CN108012077B - Photographing control method, photographing method, device and system - Google Patents
Photographing control method, photographing method, device and system Download PDFInfo
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- CN108012077B CN108012077B CN201711112862.3A CN201711112862A CN108012077B CN 108012077 B CN108012077 B CN 108012077B CN 201711112862 A CN201711112862 A CN 201711112862A CN 108012077 B CN108012077 B CN 108012077B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
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- G—PHYSICS
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- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C23/00—Non-electrical signal transmission systems, e.g. optical systems
- G08C23/04—Non-electrical signal transmission systems, e.g. optical systems using light waves, e.g. infrared
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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
- H04N23/67—Focus control based on electronic image sensor signals
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Abstract
The invention provides a photographing control method, a photographing device and a photographing system, and relates to the technical field of photographing, wherein the photographing control method is applied to a remote controller, the remote controller is in communication connection with a photographing robot, and the method comprises the following steps: when the situation that a user triggers an alignment operation is monitored, a first light signal carrying an alignment instruction is sent to the photographing robot, so that the photographing robot is aligned with a photographing focus; the alignment instruction is accompanied with the position of the shooting focus; and when the situation that the user triggers the photographing operation is monitored, sending a second light signal carrying a photographing instruction to the photographing robot so that the photographing robot executes the photographing operation. The invention can make the user shoot more conveniently and effectively improve the reliability of shooting.
Description
Technical Field
The invention relates to the technical field of photographing, in particular to a photographing control method, a photographing device and a photographing system.
Background
When the existing photographing equipment is manually used for photographing, most people need to judge whether the photographing equipment is aligned with a pre-photographed picture by human eyes, and the photographing equipment is controlled by a mechanical key after the alignment is determined so as to execute photographing operation. However, such a photographing method is very inconvenient in a scene such as underwater photographing, and has poor reliability.
Taking a photographing device as an underwater robot as an example for explanation, if an existing diver wants to take a picture by using the underwater robot, the diver needs to judge whether the underwater robot is aligned with a photographed object by naked eyes first, and control the underwater robot to take a picture after the alignment is determined. However, considering the influence of human factors and underwater environmental factors, the reliability of the method for judging alignment underwater by naked eyes is poor, and in addition, if the underwater robot is controlled to take a picture underwater, because the traditional control signal is easily influenced by the underwater environment, the signal is difficult to be accurately identified by the underwater robot, and the reliability is not high.
Disclosure of Invention
In view of the above, the present invention provides a photographing control method, a photographing device and a photographing system, which enable a user to photograph more easily and effectively improve the reliability of photographing.
In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:
in a first aspect, an embodiment of the present invention provides a photographing control method, where the method is applied to a remote controller, and the remote controller is in communication connection with a photographing robot, and the method includes: when the situation that a user triggers an alignment operation is monitored, a first light signal carrying an alignment instruction is sent to the photographing robot, so that the photographing robot is aligned with a photographing focus; wherein the alignment instruction is accompanied with the position of the shooting focus; and when the situation that the user triggers the photographing operation is monitored, sending a second light signal carrying a photographing instruction to the photographing robot so that the photographing robot executes the photographing operation.
With reference to the first aspect, an embodiment of the present invention provides a first possible implementation manner of the first aspect, where the step of sending the first light signal carrying the alignment instruction to the robot imager includes: the method comprises the steps that an alignment instruction is coded by adopting light color and/or light flash frequency, and a first light signal carrying the alignment instruction is generated; sending a first light signal to the photographing robot; the step of sending the second light signal carrying the photographing instruction to the photographing robot includes: the photographing instruction is coded by adopting a light color and/or a light flash frequency, and a second light signal carrying the photographing instruction is generated; and sending a second light signal to the photographing robot.
With reference to the first aspect, an embodiment of the present invention provides a second possible implementation manner of the first aspect, where the method further includes: when an alignment feedback signal of the photographing robot is received, prompting a user in a body vibration mode; and when receiving a photographing execution signal of the photographing robot, turning off the light source.
In a second aspect, an embodiment of the present invention further provides a photographing method, where the method is applied to a photographing robot, and the photographing robot is in communication connection with a remote controller, where the method includes: when a first light signal which is sent by a remote controller and carries an alignment instruction is received, analyzing the first light signal, and aligning a shooting focus according to the alignment instruction obtained by analysis; wherein the alignment instruction is accompanied with the position of the shooting focus; when a second light signal which is sent by the remote controller and carries a photographing instruction is received, the second light signal is analyzed, and photographing operation is executed according to the photographing instruction obtained through analysis.
