WO2018149323A1 - 拍摄方向偏移检测方法、装置、设备及存储介质 - Google Patents

拍摄方向偏移检测方法、装置、设备及存储介质 Download PDF

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Publication number
WO2018149323A1
WO2018149323A1 PCT/CN2018/075383 CN2018075383W WO2018149323A1 WO 2018149323 A1 WO2018149323 A1 WO 2018149323A1 CN 2018075383 W CN2018075383 W CN 2018075383W WO 2018149323 A1 WO2018149323 A1 WO 2018149323A1
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WO
WIPO (PCT)
Prior art keywords
image capturing
horizontal
capturing device
moving speed
angle
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Application number
PCT/CN2018/075383
Other languages
English (en)
French (fr)
Inventor
王达峰
陈建业
Original Assignee
腾讯科技（深圳）有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 腾讯科技（深圳）有限公司 filed Critical 腾讯科技（深圳）有限公司
Priority to KR1020197017115A priority Critical patent/KR102162175B1/ko
Priority to EP18754577.7A priority patent/EP3584768B1/en
Priority to JP2019525979A priority patent/JP6804130B2/ja
Publication of WO2018149323A1 publication Critical patent/WO2018149323A1/zh
Priority to US16/412,576 priority patent/US10893209B2/en

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    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
    • G07C5/0841—Registering performance data
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/188—Capturing isolated or intermittent images triggered by the occurrence of a predetermined event, e.g. an object reaching a predetermined position
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source

Definitions

  • the present application relates to the field of computer technology, and in particular, to a shooting direction offset detecting method, apparatus, device, and storage medium.
  • image acquisition devices such as driving recorders
  • vehicles such as automatic vehicles
  • the shooting direction of the image capturing device can be set according to actual needs, and the image capturing device is photographed because the carrier has an uncontrollable situation such as bumps or collisions during the moving process.
  • the direction may be offset, which causes the image captured by the image acquisition device to monitor the dead angle, thus affecting the collection effect of the image acquisition device. Therefore, the image acquisition device currently installed in the carrier requires the user to manually detect whether the shooting direction occurs periodically. Offset.
  • the user does not always pay attention to the shooting direction of the driving recorder, and may not be able to detect the deviation of the shooting direction in time, and the accuracy of the user manually checking whether the driving direction of the driving recorder is offset is relatively low.
  • the embodiment of the present application provides a shooting direction.
  • the offset detection method, device, device and storage medium have the following technical solutions:
  • a method for detecting a shooting direction offset comprising:
  • the offset detecting device acquires a horizontal acceleration of the image capturing device at each time point within a predetermined time period
  • the offset detecting device determines a target shooting direction of the image capturing device according to the horizontal acceleration at the respective time points;
  • the offset detecting device determines that an actual shooting direction of the image capturing device is offset when the angle of the angle meets a preset condition; the angle of the direction is the target shooting direction and the image capturing device is in the The angle between the actual shooting directions at the end time point of the predetermined time period.
  • a shooting direction shift detecting device comprising:
  • An acceleration acquiring module configured to acquire a horizontal acceleration of the image capturing device at each time point within a predetermined time period
  • a direction determining module configured to determine a target shooting direction of the image capturing device according to the horizontal acceleration at each time point
  • An offset determining module configured to determine that an actual shooting direction of the image capturing device is offset when a directional angle meets a preset condition; the directional angle is the target shooting direction and the image capturing device is in the The angle between the actual shooting directions at the end time point of the predetermined time period.
  • an offset detecting apparatus including a processor and a memory, wherein the memory stores an instruction executed by the processor to implement the shooting direction shift described above Detection method.
  • a computer readable storage medium in which instructions are stored, the instructions being executed by a processor in an offset detection device to implement the above-described shooting direction offset detection method.
  • the target shooting direction of the image acquisition device can be estimated, and the actual shooting direction of the image acquisition device is determined based on the target shooting direction.
  • the movement does not require the user to manually check the shooting direction of the image acquisition device, and improves the timeliness and accuracy of detecting the offset of the image capturing device.
  • FIG. 1 is a schematic diagram of an application scenario involved in the present application
  • FIG. 2 is a flowchart of a shooting direction offset detecting method according to an exemplary embodiment
  • FIG. 3 is a schematic diagram of a horizontal acceleration and a moving speed direction according to the embodiment shown in FIG. 2;
  • Figure 4 is a schematic view of a direction angle of the solution of the embodiment shown in Figure 2;
  • FIG. 5 is a schematic flowchart showing an implementation process of the solution involved in the embodiment shown in FIG. 2;
  • FIG. 6 is a flowchart of a shooting direction offset detecting method according to an exemplary embodiment
  • FIG. 7 is a block diagram showing the structure of a shooting direction shift detecting apparatus according to an exemplary embodiment
  • FIG. 8 is a schematic structural diagram of a device according to an exemplary embodiment.
  • the image capturing device may be fixedly mounted in the carrier.
  • the image capturing device may be an image capturing component (such as a camera component) of a driving recorder installed in a motor vehicle
  • the offset detecting device may be a computing component in a driving recorder
  • the offset detecting device may also be It is a computer device (such as a car computer or a smart phone) that is connected to the driving recorder by wire or wirelessly.
  • the offset detecting device may acquire the horizontal acceleration of the image capturing device at various time points within a predetermined time period, according to the respective time points.
  • the horizontal acceleration determines the target shooting direction of the image capturing device.
  • the angle of the direction meets the preset condition, it is determined that the actual shooting direction of the image capturing device is offset.
  • the angle of the direction is an angle between the target shooting direction and the actual shooting direction of the image capturing device at the end time point of the predetermined time period.
  • the above-mentioned target shooting direction may be a direction that is preset by the user and is desired to be captured by the image capturing device.
  • the target shooting direction of the image capturing device is usually set to a fixed direction corresponding to the posture of the vehicle.
  • the target shooting direction can be set to the front direction of the vehicle.
  • it is set to be leftward or rightward by a predetermined angle with respect to the front direction of the carrier, and the like.
  • the target shooting direction of the image capturing device is a fixed direction corresponding to the posture of the vehicle.
  • the image capturing device Consistent with the movement of the vehicle, therefore, it is only necessary to obtain the acceleration of the image acquisition device at various points during the movement, that is, the attitude parameter of the vehicle (such as the forward direction of the vehicle) can be estimated, and the combination is estimated.
  • the attitude parameter of the vehicle determines the target shooting direction of the image acquisition device, and combined with the angle between the actual shooting direction of the image capturing device and the estimated target shooting direction, it can be determined whether the actual shooting direction of the image capturing device has occurred. Offset.
  • FIG. 1 illustrates a schematic diagram of an application scenario involved in the present application.
  • the carrier is an example of the automobile 120.
  • the target shooting direction of the camera component in the front of the car 120 is fixed relative to the camera component in the driving recorder 110, for example, As shown in FIG.
  • the target shooting direction may be directly in front of the automobile 120 (in actual application, the target shooting direction may also form a certain preset angle with the front of the automobile 120); on the other hand, in the automobile 120 .
  • the driving recorder 110 is fixedly set with the car 120. Based on this characteristic, the front direction of the car 120 can be based on The movement of the driving recorder 110 is determined, and the movement of the driving recorder 110 can be obtained by monitoring the acceleration of the driving recorder 110.
  • the target shooting direction of the camera assembly in the driving recorder 120 during the time period can be estimated ( That is, directly in front of the car 120) and the direction angle 130 between the actual shooting directions of the camera assembly in the driving recorder 120 at the end of the time period, and then the actual shooting of the driving recorder 110 is determined based on the direction angle 130. Whether the direction has been offset.
