CN106598081A - Image acquisition method and electronic devices - Google Patents
Image acquisition method and electronic devices Download PDFInfo
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- CN106598081A CN106598081A CN201611033189.XA CN201611033189A CN106598081A CN 106598081 A CN106598081 A CN 106598081A CN 201611033189 A CN201611033189 A CN 201611033189A CN 106598081 A CN106598081 A CN 106598081A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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Abstract
The invention relates to the intelligent control field, and discloses an image acquisition method and electronic devices, so as to solve the technical problem that the image acquisition device in the prior art is over complicated in image acquisition. In the embodiment of the invention, a driving device and a pan-tilt are arranged on the first electronic device, the driving device is used for providing a driving force for the first electronic device to enable the first electronic device to generate displacement, the pan-tilt is loaded with the image acquisition device, in a state in which the image acquisition device is linked along with the pan-tilt, the image acquisition angle of the image acquisition device also changes when the pan-tilt is rotated, and through cooperation between the pan-tilt and the driving device, the angle and the position of the image acquisition device can be controlled, the phenomenon that a photographed object caters to the image acquisition device is not needed, the image acquisition process is simplified, and the image acquisition efficiency is improved.
Description
Technical field
The present invention relates to field of intelligent control, more particularly to a kind of image-pickup method and electronic equipment.
Background technology
As the continuous development of science and technology, electronic technology have also obtained development at full speed, the species of electronic product is more next
More, people have also enjoyed the various facilities that development in science and technology brings.People can pass through various types of electronic equipments now,
The comfortable life that enjoyment is brought with development in science and technology.For example, the electricity such as notebook computer, desktop computer, smart mobile phone, panel computer
Sub- equipment has become an important ingredient in people's life, and user can be set using electronics such as mobile phone, panel computers
It is standby listening music, play game etc., to mitigate the pressure brought by modern fast pace life.
In prior art, many electronic equipments all possess camera function, can gather diversified figure by camera function
Picture and video.But current photography generally requires the photographer key that goes to trip and goes to realize, then when realizing autodyning
Can be cumbersome, there are two kinds of solutions at present, the first is to postpone to shoot using spider, and another method is using certainly
Dabber.But both methods all have a defect, the object being exactly taken will typically go to cater to video camera, it is necessary in shooting
Machine is within sweep of the eye, it can be seen that, image collecting device of the prior art has the excessively complicated technology of image acquisition
Problem.
The content of the invention
The present invention provides a kind of image-pickup method and electronic equipment, is deposited with solving image collecting device of the prior art
In the technical problem that image acquisition is excessively complicated.
In a first aspect, the embodiment of the present invention provides a kind of image-pickup method, it is applied in the first electronic equipment, described the
One electronic equipment has driving means, and the driving means are used to provide driving force so that described for first electronic equipment
First electronic equipment can produce displacement；Head is provided with first electronic equipment, image is equipped with the head and is adopted
Acquisition means, in the state of institute's image collecting device is with head linkage, the figure of described image harvester when rotating the head
As acquisition angles change therewith, methods described includes：
The first control command is obtained, first control command is used to indicate first electronic equipment into the first work
Pattern, wherein, first mode of operation is at least used for the first subpattern for describing the head work and described driving fills
Put the second subpattern of work；
In response to first control command, and first electronic equipment is controlled into first mode of operation,
Under first mode of operation, the head is operated in first subpattern, and it is sub that the driving means are operated in described second
Pattern；
Under first subpattern, the first control strategy for the head is obtained, and based on the described first control
Strategy obtains corresponding first control parameter, generates the first control signal based on first control parameter and exports to the cloud
Platform, to control the head；Under second subpattern, the second control strategy for the driving means, and base are obtained
Corresponding second control parameter is obtained in second control strategy, the second control signal is generated based on second control parameter
Export to the driving means, to control the driving means.
Optionally, first subpattern is head tracing mode, and under the head tracing mode, the head drives
The described image harvester tracking destination object linked with which carries out image acquisition；
Accordingly, the first control parameter of the acquisition, generates the output of the first control signal based on first control parameter
To the head, including：
Obtain the first relative angle between the motion chassis of first electronic equipment and the destination object；
Obtain the second relative angle between the head and the motion chassis of first electronic equipment；
First rotational parameters of the head, institute are determined by first relative angle and second relative angle
The rotation direction and angle of the head included in stating the first rotational parameters, first rotational parameters are first control
Parameter processed；
First control signal is generated by first rotational parameters and is exported to the head, with by described the
One control signal controls the cloud platform rotation, so that the angle between described image harvester and the destination object is located at
First default angular range.
Optionally, first subpattern is head locking mode, and under the head locking mode, the head drives
The described image harvester linked with which is directed at specific direction all the time；
Accordingly, the first control parameter of the acquisition, generates the output of the first control signal based on first control parameter
To the head, including：
The third phase between the motion chassis of first electronic equipment and specific direction is obtained to angle；
Obtain the 4th relative angle between the motion chassis and the head；
Second rotational parameters of the head, institute are determined based on the third phase to angle and the 4th relative angle
The rotation direction comprising the head and angle in the second rotational parameters is stated, second rotational parameters are first control
Parameter；
First control signal is generated based on second rotational parameters and is transmitted to the head, with by described the
One control signal controls the cloud platform rotation, so that the angle between described image harvester and the specific direction is located at
Second default angular range.
Optionally, second subpattern is that driving means receive remote control mode, in the case where the driving means are by remote control mode,
The driving means receive the second electronic equipment remote control；
Accordingly, the second control parameter of the acquisition, generates the output of the second control signal based on second control parameter
To the driving means, including：
Receive the first telecommand that second electronic equipment sends；
First telecommand is responded, the moving parameter of the driving means is determined, the moving parameter includes：Move
Dynamic direction, translational speed, at least one parameter in translational acceleration, the moving parameter are second control parameter；
Second control signal is generated by the moving parameter and is exported to the driving means, with by described the
Two control signals control the driving means movement.
