CN105872372A - Image acquisition method and electronic device - Google Patents
Image acquisition method and electronic device Download PDFInfo
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- CN105872372A CN105872372A CN201610201041.6A CN201610201041A CN105872372A CN 105872372 A CN105872372 A CN 105872372A CN 201610201041 A CN201610201041 A CN 201610201041A CN 105872372 A CN105872372 A CN 105872372A
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- collecting device
- image collecting
- electronic equipment
- shooting
- control strategy
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
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Abstract
The invention discloses an image acquisition method applied to an electronic device. The electronic device comprises an image acquisition device; and the image acquisition method comprises the steps of obtaining a running control instruction which is used for instructing the electronic device to run along a preset running track; controlling the electronic device to run along the preset running track based on the running control instruction; and controlling the image acquisition device to carry out image acquisition based on an obtained image acquisition device control strategy, wherein the image acquisition device control strategy is obtained before the electronic device runs along the preset running track, or the image acquisition device control strategy is obtained when the electronic device runs along the preset running track. The image acquisition method efficiently solves the technical problem of complex operation in the prior art when a user controls the electronic device for shooting. The invention also discloses an electronic device.
Description
Technical field
The present invention relates to electronic technology field, particularly relate to a kind of image-pickup method and electronic equipment.
Background technology
When using video camera video recording, the stability of video camera fuselage there is the highest requirement.Clap at film
During taking the photograph, it usually needs the professional equipment such as slide rail, rocking arm ensures the stability of video camera fuselage, thus
Reach satisfied shooting effect.
Along with rise and the development of The Cloud Terrace technology of Robot industry, video camera starts to be placed to robot
On (such as: unmanned plane or ground robot), robot video recording is utilized to become a big hot topic field, very
To gradually replacing some special picture pick-up devices.
At present, user manipulate robot shoot time, need user the most expertly control simultaneously robot and
The Cloud Terrace, can be only achieved more satisfied shooting effect.But, for domestic consumer, expertly manipulate machine
Device people is not easy to (such as: manipulation robot, around travelling so simple process, is required for through in a large number
The professional manipulation personnel of training complete), add the control operation of The Cloud Terrace, this makes shooting process excessively
Complexity, has been difficult to for domestic consumer.
To sum up, in the prior art, user manipulate robot shoot time, there is the skill that operation is complicated
Art problem.
Summary of the invention
The embodiment of the present invention, by providing a kind of image-pickup method and electronic equipment, solves in prior art
User manipulate robot shoot time, there is the technical problem that operation is complicated.
On the one hand, the present invention provides following technical scheme by one embodiment of the invention:
A kind of image-pickup method, is applied in electronic equipment, and described electronic equipment has image collecting device,
Described image-pickup method, including:
Obtaining and travel control instruction, described traveling control instruction is used for indicating described electronic equipment along preset travel
Track travels；
Based on described traveling control instruction, control described electronic equipment and travel along described preset travel track；
Based on the image collecting device control strategy obtained, control described image collecting device and carry out image acquisition；
Wherein, described image collecting device control strategy travels it at described electronic equipment along described preset travel track
Front acquisition, or, described image collecting device control strategy at described electronic equipment along described preset travel track
Obtain during traveling.
Preferably, described preset travel track, including:
Straight-line travelling track；Or
Annular driving trace；Or
Self-defined driving trace.
Preferably, described based on the image collecting device control strategy obtained, control described image collecting device
Carry out image acquisition, including:
Based on the shooting direction control instruction in described image collecting device control strategy, determine and preset shooting side
To；
At described electronic equipment along preset travel track driving process, adjust working as of described image collecting device
Front shooting direction is described default shooting direction.
Preferably, described based on the image collecting device control strategy obtained, control described image collecting device
Carry out image acquisition, including:
Based on the shooting duration control instruction in described image collecting device control strategy, when determining default shooting
Long；
Based on the shooting distance control instruction in described image collecting device control strategy, determine preset shooting away from
From；
Based on described default shooting distance and described default shooting duration, determine travel speed；
Described electronic equipment with described travel speed along described preset travel track driving process, based on institute
State and preset shooting duration, control described image collecting device and carry out image acquisition, it is thus achieved that a video file.
On the other hand, the present invention passes through one embodiment of the invention, it is provided that following technical scheme:
A kind of electronic equipment, described electronic equipment has image collecting device, and described electronic equipment also includes:
First obtains unit, is used for obtaining traveling control instruction, and described traveling control instruction is used for indicating described
Electronic equipment travels along preset travel track；
First control unit, for based on described traveling control instruction, controls described electronic equipment along described pre-
If driving trace travels；
Second control unit, for based on the image collecting device control strategy obtained, controlling described image and adopt
Acquisition means carries out image acquisition；Wherein, described image collecting device control strategy at described electronic equipment along institute
State before preset travel track travels and obtain, or, described image collecting device control strategy sets at described electronics
Obtain for during travelling along described preset travel track.
Preferably, described preset travel track, including:
Straight-line travelling track；Or
Annular driving trace；Or
Self-defined driving trace.
Preferably, described second control unit, including:
First determines module, for controlling to refer to based on the shooting direction in described image collecting device control strategy
Order, determines default shooting direction；
Adjusting module, is used at described electronic equipment along preset travel track driving process, adjusts described figure
As the current shooting direction of harvester is described default shooting direction.