  • the offset detecting device only needs to acquire the horizontal acceleration of the image capturing device at each time point, that is, the target shooting direction of the image capturing device can be estimated, and It is determined whether the actual shooting direction of the image capturing device is offset based on the target shooting direction, and the user does not need to manually check the shooting direction of the image capturing device, thereby improving the timeliness and accuracy of detecting the offset of the shooting direction of the image capturing device.
  • the shooting direction offset detecting method may include the following steps:
  • Step 201 Acquire a horizontal acceleration of the image capturing device at each time point within a predetermined time period.
  • the horizontal acceleration and the subsequent moving speed are vectors including values and directions, that is, the horizontal acceleration includes an acceleration value and The direction of acceleration, the speed of movement includes the speed value and the direction of movement.
  • the above horizontal acceleration and the direction of the moving speed are all directions with respect to the image capturing device.
  • the direction of the horizontal acceleration or the moving speed may be a direction opposite to the horizontal forward direction of the image capturing device, for example, the direction of the horizontal acceleration or the moving speed may be a left-right direction with respect to the horizontal front direction of the image capturing device. Or right to an angle.
  • FIG. 3 is a schematic diagram of a horizontal acceleration and a moving speed direction according to an embodiment of the present application, wherein the horizontal acceleration and the moving speed may be at an angle relative to the front of the image capturing device.
  • the direction of the horizontal acceleration may be a left-off angle ⁇ with respect to the front of the image capturing device.
  • the direction of the moving speed may be a right-angled angle with respect to the front of the image capturing device. ⁇ .
  • the solution shown in this embodiment of the present application may be performed by an offset detecting device, for example, the offset detecting device may acquire sensor data of an acceleration sensor (G-Sensor) corresponding to the image capturing device, according to the sensor. The data is used to obtain the horizontal acceleration of the image acquisition device at various time points within a predetermined time period.
  • G-Sensor acceleration sensor
  • the acceleration sensor may be a sensor disposed inside the image acquisition device, or the acceleration sensor may be disposed outside the image acquisition device and fixed to a relative position of the image acquisition device, for example, when the image acquisition device is fixed on the carrier. In the middle, the acceleration sensor can also be an acceleration sensor built into the vehicle.
  • the predetermined time period may be all or part of a time period during which the image capturing device moves from the start to the stop.
  • the carrier moves along a straight or nearly straight path, there is a high probability that it is moving in the forward direction, that is, the moving direction is closest to the forward direction of the vehicle.
  • the image capturing device in order to improve the accuracy of determining the horizontal forward direction of the carrier, when acquiring the horizontal acceleration of the image capturing device at various time points within a predetermined time period, the image capturing device may be along a straight line or The time period when the approximate linear movement is determined is determined as the above predetermined time period.
  • an image acquisition device is used as an image acquisition component in a driving recorder
  • an offset detection device is a calculation component in a driving recorder.
  • the driving recorder includes an acceleration sensor and a processor (ie, a computing component), and a driving recorder
  • the processor continuously obtains the sensor parameters obtained by the acceleration sensor measurement (the acceleration segment sensor and the processor can be connected through the bus in the driving recorder), and obtains the acceleration of the driving recorder at various times according to the acquired sensor parameters.
  • the processor in the driving recorder can determine the moving state of the vehicle (ie, whether it is moving and moving in a straight line, etc.).
  • the processor of the driving recorder can move the driving recorder from a start to a stop in a straight line or an approximate straight line according to the moving state of the vehicle.
  • the segment is determined to be the predetermined time period described above, and the horizontal acceleration at each time point in the predetermined time period is acquired.
  • the offset detecting device when it receives the sensor parameter of the acceleration sensor, it may receive according to a certain time interval. For example, the offset detecting device may receive the sensor parameter every 0.1 ms, and correspondingly, obtain the predetermined time period. At the time of the horizontal acceleration at each time point, the time point at which the sensor parameter is received within the predetermined time period may be used as each time point within the predetermined time period, and according to the sensor parameters received at the above respective time points Get the horizontal acceleration at each time point.
  • Step 202 Acquire an initial moving speed of the image capturing device, where the initial moving speed is a moving speed of the image capturing device in a horizontal direction at a starting time of the predetermined time period.
  • the offset detecting device can continuously acquire the horizontal acceleration of the image capturing device, and start from the image capturing device with a speed of 0, and calculate the horizontal acceleration of the image capturing device at each time point, and the image capturing device is The speed of movement in the horizontal direction.
  • the offset detecting device may acquire the initial moving speed at a horizontal moving speed that is closest to the starting time of the predetermined time period at the corresponding time point.
  • the offset detecting device may default to the time point corresponding to the horizontal acceleration determined twice before and after.
  • the horizontal acceleration of the image acquisition device remains unchanged and is equal to the latter horizontal acceleration of the two previously determined horizontal accelerations. If the offset detecting device knows the horizontal moving speed v 1 at the time point corresponding to the previously determined horizontal acceleration, the combined acceleration is based on the horizontal acceleration a determined later, and the time interval ⁇ t between the two time points.
  • the calculation formula between the speed and the speed that is, the horizontal movement speed v 2 at the time point corresponding to the horizontal acceleration determined by the image acquisition device at a later time can be calculated.
  • the time interval between the two adjacent receiving sensor data of the offset detecting device is 0.1 ms, and when the time point is 0 ms, the horizontal moving speed of the image capturing device is 0, and the horizontal acceleration is also 0, at 0.1.
  • the offset detecting device receives the sensor data and determines the horizontal acceleration at 0.1 ms, and combines the horizontal moving speed at 0 ms, the horizontal acceleration at 0.1 ms, and the time interval (ie, 0.1 ms) to calculate the level at 0.1 ms.
  • the offset detecting device receives the sensor data and determines the horizontal acceleration at 0.2 ms, combined with the horizontal moving speed at 0.1 ms, the horizontal acceleration at 0.2 ms, and the time interval, and calculates the time at 0.2 ms.
  • the horizontal moving speed, and so on, the offset detecting device calculates the horizontal moving speed every 0.1 ms.
  • Step 203 Calculate a horizontal moving speed of the image capturing device at each time point according to an initial moving speed of the image capturing device and a horizontal acceleration at each time point in the preset time period.
  • each time point in the preset time period is also a time point at which the offset detecting device receives the sensor parameter, and the offset detecting device is based on the initial moving speed and the level at each time point within the predetermined time period described above.
  • the method for calculating the horizontal moving speed at each time point of the acceleration is the same as the manner that the offset detecting device calculates the moving speed in the horizontal direction at each time point in the above step 202, and details are not described herein again.
  • Step 204 Determine a horizontal forward direction of the vehicle according to a horizontal moving speed of the image capturing device at the respective time points.
  • the horizontal moving speed is a vector
  • the horizontal moving speed of the image capturing device at each of the above time points may be aggregated, and the horizontal movement after the aggregation may be performed.
  • the direction of the speed is taken as the horizontal forward direction of the vehicle.
  • the horizontal moving speeds at the respective time points may be sampled according to a predetermined sampling frequency, and the levels at a plurality of sampling time points are obtained. The speed is moved, and the horizontal moving speeds at the plurality of sampling time points are vector-summed to obtain the horizontal moving speed after the aggregation.
  • the horizontal moving speed at the above several sampling time points most of the horizontal moving speed
  • the direction is the same as or similar to the horizontal forward direction of the vehicle.
