example, the method includes the following steps:

S501: Acquire detection information of the facing position to obtain first detection information.

In this step, the object tracking component acquires the detection information of the facing position, and the detection information is used as the first detection information.

Wherein, the detection information of the oriented position may refer to all detection information of the position to which the probe of the object tracking component is oriented. Further, taking the visual tracking component as an example, the visual tracking component may acquire a picture or video of the position to which it is directed, and use the acquired picture or video as the first detection information.

S502 , when it is determined according to the first detection information that there is first feature identification information of the target object, obtain location information of the target object.

The target object is the object targeted by the current tracking control method. Further, the target object may be a certain type of object, such as a person, a building, an animal, etc., and the target object may also be a specific object, such as a person, a building, an animal, and the like.

The first feature identification information may be feature information that the target object is in a certain state. Further, it may be the feature information of the target object under a specific posture and a specific action. Gestures can be postures (eg: standing, squatting, prone, etc.), gestures (eg: "OK" gesture, "V" gesture, "stop" gesture, etc.), etc. Actions can refer to various types of limbs Actions (for example: nodding, shaking his head, akimbo, making certain gestures, etc.), facial actions (for example: laughing, blinking, etc.), etc. In some embodiments, the first feature identification information may also refer to sound identification information (eg, timbre, volume, sound frequency range, etc.). In addition, the feature information may refer to the state feature of the target object in the state, which may be the magnitude of the gesture, the frequency of action, and the like.

After acquiring the first detection information, the object tracking component performs feature analysis on the first detection information to obtain detection features, and determines whether there is first feature identification information of the target object according to the detection features. When the first feature identification information exists, it is determined that the target tracking trigger information is received, so the position information of the target object is acquired.

S503: Send a tracking movement instruction to the control unit according to the position information, and trigger the control unit to perform position adjustment control according to the position information, so that the camera of the photographing device faces the target object.

A network connection (which can be wired or wireless) is established between the object tracking component and the control component. In this step, the object tracking component sends a tracking movement instruction to the control component through the established network connection, and the tracking movement instruction carries the position information of the target object.

Position adjustment may refer to position movement, angle adjustment, and the like. It may be to adjust the position of the object tracking component (which may also include the photographing device).

Further, after receiving the tracking movement instruction, the control component starts the tracking control program. Specifically, the control part determines the target position and the target angle corresponding to the target object when the target object is in the middle of the field of view of the object tracking part according to the position information, and adjusts the position and/or angle of the object tracking part and the shooting device according to the target position and the target angle, and then The object tracking component and the photographing device are directed towards the target object. Furthermore, since the position of the clamping part, the object tracking part and the photographing device is relatively fixed, the position of the object tracking part and the photographing device can be adjusted by adjusting the clamping part.

In some embodiments, if it is determined according to the detection information that the target object is in a stationary state, indicating that its position has not changed, the tracking movement instruction may not be sent to the control component temporarily. Further, the tracking movement instruction is sent to the control component only when it is determined according to the detection information that the position of the target object changes. This processing method can not only realize the tracking of the target object, but also reduce the number of interactions between the object tracking component and the control component, reduce their load, and ensure that they have more time to process other services.

In the above tracking control method, the distance between the object tracking component and the camera is small enough and the orientations of the two are the same. Accordingly, the object tracking component can adjust the orientation of the camera by interacting with the control component, so that the shooting device can accurately adjust the position. The target object is captured and the target tracking is realized, that is, the target tracking can be achieved through the stabilizer of the shooting device, and it does not need to cooperate with a specific APP. When the object tracking part is directly fixed on the clamping part, it can be achieved even without a shooting device. The purpose of target tracking by the stabilizer of the shooting device is to effectively improve the efficiency of target tracking.

It should be noted that the shooting device is independent of the shooting device stabilizer. The shooting device can start the shooting of pictures or videos at any time.

In one embodiment, before the acquiring the first detection information of the facing position, the method further includes: acquiring the detection information of the facing position to obtain second detection information; when it is determined according to the second detection information that the target exists When the target contour identification information of the object is obtained, it is determined that the target object exists.

The target contour identification information may be the shape of the outer contour of the object, or the like.

The object tracking component can pre-store the target contour identification information of the target object, and when the second detection information is obtained, determine each object in the detection information (which can be various regions with contours) and perform contour analysis to determine whether there is a target contour. The identification information matches the contour information. When it is determined that there is contour information matching the target contour identification information, it is determined that the target object exists, that is, the target object exists within the visual field of the object tracking component.

