WO2018076573A1 - Procédé d'acquisition d'image, dispositif électronique, et support d'informations - Google Patents

Procédé d'acquisition d'image, dispositif électronique, et support d'informations Download PDF

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Publication number
WO2018076573A1
WO2018076573A1 PCT/CN2017/073166 CN2017073166W WO2018076573A1 WO 2018076573 A1 WO2018076573 A1 WO 2018076573A1 CN 2017073166 W CN2017073166 W CN 2017073166W WO 2018076573 A1 WO2018076573 A1 WO 2018076573A1
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WIPO (PCT)
Prior art keywords
parameter
pan
tilt
control
mode
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PCT/CN2017/073166
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English (en)
Chinese (zh)
Inventor
任冠佼
孙春阳
王旭辉
蒲立
王野
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纳恩博（北京）科技有限公司
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Publication of WO2018076573A1 publication Critical patent/WO2018076573A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback

Definitions

  • the invention relates to an intelligent control technology, in particular to an image acquisition method, an electronic device and a storage medium.
  • the current photography generally requires a photographer to press the shutter button to achieve, then it will be more troublesome when implementing self-timer.
  • the first one is to use a tripod to support the electronic device and adjust the acquisition direction. Set the shooting waiting time to delay shooting.
  • Another method is to use the selfie stick. One end of the selfie stick is equipped with electronic equipment, and the other end is used by the user to adjust the collection direction of the electronic device for collection.
  • the image acquisition device in the related art has a technical problem that the image acquisition is too complicated.
  • the invention provides an image acquisition method, an electronic device and a storage medium, so as to solve the technical problem that the image acquisition device in the related art has an image collection being too complicated.
  • an embodiment of the present invention provides an image acquisition method, which is applied to a first electronic device, wherein the first electronic device has a driving device, and the driving device is configured to generate the first electronic device capable of generating Driving force of displacement;
  • a cloud platform is disposed in the first electronic device, and the image capturing device is mounted on the cloud platform.
  • an image capturing angle of the image capturing device follows the pan/tilt Change by rotation;
  • the method includes:
  • first control command is used to indicate that the first electronic device enters a first working mode, where the first working mode is used to describe at least a first sub-mode of the gimbal operation, And a second sub-mode in which the drive device operates;
  • the pan/tilt operates in the first sub mode, the driving The device operates in the second sub mode;
  • the first sub-mode obtaining a first control policy for the pan-tilt, and obtaining a corresponding first control parameter based on the first control policy, and generating a first control signal output based on the first control parameter Giving the pan/tilt, the first control signal is used to control the pan/tilt;
  • the second control signal is used to control the drive device.
  • the first sub mode is a pan/tilt tracking mode, and in the pan/tilt tracking mode, the pan/tilt drives the image capturing device associated with the pan-tilt to track an object to perform an image. collection;
  • the obtaining the first control parameter, and generating the first control signal to the cloud platform based on the first control parameter includes:
  • a rotation parameter of the pan/tilt is the first control parameter
  • the first control signal is used to control the pan-tilt rotation to form between the image acquisition device and the target object The angle between the first preset angle range.
  • the first sub mode is a pan/tilt lock mode, and in the pan/tilt lock mode, the pan/tilt drives the image capture device associated with the pan-tilt to always align with a specific direction. ;
  • the obtaining the first control parameter, and generating the first control signal to the cloud platform based on the first control parameter includes:
  • the first control signal is used to control the pan-tilt rotation to form between the image acquisition device and the specific direction The angle between the second preset angle range.
  • the second sub mode is that the driving device is subjected to a remote control mode, and the driving device is subjected to In the remote control mode, the driving device is remotely controlled by the second electronic device;
  • the obtaining the second control parameter, and generating the second control signal to the driving device based on the second control parameter includes:
  • a movement parameter of the driving device comprising: at least one of a moving direction, a moving speed, and a moving acceleration, wherein the moving parameter is the second control parameter;
  • the second control signal is generated by the movement parameter and output to the driving device, and the driving device is controlled to move by the second control signal.
  • the first sub mode is a PTZ remote control mode, and in the PTZ remote control mode, the PTZ is remotely controlled by a second electronic device, and the image acquisition unit is associated with the PTZ ;
  • the obtaining the first control parameter, and generating the first control signal to the cloud platform based on the first control parameter includes:
  • a third rotation parameter of the pan/tilt comprising: at least one of a rotation direction, a rotation angle, and a rotation speed, wherein the third rotation parameter is Is the first control parameter;
  • the second sub mode is a driving device tracking mode, and in the driving device tracking mode, the driving device tracks a target object movement;
  • the obtaining the second control parameter, and generating the second control signal to the driving device based on the second control parameter includes:
  • the relative position parameter comprising: at least one of a relative distance parameter and a relative angle parameter;
  • the second control signal is used to control movement of the driving device to form the first electronic device and a relative distance between the target objects in a preset distance range, and forming a relative angle between the first electronic device and the target object at a preset angle range.