  • the speed value when the vehicle moves in the forward direction is usually larger than the speed value when turning or reversing. Therefore, the level at the above several sampling time points is After the vector speed is summed by the moving speed, the obtained horizontal moving speed after polymerization is small in the case of the majority and the horizontal forward direction of the vehicle is small, and the direction of the horizontal moving speed after the polymerization can be considered as the carrier.
  • the level is in front of the direction.
  • step 204 may start execution after acquiring the horizontal acceleration at all time points within the predetermined time period.
  • the offset detecting device starts from the start time of the predetermined time period, and according to the initial moving speed, each time the horizontal acceleration at one time point is acquired, the horizontal moving speed at the time point is calculated, and the calculated horizontal movement is performed according to the calculated The speed corrects the horizontal forward direction of the vehicle, and at the end of the predetermined time period, the horizontally forward direction of the most recently corrected vehicle is locked, and the subsequent steps are performed according to the horizontal forward direction of the locked vehicle.
  • Step 205 Determine a target photographing direction of the image capturing device according to a horizontal front direction of the vehicle and a predetermined relationship between the horizontal front direction and the target photographing direction.
  • the predetermined relationship between the horizontal front direction and the target shooting direction may be preset by the user.
  • the predetermined relationship may include an angle between the horizontal front direction and the target shooting direction, wherein the image capturing device is an image capturing component in the driving recorder, and the offset detecting device is a computing component in the driving recorder.
  • the driving recorder can provide a predetermined relationship setting interface for setting an angle between a target shooting direction of the driving recorder and a front direction of the vehicle (such as a car) in the setting interface, for example, the user can Set the target shooting direction to the horizontal forward direction of the vehicle (the angle in the above predetermined relationship is 0), or the user can also set a certain direction between the target shooting direction and the horizontal direction of the vehicle.
  • the angle for example, is shifted to the left or right by 5 degrees with respect to the horizontal direction of the vehicle (in this case, the angle in the predetermined relationship is leftward or rightward by 5 degrees).
  • Step 206 Detect whether the angle of the direction meets the preset condition; the angle of the direction is an angle between the target shooting direction and the actual shooting direction of the image capturing device at the end time point of the predetermined time period.
  • the preset condition includes at least one of the following conditions: the angle of the direction is greater than the threshold of the first preset angle; the component of the angle in the horizontal plane is greater than the threshold of the second preset angle; the angle of the direction is vertical The component on the face is greater than the third preset angle threshold.
  • the first preset angle threshold, the second preset angle threshold, and the third preset angle threshold may be angle indicators preset by the image collection device when they are shipped from the factory, or may be angle values set by the user.
  • FIG. 4 illustrates a schematic diagram of a directional angle involved in an embodiment of the present application.
  • the origin is O point
  • the y axis is the target shooting direction
  • the yOz plane is a horizontal plane
  • the x axis is perpendicular to the horizontal plane
  • the direction corresponding to the space vector 401 is the actual shooting direction of the image capturing device.
  • the angle 402 between the space vector 401 and the y-axis is the angle between the target shooting direction and the actual shooting direction of the image capturing device. From the vertex A of the space vector 401, a vertical line of the yOz plane is formed.
  • the line passes through point B in the yOz plane, and the angle 403 between the y-axis and the OB two-point line is the component of the angle 402 on the horizontal plane, and the angle 404 between the space vector 401 and the OB two-point line. That is, the component of the angle 402 on the vertical plane.
  • the offset detecting device can detect whether the offset angle of the actual shooting direction relative to the target shooting direction in the three-dimensional space satisfies a preset condition. For example, in FIG. 4, the offset detecting device can detect the angle. Whether the angle value of 402 is greater than the first preset angle threshold, and if so, determining whether the angle between the target shooting direction and the actual shooting direction is a preset condition.
  • the offset detecting device may also detect whether the offset angle of the actual photographing direction in the horizontal direction with respect to the target photographing direction satisfies a preset condition. For example, in FIG. 4, the offset detecting device may detect the angle 403. Whether the angle value is greater than the second preset angle threshold, and if so, determining that the angle between the target shooting direction and the actual shooting direction satisfies a preset condition.
  • the offset detecting device may also detect whether the offset angle of the actual photographing direction in the vertical direction with respect to the target photographing direction satisfies a preset condition. For example, in FIG. 4, the offset detecting device may detect the angle 404. Whether the angle value is greater than the third preset angle threshold, and if so, determining that the angle between the target shooting direction and the actual shooting direction satisfies the preset condition.
  • the offset detecting device may also combine any two or three kinds of offset angles of the actual photographing direction with respect to the target photographing direction in the three-dimensional space, an offset angle in the horizontal direction, or an offset angle in the vertical direction.
  • the angle is used to determine whether the preset condition is met, that is, when any two or three of the offset angles are greater than the corresponding preset angle threshold, determining that the angle between the target shooting direction and the actual shooting direction meets the preset condition .
  • Step 207 If the angle of the direction meets the preset condition, determining that an actual shooting direction of the image capturing device is offset.
  • the offset detecting device detects that the angle between the target shooting direction and the actual shooting direction is too large, it may be considered that the actual shooting direction of the image capturing device is greatly shifted, which may affect the image capturing effect.
  • the subsequent step 208 or step 209 can be performed.
  • Step 208 Send a prompt message to the terminal, where the prompt message is used to prompt that the actual shooting direction of the image capturing device is offset.
  • the offset detecting device may send a prompt message to the user's terminal.
  • the instant messaging application or the notification message may be sent to the instant messaging application installed in the terminal.
  • the actual shooting direction of the image capturing device is offset from the target shooting direction, so that the user can manually correct the actual shooting direction of the image capturing device in time.
  • the prompt message may further include an angle between the target shooting direction and the actual shooting direction.
  • the prompt message may further include a direction and an angle of the recommended adjustment.
  • Step 209 Correct the actual shooting direction of the image capturing device according to the angle of the direction.
  • the offset detecting device can adjust the actual shooting direction of the image capturing device according to the angle of the above direction, so as to The actual shooting direction is adjusted to the target shooting direction.
  • the offset detection device can adjust the device posture of the image acquisition device according to the above-mentioned direction angle control servo motor operation, so that the actual image capture device is captured.
  • the direction is close to or consistent with the target shooting direction.
  • the image capturing device is an image capturing component in a driving recorder
  • the carrier is an automobile.
  • FIG. 5 is a schematic flowchart of an implementation process according to an embodiment of the present application.
  • the predetermined relationship between the target shooting direction and the forward direction of the automobile can be set in the setting interface provided by the driving recorder (for example, setting the target shooting direction to the automobile) In the forward direction), or the user can also bind the driving recorder to the mobile phone, and set the predetermined relationship between the target shooting direction and the forward direction through the setting interface displayed on the screen of the mobile phone, and after the setting is completed, driving The recorder saves the predetermined relationship.
  • the sensor data collected by the acceleration sensor in the driving recorder can be continuously obtained, the horizontal acceleration of the driving recorder is obtained according to the sensor data, and the moving state of the driving recorder is determined by the obtained horizontal acceleration.
  • the horizontal acceleration at each time point in a certain period of time in the moving process and the initial moving speed of the initial time of the predetermined time period may be acquired, by using the respective time points in the predetermined time period The horizontal acceleration, and the initial moving speed of the initial time of the predetermined time period, calculating the horizontal moving speed at each time point within the predetermined time period, and estimating the horizontal moving speed based on the respective time points within the predetermined time period The front direction of the car.
  • the image capturing device when the image capturing device and the carrier are fixedly set, the image capturing device can acquire the time of the image capturing device in a predetermined time period during the moving process.
