CN109246355A - The method, apparatus and robot of panoramic picture are generated using robot - Google Patents
The method, apparatus and robot of panoramic picture are generated using robot Download PDFInfo
- Publication number
- CN109246355A CN109246355A CN201811093836.5A CN201811093836A CN109246355A CN 109246355 A CN109246355 A CN 109246355A CN 201811093836 A CN201811093836 A CN 201811093836A CN 109246355 A CN109246355 A CN 109246355A
- Authority
- CN
- China
- Prior art keywords
- robot
- shooting
- camera
- panoramic picture
- point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
- H04N23/61—Control of cameras or camera modules based on recognised objects
- H04N23/611—Control of cameras or camera modules based on recognised objects where the recognised objects include parts of the human body
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
Abstract
The application discloses a kind of method, apparatus and robot that panoramic picture is generated using robot, complete independently can find a view and camera operation under no artificial intervention, and can take the real scene without person characteristic information.This method comprises: generating shooting point and movement routine according to photographed scene；The robot is shot into point according to first that the movement routine is moved in the shooting point；Identify the character features in current shooting region；If identifying that there is no character features in current shooting region, are taken pictures using the camera of taking pictures with predetermined filming frequency.The application complete independently can find a view work under no artificial intervention, and will not take mobile robot under body, all real scenes without operator of the photo taken under fixed frequency, and be spaced it is shorter, can be with the mobile panoramic video of captured in real-time.
Description
Technical field
This application involves a kind of image processing methods, particularly, are related to a kind of side that panoramic picture is generated using robot
Method, in addition, the application further relates to the robot using this kind of panorama image generation method or device.
Background technique
Existing panoramic photographing mode is mostly artificial progress, and if desired filming frequency is frequent and place is close, when quantity is excessive
It needs constantly to have the mobile camera of operator, and sets backed off after random camera of periodically taking pictures and take pictures in range, shooting of so getting off is shone
Piece needs labor intensive and plenty of time, needs again aforesaid operations repeatedly if having the planning of other places, time cost is double.
The information for being disclosed in the application background technology part is merely intended to deepen the reason to the general background technique of the application
Solution, and it is known to those skilled in the art existing to be not construed as recognizing or imply that the information is constituted in any form
Technology.
Summary of the invention
The main purpose of the application is to provide a kind of method for generating panoramic picture using robot, can be in nobody
To intervene complete independently to find a view and camera operation, and the real scene without person characteristic information can be taken.
To solve the above-mentioned problems, this application involves a kind of methods for generating panoramic picture using robot, wherein in institute
It states and at least one camera of taking pictures is installed at the chassis of robot, this may include:
Shooting point and movement routine are generated according to photographed scene；
The robot is shot into point according to first that the movement routine is moved in the shooting point；
Identify the character features in current shooting region；
If identifying that there is no character features in current shooting region, using the camera of taking pictures with predetermined shooting
Frequency is taken pictures, to generate the corresponding shooting image of the first shooting point；
The robot is moved to next shooting point in the shooting point according to the movement routine, and is opened
The step of beginning to execute the character features taken pictures described in the utilization in camera identification current shooting region, it is described next to generate
Shoot the corresponding shooting image of point；
If the robot completes the photographing operation of all shooting points, the corresponding bat of the shooting point is utilized
It takes the photograph image and generates panoramic picture.
Further, the current shooting region be take pictures according to camera pitch angle and rotation angle limit
Fixed shooting area.
Further, the range of the pitch angle is spent -45 between 225 degree；It is described rotation angle range-
Between 90 degree to 90 degree.
Further, if identifying that there are character features in current shooting region, which comprises
Stop photographing operation；Described take pictures in camera identification current shooting region is continued with after the predetermined time
Character features；If identifying that there are character features in current shooting region, by the robot according to the movement routine
The next shooting point being moved in the shooting point.
