CN109743565B - Method for automatically acquiring stable image by cooperation of multiple devices - Google Patents
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Abstract
The invention provides a method for automatically acquiring a stable image by matching multiple devices, which comprises the steps of acquiring position and posture information of an OLED television through an angular point camera module, adjusting the position and posture of the OLED television to a preset position, adjusting the distance between a screen of the OLED television and a detection camera module through superposition identification of actual detection images so as to acquire clear pixel point color development information, and traversing the screen of the OLED television through the detection camera module so as to extract all pixel point images of the screen of the OLED television.
Description
Technical Field
The invention relates to the field of visual detection, in particular to a method for automatically acquiring a stable image by matching multiple devices.
Background
An Organic Light-Emitting Diode (OLED) is also called an Organic electroluminescent display or an Organic Light-Emitting semiconductor. It was found in the laboratory in 1979 by professor deng dunqing cloud of chinese ethnic origin (china w.tang). The OLED display technology has the advantages of self-luminescence, wide viewing angle, almost infinite contrast, low power consumption, extremely high reaction speed and the like.
The full Color of the television is an important mark for checking whether the television has competitiveness in the market, so that many full-Color technologies are also applied to the OLED television, and there are three types, which are RGB pixel independent light emission, Color Conversion (Color Conversion) and Color Filter (Color Filter), according to the types of the panel.
For the panel type in which RGB pixels emit light independently, independent light emission using a light emitting material is currently the most adopted color mode. The method comprises preparing red, green and blue light emitting centers by using precise metal shadow mask and CCD pixel alignment technique, and adjusting the color mixing ratio of three color combinations to generate true color, so that three color OLED elements emit light independently to form a pixel. The key of the technology is to improve the color purity and luminous efficiency of the luminescent material, and the technology of metal shadow mask etching is also important.
The organic micromolecule luminescent material AlQ3 is a good green light luminescent micromolecule material, and the green light luminescent material has good green color purity, luminescent efficiency and stability. However, the best red light emitting small molecule material of the OLED has the light emitting efficiency of only 31mW and the service life of 1 ten thousand hours, and the development of the blue light emitting small molecule material is slow and difficult. The biggest bottlenecks faced by organic small molecule light emitting materials are the purity, efficiency and lifetime of red and blue materials. However, blue light and red light having good color purity, luminous efficiency and stability have been obtained by doping a host light emitting material.
Due to the fact that the manufacturing yield of the blue light emitting material and the red light emitting material is low, in order to guarantee the quality of the OLED television, the screen of the OLED television needs to be checked, and the color information of each pixel point on the screen of the OLED television needs to be obtained firstly on the basis of checking.
Disclosure of Invention
Correspondingly, the invention provides a method for automatically acquiring a stable image by matching multiple devices, which comprises the following steps:
outputting an original position detection picture to the OLED television for real-time playing based on the image output module;
acquiring four corner region images of the OLED television based on a corner camera module, synthesizing an original position real-time image based on an image processor module, and caching the image in a picture buffer in real time;
reading the picture buffer based on a picture processor, and extracting original screen outline information of the OLED television from the original position real-time image;
adjusting the OLED television to a preset posture based on the original screen contour information;
outputting an original pixel point detection picture to an OLED television for real-time playing based on an image output module;
acquiring an actual detection image of any region of the OLED television in a preset posture based on a detection camera module, and caching the actual detection image in a picture buffer in real time;
adjusting the distance between the OLED television and the detection camera module based on the actual detection image;
and traversing the OLED television screen based on the detection camera module to acquire images of all pixel points of the screen of the OLED television.
The original detected picture is a pure white picture.
Except the four corner region images, the RGB data of pixel points at other positions of the original position real-time image are (255 ).
The picture processor-based method for reading the picture buffer and extracting the original screen outline information of the OLED television from the original position real-time image comprises the following steps:
converting the real-time image of the original position from an RGB format to a YUV format;
black and white processing the real-time image of the original position in the YUV format;
removing the original position real-time image subjected to black and white processing based on image filtering;
and acquiring the original screen outline information based on the original position real-time image after image filtering.