With reference to the second aspect, an embodiment of the present invention provides a first possible implementation manner of the second aspect, where the analyzing the first light signal includes: decoding the first light signal according to the light color and/or the light strobe frequency to obtain an alignment instruction; the step of analyzing the second light signal includes: and decoding the second light signal according to the light color and/or the light flash frequency to obtain a photographing instruction.
With reference to the second aspect, an embodiment of the present invention provides a second possible implementation manner of the second aspect, where the step of aligning a shooting focus according to the analyzed alignment instruction includes: determining the position of a shooting focus through the alignment instruction obtained by analysis; determining alignment difference according to the position of the shooting focus and the posture position of the shooting robot; adjusting the posture position of the photographing robot based on the alignment difference so that the photographing robot is aligned with a photographing focus; the step of executing the photographing operation according to the photographing instruction obtained by the analysis comprises the following steps: and according to the shooting instruction obtained by analysis, executing the shooting operation when the preset time delay is reached.
With reference to the second aspect, embodiments of the present invention provide a third possible implementation manner of the second aspect, wherein the photographing robot is an ROV.
In a third aspect, an embodiment of the present invention provides a photographing control apparatus, where the photographing control apparatus is disposed on a remote controller, and the remote controller is in communication connection with a photographing robot, and the photographing control apparatus includes: the alignment instruction sending module is used for sending a first light signal carrying an alignment instruction to the photographing robot when the fact that the user triggers the alignment operation is monitored, so that the photographing robot is aligned with a photographing focus; wherein the alignment instruction is accompanied with the position of the shooting focus; and the photographing instruction sending module is used for sending a second light signal carrying a photographing instruction to the photographing robot when the photographing operation triggered by the user is monitored, so that the photographing robot executes the photographing operation.
In a fourth aspect, an embodiment of the present invention provides a photographing apparatus, where the photographing apparatus is disposed in a photographing robot, and the photographing robot is in communication connection with a remote controller, where the photographing apparatus includes: the alignment module is used for analyzing the first light signal when receiving the first light signal which is sent by the remote controller and carries an alignment instruction, and aligning the shooting focus according to the alignment instruction obtained by analysis; wherein the alignment instruction is accompanied with the position of the shooting focus; and the photographing module is used for analyzing the second light signal when receiving the second light signal which is sent by the remote controller and carries the photographing instruction, and performing photographing operation according to the photographing instruction obtained by analysis.
In a fifth aspect, an embodiment of the present invention provides a photographing system, including a remote controller and a photographing robot; the remote controller is in communication connection with the photographing robot; wherein, the remote controller is provided with the photographing control device provided by the third aspect; the photographing robot is provided with the photographing device provided by the fourth aspect.
The embodiment of the invention provides a photographing control method, a photographing device and a photographing system.A remote controller can send a first light signal carrying an alignment instruction to a photographing robot when a user needs to align so that the photographing robot aligns to a photographing focus; and when the user needs to take a picture, sending a second light signal carrying a picture taking instruction to the picture taking robot, so that the picture taking robot executes a picture taking operation. This kind of mode that makes the automatic alignment of robot of shooing shoot the focus and shoot need not the manual work and aligns and carry out artifical adjustment through the naked eye, makes the process of shooing simple and convenient intelligence more, and this kind of mode of utilizing light signal control robot of shooing can slow down the interference of environmental factor such as under water in addition, further promotes the reliability of shooing.
Additional features and advantages of the disclosure will be set forth in the description which follows, or in part may be learned by the practice of the above-described techniques of the disclosure, or may be learned by practice of the disclosure.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 shows a first photographing control flow chart applied to a remote controller according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating a second photographing control applied to a remote controller according to an embodiment of the present invention;
fig. 3 is a flowchart illustrating a first photographing method applied to a photographing robot according to an embodiment of the present invention;
fig. 4 is a flowchart illustrating a second photographing method applied to a photographing robot according to an embodiment of the present invention;
fig. 5 is a flowchart illustrating an interaction method between a remote controller and an ROV according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram illustrating a photographing control apparatus according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a photographing apparatus according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram illustrating a photographing system according to an embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Most of the existing photographing equipment needs manual alignment when photographing, and can be interfered by environment, such as underwater photographing, the underwater environment can affect a control signal, so that the reliability is poor. In order to solve the problem, the photographing control method, the photographing device and the photographing system provided by the embodiments of the present invention may be implemented by using corresponding software and hardware. The following describes embodiments of the present invention in detail.