Further, it includes: to be incited somebody to action by network that the camera of taking pictures described in, which take pictures with predetermined filming frequency,
Photographing instruction is sent to the control unit in the robot, and the photographing instruction is converted into machine recognition by described control unit
Code, and the machine identifier is sent to the camera of taking pictures in a manner of socket.
Further, if the robot is back to the first shooting point, it is determined that the robot completes
The photographing operation of all shooting points.
The application further relates to a kind of device that panoramic picture is generated using robot, installs at the chassis of the robot
Have at least one camera of taking pictures, described device includes: path determining device, for according to photographed scene generate shooting point with
And movement routine；Mobile determining device, for the robot to be moved in the shooting point according to the movement routine
Shooting point；Specific identification device, for identification character features in current shooting region；Image acquiring device, if known
Character features Chu not be not present in current shooting region, camera of taking pictures described in image acquiring device utilization is with predetermined shooting frequency
Rate is taken pictures, to generate the corresponding shooting image of the shooting point；Video generation device, if the robot completes
The photographing operation of all shooting points, the video generation device generate panorama sketch using the corresponding shooting image of the shooting point
Picture.
Further, if identifying that, there are character features in current shooting region, described image acquisition device is also used to:
Stop photographing operation；It is special that the personage to take pictures in camera identification current shooting region is continued with after the predetermined time
Sign.
Further, device further include: network equipment and control unit, the network equipment are used to clap by network
According to the control unit that instruction is sent in the robot, described control unit is used to for the photographing instruction to be converted into machine to know
Other code, and the machine identifier is sent to the camera of taking pictures in a manner of socket.
In addition, the application further relates to a kind of robot, including ontology, setting in intrinsic computer storage, calculating
Machine processor and it is stored in the computer that can be executed in the computer storage and in the computer processor
Program, wherein at least one camera of taking pictures is equipped at the chassis of the robot；And the computer processor is held
The step in the method for generating panoramic picture using robot as described above is realized when the row computer program.
The beneficial effect of the application is: the method and this kind of video camera that panoramic picture is generated using robot of the application
Device people complete independently can find a view work under no artificial intervention, and will not take mobile robot under body, fixed frequency
Under all real scenes without operator of photo that take, and be spaced it is shorter, can be with the mobile aphorama of captured in real-time
Frequently.
In addition, the application can remotely be taken pictures by calling interface by spare interface mode, exempt artificial close
Camera is tripped manually.And taken pictures in the above method according to location information to judge whether to calling interface automatically, multiple
Camera function can be directly carried out when moving to reach other positions by chassis when position is taken pictures, and remove artificial mobile camera from, and
Also need to carry out the setting such as various light fillings clicking shutter after the completion of mobile, and it is sustainable in moving process take pictures, panorama phase
Artificially shooting needs mobile camera manually in machine, is likely to occur mobile personnel figure in photo.And the application realizes basis and takes the photograph
As the different movement speeds of head determine the frequency of corresponding acquisition image, allow camera according to the frequency collection image,
The method proposed according to embodiments of the present invention can allow user to be rotated and moved at any angle when panning photo,
And do not have to worry the problem of mobile, rotation speed is uneven or acquires the failure of uneven bring pan-shot manually.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present application, so that the application's is other
Feature, objects and advantages become more apparent upon.The illustrative examples attached drawing and its explanation of the application is for explaining the application, not
Constitute the improper restriction to the application.In the accompanying drawings:
Fig. 1 is the flow chart according to the method for generating panoramic picture using robot of the embodiment of the present application；
Fig. 2 is that stopping in the method for generated using robot panoramic picture according to the embodiment of the present application is taken pictures process
Flow chart.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection
It encloses.