Optionally, first subpattern is that head receives remote control mode, in the case where the head is by remote control mode, the head
Linked with the head by the second electronic equipment remote control, and described image collecting unit；
Accordingly, the first control parameter of the acquisition, generates the output of the first control signal based on first control parameter
To the head, including：
Receive the second telecommand that second electronic equipment sends；
Second telecommand is responded, the 3rd rotational parameters of the head, the 3rd rotational parameters bag is determined
Include：At least one parameter in rotation direction, rotational angle, velocity of rotation, the 3rd rotational parameters are first control
Parameter processed；
First control signal is generated by the 3rd rotational parameters and is exported to the head, with by described the
Two control signals control the cloud platform rotation.
Optionally, second subpattern is driving means tracing mode, under the driving means tracing mode, described
Driving means tracking destination object movement；
Accordingly, the second control parameter of the acquisition, generates the output of the second control signal based on second control parameter
To the driving means, including：
Detection obtains the relative position parameter between first electronic equipment and the destination object, the relative position
Parameter includes：At least one parameter in relative distance parameter, relative angle parameter；
Kinematic parameter based on driving means described in the relative position parameter determination；
Second control signal is generated by the kinematic parameter and second control signal is transferred to into the drive
Dynamic device, to control the driving means motion by second control signal, so that first electronic equipment and institute
The relative distance and angle stated between destination object is located at predeterminable range and angular range.
Second aspect, the embodiment of the present invention provide a kind of first electronic equipment, and first electronic equipment has driving dress
Put, the driving means are used to provide driving force for first electronic equipment so that first electronic equipment can be produced
Displacement；Head is provided with first electronic equipment, on the head, image collecting device is equipped with, in institute's image collector
In the state of putting with head linkage, when rotating the head, the image capturing angle of described image harvester changes therewith, institute
Stating the first electronic equipment also includes：
First obtains module, and for obtaining the first control command, first control command is used to indicate that described first is electric
Sub- equipment enters the first mode of operation, wherein, first mode of operation is at least sub for describing the first of the head work
Pattern and the second subpattern of driving means work；
Respond module, in response to first control command, and controls first electronic equipment and enters described the
One mode of operation, in this first operative mode, the head is operated in first subpattern, the driving means work
In second subpattern；
Second obtains module, under first subpattern, obtaining the first control strategy for the head, and
Corresponding first control parameter is obtained based on first control strategy, the first control letter is generated based on first control parameter
Number export to the head, to control the head；Under second subpattern, second for the driving means is obtained
Control strategy, and corresponding second control parameter is obtained based on second control strategy, given birth to based on second control parameter
Export to the driving means into the second control signal, to control the driving means.
Optionally, first subpattern is head tracing mode, and under the head tracing mode, the head drives
The described image harvester tracking destination object linked with which carries out image acquisition；
Accordingly, described second module is obtained, including：
First obtains unit, for obtaining the between the motion chassis of first electronic equipment and the destination object
One relative angle；
Second obtaining unit, for obtaining the second phase between motion chassis of the head with first electronic equipment
To angle；
First determining unit, for determining the head by first relative angle and second relative angle
The first rotational parameters, the rotation direction and angle of the head included in first rotational parameters, it is described first rotate
Parameter is first control parameter；
First signal generating unit, for generating first control signal by first rotational parameters and exporting to described
Head, to control the cloud platform rotation by first control signal, so that described image harvester and the target
Angle between object is positioned at the first default angular range.
Optionally, first subpattern is head locking mode, and under the head locking mode, the head drives
The described image harvester linked with which is directed at specific direction all the time；
Accordingly, described second module is obtained, including：
3rd obtaining unit, for obtaining the third phase between the motion chassis of first electronic equipment and specific direction
To angle；
4th obtaining unit, for obtaining the 4th relative angle between the motion chassis and the head；
Second determining unit, for determining the head to angle and the 4th relative angle based on the third phase
The second rotational parameters, in second rotational parameters comprising the head rotation direction and angle, it is described second rotate ginseng
Number is first control parameter；
Second signal generating unit, for generating first control signal based on second rotational parameters and transmitting to described
Head, to control the cloud platform rotation by first control signal, so that described image harvester is specific with described
Angle between direction is positioned at the second default angular range.
Optionally, second subpattern is that driving means receive remote control mode, in the case where the driving means are by remote control mode,
The driving means receive the second electronic equipment remote control；
Accordingly, described second module is obtained, is also included：
First receiving unit, for receiving the first telecommand that second electronic equipment sends；
First response unit, for responding first telecommand, determines the moving parameter of the driving means, institute
Stating moving parameter includes：At least one parameter in moving direction, translational speed, translational acceleration, the moving parameter are
Second control parameter；
First output unit, for generating second control signal by the moving parameter and exporting to the driving
Device, to control the driving means movement by second control signal.
Optionally, first subpattern is that head receives remote control mode, in the case where the head is by remote control mode, the head
Linked with the head by the second electronic equipment remote control, and described image collecting unit；
Accordingly, described second module is obtained, including：
Second receiving unit, for receiving the second telecommand that second electronic equipment sends；
Second response unit, for responding second telecommand, determines the 3rd rotational parameters of the head, institute
Stating the 3rd rotational parameters includes：At least one parameter in rotation direction, rotational angle, velocity of rotation, the described 3rd rotates ginseng
Number is first control parameter；
Second output unit, for generating first control signal by the 3rd rotational parameters and exporting to described
Head, to control the cloud platform rotation by second control signal.
Optionally, second subpattern is driving means tracing mode, under the driving means tracing mode, described
Driving means tracking destination object movement；
Accordingly, described second module is obtained, is also included：
Detector unit, for detecting that obtaining the relative position between first electronic equipment and the destination object joins
Number, the relative position parameter include：At least one parameter in relative distance parameter, relative angle parameter；
3rd determining unit, for the kinematic parameter based on driving means described in the relative position parameter determination；
3rd signal generating unit, for generating second control signal by the kinematic parameter and controlling described second
Signal transmission gives the driving means, to control the driving means motion by second control signal, so that described
Relative distance and angle between first electronic equipment and the destination object is located at predeterminable range and angular range.