  • an embodiment of the present invention provides a first electronic device, including:
  • a driving device configured to provide a driving force capable of causing displacement of the first electronic device
  • the cloud platform is equipped with an image capturing device configured to drive the image capturing device to change the image capturing angle when the pan/tilt is rotated in a state in which the image capturing device is linked with the pan/tilt;
  • the first electronic device further includes:
  • a first obtaining module configured to obtain a first control command, where the first control command is used to indicate that the first electronic device enters a first working mode, where the first working mode is used to describe at least the PTZ a first sub-mode of operation and a second sub-mode of operation of the drive device;
  • a response module configured to respond to the first control command and control the first electronic device to enter the first working mode, in the first working mode, the gimbal operates in the first sub Mode, the driving device operates in the second sub mode;
  • a second obtaining module configured to obtain a first control policy for the pan/tilt in the first sub-mode, and obtain a corresponding first control parameter based on the first control policy, based on the first control
  • the parameter generates a first control signal for controlling the pan/tilt and outputs the same to the pan/tilt;
  • the second obtaining module is further configured to: obtain, in the second sub-mode, a second control policy for the driving device, and obtain a corresponding second control parameter based on the second control policy, based on the The second control parameter generates a second control signal for controlling the drive device and outputs to the drive device.
  • the first sub-mode is a pan-tilt tracking mode, and in the pan-tilt tracking mode, the gimbal drives the image capturing device associated with the pan-tilt to track a target object for image collection;
  • the second obtaining module comprises:
  • a first obtaining unit configured to obtain a first relative angle between the motion chassis of the first electronic device and the target object
  • a second obtaining unit configured to obtain a second relative angle between the pan/tilt and a sports chassis of the first electronic device
  • a first determining unit configured to determine, by the first relative angle and the second relative angle, a first rotation parameter of the pan/tilt, and the rotation of the pan/tilt included in the first rotation parameter Direction and angle, the first rotation parameter is the first control parameter;
  • the first generating unit is configured to generate the first control signal by using the first rotation parameter and output the signal to the pan/tilt, and control the pan-tilt rotation by the first control signal to form the image capturing device and An angle between the target objects at a first predetermined angle range.
  • the first sub mode is a pan/tilt lock mode, and in the pan/tilt lock mode, the pan/tilt drives the image capture device associated with the pan-tilt to always align with a specific direction. ;
  • the second obtaining module comprises:
  • a third obtaining unit configured to obtain a third relative angle between the motion chassis of the first electronic device and a specific direction
  • a fourth obtaining unit configured to obtain a fourth relative angle between the sports chassis and the pan/tilt
  • a second determining unit configured to determine a second rotation parameter of the pan/tilt based on the third relative angle and the fourth relative angle, where the second rotation parameter includes a rotation direction of the pan/tilt And an angle, the second rotation parameter is the first control parameter;
  • a second generating unit configured to generate the first control signal based on the second rotation parameter And transmitting to the pan/tilt, controlling the pan-tilt rotation by the first control signal to form an angle between the image capturing device and the specific direction at a second preset angle range.
  • the second sub mode is a remote control mode of the driving device, and the driving device is remotely controlled by the second electronic device when the driving device is subjected to the remote control mode;
  • the second obtaining module further includes:
  • a first receiving unit configured to receive a first remote control command sent by the second electronic device
  • the first response unit is configured to determine, according to the first remote control instruction, a movement parameter of the driving device, the movement parameter comprising: at least one of a moving direction, a moving speed, and a moving acceleration, the moving parameter That is, the second control parameter;
  • a first output unit configured to generate the second control signal by the movement parameter and output to the driving device, the second control signal for controlling movement of the driving device.
  • the first sub mode is a PTZ remote control mode, and in the PTZ remote control mode, the PTZ is remotely controlled by a second electronic device, and the image acquisition unit is associated with the PTZ ;
  • the second obtaining module comprises:
  • a second receiving unit configured to receive a second remote control command sent by the second electronic device
  • the second response unit is configured to determine a third rotation parameter of the pan/tilt in response to the second remote control instruction, where the third rotation parameter includes at least one of a rotation direction, a rotation angle, and a rotation speed,
  • the third rotation parameter is the first control parameter
  • the second output unit is configured to generate the first control signal by the third rotation parameter and output the signal to the pan/tilt, and control the pan-tilt rotation by the second control signal.