Preferably, described second control unit, including:
Second determines module, for controlling to refer to based on the shooting duration in described image collecting device control strategy
Order, determines and presets shooting duration；
3rd determines module, for controlling to refer to based on the shooting distance in described image collecting device control strategy
Order, determines default shooting distance；
4th determines module, is used for based on described default shooting distance and described default shooting duration, really
Determine travel speed；
Control module, for travelling along described preset travel track with described travel speed at described electronic equipment
During, based on described default shooting duration, control described image collecting device and carry out image acquisition, it is thus achieved that
One video file.
The one or more technical schemes provided in the embodiment of the present invention, at least have the following technical effect that or excellent
Point:
1, in embodiments of the present invention, user can send to electronic equipment and travel control instruction, so that
Electronic equipment along travelling preset travel track automatic running indicated by control instruction, driving process user without
Intervening, simplify the operation of user, user can attentively control image collecting device and shoot,
Be conducive to reaching satisfied shooting effect, efficiently solve and prior art manipulates electronic equipment user enter
During row shooting, there is the technical problem that operation is complicated.
2, in embodiments of the present invention, it is provided that have multiple image collecting device control strategy, user can be to
Electronic equipment sends any image harvester control strategy, so that image collecting device is according to image acquisition
Requirement in device control strategy images, easy to operate, is conducive to reaching satisfied shooting effect.
Accompanying drawing explanation
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, institute in embodiment being described below
The accompanying drawing used is needed to be briefly described, it should be apparent that, the accompanying drawing in describing below is the present invention
Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work,
Other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the flow chart of a kind of image-pickup method in the embodiment of the present invention；
Fig. 2 is the schematic diagram of the straight-line travelling track in the embodiment of the present invention；
Fig. 3 is the schematic diagram of the annular driving trace in the embodiment of the present invention；
Fig. 4 is the schematic diagram of the self-defined driving trace in the embodiment of the present invention；
Fig. 5 is the structural representation of a kind of electronic equipment in the embodiment of the present invention；
Fig. 6 is the flow chart of a kind of image-pickup method in the embodiment of the present invention；
Fig. 7 is the structural representation of a kind of Self-Balancing vehicle in the embodiment of the present invention.
Detailed description of the invention
The embodiment of the present invention, by providing a kind of image-pickup method and electronic equipment, solves in prior art
User manipulate robot shoot time, there is the technical problem that operation is complicated.
The technical scheme of the embodiment of the present invention is for solving above-mentioned technical problem, and general thought is as follows:
A kind of image-pickup method, is applied in electronic equipment, and described electronic equipment includes image collecting device,
Described image-pickup method, including: obtaining and travel control instruction, row is preset in the instruction of described traveling control instruction
Sail track；Based on described traveling control instruction, control described electronic equipment and travel along described preset travel track；
Based on the image collecting device control strategy obtained, control described image collecting device and carry out image acquisition；Its
In, described image collecting device control strategy is before described electronic equipment travels along described preset travel track
Obtain, or, described image collecting device control strategy at described electronic equipment along described preset travel track row
Obtain during sailing.
In order to be better understood from technique scheme, below in conjunction with Figure of description and concrete embodiment party
Technique scheme is described in detail by formula.
Embodiment one
Present embodiments provide a kind of image-pickup method, be applied to electronic equipment (such as: ground robot)
In, described electronic equipment includes image collecting device (such as: photographing unit or camera), such as Fig. 1 institute
Show, described image-pickup method, including:
Step S101: obtain and travel control instruction, this traveling control instruction is used for indicating electronic equipment along presetting
Driving trace travels.
In specific implementation process, electronic equipment is connected with control equipment by wired mode or wireless mode,
Can communicate between electronic equipment and control equipment.User can control electronic equipment by controlling equipment
The image collecting device freely travelled and control on electronic equipment carry out image acquisition (such as: take pictures,
Or shooting), meanwhile, image collecting device can be fixing on an electronic device by The Cloud Terrace, and user can be led to
Cross control equipment and control cloud platform rotation, thus change the shooting direction of image collecting device.
In specific implementation process, control equipment can be with electronic equipment be separate equipment (such as:
Smart mobile phone or panel computer or notebook computer or desktop computer or intelligent television or intelligence
Key, etc.)；Or, this control equipment can also be set directly on electronic equipment, sets as electronics
A standby part.
In specific implementation process, described traveling control instruction comprises preset travel track, is used for controlling electricity
Subset travels along this preset travel track, and wherein, described preset travel track can be: shown in Fig. 2
Straight-line travelling track track_1, or the annular driving trace track_2 shown in Fig. 3, or as shown in Figure 4
Self-defined driving trace track_3, this self-defined driving trace is freely defined by user.User can control
A driving trace is selected for a post as described preset travel track on equipment, when user selects self-defined driving trace,
User needs manually to draw this self-defined driving trace on the touch screen controlling equipment.
Step S102: based on travelling control instruction, controls electronic equipment and travels along preset travel track.