The present invention has the beneficial effect that：
As driving means and head, the driving dress in embodiments of the present invention, are provided with the first electronic equipment
Put for providing driving force for first electronic equipment so that first electronic equipment can produce displacement, the head
On be equipped with image collecting device, institute's image collecting device with head linkage in the state of, rotate the head when figure
As the image capturing angle of harvester changes therewith, so as to the first electronic equipment can obtain and respond the first control command,
Driving means are controlled with the control head under the first subpattern and under the second subpattern, by the collaboration of head and driving means
Effect, then can be controlled to the angle of image collecting device and position, go to cater to image without subject
Harvester, so as to simplify image acquisition process, improves image acquisition efficiency.
Description of the drawings
Structure charts of the Fig. 1 for the first electronic equipment of the embodiment of the present invention；
Flow charts of the Fig. 2 for the image-pickup method of the embodiment of the present invention；
Schematic diagrams of the Fig. 3 for determination relative position information in the image-pickup method of the embodiment of the present invention；
Block diagrams of the Fig. 4 for the first electronic equipment of the embodiment of the present invention.
Specific embodiment
The present invention provides a kind of image-pickup method and electronic equipment, is deposited with solving image collecting device of the prior art
In the technical problem that image acquisition is excessively complicated.
Technical scheme in the embodiment of the present application is to solve above-mentioned technical problem, and general thought is as follows：
Driving means and head are provided with the first electronic equipment, the driving means are used to set for first electronics
For offer driving force so that first electronic equipment can produce displacement, on the head, image collecting device is equipped with,
In the state of institute's image collecting device is with head linkage, the image acquisition angle of described image harvester when rotating the head
Degree changes therewith, so as to the first electronic equipment can obtain and respond the first control command, to control cloud under the first subpattern
Platform simultaneously controls driving means under the second subpattern, by head and the synergism of driving means, then can be to image acquisition
The angle of device and position are controlled, and go to cater to image collecting device without subject, so as to simplify figure
As gatherer process, image acquisition efficiency is improve.
In order to be better understood from above-mentioned technical proposal, below by accompanying drawing and specific embodiment to technical solution of the present invention
It is described in detail, it should be understood that the specific features in the embodiment of the present invention and embodiment are to the detailed of technical solution of the present invention
Thin explanation, rather than the restriction to technical solution of the present invention, in the case where not conflicting, the embodiment of the present invention and embodiment
In technical characteristic can be mutually combined.
In a first aspect, the embodiment of the present invention provides a kind of image-pickup method, it is applied in the first electronic equipment, refer to
Fig. 1, first electronic equipment include：Driving means, the driving means are used to provide driving for first electronic equipment
Power is so that first electronic equipment can produce displacement；Head is provided with first electronic equipment, on the head
Image collecting device is equipped with, in the state of institute's image collecting device is with head linkage, described image when rotating the head
The image capturing angle of harvester changes therewith.
First electronic equipment is, for example,：Balance car, robot, unmanned plane etc..
Fig. 2 is refer to, the method includes：
Step S201：The first control command is obtained, first control command is used to indicate that first electronic equipment enters
Enter the first mode of operation, wherein, first mode of operation be at least used for the first subpattern for describing head work and
Second subpattern of the driving means work；
Step S202：In response to first control command, and first electronic equipment is controlled into first work
Operation mode, in this first operative mode, the head is operated in first subpattern, and the driving means are operated in institute
State the second subpattern；
Step S203：Under first subpattern, the first control strategy for the head is obtained, and based on described
First control strategy obtains corresponding first control parameter, based on first control parameter generate the first control signal export to
The head, to control the head；Under second subpattern, the second control plan for the driving means is obtained
Slightly, and based on second control strategy corresponding second control parameter is obtained, second is generated based on second control parameter
Control signal is exported to the driving means, to control the driving means.
In step S201, the first control command can be produced in several ways, for example：Click on the first electronic equipment
Telecommand that pre-set button, the default gesture of generation, the second electronic equipment of reception are produced etc..
In step S203, the first subpattern there may be various different patterns, and then also different to the control of head, under
Face is enumerated three kinds therein and is introduced, and certainly, in specific implementation process, is not limited to following three kinds of situations.
The first, first subpattern is head tracing mode, and under the head tracing mode, the head drives
The described image harvester tracking destination object linked with which carries out image acquisition, for example, the destination object can be
People, animal, object etc., based on the tracking technique (such as UWB technology, Visual Tracking etc.) to destination object, realize head pair
The tracking of destination object.
Accordingly, the first control parameter of the acquisition, generates the output of the first control signal based on first control parameter
To the head, including：Obtain the first relative folder between the motion chassis of first electronic equipment and the destination object
Angle；Obtain the second relative angle between the head and the motion chassis of first electronic equipment；By first phase
First rotational parameters of the head are determined to angle and second relative angle, is included in first rotational parameters
The rotation direction and angle of the head, first rotational parameters are first control parameter；By described first turn
Dynamic parameter generates first control signal and exports to the head, to control the head by first control signal
Rotate, so that the angle between described image harvester and the destination object is positioned at the first default angular range.
For example, can determine that between head and destination object by the first relative angle and the second relative angle
Relative angle, and image collecting device is fixed on head, so the relative angle between image collecting device and head is also solid
Fixed, in such a case, it is possible to pass through relative angle and image collecting device and head between head and destination object
Between relative angle determine angle between image collecting device and destination object, then judge image collecting device and mesh
Whether the relative angle between mark object presets angular range (for example positioned at first：- 30 °～30 °, -10 °～10 ° etc.), its
In, the angle between image collecting device and destination object can be between the central point and destination object of image collecting device
Angle between line and the centrage of image collecting device.Wherein, if the folder between image collecting device and destination object
Angle positioned at the first default angular range, then explanation by image collecting device cannot collect preferably destination object (or even
Destination object cannot be collected completely), in this case, then need control image collecting device to be rotated, for example：If
Angle between image collecting device and destination object then can be adopted with control figure picture less than the minima of the first predetermined angle scope
Acquisition means to first direction (for example：Left side) rotation, if the angle between image collecting device and destination object is more than first
The maximum of predetermined angle scope, then can control opposite direction from image collecting device to first direction (for example：Right side) rotation
Etc..
Second, first subpattern is head locking mode, and under the head locking mode, the head drives
The described image harvester linked with which is directed at specific direction all the time, for example, specific direction is, for example,：First electronics sets
The standby direction advanced, the direction for retreating, the direction of user's setting of the first electronic equipment etc., the embodiment of the present invention is not limited
System.
