CN113347359B - Position adjusting method, device and equipment of image acquisition device and storage medium - Google Patents
Position adjusting method, device and equipment of image acquisition device and storage medium Download PDFInfo
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- CN113347359B CN113347359B CN202110614219.0A CN202110614219A CN113347359B CN 113347359 B CN113347359 B CN 113347359B CN 202110614219 A CN202110614219 A CN 202110614219A CN 113347359 B CN113347359 B CN 113347359B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
Abstract
The invention relates to the field of camera lifting, in particular to a position adjusting method, device, equipment and storage medium of an image acquisition device. Acquiring image information, and determining brightness information corresponding to the image information according to the image information; determining the movement progress information of a preset image acquisition device according to the brightness information; and adjusting the position of the image acquisition device according to the motion progress information. When the devices such as a camera and a television are updated, the invention reuses the mold, the shape, the structure and the hardware design of the original device on the problem of controlling the motion progress of the image acquisition device, and only needs to update the motion progress program of the image acquisition device. Therefore, the invention can reduce the cost of equipment updating and simplify the production process.
Description
Technical Field
The invention relates to the field of camera lifting, in particular to a position adjusting method, a position adjusting device, position adjusting equipment and a storage medium of an image acquisition device.
Background
The equipment such as a camera and a television is provided with an image acquisition device such as a liftable camera, when an image needs to be shot, the camera is lifted up and exposed from the inside of the equipment so as to shoot the image; when the camera does not need to be used, the camera drops and is hidden inside the equipment, and the privacy of the user is protected. After a user sends a camera lifting instruction, motors inside the camera and the television drive the camera to lift.
In the prior art, a hardware circuit is adopted to control the operation of a motor so as to control the lifting progress of a camera. However, when the equipment is updated, the operation of the motor can be matched with the lifting progress of the camera only by correspondingly improving the corresponding hardware circuit, and the difficulty of equipment updating is increased and the equipment updating time is prolonged by improving the hardware circuit.
Therefore, the prior art has yet to be improved.
Disclosure of Invention
In order to solve the technical problems, the invention provides a position adjusting method, a position adjusting device, position adjusting equipment and a storage medium of an image acquisition device, and aims to solve the problems that when equipment is updated and replaced in the prior art, the operation of power equipment for adjusting the image acquisition device can be matched with the position adjustment of the image acquisition device only by correspondingly improving corresponding hardware circuits, and the difficulty of equipment updating is increased and the equipment updating time is prolonged by improving the hardware circuits.
In order to realize the purpose, the invention adopts the following technical scheme:
in a first aspect, the present invention provides a method for adjusting a position of an image capturing device, including the steps of:
acquiring image information, and determining brightness information corresponding to the image information according to the image information;
determining the movement progress information of a preset image acquisition device according to the brightness information;
and adjusting the position of the image acquisition device according to the motion progress information.
In one implementation, the determining, according to the image information, luminance information corresponding to the image information includes:
obtaining a color space image of the image information according to the image information;
the method comprises the steps of carrying out region division on a color space image to obtain a plurality of detection regions, and using brightness components of the color space image of the detection regions as brightness information of the detection regions.
In one implementation, the detection regions form a c x r matrix with c rows and r columns, and the rows of the c x r matrix are arranged along the position adjustment direction of the image acquisition device
The taking the luminance component of the color space images of the plurality of detection areas as the luminance information of the plurality of detection areas includes:
and obtaining a c x 1 matrix from the c x r matrix, wherein the element value of each row in the c x 1 matrix is the average value of the brightness components of the detection areas in each row of the c x r matrix, and the element value of each row in the c x 1 matrix is used as the brightness information corresponding to the image information.
In one implementation, the motion progress information includes a rising progress of the image capturing device, and the determining of the motion progress information of the preset image capturing device according to the brightness information includes:
carrying out binarization processing on the c 1 matrix to obtain a binarized c 1 matrix;
calculating the sum of all element values of the c x 1 matrix after binarization to obtain sum;
and obtaining the lifting progress through the ratio of sum to c.