The first embodiment is as follows:
referring to a first photographing control flowchart applied to a remote controller shown in fig. 1, that is, described as an example from the remote controller side, the remote controller is communicatively connected to a photographing robot, and specifically may include the following steps:
step S102, when it is monitored that a user triggers an alignment operation, a first light signal carrying an alignment instruction is sent to the photographing robot so that the photographing robot can be aligned with a photographing focus; wherein the alignment instruction is accompanied with the position of the shooting focus;
specifically, the user can trigger the remote controller to send the first light signal to the photographing robot by triggering the alignment key and the like. The first light signal is coded light, and the coding scheme adopts the modes of light color, flashing frequency, interval and the like, so that different light transmits different control instructions and carries different information (such as the position of a shooting focus). The shooting focus is also the shooting target center, and the shooting robot can coincide the shooting center of the lens with the shooting focus to ensure that the shooting focus is aligned. In practical applications, the identification point of the remote controller may be set as a shooting focus, or a position corresponding relationship between the remote controller and the shooting focus may be set, or the user configures the identification point on his body as the shooting focus, and the user may set the shooting focus position according to a picture to be shot, where the shooting focus position is usually located at the center of the picture to be shot, and details thereof are not repeated herein.
And step S104, when it is monitored that the user triggers the photographing operation, sending a second light signal carrying a photographing instruction to the photographing robot so that the photographing robot executes the photographing operation. Specifically, the user can cause the remote controller to send the second light signal to the photographing robot by triggering the photographing key and the like. The photographing instruction carried in the second light signal may also include multiple types, such as immediate photographing, delayed photographing, and the like, and the specific photographing mode may be preset by a user. And after the photographing robot identifies the instruction information carried by the second light signal, executing corresponding photographing operation.
In the method provided by the embodiment, the remote controller can send the first light signal carrying the alignment instruction to the photographing robot when the user needs to align, so that the photographing robot aligns to a photographing focus; and when the user needs to take a picture, sending a second light signal carrying a picture taking instruction to the picture taking robot, so that the picture taking robot executes a picture taking operation. This kind of mode that makes the automatic alignment of robot of shooing shoot the focus and shoot need not the manual work and aligns and carry out artifical adjustment through the naked eye for the process of shooing is simple and convenient more intelligent, and this kind of mode of utilizing light signal control robot of shooing moreover can slow down the interference such as environmental factor such as underwater, has further promoted the reliability of shooing.
It should be understood that the remote controller is a light-emitting remote controller, and the light-emitting manner may be preset, such as encoding the color of the light, the color conversion frequency, the light flashing frequency, etc., and different light conversions correspond to different control commands to transmit command signals through the light. The mode of transmitting signals through light is not only novel, but also lower in cost compared with other cable or cable-free modes, and not easy to be interfered by the environment, and the mode of transmitting signals through light can be flexibly adapted to various environments, such as underwater and the like, and the reliability of the mode is higher in the environment with higher requirements on signal transmission.
Referring to a second photographing control flowchart applied to the remote controller shown in fig. 2, the method applied to the remote controller specifically includes the following steps:
step S202, the state of the alignment key of the remote controller is monitored.
Step S204, when the alignment key is triggered, determining that the user triggers the alignment operation.
Step S206, the alignment instruction is encoded by using the light color and/or the light strobe frequency, and a first light signal carrying the alignment instruction is generated. Specifically, the encoding mode may be preset, and the form of emitting the light signal is set through the color of the light, the color conversion frequency, the light flashing frequency, and the like, so that not only different control instructions may be encoded, but also the light signal may be distinguished from other light sources in the surrounding environment such as under water.
And step S208, sending a first light signal to the photographing robot.