  • the second sub mode is a driving device tracking mode, and in the driving device tracking mode, the driving device tracks a target object movement;
  • the second obtaining module further includes:
  • a detecting unit configured to detect a relative position parameter between the first electronic device and the target object, where the relative position parameter comprises: at least one of a relative distance parameter and a relative angle parameter;
  • a third determining unit configured to determine a motion parameter of the driving device based on the relative position parameter
  • a third generating unit configured to generate the second control signal by the motion parameter and transmit the second control signal to the driving device, where the second control signal is used to control movement of the driving device to form a relative distance between the first electronic device and the target object that is within a preset distance range, and forms a relative angle between the first electronic device and the target object that is within a preset angular range.
  • an embodiment of the present invention provides a first electronic device, where the first electronic device includes:
  • a driving device configured to provide a driving force capable of causing displacement of the first electronic device
  • the cloud platform is equipped with an image capturing device configured to drive the image capturing device to change the image capturing angle when the pan/tilt is rotated in a state in which the image capturing device is linked with the pan/tilt;
  • the first electronic device further includes:
  • a processor configured to obtain a first control command, where the first control command is used to indicate that the first electronic device enters a first working mode, where the first working mode is used to describe at least the working of the gimbal a first sub-mode and a second sub-mode in which the drive device operates;
  • the processor is further configured to, in response to the first control command, and control the first electronic device to enter the first working mode, in the first working mode, the pan/tilt works in the a first sub mode, the driving device operates in the second sub mode;
  • the processor is further configured to: obtain, in the first sub-mode, a first control policy for the PTZ, and obtain a corresponding first control parameter based on the first control policy, based on the first
  • the control parameter generates a first control signal for controlling the pan/tilt and outputs the same to the pan/tilt;
  • the processor is further configured to obtain, for the driving device, in the second sub mode a second control strategy, and obtaining a corresponding second control parameter based on the second control policy, generating a second control signal for controlling the driving device based on the second control parameter, and outputting the second control signal to the driving device .
  • an embodiment of the present invention provides a storage medium, where the executable medium is stored with an executable instruction, where the executable instruction is used to execute an image collection method provided by an embodiment of the present invention.
  • the first electronic device is provided with a driving device and a pan/tilt
  • the driving device is configured to generate a driving force that enables the first electronic device to generate displacement
  • the pan/tilt is equipped with
  • the image capturing device when the image capturing device is linked with the pan/tilt, rotates the pan/tilt, and the image capturing angle of the image capturing device changes, so that the first electronic device can obtain and respond to the first control command.
  • the angle and position of the image capturing device can be controlled by the cooperation of the gimbal and the driving device without the need for the subject To meet the image acquisition device, which simplifies the image acquisition process and improves image collection efficiency.
  • FIG. 1 is a structural diagram of a first electronic device according to an embodiment of the present invention.
  • FIG. 2 is a flowchart of an image collection method according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of determining relative location information in an image collection method according to an embodiment of the present invention.
  • FIG. 4 is a block diagram of a first electronic device in accordance with an embodiment of the present invention.
  • the invention provides an image acquisition method and an electronic device, so as to solve the technical problem that the image acquisition device in the related art has an excessively complicated image collection.
  • the driving device configured to generate
  • the first electronic device is configured to generate a driving force for displacement
  • the image capturing device is mounted on the pan/tilt, and the image capturing device is rotated when the image capturing device is linked with the pan-tilt
  • the image acquisition angle is changed accordingly, so that the first electronic device can obtain and respond to the first control command to control the pan/tilt in the first sub-mode and control the driving device in the second sub-mode, through the cooperation of the gimbal and the driving device
  • the function can control the angle and position of the image acquisition device without the need of the object to meet the image acquisition device, thereby simplifying the image acquisition process and improving the image collection efficiency.
  • an embodiment of the present invention provides an image acquisition method, which is applied to a first electronic device.
  • the first electronic device includes: a driving device 10 configured to generate a device The first electronic device is capable of generating a displacement driving force; the first electronic device is provided with a pan/tilt head 11 on which the image capturing device 12 is mounted, and the image capturing device 12 is linked with the pan-tilt 11 Next, the image acquisition angle of the image capture device 12 changes as the pan/tilt head 11 is rotated.
  • the first electronic device is, for example, an electronic device that moves in different ways, such as the ground, the water, and the air, in a different manner, such as a balance car, a robot, and a drone.
  • the method includes:
  • Step S201 Obtain a first control command, where the first control command is used to instruct the first electronic device to enter a first working mode, where the first working mode is at least used to describe the first working of the PTZ a submode, and a second submode of operation of the drive device;
  • Step S202 responsive to the first control command, and controlling the first electronic device to enter the first working mode, in the first working mode, the gimbal works in the first sub mode, The driving device operates in the second sub mode;
  • Step S203 Obtain a first control policy for the PTZ in the first sub-mode, and obtain a corresponding first control parameter based on the first control policy, and generate a first message based on the first control parameter. Controlling a signal output to the pan/tilt to control the pan/tilt; in the second sub-mode, obtaining a second control policy for the driving device, and obtaining a corresponding second based on the second control policy Controlling a parameter, generating a second control signal based on the second control parameter to output to the driving device to control the driving device.