In one implementation manner, the specific steps of adjusting the position of the image capturing device according to the motion progress information are as follows:
and if the lifting progress is smaller than the set lifting progress, moving the image acquisition device upwards until the lifting progress reaches the set lifting progress, and stopping the operation of moving the image acquisition device upwards.
In one implementation manner, the determining the motion progress information of the preset image capturing device according to the brightness information includes:
performing binarization processing on the c x 1 matrix to obtain a binarized c x 1 matrix;
calculating the sum of all element values of the c 1 matrix after binarization;
and calculating the difference value of subtracting sum from c, and calculating the ratio of the difference value to c to obtain the descending progress.
In one implementation manner, the specific step of adjusting the position of the image capturing device according to the motion progress information is as follows:
and if the descending progress is smaller than the set descending progress, moving the image acquisition device downwards until the descending progress reaches the set descending progress, and stopping the operation of moving the image acquisition device downwards.
In a second aspect, an embodiment of the present invention further provides a device of a method for adjusting a position of an image capturing device, where the device includes the following components:
the image acquisition device is used for acquiring image information and determining brightness information corresponding to the image information according to the image information;
the position detection module is used for determining the movement progress information of a preset image acquisition device according to the brightness information;
and the position adjusting module is used for adjusting the position of the image acquisition device according to the motion progress information.
In a third aspect, an embodiment of the present invention further provides an apparatus, where the apparatus includes a memory, a processor, and a position adjustment program stored in the memory and operable on the processor, and when the processor executes the position adjustment program of the image capturing device, the method implements the steps of any one of the above-mentioned methods for adjusting the position of the image capturing device.
In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium stores a position adjustment program of an image capturing device, and when the position adjustment program of the image capturing device is executed by a processor, the method of adjusting a position of the image capturing device according to any one of the above-mentioned steps is implemented.
The beneficial effects are as follows: compared with the prior art, the invention provides a position adjusting method of an image acquisition device. For example, when only a small part of a camera serving as an image acquisition device rises to the outside of the devices such as a camera television, most of the camera is still hidden inside the devices (the bottom of the camera is not exposed to the outside of the devices), the brightness of the unexposed part of the bottom of an image shot by the camera is low, so that the progress that the rising progress of the camera does not reach the full rising progress can be reversed, a motor for driving the camera to rise needs to continuously drive the camera to rise, so that the camera rises completely, namely, the rising progress of the camera reaches the set rising progress, and finally, the motor stops running, namely, the motor stops driving the camera to rise. The invention can realize the control of the lifting of the camera only by controlling the running of the motor through a program, and can realize the control of the lifting position of the camera only by changing an internal control program without changing a hardware circuit of the equipment even if the motor or the camera of the equipment is updated.
In summary, when devices such as a camera and a television are updated, the invention reuses the mold, shape, structure and hardware design of the original device in the aspect of controlling the lifting of the camera, and only needs to update the program for controlling the lifting of the camera. Therefore, the invention can reduce the cost of equipment renewal and simplify the production process.
In addition, the invention realizes flexible lifting of the camera through program control, and has wide application field; even the equipment form that bears the camera changes, for example the lift camera changes into the camera that opens and shuts, need not to change mould, structure, molding, hardware design, also can satisfy the demand of real-time control camera position (camera lift progress), and application scope is wide, and product competitiveness is strong.
Drawings
Fig. 1 is an overall flowchart of the position adjustment of the image capturing apparatus according to the present invention.
Fig. 2 is a flowchart of acquiring luminance information of an image according to the present invention.
Fig. 3 is a flowchart of acquiring a camera lifting progress according to brightness information.
Fig. 4 is a system diagram of the camera lifting device of the present invention.
FIG. 5 is a flow chart of a data transmission module according to the present invention.
FIG. 6 is a flow chart of a video capture module of the present invention.
Fig. 7 is a flow chart of the motor control module of the present invention.
FIG. 8 is a flow chart of a video encoding module according to the present invention.
Fig. 9 shows the lifting schedule obtained by the present invention.
Detailed Description
The technical scheme of the invention is clearly and completely described below by combining the embodiment and the attached drawings of the specification. 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.