In addition, term " installation ", " setting ", " being equipped with ", " connection ", " being configured to " shall be understood in a broad sense.For example, it may be
It is fixedly connected, is detachably connected or monolithic construction；It can be mechanical connection, or electrical connection；It can be directly connected, or
Being or is two connections internal between device, element or component indirectly connected through an intermediary.For ability
For the those of ordinary skill of domain, the concrete meaning of above-mentioned term in this application can be understood as the case may be.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.Wherein, Fig. 1 is according to the embodiment of the present application
The method that panoramic picture is generated using robot flow chart, Fig. 2 is to be generated according to the embodiment of the present application using robot
Stopping in the method for panoramic picture is taken pictures the flow chart of process.
As shown in Figure 1, a kind of method for generating panoramic picture using robot of the application, wherein in the robot
At least one camera of taking pictures is installed, and this method may comprise steps of S1 to step S6 at chassis:
In step S1, the application generates shooting point and movement routine according to photographed scene first, specifically, can be with base
In photographed scene map to plan specific shooting point and according to shooting point bit machine device people's movement routine.
Next, the robot is moved to the shooting according to the movement routine first by the application in step S2
The first shooting point (i.e. starting point) in point.
Later, in step S3, the application utilize described in the character features taken pictures in camera identification current shooting region, should
The recognition methods of character features can use camera to identify according to character features value or carry out using infrared sensor
The identification of mobile object, since identification character features are the prior arts, the present invention is not described in detail herein.
If identifying that, there is no character features in current shooting region, the application is executed step S4, taken pictures using described
Camera is taken pictures with predetermined filming frequency, to generate the corresponding shooting image of the first shooting point.Particularly, described
Current shooting region be take pictures according to camera pitch angle and rotation angle come the shooting area that limits.The pitching
The range of angle can be spent -45 between 225 degree；The range of the rotation angle is spent -90 between 90 degree.
Wherein, described using taking pictures camera with predetermined filming frequency and take pictures includes: by network by photographing instruction
The photographing instruction is converted into machine identifier by the control unit being sent in the robot, described control unit, and
The machine identifier is sent to the camera of taking pictures in a manner of socket.
The application can remotely be taken pictures by calling interface by spare interface mode, be exempted artificially close to camera hand
It is dynamic to trip.And taken pictures in the above method according to location information to judge whether to calling interface automatically, it is clapped in multiple positions
According to when other positions are moved to reach by chassis when can directly carry out camera function, remove artificial mobile camera from, and moved
Also need to carry out the setting such as various light fillings clicking shutter at rear, and it is sustainable in moving process take pictures, people in panorama camera
Mobile camera manually is needed for shooting, is likely to occur mobile personnel figure in photo.And the application is realized according to camera
Different movement speeds determines the frequency of corresponding acquisition image, allows camera according to the frequency collection image, according to this
The method that inventive embodiments propose can allow user to be rotated and moved at any angle when panning photo, and not have to
Worry the problem of mobile, rotation speed is uneven or acquires the failure of uneven bring pan-shot manually.
In step S5, the robot is moved to next in the shooting point by the application according to the movement routine
Point is shot, and executes the step S4 that takes pictures above, to generate the corresponding shooting image of next shooting point.
If the robot completes the photographing operation of all shooting points, the application thens follow the steps S6, utilizes institute
It states the corresponding shooting image of shooting point and generates panoramic picture.And if robot does not complete photographing operation, both robot did not had
There is first count described in return value according to point, the application then continuously carries out step S5, until robot is moved to last shooting point
Complete to take pictures and be back to first count according to point in position.Specifically, if the robot is back to the first shooting point, this
Application then determines that the robot completes the photographing operation of all shooting points.And panoramic picture is generated according to shooting image
The common knowledge of this field is also belonged to, the application is no longer described in detail herein.
In step s 4, if identifying that, there are character features in current shooting region, the application executes as shown in Figure 2
Stop the step S21 to step S23 that takes pictures:
In step S21, the application controls robot first and stops photographing operation；
Later, in step S22, the camera shooting of taking pictures is continued with after the predetermined time (for example, 30 seconds or 1 minute)
Character features in head identification current shooting region；
In step S23, character features are still remained in current shooting region if identified, the application is by the robot
Next shooting point in the shooting point is moved to according to the movement routine.