In specific implementation process, it is possible to use VIO (Visual Inertial Odometry, survey by vision inertial navigation
Away from) technology measures the position of electronic equipment, travel direction and travel speed in real time, and according to current driving speed
The direction vector difference tangential with preset travel track of degree, calculates the angular velocity of electronic equipment, and based on
The angular velocity calculated controls electronic equipment and turns, thus changes the travel direction of electronic equipment, meanwhile, also
PID (Proportion Integration Differentiation, PID) control algolithm can be utilized
Control electronic equipment along preset travel track automatic running.At electronic equipment along preset travel track automatic running
During, user, without intervening, simplifies the operation of user again, and user can attentively control image and adopt
Acquisition means shoots, and is conducive to obtaining satisfied shooting effect.
Step S103: based on the image collecting device control strategy obtained, controls image collecting device and carries out figure
As gathering.
In specific implementation process, this image collecting device control strategy can comprise some for controlling figure
As the instruction of harvester, such as: photographing instruction, or start video recording instruction, or terminate video recording instruction, etc.
Deng.
In specific implementation process, image collecting device control strategy can obtain before performing step S102
, or obtain during performing step S102.
For example, user can send image collecting device control strategy by controlling equipment to electronic equipment,
So that electronic equipment can control image collecting device carry out figure based on this image collecting device control strategy
As gathering.Wherein, user can be before electronic equipment travels along preset travel track, by controlling equipment
Image collecting device control strategy is sent to electronic equipment；User can also be at electronic equipment along preset travel rail
In mark driving process, send image collecting device control strategy by controlling equipment to electronic equipment.
In specific implementation process, during performing step S102, perform step S103, i.e. at electricity
Subset is along preset travel track driving process, based on the image collecting device control strategy obtained, controls
Image collecting device carries out image acquisition.
In embodiments of the present invention, user can send a traveling control instruction to electronic equipment, so that electric
Subset is along the preset travel track automatic running travelled indicated by control instruction, at electronic equipment along presetting row
During sailing track automatic running, user, without intervening, simplifies the operation of user again, and user is permissible
The wholwe-hearted image collecting device that controls shoots, and is conducive to obtaining satisfied shooting effect.
As the optional embodiment of one, step S103, including:
Based on the photographing instruction in image collecting device control strategy, control image collecting device and take pictures；Or base
The video recording that starts in image collecting device control strategy instructs, and controls image collecting device and starts shooting；Or
Record a video based on the end in image collecting device control strategy and instruct, control image collecting device and terminate shooting.
As the optional embodiment of one, step S103, including:
Based on the shooting direction control instruction in image collecting device control strategy, determine default shooting direction；
At electronic equipment along preset travel track driving process, the current shooting direction adjusting image collecting device is
Preset shooting direction.
In specific implementation process, shooting direction control can also be comprised in this image collecting device control strategy
System instruction, the default shooting direction of this shooting direction control instruction instruction, user can be by controlling equipment to electricity
Subset sends the image collecting device control strategy comprising this shooting direction control instruction.Connect at electronic equipment
After receiving this image collecting device control strategy, based on shooting direction control instruction therein, determine and preset bat
Take the photograph direction, and control cloud platform rotation, thus adjust the current shooting direction of image collecting device for presetting shooting
Direction.
For example, as in figure 2 it is shown, when electronic equipment linearly driving trace track_1 travels, electricity
Subset current location is P1, using the direction of electronic equipment advance as front a1, then, described default
Shooting direction can be: front a1, rear b1, left c1 and right d1.
For example, as it is shown on figure 3, when electronic equipment annularly driving trace track_2 travels, electricity
Subset current location is P2, using the direction of electronic equipment advance as front a2, then, described default
Shooting direction can be: front a2, rear b2, left c2 and right d2.
For example, as shown in Figure 4, when electronic equipment travels along self-defined driving trace track_3,
Electronic equipment current location is P3, using the direction of electronic equipment advance as front a3, then, described pre-
If shooting direction can be: front a3, rear b3, left c3 and right d3.
It addition, this shooting direction can also be set by the user as any direction, such as, touching of equipment is being controlled
Touch preset travel track described in screen display and the current location of electronic equipment, and working as at electronic equipment
Also showing the icon of an expression image collecting device at front position, user can rotate this on the touchscreen with hands
The direction of icon, thus set any shooting direction.
As the optional embodiment of one, step S103, including:
Based on the shooting duration control instruction in image collecting device control strategy, determine and preset shooting duration；
Based on the shooting distance control instruction in described image collecting device control strategy, determine default shooting distance；
Based on described default shooting distance and described default shooting duration, determine travel speed；At electronic equipment
With described travel speed along preset travel track driving process, in described default shooting duration, control figure
As harvester carries out image acquisition, it is thus achieved that a video file.
In specific implementation process, shooting distance control can also be comprised in this image collecting device control strategy
System instruction and shooting duration control instruction, this shooting distance control instruction indicates one to preset shooting distance, this bat
Taking the photograph duration control instruction instruction one and preset shooting duration, user can send to electronic equipment by controlling equipment
Comprise this shooting distance control instruction and the image collecting device control strategy of shooting duration control instruction.At electricity
After subset receives this image collecting device control strategy, based on shooting distance control instruction therein and bat
Take the photograph duration control instruction, determine default shooting distance and preset shooting duration, then " presetting shooting based on equation
Distance=preset shooting duration × travel speed ", calculate travel speed；Control electronic equipment further with this
Travel speed travels along preset travel track, and shoots one section of video presetting shooting duration.
