CN109981982A

CN109981982A - Control method, device and system

Info

Publication number: CN109981982A
Application number: CN201910231387.4A
Authority: CN
Inventors: 刘永华
Original assignee: Lenovo Beijing Ltd
Current assignee: Lenovo Beijing Ltd
Priority date: 2019-03-25
Filing date: 2019-03-25
Publication date: 2019-07-05
Anticipated expiration: 2039-03-25
Also published as: CN109981982B

Abstract

Present disclose provides a kind of control methods, described image obtains the image that equipment is used to obtain target object, the target object is the content being shown on the display unit of electronic equipment, which comprises obtains described image and obtains target position information of the equipment relative to the target object；It controls described image and obtains equipment the first image of acquisition, the first image includes multiple characteristic points of the target object；Determine that described image obtains current location information of the equipment relative to the target object based on multiple characteristic points in the first image；And the relative position of equipment and the target object is obtained based on the current location information and target position information controling adjustment device adjustment described image, so that it is the target position information that described image, which obtains equipment relative to the location information of the target object,.

Description

Control method, device and system

Technical field

This disclosure relates to a kind of control method, a kind of control device and a kind of control system.

Background technique

With the fast development of electronic technology, more and more scenes need to shoot image, to captured image request Also higher and higher.For example, during shooting image, it usually needs accurately control video camera and the target object to be shot Between relative position, to ensure captured image meet demand.But during existing shooting image, due to taking the photograph Relative position between camera and the target object to be shot changes frequent occurrence, so that the image repeatedly shot is inconsistent. Therefore, the relative position between video camera and captured target object how is relatively accurately controlled, it is captured to ensure Image meet demand becomes the problem of urgent need to resolve.

Summary of the invention

An aspect of this disclosure provides a kind of control method, and described image obtains equipment for obtaining target object Image, the target object are the content being shown on the display unit of electronic equipment, which comprises obtain described image Target position information of the equipment relative to the target object is obtained, control described image obtains equipment and obtains the first image, institute Multiple characteristic points that the first image includes the target object are stated, based on described in multiple characteristic points determination in the first image Current location information of the image acquisition equipment relative to the target object, and it is based on the current location information and the mesh Cursor position information controling adjustment device adjusts the relative position that described image obtains equipment and the target object, so that described Image acquisition equipment is the target position information relative to the location information of the target object.

Optionally, above-mentioned current location information includes first position letter of the multiple characteristic point in the first image Breath.

Optionally, the above method further include: control described image obtains equipment and obtains reference picture, the reference picture packet Include the target object, wherein the target position information include the target object multiple characteristic points described with reference to figure Second location information as in.

Optionally, above-mentioned based on described in the current location information and target position information controling adjustment device adjustment The relative position of image acquisition equipment and the target object, comprising: be based on the first location information and the second position Information controling adjustment device adjusts the relative position that described image obtains equipment and the target object, wherein in described image After the relative position adjustment for obtaining equipment and the target object, described image, which obtains equipment, can obtain the second image, institute Stating location information of the multiple characteristic points of target object in second image is the second location information.

Optionally, above-mentioned based on described in the current location information and target position information controling adjustment device adjustment The relative position of image acquisition equipment and the target object, comprising: determine the current location information and the target position Position deviation between information obtains equipment and the target based on position deviation controling adjustment device adjustment described image The relative position of object.

Optionally, above-mentioned position deviation includes at least one of the following: attitude misalignment, range deviation.It is described to be based on institute's rheme It sets deviation controling adjustment device adjustment described image and obtains the relative position of equipment and the target object, including successively execute: It determines the attitude misalignment between the current location information and the target position information, is controlled to adjust based on the attitude misalignment Device adjusts the relative position that described image obtains equipment and the target object, obtains equipment and the target in described image After the relative position adjustment of object, it is the third place that described image, which obtains equipment relative to the location information of the target object, Information determines the distance between the third place information and target position information deviation, is based on the range deviation control Regulating device adjustment described image processed obtains the relative position of equipment and the target object.

Optionally, above-mentioned regulating device is set to described image and obtains equipment and/or the target object.It is described to be based on institute It states current location information and target position information controling adjustment device adjustment described image obtains equipment and the target pair The relative position of elephant, comprising: the regulating device movement is controlled based on the current location information and the target position information, To adjust the relative position that described image obtains equipment and the target object.

Optionally, the target object in above-mentioned first image be shown in it is interior in the first area of the display unit Hold.It is described that equipment is obtained based on the current location information and target position information controling adjustment device adjustment described image With the relative position of the target object, comprising: controlled to adjust based on the current location information and the target position information Device adjust described image obtain equipment and the target object relative position so that described image obtain equipment relative to The relative position of the target object is the 4th location information, and control described image obtains equipment and obtains third image, described the Target object in three images is the content being shown in the second area of the display unit, wherein the second area with The first area is different, determines that described image obtains equipment relative to described based on multiple characteristic points in the third image The 4th location information of target object is based on the 4th location information and the target position information controling adjustment device The relative position that described image obtains equipment and the target object is adjusted, so that described image obtains equipment relative to described The location information of target object is the target position information.

Another aspect of the disclosure provides a kind of control device, and described image obtains equipment for obtaining target object Image, the target object is the internal content being shown on the display unit of electronic equipment, and described device includes: first to obtain Modulus block, second obtain module, determining module, control module.Wherein, first module acquisition described image acquisition equipment phase is obtained For the target position information of the target object, second, which obtains module control described image, obtains equipment the first image of acquisition, The first image includes multiple characteristic points of the target object, and determining module is based on multiple features in the first image Point determines that described image obtains current location information of the equipment relative to the target object, and control module is based on the present bit Confidence breath and target position information controling adjustment device adjustment described image obtain the opposite of equipment and the target object Position, so that it is the target position information that described image, which obtains equipment relative to the location information of the target object,.

Optionally, above-mentioned apparatus further include: third obtains module, and control described image obtains equipment and obtains reference picture, The reference picture includes the target object, wherein the target position information includes multiple features of the target object The second location information of point in the reference picture.