  • the first control command may be generated in various manners, for example, clicking a preset button on the first electronic device, generating a preset gesture, receiving a remote control command generated by the second electronic device, and the like.
  • the first sub-mode can have a plurality of different modes, and the control of the gimbal is different.
  • the following three types are introduced. Of course, in the specific implementation process, the following three situations are not limited.
  • the first sub-mode is a pan-tilt tracking mode
  • the pan-tilt head drives the image capturing device associated with the tracking target object to perform image collection
  • the target object can be a human, an animal, an object, etc., based on a tracking technique of the target object, such as UWB (Ultra Wideband) technology, visual tracking technology, etc., to realize the tracking of the target object by the gimbal.
  • UWB Ultra Wideband
  • the obtaining the first control parameter, and generating the first control signal to the pan/tilt based on the first control parameter includes: obtaining between the motion chassis of the first electronic device and the target object a first relative angle; obtaining a second relative angle between the pan and the moving chassis of the first electronic device; determining, by the first relative angle and the second relative angle a first rotation parameter of the pan/tilt, a rotation direction and an angle of the pan/tilt included in the first rotation parameter, the first rotation parameter being the first control parameter; generated by the first rotation parameter
  • the first control signal is output to the pan/tilt to control the pan/tilt rotation by the first control signal, so that an angle between the image capturing device and the target object is located in the first pre-pre Set the angle range.
  • the relative angle between the gimbal and the target object can be determined by the first relative angle and the second relative angle, and the image capturing device is fixed to the pan/tilt, so the relative relationship between the image capturing device and the pan/tilt The angle is also fixed.
  • the angle between the image capturing device and the target object can be determined by the relative angle between the gimbal and the target object, and the relative angle between the image capturing device and the pan/tilt. Then, it is judged whether the relative angle between the image capturing device and the target object is within a first preset angle range (for example, -30° to 30°, -10° to 10°, and the like).
  • the angle between the image capturing device and the target object may be an angle between a line connecting the center point of the image capturing device and the target object and a center line of the image capturing device, according to the image capturing device and the target object
  • the different values of the angle between the two include the following two cases:
  • Case 1 If the angle between the image capturing device and the target object is not within the first preset angle range, it means that the target object cannot be collected by the image capturing device (or even the target object cannot be collected at all). In this case, the image capturing device needs to be controlled to rotate. For example, if the angle between the image capturing device and the target object is less than the minimum value of the first preset angle range, the image capturing device can be controlled to the first direction ( For example: left) rotation; case 2) If the angle between the image acquisition device and the target object is greater than the maximum value of the first preset angle range, the image acquisition device can be controlled to the opposite direction of the first direction (for example: right Side) rotation and so on.
  • first direction For example: left
  • the image acquisition device If the angle between the image acquisition device and the target object is greater than the maximum value of the first preset angle range, the image acquisition device can be controlled to the opposite direction of the first direction (for example: right Side) rotation and so on.
  • the first sub-mode is a pan-tilt lock mode
  • the image capture device that is linked to the pan-tilt is always aligned with a specific direction, for example, specific
  • the direction is, for example, the direction in which the first electronic device is advanced, the direction in which the device is backward, the direction set by the user of the first electronic device, and the like, which are not limited in the embodiment of the present invention.
  • the obtaining the first control parameter, and generating the first control signal to the cloud platform based on the first control parameter comprises: obtaining a third between the motion chassis of the first electronic device and a specific direction a relative angle between the moving chassis and the pan/tilt; determining a second rotation parameter of the pan/tilt based on the third relative angle and the fourth relative angle
  • the second rotation parameter includes a rotation direction and an angle of the pan/tilt, the The second rotation parameter is the first control parameter; the first control signal is generated based on the second rotation parameter and transmitted to the pan/tilt to control the pan/tilt rotation by the first control signal, thereby Having the angle between the image capture device and the particular direction is within a second predetermined angle range.
  • the angle between the gimbal and the specific direction can be determined, the angle between the gimbal and the specific direction, and the image capturing device and the gimbal
  • the angle between the image capturing device and the specific direction can be determined, and the second preset angle range is, for example, -20° to 20°, -10° to 10°, etc.;
  • the acquisition device can realize the acquisition in a specific direction, so the image acquisition device can be adjusted; if it is not in the second preset angle range, the image acquisition device cannot achieve the acquisition in a specific direction, so the image is collected through the gimbal.
  • the device performs control, for example, controlling its rotation angle and direction, etc., to achieve image acquisition by the image capture device in a particular direction.
  • the second sub mode is that the driving device is subjected to the remote control mode, and the driving device is subjected to the remote control mode.