Specifically, taking the target object as a certain person S as an example, the implementation process of this embodiment may be as follows: the object tracking component obtains the second detection information, determines the outline information of each object in it according to the second detection information, and determines the outline information of these objects. Whether there is contour information matching the target contour identification information of S in S, when it is determined that there is contour information matching the target contour identification information, it is determined that S exists within the field of view of the object tracking component.

In this embodiment, the object tracking component determines whether the target object exists according to the second detection information, and when it is determined that the target object exists, obtains the first detection information, and then determines whether the first feature identification information of the target object exists according to the first detection information. . Determining whether the target object exists according to the second detection information can be understood as preliminary object recognition. In this embodiment, the feature identification information of the target object is determined after the target object is initially recognized, so as to track the target object more accurately. Through two information judgments (judging whether the target object exists and judging whether the first feature identification information exists), not only the reliability of the target object tracking is ensured, but also the calculation efficiency of the object tracking component is ensured (not always Probe information for precise analysis).

In one embodiment, the position information of the target object may be determined according to the identification information of a certain part (target part) of the target object, and the position of the target part is determined as the position of the target object. For example, the position of the face is determined as the position of the target object. Further, when the position adjustment is performed subsequently, the center of the field of view of the probe and the camera of the object tracking component can be controlled to align the entire target object (the control component can predict the position of the target object according to the information of the target position, and then adjust the position so that the field of view can be adjusted. The center is aimed at the entire target object), or it can be directly aimed at the target part.

In one embodiment, the center point of the target object in the visual field is determined, and the position of the center point is determined as the position of the target object.

In addition, the position of the target part may be specified based on the biometric identification information. The biometric identification information may refer to face feature information, fingerprint feature information, iris feature information, and the like. Accordingly, the position of the face, hands, eyes, etc. (target parts) can be determined.

Further, the obtaining the position information of the target object includes: obtaining the target biometric identification information of the target object; and obtaining the position information of the target object according to the target biometric identification information.

Specifically, the target biometric identification information of the target object is acquired, the position of the target part is determined according to the position of the target biometric identification information in the field of view, and the position information of the target object is determined according to the position of the target part.

In one embodiment, the biometric identification information can also be used as the security verification information, and only when the target biometric identification information satisfies the security verification rules, the location information of the target object can be continuously acquired (at this time, the target biometric identification information can be identified according to the information to determine the location information of the target object, or the location information of the target object may be determined according to information other than the target biometric identification information).

Further, the acquiring the location information of the target object according to the target biometric identification information includes: acquiring pre-stored biometric identification information corresponding to the target object; when the target biometric identification information and the pre-stored biometric identification information are When the biometric identification information matches, the location information of the target object is acquired.

The pre-storing process of biometric identification information may be as follows: before starting tracking, the object tracking component receives biometric identification information such as face feature information, fingerprint feature information, iris feature information, etc., and stores these biometric identification information. The method of receiving the biometric identification information may be that the object tracking component directly receives the biometric identification information input by the user, or may receive the biometric identification information sent by the control component.

In addition, when the target biometric identification information matches the pre-stored biometric identification information, it can be considered that the target biometric identification information has passed the verification, and the location information of the target object can be obtained at this time. When the target biometric identification information does not match the pre-stored biometric identification information, it can be considered that the target biometric identification information fails to pass the verification. At this time, the tracking of the target object can be ended, or the target biometric identification information can be re-acquired And perform verification (when the number of repetitions exceeds a certain number of thresholds, the tracking of the target object can be ended).

In the above embodiment, the security verification is performed according to the biometric identification information, and the location information of the target object is acquired only after the verification is passed, and then the target object is tracked. It can ensure that the target object to be tracked is a preset object. Taking the face as an example, not all people are tracked, but only the person whose face features match the pre-stored face features can be tracked. targeted tracking to ensure user privacy.

In one embodiment, acquiring the location information of the target object when it is determined according to the first detection information that there is first feature identification information of the target object includes: acquiring preconfigured first posture feature information; When it is determined according to the first detection information that there is the first feature identification information matching the first posture feature information, the position information of the target object is acquired.

