CN106791371A - A kind of image pickup method and removable filming apparatus - Google Patents
A kind of image pickup method and removable filming apparatus Download PDFInfo
- Publication number
- CN106791371A CN106791371A CN201611074321.1A CN201611074321A CN106791371A CN 106791371 A CN106791371 A CN 106791371A CN 201611074321 A CN201611074321 A CN 201611074321A CN 106791371 A CN106791371 A CN 106791371A
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- China
- Prior art keywords
- tracker
- motion track
- removable
- filming apparatus
- translational speed
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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
Abstract
The disclosure is directed to a kind of image pickup method and removable filming apparatus, belong to field of computer technology.Methods described includes：According to default detection cycle, acquisition is arranged at the position of the tracker in photographic subjects；According to the position of the tracker, image taking is persistently carried out to the direction where the tracker；According to the position of the tracker, the first motion track of the tracker is determined, according to first motion track, move.Using the disclosure, the difficulty of video capture can be reduced.
Description
Technical field
The present invention relates to field of computer technology, more particularly to a kind of image pickup method and removable filming apparatus.
Background technology
In daily life, people shoot the sport video of oneself, playing for pet commonly using video camera and regard
Frequency etc..
In the prior art, user wants to shoot the sport video of oneself, and such as running video is, it is necessary to others holds video camera
And then oneself shoots, so, it is necessary to has two people to complete sport video and shoots, so as to the difficulty for causing video capture compares
Greatly.
The content of the invention
In order to overcome problem present in correlation technique, filled present disclose provides a kind of image pickup method and removable shooting
Put.Technical scheme is as follows：
According to the first aspect of the embodiment of the present disclosure, there is provided a kind of image pickup method, removable filming apparatus are applied to, it is described
Method includes：
According to default detection cycle, acquisition is arranged at the position of the tracker in photographic subjects；
According to the position of the tracker, image taking is persistently carried out to the direction where the tracker；
According to the position of the tracker, the first motion track of the tracker is determined, according to first moving rail
Mark, moves.
Optionally, it is described to be moved according to first motion track, including：
The tracker is followed to move along first motion track.
So, the video data of photographic subjects can clearly be photographed.
Optionally, it is described to follow the tracker to move along first motion track, including：
According to the detection cycle, the current translational speed of the tracker is obtained；
According to the translational speed that periodicity is obtained, the tracker is followed to move along first motion track.
So, balance car can be reduced to knock into the back the possibility of photographic subjects.
Optionally, it is described to be moved according to first motion track, including：
It is determined that second motion track parallel with first motion track；
Moved along second motion track.
So, the video data of photographic subjects can clearly be photographed.
Optionally, it is described to be moved along second motion track, including：
According to the detection cycle, the current translational speed of the tracker is obtained；
According to the translational speed that periodicity is obtained, moved along second motion track.
So, can as far as possible make the balance car can be with parallel shooting photographic subjects.
Optionally, it is described to be moved according to first motion track, including：
According to first motion track, the current moving direction of the tracker is determined；
If the current location of the removable filming apparatus is in the first motion track prolonging along the moving direction
On line long, then moved along the moving direction, if the current location of the removable filming apparatus is not on the extended line,
Then it is moved on the extended line, then is moved along the moving direction.
So, the video data of photographic subjects can clearly be photographed.
Optionally, if the current location of the removable filming apparatus in first motion track along the shifting
On the extended line in dynamic direction, then moved along the moving direction, if not on the extended line, being moved to the extended line
On, then moved along the moving direction, including：
According to the detection cycle, the current translational speed of the tracker is obtained；
If the current location of the removable filming apparatus is in the first motion track prolonging along the moving direction
On line long, then according to the translational speed, moved along the moving direction, if the current location of the removable filming apparatus
Not on the extended line in first motion track along the moving direction, then the translational speed for being obtained according to periodicity increases pre-
If the translational speed after numerical value, it is moved on the extended line, according still further to the translational speed that periodicity is obtained, along the movement side
To movement.
Optionally, methods described also includes：
When the duration that the position for detecting the tracker does not change reaches preset duration threshold value, dormancy mould is cut
Formula.
So, the power consumption of balance car can be saved.
According to the second aspect of the embodiment of the present disclosure, there is provided a kind of removable filming apparatus, the removable filming apparatus
Including：
Acquisition module, for according to default detection cycle, acquisition to be arranged at the position of the tracker in photographic subjects；
Taking module, for the position according to the tracker, image is persistently carried out to the direction where the tracker
Shoot；
Mobile module, for the position according to the tracker, determines the first motion track of the tracker, according to institute
The first motion track is stated, is moved.
Optionally, the mobile module, is used for：
The tracker is followed to move along first motion track.
Optionally, the mobile module includes the first acquisition submodule and the first movement submodule, wherein：
First acquisition submodule, for according to the detection cycle, obtaining the current translational speed of the tracker；
It is described first movement submodule, for according to periodicity obtain translational speed, along first motion track with
Moved with the tracker.
Optionally, the mobile module is used for：
It is determined that second motion track parallel with first motion track；
Moved along second motion track.
Optionally, the mobile module includes obtaining the second acquisition submodule and the second movement submodule, wherein：
Second acquisition submodule, for according to the detection cycle, obtaining the current translational speed of the tracker；
The second movement submodule, for the translational speed obtained according to periodicity, moves along second motion track
It is dynamic.
Optionally, the mobile module includes determination sub-module and the 3rd movement submodule, wherein：
The determination sub-module, for according to first motion track, determining the current moving direction of the tracker；
The 3rd movement submodule, if moved described first for the current location of the removable filming apparatus
On extended line of the track along the moving direction, then along the moving direction move, if the removable filming apparatus work as
Front position is not moved on the extended line on the extended line, then, then is moved along the moving direction.
Optionally, the 3rd movement submodule includes acquiring unit and mobile unit, wherein：
The acquiring unit, for according to the detection cycle, obtaining the current translational speed of the tracker；
The mobile unit, if for the removable filming apparatus current location on the first motion track edge
On the extended line of the moving direction, then according to the translational speed, moved along the moving direction, if the removable bat
Take the photograph on the extended line not in first motion track along the moving direction of the current location of device, then obtained according to periodicity
Translational speed increase default value after translational speed, be moved on the extended line, according still further to periodicity obtain movement
Speed, moves along the moving direction.
Optionally, the removable filming apparatus also include：
Incision module, for reaching preset duration threshold value when the duration that the position for detecting the tracker does not change
When, cut park mode.