The original screen contour information comprises an actual contour edge and a calculated contour edge, and the calculated contour edge is formed by connecting adjacent corner points of the actual contour edge.
The adjusting the OLED television to a preset posture based on the original screen contour information comprises the following steps:
generating two intersecting and non-collinear rotating shafts through one corner point of the OLED television, and controlling the OLED television to rotate along the two rotating shafts in sequence until the included angle of the corner point is 90 degrees in the original screen contour information;
and calculating the angular difference between a rectangular coordinate system formed by the angular point included angle and the rectangular coordinate system in the ideal posture of the angular point included angle, and rotating the OLED television to the ideal posture.
The original pixel point detection pictures comprise three original pixel point detection pictures which are respectively red background pictures, green background pictures and blue background pictures.
The adjusting the distance between the OLED television and the detection camera module based on the actual detection image comprises the following steps:
acquiring three actual detection images corresponding to the three original pixel point detection images based on a detection camera module;
and taking the pixel points of the three actual detection images as main keys, wherein each pixel point has three attributes which are respectively processing color data of each pixel point in the three actual detection images.
The process color data is derived based on:
changing RGB color channel items of black pixel points in an actual detection image into (255 );
graying the three actual detection images;
black and white processing the three actual detection images subjected to the graying processing;
and the processed color data is the gray information of pixel points of three actual detection images after black and white processing.
The method and the system for automatically acquiring the stable image by matching the multiple devices can quickly adjust and detect the relative position between the camera module and the OLED television, and the acquired pixel point image information is completely a real-time actual image without software simulation filling, distortion correction and perspective correction, so that the method and the system have good reliability and good practicability in detection.
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, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart illustrating a method for automatically acquiring a stabilized image in cooperation with multiple devices in accordance with an embodiment of the present invention;
FIG. 2 is a front view of an OLED TV illustrating the detection status according to an embodiment of the present invention;
FIG. 3 illustrates a raw location real-time image of an embodiment of the present invention;
FIG. 4 is a diagram illustrating screen profile information for a raw position real-time image in accordance with an embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating the adjustment principle of the OLED TV according to the embodiment of the present invention along the y-axis direction;
FIG. 6 shows a front-to-back comparison of OLED TV rotation adjustment according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram illustrating a method for automatically acquiring a stable image in cooperation with multiple devices according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
The embodiment of the invention provides a method for automatically acquiring a stable image by matching multiple devices. The method for automatically acquiring the stable image by matching multiple devices comprises the following steps:
s101: outputting an original position detection picture to the OLED television for real-time playing based on the image output module;
the original position detection picture is used for separating the screen and the frame of the OLED television, so that the image information of the screen is extracted more simply. Generally, most OLED tv frames on the market are black, gray or silver, so that pure white pictures can be used as the original detection pictures. It should be noted that the original detection picture needs to match the resolution of the OLED television to be detected.
In addition, the original detection picture is also used for correcting the relative position between the OLED television screen and the camera module, so that the position between the OLED television screen and the camera module is opposite.
S102: acquiring four corner region images of the OLED based on a corner camera module, synthesizing an original position real-time image based on an image processor module, and caching the image in a picture buffer in real time;
the screen of the OLED television is installed in the frame, and the assembly precision of the screen of the OLED television during installation can affect the screen posture of the OLED television, and the effect is probably not discernible by naked eyes, but can affect the machine vision processing. In addition, when the OLED television detects clamping, the clamping difference may cause the posture of the OLED television to be influenced. Therefore, the relative position relationship between the screen of the OLED television and the camera module is generally not fixed.
Therefore, in order to ensure that the screen image of the OLED television acquired by the camera module each time is always in the same posture, the position of the OLED television needs to be adjusted, so that different screen positions of the OLED television are always fixed relative to the camera module.
Fig. 2 shows a schematic diagram of the original live image capture position. Generally, since the OLED display screen is generally rectangular, first, a corner image at four corner positions of the OLED television is obtained based on a corner camera module, and an original position real-time image is generated by an image processor and cached in a picture buffer.