Accordingly, the first control parameter of the acquisition, generates the output of the first control signal based on first control parameter
To the head, including：The third phase between the motion chassis of first electronic equipment and specific direction is obtained to angle；Obtain
Obtain the 4th relative angle between the motion chassis and the head；Based on the third phase to angle and described 4th relative
Angle determines the second rotational parameters of the head, the rotation direction comprising the head and angle in second rotational parameters
Degree, second rotational parameters are first control parameter；First control is generated based on second rotational parameters
Signal is simultaneously transmitted to the head, to control the cloud platform rotation by first control signal, so that described image is adopted
Angle between acquisition means and the specific direction is positioned at the second default angular range.
For example, by third phase to angle and the 4th relative angle, it is possible to determine head and specific direction it
Between angle, by the angle between the angle and image collecting device and head between head and specific direction, it is possible to really
The angle between image collecting device and specific direction is made, the second default angular range is, for example,：- 20 °～20 °, -10 °～
10 ° etc.；After the angle between image collecting device and specific direction is determined, it can be determined that image collecting device with it is specific
Whether angle between direction if located in second presets angular range positioned at the second default angular range, then explanatory diagram picture is adopted
Acquisition means can realize the collection to specific direction, so image collecting device can not be adjusted；If not being located at the
Two default angular ranges, then illustrate that image collecting device cannot realize the collection to specific direction, so by head to image
Harvester is controlled, for example：Its anglec of rotation and direction etc. are controlled, to realize image collecting device to specific direction
The collection of image.
In the case where the first subpattern is head tracing mode or head locking mode, as a kind of optional enforcement
Example, second subpattern are that driving means receive remote control mode, in the case where the driving means are by remote control mode, the driving means
By the second electronic equipment remote control, for example, the second electronic equipment is, for example,：Remote control, mobile phone, panel computer etc., this
Bright embodiment is not restricted.
Accordingly, the second control parameter of the acquisition, generates the output of the second control signal based on second control parameter
To the driving means, including：Receive the first telecommand that second electronic equipment sends；Respond first remote control to refer to
Order, determines the moving parameter of the driving means, and the moving parameter includes：Moving direction, translational speed, translational acceleration
In at least one parameter, the moving parameter be second control parameter；Described the is generated by the moving parameter
Two control signals are simultaneously exported to the driving means, to control the driving means movement by second control signal.
For example, if the user of the first electronic equipment wishes that controlling the first electronic equipment at the uniform velocity transports towards specific direction
Dynamic, then it is specific direction that can arrange the direction of motion by the first telecommand, translational speed be acquiescence translational speed (or
By user's sets itself translational speed)；Or, the first electronic equipment is currently in resting state, and user wishes control first
Electronic equipment advances towards destination object, then it is destination object place side that can arrange the direction of motion by the first telecommand
To if being not provided with translational speed and translational acceleration, then translational speed and translational acceleration are default speed and acquiescence
Acceleration, certainly, can be so that by user's sets itself translational speed and translational acceleration, the present invention be real in the first telecommand
Apply example not to be restricted.
During concrete application, if the first electronic equipment is robot, it is head tracing mode in the first subpattern
In the case of, the program can apply to robot fixed point, and image collecting device automatically snaps operator, and which can for example include
Following steps：
(1) stop after robot being moved to certain ad-hoc location (beside certain sports ground), the head of start machine people
Tracing mode.
(2) person of being taken wear remote control (namely：Second electronic equipment), now can the person of being taken move freely, such as
Play basketball, jog.
(3) person of being taken is placed on visual field central authorities with real-time by the head independently tracking person of being taken, 360 ° of movements.
If it is that driving means receive remote control mode that the first subpattern is head tracing mode, the second subpattern, can be by
User's teleoperator is moved, and so as to control image collecting device automatic data collection user, which for example may comprise steps of：
(1) start head tracing mode, head is by detecting UWB ((Ultra Wideband：Ultra broadband) signal (namely：
Framing signal), the direction that user is located is learnt in real time；
(2) start camera to be shot or taken pictures.
(3) user now by remote control control robot in a movement than larger scene, but can move
During image collecting device be aligned always user shooting.
Can ensure that user is constantly being converted in picture central authorities, but background always by such scheme.
If it is that driving means receive remote control mode that the first subpattern is head locking mode, the second subpattern, can be by
User's teleoperator is moved, and head lock image harvester is shot towards some specific direction, and the pattern is commonly used
Shoot in scenery, wherein, user can be by remote control device robot motion, but head lock image harvester direction exists
Some specific direction, no matter robot movement is where, image collecting device shoots (such as right against the specific direction always
East and clap sunrise).
If it is that driving means receive remote control mode that the first subpattern is head locking mode, the second subpattern, can be with
By user by remote control device robot, cradle head control image collecting device alignment robot direction of advance shoots.
The third, first subpattern is that head receives remote control mode, in the case where the head is by remote control mode, the head
Linked with the head by the second electronic equipment remote control, and described image collecting unit, for example, namely electric by second
The remotely control of sub- equipment, it is possible to achieve the control to head.
Accordingly, the first control parameter of the acquisition, generates the output of the first control signal based on first control parameter
To the head, including：Receive the second telecommand that second electronic equipment sends；Second telecommand is responded,
The 3rd rotational parameters of the head are determined, the 3rd rotational parameters include：Rotation direction, rotational angle, velocity of rotation
In at least one parameter, the 3rd rotational parameters be first control parameter；Given birth to by the 3rd rotational parameters
Into first control signal and export to the head, to control the cloud platform rotation by second control signal.
For example, image collecting device can send it to the second electronic equipment after collection obtains image, the
The user of two electronic equipments may think that the angle of the collection image of image collecting device is not after the image is received
It is too suitable, then the second telecommand can be produced manually and the first electronic equipment is sent to, with by the second telecommand pair
Head is controlled, so that image collector is setting in a rational acquisition angles, rotation direction is, for example,：Left-hand rotation, the right side
Turn etc., rotational angle is, for example,：10 °, 20 ° etc., velocity of rotation is, for example,：100 °/min, 50 °/min etc..