  • the driving device is remotely controlled by the second electronic device.
  • the second electronic device is, for example, a remote controller, a mobile phone, a tablet computer, or the like, which is not limited in the embodiment of the present invention.
  • the obtaining the second control parameter generating the second control signal to the driving device based on the second control parameter, comprising: receiving a first remote control command sent by the second electronic device; a remote control command, determining a movement parameter of the driving device, the movement parameter comprising: at least one of a moving direction, a moving speed, and a moving acceleration, wherein the moving parameter is the second control parameter;
  • the movement parameter generates the second control signal and outputs to the driving device to control movement of the driving device by the second control signal.
  • the movement direction can be set to a specific direction by the first remote command, and the movement speed is the default movement speed (or the movement speed is set by the user); or, the first electronic device is currently at a standstill, the user wishes Controlling the movement of the first electronic device toward the target object, the movement direction may be set to the direction of the target object by the first remote command, and if the movement speed and the movement acceleration are not set, the movement speed and the movement acceleration are the default speed and the default acceleration, of course.
  • the moving speed and the moving acceleration may be set by the user in the first remote command, which is not limited in the embodiment of the present invention.
  • the solution can be applied to the robot fixed point, and the image capturing device automatically captures the operator, which may include, for example, the following steps. :
  • the photographer wears the remote controller (ie, the second electronic device), and the photographer can move freely at this time, such as playing basketball, jogging, and the like.
  • the remote controller ie, the second electronic device
  • the PTZ independently tracks the subject and moves 360° to place the subject in the center of the field of view in real time.
  • the robot can be remotely controlled by the user to control the image collecting device to automatically collect the user, which may include the following steps:
  • pan/tilt tracking mode Start the pan/tilt tracking mode, and the pan/tilt detects the direction of the user in real time by detecting the UWB signal (ie, the positioning signal);
  • the user can control the movement of the robot in a relatively large scene by the remote controller at this time, but the image acquisition device is always aimed at the user during the movement.
  • the user can be guaranteed to be in the center of the screen, but the background is constantly changing.
  • the first sub mode is the pan/tilt lock mode and the second sub mode is the drive device being controlled by the remote mode
  • the robot can be remotely controlled by the user, and the pan/tilt locks the image capturing device to shoot in a specific direction.
  • the mode is generally applied to the scene shooting, wherein the user can remotely control the robot movement through the remote controller, but the pan/tilt locks the image capturing device toward a certain In a particular direction, regardless of where the robot moves, the image capture device is always shooting in that particular direction (eg, shooting the sunrise against the east).
  • the robot can also be remotely controlled by the user through the remote controller, and the pan/tilt control image acquisition device is aligned with the robot in the forward direction.
  • the first sub mode is a pan/tilt remote control mode
  • the pan/tilt remote control mode the pan/tilt is remotely controlled by a second electronic device
  • the image acquisition unit is associated with the pan/tilt Linkage, for example, that is, through remote control of the second electronic device, can control the pan/tilt.
  • the obtaining the first control parameter generating the first control signal to the cloud platform based on the first control parameter, comprising: receiving a second remote control command sent by the second electronic device; a second remote control command, determining a third rotation parameter of the pan/tilt, the third rotation parameter comprising: at least one of a rotation direction, a rotation angle, and a rotation speed, wherein the third rotation parameter is the a control parameter; generating the first control signal by the third rotation parameter and outputting to the pan/tilt to control the pan-tilt rotation by the second control signal.
  • the image acquisition device After the image acquisition device acquires the image, it can send it to the second electronic device. After receiving the image, the user of the second electronic device may feel that the angle of the image captured by the image acquisition device is not too suitable. Then, the second remote control command can be manually generated and sent to the first electronic device to control the pan/tilt by the second remote control command, so that the image capturing device is located at a reasonable acquisition angle, for example, turning left, Turn right, etc., the rotation angle is, for example, 10°, 20°, etc., and the rotation speed is, for example, 100°/min (min), 50°/min, and the like.
  • the second remote control command can be manually generated and sent to the first electronic device to control the pan/tilt by the second remote control command, so that the image capturing device is located at a reasonable acquisition angle, for example, turning left, Turn right, etc.
  • the rotation angle is, for example, 10°, 20°, etc.
  • the rotation speed is, for example, 100°/min (min),
  • the second sub mode is a driving device tracking mode, and in the driving device tracking mode, the driving device tracks Target object movement;
  • the obtaining the second control parameter, and generating the second control signal to the driving device based on the second control parameter comprises: detecting a relative position between the first electronic device and the target object a parameter, the relative position parameter comprising: at least one of a relative distance parameter and a relative angle parameter; determining a motion parameter of the driving device based on the relative position parameter; generating the second control signal by using the motion parameter And transmitting the second control signal to the driving device to control movement of the driving device by the second control signal, thereby making a relative distance and an angle between the first electronic device and the target object Located in the preset distance and angle range.