And step S210, when the alignment feedback signal of the photographing robot is received, prompting the user in a body vibration mode. When the photographing robot is aligned with the photographing focus, the photographing robot can send an alignment feedback signal to the remote controller, and when the remote controller receives the alignment feedback signal, the user can be prompted that the photographing robot is aligned by adopting a mode of vibration of the body of the remote controller. In addition, the photographing robot may also prompt the user that the camera is aligned by flashing lights or the like, which is not described herein again.
Step S212, the state of the photographing key of the remote controller is monitored.
In step S214, when the photographing key is triggered, it is determined that the user triggers the photographing operation.
Step S216, the photographing instruction is encoded by using the light color and/or the light strobe frequency, and a second light signal carrying the photographing instruction is generated.
In step S218, a second light signal is sent to the photographing robot, so that the photographing robot performs a photographing operation.
In the method of the embodiment, when a user triggers an alignment key, the remote controller encodes an alignment instruction by using light color and/or light strobe frequency, and sends the alignment instruction to the photographing robot through a first encoded light signal; the remote control may also prompt the user by way of a vibration of the body when receiving the alignment feedback signal so that the user knows the alignment. In addition, the remote controller can send a photographing instruction to the photographing robot by utilizing the coded second light signal when the user triggers the photographing key. The above-mentioned mode of utilizing modes such as the colour of light, flashfrequency to carry out the code to the instruction can make control signal in such as the effectual transmission of environment such as under water, slows down the interference of environment to control signal to make the robot of shooing can accurate identification signal, improve the reliability of control.
It should be noted that the photographing control method provided by the embodiment of the present invention is not limited by fig. 2. It should be understood that in other embodiments, some of the steps of the method (such as step S210) may be omitted or deleted.
Considering that the photographing robot may be affected by light when photographing, it is preferable that the remote controller turns off the light source, that is, stops sending the light signal, when receiving the photographing execution signal of the photographing robot. The mode of keeping the remote controller and the photographing robot synchronous can effectively prevent the light emitted by the remote controller from influencing the photographing effect of the photographing robot, and further improves the photographing reliability.
Example two:
referring to a flow chart of a first photographing method applied to a photographing robot shown in fig. 3, that is, a photographing robot side is described as an example for description, the photographing robot may be an underwater robot, an unmanned ship, an unmanned plane, or other intelligent devices capable of photographing; the photographing robot is in communication connection with the remote controller, and the method comprises the following steps:
step S302, when a first light signal which is sent by a remote controller and carries an alignment instruction is received, the first light signal is analyzed, and a shooting focus is aligned according to the alignment instruction obtained through analysis; wherein the alignment instruction is accompanied with a position of the photographing focus.
Specifically, the first light signal is a coded light, and when the photographing robot receives the coded first light signal, the photographing robot determines the control command carried by the light signal by analyzing (i.e., decoding) the coded first light signal. The photographing robot can coincide the photographing center of the lens with the photographing focus to ensure that the photographing focus is aligned. The alignment process may require the photographing robot to perform posture adjustment, and the posture adjustment process is an automatic process, and may be implemented by referring to related technologies, which is not described herein again.
Step S304, when a second light signal which is sent by the remote controller and carries a photographing instruction is received, the second light signal is analyzed, and photographing operation is executed according to the photographing instruction obtained through analysis.
In the method provided by this embodiment, the photographing robot may analyze the received first light signal to obtain an alignment instruction, and align the photographing focus according to the alignment instruction; and analyzing the received second light signal to obtain a photographing instruction, and executing corresponding photographing operation. The photographing robot can analyze the light signals to obtain control instructions (such as alignment instructions, photographing instructions and the like), and execute corresponding operations of the control instructions, the mode that the photographing robot automatically aligns to a photographing focus and photographs does not need to be manually aligned through naked eyes and manually adjusted, so that the photographing process is simpler, more convenient and more intelligent, and the mode that the photographing robot is controlled by the light signals can alleviate the interference of environmental factors such as underwater and the like, and further improves the reliability of photographing.
Referring to a flow chart of a second photographing method applied to the photographing robot shown in fig. 4, the method includes:
step S402, receiving a first light signal carrying an alignment instruction sent by a remote controller.
In step S404, the first light signal is decoded according to the light color and/or the light strobe frequency to obtain the alignment instruction.
In step S406, the position of the shooting focus is determined by the above-described alignment instruction. The alignment command is accompanied with the position of the shooting focus, and the shooting robot can obtain the position of the shooting focus by analyzing the alignment command.
