KR20210035641A - Holder device for supporting camera and method, computer-readable storage medium and computer program for controlling the holder device - Google Patents

Abstract

According to various embodiments, provided is a holder device, which may include: a sensor module; a frame including the sensor module; a rotating unit provided on the frame and including one or more motors; and a control unit using the sensor module, checking whether a subject included in an image obtained through a camera module is moved to a detection area of the sensor module, and controlling the one or more motors to rotate the camera module and the sensor module, based on the checking of the movement of the subject to the detection area. According to the present invention, the quality of an image can be improved.

Description

A holder device for supporting a camera and a method for controlling the holder device, a computer-readable recording medium, and a computer program TECHNICAL FIELD

The present invention relates to a holder device for supporting a camera, a method for controlling the holder device, a computer-readable recording medium, and a computer program.

With the recent commercialization of 5th generation mobile telecommunication (5G), a real-time live broadcast service that combines 360-degree camera and virtual reality (VR) technology as an immersive media application service and a high-quality on-demand video system ( Technology development is being made to provide content of video on demand (VOD).

In general, a 360 degree camera is composed of a combination of a plurality of lenses (e.g., fisheye lenses) and image sensors. Conventionally, a dead zone and some images are formed according to the position and angle of view of the image sensor. There has been a problem in that this overlapping zone occurs.

For example, conventionally, when a subject is located in the dead zone, a conventional image capturing apparatus has a problem in that the subject cannot be acquired from a VR image captured using a 360 degree camera. In order to solve this problem, it may be considered to apply a fisheye lens having a wide angle of view, but another problem may occur in that the quality of the acquired image is deteriorated due to the wide angle of view.

In addition, a stitching device (stitching server) for stitching images acquired through a conventional image capturing device analyzes an overlapped image in a zone (also referred to as an overlapping zone) in which some images are overlapped. In this operation, when the screen is dark or the distance of the subject moves, processing resources increase and precise matching is difficult.

Accordingly, in an embodiment of the present invention, when providing an image by combining a 360-degree camera with a virtual reality technology, controlling a holder device and a holder device supporting a camera to improve the quality of the image by assisting image capture. It is possible to provide a method, a computer-readable recording medium, and a computer program.

For example, when acquiring an image using a 360-degree camera, when a subject is located in a dead zone, the holder device rotates the 360-degree camera so that an image including an image corresponding to the subject is acquired. can do. In addition, the holder device transmits information corresponding to the rotation of the 360-degree camera to a stitching device (stitching server) that stitches images acquired through a 360-degree camera, so that the stitching device shifts the stitched image. In this way, a change in the captured image according to the rotation of the 360 degree camera may be eliminated.

According to an embodiment, a holder device for supporting a camera includes: a sensor module; A frame including the sensor module; A rotating part provided on the frame and including one or more motors; And using the sensor module, it is checked whether the subject included in the image acquired through the camera module is moved to the detection area of the sensor module, and based on the confirmation of movement of the subject to the detection area, the camera module And a control unit for controlling the one or more motors so that the sensor module is rotated.

According to an embodiment, there is provided a method for controlling a holder device, the method comprising: checking whether a subject included in an image acquired through a camera module is moved to a detection area of the sensor module using a sensor module; And controlling one or more motors to rotate the camera module and the sensor module, based on confirmation of movement of the subject to the sensing area.

According to an embodiment, there is provided a computer-readable recording medium storing a computer program, the operation of checking whether a subject included in an image acquired through a camera module is moved to a detection area of the sensor module using a sensor module; And a command for causing the processor to perform a method including an operation of controlling one or more motors to rotate the camera module and the sensor module based on confirmation of movement of the subject to the sensing area.

According to an embodiment, there is provided a computer program stored in a computer-readable recording medium, comprising: using a sensor module to check whether a subject included in an image acquired through a camera module is moved to a detection area of the sensor module; And a command for causing the processor to perform a method including an operation of controlling one or more motors to rotate the camera module and the sensor module based on confirmation of movement of the subject to the sensing area.

According to an embodiment, the holder device includes: a camera module; Sensor module; A frame including the camera module and the sensor module; A rotating part provided on the frame and including one or more motors; And acquiring an image including a subject using the camera module, and checking whether the subject is moved to the sensing area of the sensor module using the sensor module, and confirming the movement of the subject to the sensing area. Thus, it may include a control unit for controlling the one or more motors so that the camera module and the sensor module are rotated.

A holder device for supporting a camera and a method for controlling the holder device according to an embodiment of the present invention, a computer-readable recording medium and a computer program, provide an image by combining a 360-degree camera and a virtual reality technology. The quality of the image can be improved.

For example, when acquiring an image using a 360-degree camera, when a subject is located in a dead zone, the holder device rotates the 360-degree camera so that an image including an image corresponding to the subject is acquired. can do. In addition, the holder device transmits information corresponding to the rotation of the 360-degree camera to a stitching device (stitching server) that stitches images acquired through a 360-degree camera, so that the stitching device shifts the stitched image. In this way, a change in the captured image according to the rotation of the 360 degree camera may be eliminated.

1 is a block diagram of a holder device according to an embodiment of the present invention.
2A and 2B are views showing a holder device according to an embodiment of the present invention.
3 is a view for explaining the operation of the holder device according to an embodiment of the present invention.
4 is a control flowchart of a holder device according to an embodiment of the present invention.
5 is a control flowchart of a holder device according to an embodiment of the present invention.

First, the advantages and features of the present invention, and a method of achieving them will become apparent with reference to embodiments to be described later in detail together with the accompanying drawings. Here, the present invention is not limited to the embodiments disclosed below, but may be implemented in a variety of different forms, and only these embodiments are intended to complete the disclosure of the present invention, and are common in the technical field to which the present invention pertains. It is provided by way of example in order for those skilled in the art to clearly understand the scope of the invention, so the technical scope of the invention should be defined by the claims.

In addition, in the following description of the present invention, if it is determined that a detailed description of known functions or configurations may unnecessarily obscure the subject matter of the present invention, a detailed description thereof will be omitted. In addition, terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to the intention or custom of users or operators. Therefore, the definition should be made based on the technical idea described throughout the present specification.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram of a holder device according to an embodiment of the present invention.

Referring to FIG. 1, the holder device 100 may include a control unit 101, a sensor module 105, a memory 107, a communication module 109, and a driving module 111.

The control unit 101 (also referred to as a control device or a control circuit) includes at least one other component (eg, a hardware component (eg, a sensor module 105), a memory 107, a communication module) of the connected holder photographing device 100. 109, and the driving module 111) or a software component), and various data processing and operations can be performed.

The sensor module 105 may include one or more sensors capable of generating an electrical signal or data value corresponding to an internal operating state (eg, power) of the holder device 100 or an external environmental state. For example, the sensor module 105 may include one or more infrared ray sensors (IR Sensors) (also referred to as IR number/luminescence sensors). The infrared sensor may be used to confirm (detection, detection) that a subject enters within a designated distance (also referred to as a designated area, location, point, or area) of the holder device 100. For example, the sensor module 105 may further include an acceleration sensor. The acceleration sensor may measure the moving speed of the subject.

The memory 107 includes various data used by at least one component of the holder device 100 (control unit 101, sensor module 105, communication module 109, and drive module 111), for example. For example, input data or output data for software (eg, a program) and commands related thereto may be stored. The memory 107 may include a volatile memory or a nonvolatile memory.

The communication module 109 may support establishing a wired or wireless communication channel between the holder device 100 and the external device 10 and performing communication through the established communication channel. For example, the communication module 109 is a wireless communication module (eg, a cellular communication module, a Wi-Fi communication module, a short-range wireless communication module, or a global navigation satellite system (GNSS) communication module) and/or a wired communication module (eg, a LAN (local area network) communication module or power line communication module), and short-range communication such as a first network (not shown) (e.g., Bluetooth, WiFi direct or IrDA (infrared data association)) using a corresponding communication module Network) or a second network (not shown) (eg, a cellular network, the Internet, or a telecommunication network such as a computer network (eg, LAN or WAN)). For example, the external device 10 may be a stitching device (stitching server) that stitches images acquired through the camera module 103.

The driving module 111 may include one or more motors capable of moving at least a portion of one or more mechanical components of the holder device 100 (rotator 207 of FIG. 2 to be described later). The driving module 111 may be used to change mechanically by moving a mechanical component of the holder device 100. The shape of the driving module 111 may be a shape capable of moving up, down, left, and/or right around at least one axis (also referred to as a rotation axis), and the shape may be variously implemented. . For example, the driving module 111 may cause the one or more motors to rotate under the control of the controller 101, and accordingly, one or more mechanical components of the holder device 100 (to be described later in FIG. 2 The rotating part 207 can be moved. For example, the one or more motors may be step motors.

According to an embodiment, the holder device 100 may include the camera module 103, and according to another embodiment, the holder device 100 is configured separately from the camera module 103 to provide the communication module 109. Through this, an image obtained from the camera module 103 and/or information corresponding to the image may be received. For example, when the holder device 100 includes the camera module 103, the holder device 100 may be referred to as an image capturing device.

The camera module 103 may capture a still image and a video. For example, the camera module 103 may include one or more image sensors and one or more lenses. The lens may be a wide-angle lens or a telephoto lens. For example, the camera module 103 may be a 360 degree camera. The 360 degree camera may include a plurality of lenses and may capture images in a plurality of different directions.

2A and 2B are views showing a holder device according to an embodiment of the present invention.

2A and 2B, the holder device 100 may include a frame 201, a rotating part 207, and a support part 209.

The frame 201 (also referred to as a housing) may be a 360 degree camera including a plurality of lenses 203 and a plurality of image sensors 204 to generate a plurality of images. For example, as shown in FIGS. 2A and 2B, a plurality of lenses 203 may be disposed at predetermined intervals. The plurality of lenses 203 may be a wide-angle lens or a telephoto lens. For example, as shown in FIG. 2B, a plurality of image sensors 204 may be positioned (arranged) at a distance from the plurality of lenses 203.

The frame 201 may include one or more infrared sensors 205. For example, one or more infrared sensors 205 may be positioned (placed) between image sensors 204 as shown in FIGS. 2A and 2B.

The rotating part 207 (also referred to as a mount) may be attached to a part of the frame 201 and may include a driving module (eg, a driving module 111). For example, the rotation unit 207 may include one or more motors, and the rotation unit 207 may move (rotate) to the left or right around the rotation axis of the rotation unit 207 according to the rotation of the at least one motor. have.

The support part 209 may be attached to a part (eg, the lower end) of the rotating part 207. The support 209 may be in the form of a tripod, and various forms may be applied.

2B, the holder device 100 is a non-sensing area (area other than 211 in FIG. 2B) in which a subject cannot be detected through each of one or more infrared sensors 205 (on a space where a subject cannot be detected). It is also referred to as an area) and a detection area capable of detecting the subject (211 in Fig. 2B) (an area in a space where a subject can be detected) can be distinguished (confirmed).

Referring to FIG. 2B, the holder device 100 may distinguish (confirm) a designated edge region (213 in FIG. 2B) corresponding to each of the plurality of image sensors 204. The edge area corresponds to a boundary between an imaging area (an image acquisition possible area) and a non-imaging area (an image acquisition impossible area) within a predetermined viewing angle (some viewing angle) among the total viewing angles of each of the plurality of image sensors 204 It may be an area to do. The designated edge region is a spatial region capable of corresponding to one or more designated pixels of each of the plurality of image sensors 204, and the designated one or more pixels are among pixels of each of the plurality of image sensors 204 It may include one or more pixels positioned at the edge (outer) part. For example, according to the operation of the holder device 100 to be described later, the frame (201 in FIG. 2A) may be rotated, and accordingly, the positions of one or more image sensors 204 are changed, so that the plurality of image sensors 204 ) The position of the edge region corresponding to each of the) may also be changed.

According to an embodiment, the control unit (eg, the control unit 101) of the holder device 100 uses a sensor module (eg, the sensor module 105) to control the camera module (eg, the camera module 103). It is checked whether the subject included in the image acquired through is moved to the detection area of the sensor module, and based on the confirmation of movement of the subject to the detection area, the one or more motors so that the camera module and the sensor module are rotated. (For example, one or more motors included in the driving module 111) can be controlled.

For example, the sensing area may include a non-imaging area other than the viewing angle of the camera module.

For example, the camera module may have a predetermined viewing angle, and the acquired image may be an image corresponding to an imaging area within the predetermined viewing angle of the camera module. In addition, the controller, based on the image acquired through the camera module, checks the movement of the subject to an edge area corresponding to the boundary between the imaging area and the non-imaging area, and the edge area of the subject Based on the movement to, it is possible to control to activate the sensor module.

For example, the controller may determine that the subject is moved to the sensing area based on the detection of the subject that has not been detected through the sensor module.

For example, the sensor module and the camera module may be fixedly attached to a frame (eg, frame 201), and by rotating the frame by the one or more motors, the sensor module and the camera module are rotated. You can do it.

For example, one or more infrared sensors included in the sensor module may be disposed in the frame between image sensors included in the camera module.

For example, the controller may check the moving direction of the subject based on the image acquired through the camera module, and based on a direction corresponding to the moving direction of the subject to the sensing area of the subject, The one or more motors may be controlled so that the frame is rotated.

For example, the direction corresponding to the moving direction of the subject may include a direction opposite to the moving direction of the subject.

For example, the controller may check the moving direction of the subject based on the image acquired through the camera module, and determine the distance between the holder device and the subject located in the sensing area through the sensor module. It is possible to check and determine a rotation angle at which the frame is rotated based on the identified distance, and control the one or more motors to rotate the frame based on the moving direction of the subject and the rotation angle.

For example, the controller may determine a rotation speed of the frame based on a distance to the subject and/or a moving speed of the subject.

For example, based on the movement of the subject to the sensing area, the control unit transmits information related to the rotation of the frame using a communication module (eg, a communication module 109) to a server (eg, an external device ( 10)). For example, the information related to the rotation of the frame may include a rotation direction of the frame corresponding to a movement direction of the subject, a rotation angle of the frame, and/or a rotation speed of the frame.

For example, when the subject is not detected through the sensor module, the controller may control the one or more motors to end rotation of the frame.

According to another embodiment, a controller (eg, controller 101) of the holder device 100 acquires an image including a subject using a camera module (eg, camera module 103), and a sensor module (eg, : A frame including the camera module and the sensor module, based on the movement of the subject to the detection area, and checks whether the subject is moved to the detection area of the sensor module using the sensor module 105 (For example, the one or more motors (for example, one or more motors included in the driving module 111) may be controlled so that the frame 201 is rotated.

3 is a view for explaining the operation of the holder device (eg, the holder device 100, the control unit 101 of the holder device 100) according to an embodiment of the present invention.

3A, the holder device uses an infrared sensor 205 to enter the subject 301 into a designated detection zone (also referred to as a dead zone) 211 (the subject 301 is specified Entering within the distance) can be confirmed. For example, according to the movement 303 from an undetectable area in which the subject 301 cannot be detected to a detection area in which the subject 301 can be detected, the subject that has not been detected ( When 301 is detected, the holder device may determine that the subject 301 has entered the designated area 211. When it is determined that the subject 301 has entered the designated area 211, the holder device controls a motor (for example, one or more motors included in the driving module 111), so that the infrared sensor 205 causes the subject ( The rotating unit (eg, rotating unit 207) may be rotated so that the frame including the infrared sensor 205 (eg, frame 201) rotates 305 until 301 cannot be detected.

Referring to (b) of FIG. 3, the holder device determines a movement direction (eg, left or right rotation) of the subject 301 based on an image acquired using a camera module (eg, camera module 103). It is possible to confirm or predict a direction in which the subject 301 will move (predict a movement trajectory), and a frame including the infrared sensor 205 in the opposite (reverse direction) of the movement direction of the subject 301 (e.g., a frame The frame may be rotated by controlling the motor so that 201) rotates 307.

Referring to FIG. 3C, the holder device may check an image corresponding to the designated edge area 309 of the camera module. For example, the designated edge area 309 of the camera module may correspond to a boundary between an imaging area and a non-imaging area within a predetermined viewing angle of the camera module. In addition, the designated edge region of the camera module is a spatial region capable of corresponding to one or more designated pixels of each image sensor 204 included in the camera module, and the designated one or more pixels are It may include one or more pixels positioned at an edge (outer) part of the pixels.

According to an embodiment, the holder device may check an image corresponding to the designated one or more pixels of each image sensor 204 included in the camera module. For example, the holder device checks the motion direction of the subject 301 based on the image corresponding to the designated one or more pixels (or predicts the direction in which the subject will move (predicts the motion trajectory)) or an infrared sensor ( 205) can be turned on or off. For example, when an image corresponding to the subject 301 is included in the identified image, the holder device may determine that the subject 301 has moved to the designated edge area 309. For example, when an image corresponding to the subject 301 is included in the identified image, the holder device may activate (on) the infrared sensor 205. For example, when an image corresponding to the subject 301 is not included in the confirmed image, the holder device may deactivate (off) the infrared sensor 205. Activation or deactivation of the infrared sensor 205 is applied to all infrared sensors 205 included in the holder device or corresponds to one or more image sensors 204 that have acquired an image corresponding to the subject (the subject It may be applied to only one or more infrared sensors 205 (at a location adjacent to the one or more image sensors 204 that have acquired an image corresponding to ).

Referring to FIG. 3(d), as in the operations of FIGS. 3(a) and 3(b) described above, in order to control the motor to rotate the frame, the controller of the holder device (e.g., the controller ( 101)) may generate a pulse type signal 311. The holder device transmits a signal (eg, a pulse signal) (information) corresponding to the pulse type signal 311 to a stitching server, so that the stitching server corresponds to the pulse signal (in synchronization with the pulse signal). The image 313 may be shifted 315. For example, the stitching server stores shift information for a unit rotation angle (also referred to as grid information) for each pulse step, and an image 313 at a rising edge of the pulse signal. ) Can be synchronized with the holder device so that it is shifted 315. For example, the image 313 controlling the stitching server to be shifted 315 is, the stitching server receives images in a plurality of different directions acquired through the camera module from the holder device, and the It may be an image generated by stitching images.

4 is a control flowchart of a holder device (eg, the holder device 100, the control unit 101 of the holder device 100) according to an embodiment of the present invention.

In operation 410, the holder device may acquire an image including the subject by using the camera module.

According to an embodiment, the camera module may be a 360 degree camera, and the holder device may acquire (shoot) images in a plurality of different directions in real time by controlling the 360 degree camera.

According to an embodiment, the holder device may include a camera module, and an image including the subject may be obtained by controlling the camera module.

According to another embodiment, the holder device and the camera module may be configured separately, and the holder device may receive an image from the camera module to obtain an image including the subject.

In operation 420, the holder device may check whether the subject has moved to the designated edge area.

According to an embodiment, the holder device may check an image corresponding to the designated edge area of the camera module, and may check whether an image corresponding to the subject is included in the image corresponding to the edge area. When an image corresponding to the subject is included in the image corresponding to the edge area, the holder device may determine that the subject has moved to the designated edge area.

For example, the designated edge area of the camera module is a spatial area that can correspond to one or more designated pixels of each image sensor included in the camera module, and the designated one or more pixels are pixels of the image sensor. Among them, one or more pixels located at the edge (outer) portion may be included. The holder device may check an image corresponding to the designated one or more pixels of each image sensor included in the camera module, and if the image corresponding to the subject is included in the confirmed image, the holder device selects the subject. It can be determined that it has moved to the edge area.

The holder device may execute operation 430 when it is determined that the subject has moved to the designated edge area, otherwise it may execute operation 420 again.

In operation 430, the holder device may activate the sensor module.

According to an embodiment, the sensor module may include one or more infrared sensors.

According to an embodiment, the holder device may activate all infrared sensors included in the sensor module or some infrared sensors included in the sensor module. For example, the holder device may activate only one or more designated infrared sensors (adjacent to one or more image sensors that have acquired an image corresponding to the subject) corresponding to one or more image sensors that have acquired an image corresponding to the subject. have.

In operation 440, the holder device may check whether the subject has moved from the undetected area of the sensor module to the sensing area of the sensor module.

According to an embodiment, the undetected area of the sensor module may be a spatial area in which the infrared sensor of the holder device cannot detect a subject. The sensing area of the sensor module may be a spatial area in which an infrared sensor of the holder device can detect a subject.

According to an embodiment, the holder device may check whether the subject has moved from an undetected area of the sensor module to a sensing area of the sensor module based on whether the subject is detected through an activated infrared sensor. When the holder device detects the subject that has not been detected using the infrared sensor, it may determine that the subject has moved from the undetected area of the sensor module to the sensing area of the sensor module.

The holder device performs operation 450 when it is determined that the subject has moved from the undetected area of the sensor module to the detection area of the sensor module, otherwise it may execute operation 440 again.

In operation 450, the holder device may control one or more motors such that the rotating unit rotates based on the movement of the subject.

According to an embodiment, the holder device may control one or more motors such that the rotation unit rotates in a direction corresponding to the moving direction of the subject until the subject is not detected.

For example, the holder device, in the reverse direction (opposite direction) of the moving direction of the subject identified through the camera module, until the subject is no longer detected by the infrared sensor (detection of the subject is Until the end), it is possible to control the rotation of one or more motors (for example, a step motor) so that the rotating unit rotates.

For example, the holder device may check the distance to the subject by the infrared sensor, and may determine the rotation angle (size) of the rotating unit based on the distance to the subject. The holder device may control the rotation of one or more motors so that the rotation unit rotates in a direction opposite to the moving direction of the subject identified through the camera module based on the determined rotation angle.

In operation 460, the holder device may transmit information corresponding to the rotation of the rotating part to the server.

According to an embodiment, the holder device transmits information corresponding to the rotation of the rotating part to a server (eg, so that the server can shift the image in response to (synchronize) rotation of the rotating part using a communication module. : Can be transmitted to the stitching server).

For example, the information corresponding to the rotation of the rotating unit is information related to the rotation of the frame of the holder device, and the rotation direction of the frame corresponding to the moving direction of the subject, the rotation angle of the frame, and/or the frame May include rotational speed.

For example, the holder device may generate a pulse signal to control the rotation of the motor, and transmit a signal (information) corresponding to the generated pulse signal to the server, so that the server The image can be shifted in response to the signal.

For example, the image controlling the server to be shifted is generated by the server receiving images in a plurality of different directions acquired from the holder device through the camera module of the holder device, and stitching the images. It can be one video.

5 is a control flow diagram of a holder device (eg, the holder device 100, the control unit 101 of the holder device 100) according to an embodiment of the present invention.

In operation 510, the holder device may acquire an image including the subject by using the camera module.

According to an embodiment, the camera module may have a predetermined viewing angle, and the acquired image may be an image corresponding to an imaging area within the predetermined viewing angle of the camera module. In this case, the holder device may check the movement of the subject to the edge area corresponding to the boundary between the imaging area and the non-imaging area, and based on the movement of the subject to the edge area, the sensor module of the holder device Can be activated.

According to an embodiment, the camera module may be a 360 degree camera.

According to an embodiment, the holder device may include a camera module, and an image including the subject may be obtained by controlling the camera module.

According to another embodiment, the holder device and the camera module may be configured separately, and the holder device may receive an image from the camera module to obtain an image including the subject.

In operation 520, the holder device may check whether the subject is moved to the sensing area of the sensor module by using the sensor module.

According to an embodiment, the operation of determining whether the subject is moved to the sensing area of the sensor module is based on the detection of the subject that has not been detected through the sensor module, and the subject is detected by the sensor module. You may decide to move to the zone.

According to an embodiment, the sensing area may include a non-imaging area other than a viewing angle of the camera module.

According to an embodiment, when it is determined that the subject has moved to the sensing area of the sensor module, the holder device executes operation 530, otherwise it may execute operation 520 again.

In operation 530, the holder device may control one or more motors to rotate the frame including the camera module and the sensor module based on the movement of the subject to the sensing area.

According to an embodiment, the holder device checks the moving direction of the subject using the camera module, and rotates the frame based on a direction corresponding to the moving direction of the subject to the sensing area of the subject. That is, the one or more motors may be controlled so that the camera module and the sensor module are rotated. For example, a direction corresponding to the moving direction of the subject may be a direction opposite to the moving direction (reverse direction) of the subject.

According to an embodiment, the holder device checks the moving direction of the subject using the camera module, and checks the distance between the holder device and the subject located in the sensing area through the sensor module. A rotation angle at which the frame is rotated is determined based on a distance, and the frame is rotated based on the moving direction and the rotation angle of the subject, that is, the camera module and the sensor module are rotated. You can control the motor. For example, the holder device may control the one or more motors to rotate the frame by determining a rotational speed of the frame based on a distance to the subject and/or a moving speed of the subject.

According to an embodiment, when the subject is not detected through the sensor module, the holder device may control the one or more motors to end rotation of the frame.

In the above-described embodiment of FIG. 5, the holder device may additionally transmit information related to rotation of the frame to the server using the communication module based on the movement of the subject to the sensing area. For example, the information related to the rotation of the frame may include a rotation direction of the frame corresponding to a movement direction of the subject, a rotation angle of the frame, and/or a rotation speed of the frame.

Various embodiments of the present document include instructions stored in a machine-readable storage media (eg, memory 113 (internal memory or external memory)) that can be read by a machine (eg, a computer). It can be implemented in software (eg, a program). The device is a device capable of calling a stored command from a storage medium and operating according to the called command, and may include an electronic device (eg, the electronic device 100) according to the disclosed embodiments. When the command is executed by a control unit (eg, the control unit 101) (or a processor), the control unit may perform a function corresponding to the command directly or by using other components under the control of the control unit. Instructions may include code generated or executed by a compiler or interpreter. A storage medium that can be read by a device may be provided in the form of a non-transitory storage medium. Here,'non-transient' means that the storage medium does not contain a signal and is tangible, but does not distinguish between semi-permanent or temporary storage of data in the storage medium.

According to an example, the method according to various embodiments disclosed in the present document may be provided by being included in a computer program product.

According to an embodiment, as a computer-readable recording medium storing a computer program, the operation of checking whether a subject included in an image acquired through a camera module is moved to a detection area of the sensor module using a sensor module, And a command for causing the processor to perform a method including an operation of controlling the one or more motors to rotate the camera module and the sensor module, based on confirmation of movement of the subject to the sensing area. .

According to an embodiment, as a computer program stored in a computer-readable recording medium, the operation of checking whether a subject included in an image acquired through a camera module is moved to a detection area of the sensor module using a sensor module, And a command for causing the processor to perform a method including an operation of controlling the one or more motors to rotate the camera module and the sensor module, based on confirmation of movement of the subject to the sensing area. .

The above description is merely illustrative of the technical idea of the present invention, and those of ordinary skill in the technical field to which the present invention pertains, various substitutions, modifications and changes, etc., within the scope not departing from the essential characteristics of the present invention. It will be easy to see that this is possible. That is, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but to explain the technical idea, and the scope of the technical idea of the present invention is not limited by these embodiments.

Accordingly, the scope of protection of the present invention should be interpreted by the claims to be described later, and all technical thoughts within the scope equivalent thereto should be construed as being included in the scope of the present invention.

According to an embodiment of the present invention, when the holder device acquires an image using a 360 degree camera, a change in the captured image of the 360 degree camera according to the rotation of the 360 degree camera may be eliminated. This embodiment of the present invention can be applied and used in the field of 360 degree camera and virtual reality technology.

Claims (20)

Sensor module;
A frame including the sensor module;
A rotating part provided on the frame and including one or more motors; And
Using the sensor module, it is checked whether the subject included in the image acquired through the camera module is moved to the detection area of the sensor module,
And a controller configured to control the one or more motors to rotate the camera module and the sensor module based on confirmation of movement of the subject to the sensing area. The method of claim 1, wherein the control unit,
A holder device configured to determine that the subject is moved to the sensing area based on the detection of the subject that has not been detected through the sensor module. The method of claim 1, wherein the sensor module and the camera module,
A holder device fixedly attached and rotated by rotating the frame by the at least one motor. The method of claim 3, wherein the control unit,
Checking the moving direction of the subject based on the image acquired through the camera module,
A holder device configured to control the one or more motors such that the frame is rotated based on a direction corresponding to the moving direction of the subject to the sensing area of the subject. The method of claim 4,
The direction corresponding to the moving direction of the subject,
Holder device including a direction opposite to the moving direction of the subject. The method of claim 3, wherein the control unit,
Checking the moving direction of the subject based on the image acquired through the camera module,
Through the sensor module, check the distance between the holder device and the subject located in the detection area,
Determine a rotation angle at which the frame is rotated based on the checked distance,
Holder device for controlling the one or more motors to rotate the frame based on the moving direction and the rotation angle of the subject. The method of claim 6, wherein the control unit,
A holder device configured to determine a rotation speed of the frame based on at least one of a distance to the subject or a moving speed of the subject. The method of claim 3,
Further comprising a communication module,
The control unit,
A holder device for transmitting information related to rotation of the frame to a server using the communication module based on the movement of the subject to the sensing area. The method of claim 3, wherein the control unit,
When the object is not detected through the sensor module, the holder device for controlling the one or more motors to end the rotation of the frame. The method of claim 3,
A holder device configured such that at least one infrared sensor included in the sensor module is disposed on the frame between image sensors included in the camera module. The method of claim 1, wherein the detection zone,
A holder device comprising a non-imaging area other than the viewing angle of the camera module. The method of claim 1,
The camera module has a predetermined viewing angle,
The acquired image is an image corresponding to an imaging area within the predetermined viewing angle of the camera module,
The control unit,
Based on the image acquired through the camera module, confirming the movement of the subject to an edge area corresponding to a boundary between the imaging area and the non-imaging area,
Holder device for controlling to activate the sensor module based on the movement of the subject to the edge area. The method of claim 1, wherein the camera module,
Holder device with 360 degree camera. In the method for controlling the holder device,
Checking whether a subject included in an image acquired through a camera module is moved to a detection area of the sensor module using a sensor module; And
And controlling one or more motors to rotate the camera module and the sensor module based on confirmation of movement of the subject to the sensing area. The method of claim 14, wherein the operation of checking whether the subject is moved to the sensing area of the sensor module comprises:
And determining, through the sensor module, that the subject is to be moved to the sensing area, based on detection of the subject that has not been detected. The method of claim 14, wherein the sensor module and the camera module,
A method for controlling a holder device that is fixedly attached and rotates the frame by means of the one or more motors. The method of claim 16,
Further comprising checking the moving direction of the subject based on the image acquired through the camera module,
Rotating the frame by the one or more motors,
And rotating the frame based on a direction corresponding to a direction of movement of the subject to the sensing area of the subject. As a computer-readable recording medium storing a computer program,
The computer program,
A computer-readable recording medium comprising instructions for causing a processor to perform the method according to any one of claims 14 to 17. As a computer program stored in a computer-readable recording medium,
The computer program,
A computer program comprising instructions for causing a processor to perform a method according to claim 14. Camera module;
Sensor module;
A frame including the camera module and the sensor module;
A rotating part provided on the frame and including one or more motors; And
Acquiring an image including a subject using the camera module,
Using the sensor module, it is checked whether the subject is moved to the detection area of the sensor module,
And a controller configured to control the one or more motors to rotate the camera module and the sensor module based on confirmation of movement of the subject to the sensing area.

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