According to the third aspect of the embodiment of the present disclosure, there is provided a kind of removable filming apparatus, the removable filming apparatus
Including：
Processor；
Memory for storing processor-executable instruction；
Wherein, the processor is configured as：
According to default detection cycle, acquisition is arranged at the position of the tracker in photographic subjects；
According to the position of the tracker, image taking is persistently carried out to the direction where the tracker；
According to the position of the tracker, the first motion track of the tracker is determined, according to first moving rail
Mark, moves.
The technical scheme provided by this disclosed embodiment can include the following benefits：
In the embodiment of the present disclosure, the balance car that user wants to be provided with image pickup section is automatic with clapping mobile shooting mesh
Timestamp, can set tracker in photographic subjects, and then according to default detection cycle, acquisition is arranged in photographic subjects
The position of tracker, according to the position of tracker, persistently carries out image taking, according to tracker to the direction where tracker
Position, determines the first motion track of tracker, according to the first motion track, moves.So, when target is moved, can
To follow target to move automatically, and photographic subjects mobile video, such as user run when, balance car can be followed automatically
User shoots the running video of user, and is helped shooting without other people, such that it is able to reduce the difficulty of video capture.
It should be appreciated that the general description of the above and detailed description hereinafter are only exemplary and explanatory, not
The disclosure can be limited.
Brief description of the drawings
Accompanying drawing herein is merged in specification and constitutes the part of this specification, shows the implementation for meeting the disclosure
Example, and it is used to explain the principle of the disclosure together with specification.In the accompanying drawings：
Fig. 1 is a kind of schematic flow sheet of the image pickup method according to the embodiment of the present disclosure；
Fig. 2 is a kind of schematic diagram of a scenario of the image pickup method according to the embodiment of the present disclosure；
Fig. 3 is a kind of schematic diagram of a scenario of the image pickup method according to the embodiment of the present disclosure；
Fig. 4 (a) is a kind of schematic diagram of a scenario of the image pickup method according to the embodiment of the present disclosure；
Fig. 4 (b) is a kind of mobile schematic diagram of the balance car according to the embodiment of the present disclosure；
Fig. 5 is the structural representation of a kind of removable filming apparatus according to the embodiment of the present disclosure；
Fig. 6 is the structural representation of a kind of removable filming apparatus according to the embodiment of the present disclosure；
Fig. 7 is the structural representation of a kind of removable filming apparatus according to the embodiment of the present disclosure；
Fig. 8 is the structural representation of a kind of removable filming apparatus according to the embodiment of the present disclosure；
Fig. 9 is the structural representation of a kind of removable filming apparatus according to the embodiment of the present disclosure；
Figure 10 is the structural representation of a kind of removable filming apparatus according to the embodiment of the present disclosure；
Figure 11 is the structural representation of a kind of removable filming apparatus according to an exemplary embodiment.
By above-mentioned accompanying drawing, it has been shown that the clear and definite embodiment of the disclosure, will hereinafter be described in more detail.These accompanying drawings
It is not intended to limit the scope that the disclosure is conceived by any mode with word description, but is by reference to specific embodiment
Those skilled in the art illustrate the concept of the disclosure.
Specific embodiment
Here exemplary embodiment will be illustrated in detail, its example is illustrated in the accompanying drawings.Following description is related to
During accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawings represent same or analogous key element.Following exemplary embodiment
Described in implementation method do not represent all implementation methods consistent with the disclosure.Conversely, they be only with it is such as appended
The example of the consistent apparatus and method of some aspects described in detail in claims, the disclosure.
The embodiment of the present disclosure provides a kind of image pickup method, and image pickup method can apply in removable filming apparatus, its
In, removable filming apparatus can have the smart machine for automatically moving function, such as balance car.On removable filming apparatus
Traveling member, processor, transceiver, memory, image pickup section (such as video camera), positioning element, distance is provided with to pass
Sensor.Traveling member can be used for the movement of removable filming apparatus, can including feeder wheel, deflecting roller, motor etc. part,
Traveling member can be electrically connected with processor, by processor control；Transceiver can be used for launching and receiving message；Treatment
Device can be used for performing corresponding treatment controlling removable filming apparatus to move；Memory can be used in storage moving process
Issuable data in the data and processing procedure that receive；Image pickup section can be used for shooting image；Location division
Part be determined for itself positional information and tracker positional information；Range sensor can be used for detection movement
During barrier etc..Can also be including display unit, input block etc. in removable filming apparatus.Display unit is used to show
Show the relevant information in the course of work, input block is used for input instruction, relevant control is carried out to removable filming apparatus.This reality
Apply in example so that removable filming apparatus are balance car as an example, carry out the detailed description of scheme, other situations are similar to therewith, this implementation
Example is not repeated.
As shown in figure 1, the handling process of the method can include the steps：
In step 101, according to default detection cycle, acquisition is arranged at the position of the tracker in photographic subjects.
Wherein, default detection cycle is preset by technical staff, and stores in balance car, such as 5 seconds, 10 seconds, claps
It can be the mobile target such as pet, people to take the photograph target, and the embodiment of the present disclosure is by taking photographic subjects behaviour as an example.
In force, user can install image pickup section on balance car, can be set in the top of balance car
Image pickup section.User if it is intended to shoot certain movement target (being properly termed as photographic subjects), can be in photographic subjects
Upper setting tracker, tracker can be arranged in photographic subjects by the form of stickup, buckle or binding.Then by balance car
Bound with tracker, the method for binding can be：User installing pipe can manage application program in terminal (such as mobile phone),
Corresponding account is registered and logs in, then the main interface of terminal display management application program operates terminal to set up blue with balance car
Tooth is connected, and the equipment bound is shown in main interface, adds option and some other options, and user can click on addition
Option, triggering terminal searches neighbouring equipment by Bluetooth function, and terminal can show all devices for finding in interface,
Including tracker, user can click on the option of the tracker to be connected, and terminal can then record balance car and tracker
Binding relationship, and the mark of tracker is sent to balance car, the mark of balance car is sent to tracker, balance car can be with
The mark of recording, tracking device, tracker can record the mark of balance car.Then user can start balance car, and will balance
Car is placed on the vicinity of photographic subjects, such as balance car apart from 1 meter of photographic subjects, balance car can according to default detection cycle,
Obtain the position of the tracker in photographic subjects.