Another aspect of the disclosure provides a kind of control system, and described image obtains equipment for obtaining target object Image, the target object is the content being shown on the display unit of electronic equipment, the system comprises: processor and Memory.Memory is for storing executable instruction, wherein when described instruction is executed by the processor, so that the place It manages device to execute: obtaining described image and obtain target position information of the equipment relative to the target object, control described image obtains Equipment is taken to obtain the first image, the first image includes multiple characteristic points of the target object, is based on the first image In multiple characteristic points determine that described image obtains current location information of the equipment relative to the target object, worked as based on described Front position information and target position information controling adjustment device adjustment described image obtain equipment and the target object Relative position, so that it is target position letter that described image, which obtains equipment relative to the location information of the target object, Breath.

Optionally, above-mentioned processor is also used to: control described image obtains equipment and obtains reference picture, the reference picture Including the target object, wherein the target position information includes multiple characteristic points of the target object in the reference Second location information in image.

Another aspect of the present disclosure provides a kind of non-volatile readable storage medium, is stored with the executable finger of computer It enables, described instruction is when executed for realizing method as described above.

Another aspect of the present disclosure provides a kind of computer program, and the computer program, which includes that computer is executable, to be referred to It enables, described instruction is when executed for realizing method as described above.

Detailed description of the invention

In order to which the disclosure and its advantage is more fully understood, referring now to being described below in conjunction with attached drawing, in which:

Fig. 1 diagrammatically illustrates the application scenarios of control method and control device according to the embodiment of the present disclosure；

Fig. 2 diagrammatically illustrates the flow chart of the control method according to the embodiment of the present disclosure；

Fig. 3 diagrammatically illustrates the flow chart of the control method according to another embodiment of the disclosure；

Fig. 4 diagrammatically illustrates the flow chart of the adjustment relative position according to the embodiment of the present disclosure；

Fig. 5 diagrammatically illustrates the flow chart based on position deviation adjustment relative position according to the embodiment of the present disclosure；

Fig. 6 A-6C diagrammatically illustrates the signal based on position deviation adjustment relative position according to the embodiment of the present disclosure Figure；

Fig. 7 diagrammatically illustrates the flow chart of the adjustment relative position according to another embodiment of the disclosure；

Fig. 8 A and 8B diagrammatically illustrate the first area according to the embodiment of the present disclosure and the schematic diagram of second area；

Fig. 9 diagrammatically illustrates the block diagram of the control system according to the embodiment of the present disclosure；

Figure 10 diagrammatically illustrates the block diagram of the control device according to the embodiment of the present disclosure；

Figure 11 diagrammatically illustrates the block diagram of the control device according to another embodiment of the disclosure；And

Figure 12 diagrammatically illustrates the block diagram of the computer system for realizing control according to the embodiment of the present disclosure.

Specific embodiment

Hereinafter, will be described with reference to the accompanying drawings embodiment of the disclosure.However, it should be understood that these descriptions are only exemplary , and it is not intended to limit the scope of the present disclosure.In the following detailed description, to elaborate many specific thin convenient for explaining Section is to provide the comprehensive understanding to the embodiment of the present disclosure.It may be evident, however, that one or more embodiments are not having these specific thin It can also be carried out in the case where section.In addition, in the following description, descriptions of well-known structures and technologies are omitted, to avoid Unnecessarily obscure the concept of the disclosure.

Term as used herein is not intended to limit the disclosure just for the sake of description specific embodiment.It uses herein The terms "include", "comprise" etc. show the presence of the feature, step, operation and/or component, but it is not excluded that in the presence of Or add other one or more features, step, operation or component.

There are all terms (including technical and scientific term) as used herein those skilled in the art to be generally understood Meaning, unless otherwise defined.It should be noted that term used herein should be interpreted that with consistent with the context of this specification Meaning, without that should be explained with idealization or excessively mechanical mode.

It, in general should be according to this using statement as " at least one in A, B and C etc. " is similar to Field technical staff is generally understood the meaning of the statement to make an explanation (for example, " system at least one in A, B and C " Should include but is not limited to individually with A, individually with B, individually with C, with A and B, with A and C, have B and C, and/or System etc. with A, B, C).Using statement as " at least one in A, B or C etc. " is similar to, generally come Saying be generally understood the meaning of the statement according to those skilled in the art to make an explanation (for example, " having in A, B or C at least One system " should include but is not limited to individually with A, individually with B, individually with C, with A and B, have A and C, have B and C, and/or the system with A, B, C etc.).

Shown in the drawings of some block diagrams and/or flow chart.It should be understood that some sides in block diagram and/or flow chart Frame or combinations thereof can be realized by computer program instructions.These computer program instructions can be supplied to general purpose computer, The processor of special purpose computer or other programmable control units, so that these instructions can create when executed by this processor For realizing function/operation device illustrated in these block diagrams and/or flow chart.

Therefore, the technology of the disclosure can be realized in the form of hardware and/or software (including firmware, microcode etc.).Separately Outside, the technology of the disclosure can take the form of the computer program product on the computer-readable medium for being stored with instruction, should Computer program product uses for instruction execution system or instruction execution system is combined to use.In the context of the disclosure In, computer-readable medium, which can be, can include, store, transmitting, propagating or transmitting the arbitrary medium of instruction.For example, calculating Machine readable medium can include but is not limited to electricity, magnetic, optical, electromagnetic, infrared or semiconductor system, device, device or propagation medium. The specific example of computer-readable medium includes: magnetic memory apparatus, such as tape or hard disk (HDD)；Light storage device, such as CD (CD-ROM)；Memory, such as random access memory (RAM) or flash memory；And/or wire/wireless communication link.

Embodiment of the disclosure provides a kind of control method, and image acquisition equipment is used to obtain the image of target object, Target object is the content being shown on the display unit of electronic equipment, this method comprises: obtain image acquisition equipment relative to The target position information of target object, control image acquisition equipment obtain the first image, and the first image includes the more of target object A characteristic point determines present bit confidence of the image acquisition equipment relative to target object based on multiple characteristic points in the first image Breath, based on current location information and target position information controling adjustment device adjustment image acquisition equipment and target object it is opposite Position, so that image acquisition equipment is target position information relative to the location information of target object.

As it can be seen that in the technical solution of the embodiment of the present disclosure, based on current between image acquisition equipment and target object Location information and target position information adjust the relative position between image acquisition equipment and target object in real time, to control image Obtaining the relative position between equipment and target object is target position so that image acquisition equipment can repeat to obtain about The consistent image of target object.