  • the relative distance parameter between the first electronic device and the target object can be obtained by using various techniques, for example, by an infrared range finder, an electromagnetic range finder, UWB, etc., wherein if the target object carries the first In the case of the second electronic device, the relative distance parameter between the first electronic device and the second electronic device is determined by the interaction between the first electronic device and the second electronic device, and the first electronic device and the second electronic device are The relative distance parameter between the electronic devices serves as a relative distance parameter between the first electronic device and the target object.
  • the relative distance parameter between the first electronic device and the second electronic device can be obtained by using various techniques, such as: TOF (Time of Flight) technology, time difference of arrival (TDOA, Time Difference of
  • TOF Time of Flight
  • TDOA time difference of arrival
  • the first electronic device and the second electronic device may perform ranging by using a two-way ranging (TWR) method, and three times of communication is required for each ranging, which specifically includes the following steps.
  • TWR is an algorithm of TOF
  • the first electronic device sends a Poll packet, and when sent, the first electronic device records the time stamp tt 1 sent by the marker;
  • the second electronic device waits to receive the first positioning signal sent by the first electronic device, and after receiving the pull data packet, the second electronic device records the time stamp ta 1 of the receiving time, and then sends a response (response ) the data packet, and record the timestamp ta 2 of the response packet sent;
  • the first electronic device waits to receive the positioning signal sent by the second electronic device, and after receiving the response data packet, the first electronic device records the time stamp tt 2 of the receiving time, and calculates that the final data packet needs to be sent. Timestamp tt 3 , when the clock of the first electronic device reaches tt 3 , a final data packet is sent, and the final data packet contains three time stamp information (tt 1 , tt 2 , tt 3 );
  • the second electronic device After receiving the final data packet, the second electronic device records the reception time stamp ta 3 . At this time, the second electronic device has recorded three time stamps ta 1 , ta 2 , ta 3 , and at the same time, by reading the content of the final data packet, three time stamps tt 1 , tt 2 of the first electronic device are also obtained. Tt 3 ;
  • the distance value between the first electronic device and the second electronic device ie, the relative distance parameter
  • the calculation formula is as follows:
  • D IS represents a distance value between the first electronic device and the second electronic device
  • T represents a communication duration between the first electronic device and the second electronic device
  • V represents a speed of light
  • the relative angle parameter between the first electronic device and the second electronic device may be detected, and the relative angle parameter between the first electronic device and the second electronic device may be detected.
  • the relative angle parameter between the first electronic device and the target object may be detected.
  • a relative angle value between the first electronic device and the second electronic device may be determined by using various techniques, such as: Angle of Arrival (AOA) technology, arrival phase difference (PDOA, Phase) Different of Arrival) technology, etc., wherein the second electronic device may include at least two antennas, when the first electronic device sends the first positioning signal (eg, a Poll packet, a final packet, etc.) to the second electronic device At least two antennas of the second electronic device are in a receiving state, so that the first positioning signal can be received, and then the phase difference of the two antennas reaching the second electronic device by the first positioning signal determines the first electronic device and the second
  • the relative angle value between the electronic devices ie, the relative angle parameter
  • the relative angle value can be calculated by the following formula:
  • P 1 represents that the first positioning signal reaches the phase of the first antenna of the second electronic device, and the unit is a radians value
  • P 2 represents that the first positioning signal reaches the phase of the second antenna of the second electronic device, and the unit is a radians value
  • P D represents the phase difference between the first positioning signal and the first antenna and the second antenna, and the unit is a radians value
  • Ang represents the relative angle value between the first electronic device and the second electronic device, in degrees.
  • the preset distance range may be set by default by the first electronic device, or may be set by a user of the first electronic device, for example: 5m ⁇ 1m, 10m ⁇ 2m, etc.;
  • the range of the angle may be set by the first electronic device by default, or may be set by the user of the first electronic device, which is not limited in the embodiment of the present invention.
  • the driving device After determining the relative distance parameter between the first electronic device and the target object, it can be determined whether the relative distance parameter is in a preset distance range, and if not located, the driving device can be controlled to move by using the second control signal, Setting the relative distance parameter to a preset distance range, for example, if the relative distance parameter is greater than a maximum value of the preset distance range, The driving device controls the first electronic device to move toward a direction close to the target object. If the relative distance parameter is smaller than a minimum value of the preset distance range, the driving of the first electronic device in a direction away from the target object or the like may be controlled by the driving device. Similarly, after obtaining the relative angle parameter, it can also be determined whether the relative angle parameter is in the preset angle range. If not in the preset angle range, the first electronic device can be controlled to be rotated by the driving device, so that the first electronic device and the target object are The relative angle parameter between them is in the preset angle range.