The method that balance car obtains the position of tracker can have various, two kinds of feasible modes given below：
Mode one：Tracker can send the position of oneself to balance car according to default detection cycle.Corresponding treatment
Can be as follows：
After tracker starts, can be according to default detection cycle, using GPS (Globle Positioning
System, GPS) positioning, the position of oneself is determined, then by bluetooth or WIFI (Wireless
Fidelity, Wireless Fidelity), the position of oneself is sent to balance car, balance car receives the position that tracker sends.
Mode two：Balance car can be with the position of direct access tracker, and corresponding treatment can be as follows：
After tracker starts, using GPS location, the position of oneself can be determined according to default detection cycle, then will
The position of oneself is sent to server (can be the background server of finder), and server can store the tracking for receiving
The position of device.Balance car can send position enquiring and ask every default detection cycle to server, position enquiring request
In carry the mark of tracker, after server receives position enquiring request, can be inquired most by the mark of tracker
The position of the nearly tracker for once receiving, then sends to balance car the position of tracker.
In step 102, according to the position of tracker, image taking is persistently carried out to the direction where tracker.
In force, after balance car determines the position of tracker, it may be determined that the shooting direction of current image shot part,
It is then determined that oneself current position, determines the direction of position of oneself current position sensing tracker where tracker
Direction.If current shooting direction is identical with the direction where tracker, lasting video capture can be carried out, and protected
Deposit, if current shooting direction is differed with the direction where tracker, image pickup section can be rotated, by image taking
The shooting direction of part rotates the direction to where tracker, carries out lasting video capture, and preserved.
Or, after balance car determines the position of tracker, it may be determined that the shooting direction of current image shot part, then
Determine oneself current position, determine that side of the direction of the position of tracker where tracker is pointed in oneself current position
To.If current shooting direction is identical with the direction where tracker, a pictures can be shot every preset duration, and
Preserved, if current shooting direction is differed with the direction where tracker, image pickup section can be rotated, will be schemed
Direction as where the shooting direction for shooting part is rotated to tracker, every preset duration, shoots a pictures, and protected
Deposit.
In step 103, according to the position of tracker, the first motion track of tracker is determined, according to the first motion track,
Move.
In force, after balance car starts, can be by the position for getting and the position for getting for the second time are entered for the first time
, so, after balance car gets the position of tracker twice, can be defined as the line of the position of tracker twice by row line
The motion track (i.e. the first motion track) of tracker, the rest may be inferred, after subsequently receiving the position of tracker every time, by this
Position carries out line with the last position for getting, and recorded the first motion track.Meanwhile, balance car can be moved according to first
Dynamic rail mark, is moved (will be described in more detail below), and image taking is persistently carried out during movement.
Optionally, according to the first motion track, the method for moving has various, three kinds of feasible modes given below：
Mode one：Balance car can be moved with track shot target, and corresponding treatment can be as follows：
Tracker is followed to move along the first motion track.
In force, user can select screening-mode when using balance car, be shown on the display interface of balance car
Having clap pattern with bat pattern, side and draw bat pattern etc., if user will be selected with bat pattern, user can operate startup with clapping mould
(it can be the control that user operates startup, or user in balance car on balance car to start with clapping the method for pattern to formula
Operation startup is carried out in terminal).Balance car, can be since the original position of the first motion track, in moving process
One motion track is split according to predeterminable range (such as 30cm), obtains the multiple positions on the first motion track, Ran Houshun
Sequence is moved to each position determined on the first motion track, and so, if started, the position of balance car is not moved first
On dynamic rail mark, balance car can be moved to first along oneself current position and the line of the original position of the first motion track
The original position of motion track, is then sequentially moved to each position determined on the first motion track, you can realize along the
One motion track follows tracker to move.For example, as shown in Fig. 2 be tied with tracker on the person, people in the front of balance car,
Balance car can first be moved to the starting position of tracker, be moved followed by the tracker bound on the person.
Optionally, when following tracker to move along the first motion track based on default following distance, can also be according to chasing after
The current speed of track device is moved, and corresponding treatment can be as follows：
According to detection cycle, the current translational speed of tracker is obtained, according to the translational speed that periodicity is obtained, along first
Motion track follows tracker to move.
In force, every detection cycle, tracker can detect current translational speed, then sent to balance car and worked as
Preceding translational speed.After balance car receives the current translational speed of tracker transmission, can be according to the tracker for getting
Translational speed, follow tracker to move along the first motion track.For example, detection cycle is 10 seconds, a certain moment, balance
The current translational speed of car is 2m/s, and the translational speed of the tracker for now getting is 3m/s, and balance car is by the movement of oneself
Speed changes into 3m/s, and after 10 seconds, the translational speed of the tracker that balance car gets was 2.5m/s, balance car by oneself
Translational speed changes into 2.5m/s, and the rest may be inferred, according to the translational speed that periodicity is obtained, tracking is followed along the first motion track
Device is moved.
In addition, balance car determines that the method for the translational speed of tracker can also be：Every detection cycle, balance car is obtained
To the position of tracker, the position that can be got this is contrasted with the last position for getting, and determines the inspection
The displacement of tracker in the survey cycle, the displacement that then will be determined divided by detection cycle, the speed for obtaining, as chasing after
The current translational speed of track device.For example, detection cycle is 10 seconds, when a certain moment balance car gets the position of tracker with this
The distance between position that ten seconds balance cars get after quarter is 10 meters, and by 10 meters divided by 10 seconds, the speed for obtaining is 1m/s,
Then oneself translational speed is changed into 1m/s, in next 10 seconds, the displacement of tracker movement is 12 meters, then calculate
The speed for obtaining is 1.2m/s, and the translational speed of oneself then is changed into 1.2m/s, and the rest may be inferred, periodically obtains tracker
Translational speed.
Mode two：Balance car can keep default parallel distance to move in parallel in the side of photographic subjects with photographic subjects,
Corresponding treatment can be as follows：
It is determined that second motion track parallel with the first motion track, moves along the second motion track.
In force, user can select screening-mode when using balance car, be shown on the display interface of balance car
Having clap pattern with bat pattern, side and draw bat pattern etc., if user will select side to clap pattern, user can operate startup side to clap mould
(method for starting side bat pattern can be the control that user operates startup, or user in balance car on balance car to formula
Operation startup is carried out in terminal).Balance car can be placed on user the side of photographic subjects, and balance car gets tracking every time
The position of device, the position on the first motion track is recorded as by the position.Then can determine with the positional distance to be default flat
Row distance, and with the second motion track of last record on position in the position of the same side of the first motion track, then
The position is recorded as the position on the second motion track, so, balance car can be from the last record of the second motion track
Position is moved to the position of this time record, and the rest may be inferred, and balance car is moved along the second motion track.Wherein, parallel distance is preset
Can be preset by technical staff, such as 30cm.For example, as shown in figure 3, balance car can be placed on user the side of people, with
On same starting line, when people moves, balance car can be based on the tracker tied up on the person to people, determine first moving rail of people
Mark, and moved along second motion track parallel with the first motion track.