It should be noted that the relative positions between the four corner point images are predetermined, and the corner point images need to be complemented by null keys, i.e. analog filling with RGB data (255 ), so as to generate a complete original position real-time image. It should be noted that the real-time image at the original position is always in the same storage position in the picture buffer, that is, always stored in the same memory address, and through the form of duplication, the real-time image at the former original position is covered by the real-time image at the latter original position, so as to ensure that the real-time image at the original position, which is subsequently read and processed, is always the real-time image of the current OLED television.
Fig. 3 shows a schematic diagram of an original real-time image according to an embodiment of the present invention, specifically, the original real-time image includes four corner point images of an OLED television, and the four corner point images are filled with empty keys. Each corner image comprises a screen part, a frame part and a background plate part of the OLED television.
It should be noted that, in the drawings, a picture of the OLED television in an ideal posture is shown, in a specific implementation, a certain difference may exist between the OLED television and the ideal posture due to different fixing modes and assembly differences of the OLED television, and the posture of the fixture needs to be adjusted to adjust the position of the OLED television.
S103: reading the picture buffer based on a picture processor, and extracting original screen outline information of the OLED television from the original position real-time image;
in order to ensure the shooting effect of the camera module, during pixel detection, the camera module is not suitable for being driven by a multi-axis parallel driving mode, so that the position of the OLED television needs to be adjusted, the position of the OLED television is opposite to the camera module, the length direction of the OLED television is coplanar with the length direction of the camera module, the width direction of the OLED television is coplanar with the width direction of the camera module, and the camera module can traverse the screen of the OLED television through single-direction axis discrete driving.
Specifically, the original real-time image acquired by the camera module is an RGB digital image. The color image contains a large amount of information, the workload of the identification algorithm is increased, and the gray processing needs to be performed on the color image, namely, the real-time image at the original position is converted from an RGB format to a YUV format. YUV, a color coding method. YUV allows for reduced bandwidth of chrominance in the coding of photographs or video, taking into account human perception, where "Y" denotes brightness and "U" and "V" are chrominance, density. In general, the gray scale value may be represented using a Y value.
In the color image, each pixel point is composed of 3 color components of red, green and blue, and 255 values are available for each component, wherein 0 represents darkest black and 255 represents brightest color. Specifically, the embodiment of the present invention adopts a weighted average method to convert the original real-time image into YUV format, and the conversion formula is:
here, the brightness Y, i.e., the gray level, is the channel value that needs to be reserved.
Furthermore, the step is only used for processing the original real-time image to obtain a boundary between the OLED television screen and the frame, so that the outline of the OLED television screen is extracted, the original detection image has a large color difference with the frame, the black and white processing can be performed on the original real-time image converted into the YUV format, the black and white processing is performed on the original position real-time image in the YUV format according to a set gray threshold value which is generally 200-210, wherein the pixel points higher than the gray threshold value are 255, and the pixel points lower than the gray threshold value are 0.
In this case, in order to avoid the bad point from affecting the identification of the original real-time image after black and white processing, the bad point can be regarded as noise in the processing process or in the image acquisition process, and removed by means of filtering.
Specifically, two-dimensional zero-mean discrete gaussian functions are commonly used as smoothing filters for image filtering. Two-dimensional Gaussian function of
Wherein A is a normalization coefficient, ux,uyIn the case of a half-Gaussian gradient, σ represents the degree of smoothness of the Gaussian curve.
In a specific operation, although the filtered original real-time image is blurred, the edge features of the original real-time image are more obvious, and local dead spots (possibly existing dead spots) in the screen are filtered as noise, which is a required result of the processing step.
When the step is executed, the original real-time image is converted into the pixel point image only comprising the gray value of 0 and the gray value of 255, the edge detection is carried out on the original real-time image, and the original screen outline information of the OLED television can be obtained.
Specifically, the Canny operator edge detection method is used for detecting the television edge of the OLED, firstly, a convolution array is used, and the gradient value of a pixel point in the x direction and the y direction is expressed as
The magnitude and direction of the magnitude of the gradient is expressed as
The hysteresis threshold consists of a high threshold and a low threshold, and the part of the gradient value larger than the high threshold is reserved as a pixel edge; and directly deleting the part of pixels with gradient values smaller than the low threshold value.