It is that, used as a kind of optional embodiment, described second is sub in the case that head receives remote control mode in the first subpattern
Pattern is driving means tracing mode, under the driving means tracing mode, the driving means tracking destination object movement；
Accordingly, the second control parameter of the acquisition, generates the output of the second control signal based on second control parameter
To the driving means, including：Detection obtains the relative position parameter between first electronic equipment and the destination object,
The relative position parameter includes：At least one parameter in relative distance parameter, relative angle parameter；Based on the relative position
Put the kinematic parameter of driving means described in parameter determination；Second control signal will be described is generated by the kinematic parameter
Second control signal is transferred to the driving means, to control the driving means motion by second control signal, from
And make relative distance and angle between first electronic equipment and the destination object be located at predeterminable range and angular range.
For example, the relative distance obtained between the first electronic equipment and destination object can be detected by multiple technologies
Parameter, for example：By infrared range-measurement system, electromagnetic positioning instrument, UWB etc., wherein, if destination object carries the second electronics and sets
If standby, then can also be by interacting between the first electronic equipment and the second electronic equipment, so that it is determined that go out the first electronics setting
It is standby with the relative distance parameter between the second electronic equipment, by the relative distance between the first electronic equipment and the second electronic equipment
Parameter is used as the relative distance parameter between the first electronic equipment and destination object.
In specific implementation process, can by multiple technologies detection obtain the first electronic equipment and the second electronic equipment it
Between relative distance parameter, for example：TOF(Time of Flight：Flight time) technology, TDOA (Time Difference
of Arrival：Reaching time-difference) technology etc., for example, the first electronic equipment and the second electronic equipment can adopt TWR
(Two-way ranging：Bidirectional ranging) method found range, every time range finding needs 3 communications, and which specifically includes following step
Suddenly (TWR is a kind of algorithm of TOF)：
(1) first electronic equipment sends a Poll packet, when sending, the timestamp that the first electronic equipment record sends
tt1；
The first framing signal that first electronic equipment to be received such as (2) second electronic equipments sends, the second electronic equipment connect
After receiving poll packets, the timestamp ta of the time of reception is recorded1, a response packet is then sent, and record is sent out
Send the timestamp ta of response packets2；
The framing signal that second electronic equipment to be received such as (3) first electronic equipments sends, the first electronic equipment are received
After response packets, the timestamp tt of the time of reception is recorded2, and calculate the timestamp for needing to send final packets
tt3, the clock arrival tt of the first electronic equipment3When, final packets are sent, 3 timestamp informations in final packets, are included
(tt1, tt2, tt3)；
After (4) second electronic equipments receive final packets, record receives timestamp ta3.Now the second electronic equipment has been
Recorded 3 timestamp ta1, ta2, ta3, while the content by reading final packets, it is also possible to obtain the first electronics
Three timestamp tt of equipment1, tt2, tt3；
(5) due to the first electronic equipment and the time irreversibility of the second electronic equipment, it is therefore desirable to calculate the first electronics and set
It is standby with the respective time difference of the second electronic equipment, as shown in figure 3, wherein：
Tround1=tt2-tt1………………………………[1]
Treply1=ta2–ta1………………………………[2]
Tround2=ta3–ta2………………………………[3]
Treply2=tt3–tt2………………………………[4]
According to aforementioned four time difference, it is possible to calculate the distance between the first electronic equipment and the second electronic equipment value
(namely：Relative distance parameter), its computing formula is as follows：
T=(Tround1-Treply1)/2 ... ... ... ... ... ... [5]
T=(Tround2-Treply2)/2 ... ... ... ... ... ... [6]
DIS=T*V ... ... ... ... ... ... [7]
Wherein, DISRepresent the distance between the first electronic equipment and the second electronic equipment value, T represent the first electronic equipment with
Communication time between second electronic equipment, V represent the light velocity.
In the same manner, in the case where destination object carries the second electronic equipment, the first electronic equipment and second electric can be detected
Relative angle parameter between sub- equipment, and using the relative angle parameter between the first electronic equipment and the second electronic equipment as
Relative angle parameter between first electronic equipment and destination object.In specific implementation process, can be true by multiple technologies
Fixed relative angle angle value between first electronic equipment and the second electronic equipment, for example：AOA(Angle of Arrival：Angle of arrival
Degree range finding) technology, PDOA (Phase Different of Arrival：Reach phase contrast) technology etc., wherein, the second electronics
Equipment can include at least two antennas, send first framing signal (for example to the second electronic equipment in the first electronic equipment：
Poll packets, final packets etc.) when, at least two antennas of the second electronic equipment are in reception state such that it is able to
The first framing signal is received, the phase contrast that two antennas of the second electronic equipment are then reached by the first framing signal is determined
Go out between the first electronic equipment and the second electronic equipment relative angle angle value (namely：Relative angle parameter), for example, can pass through
Below equation calculates relative angle angle value：
PD=P1-P2(unit is radian value) ... ... ... ... ... ... [8]
Ang=(PD/(2∏))*360°………………………………[9]
Wherein, P1Represent that the first framing signal reaches the phase place of the first antenna of the second electronic equipment, unit is radian value；
P2Represent that the first framing signal reaches the phase place of the second antenna of the second electronic equipment, unit is radian value；
Wherein PDRepresent that the first framing signal reaches the phase contrast of first antenna and the second antenna, unit is radian value；
Ang represents the relative angle angle value between the first electronic equipment and the second electronic equipment, and unit is degree.
In specific implementation process, predeterminable range scope can be by the first electronic equipment default setting, it is also possible to by first
User's setting of electronic equipment, which is, for example,：5m ± 1m, 10m ± 2m etc.；Equally, predetermined angle scope both can be by first
Electronic equipment default setting, it is also possible to set by the user of the first electronic equipment, the embodiment of the present invention is not restricted.
After the relative distance parameter between the first electronic equipment and destination object is determined, it is possible to judge that this is relative
Whether distance parameter is located at predeterminable range scope, if be not located at, can control driving means by the second control signal and enter
Row motion, so that the relative distance parameter is located at predeterminable range scope, for example：If the relative distance parameter is more than predeterminable range
The maximum of scope, then can control the first electronic equipment towards moving near the direction of destination object by driving means, such as
Really minima of the relative distance parameter less than predeterminable range scope, then can control the first electronic equipment court by driving means
Move to the direction away from destination object etc..Equally, the relative angle is equally may determine that after relative angle parameter is obtained
Whether degree parameter is located at predetermined angle scope, if not being located at predetermined angle scope, can be electric by driving means control first
Sub- equipment is rotated, so that the relative angle parameter between the first electronic equipment and destination object is located at predetermined angle scope.