The application further relates to a kind of device (not shown) that panoramic picture is generated using robot, wherein described
At least one camera of taking pictures is installed, described device includes: path determining device, for according to shooting at the chassis of robot
Scene generates shooting point and movement routine；Mobile determining device, for moving the robot according to the movement routine
Move the shooting point into the shooting point；Specific identification device, for camera identification current shooting of taking pictures described in utilization
Character features in region；Image acquiring device, if identifying that, there is no character features in current shooting region, which obtains
Device camera of taking pictures described in is taken to take pictures with predetermined filming frequency, to generate the corresponding shooting figure of the shooting point
Picture；Video generation device, if the robot completes the photographing operation of all shooting points, which is utilized
The corresponding shooting image of the shooting point generates panoramic picture；Network equipment, for being sent to photographing instruction by network
Control unit in the robot；And control unit, for the photographing instruction to be converted into machine identifier, and with
The machine identifier is sent to the camera of taking pictures by the mode of socket.
In addition, described image acquisition device is also used to: stopping photographing operation；The bat is continued with after the predetermined time
According to the character features in camera identification current shooting region.
In addition, the application further relates to a kind of robot (not shown) comprising ontology is arranged in intrinsic calculating
It machine memory, computer processor and is stored in the computer storage and can be in the computer processor
The computer program of execution, it is characterised in that: at least one camera of taking pictures is equipped at the chassis of the robot；And
The computer processor realizes the side recited above that panoramic picture is generated using robot when executing the computer program
Step in method.
Computer program involved in the application can store in computer readable storage medium, described computer-readable
Storage medium may include: any entity apparatus that can carry computer program code, virtual bench, flash disk, mobile hard disk,
Magnetic disk, CD, computer storage, read-only computer storage (Read-Only Memory, ROM), random access computer
Memory (Random Access Memory, RAM), electric carrier signal, telecommunication signal and other software distribution medium etc..
Obviously, those skilled in the art should be understood that each module of the above invention or each step can be with general
Computing device realize that they can be concentrated on a single computing device, or be distributed in multiple computing devices and formed
Network on, optionally, they can be realized with the program code that computing device can perform, it is thus possible to which they are stored
Be performed by computing device in the storage device, perhaps they are fabricated to each integrated circuit modules or by they
In multiple modules or step be fabricated to single integrated circuit module to realize.In this way, the present invention is not limited to any specific
Hardware and software combines.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., is all contained within the protection scope of the application.
Claims (10)
1. a kind of method for generating panoramic picture using robot, which is characterized in that be equipped at the chassis of the robot
At least one camera of taking pictures, this method comprises:
Shooting point and movement routine are generated according to photographed scene；
The robot is shot into point according to first that the movement routine is moved in the shooting point；
Identify the character features in current shooting region；
If identifying that there is no character features in current shooting region, using the camera of taking pictures with predetermined filming frequency
It takes pictures, to generate the corresponding shooting image of the first shooting point；
The robot is moved to next shooting point in the shooting point according to the movement routine, and starts to hold
The step of camera of taking pictures described in the row utilization identifies the character features in current shooting region, to generate next shooting
The corresponding shooting image of point；
If the robot completes the photographing operation of all shooting points, the corresponding shooting figure of the shooting point is utilized
As generating panoramic picture.
2. the method according to claim 1 for generating panoramic picture using robot, which is characterized in that the current shooting
Region be take pictures according to camera pitch angle and rotation angle come the shooting area that limits.
3. the method according to claim 2 for generating panoramic picture using robot, which is characterized in that the pitch angle
Range in -45 degree between 225 degree；The range of the rotation angle is spent -90 between 90 degree.