Researches show that the equipment such as a camera and a television is provided with a liftable camera, and when images need to be shot, the camera is lifted from the inside of the equipment to be exposed so as to shoot the images; when the camera does not need to be used, the camera is descended and hidden inside the equipment, and the privacy of the user is protected. After a user sends a camera lifting instruction, motors inside the camera and the television drive the camera to lift. In the prior art, a hardware circuit is adopted to control the operation of a motor so as to control the lifting progress of a camera. However, when the equipment is updated, the operation of the motor can be matched with the lifting progress of the camera only by correspondingly improving the corresponding hardware circuit. And the improvement of the hardware circuit increases the difficulty of device update and prolongs the time of the device update.
In order to solve the technical problems, the invention provides a position adjustment method of an image acquisition device, and the method of the embodiment aims to solve the problems that when equipment is updated, corresponding hardware circuits need to be correspondingly improved to match the operation of a motor with the lifting progress of a camera, and the improvement of the hardware circuits increases the difficulty of equipment updating and prolongs the equipment updating time in the prior art. In specific implementation, the position adjustment method of the image acquisition device in the embodiment includes the following steps:
firstly, acquiring image information through an image acquisition device, and determining brightness information corresponding to the image information according to the image information; then, according to the brightness information, determining the movement progress information of a preset image acquisition device; and finally, adjusting the position of the image acquisition device according to the motion progress information.
When equipment such as a camera and a television is updated, the invention reuses the mould, the shape, the structure and the hardware design of the original equipment on the basis of controlling the lifting (position adjustment) of a camera (an image acquisition device), and only needs to update a program for controlling the lifting of the camera. Therefore, the invention can reduce the cost of equipment updating and simplify the production process.
In addition, the invention realizes flexible lifting of the camera through a position adjusting program, and has wide application field; even the equipment form that bears the camera changes, for example the lift camera changes into the camera that opens and shuts, need not to change mould, structure, molding, hardware design, also can satisfy the demand of real-time control camera position (camera lift progress), and application scope is wide, and product competitiveness is strong.
For example, a lifting camera is installed on the camera, when the camera is not used, the camera is stored in the camera, when a user needs to use the camera, a lifting instruction is sent to the camera through the camera, the camera starts to shoot images, when only a small part of the camera rises to the outside of the camera, the brightness of the exposed part of the bottom of the images shot by the camera is low, therefore, the lifting progress of the camera can be reversed and does not reach the completely lifting progress, and the motor needs to continuously drive the camera to lift so as to enable the camera to completely lift. The rising progress, that is, the proportion of the part of the camera, which is positioned outside the camera, for taking the image, in the camera is set to be 100%. Similarly, when the camera is completely outside the camera and the user does not need to use the camera and the camera is stored in the camera, the camera is completely stored in the camera by sending the descending step to the camera.
Exemplary method。
A method for adjusting a position of an image capturing device, as shown in fig. 1, specifically includes the following steps:
s100, acquiring image information, and determining brightness information corresponding to the image information according to the image information;
in this embodiment, image information may be acquired by a camera with a camera, for example, when a user sends an instruction to raise the camera on a display screen of the camera or by voice, the camera located inside the camera starts to capture an image after receiving the instruction. The image can be represented by a YUV color coding mode, wherein Y represents brightness (Luma or Luma), namely a gray value, the numerical range is 0-255, and the larger the gray value is, the brighter the image is; "U" and "V" represent chromaticity (Chroma) which is used to describe the color and saturation of an image for specifying the color of a pixel. Grayscale image: in the computer field, a Gray scale (Gray scale) digital image is an image in which each pixel has only one sampling color. Such images are typically displayed in gray scale from the darkest black to the brightest white.
S200, determining the motion progress information of a preset image acquisition device according to the brightness information;
the core of this embodiment is to obtain the current position of the camera according to the image, and then obtain the camera raising progress (movement progress information). For example, the camera is completely located inside the camera, and the shot image is a completely black picture, and the rising progress of the camera is zero at this time. In this embodiment, the image capturing device may be not only a camera but also an image sensor.