Fig. 1 diagrammatically illustrates the application scenarios of control method and control device according to the embodiment of the present disclosure.It needs to infuse Meaning, being only shown in Fig. 1 can be using the example of the scene of the embodiment of the present disclosure, to help skilled in the art to understand this Disclosed technology contents, but it is not meant to that the embodiment of the present disclosure may not be usable for other equipment, system, environment or scene.

As shown in Figure 1, the application scenarios 100 for example may include image acquisition equipment 110 and target object 120.

Wherein, image acquisition equipment 110 for example can be video camera, for obtaining the image about target object 120.

For example, in intelligence manufacture, usually taken pictures by industrial camera to target object 120, target object 120 such as can be with It is the display content on electronic equipment display unit.Wherein, electronic equipment can be desktop computer, laptop, mobile phone etc..

In the embodiments of the present disclosure, image acquisition equipment 110 obtains the process of the image of target object 120 usually in light (such as carrying out in camera bellows) is carried out in darker environment, the influence compared with subenvironment to shooting quality, to guarantee shooting environmental one It causes.Since shooting process carries out in the environment of dark, it is on electronic equipment display unit with target object 120 Display content (brightness of the image for example, on display screen, the brightness ratio ambient enviroment of the image is big), it can be ensured that positioning The process of the position of target object 120 is more accurate.Wherein, in order to which repetition obtains consistent image, a critically important factor It exactly positions, the inconsistent of multiple shooting result can be caused by lacking accurately positioning.Therefore, the embodiment of the present disclosure is based in display Appearance is positioned, the relative position between real-time control image acquisition equipment 110 and target object 120, it is ensured that image acquisition is set Standby 110 is consistent with the relative position between target object 120, to realize that the image for repeating to obtain is consistent.

Wherein, image acquisition equipment 110 is for example fixed on motion platform 130, which can be five axis fortune Moving platform or six axis motion platforms etc..By the movement of real-time control motion platform 130, to drive image acquisition equipment 110 movements, and then realize the relative position between adjustment image acquisition equipment 110 and target object 120 in real time.

Below with reference to the application scenarios of Fig. 1, the control according to disclosure illustrative embodiments is described with reference to Fig. 2~Fig. 8 B Method processed.It should be noted which is shown only for the purpose of facilitating an understanding of the spirit and principles of the present invention for above-mentioned application scenarios, this hair Bright embodiment is unrestricted in this regard.On the contrary, embodiments of the present invention can be applied to applicable any field Scape.

Fig. 2 diagrammatically illustrates the flow chart of the control method according to the embodiment of the present disclosure.

As shown in Fig. 2, this method includes operation S210~S240.

In operation S210, target position information of the image acquisition equipment relative to target object is obtained.

According to the embodiment of the present disclosure, image acquisition equipment for example can be video camera, the image for photographic subjects object. Wherein, target object can for example be shown in the content on the display unit of electronic equipment.For example, electronic equipment can be meter Calculation machine, mobile phone etc..By taking electronic equipment is computer as an example, target object can be on computer screen curtain shown Image, which includes picture, video, (other interfaces are, for example, the boundary that any content was lighted and do not shown to screen at other interfaces Face) etc..

In the embodiments of the present disclosure, target position information for example can be preset location information, and the disclosure is implemented Example purpose be real-time control image acquisition equipment relative to target object relative position be the target position information, to scheme As obtaining the repeatable coherent image obtained about target object of equipment.

In operation S220, control image acquisition equipment obtains the first image, and the first image includes multiple spies of target object Sign point.

According to the embodiment of the present disclosure, controls image acquisition equipment and obtain the first image, which for example can be logical The image about electronic equipment of image acquisition equipment shooting is crossed, target object is to show on the display unit of electronic equipment Content.Wherein, target object for example can be interior shown by display unit for example including multiple characteristic points, multiple characteristic point Multiple characteristic points in appearance.For example, when target object is the image shown on the screen of the electronic device, multiple specified point examples The for example central point and four angle points of screen (image).

In operation S230, determine image acquisition equipment relative to target object based on multiple characteristic points in the first image Current location information.

After getting including the first image of multiple characteristic points, by analyzing multiple characteristic point in the first image Current location information of the available image acquisition equipment of location information relative to target object.For example, when in multiple characteristic points Four angle points close to the edge of the first image when, illustrate that image acquisition equipment is smaller at a distance from target object, when multiple features When central point in point deviates the center of the first image, illustrate that image acquisition equipment and target object have certain position deviation. In other words, can to obtain image acquisition equipment by location information of the multiple characteristic point of analytical calculation in the first image opposite In the current location information of target object.

In operation S240, image acquisition equipment is adjusted based on current location information and target position information controling adjustment device With the relative position of target object so that image acquisition equipment relative to target object location information be target position letter Breath.

After getting current location information and target position information, regulating device adjustment image acquisition equipment can control With the relative position of target object, the relative position of image acquisition equipment and target object is adjusted to from current location information Target position information, so that image acquisition equipment repeats to obtain the coherent image about target object based on target position information.

According to the embodiment of the present disclosure, regulating device is set to image acquisition equipment and/or target object.Based on current location The relative position of information and target position information controling adjustment device adjustment image acquisition equipment and target object, comprising: be based on Current location information and the movement of target position information controling adjustment device, to adjust the opposite of image acquisition equipment and target object Position.

Wherein, regulating device for example can be with motion platform, which can be 5-axis movement platform or six axis fortune Moving platform etc..Image acquisition equipment or target object can be fixed on the regulating device.By controling adjustment device movement come Image acquisition equipment or target object movement are driven, the relative position of image acquisition equipment and target object is adjusted with this.Or Person, image acquisition equipment and target object can be individually fixed in different regulating devices, by controlling different adjustment dress respectively Movement is set to drive image acquisition equipment and target object to move, the opposite position of image acquisition equipment and target object is adjusted with this It sets.

The embodiment of the present disclosure is based on the current location information and target position letter between image acquisition equipment and target object The breath relative position between adjustment image acquisition equipment and target object in real time, with control image acquisition equipment and target object it Between relative position be target position so that image acquisition equipment can repeat obtain about the consistent image of target object. The brightness of the brightness ratio ambient enviroment of the target object especially shown on electronic equipment display unit is big, therefore passes through target pair Multiple characteristic points of elephant are more accurate come the mode for positioning the relative position between image acquisition equipment and target object.Therefore, The technical solution of the embodiment of the present disclosure positioned by multiple characteristic points of target object image acquisition equipment and target object it Between relative position, can be realized precise positioning so that repeat shooting result it is consistent.