The first gesture feature information may be feature information under a specific gesture or gesture. For the posture, it can be the feature information of the posture amplitude, angle, etc., such as the standing posture, the squatting posture, and the prone posture. For the gesture, it may be the feature information of the gesture shape and the angle of the finger, such as the "OK" gesture, the "V-shaped" gesture, and the "stop" gesture.

When there is first feature identification information that matches the first posture feature information in the first detection information, it can be determined that the target object has made a posture that meets the requirements. At this time, it is considered that the target tracking trigger information of the target object is received, so the execution is triggered. A program that obtains the location information of the target object.

The above-mentioned embodiment starts the object tracking process according to the specific posture feature, which can interact with the user, instead of starting the tracking of the target object as soon as it is started, so as to improve the privacy protection of the user during the object tracking process, and also save the cost of the stabilizer of the shooting device. power.

Further, in one embodiment, the first gesture feature information is gesture feature information. When the object tracking component acquires the first detection information, it can locate the position of the hand from the first detection information, and perform gesture recognition on the detection information of the hand position. When the "OK" gesture is recognized, the object tracking process can be started, that is, the position information of the target object is obtained and the target object is tracked according to the position information.

After the tracking process is performed for a period of time, the target object may want to end the tracking process. At this time, a specific gesture can be used to trigger the end of the tracking process. In one embodiment, after the sending the tracking movement instruction to the control component according to the position information, the method further includes: acquiring detection information of the oriented position to obtain fourth detection information; acquiring a pre-configured second posture feature information; when it is determined according to the fourth detection information that there is second feature identification information matching the second posture feature information, stop acquiring the detection information of the facing position.

Wherein, the form of the second posture feature information is the same as that of the first posture feature information, and both may be feature information under a specific posture or gesture. Further, the first posture feature information and the second posture feature information may be the same or different, and an example is as follows: For the same situation, the first posture feature information and the second posture feature information may both be "OK" gestures. In the case of , the first gesture feature information may be an "OK" gesture, and the second gesture feature information may be a "stop" gesture.

Stopping the acquisition of probe information can be considered as ending the object tracking process. At this time, the control component does not acquire new position information, and can stop the position adjustment control. Further, after the acquisition of the detection information is stopped, the object tracking component may also send a position adjustment stop instruction to the control component to trigger the control component to stop performing the position adjustment control.

The above-mentioned embodiment ends the object tracking process according to the specific gesture feature, can interact with the user, and improves the privacy protection of the user during the object tracking process.

In one embodiment, the control component may perform position correction under the triggering of the position correction instruction, and after the position correction is completed, the object tracking component starts to acquire detection information, and then starts to perform object tracking.

The position correction may refer to the adjustment of the position of the object tracking component and the photographing device under the control of the control component, so that the object tracking component and the photographing device face the front or a specific position (or even the target object).

Further, in an embodiment, before acquiring the first detection information of the facing position, the method further includes: acquiring the detection information of the facing position to obtain third detection information; and determining the shooting according to the third detection information The shaking frequency of the equipment stabilizer; when the shaking frequency is greater than a preset frequency threshold, a position correction instruction is sent to the control unit, so that the control unit performs position correction control.

Wherein, the preset frequency threshold can be determined according to the actual situation, for example: 20 times/second. Further, when it is determined that the shaking frequency is greater than the preset frequency threshold, the object tracking component can continue to obtain the shaking frequency. The control unit sends a position correction command.

In this embodiment, the object tracking component acquires the third detection information, determines a certain feature point in the third detection information, and determines the shaking frequency of the stabilizer of the photographing device according to the position change information of the feature point in the field of view. When it is too large, it is determined that position correction trigger information is received, and at this time, the object tracking component triggers the control component to perform position correction. The position correction can be triggered according to the interaction information with the user, and the accuracy of object tracking can be improved under the condition of ensuring the convenience of use.

In one embodiment, before acquiring the first detection information of the facing position, the method further includes: acquiring the detection information of the facing position to obtain third detection information; and determining the stabilization of the shooting device according to the third detection information when the shaking angle is greater than a preset angle threshold, send a position correction instruction to the control component, so that the control component performs position correction control.

The preset angle threshold may be determined according to the actual situation, for example: 20°. Further, when it is determined that the shaking angle is greater than the preset angle threshold, the object tracking component can continue to obtain the shaking angle. The control unit sends a position correction command.