In the case where the first subpattern is driving means tracing mode by remote control mode, the second subpattern for head, can
With by the driving means of robot (for example：Motion chassis) to tag beacons (for example：Remote control) independently tracked, head
By user by remote control device come complete shoot, which for example may comprise steps of：
(1) start robot chassis tracing mode (angle and distance of tracking can set), robot is by detecting positioning
Signal is (for example：UWB signal), the direction at user place is measured in real time；
(2) head is in the pattern that is remotely-controlled, rotational angle of the user by remote control control head；
(3) video camera of its carrying is made to after appropriate angle in rotary platform, remote control sends shooting instruction, image acquisition
Device responds the shooting and instructs, and then carries out image acquisition.
Second aspect, based on same inventive concept, the embodiment of the present invention provides a kind of first electronic equipment, please continue to refer to
Fig. 1, first electronic equipment have driving means, and the driving means are used to provide driving force for first electronic equipment
So that first electronic equipment can produce displacement；Head is provided with first electronic equipment, is taken on the head
Image collecting device is loaded with, in the state of institute's image collecting device is with head linkage, described image is adopted when rotating the head
The image capturing angle of acquisition means changes therewith.
Fig. 4 is refer to, first electronic equipment also includes：
First obtains module 40, and for obtaining the first control command, first control command is used to indicate described first
Electronic equipment enters the first mode of operation, wherein, first mode of operation is at least used for describing the first of the head work
Subpattern and the second subpattern of driving means work；
Respond module 41, in response to first control command, and controls first electronic equipment and enters described
First mode of operation, in this first operative mode, the head is operated in first subpattern, the driving means work
Make in second subpattern；
Second obtains module 42, for, under first subpattern, obtaining the first control strategy for the head,
And corresponding first control parameter is obtained based on first control strategy, first is generated based on first control parameter control
Signal output gives the head, to control the head；Under second subpattern, for the driving means is obtained
Two control strategies, and corresponding second control parameter is obtained based on second control strategy, based on second control parameter
Generate the second control signal to export to the driving means, to control the driving means.
Optionally, first subpattern is head tracing mode, and under the head tracing mode, the head drives
The described image harvester tracking destination object linked with which carries out image acquisition；
Accordingly, described second module 42 is obtained, including：
First obtains unit, for obtaining the between the motion chassis of first electronic equipment and the destination object
One relative angle；
Second obtaining unit, for obtaining the second phase between motion chassis of the head with first electronic equipment
To angle；
First determining unit, for determining the head by first relative angle and second relative angle
The first rotational parameters, the rotation direction and angle of the head included in first rotational parameters, it is described first rotate
Parameter is first control parameter；
First signal generating unit, for generating first control signal by first rotational parameters and exporting to described
Head, to control the cloud platform rotation by first control signal, so that described image harvester and the target
Angle between object is positioned at the first default angular range.
Optionally, first subpattern is head locking mode, and under the head locking mode, the head drives
The described image harvester linked with which is directed at specific direction all the time；
Accordingly, described second module 42 is obtained, including：
3rd obtaining unit, for obtaining the third phase between the motion chassis of first electronic equipment and specific direction
To angle；
4th obtaining unit, for obtaining the 4th relative angle between the motion chassis and the head；
Second determining unit, for determining the head to angle and the 4th relative angle based on the third phase
The second rotational parameters, in second rotational parameters comprising the head rotation direction and angle, it is described second rotate ginseng
Number is first control parameter；
Second signal generating unit, for generating first control signal based on second rotational parameters and transmitting to described
Head, to control the cloud platform rotation by first control signal, so that described image harvester is specific with described
Angle between direction is positioned at the second default angular range.
Optionally, second subpattern is that driving means receive remote control mode, in the case where the driving means are by remote control mode,
The driving means receive the second electronic equipment remote control；
Accordingly, described second module 42 is obtained, is also included：
First receiving unit, for receiving the first telecommand that second electronic equipment sends；
First response unit, for responding first telecommand, determines the moving parameter of the driving means, institute
Stating moving parameter includes：At least one parameter in moving direction, translational speed, translational acceleration, the moving parameter are
Second control parameter；
First output unit, for generating second control signal by the moving parameter and exporting to the driving
Device, to control the driving means movement by second control signal.
Optionally, first subpattern is that head receives remote control mode, in the case where the head is by remote control mode, the head
Linked with the head by the second electronic equipment remote control, and described image collecting unit；
Accordingly, described second module 42 is obtained, including：
Second receiving unit, for receiving the second telecommand that second electronic equipment sends；
Second response unit, for responding second telecommand, determines the 3rd rotational parameters of the head, institute
Stating the 3rd rotational parameters includes：At least one parameter in rotation direction, rotational angle, velocity of rotation, the described 3rd rotates ginseng
Number is first control parameter；
Second output unit, for generating first control signal by the 3rd rotational parameters and exporting to described
Head, to control the cloud platform rotation by second control signal.
Optionally, second subpattern is driving means tracing mode, under the driving means tracing mode, described
Driving means tracking destination object movement；
Accordingly, described second module 42 is obtained, is also included：
Detector unit, for detecting that obtaining the relative position between first electronic equipment and the destination object joins
Number, the relative position parameter include：At least one parameter in relative distance parameter, relative angle parameter；
3rd determining unit, for the kinematic parameter based on driving means described in the relative position parameter determination；
3rd signal generating unit, for generating second control signal by the kinematic parameter and controlling described second
Signal transmission gives the driving means, to control the driving means motion by second control signal, so that described
Relative distance and angle between first electronic equipment and the destination object is located at predeterminable range and angular range.