  • the direction improves the timeliness and accuracy of detecting the offset of the image capturing device.
  • a prompt message may be sent to the user terminal to remind the user to adjust the shooting direction in time, or directly adjust the shooting direction of the image capturing device, thereby improving the image capturing device.
  • Image acquisition effect may be sent to the user terminal to remind the user to adjust the shooting direction in time, or directly adjust the shooting direction of the image capturing device, thereby improving the image capturing device.
  • the solution may also be a speed value of the horizontal moving speed of the image capturing device at each of the above time points when determining the horizontal forward direction of the vehicle according to the horizontal moving speed of the image capturing device at the respective time points.
  • the determination process of the horizontal forward direction of the vehicle is optimized to improve the accuracy of the horizontal forward direction of the determined vehicle. Specifically, please refer to the embodiment shown in FIG. 6 below.
  • FIG. 6 is a flowchart of a shooting direction offset detecting method, which may be applied to an offset detecting device corresponding to image capturing fixedly mounted in a carrier, according to an exemplary embodiment. device.
  • the shooting direction offset detecting method may include the following steps:
  • Step 601 Acquire a horizontal acceleration of the image capturing device at each time point within a predetermined time period.
  • Step 602 Acquire an initial moving speed of the image capturing device, where the initial moving speed is a moving speed of the image capturing device in a horizontal direction at a starting time of the predetermined time period.
  • Step 603 Calculate a horizontal moving speed of the image capturing device at each time point within a predetermined time period according to an initial moving speed of the image capturing device and a horizontal acceleration at the respective time points.
  • the offset detecting device can aggregate the horizontal moving speeds at the respective time points according to the speed value of the horizontal moving speed at each time point. For the specific aggregation process, refer to the following steps 604 and 605, or refer to step 606 and step 607.
  • Step 604 respectively, according to the speed value of the horizontal moving speed of the image capturing device at each time point, respectively set the weight of the horizontal moving speed of the image capturing device at each time point.
  • the effect of the horizontal moving speed of the vehicle during turning or reversing on the horizontal front direction of the estimated vehicle can be weakened by setting the weights of the horizontal moving speeds corresponding to the different speed values.
  • the effect of the horizontal moving speed of the vehicle moving in the forward direction on the estimated frontal direction of the vehicle is enhanced to improve the accuracy of the horizontal forward direction of the estimated vehicle.
  • a higher weight can be set for the horizontal moving speed with a higher speed value, and correspondingly, a lower weight is set for the horizontal moving speed with a higher speed value.
  • the weight and the velocity value may be positively correlated. For example, refer to Table 1, which shows a correspondence between the weight and the velocity value of the horizontal moving speed.
  • the offset detecting device may set the weight of the horizontal moving speed whose speed value is between 0 and 20 to 0.1, and set the speed value at The weight of the horizontal moving speed between 20 and 40 is set to 1, and the weight of the horizontal moving speed whose speed value is greater than 40 is set to 10.
  • Step 605 According to the weight of the horizontal moving speed of the image capturing device at each time point, the horizontal moving speed of the image capturing device at each time point in the predetermined time period is aggregated to obtain the horizontal moving speed after the aggregation.
  • the offset detecting device may multiply the horizontal moving speed at each time point by its corresponding weight, and multiply each horizontal moving speed multiplied by the corresponding weight to perform vector summation to obtain the level after the aggregation. Moving speed.
  • the offset detecting device may sample the horizontal moving speed at each time point according to a predetermined sampling frequency, and obtain a horizontal moving speed at a plurality of sampling time points.
  • the horizontal moving speeds at the plurality of sampling time points are respectively multiplied by the corresponding weights, and vector summation is performed to obtain the horizontal moving speed after the aggregation.
  • the above steps 604 and 605 improve the horizontal level of the vehicle by weakening the horizontal moving speed when the vehicle turns or reverses, and enhancing the horizontal moving speed when the carrier moves in the forward direction.
  • the estimation accuracy of the front direction; and in another possible implementation manner, the horizontal moving speed when the carrier is likely to move in the forward direction may be selected from the horizontal moving speed corresponding to each time point mentioned above, and according to The horizontal moving speed is selected to estimate the horizontal front direction of the vehicle.
  • step 606 and step 607 below.
  • Step 606 Determine a valid time point in each of the foregoing time points, where the effective time point is a time point at which the speed value of the corresponding horizontal moving speed is greater than the preset speed threshold.
  • the speed value of the corresponding horizontal moving speed in each of the above time points may be greater than a certain value.
  • the time point of the preset speed threshold (for example, 40 km/h) is extracted as the effective time point.
  • step 607 the horizontal moving speed at the effective time point is aggregated to obtain the horizontal moving speed after the aggregation.
  • the offset detecting device can perform vector summation on the respective horizontal moving speeds at the effective time point to obtain the horizontal moving speed after the aggregation.
  • the offset detecting device may also sample the horizontal moving speed at each time point according to a predetermined sampling frequency, and obtain a horizontal moving speed at several sampling time points. And determining, at a plurality of sampling points, a time point at which the speed value of the corresponding horizontal moving speed is greater than the preset speed threshold as the effective sampling time point, and performing vector summation on determining the horizontal moving speed at the effective sampling time, The horizontal moving speed after polymerization.
  • step 608 the direction of the horizontal movement speed after the polymerization is determined as the horizontal forward direction of the vehicle.
  • the obtained horizontal movement speed after polymerization is small in the case of the majority and the horizontal forward direction of the carrier is small, and the direction of the horizontal moving speed after polymerization can be considered. It is the horizontal direction of the vehicle.
  • Step 609 Determine a target photographing direction of the image capturing device according to a horizontal front direction of the vehicle and a predetermined relationship between the horizontal front direction and the target photographing direction.
  • Step 610 Detect whether the angle of the direction meets the preset condition; the angle of the direction is an angle between the target shooting direction and the actual shooting direction of the image capturing device at the end time point of the predetermined time period.
  • the preset condition includes at least one of the following conditions: the angle of the direction is greater than the threshold of the first preset angle; the component of the angle in the horizontal plane is greater than the threshold of the second preset angle; the angle of the direction is vertical The component on the face is greater than the third preset angle threshold.
  • Step 611 If the angle of the direction meets the preset condition, determining that the actual shooting direction of the image capturing device is offset.
  • Step 612 Send a prompt message to the terminal, where the prompt message is used to prompt that the actual shooting direction of the image capturing device is offset.
  • Step 613 correcting the actual shooting direction of the image capturing device according to the angle of the direction.
  • the user may actively adjust the actual shooting direction of the image capturing device after setting the target shooting direction, but does not modify the target shooting direction through the setting interface. At this time, even if the image capturing device is prompted The actual shooting direction is offset, and the user may not adjust the actual shooting direction of the image capture device.
  • the user may reset the predetermined relationship between the horizontal front direction and the target shooting direction, so that after the predetermined relationship is reset, the image is collected. The actual shooting direction of the device is consistent with the predetermined target shooting direction determined according to the predetermined relationship of the reset.
  • the reset predetermined relationship may be resetting an angle between a horizontal front direction included in the predetermined relationship and a target photographing direction. For example, after the user manually adjusts the actual shooting direction of the image capturing device, after the vehicle is driven for a period of time, the user may issue an instruction to reset the predetermined relationship through the setting page provided by the user terminal or the offset detecting device, and the offset detecting device receives the command. After the instruction to reset the predetermined relationship, the angle between the horizontal front direction included in the predetermined relationship and the target shooting direction may be updated to the horizontal front direction and the image of the vehicle calculated in the above step 608. The angle between the actual shooting directions of the collecting device. If the actual shooting direction of the image capturing device does not change greatly during the subsequent detection process, the target shooting direction determined according to the predetermined relationship of the reset will be the same as the image. The actual shooting direction of the collection device remains the same.
