CN114040110A - Robot photographing method, device, equipment and medium under pose condition limitation - Google Patents
Robot photographing method, device, equipment and medium under pose condition limitation Download PDFInfo
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- CN114040110A CN114040110A CN202111401338.4A CN202111401338A CN114040110A CN 114040110 A CN114040110 A CN 114040110A CN 202111401338 A CN202111401338 A CN 202111401338A CN 114040110 A CN114040110 A CN 114040110A
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- robot
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000004590 computer program Methods 0.000 claims description 14
- 230000007613 environmental effect Effects 0.000 claims description 6
- 238000004422 calculation algorithm Methods 0.000 abstract description 7
- 230000000007 visual effect Effects 0.000 abstract description 6
- 230000008859 change Effects 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 10
- 230000006870 function Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- 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
Abstract
The invention discloses a robot photographing method, a robot photographing device and a robot photographing medium under pose conditions, wherein the method comprises the following steps: the robot body sends an instruction for taking/recording a picture to the panoramic camera, the panoramic camera responds to the instruction for taking/recording the picture sent by the robot body, the panoramic camera takes pictures/videos of the side part or the upper panoramic view of the robot body, the panoramic camera feeds back the pictures/videos of the panoramic view to the robot body, and the robot body receives the pictures/videos of the side part or the upper panoramic view of the robot body, which are taken by the panoramic camera and fed back. The robot does not need to change the pose when taking pictures and taking pictures, so the robot has wider application range and more timely taking pictures; the algorithm for determining the visual angle does not consume the computing power of the robot, and any computing power can be utilized after the photos/videos are exported; the invention does not need to determine the photographing pose before photographing and shooting.
Description
Technical Field
The invention relates to a robot photographing method, device, equipment and medium under pose condition limitation, and belongs to the technical field of robots.
Background
When it is desired that the robot actively capture the target object (rather than passively record), one technical problem is how to cause the target object to appear in the center of the field of view of the camera. Currently, for a view angle camera or a pan-tilt camera, if aiming at a target object, the pose of the robot must be changed (the position of the camera on the robot is generally fixed), or the pose of the camera must be changed (or both).
However, the problem of changing the pose is that: 1. The algorithm is used for realizing that the pose change depends on higher calculation power of the robot, and one method is that the robot analyzes the real-time video stream of the camera by the algorithm and changes the shooting pose in real time. This requires a large amount of image processing anyway, and requires a certain amount of computation power and energy. This can impact the endurance of some small robots. 2. Some scenes have limitations on pose, and in some scenes, the pose of the robot is limited, for example, in narrow scenes, the robot is inconvenient to turn. 3. Once the shooting pose is wrong, the shooting pose cannot be corrected. The field angles of the view-angle camera and the pan-tilt camera are limited, and the view-angle camera and the pan-tilt camera must determine the correct shooting pose at the moment of shooting, so that objects outside the field of view are completely 'discarded'. If the determined pose is wrong at that time, for example, the operator cannot keep up with the movement of the object, the resource is in shortage, the video stream analysis algorithm is blocked, the robot is caught by other objects and cannot turn around in time, and the target object cannot be reproduced through subsequent processing. This results in either a photograph not being taken or some frames of the video having missing target objects.
Disclosure of Invention
The invention aims to overcome the technical defects in the prior art, solve the technical problems and provide a robot photographing method, device, equipment and medium under the pose condition.
The invention specifically adopts the following technical scheme: the robot photographing method under the pose condition limitation comprises the following steps:
the robot body sends an instruction for taking/recording a picture to the panoramic camera, the panoramic camera responds to the instruction for taking/recording the picture sent by the robot body, the panoramic camera takes pictures/videos of the side part or the upper panoramic view of the robot body, the panoramic camera feeds back the pictures/videos of the panoramic view to the robot body, and the robot body receives the pictures/videos of the side part or the upper panoramic view of the robot body, which are taken by the panoramic camera and fed back.
As a preferred embodiment, the panoramic field of view covers the environmental information around 360 centered on itself.
As a preferred embodiment, the panoramic camera is disposed above the robot body, a connecting device is disposed on the top of the robot body, and the top of the robot body is connected to the bottom of the panoramic camera through the connecting device.
The invention also provides a robot photographing method under the pose condition, which is executed by the panoramic camera and comprises the following steps: and responding to a command for taking/recording pictures sent by the robot body, taking pictures/videos of the panoramic view field at the side part or the upper part of the robot body, and feeding back the pictures/videos of the panoramic view field to the robot body.
The invention also provides a robot photographing method under the pose condition, which is executed by the robot body and comprises the following steps: and sending a command for taking pictures/recording videos to the panoramic camera, and receiving the shot pictures/videos of the panoramic vision at the side or above the robot body fed back by the panoramic camera.