For example, be straight-line travelling track at preset travel track, preset shooting time a length of 30 seconds, in advance
If distance is 15 meters, it is determined that travel speed is 0.5 meter per second, further, electronic equipment is controlled with 0.5
The speed of meter per second linearly driving trace travels, and in the process of moving, controls image collecting device and carries out image
Gather 30 seconds, it is thus achieved that one section of video file of 30 seconds.
The most for example, preset travel track be annular driving trace, preset shooting time a length of 20 seconds,
When predeterminable range is 20 meters, it is determined that travel speed is 1 meter per second, further, electronic equipment is controlled with 1
The speed of meter per second annularly driving trace travels, and in the process of moving, controls image collecting device and carries out image
Gather 20 seconds, it is thus achieved that one section of video file of 20 seconds.
In specific implementation process, in electronic equipment driving process, it is possible to use VIO technology is measured in real time
The travel speed of electronic equipment, when the travel speed of electronic equipment is different from the travel speed calculated, and
Time adjust electronic equipment travel speed.
In embodiments of the present invention, user can the most freely arrange the control of this image collecting device
Arbitrary instruction in strategy is (such as: shooting instruction, start video recording instruction, terminate video recording instruction, shooting side
To control instruction, shooting duration control instruction, shooting distance control instruction, etc.), thus set at electronics
Standby along desired guiding trajectory driving process, control image collecting device and shoot, reach satisfied shooting effect.
In specific implementation process, can comprise in image collecting device control strategy above-mentioned photographing instruction,
Start video recording instruction, terminate video recording instruction, shooting direction control instruction, shooting duration control instruction, shooting
Distance controlling instruction, in any one or more instruction.
Based on same inventive concept, the embodiment of the present invention also provides for a kind of electronic equipment, and electronic equipment has one
Image collecting device, as it is shown in figure 5, electronic equipment also includes:
First obtains unit 201, is used for obtaining traveling control instruction, travels control instruction and is used for indicating electronics
Equipment travels along preset travel track；
First control unit 202, for based on travelling control instruction, controls electronic equipment along preset travel rail
Mark travels；
Second control unit 203, for based on the image collecting device control strategy obtained, controls image and adopts
Acquisition means carries out image acquisition；Wherein, image collecting device control strategy at electronic equipment along preset travel rail
Mark obtains before travelling, or, image collecting device control strategy travels along preset travel track at electronic equipment
During obtain.
As the optional embodiment of one, preset travel track, including:
Straight-line travelling track；Or
Annular driving trace；Or
Self-defined driving trace.
As the optional embodiment of one, the second control unit 203, including:
First determines module, is used for based on the shooting direction control instruction in image collecting device control strategy,
Determine default shooting direction；
Adjusting module, is used for, at electronic equipment along preset travel track driving process, adjusting image collector
The current shooting direction put is for presetting shooting direction.
As the optional embodiment of one, the second control unit 203, including:
Second determines module, is used for based on the shooting duration control instruction in image collecting device control strategy,
Determine and preset shooting duration；
3rd determines module, is used for based on the shooting distance control instruction in image collecting device control strategy,
Determine default shooting distance；
4th determines module, for based on default shooting distance and default shooting duration, determining traveling speed
Degree；
Control module, for electronic equipment with travel speed along preset travel track driving process, based on
Preset shooting duration, control image collecting device and carry out image acquisition, it is thus achieved that a video file.
The electronic equipment introduced due to the present embodiment is image-pickup method institute in the enforcement embodiment of the present invention
The electronic equipment used, so method based on the image acquisition described in the embodiment of the present invention, this area
Those of skill in the art will appreciate that detailed description of the invention and its various changes of the electronic equipment of the present embodiment
Form, so the method how realized in the embodiment of the present invention for this electronic equipment at this is no longer discussed in detail.
As long as those skilled in the art implement the electronics that in the embodiment of the present invention, the method for image acquisition is used
Equipment, broadly falls into the scope that the present invention to be protected.
Technical scheme in the invention described above embodiment, at least has the following technical effect that or advantage:
1, in embodiments of the present invention, user can send to electronic equipment and travel control instruction, so that
Electronic equipment along travelling preset travel track automatic running indicated by control instruction, driving process user without
Intervening, simplify the operation of user, user can attentively control image collecting device and shoot,
Be conducive to reaching satisfied shooting effect, efficiently solve and prior art manipulates electronic equipment user enter
During row shooting, there is the technical problem that operation is complicated.
2, in embodiments of the present invention, being also provided with multiple image collecting device control strategy, user is permissible
Any image harvester control strategy is sent, so that image collecting device is adopted according to image to electronic equipment
Requirement in acquisition means control strategy images, easy to operate, is conducive to reaching satisfied shooting effect.
Embodiment two
Present embodiments provide a kind of image-pickup method, be applied in Self-Balancing vehicle, described Self-Balancing vehicle bag
Include an image collecting device (such as: photographing unit or camera), as shown in Figure 6, described image acquisition
Method, including:
Step S301: obtaining and travel control instruction, this traveling control instruction is used for indicating Self-Balancing vehicle pre-along one
If driving trace travels.