  • the tag beacon eg, remote control
  • the robot's driving device eg, the sports chassis
  • the pan/tilt is remotely controlled by the user through the remote control, which may include, for example, the following steps:
  • pan/tilt is in the remote control mode, and the user controls the rotation angle of the gimbal through the remote controller;
  • the remote controller issues a shooting command, and the image capturing device responds to the shooting command to perform image acquisition.
  • an embodiment of the present invention provides a first electronic device.
  • the first electronic device has a driving device 10 configured to provide a driving force to enable The first electronic device is capable of generating a displacement; the first electronic device is provided with a cloud platform 11 on which the image capturing device 12 is mounted, in a state in which the image capturing device 12 is linked with the cloud platform 11 When the pan/tilt head 11 is rotated, the image capturing angle of the image capturing device 12 changes accordingly.
  • the first electronic device further includes:
  • the first obtaining module 40 is configured to obtain a first control command, where the first control command is used to indicate that the first electronic device enters a first working mode, where the first working mode is used to describe at least the cloud a first sub-mode in which the stage 11 operates, and a first operation of the drive unit 10 Two sub-mode
  • the response module 41 is configured to, in response to the first control command, and control the first electronic device to enter the first working mode, in the first working mode, the pan/tilt 11 operates in the first In a sub mode, the driving device 10 operates in the second sub mode;
  • a second obtaining module 42 configured to obtain a first control policy for the PTZ 11 in the first sub-mode, and obtain a corresponding first control parameter based on the first control policy, based on the first a control parameter generating a first control signal output to the pan-tilt 11 to control the pan-tilt 11; in the second sub-mode, obtaining a second control policy for the drive device 10, and based on the The second control strategy obtains a corresponding second control parameter, and generates a second control signal based on the second control parameter to output to the driving device 10 to control the driving device 10.
  • the first sub-mode is a pan/tilt 11 tracking mode, and in the pan/tilt 11 tracking mode, the pan-tilt 11 drives the image capturing device 12 associated with the tracking target object to perform image collection;
  • the second obtaining module 42 includes:
  • a first obtaining unit configured to obtain a first relative angle between the motion chassis of the first electronic device and the target object
  • a second obtaining unit configured to obtain a second relative angle between the pan/tilt head 11 and a sports chassis of the first electronic device
  • a first determining unit configured to determine a first rotation parameter of the pan/tilt 11 by the first relative angle and the second relative angle, the pan/tilt head 11 included in the first rotation parameter
  • the direction and direction of rotation, the first rotation parameter is the first control parameter
  • a first generating unit configured to generate the first control signal by using the first rotation parameter and output the signal to the pan-tilt 11 to control the pan-tilt 11 to rotate by the first control signal, thereby causing the The angle between the image capture device 12 and the target object is within a first predetermined angle range.
  • the first sub mode is a pan/tilt 11 locking mode, and the pan/tilt 11 locks the mode.
  • the cloud platform 11 drives the image capturing device 12 associated with it to always align with a specific direction;
  • the second obtaining module 42 includes:
  • a third obtaining unit configured to obtain a third relative angle between the motion chassis of the first electronic device and a specific direction
  • a fourth obtaining unit configured to obtain a fourth relative angle between the sports chassis and the platform 11;
  • a second determining unit configured to determine a second rotation parameter of the pan/tilt head 11 based on the third relative angle and the fourth relative angle, where the second rotation parameter includes the pan/tilt head 11 a rotation direction and an angle, wherein the second rotation parameter is the first control parameter;
  • a second generating unit configured to generate the first control signal based on the second rotation parameter and transmit the signal to the pan/tilt 11 to control the pan/tilt 11 to rotate by the first control signal, thereby causing the The angle between the image capture device 12 and the particular direction is within a second predetermined angle range.
  • the second sub mode is that the driving device 10 is subjected to a remote control mode, and in the remote control mode of the driving device 10, the driving device 10 is remotely controlled by the second electronic device;
  • the second obtaining module 42 further includes:
  • a first receiving unit configured to receive a first remote control command sent by the second electronic device
  • a first response unit configured to determine a movement parameter of the driving device 10 in response to the first remote control instruction, the movement parameter comprising: at least one of a moving direction, a moving speed, and a moving acceleration, the moving The parameter is the second control parameter;
  • a first output unit configured to generate the second control signal by the movement parameter and output to the driving device 10 to control movement of the driving device 10 by the second control signal.
  • the first sub mode is a remote control mode of the pan/tilt head 11 , and in the remote control mode, the pan/tilt head 11 is remotely controlled by the second electronic device, and the image capturing unit is Yuntai 11 linkage;
  • the second obtaining module 42 includes:
  • a second receiving unit configured to receive a second remote control command sent by the second electronic device
  • a second response unit configured to determine a third rotation parameter of the pan/tilt head 11 in response to the second remote control command, the third rotation parameter comprising: at least one of a rotation direction, a rotation angle, and a rotation speed
  • the third rotation parameter is the first control parameter
  • a second output unit configured to generate the first control signal by the third rotation parameter and output the signal to the pan-tilt 11 to control the pan-tilt 11 to rotate by the second control signal.