Fig. 3 diagrammatically illustrates the flow chart of the control method according to another embodiment of the disclosure.

As shown in figure 3, this method includes operation S210~S240 and S310.Wherein, operation S210~S240 as above joins The operation for examining Fig. 2 description is same or like, and details are not described herein.

According to the embodiment of the present disclosure, current location information includes first position letter of multiple characteristic points in the first image Breath.

In operation S310, control image acquisition equipment obtains reference picture, and reference picture includes target object.

According to the embodiment of the present disclosure, reference picture can be the relative position in image acquisition equipment relative to target object Acquired image in the case where for target position information.

Wherein, operation S210 includes: to obtain target position of the image acquisition equipment relative to target object based on reference picture Confidence breath, wherein target position information includes the second location information of multiple characteristic points of target object in a reference image.

Wherein, operation S240 includes: based on first location information and second location information controling adjustment device adjustment image Obtain the relative position of equipment and target object, wherein after the adjustment of the relative position of image acquisition equipment and target object, Image acquisition equipment can obtain the second image, and location information of the multiple characteristic points of target object in the second image is second Location information.

It is appreciated that getting first location information and acquisition multiple features of multiple characteristic points in the first image After the second location information of point in a reference image, it can be obtained based on first location information and second location information adjustment image The relative position of equipment and target object is taken, so that the image acquisition equipment after adjustment relative position can repeat to obtain the Two images, the location information and the location information of multiple characteristic point in a reference image of multiple characteristic points in second image Unanimously.In other words, pass through the phase based on first location information and second location information adjustment image acquisition equipment and target object To position, so that the relative position information of image acquisition equipment and target object is target position information.

Fig. 4 diagrammatically illustrates the flow chart of the adjustment relative position according to the embodiment of the present disclosure.

As shown in figure 4, operation S240 includes operation S241~S242.

In operation S241, the position deviation between current location information and target position information is determined.Wherein, position deviation Including at least one in attitude misalignment, range deviation.

According to the embodiment of the present disclosure, attitude misalignment for example may include pitch angle deviation, orientation angle deviation and rotation Angular deviation.The posture that the attitude misalignment for example can be between image acquisition equipment and target device does not meet target position letter Cease corresponding targeted attitude.Range deviation for example can be the distance between image acquisition equipment and target device and not meet target The corresponding target range of location information.

In operation S242, the opposite position based on position deviation controling adjustment device adjustment image acquisition equipment and target object It sets.Description that detailed process is as follows.

Fig. 5 diagrammatically illustrates the flow chart based on position deviation adjustment relative position according to the embodiment of the present disclosure.

Fig. 6 A-6C diagrammatically illustrates the signal based on position deviation adjustment relative position according to the embodiment of the present disclosure Figure.

The detailed process that relative position is adjusted based on position deviation is described below in conjunction with Fig. 5 and Fig. 6 A-6C.

As shown in figure 5, operation S242 includes operation S2421~S2424.

In operation S2421, the attitude misalignment between current location information and target position information is determined.Firstly, determining figure As obtaining equipment relative to the attitude misalignment between the current location information and target position information of target object.Such as it can lead to Cross multiple characteristic points of the target object in the first image of analysis and the position with multiple characteristic points of target object in reference picture Confidence ceases to determine attitude misalignment.

As shown in Figure 6A, multiple features in reference picture 610 for example including target object 611 and target object 611 Point 612~616.

As shown in Figure 6B, the attitude misalignment between current location information and target position information may include that pitch angle is inclined At least one of difference, orientation angle deviation and rotational angle deviation.In order to make it easy to understand, the first image for example can be Fig. 6 B Middle image 620a, image 620b or image 620c.When the first image is image 620a, current location information and target are indicated Attitude misalignment between location information is pitch angle deviation；When the first image is image 620b, current location information is indicated Attitude misalignment between target position information is orientation angle deviation；When the first image is image 620c, present bit is indicated Attitude misalignment between confidence breath and target position information is rotational angle deviation.

In operation S2422, the opposite of image acquisition equipment and target object is adjusted based on attitude misalignment controling adjustment device Position, after the adjustment of the relative position of image acquisition equipment and target object, image acquisition equipment is relative to target object Location information is the third place information.

As shown in Figure 6 C, it is adjusted in the relative position for adjusting image acquisition equipment and target object based on attitude misalignment Afterwards, obtaining the image of target object by image acquisition equipment is, for example, image 630, it can be seen that image from the image 630 The deviation that equipment is obtained relative to target object only remains range deviation.That is, position of the image acquisition equipment relative to target object Information is the third place information, which includes range deviation.

In operation S2423, the distance between the third place information and target position information deviation is determined.Namely based on third Location information and target position information can determine position deviation of the image acquisition equipment relative to target object.

In operation S2424, the opposite of image acquisition equipment and target object is adjusted based on range deviation controling adjustment device Position.

Finally, the relative position based on position deviation adjustment image acquisition equipment and target object, so that adjusting opposite position The image of target object acquired in the image acquisition equipment postponed is, for example, that reference picture 610 as shown in Figure 6A is consistent.

Due to will affect the adjustment accuracy of range deviation there are attitude misalignment, the embodiment of the present disclosure adjusts first Attitude misalignment after eliminating attitude misalignment, then adjusts range deviation, so that the processing efficient of adjustment relative position is accurate.

Fig. 7 diagrammatically illustrates the flow chart of the adjustment relative position according to another embodiment of the disclosure.

Fig. 8 A and 8B diagrammatically illustrate the first area according to the embodiment of the present disclosure and the schematic diagram of second area.

The detailed process of adjustment relative position is described below in conjunction with Fig. 7, Fig. 8 A and Fig. 8 B.

As shown in fig. 7, operation S240 includes operation S243~S246.

In operation S243, image acquisition equipment is adjusted based on current location information and target position information controling adjustment device With the relative position of target object so that image acquisition equipment relative to target object relative position be the 4th position letter Breath.