In one implementation, as shown in fig. 2, step S200 specifically includes:
step S201 of converting the image captured in step S100 into a YUV image (color space image);
the image format shot by the camera is not YUV format, and then the image is converted into YUV image.
Step S202, carrying out region division on the color space image to obtain a plurality of detection regions, taking the brightness components of the color space image of the detection regions as the brightness information of the detection regions, namely equally dividing the YUV image into c equal parts along the length direction of the YUV image, equally dividing the YUV image into r equal parts along the width direction of the YUV image, and dividing the YUV image into c x r matrixes of c rows and r columns to form c x r detection regions;
in this embodiment, the plane where the length direction of the YUV image is located is parallel to the plane where the camera lifting direction is located, and the plane where the width direction of the YUV image is located is perpendicular to the direction where the camera lifting direction is located. When the camera is not completely raised (exposed) to the outside of the camera, a part of the captured image appears black due to the absence of light. Therefore, the image is equally divided into c rows along the lifting direction of the camera, and the change of the image brightness can be obtained through the analysis of each row, so that the number of the cameras positioned outside the camera can be obtained, namely the lifting progress of the cameras can be obtained.
Step S203 is to set the Y component of the YUV image of each detection area as the luminance information of each detection area in c × r detection areas.
In this embodiment, the image is divided into c × r detection areas according to the size of the image, each detection area has only one pixel, and when the image is represented by YUV coding, "Y" represents the brightness of the image, so the Y component of the pixel of each detection area is selected as the brightness information of the detection area.
And constructing a two-dimensional vector M of c x r, reading the Y component of the pixel points in the detection area, and storing the Y component to M.
For example, the size of a two-dimensional digital image is 10 × 8, that is, the two-dimensional digital image has 80 pixels, the image is divided into 10 × 8 detection areas, each detection area has only one pixel, and the Y value of the pixel of the detection area is used as the brightness information of the detection area.
And step S300, adjusting the position of the image acquisition device according to the motion progress information.
The image picked up by the camera with different rising progresses (moving progresses) (the rising progresses are the proportion of the part of the camera exposed outside the camera to the whole camera), the brightness of different detection areas of the image is different, and therefore the rising progress of the camera can be known through the brightness of the different detection areas of the image.
In one implementation, as shown in fig. 3, step S300 specifically includes the following steps:
step S301, initializing a setting value x for binarization;
step S302, calculating the average value of all Y components of each row serving as brightness information in the c x r matrix, and forming a c x 1 matrix by using the average value as an element value of the row;
in this embodiment, the average value of all Y components of M rows is calculated to generate a matrix v of c x 1,
step S303, binarizing the c 1 matrix to obtain a binarized c 1 matrix;
in this embodiment, if the value of an element in the matrix v is greater than the set value x, the value of the element is 1, otherwise, the value of the element is 0, and the binarization matrix L is generated.
Step 304, calculating the sum of all element values of the c x 1 matrix L after binarization;
in the present embodiment of the present invention,
step 305, acquiring a rising progress P according to the ratio of sum to c;
in the present embodiment, the first and second electrodes are,
in this embodiment, if the rising schedule P is smaller than the set rising schedule, the three steps of repeatedly shooting images by the camera, repeatedly acquiring luminance information, and repeatedly acquiring the rising schedule of the camera to the outside of the device are repeated, and the power device drives the camera to continue rising until the rising schedule of the camera reaches the set rising schedule, and at this time, the power device stops driving the camera to rise. The camera may be continuously driven to ascend as long as the ascending schedule P is smaller than the set ascending schedule. Or when the time for calculating the rising progress of the camera is longer than the set time, the power equipment stops driving the camera to rise, so that the power equipment is prevented from being unloaded.
For example, the lifting progress is set to be 100%, in the process of driving the camera to lift by the motor, the camera continuously shoots images, the current lifting progress of the camera is obtained through analysis of the continuously shot images, if the lifting progress does not reach 100%, the motor continues to drive the camera to lift until the lifting progress reaches 100%, the motor stops driving the camera to lift, and at this time, the operation of lifting the camera is completed. According to the method and the device, the rising progress of the camera is obtained by analyzing the shot images, and when the set rising progress is 100%, the motor is controlled to stop running through a program, so that the motor can be prevented from continuously idling.