After the image edge processing, the original screen contour information of the OLED television is obtained, specifically, the contour information is coordinates of contour pixel points in the original real-time image.
It should be noted that, black and white processing is already performed on the image before Canny operator edge detection is performed, so many steps in Canny operator edge detection can be skipped, which is beneficial to increasing the picture processing speed.
Fig. 4 is a schematic diagram illustrating screen contour information of a real-time image at an original position according to an embodiment of the present invention, specifically, a solid line in a frame indicates an actual contour edge of the real-time image, and a dashed line indicates a calculated contour edge of the real-time image.
Specifically, the calculated contour edge of the original real-time image is made in the following manner. Firstly, extracting screen corner points A1, A2, A3 and A4 of the OLED television according to the actual contour edge of an original real-time image, then sequentially connecting the screen corner points A1, A2, A3 and A4, and filling the gray data of points on the connection with 0.
By acquiring the original screen profile of the original real-time image, the posture information of the OLED television can be acquired, so that the posture of the OLED television can be adjusted, and the traversal of the camera module can be conveniently detected.
S104: based on the original screen contour information, adjusting the OLED television posture to a preset posture through a television position adjusting module;
by analyzing the original screen profile of the original implementation image, the real-time posture of the OLED television can be obtained, so that the OLED television can be adjusted to an ideal posture. In particular, the two aspects of the rolling attitude adjustment and the rotating attitude adjustment are involved.
Specifically, the rolling state of the OLED television needs to be detected first, so that the screen of the OLED television is parallel to the detection camera module. Specifically, a certain angular point of the OLED television is used as a base point, and the rolling posture of the OLED television is judged according to the size of an included angle of the base point.
The embodiment of the invention is described by taking the corner point A1 as an example, and assuming that the OLED television has roll in the non-pure x direction and the pure y direction, the included angle at the position A1 is not 90 degrees. By judging the size of the included angle A1, the moving direction of the position A1 in the rolling process can be judged. Since any scrolling motion of the OLED television can be regarded as a superposition of the scrolling motion along the x-axis and the scrolling motion along the y-axis, the screen of the OLED television can be adjusted to be parallel to the detection camera module by sequentially adjusting the scrolling motions along the x-axis and the y-axis. For example, the x-axis direction is adjusted, the spatial position of the point a1 is kept fixed, and the OLED television is rotated clockwise or counterclockwise along the x-axis until the included angle at the position a1 is 90 degrees, and the rolling adjustment in the opposite direction of the x-axis is completed. In this case, the angle adjustment in the y-axis direction can be calculated.
Fig. 5 is a schematic diagram illustrating the principle of y-axis adjustment according to an embodiment of the present invention, and in particular,after x-axis roll adjustment, the length of the y-direction in the image is l1The length of the OLED TV screen in this direction is l0The flip angle a of the OLED television screen in the direction is
And after the rolling angle in the y-axis direction is calculated, keeping the spatial coordinate of the point A1 unchanged, and driving the OLED television to roll along the y-axis by an angle a, wherein the OLED television is parallel to the detection camera module.
Fig. 6 shows a front-to-back comparison of OLED television rotation adjustment according to an embodiment of the present invention. And after the OLED television is parallel to the detection camera module, the rotation posture of the OLED television needs to be adjusted. Similarly, after the rolling posture of the OLED television is corrected in the previous step, the included angle of the corner point A1 is 90 degrees, the x axis and the y axis of the corner point A1 are orthogonal, and the rotation adjustment of the OLED television is completed by judging the angle deviation of the coordinate system established at the corner point A1 and the rectangular coordinate system in the ideal posture.
S105: outputting an original pixel point detection picture to an OLED television for real-time playing based on an image output module;
s106: acquiring an actual detection image of any region of the OLED television after the posture is adjusted based on the detection camera module, and caching the actual detection image in a picture buffer in real time;
the required actual detection images can have differences according to different pixel point structures of the OLED television. The embodiment of the invention mainly aims at detecting the OLED television with the RGB color development type (not including the RGBW type).
Specifically, the RGB structure of the pixel points on the OLED television screen needs to be analyzed, so as to divide the pixel points.