In this embodiment, the object tracking component obtains the third detection information, determines a certain feature point in the third detection information, and determines the shaking angle of the stabilizer of the photographing device according to the position change information of the feature point in the field of view. When it is too large, it is determined that position correction trigger information is received, and at this time, the object tracking component triggers the control component to perform position correction. The position correction can be triggered according to the interaction information with the user, and the accuracy of object tracking can be improved under the condition of ensuring the convenience of use.

In one embodiment, as shown in FIG. 6 , a tracking control method is provided. The method is applied to the object tracking component in FIG. 1 as an example for description. The method includes the following steps:

S601: Acquire detection information of the facing position to obtain third detection information.

S602: Determine the shaking frequency of the stabilizer of the photographing device according to the third detection information; when the shaking frequency is greater than a preset frequency threshold, send a position correction instruction to the control unit, so that the control unit performs position correction control.

S603: Acquire detection information of the facing position to obtain second detection information.

S604, when it is determined according to the second detection information that the target contour identification information of the target object exists, it is determined that the target object exists.

S605: Acquire detection information of the facing position to obtain first detection information.

S606: Acquire preconfigured first posture feature information.

S607, when it is determined according to the first detection information that there is first feature identification information matching the first posture feature information, obtain target biometric feature identification information of the target object.

S608: Acquire pre-stored biometric identification information corresponding to the target object.

S609, when the target biometric identification information matches the pre-stored biometric identification information, obtain location information of the target object according to the target biometric identification information.

S610: Send a tracking movement instruction to the control component according to the position information of the target object, and trigger the control component to perform position adjustment control according to the position information, so that the camera of the photographing device faces the target object.

S611: Acquire the detection information of the facing position to obtain fourth detection information.

S612: Acquire preconfigured second posture feature information.

S613, when it is determined according to the fourth detection information that there is second feature identification information that matches the second posture feature information, stop acquiring the detection information of the oriented position, send a position adjustment stop instruction to the control component, and trigger the control component to stop performing the position adjustment Adjust the controls.

In the above tracking control method, the distance between the object tracking component and the camera is small enough and the orientations of the two are consistent. Accordingly, the object tracking component can adjust the orientation of the camera by interacting with the control component to achieve target tracking, that is, through the shooting device. The stabilizer can achieve target tracking, and does not need to cooperate with a specific APP. It can cooperate with mainstream video APPs and beauty APPs, such as Douyin, Kuaishou, beauty camera, etc., to achieve target tracking and shooting, and can also Using the native camera of the mobile phone directly can effectively improve the efficiency of target tracking. Further, facial features or humanoid features can be accurately identified, and people can issue specific gesture commands to track and start shooting, and use gesture commands to cancel tracking and stop shooting, effectively ensuring the controllability of the target tracking process.

It should be understood that although the steps in the above flow charts are displayed in sequence according to the arrows, these steps are not necessarily executed in the sequence indicated by the arrows. Unless explicitly stated herein, the execution of these steps is not strictly limited to the order, and these steps may be performed in other orders. Moreover, at least a part of the steps in the above flow chart may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but may be executed at different times. The execution sequence of these steps or stages It is also not necessarily performed sequentially, but may be performed alternately or alternately with other steps or at least a portion of a step or phase within the other steps.

Based on the same idea as the tracking control method in the above-mentioned embodiment, the present invention also provides a tracking control device, which can be used to execute the above-mentioned tracking control method. For the convenience of description, in the schematic structural diagram of the embodiment of the tracking control device, only the part related to the embodiment of the present invention is shown. Those skilled in the art can understand that the structure shown in the figure does not constitute a limitation on the device, and may include a ratio of More or fewer components, or a combination of certain components, or a different arrangement of components.

In one embodiment, as shown in FIG. 7 , a tracking control apparatus 700 is provided. The apparatus may adopt a software module or a hardware module, or a combination of the two to become a part of the computer equipment and be applied to the stabilization of the photographing equipment. an object tracking component; the photographing device stabilizer further includes a clamping component and a control component; the object tracking component is fixedly connected to the photographing device through the clamping component; between the object tracking component and the camera of the photographing device The distance is less than or equal to the preset distance threshold, and is consistent with the orientation of the camera; the device specifically includes: a detection information acquisition module 701, a position information acquisition module 702 and a position adjustment module 703, wherein:

The detection information obtaining module 701 is configured to obtain the detection information of the oriented position to obtain the first detection information.