The method can also solve the problem that the motor controls the camera to descend, when a user sends a descending instruction to the camera through a display screen of the camera, the descending of the camera can be realized by adopting the steps, and only the ascending progress P in the step 304 is required to be changed into the descending progress P':
as shown in fig. 9, the method of the present invention obtains a rising progress of 60% and a falling progress of 40%.
If the descending progress is less than 100% of the set descending progress, the three steps of shooting images by the camera, repeatedly acquiring brightness information and repeatedly acquiring the descending progress of the camera to the inside of the equipment are repeated, the power equipment drives the camera to continuously descend until the descending progress of the camera reaches the set descending progress, and at the moment, the power equipment stops driving the camera to descend. It is also possible to continue driving the power device to lower the camera as long as the lowering schedule is smaller than the set lowering schedule. The invention can realize the control of the lifting position of the camera without changing a hardware circuit.
In this embodiment, a lifting instruction is input to the camera (image capturing device 20) through the display device 10 of the camera, the camera captures image information, the position detecting module 30 of the camera calculates a lifting progress of the camera, and transmits the lifting progress to the position adjusting module 40, so that the position adjusting module 40 (motor) adjusts the lifting of the camera. Of course, the image capturing apparatus 20 of this embodiment may also transmit the captured image to the video encoding module 50, encode the image, and transmit the encoded image to the display device 10 through the data transmission module 60.
In summary, in this embodiment, first, the external environment image where the camera is located is captured through the camera, the brightness information of the image is extracted, the lifting progress of the camera is obtained according to the brightness information, and then the operation of the motor driving the camera to lift is controlled according to the lifting progress. For example, when only a small part of the camera head rises to the outside of the devices such as a camera television, most of the camera head is hidden inside the devices, and the brightness of the part, which is not raised, of the bottom of the image shot by the camera head is low, so that the raising progress of the camera head can be reversed and does not reach the completely-raised progress, the motor needs to continuously drive the camera head to raise, so that the camera head is completely raised, namely the raising progress of the camera head reaches the set raising progress, and finally the motor stops running, namely the motor stops driving the camera head to raise. The invention can realize the control of the lifting of the camera only by controlling the running of the motor through a program, and can realize the lifting of the camera only by changing the internal control program without changing the hardware circuit of the equipment even if the motor or the camera of the equipment is updated. When the devices such as a camera and a television are updated, the invention reuses the mould, the model, the structure and the hardware design of the original device on the problem of controlling the lifting of the camera, and only needs to update the program for controlling the lifting of the camera. Therefore, the invention can reduce the cost of equipment renewal and simplify the production process. In addition, the invention realizes flexible lifting of the camera through the position detection module, and has wide application field; even the equipment form that bears the camera changes, for example the lift camera changes into the camera that opens and shuts, need not to change mould, structure, molding, hardware design, also can satisfy the demand of real-time camera position (camera lift progress), and application scope is wide, and product competitiveness is strong.
Exemplary devices
The embodiment also provides a device of a position adjustment method of an image capturing apparatus, as shown in fig. 4, the device includes a display device 10, an image capturing apparatus 20, a position detecting module 30, a position adjusting module 40, a video encoding module 50, and a data transmission module 60. Specifically, the display device 10 is configured to send a lifting instruction to the camera lifting device; the image acquisition device 20 is used for receiving the lifting instruction sent by the display equipment 10 and then shooting an image; the position detection module 30 is used for acquiring the lifting progress of the camera according to the brightness information of the image; the position adjusting module 40 is used for controlling the operation of a motor for driving the camera to ascend and descend according to the ascending and descending progress; a video encoding module 50, configured to receive an image captured by the image capturing device 20 and encode the image; and a data transmission module 60 for transmitting the encoded image to the display device 10.