Optionally, when being moved along the second motion track, can also be moved according to the current speed of tracker, accordingly
Treatment can be as follows：
According to detection cycle, the current translational speed of tracker is obtained, according to the translational speed that periodicity is obtained, along second
Motion track is moved.
In force, every detection cycle, tracker can detect current translational speed, then sent to balance car and examined
The current translational speed for measuring.After balance car receives the current translational speed of tracker transmission, can be according to getting
Tracker translational speed, along the second motion track move.For example, detection cycle is 10 seconds, at a certain moment, balance car is current
Translational speed be 2m/s, the translational speed of the tracker for now getting is 3m/s, and balance car changes the translational speed of oneself
It is changed into 3m/s, after 10 seconds, the translational speed of the tracker that balance car gets was 2.5m/s, balance car is by the mobile speed of oneself
Degree changes into 2.5m/s, and the rest may be inferred, according to the translational speed that periodicity is obtained, is moved along the second motion track.
In addition, determining that the method for the current translational speed of tracker can also be：Every detection cycle, balance car gets
The position of tracker, the position that can be got this is contrasted with the last position for getting, and determines the detection
The displacement of tracker in cycle, the displacement that then will be determined is divided by detection cycle, the speed for obtaining, as tracking
The current translational speed of device.
Mode three：Balance car can be moved in front of photographic subjects, and corresponding treatment can be as follows：
According to the first motion track, the current moving direction of tracker is determined, if the present bit of removable filming apparatus
Put on the extended line in the first motion track along moving direction, then moved along moving direction, if may move working as filming apparatus
Front position is then moved on extended line not on extended line, then is moved along moving direction.
In force, user can select screening-mode when using balance car, be shown on the display interface of balance car
Having clap pattern with bat pattern, side and draw bat pattern etc., if user will select to draw bat pattern, user can operate startup to draw bat mould
Formula (startup draw bat pattern method can be user operated on balance car startup, or user balance car control
Operation startup is carried out in terminal).Balance car can be according to the first motion track, it is determined that the position of the tracker for getting twice recently
The line put, by the last time before the position of the tracker for once getting point to the last tracker for getting
The direction of position, is defined as the current moving direction of tracker.Then balance car can determine the first motion track along movement side
To extended line, that is, the position of the tracker for once getting from before the last time points to the last getting
The extended line of the line of the position of tracker.Every detection cycle, balance car detects the position of oneself, it is then determined that now oneself
Position whether on extended line, if on extended line, can be moved along the current moving direction of tracker, if
Not on extended line, then the default displacement for prestoring can be obtained, then be moved to position on extended line and current
The distance between for preset displacement position at, after being moved to extended line, can according to the current moving direction of tracker,
Moved along the moving direction.Herein it should be strongly noted that balance car is during being moved on extended line, first
Motion track is likely to occur change along the extended line of moving direction, and the position of oneself can also change, and balance car can
Based on detection cycle, to determine extended line of first motion track along moving direction, and based on the extended line after determination and certainly
Oneself current position, it is determined that the position of extended line is moved to, wherein, default displacement can be preset by technical staff, and
And storage is in balance car, such as 5 meters.For example, as shown in Fig. 4 (a), balance car is balanced when the front of tracker is moved
Car determines on oneself extended line in the first motion track along moving direction, can be moved along the moving direction of tracker, such as Fig. 4
B shown in (), it is 5 meters to preset displacement, balance car when the front of tracker is moved, turned by photographic subjects, balance
Car determined on extended line of oneself current position not in the first motion track along moving direction, can obtain default displacement
5 meters, then moved with the position that the now positional distance of oneself is 5 meters on extended line, during next detection cycle, due to following the trail of
The position of device changes, and the position of oneself also changes, and it with the now positional distance of oneself is 5 meters to continue on extended line
Position movement, the rest may be inferred, until being moved on extended line of first motion track along moving direction.
Optionally, when balance car is moved in front of photographic subjects, can also enter according to the current speed of tracker
Row movement, corresponding treatment can be as follows：
According to detection cycle, the current translational speed of tracker is obtained, if the current location of removable filming apparatus exists
First motion track, then according to translational speed, is moved along the extended line of moving direction along moving direction, if removable shoot
On the extended line not in the first motion track along moving direction of the current location of device, then the translational speed for being obtained according to periodicity
Increase the translational speed after default value, be moved on extended line, according still further to the translational speed that periodicity is obtained, along moving direction
It is mobile.
Wherein, default value can be preset by technical staff, and store into balance car, such as 2m/s.
In force, every detection cycle, tracker can detect current translational speed, then sent to balance car and examined
The current translational speed for measuring.After balance car receives the current translational speed of tracker transmission, it may be determined that oneself is worked as
Preceding position on extended line or not the first motion track along moving direction, if on extended line, can be according to tracker
Current translational speed, moves along the current moving direction of tracker, if not on extended line, can obtain and deposit in advance
The default value of storage, then increases the translational speed after default value according to the translational speed for getting, and is moved to extended line
On with the distance between current position at the position for presetting displacement, after being moved to extended line, to can then proceed in week
The translational speed that phase property gets, moves along moving direction.For example, the position current for balance car is in the first moving rail
Situation on the extended line of mark, detection cycle is 10 seconds, and a certain moment, the current translational speed of balance car is 2m/s, is now obtained
The translational speed of the tracker got is 3m/s, and the translational speed of oneself was changed into 3m/s by balance car, after 10 seconds, balance car
The translational speed of the tracker for getting is 2.5m/s, and the translational speed of oneself is changed into 2.5m/s by balance car, and the rest may be inferred,
According to the translational speed that periodicity is obtained, and moved along the current moving direction of tracker.The position current for balance car
The situation not on the extended line of the first motion track is put, detection cycle is 10 seconds, and default value is 2m/s, presets displacement
It is 8 meters, a certain moment, the current translational speed of balance car is 2m/s, and the translational speed of the tracker for now getting is 3m/s,
The translational speed of oneself is changed into 5m/s by balance car, and after 10 seconds, the translational speed of the tracker that balance car gets was
The translational speed of oneself is changed into 4.5m/s by 2.5m/s, balance car, and the rest may be inferred, and the translational speed obtained according to periodicity increases
Plus the speed after default value is moved, until being moved on extended line, the translational speed for then being obtained according to periodicity, edge
The current moving direction of tracker is moved.
In addition, determining that the method for the current translational speed of tracker can also be：Every detection cycle, balance car gets
The position of tracker, the position that can be got this is contrasted with the last position for getting, and determines the detection
The displacement of tracker in cycle, the displacement that then will be determined is divided by detection cycle, the speed for obtaining, as tracking
The current translational speed of device.
In addition, in aforesaid way one and mode two, balance car is moved behind or side movement tracker, according to week
The translational speed of the tracker that phase property is obtained, when moving, in order that the image that the image pickup section on balance car shoots
Than more visible, the distance between balance car and tracker are preferably controlled in the range of predeterminable range, such as balance car and tracker it
Between distance more than a and less than b etc..Balance car when determining the position of tracker, can simultaneously determine oneself every detection cycle
Position, then calculate oneself the distance between with tracker.If the distance for calculating is less than in the range of predeterminable range most
Small value a, it may be determined that the translational speed of current tracker (determines that the method for the translational speed of tracker is above being chatted in detail
State, here is omitted), then reduce the translational speed after default value using the current translational speed of tracker, continue into
Row movement, until balance car determines the distance between oneself and tracker more than or equal to a and less than or equal to b, balance car base
The current translational speed of tracker obtained in periodicity is moved, and so, can be reduced balance car and be knocked into the back photographic subjects
Possibility.If the distance for calculating is more than the maximum b in the range of predeterminable range, it may be determined that the mobile speed of current tracker
Degree (determines that the method for the translational speed of tracker is above being described in detail, here is omitted), then uses tracker
Current translational speed increases the translational speed after default value, proceeds movement, until balance car determines oneself and follows the trail of
, more than or equal to a and less than or equal to b, balance car is based on the current mobile speed of the tracker for periodically obtaining for the distance between device
Degree is moved, and so, can reduce that balance car is too far away or too close apart from photographic subjects, and cause the fogging image for photographing
Possibility.
For in aforesaid way three, balance car is mobile before tracker, in the tracker obtained according to periodicity
Translational speed, when moving, in order that the image that shoots of image pickup section on balance car is than more visible, balance car with chase after
The distance between track device is preferably controlled in the range of predeterminable range, and such as the distance between balance car and tracker are more than a and less than b
Deng.Balance car when determining the position of tracker, can simultaneously determine the position of oneself every detection cycle, then calculate oneself
The distance between with tracker.When on the extended line for balance car in the first motion track along moving direction, if meter
The distance for calculating is less than the minimum value a in the range of predeterminable range, it may be determined that the translational speed of current tracker (determines tracker
Translational speed method above in detail describe, here is omitted), then use the translational speed that tracker is current
Increase the translational speed after default value, proceed movement, until balance car determines that oneself is big with the distance between tracker
In or equal to a and less than or equal to b, balance car is based on the current translational speed of tracker and moves, and so, can reduce bat
Target is taken the photograph to knock into the back the possibility of balance car.If the distance for calculating is more than the maximum b in the range of predeterminable range, it may be determined that
The translational speed of current tracker (determines that the method for the translational speed of tracker is above being described in detail, no longer goes to live in the household of one's in-laws on getting married herein
State), the translational speed after default value then is reduced using the current translational speed of tracker, proceed movement, Zhi Daoping
Weighing apparatus car determines the distance between oneself and tracker in the range of predeterminable range, and the tracker that balance car is based on periodically obtaining is worked as
Preceding translational speed is moved, and so, can reduce that balance car is too far away or too close apart from photographic subjects, and cause what is photographed
The possibility of fogging image.
Optionally, in order to save the power consumption of balance car, corresponding treatment can be as follows：
When the duration that the position for detecting tracker does not change reaches preset duration threshold value, park mode is cut.
In force, balance car can detect the duration that the position of tracker does not change, when the duration reach it is default
During duration threshold value, resting state can be cut.
In addition, additionally providing the treatment that balance car encounters barrier in the embodiment of the present disclosure, corresponding treatment can be as follows：
When detect front there is barrier when, change moving direction, after the moving direction is changed displacement reach pre-
If during distance threshold, again according to the position of tracker, the motion track of tracker is determined, according to the moving rail for redefining
Mark, moves.
Wherein, predeterminable range threshold value can be preset by technical staff, and store into balance car, such as 50cm.
In force, balance car, can be while command range sensor when detection cycle obtains the position of tracker
To emission ultrasonic signal, the ultrasonic signal of transmitting carries signal identification, during the transmitting of record transmitting ultrasonic signal
Between point, and detect reception time point of received ultrasonic signal, then calculate the transmitting of the ultrasonic signal of identical signal identification
Time point and the difference at time point is received, determine the transmission duration T of ultrasonic signal, then transmission duration is multiplied by ultrasonic wave and existed
Transmission speed V in air, then divided by 2, obtains the distance between oneself and preceding object thing S=V*T/2.If S is less than
First predeterminable range threshold value, it is determined that front has barrier, changes moving direction, is then moved on moving direction after the change
Dynamic predeterminable range threshold value, is then based on the current position of tracker, determines that the motion track of tracker (determines the side of motion track
Method method in step 103 is identical, and here is omitted), then according to the motion track for redefining, move.Example
Such as, predeterminable range threshold value is 50cm, and balance car detects front and there is barrier, can turn to 90 degree, is then turning to 90 degree
Side move up 50cm, then redefine the motion track of tracker, and according to the motion track for redefining, moved
It is dynamic, determine that the method for motion track is identical with the treatment of step 103 in this treatment, here is omitted.
In the embodiment of the present disclosure, the balance car that user wants to be provided with image pickup section is automatic with clapping mobile shooting mesh
Timestamp, can set tracker in photographic subjects, and then according to default detection cycle, acquisition is arranged in photographic subjects
The position of tracker, according to the position of tracker, persistently carries out image taking, according to tracker to the direction where tracker
Position, determines the first motion track of tracker, according to the first motion track, moves.So, when target is moved, can
To follow target to move automatically, and photographic subjects mobile video, such as user run when, balance car can be followed automatically
User shoots the running video of user, and is helped shooting without other people, such that it is able to reduce the difficulty of video capture.
Based on identical technology design, the embodiment of the present disclosure additionally provides a kind of removable filming apparatus, as shown in figure 5,
The removable filming apparatus include：
Acquisition module 510, for according to default detection cycle, acquisition to be arranged at the position of the tracker in photographic subjects
Put；
Taking module 520, for the position according to the tracker, figure is persistently carried out to the direction where the tracker
As shooting；
Mobile module 530, for the position according to the tracker, determines the first motion track of the tracker, root
According to first motion track, move.
Optionally, the mobile module 530, is used for：
The tracker is followed to move along first motion track.
Optionally, as shown in fig. 6, the mobile module 530 includes the first acquisition submodule 531 and the first movement submodule
532, wherein：
First acquisition submodule 531, for according to the detection cycle, obtaining the current mobile speed of the tracker
Degree；
The first movement submodule 532, for the translational speed obtained according to periodicity, along first motion track
The tracker is followed to move.
Optionally, the mobile module 530 is used for：
It is determined that second motion track parallel with first motion track；
Moved along second motion track.
Optionally, as shown in fig. 7, the mobile module 530 includes obtaining the second acquisition submodule 533 and the second movement
Module 534, wherein：
Second acquisition submodule 533, for according to the detection cycle, obtaining the current mobile speed of the tracker
Degree；
The second movement submodule 534, for the translational speed obtained according to periodicity, along second motion track
It is mobile.
Optionally, as shown in figure 8, the mobile module 530 includes that determination sub-module 535 and the 3rd moves submodule 536,
Wherein：
The determination sub-module 535, for according to first motion track, determining the current mobile side of the tracker
To；
It is described 3rd movement submodule 536, if for the removable filming apparatus current location described first
On extended line of the motion track along the moving direction, then moved along the moving direction, if the removable filming apparatus
Current location be not moved on the extended line on the extended line, then, then along the moving direction move.
Optionally, as shown in figure 9, the 3rd movement submodule 536 includes acquiring unit 5361 and mobile unit 5362,
Wherein：
The acquiring unit 5361, for according to the detection cycle, obtaining the current translational speed of the tracker；
The mobile unit 5362, if for the removable filming apparatus current location in first moving rail
On extended line of the mark along the moving direction, then according to the translational speed, moved along the moving direction, if described removable
On the extended line not in first motion track along the moving direction of the current location of dynamic filming apparatus, then according to periodically
The translational speed of acquisition increases the translational speed after default value, is moved on the extended line, is obtained according still further to periodicity
Translational speed, moves along the moving direction.
Optionally, as shown in Figure 10, the removable filming apparatus also include：
Incision module 540, for reaching preset duration when the duration that the position for detecting the tracker does not change
During threshold value, park mode is cut.
The concrete mode that removable filming apparatus on above-described embodiment, wherein modules perform operation exists
About being described in detail in the embodiment of the method, explanation will be not set forth in detail herein.
In the embodiment of the present disclosure, the balance car that user wants to be provided with image pickup section is automatic with clapping mobile shooting mesh
Timestamp, can set tracker in photographic subjects, and then according to default detection cycle, acquisition is arranged in photographic subjects
The position of tracker, according to the position of tracker, persistently carries out image taking, according to tracker to the direction where tracker
Position, determines the first motion track of tracker, according to the first motion track, moves.So, when target is moved, can
To follow target to move automatically, and photographic subjects mobile video, such as user run when, balance car can be followed automatically
User shoots the running video of user, and is helped shooting without other people, such that it is able to reduce the difficulty of video capture.
It should be noted that：Above-described embodiment provide removable filming apparatus when being shot, only with above-mentioned each work(
The division of energy module is carried out for example, in practical application, as needed can distribute by different functions above-mentioned functions
Module is completed, will the internal structure of device be divided into different functional modules, it is described above all or part of to complete
Function.In addition, the removable filming apparatus that above-described embodiment is provided belong to same design with image pickup method embodiment, its specific reality
Existing process refers to embodiment of the method, repeats no more here.
Disclosure another exemplary embodiment provides a kind of structural representation of removable filming apparatus.The removable bat
It can be balance car etc. to take the photograph device.
Reference picture 11, removable filming apparatus 1100 can include following one or more assemblies：Processing assembly 1102, deposits
Reservoir 1104, power supply module 1106, multimedia groupware 1108, audio-frequency assembly 1110, the interface 1112 of input/output (I/O) is passed
Sensor component 1114, and communication component 1116, traveling member 1118.
The integrated operation of the removable filming apparatus 1100 of the generally control of processing assembly 1102, such as with display, call,
Data communication, camera operation and the associated operation of record operation.Treatment element 1102 can include one or more processors
1120 carry out execute instruction, to complete all or part of step of above-mentioned method.Additionally, processing assembly 1102 can include one
Or multiple modules, it is easy to the interaction between processing assembly 1102 and other assemblies.For example, processing component 1102 can include many matchmakers
Module, to facilitate the interaction between multimedia groupware 1108 and processing assembly 1102.
Memory 1104 is configured as storing various types of data supporting the operation in removable filming apparatus 1100.
The example of these data includes the instruction for any application program or method operated on removable filming apparatus 1100, connection
It is personal data, telephone book data, message, picture, video etc..Memory 1104 can be by any kind of volatibility or non-volatile
Property storage device or combinations thereof realize, such as static RAM (SRAM), electrically erasable is read-only to be deposited
Reservoir (EEPROM), Erasable Programmable Read Only Memory EPROM (EPROM), programmable read only memory (PROM), read-only storage
(ROM), magnetic memory, flash memory, disk or CD.
Electric power assembly 1106 provides electric power to may move the various assemblies of filming apparatus 1100.Electric power assembly 1106 can be wrapped
Include power-supply management system, one or more power supplys, and other with generate, manage and distribute electric power phase for audio output apparatus 1100
The component of association.
One output of offer that multimedia groupware 1108 is included between the removable filming apparatus 1100 and user connects
The screen of mouth.In certain embodiments, screen can include liquid crystal display (LCD) and touch panel (TP).If screen bag
Touch panel is included, screen may be implemented as touch-screen, to receive the input signal from user.Touch panel include one or
Multiple touch sensors are with the gesture on sensing touch, slip and touch panel.The touch sensor can not only sense tactile
Touch or sliding action border, but also detection and the touch or slide related duration and pressure.At some
In embodiment, multimedia groupware 1108 includes a front camera and/or rear camera.When removable filming apparatus 1100
In operator scheme, such as screening-mode or during video mode, front camera and/or rear camera can receive many of outside
Media data.Each front camera and rear camera can be a fixed optical lens systems or with focal length and light
Learn zoom capabilities.
Audio-frequency assembly 1110 is configured as output and/or input audio signal.For example, audio-frequency assembly 1110 includes a wheat
Gram wind (MIC), when audio output apparatus 1100 are in operator scheme, such as call model, logging mode and speech recognition mode,
Microphone is configured as receiving external audio signal.The audio signal for being received can be further stored in memory 1104 or
Sent via communication component 1116.
I/O interfaces 1112 are that interface, above-mentioned peripheral interface module are provided between processing assembly 1102 and peripheral interface module
Can be keyboard, click wheel, button etc..These buttons may include but be not limited to：Home button, volume button, start button and
Locking press button.
Sensor cluster 1114 includes one or more sensors, for providing each side for removable filming apparatus 1100
The state estimation in face.For example, sensor cluster 1114 can detect the opening/closed mode of removable filming apparatus 1100,
The relative positioning of component, such as described component is the display and keypad of removable filming apparatus 1100, sensor cluster
1114 can also detect that the position of 1,100 1 components of removable filming apparatus 1100 or removable filming apparatus changes, Yong Huyu
The removable contact of filming apparatus 1100 it is presence or absence of, may move the orientation of filming apparatus 1100 or acceleration/deceleration and removable
The temperature change of dynamic filming apparatus 1100.Sensor cluster 1114 can include proximity transducer, be configured to appoint no
The presence of object nearby is detected during what physical contact.Sensor cluster 1114 can also include optical sensor, such as CMOS or CCD
Imageing sensor, for being used in imaging applications.In certain embodiments, the sensor cluster 1114 can also include accelerating
Degree sensor, gyro sensor, Magnetic Sensor, pressure sensor or temperature sensor.
Communication component 1116 is configured to facilitate wired or wireless side between removable filming apparatus 1100 and other equipment
The communication of formula.Removable filming apparatus 1100 can access the wireless network based on communication standard, such as WiFi, 2G or 3G, or it
Combination.In one exemplary embodiment, communication component 1116 is received via broadcast channel and manages system from external broadcasting
The broadcast singal or broadcast related information of system.In one exemplary embodiment, the communication component 1116 is also logical including near field
Letter (NFC) module, to promote junction service.For example, radio frequency identification (RFID) technology, infrared data association can be based in NFC module
Meeting (IrDA) technology, ultra wide band (UWB) technology, bluetooth (BT) technology and other technologies are realized.
Traveling member 1118 is advanced for may move filming apparatus, such as wheel.
In the exemplary embodiment, may move filming apparatus 1100 can be by one or more application specific integrated circuits
(ASIC), digital signal processor (DSP), digital signal processing appts (DSPD), PLD (PLD), scene can
Programming gate array (FPGA), controller, microcontroller, microprocessor or other electronic components are realized, for performing the above method.
In the exemplary embodiment, a kind of non-transitorycomputer readable storage medium including instructing, example are additionally provided
Such as include the memory 1104 of instruction, above-mentioned instruction can be performed with completion by the processor 1120 that may move filming apparatus 1100
State method.For example, the non-transitorycomputer readable storage medium can be ROM, random access memory (RAM), CD-
ROM, tape, floppy disk and optical data storage devices etc..
A kind of non-transitorycomputer readable storage medium, when the instruction in the storage medium is by may move filming apparatus
Computing device when so that removable filming apparatus are able to carry out above-mentioned method, and the method includes：
According to default detection cycle, acquisition is arranged at the position of the tracker in photographic subjects；
According to the position of the tracker, image taking is persistently carried out to the direction where the tracker；
According to the position of the tracker, the first motion track of the tracker is determined, according to first moving rail
Mark, moves.
Optionally, it is described to be moved according to first motion track, including：
The tracker is followed to move along first motion track.
Optionally, it is described to follow the tracker to move along first motion track, including：
According to the detection cycle, the current translational speed of the tracker is obtained；
According to the translational speed that periodicity is obtained, the tracker is followed to move along first motion track.
Optionally, it is described to be moved according to first motion track, including：
It is determined that second motion track parallel with first motion track；
Moved along second motion track.
Optionally, it is described to be moved along second motion track, including：
According to the detection cycle, the current translational speed of the tracker is obtained；
According to the translational speed that periodicity is obtained, moved along second motion track.
Optionally, it is described to be moved according to first motion track, including：
According to first motion track, the current moving direction of the tracker is determined；
If the current location of the removable filming apparatus is in the first motion track prolonging along the moving direction
On line long, then moved along the moving direction, if the current location of the removable filming apparatus is not on the extended line,
Then it is moved on the extended line, then is moved along the moving direction.
Optionally, if the current location of the removable filming apparatus in first motion track along the shifting
On the extended line in dynamic direction, then moved along the moving direction, if not on the extended line, being moved to the extended line
On, then moved along the moving direction, including：
According to the detection cycle, the current translational speed of the tracker is obtained；
If the current location of the removable filming apparatus is in the first motion track prolonging along the moving direction
On line long, then according to the translational speed, moved along the moving direction, if the current location of the removable filming apparatus
Not on the extended line in first motion track along the moving direction, then the translational speed for being obtained according to periodicity increases pre-
If the translational speed after numerical value, it is moved on the extended line, according still further to the translational speed that periodicity is obtained, along the movement side
To movement.
Optionally, methods described also includes：
When the duration that the position for detecting the tracker does not change reaches preset duration threshold value, dormancy mould is cut
Formula.
In the embodiment of the present disclosure, the removable filming apparatus that user wants to be provided with image pickup section are automatic with clapping movement
Photographic subjects when, tracker can be set in photographic subjects, then according to default detection cycle, acquisition be arranged at shooting
The position of the tracker in target, according to the position of tracker, image taking is persistently carried out to the direction where tracker, according to
The position of tracker, determines the first motion track of tracker, according to the first motion track, moves.So, moved in target
When dynamic, can automatically follow target to move, and photographic subjects mobile video, when running, balance car can be with for such as user
The automatic running video for following user to shoot user, and helped shooting without other people, such that it is able to reduce the difficulty of video capture
Degree.