The invention also provides a robot photographing device under the pose condition, which comprises: the panoramic camera is arranged on the side part or the upper part of the robot body;
the panoramic camera specifically performs: responding to a command for taking/recording pictures sent by the robot body, taking pictures/videos of a panoramic view on the side or the upper part of the robot body, and feeding back the pictures/videos of the panoramic view to the robot body;
the robot body specifically executes: and sending a command for taking pictures/recording videos to the panoramic camera, and receiving the shot pictures/videos of the panoramic vision at the side or above the robot body fed back by the panoramic camera.
As a preferred embodiment, the panoramic field of view covers the environmental information around 360 centered on itself.
As a preferred embodiment, the panoramic camera is disposed above the robot body, a connecting device is disposed on the top of the robot body, and the top of the robot body is connected to the bottom of the panoramic camera through the connecting device.
The invention also proposes a device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the steps of the method being implemented when the processor executes the program.
The invention also proposes a medium on which a computer program is stored which, when being executed by a processor, carries out the steps of the method.
The invention achieves the following beneficial effects: 1. the robot does not need to change the pose when taking pictures and taking pictures, so the robot has wider application range and more timely taking pictures; 2. the algorithm for determining the visual angle does not consume the computing power of the robot, and any computing power can be utilized after the photos/videos are exported; 3. the invention does not need to determine the pose of the picture before picture taking and image shooting, but postpones the action, and has the scope of calibration/coming.
Drawings
Fig. 1 is a schematic diagram of a first embodiment of a robot photographing apparatus under pose conditions of the present invention.
Fig. 2 is a schematic diagram of a second embodiment of the robot photographing apparatus under the pose condition of the present invention.
The meanings of the symbols in the figures: a-a robot body; b-a panoramic camera; c-panoramic field of view; d-connecting means.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
Example 1: the invention provides a robot photographing method under pose condition limitation, which comprises the following steps:
the robot body sends an instruction for taking/recording a picture to the panoramic camera, the panoramic camera responds to the instruction for taking/recording the picture sent by the robot body, the panoramic camera takes pictures/videos of the side part or the upper panoramic view of the robot body, the panoramic camera feeds back the pictures/videos of the panoramic view to the robot body, and the robot body receives the pictures/videos of the side part or the upper panoramic view of the robot body, which are taken by the panoramic camera and fed back.
As a preferred embodiment, the panoramic field of view covers the environmental information around 360 centered on itself.
As a preferred embodiment, the panoramic camera is disposed above the robot body, a connecting device is disposed on the top of the robot body, and the top of the robot body is connected to the bottom of the panoramic camera through the connecting device.
Example 2: the invention also provides a robot photographing method under the pose condition, which is executed by the panoramic camera and comprises the following steps: and responding to a command for taking/recording pictures sent by the robot body, taking pictures/videos of the panoramic view field at the side part or the upper part of the robot body, and feeding back the pictures/videos of the panoramic view field to the robot body.
Example 3: the invention also provides a robot photographing method under the pose condition, which is executed by the robot body and comprises the following steps: and sending a command for taking pictures/recording videos to the panoramic camera, and receiving the shot pictures/videos of the panoramic vision at the side or above the robot body fed back by the panoramic camera.
Example 4: as shown in fig. 1, the present invention further provides a robot photographing apparatus under pose condition, comprising: the panoramic camera is arranged on the side part or the upper part of the robot body;
the panoramic camera specifically performs: responding to a command for taking/recording pictures sent by the robot body, taking pictures/videos of a panoramic view on the side or the upper part of the robot body, and feeding back the pictures/videos of the panoramic view to the robot body;
the robot body specifically executes: and sending a command for taking pictures/recording videos to the panoramic camera, and receiving the shot pictures/videos of the panoramic vision at the side or above the robot body fed back by the panoramic camera.
As a preferred embodiment, the panoramic field of view covers the environmental information around 360 centered on itself.
As a preferred embodiment, as shown in fig. 2, the panoramic camera is disposed above the robot body, a connecting device is disposed on the top of the robot body, and the top of the robot body is connected to the bottom of the panoramic camera through the connecting device. Fixing the panoramic camera with the robot main body:
the panoramic camera can be arranged on the side surface of the robot body and used for transversely shooting; however, in order to ensure the visual field, the panoramic camera needs to be placed on the top of the robot body or at a certain height from the robot body, and then connected by a stable connecting device. Ensuring that the panoramic camera can receive the instructions of the robot to take/record pictures; ensuring that photos/videos taken by the panoramic camera can be acquired; the panoramic camera is connected on the hardware and software layers, the hardware layer is like usb and Ethernet, and the software layer needs to be realized by designing a protocol.