As shown in fig. 5, the data transmission module 60 transmits the image photographed by the camera including the steps of:
after the data transmission module 60 initializes the UVC driving, a UVC data transmission path is established with the display device 10 to wait for data of the video encoding module 50. During image acquisition, the encoded video frames of the video encoding module 50 are received and sent to the display device 10 through the UVC data transmission path for playing. The display device 10 mainly has a camera application, and a user can trigger to raise (or lower) a camera through the camera application and start (or stop) capturing a video stream, during which the camera application receives a coded video frame transmitted by the image capturing device 20 through the UVC, and the coded video frame is decoded by a player and displayed on a display screen.
As shown in fig. 6, the image capturing device 20 of the camera captures an image, which includes the following steps:
initializing a sensor (image sensor) and an ISP driver (image signal processor) of the image capturing device 20, then waiting for an event message of the data transmission module 60, when the data transmission module 60 requests to capture image data, then capturing the image data by the camera, and sending the captured image data to the position detection module 30 and the video encoding module 50 as YUV image frames, respectively, when the data transmission module 60 requests to stop capturing images, the camera stops capturing images, otherwise, the camera continues capturing images.
As shown in fig. 7, the position adjustment module 40 controls the operation of the motor including the following steps:
firstly, initializing a motor drive, waiting for an event message of the position detection module 30 by the motor drive, controlling the motor to drive the camera to ascend or descend by the position adjustment module 40 when the position detection module 30 requests to ascend or descend the camera, and controlling the motor to stop the ascending or descending of the camera by the position adjustment module 40 when a ascending or descending event sent by the position detection module 30 is completed or the time for waiting for the ascending or descending event sent by the position detection module 30 by the position adjustment module 40 exceeds a set time.
In this embodiment, the image is analyzed according to the position detection module 30 to obtain the lifting progress of the camera, instead of directly controlling the lifting progress of the camera by controlling the operation time of the motor, because the rotating speeds of the motors are inconsistent, the lifting progress of the camera is controlled by controlling the motor by time, and the application range can be reduced.
The embodiment also provides the terminal device, which includes a memory, a processor and a camera lifting program stored in the memory and capable of running on the processor, wherein when the processor executes the camera lifting program, the adjustment of the camera lifting position is realized.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by hardware instructions of a computer program, which may be stored in a non-volatile computer-readable storage medium, and when executed, may include the processes of the embodiments of the methods described above. Any reference to memory, storage, databases or other media used in the embodiments provided herein may include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
In summary, the present invention discloses a method, an apparatus, a device and a storage medium for adjusting a position of an image capturing apparatus, wherein the method comprises: the camera receives the lifting instruction, and the camera positioned in the equipment shoots an image; acquiring brightness information of an image; the progress of the camera is obtained from the brightness information and raised to the outside of the display device 10; if the rising progress is smaller than the set rising progress, repeating the three steps of shooting images by the camera, obtaining brightness information and obtaining the rising progress of the camera to the outside of the display device 10, driving the camera to continuously rise by the power device until the rising progress of the camera reaches the set rising progress, and stopping driving the camera to rise by the power device; or, the camera receives the descending instruction, and the camera located outside the display device 10 takes an image; acquiring brightness information of an image; acquiring the descending progress of the camera to the inside of the display device 10 by the brightness information; if the descending progress is smaller than the set descending progress, the three steps of shooting images by the camera, obtaining brightness information and obtaining the descending progress of the camera to the inside of the equipment are repeated, the power equipment drives the camera to continuously descend until the descending progress of the camera reaches the set descending progress, and at the moment, the power equipment stops driving the camera to descend.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (6)
1. The position adjustment method of the image acquisition device is characterized by comprising the following steps:
acquiring image information, and determining brightness information corresponding to the image information according to the image information;
determining the movement progress information of a preset image acquisition device according to the brightness information;
according to the motion progress information, position adjustment is carried out on the image acquisition device;
the determining the brightness information corresponding to the image information according to the image information includes:
obtaining a color space image of the image information according to the image information, wherein the plane of the color space image in the length direction is parallel to the plane of the image acquisition device in the lifting direction, and the plane of the color space image in the width direction is perpendicular to the plane of the image acquisition device in the lifting direction;
dividing the color space image into a plurality of detection areas, wherein the detection areas form a c x r matrix with c rows and r columns, and the rows of the c x r matrix are arranged along the position adjusting direction of the image acquisition device;
obtaining a c x 1 matrix from the c x r matrix, wherein an element value of each row in the c x 1 matrix is an average value of brightness components of a plurality of detection areas in each row of the c x r matrix, and the element value of each row in the c x 1 matrix is used as brightness information corresponding to the image information;
the motion progress information includes a rising progress of the image acquisition device, and the position adjustment of the image acquisition device according to the motion progress information includes:
performing binarization processing on the c x 1 matrix to obtain a binarized c x 1 matrix;
calculating the sum of all element values of the c x 1 matrix after binarization to obtain sum;
obtaining the lifting progress according to the ratio of sum to c;
or, the motion progress information includes a descending progress of the image capturing device, and the determining of the preset motion progress information of the image capturing device according to the brightness information includes:
carrying out binarization processing on the c 1 matrix to obtain a binarized c 1 matrix;
calculating the sum of all element values of the c x 1 matrix after binarization;
and calculating the difference value of subtracting sum from c, and calculating the ratio of the difference value to c to obtain the descending progress.