  • the user terminal when the user terminal receives the prompt message, if the user does not need to adjust the actual shooting angle of the image capturing device, and does not want to receive the prompt message frequently, the user terminal may be offset or The setting page provided by the detecting device issues an instruction to reset the predetermined relationship.
  • the image capturing device is the image capturing component in the driving recorder
  • the carrier is an automobile.
  • the predetermined relationship can be set (ie, the target shooting direction and the horizontal front direction) The angle between the two), after the setting is completed, the driving recorder saves the predetermined relationship.
  • the driving recorder moves, the horizontal acceleration at each time point in a certain period of time during the movement may be acquired, the horizontal acceleration at each time point within the predetermined time period, and the initial of the predetermined time period
  • the horizontal moving speed of the time, the horizontal moving speed at each time point within the predetermined time period is calculated, and the forward direction of the automobile is estimated based on the horizontal moving speed at each time point within the predetermined time period.
  • the angle between the forward direction of the exiting car is set to a new predetermined relationship.
  • the image capturing device when the image capturing device and the carrier are fixedly set, the image capturing device can acquire the time of the image capturing device in a predetermined time period during the moving process.
  • the direction improves the timeliness and accuracy of detecting the offset of the image capturing device.
  • a prompt message may be sent to the user terminal to remind the user to adjust the shooting direction in time, or directly adjust the shooting direction of the image capturing device, thereby improving image capturing.
  • the image acquisition effect of the device may be used to remind the user to adjust the shooting direction in time, or directly adjust the shooting direction of the image capturing device, thereby improving image capturing.
  • the method shown in the embodiment of the present application when determining the horizontal forward direction of the vehicle according to the horizontal moving speed of the image capturing device at the respective time points, passes through the image capturing device at each of the above time points.
  • the speed value of the horizontal moving speed optimizes the determination process of the horizontal forward direction of the vehicle, and improves the accuracy of the horizontal forward direction of the determined vehicle.
  • the offset detecting device shoots according to the actual shooting.
  • the orientation angle between the direction and the direction of the forward direction of the estimated vehicle is updated to prevent the user from frequently issuing a reminder when the actual shooting direction of the image capturing terminal is not adjusted, thereby reducing the trouble to the user and simplifying the user resetting.
  • FIG. 7 is a block diagram showing the structure of a shooting direction shift detecting apparatus according to an exemplary embodiment.
  • the shooting direction shift detecting means may be used in an image detecting apparatus provided in the carrier to perform all or part of the steps in the embodiment shown in FIG. 2 or 6.
  • the shooting direction shift detecting device may include:
  • the acceleration acquiring module 701 is configured to acquire a horizontal acceleration of the image capturing device at each time point within a predetermined time period;
  • the direction determining module 702 is configured to determine a target shooting direction of the image capturing device according to the horizontal acceleration at the respective time points;
  • the offset determining module 703 is configured to determine that an actual shooting direction of the image capturing device is offset when the angle of the angle meets the preset condition; the angle of the direction is that the target shooting direction is in the image capturing device An angle between actual shooting directions at the end time point of the predetermined time period.
  • the preset condition includes at least one of the following conditions:
  • the angle of the direction is greater than a threshold of the first preset angle
  • the component of the angle of the direction on the horizontal plane is greater than the second preset angle threshold
  • the component of the angle of the direction on the vertical plane is greater than the third preset angle threshold.
  • the image capturing device is fixedly disposed in the carrier, and the direction determining module includes:
  • a speed acquiring unit configured to acquire an initial moving speed of the image capturing device, where the initial moving speed is a moving speed of the image capturing device in a horizontal direction at a starting time of the predetermined time period;
  • a speed calculation unit configured to calculate a horizontal moving speed of the image capturing device at each time point according to an initial moving speed of the image capturing device and a horizontal acceleration at the respective time points;
  • a first direction determining unit configured to determine a horizontal front direction of the vehicle according to a horizontal moving speed of the image capturing device at the respective time points;
  • the second direction determining unit is configured to determine the target photographing direction according to a horizontal front direction of the carrier and a predetermined relationship between a horizontal front direction of the carrier and the target photographing direction.
  • the first direction determining unit includes:
  • a weight setting subunit configured to set a weight for each of the horizontal moving speeds of the image capturing device at the respective time points according to a speed value of the horizontal moving speed of the image capturing device at the respective time points, The weight is positively correlated with the speed value;
  • a first aggregation subunit configured to aggregate, according to a weight of a horizontal moving speed of the image capturing device at each time point, a horizontal moving speed of the image capturing device at each time point to obtain an aggregation After the horizontal movement speed;
  • a first determining subunit configured to determine a direction of the horizontal moving speed after the polymerization as a horizontal forward direction of the carrier.
  • the first direction determining unit includes:
  • a second determining subunit configured to determine a valid time point in each of the time points, where the effective time point is a time point at which the speed value of the corresponding horizontal moving speed is greater than the preset speed threshold;
  • a second aggregation subunit configured to aggregate the horizontal moving speed at the effective time point to obtain a horizontal moving speed after the aggregation
  • a third determining subunit configured to determine a direction of the horizontal moving speed after the aggregation as a horizontal forward direction of the carrier.
  • the predetermined relationship includes an angle between a horizontal front direction and a target shooting direction
  • the device further includes:
  • the relationship update module is configured to update an angle between the horizontal front direction included in the predetermined relationship and the target photographing direction to the direction angle when receiving the instruction to reset the predetermined relationship.
  • the device further includes:
  • the message sending module is configured to send a prompt message to the terminal after determining that the actual shooting direction of the image capturing device is offset, where the prompt message is used to prompt that the actual shooting direction of the image capturing device is offset.
  • the device further includes:
  • a correction module configured to correct an actual shooting direction of the image capturing device according to the angle of the direction after determining that an actual shooting direction of the image capturing device is offset.
  • the offset detecting device is a driving recorder
  • the image collecting device is an image capturing component in the driving recorder
  • FIG. 8 is a schematic structural diagram of an apparatus 800 according to an exemplary embodiment.
  • Apparatus 800 in an embodiment of the present application may include one or more of the following components: a processor for executing computer program instructions to perform various processes and methods for information and storage of program instructions, random access memory (RAM), and Read-only memory (ROM), memory for storing data and information, I/O devices, interfaces, antennas, etc.
  • RAM random access memory
  • ROM Read-only memory
  • the device 800 can include an RF (Radio Frequency) circuit 810, a memory 820, an input unit 830, a display unit 840, a sensor 850, an audio circuit 860, a WiFi (Wireless Fidelity) module 870, a processor 880, and a power supply 882. , camera 890 and other components.
  • RF Radio Frequency
  • FIG. 8 does not constitute a limitation to the device, and may include more or less components than those illustrated, or a combination of certain components, or different component arrangements.
  • the RF circuit 810 can be used for receiving and transmitting signals during the transmission or reception of information or during a call. Specifically, after receiving the downlink information of the base station, it is processed by the processor 880. In addition, the uplink data is designed to be sent to the base station.
  • RF circuits include, but are not limited to, an antenna, at least one amplifier, a transceiver, a coupler, an LNA (Low Noise Amplifier), a duplexer, and the like.
  • RF circuitry 810 can also communicate with the network and other devices via wireless communication.