Therefore, the original pixel point detection picture described in step S104 includes a red background image, a green background image, and a blue background image. Specifically, the rotation speed of the actual detection image should be adapted to the shooting speed of the detection camera module, so that three consecutive shutters of the detection camera module can acquire three area images with different colors.
S107: and adjusting the distance between the OLED television and the detection camera module based on the actual detection image.
After the adjustment in step S104, the distances between the OLED television screen detected each time and the detection camera module are different, and therefore, in order to accurately capture the pixel image of the OLED television screen, the distance between the camera module and the OLED television screen needs to be adjusted, so that R, G, BOLED in each pixel point of the OLED television screen is clearly visible.
It should be noted that, specifically, adjusting the distance between the OLED television screen and the detection camera module inevitably involves the problem of focal length adjustment; at present, many mature electronic focusing technical schemes and physical focusing technical schemes exist, and the embodiment of the invention is not described in detail.
Specifically, the OLED television continues to display the original detection image in real time. And acquiring three continuous actual detection images of any area on the OLED television screen through the detection camera module.
In order to accurately identify R, G, BOLED in each pixel, each R, G, BOLED needs to be captured clearly, so that, in theory, the color areas of three consecutive actual test images should not intersect each other. Therefore, whether the distance between the camera module and the OLED television screen is appropriate can be judged based on the principle.
Specifically, if the three continuous actual detection images do not include black pixels, the distance between the detection camera module and the OLED television screen needs to be reduced until the actual detection images include black pixels.
Specifically, firstly, three continuous actual detection images are obtained and processed, firstly, black pixel points in the actual detection images are replaced by white pixel points, namely RGB color channel items of the black pixel points are changed to (255 ); and then carrying out gray processing on the actual detection image, converting the actual detection image into gray, and carrying out black-white processing by taking a certain gray value from 200-210 as a gray threshold value to obtain a final gray value, namely 0 or 255.
And then adding three attributes to each pixel point in the actual detection image, wherein the three attributes are the final gray values of the pixel point in the first actual detection image, the second actual detection image and the third actual detection image respectively.
Finally, whether the distance between the camera module and the OLED television screen is close enough can be judged by analyzing the three attributes in the pixel points, and R, G, BOLED in each pixel point can be well identified. Specifically, if a pixel point has more than two 0 values, it indicates that at least two colors are displayed in the pixel point, and it indicates that the distance between the camera module and the OLED television screen is not close enough, and it is necessary to reduce the distance between the camera module and the OLED television screen again.
If the pixel point only has an attribute of 0 value, the distance between the camera module and the OLED television screen is proper, at the moment, the image of the OLED television screen acquired by the camera module is clear, and the minimum unit is R, G, BOLED of the pixel point on the OLED television screen.
S108: and traversing the OLED television screen based on the detection camera module to acquire images of all pixel points of the OLED television screen.
And keeping the distance between the detection camera module and the OLED television screen, traversing the OLED television screen by the detection camera module in a plane moving mode, acquiring images of all pixel points of the OLED television screen, and performing subsequent operation on the basis.
Correspondingly, based on the method for automatically acquiring the stable image by the cooperation of the multiple devices, the embodiment of the invention also provides a system for automatically acquiring the stable image by the cooperation of the multiple devices, which comprises
An image output module: the OLED television is used for driving the OLED television to play an original position detection picture and an original pixel point detection picture;
corner camera module: the system comprises a display, a display and a display module, wherein the display is used for acquiring four corner area images of an OLED television;
an image processor: the system comprises a real-time image acquisition unit, a real-time image processing unit and a real-time image processing unit, wherein the real-time image acquisition unit is used for acquiring the real-time image of the original position of the real-time image acquisition unit;
a picture buffer: the system is used for caching the real-time image and the actual detection image of the original position;
the OLED television adjusting module comprises: the system is used for adjusting the posture of the OLED television and the distance between the OLED television and the detection camera module;
detecting the camera module: the system is used for acquiring a screen image of the OLED television;
detecting a camera driving module: the OLED television screen driving device is used for driving the detection camera module to traverse the OLED television screen.