And acquiring shot panoramic images/panoramic videos, wherein the fields of vision of the shot panoramic images/panoramic videos cover the surrounding 360-degree environment information with the self as the center, and the environment information is not omitted. And then aligning the target object in a manual/algorithm mode, and intercepting the visual angle.
Example 5: the invention also proposes an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the steps of the method being implemented when the processor executes the program.
Example 6: the invention also proposes a medium on which a computer program is stored which, when being executed by a processor, carries out the steps of the method.
Compared with the prior art, the invention has the beneficial effects that: 1. the robot does not need to change the pose when taking pictures and taking pictures, so the robot has wider application range and more timely taking pictures; 2. the algorithm for determining the visual angle does not consume the computing power of the robot, and any computing power can be utilized after the photos/videos are exported; 3. the invention does not need to determine the pose of the picture before picture taking and image shooting, but postpones the action, and has the scope of calibration/coming.
It should be noted that: regarding the way in which the panoramic camera is fixed to the robot, the simplest solution is presented in fig. 2, i.e. placed on top or at a distance from the robot. This is done to ensure that the field of view of the panoramic camera is not obstructed by the robot body. The simplest solution is for the robot not to change its shape. For robots with more complex equipment, devices such as a mechanical arm, a lifting platform, a telescopic rod and the like can be used, and the panoramic camera can also be arranged at a movable part. When in use, the movable part is stretched out, and the picture taking and the image pick-up are carried out after the visual field is ensured. The software and hardware connection mode of 2 panoramic cameras is various, and one panoramic camera is not covered.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks. These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks. These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is to be covered by the claims.
Claims (10)
1. The robot photographing method under the pose condition is characterized by comprising the following steps of:
the robot body sends an instruction for taking/recording a picture to the panoramic camera, the panoramic camera responds to the instruction for taking/recording the picture sent by the robot body, the panoramic camera takes pictures/videos of the side part or the upper panoramic view of the robot body, the panoramic camera feeds back the pictures/videos of the panoramic view to the robot body, and the robot body receives the pictures/videos of the side part or the upper panoramic view of the robot body, which are taken by the panoramic camera and fed back.
2. The pose-constrained robot photography method of claim 1, wherein the panoramic view covers 360 degrees of environmental information centered around itself.
3. The robot photographing method under the pose condition limitation of claim 1, wherein the panoramic camera is arranged above the robot body, a connecting device is arranged at the top of the robot body, and the top of the robot body is connected with the bottom of the panoramic camera through the connecting device.
4. The robot photographing method under the pose condition limitation is executed by a panoramic camera and is characterized by comprising the following steps of: and responding to a command for taking/recording pictures sent by the robot body, taking pictures/videos of the panoramic view field at the side part or the upper part of the robot body, and feeding back the pictures/videos of the panoramic view field to the robot body.
5. The robot photographing method under the pose condition limitation is executed by a robot body and is characterized by comprising the following steps: and sending a command for taking pictures/recording videos to the panoramic camera, and receiving the shot pictures/videos of the panoramic vision at the side or above the robot body fed back by the panoramic camera.
6. Robot device of shooing under position appearance condition restriction, its characterized in that includes: the panoramic camera is arranged on the side part or the upper part of the robot body;
the panoramic camera specifically performs: responding to a command for taking/recording pictures sent by the robot body, taking pictures/videos of a panoramic view on the side or the upper part of the robot body, and feeding back the pictures/videos of the panoramic view to the robot body;
the robot body specifically executes: and sending a command for taking pictures/recording videos to the panoramic camera, and receiving the shot pictures/videos of the panoramic vision at the side or above the robot body fed back by the panoramic camera.
7. The pose-constrained robot camera device of claim 6, wherein the panoramic view covers 360 degrees of environmental information centered around itself.
8. The robot photographing device under the pose condition limitation of claim 6, wherein the panoramic camera is arranged above the robot body, a connecting device is arranged at the top of the robot body, and the top of the robot body is connected with the bottom of the panoramic camera through the connecting device.
9. Apparatus comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the method of any one of claims 1 to 5 when executing the program.
10. Medium, on which a computer program is stored, characterized in that the computer program realizes the steps of the method of any of claims 1 to 5 when executed by a processor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111401338.4A CN114040110A (en) | 2021-11-19 | 2021-11-19 | Robot photographing method, device, equipment and medium under pose condition limitation |
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| CN202111401338.4A CN114040110A (en) | 2021-11-19 | 2021-11-19 | Robot photographing method, device, equipment and medium under pose condition limitation |
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| CN114040110A true CN114040110A (en) | 2022-02-11 |
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| CN202111401338.4A Pending CN114040110A (en) | 2021-11-19 | 2021-11-19 | Robot photographing method, device, equipment and medium under pose condition limitation |
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