One or more embodiments of the invention, at least have the advantages that：
As driving means and head, the driving dress in embodiments of the present invention, are provided with the first electronic equipment
Put for providing driving force for first electronic equipment so that first electronic equipment can produce displacement, the head
On be equipped with image collecting device, institute's image collecting device with head linkage in the state of, rotate the head when figure
As the image capturing angle of harvester changes therewith, so as to the first electronic equipment can obtain and respond the first control command,
Driving means are controlled with the control head under the first subpattern and under the second subpattern, by the collaboration of head and driving means
Effect, then can be controlled to the angle of image collecting device and position, go to cater to image without subject
Harvester, so as to simplify image acquisition process, improves image acquisition efficiency.
Those skilled in the art are it should be appreciated that embodiments of the invention can be provided as method, system or computer program
Product.Therefore, the present invention can adopt complete hardware embodiment, complete software embodiment or with reference to the reality in terms of software and hardware
Apply the form of example.And, the present invention can be using the computer for wherein including computer usable program code at one or more
The computer program implemented in usable storage medium (including but not limited to disk memory, CD-ROM, optical memory etc.) is produced
The form of product.
The present invention be with reference to method according to embodiments of the present invention, equipment (system), and computer program flow process
Figure and/or block diagram are describing.It should be understood that can be by computer program instructions flowchart and/or each stream in block diagram
The combination of journey and/or square frame and flow chart and/or flow process and/or square frame in block diagram.These computer programs can be provided
The processor of general purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that produced for reality by the instruction of computer or the computing device of other programmable data processing devices
The equipment of the function of specifying in present one flow process of flow chart or one square frame of multiple flow processs and/or block diagram or multiple square frames.
These computer program instructions may be alternatively stored in and can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that the instruction being stored in the computer-readable memory is produced to be included referring to
Make the manufacture of equipment, the commander equipment realize in one flow process of flow chart or one square frame of multiple flow processs and/or block diagram or
The function of specifying in multiple square frames.
These computer program instructions can be also loaded in computer or other programmable data processing devices so that in meter
Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented process, so as in computer or
The instruction performed on other programmable devices is provided for realizing in one flow process of flow chart or multiple flow processs and/or block diagram one
The step of function of specifying in individual square frame or multiple square frames.
, but those skilled in the art once know basic creation although preferred embodiments of the present invention have been described
Property concept, then can make other change and modification to these embodiments.So, claims are intended to be construed to include excellent
Select embodiment and fall into the had altered of the scope of the invention and change.
Obviously, those skilled in the art can carry out the essence of various changes and modification without deviating from the present invention to the present invention
God and scope.So, if these modifications of the present invention and modification belong to the scope of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to comprising these changes and modification.
Claims (12)
1. a kind of image-pickup method, it is characterised in that be applied in the first electronic equipment, first electronic equipment have and drive
Dynamic device, the driving means are used to provide driving force for first electronic equipment so that first electronic equipment can
Produce displacement；Head is provided with first electronic equipment, on the head, image collecting device is equipped with, image is adopted in institute
In the state of acquisition means are with head linkage, when rotating the head, the image capturing angle of described image harvester changes therewith
Become, methods described includes：
The first control command is obtained, first control command is used to indicate that first electronic equipment enters the first Working mould
Formula, wherein, first mode of operation is at least used for describing the first subpattern of the head work and the driving means
Second subpattern of work；
In response to first control command, and first electronic equipment is controlled into first mode of operation, described
Under first mode of operation, the head is operated in first subpattern, and the driving means are operated in second subpattern；
Under first subpattern, the first control strategy for the head is obtained, and is based on first control strategy
Corresponding first control parameter is obtained, the first control signal is generated based on first control parameter and is exported to the head, with
Control the head；Under second subpattern, the second control strategy for the driving means is obtained, and based on described
Second control strategy obtains corresponding second control parameter, based on second control parameter generate the second control signal export to
The driving means, to control the driving means.
2. the method for claim 1, it is characterised in that first subpattern is head tracing mode, in the cloud
Under platform tracing mode, the head drives the described image harvester linked with which tracking destination object to carry out image acquisition；
Accordingly, the first control parameter of the acquisition, generates the first control signal based on first control parameter and exports to institute
Head is stated, including：
Obtain the first relative angle between the motion chassis of first electronic equipment and the destination object；
Obtain the second relative angle between the head and the motion chassis of first electronic equipment；
First rotational parameters of the head are determined by first relative angle and second relative angle, described
The rotation direction and angle of the head included in one rotational parameters, first rotational parameters are the first control ginseng
Number；
First control signal is generated by first rotational parameters and is exported to the head, to control by described first
Signal processed controls the cloud platform rotation, so that the angle between described image harvester and the destination object is located at first
Default angular range.
3. the method for claim 1, it is characterised in that first subpattern is head locking mode, in the cloud
Under stand lock mould-fixed, the head drives the described image harvester linked with which to be directed at specific direction all the time；
Accordingly, the first control parameter of the acquisition, generates the first control signal based on first control parameter and exports to institute
Head is stated, including：
The third phase between the motion chassis of first electronic equipment and specific direction is obtained to angle；
Obtain the 4th relative angle between the motion chassis and the head；
Second rotational parameters of the head are determined based on the third phase to angle and the 4th relative angle, described
Rotation direction comprising the head and angle in two rotational parameters, second rotational parameters are the first control ginseng
Number；
First control signal is generated based on second rotational parameters and is transmitted to the head, to control by described first
Signal processed controls the cloud platform rotation, so that the angle between described image harvester and the specific direction is located at second
Default angular range.
4. method as claimed in claim 2 or claim 3, it is characterised in that second subpattern is that driving means receive remote control mode,
In the case where the driving means are by remote control mode, the driving means receive the second electronic equipment remote control；
Accordingly, the second control parameter of the acquisition, generates the second control signal based on second control parameter and exports to institute
Driving means are stated, including：
Receive the first telecommand that second electronic equipment sends；
First telecommand is responded, the moving parameter of the driving means is determined, the moving parameter includes：Movement side
To, at least one parameter in translational speed, translational acceleration, the moving parameter is second control parameter；
Second control signal is generated by the moving parameter and is exported to the driving means, to control by described second
Signal processed controls the driving means movement.