In specific implementation process, described Self-Balancing vehicle mainly has single wheel and two-wheel two class, its operation principles master
One to be built upon is referred to as in the ultimate principle of " dynamic stability " (Dynamic Stabilization),
Utilize gyroscope and the acceleration transducer of vehicle body, detect the change of vehicle body attitude, and utilize servo
Control system, accurately drives motor to be adjusted correspondingly, to keep the balance of system.In Self-Balancing vehicle
Including a set of dynamical system, it is possible to drive Self-Balancing vehicle to travel on road surface and (such as: keep straight on, turn, fall
Move back, curve driving, etc.).
In specific implementation process, Self-Balancing vehicle controls equipment by wired mode or wireless mode and one and connects,
Can communicate between Self-Balancing vehicle and control equipment.User can control Self-Balancing vehicle by controlling equipment
The image collecting device freely travelled and control on Self-Balancing vehicle carry out image acquisition (such as: take pictures,
Or shooting), meanwhile, image collecting device can be fixed on Self-Balancing vehicle by The Cloud Terrace, and user can be led to
Cross control equipment and control cloud platform rotation, thus change the shooting direction of image collecting device.
In specific implementation process, control equipment can be with Self-Balancing vehicle be separate equipment (such as:
Smart mobile phone or panel computer or notebook computer or desktop computer or intelligent television or intelligence
Key, etc.)；Or, this control equipment can also be set directly on Self-Balancing vehicle, as self-balancing
A part for car.
In specific implementation process, described traveling control instruction comprises a preset travel track, is used for controlling
Self-Balancing vehicle travels along this preset travel track, and wherein, described preset travel track can be: shown in Fig. 2
Straight-line travelling track track_1, or the annular driving trace track_2 shown in Fig. 3, or as shown in Figure 4
Self-defined driving trace track_3, this self-defined driving trace is freely defined by user.User can be in control
Select for a post a driving trace on control equipment as described preset travel track, select self-defined driving trace user
Time, user needs manually to draw this self-defined driving trace on the touch screen controlling equipment.
Step S302: based on travelling control instruction, controls Self-Balancing vehicle and travels along preset travel track.
In specific implementation process, it is possible to use VIO technology measures the position of Self-Balancing vehicle, traveling side in real time
To and travel speed, and according to the direction vector of the current driving speed difference tangential with preset travel track,
Calculate the angular velocity of Self-Balancing vehicle, and control electronics turning based on the angular velocity calculated, thus change certainly
The travel direction of balance car, at the same time it can also be utilize pid control algorithm to control Self-Balancing vehicle along preset travel
Track automatic running.At Self-Balancing vehicle along during preset travel track automatic running, user is without carrying out again
Intervening, simplify the operation of user, user can attentively control image collecting device and shoot, and is conducive to
Obtain satisfied shooting effect.
Step S303: based on the image collecting device control strategy obtained, controls image collecting device and carries out figure
As gathering.
In specific implementation process, this image collecting device control strategy can comprise some for controlling figure
As the instruction of harvester, such as: photographing instruction, or start video recording instruction, or terminate video recording instruction, etc.
Deng.
In specific implementation process, image collecting device control strategy can obtain before performing step S302
, or obtain during performing step S302.
For example, user can send image collecting device control strategy by controlling equipment to Self-Balancing vehicle,
So that Self-Balancing vehicle can control image collecting device carry out figure based on this image collecting device control strategy
As gathering.Wherein, user can be before Self-Balancing vehicle travels along preset travel track, by controlling equipment
Image collecting device control strategy is sent to Self-Balancing vehicle；User can also be at Self-Balancing vehicle along preset travel rail
In mark driving process, send image collecting device control strategy by controlling equipment to Self-Balancing vehicle.
In specific implementation process, during performing step S302, perform step S303, i.e. certainly
Balance car is along preset travel track driving process, based on the image collecting device control strategy obtained, controls
Image collecting device carries out image acquisition.
In embodiments of the present invention, user can send a traveling control instruction to Self-Balancing vehicle, so that deriving from
Balance car is along the preset travel track automatic running travelled indicated by control instruction, at Self-Balancing vehicle along presetting row
During sailing track automatic running, user, without intervening, simplifies the operation of user again, and user is permissible
The wholwe-hearted image collecting device that controls shoots, and is conducive to obtaining satisfied shooting effect.
As the optional embodiment of one, step S303, including:
Based on the photographing instruction in image collecting device control strategy, control image collecting device and take pictures；Or base
The video recording that starts in image collecting device control strategy instructs, and controls image collecting device and starts shooting；Or
Record a video based on the end in image collecting device control strategy and instruct, control image collecting device and terminate shooting.
As the optional embodiment of one, step S303, including:
Based on the shooting direction control instruction in image collecting device control strategy, determine and preset shooting direction；
At Self-Balancing vehicle along preset travel track driving process, the current shooting direction adjusting image collecting device is
Preset shooting direction.
In specific implementation process, a shooting direction can also be comprised in this image collecting device control strategy
Control instruction, this shooting direction control instruction indicates one to preset shooting direction, and user can be by controlling equipment
The image collecting device control strategy comprising this shooting direction control instruction is sent to Self-Balancing vehicle.In self-balancing
After car receives this image collecting device control strategy, based on shooting direction control instruction therein, determine one
Preset shooting direction, and control cloud platform rotation, thus the current shooting direction adjusting image collecting device is pre-
If shooting direction.