  • the second sub mode is a tracking mode of the driving device 10, and in the tracking mode of the driving device 10, the driving device 10 tracks a target object movement;
  • the second obtaining module 42 further includes:
  • a detecting unit configured to detect a relative position parameter between the first electronic device and the target object, where the relative position parameter comprises: at least one of a relative distance parameter and a relative angle parameter;
  • a third determining unit configured to determine a motion parameter of the driving device 10 based on the relative position parameter
  • a third generating unit configured to generate the second control signal by the motion parameter and transmit the second control signal to the driving device 10 to control movement of the driving device 10 by the second control signal So that the relative distance and angle between the first electronic device and the target object are located at a preset distance and an angular range.
  • processors such as a central processing unit (CPU), a microprocessor (MCU), or alternatively, an application specific integrated circuit (ASIC). Or logic programmable gate (FPGA) implementation.
  • CPU central processing unit
  • MCU microprocessor
  • ASIC application specific integrated circuit
  • FPGA logic programmable gate
  • Embodiments of the present invention provide a storage medium, such as a mobile storage device, a random access memory (RAM), a read-only memory (ROM), a magnetic disk, or an optical disk, and the like.
  • a storage medium such as a mobile storage device, a random access memory (RAM), a read-only memory (ROM), a magnetic disk, or an optical disk, and the like.
  • Media of code the storage medium
  • the executable instruction is used to execute the image collection method provided by the embodiment of the present invention.
  • the first electronic device is provided with a driving device and a pan/tilt
  • the driving device is configured to provide a driving force to enable the first electronic device to generate displacement, and the pan/tilt is mounted thereon.
  • the image capturing device when the image capturing device is linked with the pan/tilt, rotates the pan/tilt, and the image capturing angle of the image capturing device changes, so that the first electronic device can obtain and respond to the first control command.
  • the angle and position of the image capturing device can be controlled by the cooperation of the gimbal and the driving device without the need for the subject To meet the image acquisition device, which simplifies the image acquisition process and improves image collection efficiency.
  • embodiments of the present invention can be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware. 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.
  • computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions can also be stored in a bootable computer or other programmable data processing
  • the apparatus is readable in a computer readable memory in a particular manner such that instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device, the instruction device being implemented in one or more flows and/or block diagrams of the flowchart The function specified in the box or in multiple boxes.
  • 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.
  • An embodiment of the present invention provides an image capturing method, an electronic device, and a storage medium.
  • the driving device and the pan/tilt are disposed on the first electronic device, and the driving device is configured to provide a driving force for the first electronic device.
  • the image capturing device is mounted on the pan/tilt, and the image capturing device of the image capturing device is rotated when the image capturing device is linked with the pan-tilt. The angle changes accordingly.
  • the angle and position of the image capturing device can be controlled without the need for the subject to meet the image capturing device, thereby simplifying the image capturing process and improving the image. Collection efficiency.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Accessories Of Cameras (AREA)
  • Studio Devices (AREA)

Abstract

L'invention concerne la technologie de commande intelligente. L'invention concerne un procédé d'acquisition d'image, un dispositif électronique et un support d'informations servant à résoudre le problème technique de l'état de la technique lié à la complexité d'acquisition d'image des appareils d'acquisition d'image. Dans des modes de réalisation de la présente invention, un appareil d'entraînement et un dispositif panoramique horizontal/vertical sont prévus sur un premier dispositif électronique ; l'appareil d'entraînement est conçu pour fournir une puissance d'entraînement permettant au premier dispositif électronique de se déplacer ; un appareil d'acquisition d'image est disposé sur le dispositif panoramique horizontal/vertical ; dans l'état où l'appareil d'acquisition d'image se déplace conjointement avec le dispositif panoramique horizontal/vertical, un angle d'acquisition d'image de l'appareil d'acquisition d'image est modifié lorsque le dispositif panoramique horizontal/vertical est amené à tourner ; l'angle et la position de l'appareil d'acquisition d'image peuvent être commandés par l'effet conjoint du dispositif panoramique horizontal/vertical et de l'appareil d'entraînement, et il n'est plus nécessaire d'amener une cible photographiée à se déplacer activement vers l'appareil d'acquisition d'image. Par conséquent, le processus d'acquisition d'image est simplifié et l'efficacité d'acquisition d'image est améliorée.
PCT/CN2017/073166 2016-10-27 2017-02-09 Procédé d'acquisition d'image, dispositif électronique, et support d'informations WO2018076573A1 (fr)

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