The location information acquisition module 702 is configured to acquire location information of the target object when it is determined according to the first detection information that there is first feature identification information of the target object.

A position adjustment module 703, configured to send a tracking movement instruction to the control unit according to the position information, so that the control unit performs position adjustment control according to the position information, so that the camera of the photographing device faces the target.

In the above tracking control device, the distance between the object tracking component and the camera is small enough and the orientations of the two are the same. Accordingly, the object tracking component can adjust the orientation of the camera by interacting with the control component to achieve target tracking, that is, through the shooting equipment. The stabilizer can achieve target tracking without the need to cooperate with a specific APP, which can effectively improve the efficiency of target tracking.

In one embodiment, the apparatus further includes: a first information acquisition module, configured to acquire the detection information of the oriented position to obtain the second detection information; and an identification information determination module, used to obtain the second detection information when the detection information is based on the second detection information When it is determined that the target contour identification information of the target object exists, it is determined that the target object exists.

In one embodiment, the location information acquisition module includes: a biometrics acquisition sub-module for acquiring target biometric identification information of the target object; a first location information acquisition sub-module for identifying according to the target biometrics The information acquires the location information of the target object.

In one embodiment, the first location information acquisition sub-module includes: a biometric acquisition unit for acquiring pre-stored biometric identification information corresponding to the target object; a location information acquisition unit for when the target biometric When the identification information matches the pre-stored biometric identification information, the location information of the target object is acquired.

In one embodiment, the position information acquisition module includes: a reference attitude acquisition sub-module for acquiring pre-configured first attitude feature information; a second position information acquisition sub-module for determining when based on the first detection information When the first feature identification information matching the first posture feature information exists, the position information of the target object is acquired.

In one embodiment, the apparatus further includes: a second information acquisition module, configured to acquire detection information of the oriented position to obtain third detection information; and a first correction module, configured to determine according to the third detection information The shaking frequency of the stabilizer of the photographing device; when the shaking frequency is greater than a preset frequency threshold, a position correction instruction is sent to the control unit, so that the control unit performs position correction control.

In one embodiment, the apparatus further includes: a third information acquisition module, configured to acquire detection information of the oriented position to obtain third detection information; and a second correction module, configured to determine according to the third detection information The shaking angle of the stabilizer of the photographing device; when the shaking angle is greater than a preset angle threshold, a position correction instruction is sent to the control unit, so that the control unit performs position correction control.

In one embodiment, the device further includes: a third information acquisition module, configured to acquire detection information of the oriented position, to obtain fourth detection information; a reference attitude acquisition module, used to acquire a preconfigured second attitude feature information; a detection stop module, configured to stop acquiring the detection information of the facing position when it is determined according to the fourth detection information that there is second feature identification information matching the second posture feature information.

For the specific limitation of the tracking control device, reference may be made to the above limitation on the tracking control method, which will not be repeated here. Each module in the above-mentioned tracking control device can be implemented in whole or in part by software, hardware and combinations thereof. The above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

In one embodiment, an object tracking component of a stabilizer of a photographing device is provided. The object tracking component may be a computer device, and the computer device may be a terminal, and its internal structure diagram may be as shown in FIG. 8 . The computer device includes a processor, memory, a communication interface, and an input device connected by a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium, an internal memory. The nonvolatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the execution of the operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for wired or wireless communication with an external terminal, and the wireless communication can be realized by WIFI, operator network, NFC (Near Field Communication) or other technologies. The computer program, when executed by the processor, implements a tracking control method. The input device of the computer equipment may be a touch layer covered on the display screen, a button, a trackball or a touchpad provided on the casing of the computer equipment, or an external keyboard, a touchpad or a mouse.

Those skilled in the art can understand that the structure shown in FIG. 8 is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer equipment to which the solution of the present application is applied. Include more or fewer components than shown in the figures, or combine certain components, or have a different arrangement of components.

In one embodiment, a computer device is also provided, including a memory and a processor, where a computer program is stored in the memory, and the processor implements the steps in the foregoing method embodiments when the processor executes the computer program.

In one embodiment, a computer-readable storage medium is provided, which stores a computer program, and when the computer program is executed by a processor, implements the steps in the foregoing method embodiments.