In the embodiments of the present disclosure, current location information is obtained based on the first image, the target pair in the first image As the content to be shown in the first area of display unit.Namely based on the multiple of the target object of display in the first region Characteristic point can determine current location information.Based on current location information and target position information adjustment image acquisition equipment and After the relative position of target object, can make image acquisition equipment relative to target object relative position be the 4th position Information, the 4th location information is for example different from target position information, it is also necessary to which further adjustment relative position is to reach target Location information.

Image as shown in Figure 8 A do not adjust for example, before relative position the first image (first image for example in the presence of Rotational angle deviation it is larger), first area 810 be, for example, electronic equipment display unit whole region, first area 810 In multiple characteristic points of target object be, for example, characteristic point 811~815.

In operation S244, control image acquisition equipment obtains third image, and the target object in third image is to be shown in Content in the second area of display unit, wherein second area is different from first area.

According to the embodiment of the present disclosure, the target object in third image is shown in the second area in display unit.Second Region is, for example, the partial region of display unit.

(the third image is for example for obtained third image after image as shown in Figure 8 B for example, adjustment relative position Existing orientation angle deviation is larger), image acquisition equipment is the 4th position letter relative to the relative position of target object at this time Breath, also needs further to adjust relative position at this time.Wherein, the second area 820 in third image is for example different from the firstth area Domain 810, the multiple characteristic points for being shown in the target object of the second area 820 are, for example, characteristic point 821~825.

In operation S245, determine image acquisition equipment relative to target object based on multiple characteristic points in third image 4th location information.The 4th location information is determined namely based on multiple characteristic points 821~825 in third image.

In operation S246, image acquisition equipment is adjusted based on the 4th location information and target position information controling adjustment device With the relative position of target object so that image acquisition equipment relative to target object location information be target position letter Breath.

The embodiment of the present disclosure is by repeatedly relative position of the adjustment image acquisition equipment relative to target object, so that figure It is target position information as obtaining equipment relative to target object.Wherein, when adjusting relative position every time, target object is shown in Region in display unit can be different, that is, adjust front and back target object every time and correspond to different regions, convenient for according to tune every time Whole situation comes the display area of real-time update target object, so that the region where target object easily facilitates analysis image and obtains Equipment and target object position information.

For example, when image acquisition equipment is primarily present rotational angle deviation relative to target object (at this time in image Target object deformation quantity is smaller, multiple characteristic point distribution uniforms), target object may be displayed on the first area of display unit (big region)；(this when image acquisition equipment is primarily present orientation angle deviation or pitch angle deviation relative to target object When image in target object deformation quantity it is larger, multiple characteristic points are unevenly distributed), target object may be displayed on display unit Second area (second area is, for example, zonule, which accounts for the biggish portion of image area for example including target object Subregion).

Fig. 9 diagrammatically illustrates the block diagram of the control system according to the embodiment of the present disclosure.

As shown in figure 9, the control system 900 of the embodiment of the present disclosure includes processor 910 and memory 920, memory 920 for storing executable instruction, wherein when instruction is executed by processor 910, so that processor 910 executes: obtaining image Target position information of the equipment relative to target object is obtained, control image acquisition equipment obtains the first image, the first image packet The multiple characteristic points for including target object determine image acquisition equipment relative to target pair based on multiple characteristic points in the first image The current location information of elephant, based on current location information and target position information controling adjustment device adjustment image acquisition equipment and The relative position of target object, so that image acquisition equipment is target position information relative to the location information of target object.

Optionally, current location information includes first location information of multiple characteristic points in the first image.

Optionally, processor is also used to: control image acquisition equipment obtains reference picture, and reference picture includes target pair As, wherein target position information includes the second location information of multiple characteristic points of target object in a reference image.

Optionally, based on current location information and target position information controling adjustment device adjustment image acquisition equipment and mesh Mark the relative position of object, comprising: obtain based on first location information and second location information controling adjustment device adjustment image The relative position of equipment and target object, wherein after the adjustment of the relative position of image acquisition equipment and target object, image The second image can be obtained by obtaining equipment, and location information of the multiple characteristic points of target object in the second image is the second position Information.

Optionally, based on current location information and target position information controling adjustment device adjustment image acquisition equipment and mesh Mark the relative position of object, comprising: determine the position deviation between current location information and target position information, it is inclined based on position The relative position of poor controling adjustment device adjustment image acquisition equipment and target object.

Optionally, position deviation includes at least one of the following: attitude misalignment, range deviation.It is controlled and is adjusted based on position deviation Regulating device adjusts the relative position of image acquisition equipment and target object, including successively executes: determining current location information and mesh Attitude misalignment between cursor position information adjusts image acquisition equipment and target object based on attitude misalignment controling adjustment device Relative position, after the adjustment of the relative position of image acquisition equipment and target object, image acquisition equipment is relative to target pair The location information of elephant is the third place information, determines the distance between the third place information and target position information deviation, is based on The relative position of range deviation controling adjustment device adjustment image acquisition equipment and target object.

Optionally, regulating device is set to image acquisition equipment and/or target object.Based on current location information and target The relative position of location information controling adjustment device adjustment image acquisition equipment and target object, comprising: be based on present bit confidence Breath and the movement of target position information controling adjustment device, to adjust the relative position of image acquisition equipment and target object.

Optionally, the target object in the first image is the content being shown in the first area of display unit.Based on working as The relative position of front position information and target position information controling adjustment device adjustment image acquisition equipment and target object, packet Include: based on current location information and target position information controling adjustment device adjustment image acquisition equipment and target object it is opposite Position, so that image acquisition equipment is the 4th location information relative to the relative position of target object, control image acquisition is set Standby to obtain third image, the target object in third image is the content being shown in the second area of display unit, wherein the Two regions are different from first area, determine image acquisition equipment relative to target object based on multiple characteristic points in third image The 4th location information, based on the 4th location information and target position information controling adjustment device adjustment image acquisition equipment and mesh The relative position of object is marked, so that image acquisition equipment is target position information relative to the location information of target object.

Figure 10 diagrammatically illustrates the block diagram of the control device according to the embodiment of the present disclosure.

As shown in Figure 10, control device 1000 includes that the first acquisition module 1010, second obtains module 1020, determining module 1030 and control module 1040.

First acquisition module 1010 can be used for obtaining target position information of the image acquisition equipment relative to target object. According to the embodiment of the present disclosure, the first acquisition module 1010 can for example execute the operation S210 above with reference to Fig. 2 description, herein not It repeats again.