5. the method for claim 1, it is characterised in that first subpattern is that head receives remote control mode, described
Head by under remote control mode, linked with the head by the second electronic equipment remote control, and described image collecting unit by the head；
Accordingly, the first control parameter of the acquisition, generates the first control signal based on first control parameter and exports to institute
Head is stated, including：
Receive the second telecommand that second electronic equipment sends；
Second telecommand is responded, the 3rd rotational parameters of the head are determined, the 3rd rotational parameters include：Turn
Dynamic direction, rotational angle, at least one parameter in velocity of rotation, the 3rd rotational parameters are the first control ginseng
Number；
First control signal is generated by the 3rd rotational parameters and is exported to the head, to control by described second
Signal processed controls the cloud platform rotation.
6. method as claimed in claim 5, it is characterised in that second subpattern is driving means tracing mode, in institute
State under driving means tracing mode, the driving means tracking destination object movement；
Accordingly, the second control parameter of the acquisition, generates the second control signal based on second control parameter and exports to institute
Driving means are stated, including：
Detection obtains the relative position parameter between first electronic equipment and the destination object, the relative position parameter
Including：At least one parameter in relative distance parameter, relative angle parameter；
Kinematic parameter based on driving means described in the relative position parameter determination；
Generate second control signal and second control signal is transferred to into described driving by the kinematic parameter and fill
Put, to control the driving means motion by second control signal, so that first electronic equipment and the mesh
Relative distance and angle between mark object is located at predeterminable range and angular range.
7. a kind of first electronic equipment, it is characterised in that first electronic equipment has driving means, the driving means are used
In providing driving force for first electronic equipment so that first electronic equipment can produce displacement；First electronics
Head is provided with equipment, on the head, image collecting device is equipped with, in the shape that institute's image collecting device links with head
Under state, when rotating the head, the image capturing angle of described image harvester changes therewith, and first electronic equipment is also
Including：
First obtains module, and for obtaining the first control command, first control command is used to indicate that first electronics sets
It is standby to enter the first mode of operation, wherein, first mode of operation be at least used for describing the first subpattern of the head work,
And the second subpattern of the driving means work；
Respond module, in response to first control command, and controls first electronic equipment into first work
Operation mode, in this first operative mode, the head is operated in first subpattern, and the driving means are operated in institute
State the second subpattern；
Second obtains module, for, under first subpattern, obtaining the first control strategy for the head, and being based on
First control strategy obtains corresponding first control parameter, generates the first control signal based on first control parameter defeated
Go out to the head, to control the head；Under second subpattern, the second control for the driving means is obtained
Strategy, and obtain corresponding second control parameter based on second control strategy, generates the based on second control parameter
Two control signals are exported to the driving means, to control the driving means.
8. the first electronic equipment as claimed in claim 7, it is characterised in that first subpattern is head tracing mode,
Under the head tracing mode, the head drives the described image harvester linked with which tracking destination object to carry out figure
As collection；
Accordingly, described second module is obtained, including：
First obtains unit, for obtaining the first phase between the motion chassis of first electronic equipment and the destination object
To angle；
Second obtaining unit, for obtaining the second relative folder between motion chassis of the head with first electronic equipment
Angle；
First determining unit, for the of the head is determined by first relative angle and second relative angle
One rotational parameters, the rotation direction and angle of the head included in first rotational parameters, first rotational parameters
As described first control parameter；
First signal generating unit, for generating first control signal by first rotational parameters and exporting to the cloud
Platform, to control the cloud platform rotation by first control signal, so that described image harvester and the target pair
Angle as between is positioned at the first default angular range.
9. the first electronic equipment as claimed in claim 7, it is characterised in that first subpattern is head locking mode,
Under the head locking mode, the head drives the described image harvester linked with which to be directed at specific direction all the time；
Accordingly, described second module is obtained, including：
3rd obtaining unit, for obtaining the third phase between the motion chassis of first electronic equipment and specific direction to folder
Angle；
4th obtaining unit, for obtaining the 4th relative angle between the motion chassis and the head；
Second determining unit, for determining the of the head based on the third phase to angle and the 4th relative angle
Two rotational parameters, include the rotation direction and angle of the head in second rotational parameters, second rotational parameters are
For first control parameter；
Second signal generating unit, for generating first control signal based on second rotational parameters and transmitting to the cloud
Platform, to control the cloud platform rotation by first control signal, so that described image harvester and the certain party
Angle between is positioned at the second default angular range.
10. the first electronic equipment as claimed in claim 8 or 9, it is characterised in that second subpattern is received for driving means
Remote control mode, in the case where the driving means are by remote control mode, the driving means receive the second electronic equipment remote control；
Accordingly, described second module is obtained, is also included：
First receiving unit, for receiving the first telecommand that second electronic equipment sends；
First response unit, for responding first telecommand, determines the moving parameter of the driving means, the shifting
Dynamic parameter includes：At least one parameter in moving direction, translational speed, translational acceleration, the moving parameter are described
Second control parameter；
First output unit, drives dress to described for being generated second control signal and being exported by the moving parameter
Put, to control the driving means movement by second control signal.
11. first electronic equipments as claimed in claim 7, it is characterised in that first subpattern is that head receives remote control mould
Formula, in the case where the head is by remote control mode, the head receives the second electronic equipment remote control, and described image collecting unit is with described
Head links；
Accordingly, described second module is obtained, including：
Second receiving unit, for receiving the second telecommand that second electronic equipment sends；
Second response unit, for responding second telecommand, determines the 3rd rotational parameters of the head, described
Three rotational parameters include：At least one parameter in rotation direction, rotational angle, velocity of rotation, the 3rd rotational parameters are
For first control parameter；
Second output unit, for generating first control signal by the 3rd rotational parameters and exporting to the cloud
Platform, to control the cloud platform rotation by second control signal.
12. first electronic equipments as claimed in claim 11, it is characterised in that second subpattern is tracked for driving means
Pattern, under the driving means tracing mode, the driving means tracking destination object movement；
Accordingly, described second module is obtained, is also included：
Detector unit, for detecting the relative position parameter between acquisition first electronic equipment and the destination object, institute
Stating relative position parameter includes：At least one parameter in relative distance parameter, relative angle parameter；
3rd determining unit, for the kinematic parameter based on driving means described in the relative position parameter determination；
3rd signal generating unit, for generating second control signal and by second control signal by the kinematic parameter
The driving means are transferred to, the driving means motion is controlled by second control signal, so that described first
Relative distance and angle between electronic equipment and the destination object is located at predeterminable range and angular range.
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