  • the wireless communication may use any communication standard or protocol, including but not limited to GSM (Global System of Mobile communication), GPRS (General Packet Radio Service), CDMA (Code Division Multiple Access). , Code Division Multiple Access), WCDMA (Wideband Code Division Multiple Access), LTE (Long Term Evolution), e-mail, SMS (Short Messaging Service), and the like.
  • the memory 820 can be used to store software programs and modules, and the processor 880 executes various functional applications and data processing of the device 800 by running software programs and modules stored in the memory 820.
  • the memory 820 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application required for at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may be stored according to Data created by the use of device 800 (such as audio data, phone book, etc.), and the like.
  • memory 820 can include high speed random access memory, and can also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
  • the input unit 830 can be configured to receive input numeric or character information and to generate key signal inputs related to user settings and function control of the device 800.
  • the input unit 830 may include a touch panel 831 and other input devices 832.
  • the touch panel 831 also referred to as a touch screen, can collect touch operations on or near the user (such as the user using a finger, a stylus, or the like on the touch panel 831 or near the touch panel 831. Operation), and drive the corresponding connecting device according to a preset program.
  • the touch panel 831 can include two parts: a touch detection device and a touch controller.
  • the touch detection device detects the touch orientation of the user, and detects a signal brought by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch detection device, converts the touch information into contact coordinates, and sends the touch information.
  • the processor 880 is provided and can receive commands from the processor 880 and execute them.
  • the touch panel 831 can be implemented in various types such as resistive, capacitive, infrared, and surface acoustic waves.
  • the input unit 830 may also include other input devices 832.
  • other input devices 832 may include, but are not limited to, one or more of a physical keyboard, function keys (such as volume control buttons, switch buttons, etc.), trackballs, mice, joysticks, and the like.
  • Display unit 840 can be used to display information entered by the user or information provided to the user as well as various menus of device 800.
  • the display unit 840 can include a display panel 841.
  • the display panel 841 can be configured in the form of an LCD (Liquid Crystal Display), an OLED (Organic Light-Emitting Diode), or the like.
  • the touch panel 831 can cover the display panel 841. When the touch panel 831 detects a touch operation thereon or nearby, the touch panel 831 transmits to the processor 880 to determine the type of the touch event, and then the processor 880 according to the touch event. The type provides a corresponding visual output on display panel 841.
  • the touch panel 831 and the display panel 841 function as two separate components to implement the input and input functions of the device 800, in some embodiments, the touch panel 831 can be integrated with the display panel 841. The input and output functions of device 800 are implemented.
  • Device 800 may also include at least one type of sensor 850, such as a gyro sensor, a magnetic induction sensor, a light sensor, a motion sensor, and other sensors.
  • the light sensor may include an ambient light sensor and a proximity sensor, wherein the ambient light sensor may adjust the brightness of the display panel 841 according to the brightness of the ambient light, and the proximity sensor may close the display panel 841 when the device 800 moves to the ear / or backlight.
  • the acceleration sensor can detect the magnitude of acceleration in all directions (usually three axes). When it is stationary, it can detect the magnitude and direction of gravity. It can be used to identify the posture of the device (such as horizontal and vertical screen switching, related games).
  • magnetometer attitude calibration magnetometer attitude calibration
  • vibration recognition related functions such as pedometer, tapping
  • other sensors such as barometers, hygrometers, thermometers, infrared sensors, etc. that can be configured in the device 800, will not be described here.
  • An audio circuit 860, a speaker 881, and a microphone 862 can provide an audio interface between the user and the device 800.
  • the audio circuit 860 can transmit the converted electrical data of the received audio data to the speaker 861 for conversion to the sound signal output by the speaker 861; on the other hand, the microphone 862 converts the collected sound signal into an electrical signal by the audio circuit 860. After receiving, it is converted into audio data, and then processed by the audio data output processor 880, transmitted to the device, for example, by the RF circuit 810, or outputted to the memory 820 for further processing.
  • WiFi is a short-range wireless transmission technology
  • the device 800 can help users to send and receive emails, browse web pages, and access streaming media through the WiFi module 870, which provides wireless broadband Internet access for users.
  • FIG. 8 shows the WiFi module 870, it will be understood that it does not belong to the essential configuration of the device 800, and may be omitted as needed within the scope of not changing the nature of the disclosure.
  • Processor 880 is the control center of device 800, which connects various portions of the entire device using various interfaces and lines, by running or executing software programs and/or modules stored in memory 820, and recalling data stored in memory 820, The various functions and processing data of device 800 are performed to provide overall monitoring of the device.
  • the processor 880 may include one or more processing units; preferably, the processor 880 may integrate an application processor and a modem processor, where the application processor mainly processes an operating system, a user interface, an application, and the like.
  • the modem processor primarily handles wireless communications. It will be appreciated that the above described modem processor may also not be integrated into the processor 880.
  • the device 800 also includes a power source 882 (such as a battery) that supplies power to the various components.
  • a power source 882 such as a battery
  • the power source can be logically coupled to the processor 880 through a power management system to manage functions such as charging, discharging, and power management through the power management system.
  • the camera 890 is generally composed of a lens, an image sensor, an interface, a digital signal processor, a CPU, a display screen, and the like.
  • the lens is fixed above the image sensor, and the focus can be changed by manually adjusting the lens;
  • the image sensor is equivalent to the "film" of the conventional camera, and is the heart of the image captured by the camera;
  • the interface is used to connect the camera with the cable and the board to the board.
  • the device and the spring-type connection are connected to the device main board, and the collected image is sent to the memory 820;
  • the digital signal processor processes the acquired image through mathematical operations, converts the collected analog image into a digital image, and sends the image to the interface.
  • Memory 820 is generally composed of a lens, an image sensor, an interface, a digital signal processor, a CPU, a display screen, and the like.
  • the device 800 may further include a Bluetooth module or the like, which will not be described herein.
  • Apparatus 800 includes, in addition to one or more processors 880, a memory, and one or more modules, one or more of which are stored in a memory and configured to be executed by one or more processors to implement All or part of the steps of the method shown in Figure 2 or Figure 6 above.
  • a non-transitory computer readable storage medium comprising instructions, such as a memory comprising instructions executable by a processor of an offset detection device to perform the various embodiments of the present application.
  • the shooting direction offset detection method may be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device.