For example, as in figure 2 it is shown, when Self-Balancing vehicle linearly driving trace track_1 travels, from
Balance car current location is P1, using the direction of Self-Balancing vehicle advance as front a1, then, described default
Shooting direction can be: front a1, rear b1, left c1 and right d1.
For example, as it is shown on figure 3, when Self-Balancing vehicle annularly driving trace track_2 travels, from
Balance car current location is P2, using the direction of Self-Balancing vehicle advance as front a2, then, described default
Shooting direction can be: front a2, rear b2, left c2 and right d2.
For example, as shown in Figure 4, when Self-Balancing vehicle travels along self-defined driving trace track_3,
Self-Balancing vehicle current location is P3, using the direction of Self-Balancing vehicle advance as front a3, then, described pre-
If shooting direction can be: front a3, rear b3, left c3 and right d3.
It addition, this shooting direction can also be set by the user as any direction, such as, touching of equipment is being controlled
Touch preset travel track described in screen display and the current location of Self-Balancing vehicle, and working as at Self-Balancing vehicle
Also showing the icon of an expression image collecting device at front position, user can rotate this on the touchscreen with hands
The direction of icon, thus set any shooting direction.
As the optional embodiment of one, step S303, including:
Based on the shooting duration control instruction in image collecting device control strategy, determine that one presets shooting duration；
Based on the shooting distance control instruction in image collecting device control strategy, determine default shooting distance；Base
In default shooting distance and default shooting duration, determine travel speed；At Self-Balancing vehicle with this traveling speed
Degree is along preset travel track driving process, in described default shooting duration, controls image collecting device and enters
Row image acquisition a, it is thus achieved that video file.
In specific implementation process, shooting distance control can also be comprised in this image collecting device control strategy
System instruction and shooting duration control instruction, this shooting distance control instruction indicates one to preset shooting distance, this bat
Taking the photograph duration control instruction instruction one and preset shooting duration, user can send to Self-Balancing vehicle by controlling equipment
Comprise this shooting distance control instruction and the image collecting device control strategy of shooting duration control instruction.Certainly
After balance car receives this image collecting device control strategy, based on shooting distance control instruction therein and bat
Take the photograph duration control instruction, determine default shooting distance and preset shooting duration, then " presetting shooting based on equation
Distance=preset shooting duration × travel speed ", calculate travel speed；Control Self-Balancing vehicle further with this
Travel speed travels along preset travel track, and shoots the video of one section of preset duration.
For example, be straight-line travelling track at preset travel track, preset shooting time a length of 30 seconds, in advance
If distance is 15 meters, it is determined that travel speed is 0.5 meter per second, further, Self-Balancing vehicle is controlled with 0.5
The speed of meter per second linearly driving trace travels, and in the process of moving, controls image collecting device and carries out image
Gather 30 seconds, it is thus achieved that one section of video file of 30 seconds.
The most for example, preset travel track be annular driving trace, preset shooting time a length of 20 seconds,
When predeterminable range is 20 meters, it is determined that travel speed is 1 meter per second, further, Self-Balancing vehicle is controlled with 1
The speed of meter per second annularly driving trace travels, and in the process of moving, controls image collecting device and carries out image
Gather 20 seconds, it is thus achieved that one section of video file of 20 seconds.
In specific implementation process, in Self-Balancing vehicle driving process, it is possible to use VIO technology is measured in real time
The travel speed of Self-Balancing vehicle, when the travel speed of Self-Balancing vehicle is different from the travel speed calculated, and
Time adjust Self-Balancing vehicle travel speed.
In embodiments of the present invention, user can the most freely arrange the control of this image collecting device
Arbitrary instruction in strategy is (such as: shooting instruction, start video recording instruction, terminate video recording instruction, shooting side
To control instruction, shooting duration control instruction, shooting distance control instruction, etc.), thus in self-balancing
Car, along desired guiding trajectory driving process, controls image collecting device and shoots, reach satisfied shooting effect.
It addition, this image collecting device can equipped with multiple camera lenses (such as: standard lens and wide-angle lens),
A switching lens control instruction, this shooting distance control instruction is also comprised in image collecting device control strategy
Camera lens is preset in instruction one, and user can comprise this cutaway by control equipment to Self-Balancing vehicle transmission and control
The image collecting device control strategy of instruction.After Self-Balancing vehicle receives this image collecting device control strategy,
Based on cutaway control instruction therein, determine and preset camera lens, and by currently used Shot change be
Preset camera lens.
For example, when the camera lens that image collecting device is currently used is standard lens, user is by controlling
Equipment sends an image collecting device control strategy to Self-Balancing vehicle, in this image collecting device control strategy
Comprising a switching lens control instruction, the default camera lens of this cutaway control instruction instruction is wide-angle lens,
Self-Balancing vehicle then controls to refer to based on this cutaway, and the most currently used Shot change is wide-angle lens.
In specific implementation process, can comprise in image collecting device control strategy above-mentioned photographing instruction,
Start video recording instruction, terminate video recording instruction, shooting direction control instruction, shooting duration control instruction, shooting
Distance controlling instruction, in any one or more instruction.