In step S408, an alignment difference is determined according to the position of the photographing focus and the posture position of the photographing robot. When the camera is used for taking a picture, the lens center of the camera robot may not coincide with the shooting focus, so that the position difference between the camera robot and the shooting focus needs to be determined first, so as to facilitate subsequent adjustment.
And step S410, adjusting the posture position of the photographing robot based on the alignment difference so as to enable the photographing robot to be aligned with the photographing focus. When the photographing robot is aligned to the photographing focus, a picture to be photographed, which is required by the user, can be photographed.
Step S412, receiving a second light signal carrying a photographing instruction sent by the remote controller.
In step S414, the second light signal is decoded according to the light color and/or the light strobe frequency to obtain the photographing instruction.
In step S416, the photographing operation is performed according to the photographing instruction. Specifically, the photographing robot may perform the photographing operation when the preset time duration is reached, or may photograph immediately (that is, the time duration is set to 0s), and the time duration may be set by the user, which is not described herein again.
In the method provided by this embodiment, the photographing robot decodes the light signal according to the light color and the flash frequency to obtain the corresponding control command. The photographing robot can also automatically adjust according to the position of the photographing focus and the posture position of the photographing robot, so that the photographing focus of the screen can be ensured to be aligned, manual adjustment is not needed, the photographing process is better simplified, and the photographing is more intelligent. And through the mode of light transmission control command, can slow down the interference of environmental factor such as underwater, further promoted the reliability of shooing.
In practical application, the photographing robot can be an underwater robot, an unmanned aerial vehicle, an unmanned ship and the like, and the robot capable of automatically photographing can be used. In consideration of inconvenience in underwater photographing, the method can be well applied to an underwater photographing scene, namely, to an ROV (Remote Operated Vehicle). It can be understood that when the conventional ROV is used for photographing in underwater operation, no matter the ROV is in a wireless form or a wired form, most of ROV can be interfered by an underwater environment, underwater is always turbid, signals are difficult to accurately transmit, the ROV is difficult to accurately receive the signals and align to a photographed object for photographing, and even if a sonar mode is adopted, the ROV is difficult to accurately align. By adopting a light ray vision mode, the aim of accurately aligning to a cm level can be achieved; in comparatively dim underwater environment, light is bright sign, can be distinguished from the underwater environment around, and remote controller and ROV pass through light transmission signal, can guarantee control command's effective transmission to the reliability of shooing under water has been promoted betterly.
Example three:
for easy understanding, on the basis of the foregoing embodiment, taking a camera robot as an ROV for example, referring to a flowchart of an interaction method between a remote controller and an ROV shown in fig. 5, the method may be applied to an underwater environment, and specifically includes the following steps:
step S502, the remote controller codes the first light when the user triggers the alignment key.
In step S504, the remote controller sends an alignment command to the ROV through the encoded first light.
In step S506, the ROV decodes the encoded first light through a camera and a vision technique to obtain a shooting focus carried by the aiming command.
In step S508, the ROV confirms the difference between the shooting focus and its own posture through a vision technique.
In step S510, the ROV adjusts its posture according to the difference to align the shooting focus. The ROV attitude adjustment can be implemented by referring to the related art, and is not described in detail herein.
And S512, the ROV prompts the user by using the body light, so that the user can know the aligned shooting focus. In practical applications, step S512 may not be executed, for example, 30S after the ROV is adjusted in posture may be set, that is, it is confirmed that the ROV is in focus for shooting. At this point, the ROV is not needed to indicate that the user is aligned. Of course, the prompting function in step S512 may make the photographing reliability higher, so that the user may know more clearly and accurately that the ROV is aligned with the photographing focus, and may trigger the photographing operation.
And step S514, the remote controller codes the second light when the user triggers the photographing key.
In step S516, the remote controller sends a photographing instruction to the ROV through the encoded second light. The first light and the second light are different in color change, flicker frequency, etc., so that the ROV recognizes the control command represented by the corresponding light.
In step S518, the ROV decodes the encoded second light to obtain a photographing instruction.
In step S520, the ROV executes the photographing operation according to the photographing instruction. Specifically, the photographing may be performed immediately or with a delay.