Second acquisition module 1020 can be used for controlling image acquisition equipment and obtain the first image, and the first image includes target Multiple characteristic points of object.According to the embodiment of the present disclosure, the second acquisition module 1020 can for example be executed to be described above with reference to Fig. 2 Operation S220, details are not described herein.

Determining module 1030 can be used for determining based on multiple characteristic points in the first image image acquisition equipment relative to The current location information of target object.According to the embodiment of the present disclosure, determining module 1030 can for example be executed and be retouched above with reference to Fig. 2 The operation S230 stated, details are not described herein.

Control module 1040 can be used for based on current location information and target position information controling adjustment device adjustment figure Relative position as obtaining equipment and target object, so that image acquisition equipment is mesh relative to the location information of target object Cursor position information.According to the embodiment of the present disclosure, control module 1040 can for example execute the operation above with reference to Fig. 2 description S240, details are not described herein.

According to the embodiment of the present disclosure, obtained based on current location information and target position information controling adjustment device adjustment image Take the relative position of equipment and target object, comprising: determine the position deviation between current location information and target position information, Relative position based on position deviation controling adjustment device adjustment image acquisition equipment and target object.

According to the embodiment of the present disclosure, position deviation includes at least one of the following: attitude misalignment, range deviation.Based on position Deviation controling adjustment device adjusts the relative position of image acquisition equipment and target object, including successively executes: determining present bit Confidence breath target position information between attitude misalignment, based on attitude misalignment controling adjustment device adjustment image acquisition equipment and The relative position of target object, after the adjustment of the relative position of image acquisition equipment and target object, image acquisition equipment phase Location information for target object is the third place information, determines the distance between the third place information and target position information Deviation, the relative position based on range deviation controling adjustment device adjustment image acquisition equipment and target object.

According to the embodiment of the present disclosure, the target object in the first image be shown in it is interior in the first area of display unit Hold.Based on current location information and target position information controling adjustment device adjustment image acquisition equipment and target object it is opposite Position, comprising: based on current location information and target position information controling adjustment device adjustment image acquisition equipment and target pair The relative position of elephant, so that image acquisition equipment is the 4th location information, control figure relative to the relative position of target object Obtain third image as obtaining equipment, the target object in third image be shown in it is interior in the second area of display unit Hold, wherein second area is different from first area, determines that image acquisition equipment is opposite based on multiple characteristic points in third image In the 4th location information of target object, obtained based on the 4th location information and target position information controling adjustment device adjustment image The relative position of equipment and target object is taken, so that image acquisition equipment is target position relative to the location information of target object Confidence breath.

Figure 11 diagrammatically illustrates the block diagram of the control device according to another embodiment of the disclosure.

As shown in figure 11, control device 1100 includes that the first acquisition module 1010, second obtains module 1020, determining module 1030 control modules 1040 and third obtain module 1110.Wherein, first obtain module 1010, second obtain module 1020, The module that determining module 1030 and control module 1040 are described above with reference to Figure 10 is same or like, and details are not described herein.

Third, which obtains module 1110, can be used for controlling image acquisition equipment acquisition reference picture, and reference picture includes target Object, wherein target position information includes the second location information of multiple characteristic points of target object in a reference image.According to The embodiment of the present disclosure, third, which obtains module 1110, can for example execute the operation S310 described above with reference to Fig. 3, no longer superfluous herein It states.

According to the embodiment of the present disclosure, obtained based on current location information and target position information controling adjustment device adjustment image Take the relative position of equipment and target object, comprising: be based on first location information and second location information controling adjustment device tune The relative position of whole image acquisition equipment and target object, wherein in the relative position tune of image acquisition equipment and target object After whole, image acquisition equipment can obtain the second image, position letter of the multiple characteristic points of target object in the second image Breath is second location information.

It is module according to an embodiment of the present disclosure, submodule, unit, any number of or in which any more in subelement A at least partly function can be realized in a module.It is single according to the module of the embodiment of the present disclosure, submodule, unit, son Any one or more in member can be split into multiple modules to realize.According to the module of the embodiment of the present disclosure, submodule, Any one or more in unit, subelement can at least be implemented partly as hardware circuit, such as field programmable gate Array (FPGA), programmable logic array (PLA), system on chip, the system on substrate, the system in encapsulation, dedicated integrated electricity Road (ASIC), or can be by the hardware or firmware for any other rational method for integrate or encapsulate to circuit come real Show, or with any one in three kinds of software, hardware and firmware implementations or with wherein any several appropriately combined next reality It is existing.Alternatively, can be at least by part according to one or more of the module of the embodiment of the present disclosure, submodule, unit, subelement Ground is embodied as computer program module, when the computer program module is run, can execute corresponding function.

For example, first obtains module 1010, second and obtains module 1020,1030 control module 1040 of determining module and the Any number of in three acquisition modules 1110, which may be incorporated in a module, to be realized or any one module therein can be with It is split into multiple modules.Alternatively, at least partly function of one or more modules in these modules can be with other modules At least partly function combine, and realized in a module.In accordance with an embodiment of the present disclosure, first obtain module 1010, Second obtains module 1020,1030 control module 1040 of determining module and third obtain at least one of module 1110 can be with At least it is implemented partly as hardware circuit, such as field programmable gate array (FPGA), programmable logic array (PLA), piece The system in system, encapsulation, specific integrated circuit (ASIC) in upper system, substrate, or can be by being integrated to circuit Or the hardware such as any other rational method or firmware of encapsulation are realized, or with three kinds of software, hardware and firmware realization sides Any one in formula several appropriately combined is realized with wherein any.Alternatively, first obtains the acquisition mould of module 1010, second Block 1020,1030 control module 1040 of determining module and third obtain at least one of module 1110 can be at least by part Ground is embodied as computer program module, when the computer program module is run, can execute corresponding function.

Figure 12 diagrammatically illustrates the block diagram of the computer system for realizing control according to the embodiment of the present disclosure.Figure Computer system shown in 12 is only an example, should not function to the embodiment of the present disclosure and use scope bring any limit System.

As shown in figure 12, the computer system 1200 for realizing control includes processor 1201, computer readable storage medium 1202.The system 1200 can execute the method according to the embodiment of the present disclosure.