Based on same inventive concept, the embodiment of the present invention also provides for a kind of Self-Balancing vehicle, and Self-Balancing vehicle has one
Image collecting device, as it is shown in fig. 7, Self-Balancing vehicle also includes:
Second obtains unit 401, is used for obtaining traveling control instruction, travels control instruction and is used for indicating from flat
Weighing apparatus car travels along preset travel track；
3rd control unit 402, for based on travelling control instruction, controls Self-Balancing vehicle along preset travel rail
Mark travels；
4th control unit 403, for based on the image collecting device control strategy obtained, controls image and adopts
Acquisition means carries out image acquisition；Wherein, image collecting device control strategy at Self-Balancing vehicle along preset travel rail
Mark obtains before travelling, or, image collecting device control strategy travels along preset travel track at Self-Balancing vehicle
During obtain.
As the optional embodiment of one, preset travel track, including:
Straight-line travelling track；Or
Annular driving trace；Or
Self-defined driving trace.
As the optional embodiment of one, the 4th control unit 403, including:
First determines module, is used for based on the shooting direction control instruction in image collecting device control strategy,
Determine default shooting direction；
Adjusting module, is used for, at Self-Balancing vehicle along preset travel track driving process, adjusting image collector
The current shooting direction put is for presetting shooting direction.
As the optional embodiment of one, the 4th control unit 403, including:
Second determines module, is used for based on the shooting duration control instruction in image collecting device control strategy,
Determine and preset shooting duration；
3rd determines module, for controlling to refer to based on the shooting distance in described image collecting device control strategy
Order, determines default shooting distance；
4th determines module, is used for based on described default shooting distance and described default shooting duration, really
Determine travel speed；
Control module, for Self-Balancing vehicle with described travel speed along preset travel track driving process,
Based on default shooting duration, control image collecting device and carry out image acquisition, it is thus achieved that a video file.
The Self-Balancing vehicle introduced due to the present embodiment is image-pickup method institute in the enforcement embodiment of the present invention
The electronic equipment used, so method based on the image acquisition described in the embodiment of the present invention, this area
Those of skill in the art will appreciate that detailed description of the invention and its various changes of the Self-Balancing vehicle of the present embodiment
Form, so the method how realized in the embodiment of the present invention for this Self-Balancing vehicle at this is no longer discussed in detail.
As long as those skilled in the art implement that the method for image acquisition in the embodiment of the present invention used from flat
Weighing apparatus car, broadly falls into the scope that the present invention to be protected.
Technical scheme in the invention described above embodiment, at least has the following technical effect that or advantage:
1, in embodiments of the present invention, user can send a traveling control instruction to Self-Balancing vehicle, so that
Self-Balancing vehicle along travelling preset travel track automatic running indicated by control instruction, driving process user without
Need to intervene again, simplify the operation of user, user can attentively control image collecting device and shoot,
Be conducive to reaching satisfied shooting effect, efficiently solve and prior art manipulates electronic equipment user enter
During row shooting, there is the technical problem that operation is complicated.
2, in embodiments of the present invention, being also provided with multiple image collecting device control strategy, user is permissible
Any image harvester control strategy is sent, so that image collecting device is adopted according to image to Self-Balancing vehicle
Requirement in acquisition means control strategy images, easy to operate, is conducive to reaching satisfied shooting effect.
Those skilled in the art are it should be appreciated that embodiments of the invention can be provided as method, system or meter
Calculation machine program product.Therefore, the present invention can use complete hardware embodiment, complete software implementation or knot
The form of the embodiment in terms of conjunction software and hardware.And, the present invention can use and wherein wrap one or more
Computer-usable storage medium containing computer usable program code (include but not limited to disk memory,
CD-ROM, optical memory etc.) form of the upper computer program implemented.
The present invention is with reference to method, equipment (system) and computer program product according to embodiments of the present invention
The flow chart of product and/or block diagram describe.It should be understood that can by computer program instructions flowchart and
/ or block diagram in each flow process and/or flow process in square frame and flow chart and/or block diagram and/
Or the combination of square frame.These computer program instructions can be provided to general purpose computer, special-purpose computer, embedding
The processor of formula datatron or other programmable data processing device is to produce a machine so that by calculating
The instruction that the processor of machine or other programmable data processing device performs produces for realizing at flow chart one
The device of the function specified in individual flow process or multiple flow process and/or one square frame of block diagram or multiple square frame.
These computer program instructions may be alternatively stored in and computer or the process of other programmable datas can be guided to set
In the standby computer-readable memory worked in a specific way so that be stored in this computer-readable memory
Instruction produce and include the manufacture of command device, this command device realizes in one flow process or multiple of flow chart
The function specified in flow process and/or one square frame of block diagram or multiple square frame.
These computer program instructions also can be loaded in computer or other programmable data processing device, makes
Sequence of operations step must be performed to produce computer implemented place on computer or other programmable devices
Reason, thus the instruction performed on computer or other programmable devices provides for realizing flow chart one
The step of the function specified in flow process or multiple flow process and/or one square frame of block diagram or multiple square frame.
Although preferred embodiments of the present invention have been described, but those skilled in the art once know base
This creativeness concept, then can make other change and amendment to these embodiments.So, appended right is wanted
Ask and be intended to be construed to include preferred embodiment and fall into all changes and the amendment of the scope of the invention.
Obviously, those skilled in the art can carry out various change and modification without deviating from this to the present invention
Bright spirit and scope.So, if the present invention these amendment and modification belong to the claims in the present invention and
Within the scope of its equivalent technologies, then the present invention is also intended to comprise these change and modification.
Claims (8)
1. an image-pickup method, is applied in electronic equipment, and described electronic equipment has image acquisition
Device, it is characterised in that described image-pickup method includes:
Obtaining and travel control instruction, described traveling control instruction is used for indicating described electronic equipment along preset travel
Track travels；
Based on described traveling control instruction, control described electronic equipment and travel along described preset travel track；
Based on the image collecting device control strategy obtained, control described image collecting device and carry out image acquisition；
Wherein, described image collecting device control strategy travels it at described electronic equipment along described preset travel track
Front acquisition, or, described image collecting device control strategy at described electronic equipment along described preset travel track
Obtain during traveling.
2. image-pickup method as claimed in claim 1, it is characterised in that described preset travel track,
Including:
Straight-line travelling track；Or
Annular driving trace；Or
Self-defined driving trace.
3. image-pickup method as claimed in claim 1 or 2, it is characterised in that described based on acquisition
Image collecting device control strategy, control described image collecting device and carry out image acquisition, including:
Based on the shooting direction control instruction in described image collecting device control strategy, determine and preset shooting side
To；
At described electronic equipment along preset travel track driving process, adjust working as of described image collecting device
Front shooting direction is described default shooting direction.
4. image-pickup method as claimed in claim 1 or 2, it is characterised in that described based on acquisition
Image collecting device control strategy, control described image collecting device and carry out image acquisition, including:
Based on the shooting duration control instruction in described image collecting device control strategy, when determining default shooting
Long；
Based on the shooting distance control instruction in described image collecting device control strategy, determine preset shooting away from
From；
Based on described default shooting distance and described default shooting duration, determine travel speed；
Described electronic equipment with described travel speed along described preset travel track driving process, based on institute
State and preset shooting duration, control described image collecting device and carry out image acquisition, it is thus achieved that a video file.
5. an electronic equipment, described electronic equipment has image collecting device, it is characterised in that described
Electronic equipment also includes:
Obtaining unit, be used for obtaining traveling control instruction, described traveling control instruction is used for indicating described electronics
Equipment travels along preset travel track；
First control unit, for based on described traveling control instruction, controls described electronic equipment along described pre-
If driving trace travels；
Second control unit, for based on the image collecting device control strategy obtained, controlling described image and adopt
Acquisition means carries out image acquisition；Wherein, described image collecting device control strategy at described electronic equipment along institute
State before preset travel track travels and obtain, or, described image collecting device control strategy sets at described electronics
Obtain for during travelling along described preset travel track.
6. electronic equipment as claimed in claim 5, it is characterised in that described preset travel track, bag
Include:
Straight-line travelling track；Or
Annular driving trace；Or
Self-defined driving trace.
7. the electronic equipment as described in claim 5 or 6, it is characterised in that described second control unit,
Including:
First determines module, for controlling to refer to based on the shooting direction in described image collecting device control strategy
Order, determines default shooting direction；
Adjusting module, is used at described electronic equipment along preset travel track driving process, adjusts described figure
As the current shooting direction of harvester is described default shooting direction.
8. the electronic equipment as described in claim 5 or 6, it is characterised in that described second control unit,
Including:
Second determines module, for controlling to refer to based on the shooting duration in described image collecting device control strategy
Order, determines and presets shooting duration；
3rd determines module, for controlling to refer to based on the shooting distance in described image collecting device control strategy
Order, determines default shooting distance；
4th determines module, is used for based on described default shooting distance and described default shooting duration, really
Determine travel speed；
Control module, for travelling along described preset travel track with described travel speed at described electronic equipment
During, based on described default shooting duration, control described image collecting device and carry out image acquisition, it is thus achieved that
One video file.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610201041.6A CN105872372A (en) | 2016-03-31 | 2016-03-31 | Image acquisition method and electronic device |
| PCT/CN2017/079026 WO2017167279A1 (en) | 2016-03-31 | 2017-03-31 | Image acquisition method, electronic device, and computer storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610201041.6A CN105872372A (en) | 2016-03-31 | 2016-03-31 | Image acquisition method and electronic device |
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| CN105872372A true CN105872372A (en) | 2016-08-17 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610201041.6A Pending CN105872372A (en) | 2016-03-31 | 2016-03-31 | Image acquisition method and electronic device |
Country Status (2)
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| CN (1) | CN105872372A (en) |
| WO (1) | WO2017167279A1 (en) |
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| WO2017167279A1 (en) * | 2016-03-31 | 2017-10-05 | 纳恩博（北京）科技有限公司 | Image acquisition method, electronic device, and computer storage medium |
| CN108496349A (en) * | 2017-04-22 | 2018-09-04 | 深圳市大疆灵眸科技有限公司 | Shooting control method and device |
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| WO2017167279A1 (en) | 2017-10-05 |
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