4. the method according to claim 1 for generating panoramic picture using robot, which is characterized in that work as if identified
There are character features in preceding shooting area, which comprises
Stop photographing operation；
The character features taken pictures in camera identification current shooting region are continued with after the predetermined time；
If identifying that there are character features in current shooting region, and the robot is moved to according to the movement routine
Next shooting point in the shooting point.
5. the method according to claim 1 for generating panoramic picture using robot, which is characterized in that described in the utilization
It includes: the control being sent to photographing instruction by network in the robot that camera of taking pictures, which take pictures with predetermined filming frequency,
The photographing instruction is converted into machine identifier by unit processed, described control unit, and by the machine in a manner of socket
Device identification code is sent to the camera of taking pictures.
6. the method according to claim 1 for generating panoramic picture using robot, which is characterized in that if the machine
People is back to the first shooting point, it is determined that the robot completes the photographing operation of all shooting points.
7. a kind of device for generating panoramic picture using robot, which is characterized in that be equipped at the chassis of the robot
At least one camera of taking pictures, described device include:
Path determining device, for generating shooting point and movement routine according to photographed scene；
Mobile determining device, the shooting point for being moved to the robot according to the movement routine in the shooting point
Position；
Specific identification device, for identification character features in current shooting region；
Image acquiring device, if identifying that, there is no character features in current shooting region, which utilizes institute
It states camera of taking pictures to take pictures with predetermined filming frequency, to generate the corresponding shooting image of the shooting point；
Video generation device, if the robot completes the photographing operation of all shooting points, video generation device benefit
Panoramic picture is generated with the corresponding shooting image of the shooting point.
8. the device according to claim 7 for generating panoramic picture using robot, which is characterized in that work as if identified
There are character features in preceding shooting area, described image acquisition device is also used to:
Stop photographing operation；
The character features taken pictures in camera identification current shooting region are continued with after the predetermined time.
9. the device according to claim 7 for generating panoramic picture using robot, which is characterized in that further include: network
Device and control unit,
The network equipment is used to that photographing instruction to be sent to the control unit in the robot by network,
Described control unit is used to the photographing instruction being converted into machine identifier, and by the machine in a manner of socket
Device identification code is sent to the camera of taking pictures.
10. a kind of robot, including ontology, setting in intrinsic computer storage, computer processor and are stored in
In the computer storage and the computer program that can be executed in the computer processor, it is characterised in that:
At least one camera of taking pictures is installed at the chassis of the robot；And the computer processor executes the computer
The step in the method for generating panoramic picture using robot as described in any one of claim 1 to 6 is realized when program.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811093836.5A CN109246355B (en) | 2018-09-19 | 2018-09-19 | Method and device for generating panoramic image by using robot and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811093836.5A CN109246355B (en) | 2018-09-19 | 2018-09-19 | Method and device for generating panoramic image by using robot and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109246355A true CN109246355A (en) | 2019-01-18 |
| CN109246355B CN109246355B (en) | 2020-12-18 |
Family
ID=65059180
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811093836.5A Active CN109246355B (en) | 2018-09-19 | 2018-09-19 | Method and device for generating panoramic image by using robot and robot |
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| CN112367478A (en) * | 2020-09-09 | 2021-02-12 | 北京潞电电气设备有限公司 | Tunnel robot panoramic image processing method and device |
| CN112770084A (en) * | 2019-10-21 | 2021-05-07 | 丰田自动车株式会社 | Monitoring system, monitoring method, and storage medium |
| WO2021115192A1 (en) * | 2019-12-09 | 2021-06-17 | 深圳市大疆创新科技有限公司 | Image processing device, image processing method, program and recording medium |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN109246355B (en) | 2020-12-18 |
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Address after: Room 702, 7th floor, NO.67, Beisihuan West Road, Haidian District, Beijing 100089 Patentee after: Beijing Yunji Technology Co.,Ltd. Address before: Room 702, 7th floor, NO.67, Beisihuan West Road, Haidian District, Beijing 100089 Patentee before: BEIJING YUNJI TECHNOLOGY Co.,Ltd. |