In one embodiment, there is provided a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the steps in the foregoing method embodiments.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage In the medium, when the computer program is executed, it may include the processes of the above-mentioned method embodiments. Wherein, any reference to memory, storage, database or other media used in the various embodiments provided in this application may include at least one of non-volatile and volatile memory. The non-volatile memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, and the like. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, the RAM may be in various forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM).

The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, all It is considered to be the range described in this specification.

The above-mentioned embodiments only represent several embodiments of the present application, and the descriptions thereof are specific and detailed, but should not be construed as a limitation on the scope of the invention patent. It should be pointed out that for those skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the scope of protection of the patent of the present application shall be subject to the appended claims.

Claims (10)

1. A tracking control method, characterized in that it is applied to an object tracking component of a photographing device stabilizer; the photographing device stabilizer further comprises a clamping component and a control component; the object tracking component is fixed by the clamping component connected to a shooting device; the distance between the object tracking component and the camera of the shooting device is less than or equal to a preset distance threshold, and is consistent with the orientation of the camera; The method includes: Obtain the detection information of the facing position, and obtain the first detection information; When it is determined according to the first detection information that there is first feature identification information of the target object, acquiring the position information of the target object; Send a tracking movement instruction to the control unit according to the position information, and trigger the control unit to perform position adjustment control according to the position information, so that the camera of the photographing device faces the target object. 2. The method according to claim 1, wherein before the acquiring the first detection information of the oriented position, the method further comprises: acquiring the detection information of the oriented position to obtain the second detection information; When it is determined according to the second detection information that the target contour identification information of the target object exists, it is determined that the target object exists. 3. The method according to claim 2, wherein the acquiring the position information of the target object comprises: obtaining target biometric identification information of the target object; The location information of the target object is acquired according to the target biometric identification information. 4. The method according to claim 3, wherein the obtaining the location information of the target object according to the target biometric identification information comprises: obtaining pre-stored biometric identification information corresponding to the target object; When the target biometric identification information matches the pre-stored biometric identification information, the location information of the target object is acquired. The method according to any one of claims 1 to 4, wherein when it is determined according to the first detection information that there is first feature identification information of the target object, the position information of the target object is acquired ,include: obtaining preconfigured first posture feature information; When it is determined according to the first detection information that the first feature identification information matching the first gesture feature information exists, the position information of the target object is acquired. 6. The method according to any one of claims 1 to 4, wherein before acquiring the first detection information of the oriented position, the method further comprises: Acquire the detection information of the facing position, and obtain the third detection information; Determine the shaking frequency of the camera stabilizer according to the third detection information; when the shaking frequency is greater than a preset frequency threshold, send a position correction instruction to the control unit, so that the control unit performs position correction control ; and / or, Determine the shaking angle of the camera stabilizer according to the third detection information; when the shaking angle is greater than a preset angle threshold, send a position correction instruction to the control unit, so that the control unit performs position correction control . 7. The method according to any one of claims 1 to 4, wherein after the sending a tracking movement instruction to the control component according to the position information, the method further comprises: acquiring the detection information of the facing position, and obtaining the fourth detection information; obtaining preconfigured second posture feature information; When it is determined according to the fourth detection information that there is second feature identification information matching the second posture feature information, the acquisition of the detection information of the facing position is stopped. 8. A tracking control device, characterized in that, it is applied to an object tracking component of a photographic equipment stabilizer; the photographing equipment stabilizer further comprises a clamping component and a control component; the object tracking component is fixed by the clamping component connected to a shooting device; the distance between the object tracking component and the camera of the shooting device is less than or equal to a preset distance threshold, and is consistent with the orientation of the camera; The device includes: a detection information acquisition module, configured to acquire the detection information of the facing position, and obtain the first detection information; a location information acquisition module, configured to acquire the location information of the target object when it is determined according to the first detection information that there is first feature identification information of the target object; A position adjustment module, configured to send a tracking movement instruction to the control unit according to the position information, so that the control unit performs position adjustment control according to the position information, so that the camera of the photographing device faces the target object. 9. An object tracking component of a photographic equipment stabilizer, comprising a memory and a processor, wherein the memory stores a computer program, wherein the photographing equipment stabilizer further comprises a clamping component and a control component; the object tracking The component is fixedly connected to the photographing device through the clamping component; the distance between the object tracking component and the camera of the photographing device is less than or equal to a preset distance threshold, and is consistent with the direction of the camera; the processor executes The computer program implements the steps of the method of any one of claims 1 to 7. 10. A computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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