In the above method provided in this embodiment, the remote controller sends a control instruction (an alignment instruction, a photographing instruction, etc.) to the ROV through the coded light, and the ROV decodes the received light to obtain the control instruction and executes the corresponding control instruction. The reliability of signal transmission can be improved better by using a mode of transmitting a control signal by light underwater; in addition, when the ROV executes the alignment instruction, the posture of the ROV can be adjusted to align the shooting focus, so that underwater shooting is simpler and more convenient.
The embodiment provides the following implementation manner: a user (a diver) and the underwater robot are both arranged in an underwater environment, the user holds the remote controller by hand, and sends control instructions such as an alignment instruction, a photographing instruction and the like to the underwater robot through the remote controller, so that the underwater robot automatically aligns to a photographed object and photographs the photographed object. Wherein, the shooting focus position can be determined by the user to determine the shot picture, namely the position needing the underwater robot to be aligned.
For ease of understanding, a specific application is presented herein: the identification point of the remote controller is used as a shooting focus, when a person wants to be combined with an underwater stone, the remote controller can be placed between the person and the stone to be used as the focus position of a shooting picture, and the remote controller is placed at the center point of the shooting picture. Specifically, the identification point on the remote controller is set at the center position of the shooting picture as the shooting focus. Of course, the corresponding relationship between the shooting focus and the remote controller may also be preset, such as setting the shooting focus to be located at the upper left of the remote controller, and when the remote controller is held at the lower right corner by a human hand, the corresponding shooting focus is located at the center point of the screen.
Example four:
referring to the schematic structural diagram of the photographing control device shown in fig. 6, the photographing control device is disposed on a remote controller, the remote controller is in communication connection with the photographing robot, and the photographing control device includes:
an alignment instruction sending module 602, configured to send a first light signal carrying an alignment instruction to the photographing robot when it is monitored that the user triggers an alignment operation, so that the photographing robot aligns with a photographing focus; wherein the alignment instruction is accompanied with the position of the shooting focus;
the photographing instruction sending module 604 is configured to send a second light signal carrying a photographing instruction to the photographing robot when it is monitored that the user triggers the photographing operation, so that the photographing robot executes the photographing operation.
Among the above-mentioned device that this embodiment provided, can make the robot of shooing automatic alignment shoot the focus and shoot, need not the manual work and aim at and carry out artifical adjustment through the naked eye for the process of shooing is more simple and convenient intelligence, and this kind of mode of utilizing light signal control robot of shooing can slow down the interference such as environmental factor such as underwater, has further promoted the reliability of shooing.
The device provided by the embodiment has the same implementation principle and technical effect as the foregoing embodiment, and for the sake of brief description, reference may be made to the corresponding contents in the foregoing method embodiment for the portion of the embodiment of the device that is not mentioned.
Example five:
referring to fig. 7, a schematic structural diagram of a photographing apparatus is shown, the apparatus is disposed in a photographing robot, the photographing robot is in communication connection with a remote controller, and the apparatus includes:
the alignment module 702 is configured to, when receiving a first light signal which is sent by a remote controller and carries an alignment instruction, analyze the first light signal, and align a shooting focus according to the alignment instruction obtained through the analysis; wherein the alignment instruction is accompanied with the position of the shooting focus;
and the photographing module 704 is configured to, when receiving a second light signal carrying a photographing instruction sent by the remote controller, analyze the second light signal, and execute a photographing operation according to the photographing instruction obtained through the analysis.
In the above-mentioned device that this embodiment provided, the robot of shooing can resolve the light signal to obtain control command (such as alignment instruction, the instruction of shooing etc.), and carry out the corresponding operation of control command, this kind of mode that makes the robot of shooing automatic alignment shoot the focus and shoot, need not the manual work and aim at and carry out manual adjustment through the naked eye, make the process of shooing more simple and convenient intelligence, and this kind of mode of utilizing light signal control robot of shooing, can slow down the interference of environmental factor such as under water, the reliability of shooing has further been promoted.
The device provided by the embodiment has the same implementation principle and technical effect as the foregoing embodiment, and for the sake of brief description, reference may be made to the corresponding contents in the foregoing method embodiment for the portion of the embodiment of the device that is not mentioned.
Example six:
referring to fig. 8, a schematic structural diagram of a photographing system includes a remote controller 100 and a photographing robot 200; the remote controller 100 is in communication connection with the photographing robot 200;
wherein, the remote controller is provided with the photographing control device provided by the fourth embodiment; the photographing robot is provided with the photographing device provided by the fifth embodiment.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the system described above may refer to the corresponding process in the foregoing embodiments, and is not described herein again.