Specifically, processor 1201 for example may include general purpose microprocessor, instruction set processor and/or related chip group And/or special microprocessor (for example, specific integrated circuit (ASIC)), etc..Processor 1201 can also include for caching The onboard storage device of purposes.Processor 1201 can be the different movements for executing the method flow according to the embodiment of the present disclosure Single treatment unit either multiple processing units.

Computer readable storage medium 1202, for example, can be can include, store, transmitting, propagating or transmitting instruction Arbitrary medium.For example, readable storage medium storing program for executing can include but is not limited to electricity, magnetic, optical, electromagnetic, infrared or semiconductor system, dress It sets, device or propagation medium.The specific example of readable storage medium storing program for executing includes: magnetic memory apparatus, such as tape or hard disk (HDD)；Light Storage device, such as CD (CD-ROM)；Memory, such as random access memory (RAM) or flash memory；And/or wire/wireless communication Link.

Computer readable storage medium 1202 may include computer program 1203, which may include Code/computer executable instructions executes processor 1201 and is implemented according to the disclosure The method or its any deformation of example.

Computer program 1203 can be configured to have the computer program code for example including computer program module.Example Such as, in the exemplary embodiment, the code in computer program 1203 may include one or more program modules, for example including 1203A, module 1203B ....It should be noted that the division mode and number of module are not fixed, those skilled in the art It can be combined according to the actual situation using suitable program module or program module, when these program modules are combined by processor When 1201 execution, processor 1201 is executed according to the method for the embodiment of the present disclosure or its any deformation.

According to an embodiment of the invention, first obtains the acquisition of module 1010, second module 1020, determining module 1030 controls Module 1040 and third, which obtain at least one of module 1110, can be implemented as the computer program mould with reference to Figure 12 description Corresponding operating described above may be implemented when being executed by processor 1201 in block.

The disclosure additionally provides a kind of computer-readable medium, which, which can be in above-described embodiment, retouches Included in the equipment/device/system stated；It is also possible to individualism, and without in the supplying equipment/device/system.On It states computer-readable medium and carries one or more program, when said one or multiple programs are performed, realize:

A kind of control method, image acquisition equipment are used to obtain the image of target object, and target object is to be shown in electronics Content on the display unit of equipment, method include: the target position information for obtaining image acquisition equipment relative to target object, It controls image acquisition equipment and obtains the first image, the first image includes multiple characteristic points of target object, based in the first image Multiple characteristic points determine current location information of the image acquisition equipment relative to target object, and be based on current location information The relative position of image acquisition equipment and target object is adjusted with target position information controling adjustment device, so that image obtains Equipment is target position information relative to the location information of target object.

In accordance with an embodiment of the present disclosure, current location information includes first position letter of multiple characteristic points in the first image Breath.

In accordance with an embodiment of the present disclosure, control method further include: control image acquisition equipment obtains reference picture, reference Image includes target object, wherein target position information includes second of multiple characteristic points of target object in a reference image Location information.

In accordance with an embodiment of the present disclosure, image is adjusted based on current location information and target position information controling adjustment device Obtain the relative position of equipment and target object, comprising: be based on first location information and second location information controling adjustment device Adjust the relative position of image acquisition equipment and target object, wherein in the relative position of image acquisition equipment and target object After adjustment, image acquisition equipment can obtain the second image, position of the multiple characteristic points of target object in the second image Information is second location information.

In accordance with an embodiment of the present disclosure, image is adjusted based on current location information and target position information controling adjustment device Obtain the relative position of equipment and target object, comprising: determine that the position between current location information and target position information is inclined Difference, the relative position based on position deviation controling adjustment device adjustment image acquisition equipment and target object.

In accordance with an embodiment of the present disclosure, position deviation includes at least one of the following: attitude misalignment, range deviation.Based on position The relative position of deviation controling adjustment device adjustment image acquisition equipment and target object is set, including is successively executed: being determined current Attitude misalignment between location information and target position information adjusts image acquisition equipment based on attitude misalignment controling adjustment device With the relative position of target object, after the adjustment of the relative position of image acquisition equipment and target object, image acquisition equipment Relative to target object location information be the third place information, determine between the third place information and target position information away from From deviation, the relative position based on range deviation controling adjustment device adjustment image acquisition equipment and target object.

In accordance with an embodiment of the present disclosure, regulating device is set to image acquisition equipment and/or target object.Based on present bit The relative position of confidence breath and target position information controling adjustment device adjustment image acquisition equipment and target object, comprising: base It is moved in current location information and target position information controling adjustment device, to adjust the phase of image acquisition equipment and target object To position.

In accordance with an embodiment of the present disclosure, the target object in the first image is to be shown in the first area of display unit Content.Phase based on current location information and target position information controling adjustment device adjustment image acquisition equipment and target object To position, comprising: based on current location information and target position information controling adjustment device adjustment image acquisition equipment and target The relative position of object, so that image acquisition equipment is the 4th location information, control relative to the relative position of target object Image acquisition equipment obtains third image, the target object in third image be shown in it is interior in the second area of display unit Hold, wherein second area is different from first area, determines that image acquisition equipment is opposite based on multiple characteristic points in third image In the 4th location information of target object, obtained based on the 4th location information and target position information controling adjustment device adjustment image The relative position of equipment and target object is taken, so that image acquisition equipment is target position relative to the location information of target object Confidence breath.

In accordance with an embodiment of the present disclosure, computer-readable medium can be computer-readable signal media or computer can Read storage medium either the two any combination.Computer readable storage medium for example can be --- but it is unlimited In system, device or the device of --- electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, or any above combination.It calculates The more specific example of machine readable storage medium storing program for executing can include but is not limited to: have the electrical connection, portable of one or more conducting wires Formula computer disk, hard disk, random access storage device (RAM), read-only memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-ROM), light storage device, magnetic memory device or The above-mentioned any appropriate combination of person.In the disclosure, computer readable storage medium can be it is any include or storage program Tangible medium, which can be commanded execution system, device or device use or in connection.And in this public affairs In opening, computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal, In carry computer-readable program code.The data-signal of this propagation can take various forms, including but not limited to Electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be computer-readable Any computer-readable medium other than storage medium, the computer-readable medium can send, propagate or transmit for by Instruction execution system, device or device use or program in connection.The journey for including on computer-readable medium Sequence code can transmit with any suitable medium, including but not limited to: wireless, wired, optical cable, radiofrequency signal etc., or Above-mentioned any appropriate combination.