Those skilled in the art will readily occur to its of the disclosure after considering specification and putting into practice disclosure disclosed herein
Its embodiment.The application is intended to any modification, purposes or the adaptations of the disclosure, these modifications, purposes or
Person's adaptations follow the general principle of the disclosure and including the undocumented common knowledge in the art of the disclosure
Or conventional techniques.Description and embodiments are considered only as exemplary, and the true scope of the disclosure and spirit are by following
Claim is pointed out.
It should be appreciated that the disclosure is not limited to the precision architecture for being described above and being shown in the drawings, and
And can without departing from the scope carry out various modifications and changes.The scope of the present disclosure is only limited by appended claim.
Claims (17)
1. a kind of image pickup method, is applied to removable filming apparatus, it is characterised in that methods described includes：
According to default detection cycle, acquisition is arranged at the position of the tracker in photographic subjects；
According to the position of the tracker, image taking is persistently carried out to the direction where the tracker；
According to the position of the tracker, the first motion track of the tracker is determined, according to first motion track, enter
Row movement.
2. method according to claim 1, it is characterised in that described to be moved according to first motion track, bag
Include：
The tracker is followed to move along first motion track.
3. the method according to right wants 2, it is characterised in that described to follow the tracker to move along first motion track
It is dynamic, including：
According to the detection cycle, the current translational speed of the tracker is obtained；
According to the translational speed that periodicity is obtained, the tracker is followed to move along first motion track.
4. method according to claim 1, it is characterised in that described to be moved according to first motion track, bag
Include：
It is determined that second motion track parallel with first motion track；
Moved along second motion track.
5. method according to claim 4, it is characterised in that described to be moved along second motion track, including：
According to the detection cycle, the current translational speed of the tracker is obtained；
According to the translational speed that periodicity is obtained, moved along second motion track.
6. method according to claim 1, it is characterised in that described to be moved according to first motion track, bag
Include：
According to first motion track, the current moving direction of the tracker is determined；
If the current location of the removable filming apparatus first motion track along the moving direction extended line
On, then moved along the moving direction, if the current location of the removable filming apparatus is moved not on the extended line
Move to the extended line, then moved along the moving direction.
7. method according to claim 6, it is characterised in that if the current location of the removable filming apparatus
On extended line of first motion track along the moving direction, then moved along the moving direction, if not described
On extended line, then it is moved on the extended line, then is moved along the moving direction, including：
According to the detection cycle, the current translational speed of the tracker is obtained；
If the current location of the removable filming apparatus first motion track along the moving direction extended line
On, then according to the translational speed, moved along the moving direction, if the current location of the removable filming apparatus does not exist
On extended line of first motion track along the moving direction, then the translational speed for being obtained according to periodicity increases present count
Translational speed after value, is moved on the extended line, according still further to the translational speed that periodicity is obtained, is moved along the moving direction
It is dynamic.
8. method according to claim 1, it is characterised in that methods described also includes：
When the duration that the position for detecting the tracker does not change reaches preset duration threshold value, park mode is cut.
9. a kind of removable filming apparatus, it is characterised in that the removable filming apparatus include：
Acquisition module, for according to default detection cycle, acquisition to be arranged at the position of the tracker in photographic subjects；
Taking module, for the position according to the tracker, image taking is persistently carried out to the direction where the tracker；
Mobile module, for the position according to the tracker, determines the first motion track of the tracker, according to described
One motion track, moves.
10. removable filming apparatus according to claim 9, it is characterised in that the mobile module, are used for：
The tracker is followed to move along first motion track.
The 11. removable filming apparatus according to right wants 10, it is characterised in that the mobile module includes that first obtains son
Module and the first movement submodule, wherein：
First acquisition submodule, for according to the detection cycle, obtaining the current translational speed of the tracker；
The first movement submodule, for the translational speed obtained according to periodicity, institute is followed along first motion track
State tracker movement.
12. removable filming apparatus according to claim 9, it is characterised in that the mobile module is used for：
It is determined that second motion track parallel with first motion track；
Moved along second motion track.
13. removable filming apparatus according to claim 12, it is characterised in that the mobile module includes obtaining second
Acquisition submodule and the second movement submodule, wherein：
Second acquisition submodule, for according to the detection cycle, obtaining the current translational speed of the tracker；
The second movement submodule, for the translational speed obtained according to periodicity, moves along second motion track.
14. removable filming apparatus according to claim 9, it is characterised in that the mobile module includes determining submodule
Block and the 3rd movement submodule, wherein：
The determination sub-module, for according to first motion track, determining the current moving direction of the tracker；
It is described 3rd movement submodule, if for the removable filming apparatus current location in first motion track
On extended line along the moving direction, then moved along the moving direction, if the present bit of the removable filming apparatus
Put not on the extended line, be then moved on the extended line, then moved along the moving direction.
15. removable filming apparatus according to claim 14, it is characterised in that the 3rd movement submodule includes obtaining
Unit and mobile unit are taken, wherein：
The acquiring unit, for according to the detection cycle, obtaining the current translational speed of the tracker；
The mobile unit, if described on first motion track edge for the current location of the removable filming apparatus
On the extended line of moving direction, then according to the translational speed, moved along the moving direction, if removable the shooting fills
On the extended line not in first motion track along the moving direction of the current location put, then the shifting for being obtained according to periodicity
Dynamic speed increases the translational speed after default value, is moved on the extended line, according still further to the translational speed that periodicity is obtained,
Moved along the moving direction.
16. removable filming apparatus according to claim 9, it is characterised in that the removable filming apparatus also include：
Incision module, for when the duration that the position for detecting the tracker does not change reaches preset duration threshold value,
Incision park mode.
17. a kind of removable filming apparatus, it is characterised in that the removable filming apparatus include：
Processor；
Memory for storing processor-executable instruction；
Wherein, the processor is configured as：
According to default detection cycle, acquisition is arranged at the position of the tracker in photographic subjects；
According to the position of the tracker, image taking is persistently carried out to the direction where the tracker；
According to the position of the tracker, the first motion track of the tracker is determined, according to first motion track, enter
Row movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611074321.1A CN106791371A (en) | 2016-11-29 | 2016-11-29 | A kind of image pickup method and removable filming apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611074321.1A CN106791371A (en) | 2016-11-29 | 2016-11-29 | A kind of image pickup method and removable filming apparatus |
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| CN106791371A true CN106791371A (en) | 2017-05-31 |
Family
ID=58898637
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| CN201611074321.1A Pending CN106791371A (en) | 2016-11-29 | 2016-11-29 | A kind of image pickup method and removable filming apparatus |
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