The computer program product of the photographing control method, the photographing device and the photographing system provided by the embodiments of the present invention includes a computer readable storage medium storing a program code, where instructions included in the program code may be used to execute the method described in the foregoing method embodiments, and specific implementation may refer to the method embodiments, and will not be described herein again.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (9)
1. A photographing control method is applied to a remote controller, the remote controller is in communication connection with a photographing robot, the photographing robot is an ROV, and the method comprises the following steps:
when the situation that a user triggers an alignment operation is monitored, sending a first light signal carrying an alignment instruction to the photographing robot so that the photographing robot is aligned with a photographing focus; wherein the alignment instruction is accompanied by a position of the photographing focus; the photographing robot confirms the difference between the photographing focal point and the self posture through a vision technology and adjusts the self posture according to the difference to align the photographing focal point;
when the situation that the user triggers the photographing operation is monitored, sending a second light signal carrying a photographing instruction to the photographing robot so that the photographing robot executes the photographing operation;
when the photographing robot is aligned with a photographing focus, an alignment feedback signal is sent to the remote controller, when the remote controller receives the alignment feedback signal, the user is prompted to align the photographing robot by adopting a mode of vibration of a body of the remote controller, and the user is prompted to align by the photographing robot in a flash mode;
when the remote controller receives a photographing execution signal of the photographing robot, the light source is turned off, and light ray signals are stopped from being sent, so that the remote controller and the photographing robot are kept synchronous, and the photographing effect of the photographing robot is prevented from being influenced by light rays sent by the remote controller;
the first light signal and the second light signal are set through the color of light, the color conversion frequency and the light flicker frequency, are used for coding different control instructions and are different from other light sources of the underwater surrounding environment.
2. The method of claim 1,
the step of sending a first light signal carrying an alignment instruction to the robot camera includes:
the method comprises the steps that an alignment instruction is coded by adopting light color and/or light flash frequency, and a first light signal carrying the alignment instruction is generated;
sending the first light signal to the photographing robot;
the step of sending a second light signal carrying a photographing instruction to the photographing robot includes:
the photographing instruction is coded by adopting light color and/or light flash frequency, and a second light signal carrying the photographing instruction is generated;
and sending the second light signal to the photographing robot.
3. The method of claim 1, further comprising:
when an alignment feedback signal of the photographing robot is received, prompting the user in a body vibration mode;
and when receiving a photographing execution signal of the photographing robot, turning off the light source.
4. A photographing method is applied to a photographing robot, the photographing robot is an ROV, the photographing robot is in communication connection with a remote controller, and the method comprises the following steps:
when a first light signal which is sent by the remote controller and carries an alignment instruction is received, analyzing the first light signal, and aligning a shooting focus according to the alignment instruction obtained by analysis; wherein the alignment instruction is accompanied by a position of the photographing focus; the photographing robot confirms the difference between the photographing focal point and the self posture through a vision technology and adjusts the self posture according to the difference to align the photographing focal point;
when a second light signal which is sent by the remote controller and carries a photographing instruction is received, analyzing the second light signal, and carrying out photographing operation according to the photographing instruction obtained through analysis;
when the photographing robot is aligned with a photographing focus, an alignment feedback signal is sent to the remote controller, when the remote controller receives the alignment feedback signal, the user is prompted to align the photographing robot by adopting a mode of vibration of a body of the remote controller, and the user is prompted to align by the photographing robot in a flash mode;
when the remote controller receives a photographing execution signal of the photographing robot, the light source is turned off, and light ray signals are stopped from being sent, so that the remote controller and the photographing robot are kept synchronous, and the photographing effect of the photographing robot is prevented from being influenced by light rays sent by the remote controller;
the first light signal and the second light signal are set through the color of light, the color conversion frequency and the light flicker frequency, are used for coding different control instructions and are different from other light sources of the underwater surrounding environment.
5. The method of claim 4,
the step of analyzing the first light signal includes:
decoding the first light signal according to light color and/or light strobe frequency to obtain the alignment instruction;
the step of analyzing the second light signal includes:
and decoding the second light signal according to the light color and/or the light flash frequency to obtain the photographing instruction.