Flow chart and block diagram in attached drawing are illustrated according to the system of the various embodiments of the disclosure, method and computer journey The architecture, function and operation in the cards of sequence product.In this regard, each box in flowchart or block diagram can generation A part of one module, program segment or code of table, a part of above-mentioned module, program segment or code include one or more Executable instruction for implementing the specified logical function.It should also be noted that in some implementations as replacements, institute in box The function of mark can also occur in a different order than that indicated in the drawings.For example, two boxes succeedingly indicated are practical On can be basically executed in parallel, they can also be executed in the opposite order sometimes, and this depends on the function involved.Also it wants It is noted that the combination of each box in block diagram or flow chart and the box in block diagram or flow chart, can use and execute rule The dedicated hardware based systems of fixed functions or operations is realized, or can use the group of specialized hardware and computer instruction It closes to realize.

It will be understood by those skilled in the art that the feature recorded in each embodiment and/or claim of the disclosure can To carry out multiple combinations and/or combination, even if such combination or combination are not expressly recited in the disclosure.Particularly, exist In the case where not departing from disclosure spirit or teaching, the feature recorded in each embodiment and/or claim of the disclosure can To carry out multiple combinations and/or combination.All these combinations and/or combination each fall within the scope of the present disclosure.

Although the disclosure, art technology has shown and described referring to the certain exemplary embodiments of the disclosure Personnel it should be understood that in the case where the spirit and scope of the present disclosure limited without departing substantially from the following claims and their equivalents, A variety of changes in form and details can be carried out to the disclosure.Therefore, the scope of the present disclosure should not necessarily be limited by above-described embodiment, But should be not only determined by appended claims, also it is defined by the equivalent of appended claims.

Claims

1. a kind of control method, described image obtains the image that equipment is used to obtain target object, and the target object is display Content on the display unit of electronic equipment, which comprises

It obtains described image and obtains target position information of the equipment relative to the target object；

It controls described image and obtains equipment the first image of acquisition, the first image includes multiple features of the target object Point；

Determine that described image obtains equipment working as relative to the target object based on multiple characteristic points in the first image Front position information；And

Based on the current location information and the target position information controling adjustment device adjustment described image obtain equipment and The relative position of the target object, so that it is institute that described image, which obtains equipment relative to the location information of the target object, State target position information.

2. according to the method described in claim 1, wherein, the current location information includes the multiple characteristic point described First location information in one image.

3. according to the method described in claim 2, further include:

It controlling described image and obtains equipment acquisition reference picture, the reference picture includes the target object,

Wherein, the target position information includes the second of multiple characteristic points of the target object in the reference picture Confidence breath.

4. described to be based on the current location information and the target position information according to the method described in claim 3, wherein Controling adjustment device adjusts the relative position that described image obtains equipment and the target object, comprising:

Based on the first location information and the second location information controling adjustment device adjustment described image obtain equipment and The relative position of the target object,

Wherein, after the relative position adjustment that described image obtains equipment and the target object, described image obtains equipment The second image can be obtained, location information of the multiple characteristic points of the target object in second image is described second Location information.

5. described to be based on the current location information and the target position information according to the method described in claim 1, wherein Controling adjustment device adjusts the relative position that described image obtains equipment and the target object, comprising:

Determine the position deviation between the current location information and the target position information；And

The relative position of equipment and the target object is obtained based on position deviation controling adjustment device adjustment described image.

6. according to the method described in claim 5, wherein:

The position deviation includes at least one of the following: attitude misalignment, range deviation；

It is described that the opposite of equipment and the target object is obtained based on position deviation controling adjustment device adjustment described image Position, including successively execute:

Determine the attitude misalignment between the current location information and the target position information；

The relative position of equipment and the target object is obtained based on attitude misalignment controling adjustment device adjustment described image, After the relative position adjustment that described image obtains equipment and the target object, described image obtains equipment relative to described The location information of target object is the third place information；

Determine the distance between the third place information and target position information deviation；And

The relative position of equipment and the target object is obtained based on range deviation controling adjustment device adjustment described image.

7. according to the method described in claim 1, wherein:

The regulating device is set to described image and obtains equipment and/or the target object；

It is described to be set based on the current location information and target position information controling adjustment device adjustment described image acquisition The relative position of the standby and described target object, comprising: institute is controlled based on the current location information and the target position information Regulating device movement is stated, to adjust the relative position that described image obtains equipment and the target object.

8. according to the method described in claim 1, wherein:

Target object in the first image is the content being shown in the first area of the display unit；

It is described to be set based on the current location information and target position information controling adjustment device adjustment described image acquisition The relative position of the standby and described target object, comprising:

Based on the current location information and the target position information controling adjustment device adjustment described image obtain equipment and The relative position of the target object, so that it is that described image, which obtains equipment relative to the relative position of the target object, Four location informations；

It controls described image and obtains equipment acquisition third image, the target object in the third image is to be shown in the display Content in the second area of unit, wherein the second area is different from the first area；

Determine that described image obtains institute of the equipment relative to the target object based on multiple characteristic points in the third image State the 4th location information；And

Based on the 4th location information and the target position information controling adjustment device adjustment described image obtain equipment and The relative position of the target object, so that it is institute that described image, which obtains equipment relative to the location information of the target object, State target position information.

9. a kind of control device, described image obtains the image that equipment is used to obtain target object, and the target object is display Internal content on the display unit of electronic equipment, described device include:

First obtains module, obtains described image and obtains target position information of the equipment relative to the target object；

Second obtains module, and control described image obtains equipment and obtains the first image, and the first image includes the target pair Multiple characteristic points of elephant；

Determining module determines that described image obtains equipment relative to the target based on multiple characteristic points in the first image The current location information of object；And

Control module is obtained based on the current location information and target position information controling adjustment device adjustment described image The relative position of equipment and the target object is taken, so that described image obtains position of the equipment relative to the target object Information is the target position information.

10. a kind of control system, described image obtains the image that equipment is used to obtain target object, and the target object is display Content on the display unit of electronic equipment, the system comprises:

Processor；And

Memory, for storing executable instruction, wherein when described instruction is executed by the processor, so that the processing Device executes: