WO2017167279A1

WO2017167279A1 - Image acquisition method, electronic device, and computer storage medium

Info

Publication number: WO2017167279A1
Application number: PCT/CN2017/079026
Authority: WO
Inventors: 孙晓路; 陈子冲
Original assignee: 纳恩博（北京）科技有限公司
Priority date: 2016-03-31
Filing date: 2017-03-31
Publication date: 2017-10-05
Also published as: CN105872372A

Abstract

Disclosed is an image acquisition method, applied in an electronic device which comprises an image acquisition means. The method comprises: obtaining a traveling control instruction which is used for instructing the electronic device to travel along a preset traveling trajectory; controlling the electronic device to travel along the preset traveling trajectory on the basis of the traveling control instruction; and controlling the image acquisition means to acquire an image on the basis of an obtained image acquisition means control policy, wherein the image acquisition means control policy is obtained before the electronic device travels along the preset traveling trajectory, or the image acquisition means control policy is obtained in the process that the electronic device travels along the preset traveling trajectory. The present invention effectively resolves the technical problem in the prior art of complex operation when a user controls an electronic device for photographing. Also disclosed are an electronic device and a computer storage medium.

Description

Image acquisition method and electronic device, computer storage medium

Technical field

The present invention relates to the field of electronic technologies, and in particular, to an image acquisition method, an electronic device, and a computer storage medium.

Background technique

When using camera recording, there is a high demand for the stability of the camera body. In the film shooting process, professional equipment such as slide rails and rocker arms are usually required to ensure the stability of the camera body, so as to achieve satisfactory shooting results.

With the rise of the robot industry and the development of cloud platform technology, cameras have been placed on robots (such as drones or ground robots), using robot video to become a hot field, and even gradually replacing some dedicated camera equipment. .

At present, when the user manipulates the robot for shooting, the user is required to skillfully control the robot and the pan/tilt at the same time, so as to achieve a satisfactory shooting effect. However, it is not easy for ordinary users to manipulate the robot skillfully (for example, the simple process of manipulating the robot around the wheel requires a large number of trained professional operators), plus the control operation of the gimbal. The shooting process is too complicated and difficult for ordinary users to complete.

In summary, in the prior art, when the user manipulates the robot to perform shooting, there is a technical problem of complicated operation.

Summary of the invention

The embodiment of the present invention solves the technical problem that the operation is complicated when the user controls the robot to shoot in the prior art by providing an image acquisition method, an electronic device, and a computer storage medium.

In an embodiment of the present invention, an image acquisition method is provided, which is applied to an electronic device, the electronic device having an image acquisition device, and the image collection method includes:

Obtaining a driving control instruction, the driving control instruction is used to instruct the electronic device to travel along a preset driving track;

Controlling the electronic device to travel along the preset driving track based on the driving control instruction;

Controlling, by the image capturing device control strategy, the image capturing device to perform image capturing; wherein the image capturing device control strategy is obtained before the electronic device travels along the preset driving track, or the image is collected The device control strategy is obtained during the travel of the electronic device along the preset travel trajectory.

In an implementation manner, the preset driving track includes:

Straight path; or

Ring travel track; or

Customize the driving track.

In an implementation manner, the controlling the image acquisition device based on the obtained image acquisition device control strategy, and controlling the image collection device to perform image collection, includes:

Determining a preset shooting direction based on a shooting direction control instruction in the image acquisition device control strategy;

The current shooting direction of the image capturing device is adjusted to be the preset shooting direction during the driving of the electronic device along the preset driving track.

Determining a preset shooting duration based on a shooting duration control command in the image capture device control strategy;

Determining a preset shooting distance based on a shooting distance control instruction in the image acquisition device control strategy;

Determining the traveling speed based on the preset shooting distance and the preset shooting time length;

During the driving of the electronic device along the preset driving track at the traveling speed, the image capturing device is controlled to perform image capturing based on the preset shooting time to obtain a video file.

In another embodiment of the present invention, an electronic device is provided, the electronic device having an image capture device, the electronic device further comprising:

a first obtaining unit configured to obtain a driving control command, where the driving control command is used to instruct the electronic device to travel along a preset driving track;

a first control unit configured to control the electronic device to travel along the preset driving track based on the driving control instruction;

a second control unit configured to control the image acquisition device to perform image acquisition based on the obtained image capture device control strategy; wherein the image capture device control strategy is obtained before the electronic device travels along the preset travel track Or, the image capture device control strategy is obtained during the traveling of the electronic device along the preset travel trajectory.

In an implementation manner, the preset driving track includes:

Straight path; or

Ring travel track; or

Customize the driving track.

In an implementation manner, the second control unit includes:

a first determining module, configured to determine a preset shooting direction based on a shooting direction control instruction in the image capturing device control policy;

An adjustment module configured to adjust the position during the driving of the electronic device along a preset driving trajectory The current shooting direction of the image capturing device is the preset shooting direction.

In an implementation manner, the second control unit includes:

a second determining module, configured to determine a preset shooting duration based on a shooting duration control command in the image capturing device control policy;

a third determining module, configured to determine a preset shooting distance based on a shooting distance control instruction in the image capturing device control policy;

a fourth determining module, configured to determine a traveling speed based on the preset shooting distance and the preset shooting time length;

The control module is configured to control the image acquisition device to perform image acquisition based on the preset shooting duration during the driving of the electronic device along the preset driving track at the traveling speed, to obtain a video file.

In another embodiment of the present invention, a computer storage medium is also provided, wherein the computer storage medium stores computer executable instructions configured to perform image acquisition according to an embodiment of the present invention. method.

One or more technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages:

1. In the embodiment of the present invention, the user may send a driving control instruction to the electronic device, so that the electronic device automatically travels along the preset driving track indicated by the driving control instruction, and the user does not need to intervene during the driving process, thereby simplifying the operation of the user. The user can concentrate on controlling the image capturing device to perform shooting, which is beneficial to achieve a satisfactory shooting effect, and effectively solves the technical problem that the operation is complicated when the user controls the electronic device to shoot in the prior art.

2. In the embodiment of the present invention, a plurality of image acquisition device control strategies are provided, and the user may send any image acquisition device control strategy to the electronic device, so that the image acquisition device performs imaging according to the requirements in the image acquisition device control strategy. Easy to operate, it is conducive to achieve satisfactory results.

DRAWINGS

Various other advantages and benefits will become apparent to those skilled in the art from a The drawings of the present embodiments are only for the purpose of illustrating the preferred embodiments and are not intended to limit the invention. In the drawing:

1 is a flowchart of an image collection method according to an embodiment of the present invention;

2 is a schematic diagram of a straight travel track in an embodiment of the present invention;

3 is a schematic diagram of a circular traveling track in an embodiment of the present invention;

4 is a schematic diagram of a customized driving track in an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention; FIG.

FIG. 6 is a flowchart of an image collection method according to an embodiment of the present invention;

FIG. 7 is a schematic structural view of a self-balancing vehicle according to an embodiment of the present invention.

detailed description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While the embodiments of the present invention have been shown in the drawings, the embodiments Rather, these embodiments are provided so that this disclosure will be more fully understood and the scope of the disclosure will be fully disclosed.

The embodiment of the present invention solves the technical problem that the operation is complicated when the user controls the robot to shoot in the prior art by providing an image acquisition method and an electronic device.

The technical solution of the embodiment of the present invention is to solve the above technical problem, and the general idea is as follows:

An image acquisition method is applied to an electronic device, the electronic device includes an image acquisition device, and the image acquisition method includes: obtaining a travel control command, the travel control command indicating a preset travel track; and based on the travel control Directing to control the electronic device to travel along the preset driving track; controlling the image capturing device to perform image acquisition based on the obtained image capturing device control strategy; wherein the image capturing device control strategy is along the electronic device The preset driving track is obtained before the driving, or the image capturing device control strategy is obtained during the driving of the electronic device along the preset driving track.

In order to better understand the above technical solutions, the above technical solutions will be described in detail below in conjunction with the drawings and specific embodiments.

Embodiment 1

The embodiment provides an image acquisition method, which is applied to an electronic device (for example, a ground robot), and the electronic device includes an image collection device (for example, a camera or a camera), as shown in FIG. Methods, including:

Step S101: Obtain a driving control command for instructing the electronic device to travel along a preset driving track.

In a specific implementation process, the electronic device is connected to the control device by wire or wirelessly, and the electronic device and the control device can communicate with each other. The user can control the electronic device to freely travel by controlling the device, and control the image capturing device on the electronic device to perform image capturing (for example, taking a picture or photographing), and at the same time, the image collecting device can be fixed on the electronic device through the pan/tilt, and the user can pass The control device controls the pan/tilt rotation to change the shooting direction of the image capture device.

In a specific implementation process, the control device may be a device independent of the electronic device (for example: a smart phone, or a tablet computer, or a laptop computer, or a desktop computer, or a smart TV, or a smart key, etc.); or The control device can also be directly disposed on the electronic device as part of the electronic device.

In a specific implementation process, the driving control command includes a preset driving track for controlling the electronic device to travel along the preset driving track, wherein the preset driving track may be: a straight driving track as shown in FIG. 2 . Track_1, or the circular travel track track_2 shown in Fig. 3, or the custom travel track track_3 as shown in Fig. 4, the custom travel track is freely defined by the user. The user can select any driving track as the preset driving track on the control device. When the user selects the customized driving track, the user needs to manually draw the customized driving track on the touch screen of the control device.

Step S102: Control the electronic device to travel along the preset driving track based on the driving control instruction.

In the specific implementation process, the VIO (Visual Inertial Odometry) technology can be used to measure the position, driving direction and traveling speed of the electronic device in real time, and tangential to the preset driving path according to the direction vector of the current traveling speed. The difference is used to calculate the angular velocity of the electronic device, and the electronic device is controlled to turn according to the calculated angular velocity, thereby changing the traveling direction of the electronic device. At the same time, the PID (Proportion Integration Differentiation) control algorithm can also be used to control the electronic device along the edge. The preset driving path is automatically driven. During the automatic driving of the electronic device along the preset driving track, the user does not need to intervene again, which simplifies the user's operation, and the user can concentrate on controlling the image capturing device to perform shooting, which is beneficial to obtain a satisfactory shooting effect.

Step S103: Control the image acquisition device to perform image acquisition based on the obtained image acquisition device control strategy.

In a specific implementation process, the image capture device control strategy may include some instructions for controlling the image capture device, such as a photographing instruction, or starting a recording instruction, or ending a recording instruction, and the like.

In a specific implementation process, the image collection device control strategy may be obtained before performing step S102, or obtained during the execution of step S102.

For example, the user can send an image capture device control strategy to the electronic device through the control device, so that the electronic device can control the image capture device to perform image acquisition based on the image capture device control strategy. The user may send the image acquisition device control strategy to the electronic device through the control device before the electronic device travels along the preset driving track; the user may also send the electronic device to the electronic device through the control device while the electronic device is traveling along the preset driving track. Image acquisition device control strategy.

In a specific implementation process, step S103 is performed in the process of performing step S102, that is, in the process of driving the electronic device along the preset driving track, the image capturing device is controlled to perform image capturing based on the obtained image capturing device control strategy.

In the embodiment of the present invention, the user may send a driving control instruction to the electronic device, so that the electronic device automatically runs along the preset driving track indicated by the driving control instruction, and the user is in the automatic driving process along the preset driving path of the electronic device. No need to intervene, simplifying the user's operation, the user can concentrate on controlling the image acquisition device for shooting, which is beneficial to obtain satisfactory shooting results.

As an optional implementation manner, step S103 includes:

Controlling the image acquisition device to take a picture based on the photographing instruction in the image acquisition device control strategy; or controlling the image acquisition device to start imaging based on the start recording instruction in the image acquisition device control strategy; or based on the end recording instruction in the image acquisition device control strategy, The image capturing device is controlled to end the imaging.

As an optional implementation manner, step S103 includes:

The preset shooting direction is determined based on the shooting direction control command in the image capturing device control strategy; and the current shooting direction of the image capturing device is adjusted to the preset shooting direction during the driving of the electronic device along the preset driving track.

In the specific implementation process, the image capturing device control strategy may further include a shooting direction control instruction indicating a preset shooting direction, and the user may send an image including the shooting direction control instruction to the electronic device by using the control device. Acquisition device control strategy. After receiving the image acquisition device control strategy, the electronic device determines a preset shooting direction based on the shooting direction control command, and controls the pan/tilt rotation to adjust the current shooting direction of the image capturing device to the preset shooting direction.

For example, as shown in FIG. 2, when the electronic device travels along the straight track trajectory track_1, the current position of the electronic device is P1, and the direction in which the electronic device advances is taken as the front a1, then the preset shooting direction may be: front A1, rear b1, left c1, and right d1.

For example, as shown in FIG. 3, when the electronic device travels along the circular traveling track track_2, the current position of the electronic device is P2, and the direction in which the electronic device advances is taken as the front a2, then the preset shooting direction may be: front A2, rear b2, left c2, and right d2.

For example, as shown in FIG. 4, when the electronic device travels along the customized driving track track_3, the current position of the electronic device is P3, and the direction in which the electronic device advances is taken as the front a3. Then, the preset shooting direction may be: Front a3, rear b3, left c3, and right d3.

In addition, the shooting direction may also be set by the user to any direction, for example, displaying the preset driving track and the current position of the electronic device on the touch screen of the control device, and displaying a representation at the current position of the electronic device. The icon of the image capture device, the user can manually rotate the direction of the icon on the touch screen to set an arbitrary shooting direction.

As an optional implementation manner, step S103 includes:

Determining a preset shooting duration based on a shooting duration control command in the image capture device control strategy; determining a preset shooting distance based on the shooting distance control command in the image capturing device control strategy; based on the preset shooting distance, and The preset shooting time is determined, and the driving speed is determined; during the driving of the electronic device at the driving speed along the preset driving track, the image capturing device is controlled to perform image capturing during the preset shooting time to obtain a video file.

In the specific implementation process, the shooting distance may also be included in the image acquisition device control strategy. a control command and a shooting duration control command, the shooting distance control command instructing a preset shooting distance, the shooting duration control command indicating a preset shooting time, the user may send the shooting distance control instruction and the shooting duration to the electronic device through the control device The image acquisition device control strategy of the control command. After the electronic device receives the image capture device control strategy, based on the shooting distance control command and the shooting duration control command, determining the preset shooting distance and the preset shooting duration, and then based on the equation “preset shooting distance=preset shooting The duration×the driving speed” calculates the driving speed; further controls the electronic device to travel along the preset driving trajectory at the driving speed, and captures a video of a preset shooting duration.

For example, if the preset driving track is a straight traveling track, the preset shooting time is 30 seconds, and when the preset distance is 15 meters, the traveling speed is determined to be 0.5 m/s. Further, the control electronic device is 0.5 m/s. The speed travels along a straight line. During the driving process, the image acquisition device is controlled to perform image acquisition for 30 seconds to obtain a 30 second video file.

For another example, when the preset driving track is a circular driving track, the preset shooting time is 20 seconds, and when the preset distance is 20 meters, the traveling speed is determined to be 1 meter/second. Further, the control electronic device is 1 meter/ The speed of the second travels along the circular driving trajectory. During the driving process, the image capturing device is controlled to perform image acquisition for 20 seconds to obtain a 20-second video file.

In the specific implementation process, during the running of the electronic device, the traveling speed of the electronic device can be measured in real time by using the VIO technology, and the traveling speed of the electronic device is adjusted in time when the traveling speed of the electronic device is different from the calculated traveling speed.

In the embodiment of the present invention, the user can freely set any instruction in the image acquisition device control strategy on the control device (for example, a shooting instruction, a start recording instruction, an end recording instruction, a shooting direction control instruction, a shooting duration control instruction, The shooting distance control command, and the like, so that the electronic image device controls the image capturing device to perform shooting during the driving along the preset trajectory, and achieves a satisfactory shooting effect.

In a specific implementation process, the image capture device control strategy may include any one or more of the above-mentioned photographing instruction, start recording instruction, end recording instruction, shooting direction control instruction, shooting duration control command, and shooting distance control command. instruction.

Based on the same inventive concept, an embodiment of the present invention further provides an electronic device. The electronic device has an image capturing device. As shown in FIG. 5, the electronic device further includes:

a first obtaining unit 201, configured to obtain a driving control instruction, where the driving control instruction is used to instruct the electronic device to travel along a preset driving track;

The first control unit 202 is configured to control the electronic device to travel along a preset driving track based on the driving control instruction;

The second control unit 203 is configured to control the image acquisition device to perform image acquisition based on the obtained image acquisition device control strategy; wherein the image acquisition device control strategy runs along the preset in the electronic device Obtained before the trajectory, or the image capture device control strategy is obtained during the travel of the electronic device along the preset travel trajectory.

As an optional implementation manner, the preset driving track includes:

Straight path; or

Ring travel track; or

Customize the driving track.

As an optional implementation manner, the second control unit 203 includes:

a first determining module, configured to determine a preset shooting direction based on a shooting direction control instruction in an image capture device control strategy;

The adjustment module is configured to adjust a current shooting direction of the image capturing device to a preset shooting direction during the driving of the electronic device along the preset driving track.

As an optional implementation manner, the second control unit 203 includes:

a second determining module, configured to determine a preset shooting duration based on a shooting duration control command in an image capture device control strategy;

a third determining module, configured to determine a preset shooting distance based on a shooting distance control instruction in an image capture device control strategy;

a fourth determining module, configured to determine a driving speed based on a preset shooting distance and a preset shooting time length;

The control module is configured to control the image acquisition device to perform image acquisition based on the preset shooting duration during the driving of the electronic device along the preset driving trajectory at the traveling speed, to obtain a video file.

The electronic device that is used in this embodiment is an electronic device that is used in the image capturing method in the embodiment of the present invention. Therefore, those skilled in the art can understand the present embodiment based on the image capturing method introduced in the embodiment of the present invention. The specific implementation of the electronic device and its various variations are not described in detail herein for how the electronic device implements the method in the embodiment of the present invention. As long as the electronic device used in the method for image acquisition in the embodiments of the present invention is implemented by those skilled in the art, it is within the scope of the present invention.

The technical solutions in the foregoing embodiments of the present invention have at least the following technical effects or advantages:

2. In the embodiment of the present invention, a plurality of image acquisition device control strategies are further provided, and the user may send any image acquisition device control strategy to the electronic device, so that the image acquisition device performs imaging according to the requirements in the image acquisition device control strategy. Easy to operate, it is conducive to achieve satisfactory shooting results fruit.

Embodiment 2

The embodiment provides an image acquisition method, which is applied to a self-balancing vehicle. The self-balancing vehicle includes an image capturing device (for example, a camera or a camera). As shown in FIG. 6, the image collecting method includes :

Step S301: Obtain a driving control command for instructing the self-balancing vehicle to travel along a preset driving track.

In the specific implementation process, the self-balancing vehicle mainly has two types of single wheel and two wheels, and its operation principle is mainly based on a basic principle called "Dynamic Stabilization", which utilizes the interior of the vehicle body. The gyroscope and accelerometer are used to detect changes in the attitude of the car body, and the servo control system is used to accurately drive the motor to adjust accordingly to maintain the balance of the system. The self-balancing vehicle includes a power system that can drive a self-balancing vehicle on the road (eg straight, turn, reverse, curve, etc.).

In the specific implementation process, the self-balancing vehicle is connected to a control device by wire or wirelessly, and the self-balancing vehicle and the control device can communicate. The user can control the self-balancing vehicle to drive freely, and control the image acquisition device on the self-balancing vehicle to perform image acquisition (for example, photographing or photographing). At the same time, the image capturing device can be fixed on the self-balancing vehicle through the pan/tilt. The user can control the pan/tilt rotation by controlling the device to change the shooting direction of the image capture device.

In a specific implementation process, the control device may be a device independent of the self-balancing vehicle (for example: a smart phone, or a tablet computer, or a laptop computer, or a desktop computer, or a smart TV, or a smart key, etc.); Alternatively, the control device can also be placed directly on the self-balancing vehicle as part of a self-balancing vehicle.

In a specific implementation process, the driving control command includes a preset driving track for controlling the self-balancing vehicle to travel along the preset driving track, wherein the preset driving track may be: the line shown in FIG. The travel track track_1, or the circular travel track track_2 shown in FIG. 3, or the custom travel track track_3 as shown in FIG. 4, is freely defined by the user. The user can select any driving track as the preset driving track on the control device. When the user selects the customized driving track, the user needs to manually draw the customized driving track on the touch screen of the control device.

Step S302: Control the self-balancing vehicle to travel along the preset driving track based on the driving control command.

In the specific implementation process, the VIO technology can be used to measure the position, driving direction and driving speed of the self-balancing vehicle in real time, and calculate the angular velocity of the self-balancing vehicle according to the difference between the direction vector of the current traveling speed and the tangential direction of the preset driving track. The electronic turning is controlled based on the calculated angular velocity, thereby changing the traveling direction of the self-balancing vehicle. At the same time, the PID control algorithm can be used to control the self-balancing vehicle to automatically travel along the preset driving track. During the automatic driving of the self-balancing car along the preset driving path, the user does not need to Interventions simplify the user's operation, and the user can concentrate on controlling the image capture device for shooting, which is beneficial to obtain satisfactory shooting results.

Step S303: Control the image acquisition device to perform image acquisition based on the obtained image acquisition device control strategy.

In a specific implementation process, the image collection device control strategy may be obtained before performing step S302, or obtained during the execution of step S302.

For example, the user can send an image acquisition device control strategy to the self-balancing vehicle through the control device, so that the self-balancing vehicle can control the image acquisition device to perform image acquisition based on the image acquisition device control strategy. Wherein, the user can send the image acquisition device control strategy to the self-balancing vehicle through the control device before the self-balancing vehicle travels along the preset driving track; the user can also pass the control device to the self-balancing vehicle along the preset driving track during the driving process. The self-balancing vehicle sends an image acquisition device control strategy.

In a specific implementation process, step S303 is performed in the process of performing step S302, that is, during the driving of the self-balancing vehicle along the preset driving track, the image capturing device is controlled to perform image acquisition based on the obtained image capturing device control strategy.

In the embodiment of the present invention, the user may send a driving control command to the self-balancing vehicle, so that the self-balancing vehicle automatically travels along the preset driving track indicated by the driving control command, and automatically travels in the self-balancing vehicle along the preset driving path. In the user, the user does not need to intervene again, which simplifies the user's operation, and the user can concentrate on controlling the image capturing device to shoot, which is beneficial to obtain a satisfactory shooting effect.

As an optional implementation manner, step S303 includes:

The preset shooting direction is determined based on the shooting direction control command in the image acquisition device control strategy; during the driving of the self-balancing vehicle along the preset driving track, the current shooting direction of the image capturing device is adjusted to be the preset shooting direction.

In the specific implementation process, the image capture device control strategy may further include a shooting direction control command indicating a preset shooting direction, and the user may send the shooting direction control to the self-balancing vehicle through the control device. The commanded image acquisition device controls the strategy. After receiving the control strategy of the image acquisition device by the self-balancing vehicle, based on the shooting direction control command therein, Determining a preset shooting direction and controlling the pan/tilt rotation to adjust the current shooting direction of the image capturing device to a preset shooting direction.

For example, as shown in FIG. 2, when the self-balancing vehicle travels along the straight traveling track track_1, the current position of the self-balancing vehicle is P1, and the direction in which the self-balancing vehicle advances is taken as the front a1, then the preset shooting direction may be It is: front a1, rear b1, left c1 and right d1.

For example, as shown in FIG. 3, when the self-balancing vehicle travels along the circular traveling track track_2, the current position of the self-balancing vehicle is P2, and the direction in which the self-balancing vehicle advances is taken as the front a2, then the preset shooting direction may be It is: front a2, rear b2, left c2 and right d2.

For example, as shown in FIG. 4, when the self-balancing vehicle travels along the custom driving track track_3, the current position of the self-balancing vehicle is P3, and the direction in which the self-balancing vehicle advances is taken as the front a3, then the preset shooting direction is It can be: front a3, rear b3, left c3 and right d3.

In addition, the shooting direction can also be set to any direction by the user, for example, displaying the preset driving track and the current position of the self-balancing vehicle on the touch screen of the control device, and also displaying the current position of the self-balancing vehicle. An icon representing the image capture device, the user can manually rotate the direction of the icon on the touch screen to set an arbitrary shooting direction.

As an optional implementation manner, step S303 includes:

Determining a preset shooting duration based on the shooting duration control command in the image capture device control strategy; determining a preset shooting distance based on the shooting distance control command in the image capture device control strategy; based on the preset shooting distance, and the preset shooting duration And determining a driving speed; during the driving of the self-balancing vehicle along the preset driving trajectory, controlling the image capturing device to perform image capturing during the preset shooting time to obtain a video file.

In the specific implementation process, the image capture device control strategy may further include a shooting distance control command and a shooting duration control command, where the shooting distance control command indicates a preset shooting distance, and the shooting duration control command indicates a preset shooting time The user can send an image capture device control strategy including the shooting distance control command and the shooting duration control command to the self-balancing vehicle through the control device. After receiving the image acquisition device control strategy by the self-balancing vehicle, determining the preset shooting distance and the preset shooting time based on the shooting distance control command and the shooting duration control command, and then based on the equation “preset shooting distance=preset The shooting time×the driving speed” calculates the driving speed; further controls the self-balancing vehicle to travel along the preset driving trajectory at the driving speed, and shoots a video of a preset duration.

For example, if the preset driving track is a straight traveling track, the preset shooting time is 30 seconds, and when the preset distance is 15 meters, the traveling speed is determined to be 0.5 m/s. Further, the self-balancing car is controlled at 0.5 m/ The speed of the second travels along a straight line. During the driving process, the image acquisition device is controlled to perform image acquisition for 30 seconds to obtain a 30 second video file.

For another example, when the preset driving track is a circular driving track, the preset shooting time is 20 seconds, and when the preset distance is 20 meters, the traveling speed is determined to be 1 meter/second. Further, the self-balancing car is controlled to 1 meter. / The speed of the second travels along the circular driving trajectory. During the driving process, the image capturing device is controlled to perform image acquisition for 20 seconds to obtain a 20-second video file.

In the specific implementation process, during the self-balancing vehicle driving, the VIO technology can be used to measure the running speed of the self-balancing vehicle in real time. When the running speed of the self-balancing vehicle is different from the calculated driving speed, the self-balancing vehicle can be adjusted in time. speed.

In the embodiment of the present invention, the user can freely set any instruction in the image acquisition device control strategy on the control device (for example, a shooting instruction, a start recording instruction, an end recording instruction, a shooting direction control instruction, a shooting duration control instruction, Shooting distance control commands, etc.), so that the image capturing device is controlled to shoot during the self-balancing vehicle along the preset trajectory to achieve satisfactory shooting results.

In addition, the image capture device may be equipped with multiple lenses (for example, a standard lens and a wide-angle lens), and the image capture device control strategy further includes a switch lens control command indicating a preset lens that the user can pass The control device transmits an image capture device control strategy including the switch lens control command to the self-balancing vehicle. After receiving the image acquisition device control strategy by the self-balancing vehicle, based on the switching lens control command therein, a preset lens is determined, and the currently used lens is switched to the preset lens.

For example, when the lens currently used by the image capture device is a standard lens, the user sends an image capture device control strategy to the self-balancing vehicle through the control device, and the image capture device control strategy includes a switch lens control command, the switch The preset lens indicated by the lens control command is a wide-angle lens, and the self-balancing vehicle switches the currently used lens to a wide-angle lens based on the switching lens control finger.

Based on the same inventive concept, an embodiment of the present invention further provides a self-balancing vehicle. The self-balancing vehicle has an image capturing device. As shown in FIG. 7, the self-balancing vehicle further includes:

a second obtaining unit 401, configured to obtain a driving control instruction, where the driving control instruction is used to instruct the self-balancing vehicle to travel along a preset driving track;

The third control unit 402 is configured to control the self-balancing vehicle to travel along the preset driving track based on the driving control instruction;

The fourth control unit 403 is configured to control the image capturing device to perform image acquisition based on the obtained image capturing device control strategy; wherein the image capturing device control strategy is obtained before the self-balancing vehicle travels along the preset driving track, or the image capturing device The control strategy is obtained during the journey of the self-balancing vehicle along the preset travel trajectory.

As an optional implementation manner, the preset driving track includes:

Straight path; or

Ring travel track; or

Customize the driving track.

As an optional implementation manner, the fourth control unit 403 includes:

The adjustment module is configured to adjust the current shooting direction of the image capturing device to a preset shooting direction during the driving of the self-balancing vehicle along the preset driving track.

As an optional implementation manner, the fourth control unit 403 includes:

a third determining module, configured to determine a preset shooting distance based on a shooting distance control instruction in the image capturing device control strategy;

a fourth determining module, configured to determine a driving speed based on the preset shooting distance and the preset shooting time length;

And a control module, configured to control the image acquisition device to perform image acquisition based on the preset shooting duration during the driving of the self-balancing vehicle along the preset driving trajectory, to obtain a video file.

Since the self-balancing vehicle described in this embodiment is an electronic device used in the image capturing method in the embodiment of the present invention, those skilled in the art can understand the present implementation based on the image capturing method introduced in the embodiment of the present invention. The specific embodiment of the self-balancing vehicle and its various variations are not described in detail herein for how the self-balancing vehicle implements the method in the embodiment of the present invention. As long as the person skilled in the art implements the self-balancing vehicle used in the image capturing method in the embodiment of the present invention, it is within the scope of the present invention.

1. In the embodiment of the present invention, the user can send a driving control command to the self-balancing vehicle, so that the self-balancing vehicle automatically travels along the preset driving track indicated by the driving control instruction, and the user does not need to intervene during the driving process, which simplifies. The user's operation, the user can concentrate on controlling the image acquisition device for shooting, which is beneficial to achieve a satisfactory shooting effect, and effectively solves the technical problem that the operation is complicated when the user controls the electronic device to shoot in the prior art.

2. In the embodiment of the present invention, a plurality of image acquisition device control strategies are also provided, and the user can send any image acquisition device control strategy to the self-balancing vehicle, so that the image acquisition device performs the requirements in the image acquisition device control strategy. Camera, easy to operate, is conducive to achieve satisfactory results.

Those skilled in the art will appreciate that embodiments of the present invention can be provided as a method, system, or computer program product. Accordingly, the present invention may employ an entirely hardware embodiment, an entirely software embodiment, Or in the form of an embodiment of the software and hardware aspects. Moreover, the invention can 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, etc.) including computer usable program code.

The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (system), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or FIG. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing device to produce a machine for the execution of instructions for execution by a processor of a computer or other programmable data processing device. Means for implementing the functions specified in one or more of the flow or in a block or blocks of the flow chart.

The computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device. The apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.

These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device. The instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.

A person skilled in the art can understand that all or part of the steps of implementing the above method embodiments may be completed by using hardware related to the program instructions. The foregoing program may be stored in a computer readable storage medium, and the program is executed when executed. The foregoing storage device includes the following steps: the foregoing storage medium includes: a mobile storage device, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk. A medium that can store program code.

Alternatively, the above-described integrated unit of the embodiment of the present invention may be stored in a computer readable storage medium if it is implemented in the form of a software function module and sold or used as a stand-alone product. Based on such understanding, the technical solution of the embodiments of the present invention may be embodied in the form of a software product in essence or in the form of a software product stored in a storage medium, including a plurality of instructions. A computer device (which may be a personal computer, server, or network device, etc.) is caused to perform all or part of the methods described in various embodiments of the present invention. The foregoing storage medium includes: a removable storage device, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes.

In view of this, an embodiment of the present invention further provides a computer readable storage medium, the storage medium comprising a set of computer executable instructions for performing an image collection method according to an embodiment of the present invention.

While the preferred embodiment of the invention has been described, it will be understood that Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and the modifications and

It is apparent that those skilled in the art can make various modifications and variations to the invention without departing from the spirit and scope of the invention. Thus, it is intended that the present invention cover the modifications and modifications of the invention

Claims

An image acquisition method is applied to an electronic device, wherein the electronic device has an image acquisition device, wherein the image collection method includes:

Obtaining a driving control instruction, the driving control instruction is used to instruct the electronic device to travel along a preset driving track;

Controlling the electronic device to travel along the preset driving track based on the driving control instruction;

Controlling, by the image capturing device control strategy, the image capturing device to perform image capturing; wherein the image capturing device control strategy is obtained before the electronic device travels along the preset driving track, or the image is collected The device control strategy is obtained during the travel of the electronic device along the preset travel trajectory.
The image capturing method according to claim 1, wherein the preset driving track comprises:

Straight path; or

Ring travel track; or

Customize the driving track.
The image acquisition method according to claim 1 or 2, wherein the controlling the image acquisition device to control image acquisition based on the obtained image acquisition device control strategy comprises:

Determining a preset shooting direction based on a shooting direction control instruction in the image acquisition device control strategy;

The current shooting direction of the image capturing device is adjusted to be the preset shooting direction during the driving of the electronic device along the preset driving track.
The image acquisition method according to claim 1 or 2, wherein the controlling the image acquisition device to control image acquisition based on the obtained image acquisition device control strategy comprises:

Determining a preset shooting duration based on a shooting duration control command in the image capture device control strategy;

Determining a preset shooting distance based on a shooting distance control instruction in the image acquisition device control strategy;

Determining the traveling speed based on the preset shooting distance and the preset shooting time length;

During the driving of the electronic device along the preset driving track at the traveling speed, the image capturing device is controlled to perform image capturing based on the preset shooting time to obtain a video file.
An electronic device, the electronic device having an image capture device, wherein the electronic device further includes:

a obtaining unit configured to obtain a driving control command, where the driving control command is used to instruct the electronic device to travel along a preset driving track;

a first control unit configured to control the electronic device to travel along the preset driving track based on the driving control instruction;

a second control unit configured to control the image acquisition device to perform image acquisition based on the obtained image capture device control strategy; wherein the image capture device control strategy is obtained before the electronic device travels along the preset travel track Or, the image capture device control strategy is obtained during the traveling of the electronic device along the preset travel trajectory.
The electronic device of claim 5, wherein the preset driving track comprises:

Straight path; or

Ring travel track; or

Customize the driving track.
The electronic device of claim 5 or 6, wherein the second control unit comprises:

a first determining module, configured to determine a preset shooting direction based on a shooting direction control instruction in the image capturing device control policy;

And an adjustment module configured to adjust a current shooting direction of the image capturing device to the preset shooting direction during the driving of the electronic device along a preset driving track.
The electronic device of claim 5 or 6, wherein the second control unit comprises:

a second determining module, configured to determine a preset shooting duration based on a shooting duration control command in the image capturing device control policy;

a third determining module, configured to determine a preset shooting distance based on a shooting distance control instruction in the image capturing device control policy;

a fourth determining module, configured to determine a traveling speed based on the preset shooting distance and the preset shooting time length;

The control module is configured to control the image acquisition device to perform image acquisition based on the preset shooting duration during the driving of the electronic device along the preset driving track at the traveling speed, to obtain a video file.
A computer storage medium having computer executable instructions stored thereon, the computer executable instructions being configured to perform the image acquisition method of any of claims 1-4.