6. The method of claim 4,
the step of aligning the shooting focus according to the alignment instruction obtained by the analysis comprises the following steps:
determining the position of the shooting focus through the alignment instruction obtained by analysis;
determining an alignment difference according to the position of the shooting focus and the posture position of the photographing robot;
adjusting the posture position of the photographing robot based on the alignment difference so that the photographing robot is aligned with the photographing focus;
the step of executing the photographing operation according to the photographing instruction obtained by the analysis comprises the following steps:
and according to the shooting instruction obtained by analysis, executing the shooting operation when the preset time delay is reached.
7. The utility model provides a controlling means shoots, its characterized in that, the device sets up in the remote controller, the remote controller is connected with the robot communication of shooing, the robot of shooing is the ROV, the device includes:
the alignment instruction sending module is used for sending a first light signal carrying an alignment instruction to the photographing robot when the fact that a user triggers an alignment operation is monitored, so that the photographing robot is aligned with a photographing focus; wherein the alignment instruction is accompanied by a position of the photographing focus; the photographing robot confirms the difference between the photographing focal point and the self posture through a vision technology and adjusts the self posture according to the difference to align the photographing focal point;
the photographing instruction sending module is used for sending a second light signal carrying a photographing instruction to the photographing robot when it is monitored that the user triggers the photographing operation, so that the photographing robot executes the photographing operation; wherein
When the photographing robot is aligned with a photographing focus, an alignment feedback signal is sent to the remote controller, when the remote controller receives the alignment feedback signal, the user is prompted to align the photographing robot by adopting a mode of vibration of a body of the remote controller, and the user is prompted to align by the photographing robot in a flash mode;
when the remote controller receives a photographing execution signal of the photographing robot, the light source is turned off, and light ray signals are stopped from being sent, so that the remote controller and the photographing robot are kept synchronous, and the photographing effect of the photographing robot is prevented from being influenced by light rays sent by the remote controller;
the first light signal and the second light signal are set through the color of light, the color conversion frequency and the light flicker frequency, are used for coding different control instructions and are different from other light sources of the underwater surrounding environment.
8. The utility model provides a device of shooing, its characterized in that, the device sets up in the robot of shooing, the robot of shooing and remote controller communication connection, the robot of shooing is the ROV, the device includes:
the alignment module is used for analyzing the first light signal when receiving the first light signal which is sent by the remote controller and carries an alignment instruction, and aligning a shooting focus according to the alignment instruction obtained by analysis; wherein the alignment instruction is accompanied by a position of the photographing focus; the photographing robot confirms the difference between the photographing focal point and the self posture through a vision technology and adjusts the self posture according to the difference to align the photographing focal point;
the photographing module is used for analyzing the second light signal when receiving the second light signal which is sent by the remote controller and carries a photographing instruction, and performing photographing operation according to the photographing instruction obtained through analysis; wherein the content of the first and second substances,
when the photographing robot is aligned with a photographing focus, an alignment feedback signal is sent to the remote controller, when the remote controller receives the alignment feedback signal, the user is prompted to align the photographing robot by adopting a mode of vibration of a body of the remote controller, and the user is prompted to align by the photographing robot in a flash mode;
when the remote controller receives a photographing execution signal of the photographing robot, the light source is turned off, and light ray signals are stopped from being sent, so that the remote controller and the photographing robot are kept synchronous, and the photographing effect of the photographing robot is prevented from being influenced by light rays sent by the remote controller;
the first light signal and the second light signal are set through the color of light, the color conversion frequency and the light flicker frequency, are used for coding different control instructions and are different from other light sources of the underwater surrounding environment.
9. A photographing system is characterized by comprising a remote controller and a photographing robot; the remote controller is in communication connection with the photographing robot;
wherein the photographing control device of claim 7 is arranged on the remote controller; the photographing robot is provided with the photographing device of claim 8.
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| CN109309791B (en) * | 2018-11-09 | 2021-01-29 | 珠海格力智能装备有限公司 | Method and system for controlling camera to take pictures |
| CN111161144B (en) * | 2019-12-18 | 2021-07-20 | 北京城市网邻信息技术有限公司 | Panorama acquisition method, panorama acquisition device and storage medium |
| CN112188088B (en) * | 2020-09-21 | 2022-10-25 | 厦门大学 | Underwater self-photographing system |
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