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Abstract

一种拍摄方向偏移检测方法、装置、设备及存储介质。方法包括：获取图像采集设备在预定时间段内的各个时间点上的水平加速度（201）；根据各个时间点上的水平加速度，确定图像采集设备的目标拍摄方向；当目标拍摄方向与图像采集设备在预定时间段的结束时间点上的实际拍摄方向之间的夹角满足预设条件时，确定图像采集设备的实际拍摄方向发生偏移（207），在此过程中，不需要用户人工检查图像采集设备的拍摄方向，提高了检测图像采集设备的拍摄方向发生偏移的及时性和准确性。

Description

拍摄方向偏移检测方法、装置、设备及存储介质
本申请要求于2017年02月16日提交中国专利局、申请号为201710084422.5、发明名称为“拍摄方向偏移检测方法及装置”的中国专利申请的优先权，上述申请的全部内容通过引用结合在本申请中。
技术领域
本申请涉及计算机技术领域，特别涉及一种拍摄方向偏移检测方法、装置、设备及存储介质。
背景技术
随着人们的交通安全意识的不断提高，固定设置于自动车辆等载具中的图像采集设备(比如行车记录仪)的应用也越来越广泛。
在相关技术中，用户在载具中安装图像采集设备时，可以根据实际需求设置图像采集设备的拍摄方向，由于载具在移动过程中存在颠簸或碰撞等不可控的情形，图像采集设备的拍摄方向可能会发生偏移，导致图像采集设备采集到的图像画面出现监控死角，从而影响图像采集设备的采集效果，因此，目前安装于载具中的图像采集设备需要用户定期人工检测拍摄方向是否发生偏移。
在实际应用中，用户不会时刻注意行车记录仪的拍摄方向，可能无法及时察觉拍摄方向的偏移，并且，用户人工检查行车记录仪的拍摄方向是否偏移的准确性也比较低。
发明内容
为了解决相关技术中用户可能无法及时察觉行车记录仪的拍摄方向发生偏移，且人工检查行车记录仪的拍摄方向是否偏移的准确性较低的问题，本申请实施例提供了一种拍摄方向偏移检测方法、装置、设备及存储介质，技术方案如下：
一方面，提供了一种拍摄方向偏移检测方法，所述方法包括：
偏移检测设备获取图像采集设备在预定时间段内的各个时间点上的水平加速度；
所述偏移检测设备根据所述各个时间点上的水平加速度，确定所述图像采 集设备的目标拍摄方向；
当方向夹角满足预设条件时，所述偏移检测设备确定所述图像采集设备的实际拍摄方向发生偏移；所述方向夹角是所述目标拍摄方向与所述图像采集设备在所述预定时间段的结束时间点上的实际拍摄方向之间的夹角。
另一方面，提供了一种拍摄方向偏移检测装置，其特征在于，所述装置包括：
加速度获取模块，用于获取图像采集设备在预定时间段内的各个时间点上的水平加速度；
方向确定模块，用于根据所述各个时间点上的水平加速度，确定所述图像采集设备的目标拍摄方向；
偏移确定模块，用于当方向夹角满足预设条件时，确定所述图像采集设备的实际拍摄方向发生偏移；所述方向夹角是所述目标拍摄方向与所述图像采集设备在所述预定时间段的结束时间点上的实际拍摄方向之间的夹角。
另一方面，提供了一种偏移检测设备，所述偏移检测设备包含处理器和存储器，所述存储器中存储有指令，所述指令由所述处理器执行以实现上述的拍摄方向偏移检测方法。
另一方面，提供了一种计算机可读存储介质，所述存储介质中存储有指令，所述指令由偏移检测设备中的处理器执行，以实现上述的拍摄方向偏移检测方法。
本申请提供的技术方案可以包括以下有益效果：
在图像采集设备移动过程中，只需要获取图像采集设备在各个时间点上的水平加速度，即可以估算出图像采集设备的目标拍摄方向，并基于目标拍摄方向判断图像采集设备的实际拍摄方向是否偏移，不需要用户人工检查图像采集设备的拍摄方向，提高了检测图像采集设备的拍摄方向发生偏移的及时性和准确性。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性 的，并不能限制本申请。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本申请的实施例，并与说明书一起用于解释本申请的原理。
图1是本申请涉及的一种应用场景示意图；
图2是根据一示例性实施例示出的拍摄方向偏移检测方法的流程图；
图3是图2所示实施例涉及的一种水平加速度及移动速度方向示意图；
图4是图2所示实施例涉及的方案的一种方向夹角的示意图；
图5是图2所示实施例涉及的方案的实施流程示意图；
图6是根据一示例性实施例示出的拍摄方向偏移检测方法的流程图；
图7是根据一示例性实施例示出的拍摄方向偏移检测装置的结构方框图；
图8是根据一示例性实施例示出的设备的结构示意图。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本申请相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本申请的一些方面相一致的装置和方法的例子。
本申请各个实施例所示的方案可以应用于偏移检测设备中，该偏移检测设备对应有可移动的图像采集设备，该图像采集设备可以固定安装于载具中。具体比如，该图像采集设备可以是安装于机动车辆中的行车记录仪的图像采集组件(比如摄像头组件)，偏移检测设备可以是行车记录仪中的计算组件，或者，偏移检测设备也可以是通过有线或者无线方式与行车记录仪相连接的计算机设备(比如车载电脑或者智能手机等)。
在本申请各个实施例所示的方案中，在图像采集设备移动时，偏移检测设备可以获取该图像采集设备在预定时间段内的各个时间点上的水平加速度，根据该各个时间点上的水平加速度，确定该图像采集设备的目标拍摄方向，当方向夹角满足预设条件时，确定该图像采集设备的实际拍摄方向发生偏移。其中， 方向夹角是该目标拍摄方向与图像采集设备在预定时间段的结束时间点上的实际拍摄方向之间的夹角。
上述目标拍摄方向可以是用户预先设置的，期望图像采集设备拍摄的方向。用户在载具中安装图像采集设备时，通常将图像采集设备的目标拍摄方向设置成一个与载具的姿态相对应的固定方向，比如，可以将目标拍摄方向设置为载具的正前方向，或者，设置为相对于该载具的正前方向左偏或右偏预定角度等等。在实际应用中，载具在移动时，大部分情况下会向载具的正前方移动，而图像采集设备的目标拍摄方向又是与载具的姿态相对应的固定方向，同时，图像采集设备与载具的移动情况相一致，因此，只需要获取到图像采集设备在运动过程中各个时间点的加速度，即可以估算出载具的姿态参数(比如载具的正前方向)，结合估算出的载具的姿态参数确定图像采集设备的目标拍摄方向，再结合图像采集设备的实际拍摄方向与估算出的目标拍摄方向之间的夹角，即可以确定图像采集设备的实际拍摄方向是否发生了偏移。
比如，请参考图1，其示出了本申请涉及的一种应用场景示意图。以图像采集设备为行车记录仪110中的摄像头组件，载具为汽车120为例，一方面，汽车120的正前方相对于行车记录仪110中的摄像头组件的目标拍摄方向是固定的，比如，如图1所示，该目标拍摄方向可以是汽车120的正前方(在实际应用中，该目标拍摄方向也可以与汽车120的正前方形成一定的预设角度)；另一方面，在汽车120行驶过程中，其绝大部分时间是向正前方移动，只有很少的时间在转弯或倒车，而行车记录仪110又与汽车120固定设置，基于这一特性，汽车120的正前方向可以根据行车记录仪110的移动情况来确定，而行车记录仪110的移动情况可以通过监控行车记录仪110的加速度来获得。结合上述两个方面，在汽车120移动过程中，只需要获取行车记录仪120在一定时间段内的加速度，即可以估算出在该时间段内行车记录仪120中的摄像头组件的目标拍摄方向(即汽车120的正前方)和行车记录仪120中的摄像头组件在该时间段结束时的实际拍摄方向之间的方向夹角130，进而根据该方向夹角130判断该行车记录仪110的实际拍摄方向是否发生了偏移。