The implementation principle of each module can be implemented by referring to the method described above.
The embodiment of the invention provides a method for automatically acquiring a stable image by matching multiple devices, which comprises the steps of acquiring position and posture information of an OLED television through an angular point camera module, adjusting the position and posture of the OLED television to a preset position, adjusting the distance between a screen of the OLED television and a detection camera module through superposition recognition of actual detection images so as to acquire clear pixel point color development information, and traversing the screen of the OLED television through the detection camera module so as to extract all pixel point images on the screen of the OLED television.
Based on the method for automatically acquiring the stable image by matching the multiple devices provided by the embodiment of the invention, the relative position between the detection camera module and the OLED television can be quickly adjusted, the acquired pixel point image information is completely a real-time actual image, and the simulation filling, distortion correction and perspective correction processing of software are not needed, so that the method has good reliability and good practicability in detection.
The method for automatically acquiring a stable image by matching multiple devices provided by the embodiment of the invention is described in detail, a specific example is applied in the method to explain the principle and the implementation mode of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (6)
1. A method for automatically acquiring a stable image by matching multiple devices is characterized by comprising the following steps:
outputting an original position detection picture to the OLED television for real-time playing based on the image output module;
acquiring four corner region images of the OLED television based on a corner camera module, synthesizing an original position real-time image based on an image processor module, and caching the image in a picture buffer in real time;
reading the picture buffer based on a picture processor, and extracting original screen outline information of the OLED television from the original position real-time image;
adjusting the OLED television to a preset posture based on the original screen contour information;
outputting an original pixel point detection picture to an OLED television for real-time playing based on an image output module;
acquiring an actual detection image of any region of the OLED television in a preset posture based on a detection camera module, and caching the actual detection image in a picture buffer in real time;
adjusting the distance between the OLED television and the detection camera module based on the actual detection image;
traversing the OLED television screen based on the detection camera module to acquire images of all pixel points of the screen of the OLED television;
the adjusting the OLED television to a preset posture based on the original screen contour information comprises:
in the original screen contour information, judging the rolling state of the OLED television according to the size of an included angle of one corner point of the OLED television;
based on the rolling state of the OLED television, keeping the space coordinates of the corner points unchanged, and controlling the OLED television to roll around an x axis to a position where the included angle of the corner points in the original screen contour information is 90 degrees;
based on the rolling state of the OLED television, keeping the space coordinate of the corner point unchanged, and controlling the OLED television to roll around the y axis to the position where the length of the OLED television in the direction of the screen x axis in the original screen contour information is consistent with the actual length;
and establishing a coordinate system based on the angular points, judging the angular deviation between the coordinate system and a rectangular coordinate system under an ideal posture, and controlling the OLED display to rotate based on the angular deviation.
2. The method for automatically acquiring a stabilized image in cooperation with multiple devices according to claim 1, wherein the original detected picture is a pure white picture.
3. The method for automatically acquiring a stable image by matching multiple devices according to claim 1, wherein the RGB data of the pixels at the positions other than the four corner region images in the real-time image at the original position is (255 ).
4. The method for multi-device cooperative automatic acquisition of a stabilized image according to claim 1, wherein the step of reading the picture buffer based on the picture processor to extract the original screen outline information of the OLED television from the original position real-time image comprises the steps of:
converting the real-time image of the original position from an RGB format to a YUV format;
black and white processing the real-time image of the original position in the YUV format;
removing the original position real-time image subjected to black and white processing based on image filtering;
and acquiring the original screen outline information based on the original position real-time image after image filtering.
5. The method for automatically acquiring a stable image by matching multiple devices as claimed in claim 4, wherein the original screen contour information comprises an actual contour edge and a calculated contour edge, and the calculated contour edge is formed by connecting adjacent corner points of the actual contour edge.
6. The method for automatically acquiring a stable image in cooperation with multiple devices according to claim 1, wherein the original pixel point detection pictures comprise three original pixel point detection pictures, namely a red background picture, a green background picture and a blue background picture.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811536424.4A CN109743565B (en) | 2018-12-14 | 2018-12-14 | Method for automatically acquiring stable image by cooperation of multiple devices |
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