2. The method for adjusting the position of an image capturing device according to claim 1, wherein the step of adjusting the position of the image capturing device according to the movement progress information comprises:
and if the rising progress is smaller than the set rising progress, moving the image acquisition device upwards until the rising progress reaches the set rising progress, and stopping the operation of moving the image acquisition device upwards.
3. The method for adjusting the position of an image capturing device according to claim 1, wherein the step of adjusting the position of the image capturing device according to the exercise progress information includes:
and if the descending progress is smaller than the set descending progress, moving the image acquisition device downwards until the descending progress reaches the set descending progress, and stopping the operation of moving the image acquisition device downwards.
4. A device for realizing the position adjustment method of an image acquisition device is characterized by comprising the following steps:
the image acquisition device is used for acquiring image information and determining brightness information corresponding to the image information according to the image information;
the position detection module is used for determining the movement progress information of a preset image acquisition device according to the brightness information;
the position adjusting module is used for adjusting the position of the image acquisition device according to the motion progress information;
the determining the brightness information corresponding to the image information according to the image information includes:
obtaining a color space image of the image information according to the image information, wherein a plane where the length direction of the color space image is located is parallel to a plane where the lifting direction of the image acquisition device is located, and a plane where the width direction of the color space image is located is perpendicular to the plane where the lifting direction of the image acquisition device is located;
dividing the color space image into a plurality of detection areas, wherein the detection areas form a c x r matrix with c rows and r columns, and the rows of the c x r matrix are arranged along the position adjusting direction of the image acquisition device;
obtaining a c x 1 matrix from the c x r matrix, wherein an element value of each row in the c x 1 matrix is an average value of brightness components of a plurality of detection areas in each row of the c x r matrix, and the element value of each row in the c x 1 matrix is used as brightness information corresponding to the image information;
the motion progress information includes a rising progress of the image acquisition device, and the position adjustment of the image acquisition device according to the motion progress information includes:
carrying out binarization processing on the c 1 matrix to obtain a binarized c 1 matrix;
calculating the sum of all element values of the c x 1 matrix after binarization to obtain sum;
obtaining the lifting progress according to the ratio of sum to c;
or, the motion progress information includes a descending progress of the image capturing device, and the determining of the preset motion progress information of the image capturing device according to the brightness information includes:
performing binarization processing on the c x 1 matrix to obtain a binarized c x 1 matrix;
calculating the sum of all element values of the c x 1 matrix after binarization;
and calculating the difference value of subtracting sum from c, and calculating the ratio of the difference value to c to obtain the descending progress.
5. An apparatus, characterized by: the device comprises a memory, a processor and a position adjusting program of the image acquisition device stored in the memory and capable of running on the processor, wherein the processor realizes the steps of the position adjusting method of the image acquisition device according to any one of claims 1-3 when executing the position adjusting program of the image acquisition device.
6. A computer-readable storage medium, characterized in that: the computer-readable storage medium has stored thereon a position adjustment program of an image pickup apparatus, which when executed by a processor, implements the steps of the position adjustment method of the image pickup apparatus according to any one of claims 1 to 3.
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