通过本申请实施例所示的方案，在图像采集设备移动过程中，偏移检测设备只需要获取图像采集设备在各个时间点上的水平加速度，即可以估算出图像采集设备的目标拍摄方向，并基于目标拍摄方向判断图像采集设备的实际拍摄方向是否发生偏移，不需要用户人工检查图像采集设备的拍摄方向，提高了检 测图像采集设备的拍摄方向发生偏移的及时性和准确性。
图2是根据一示例性实施例示出的一种拍摄方向偏移检测方法的流程图，该方法可以应用于偏移检测设备中，且该偏移检测设备对应有固定安装于载具中的图像采集设备。该拍摄方向偏移检测方法可以包括如下几个步骤：
步骤201，获取图像采集设备在预定时间段内的各个时间点上的水平加速度。
在本申请实施例所示的方案中，所述的水平加速度以及后续的移动速度(包括初始移动速度以及水平移动速度等)，均为包含数值和方向的矢量，即上述水平加速度包括加速度值以及加速度方向，移动速度包括速度数值以及移动方向。
同时，上述水平加速度以及移动速度的方向都是相对于图像采集设备的方向。其中，上述水平加速度或移动速度的方向可以是与图像采集设备的水平正前方向相对的一个方向，比如，该水平加速度或移动速度的方向可以是相对于图像采集设备的水平正前方向左偏或右偏某个角度。
具体的，请参考图3，其示出了本申请实施例涉及的一种水平加速度及移动速度方向示意图，其中，水平加速度和移动速度的方向可以是相对于图像采集设备正前方的某个角度，比如，在图3中，水平加速度的方向可以是相对于图像采集设备正前方左偏角度α，类似的，在图3中，移动速度的方向可以是相对于图像采集设备正前方右偏角度β。
可选的，本申请实施例所示的方案可以由偏移检测设备来执行，比如，偏移检测设备可以获取与图像采集设备对应设置的加速度传感器(G-Sensor)的传感器数据，根据该传感器数据来获取图像采集设备在预定时间段内的各个时间点上的水平加速度。
其中，该加速度传感器可以是设置在图像采集设备内部的传感器，或者，该加速度传感器也可以设置在图像采集设备以外，且与图像采集设备的相对位置固定，比如，当图像采集设备固定在载具中时，该加速度传感器也可以是载具内置的加速度传感器。
其中，上述预定时间段可以是图像采集设备从开始移动到停止移动过程中的全部或者部分时间段。
可选的，在实际应用中，载具沿直线或近似直线的路径移动时，其有很大 概率是向其正前方向移动时，即此时的移动方向与载具的正前方向最接近。在本申请实施例中，为了提高后续确定载具的水平正前方向的准确性，在获取图像采集设备在预定时间段内的各个时间点上的水平加速度时，可以将图像采集设备沿直线或近似直线移动时的时间段确定为上述预定时间段。
比如，以图像采集设备为行车记录仪中的图像采集组件，偏移检测设备为行车记录仪中的计算组件为例，行车记录仪中包含加速度传感器和处理器(即计算组件)，行车记录仪通电后，处理器不间断获取加速度传感器测量获得的传感器参数(加速段传感器和处理器之间可以通过行车记录仪内的总线连接)，并根据获取到的传感器参数获取行车记录仪各个时刻的加速度，通过获取到的加速度，行车记录仪中的处理器可以确定车辆的移动状态(即是否正在移动以及是否沿直线移动等等)。在需要检测行车记录仪的拍摄方向是否偏移时，行车记录仪的处理器可以根据车辆的移动状态，将行车记录仪从开始移动到停止移动过程中的某一个沿直线或近似直线移动的时间段确定为上述预定时间段，并获取该预定时间段中的各个时间点上的水平加速度。
可选的，偏移检测设备接收加速度传感器的传感器参数时，可以按照某一个时间间隔来接收，比如，偏移检测设备可以每隔0.1ms接收一次传感器参数，相应的，在获取上述预定时间段内的各个时间点上的水平加速度时，可以将在上述预定时间段内接收到传感器参数的时间点作为该预定时间段内的各个时间点，并根据在上述各个时间点上接收到的传感器参数获取各个时间点上的水平加速度。
步骤202，获取该图像采集设备的初始移动速度，该初始移动速度是该图像采集设备在该预定时间段的起始时刻在水平方向上的移动速度。
在本申请实施例中，偏移检测设备可以持续获取图像采集设备的水平加速度，并从图像采集设备的速度为0开始，结合图像采集设备的水平加速度计算每个时间点上，图像采集设备在水平方向上的移动速度。偏移检测设备在获取初始移动速度时，可以对应的时间点距离上述预定时间段的起始时刻最近的一个水平移动速度获取为该初始移动速度。
由于偏移检测设备是按照一定的时间间隔来接收传感器参数并确定水平加速度的，因此，在本申请实施例中，偏移检测设备可以默认在前后两次确定的水平加速度所对应的时间点之间，图像采集设备的水平加速度保持不变，且等于上述前后两次确定的水平加速度中的后一个水平加速度。若偏移检测设备 已知前一次确定的水平加速度对应的时间点上的水平移动速度v 1，则根据后一次确定的水平加速度a，以及前后两个时间点之间的时间间隔Δt，结合加速度与速度之间的计算公式，即可以计算出图像采集设备在后一次确定的水平加速度对应的时间点上的水平移动速度v 2。
具体的，假设偏移检测设备相邻两次接收传感器数据之间的时间间隔为0.1ms，则在时间点为0ms时，图像采集设备的水平移动速度为0，水平加速度也为0，在0.1ms时，偏移检测设备接收到传感器数据，并确定0.1ms时的水平加速度，结合0ms时的水平移动速度、0.1ms时的水平加速度以及时间间隔(即0.1ms)，计算0.1ms时的水平移动速度；在0.2ms时，偏移检测设备接收到传感器数据，并确定0.2ms时的水平加速度，结合0.1ms时的水平移动速度、0.2ms时的水平加速度以及时间间隔，计算0.2ms时的水平移动速度，以此类推，偏移检测设备每隔0.1ms计算一次水平移动速度。
步骤203，根据该图像采集设备的初始移动速度以及该预设时间段内的各个时间点上的水平加速度，计算该图像采集设备在该各个时间点上的水平移动速度。
在该步骤中，预设时间段内的各个时间点也是偏移检测设备接收到传感器参数的时间点，并且，偏移检测设备根据初始移动速度以及上述预定时间段内的各个时间点上的水平加速度计算各个时间点上的水平移动速度的方法，与上述步骤202中偏移检测设备计算每个时间点上在水平方向上的移动速度的方式一致，此处不再赘述。
步骤204，根据该图像采集设备在该各个时间点上的水平移动速度确定该载具的水平正前方向。
在本申请实施例中，由于水平移动速度为矢量，在确定载具的水平正前方向时，可以对图像采集设备在上述各个时间点上的水平移动速度进行聚合，并将聚合后的水平移动速度的方向作为该载具的水平正前方向。
具体的，偏移检测设备在对上述各个时间点上的水平移动速度进行聚合时，可以按照预定的采样频率对上述各个时间点上的水平移动速度进行采样，获得若干个采样时间点上的水平移动速度，并对该若干个采样时间点上的水平移动速度进行矢量求和，获得聚合后的水平移动速度。
由于载具在移动过程中，绝大部分时间是向正前方向移动，只有很少的时间是在转弯或者倒车，即上述若干个采样时间点上的水平移动速度中，大多数 的水平移动速度的方向与载具的水平正前方向相同或相近，同时，载具向正前方向移动时的速度值通常比转弯或倒车时的速度值大，因此，将上述若干个采样时间点上的水平移动速度进行矢量求和后，获得的聚合后的水平移动速度在绝大数情况下与载具的水平正前方向之间的差别很小，可以认为聚合后的水平移动速度的方向就是载具的水平正前方向。
需要说明的是，在本申请实施例中，步骤204可以在获取到上述预定时间段内的所有时间点上的水平加速度之后开始执行。
或者，偏移检测设备从上述预定时间段开始时刻开始，根据上述初始移动速度，每获取到一个时间点上的水平加速度，即计算该时间点上的水平移动速度，并根据计算出的水平移动速度对载具的水平正前方向进行修正，在预定时间段结束时，将最近一次修正的载具的水平正前方向锁定，并根据锁定的该载具的水平正前方向执行后续步骤。
步骤205，根据该载具的水平正前方向，以及水平正前方向与目标拍摄方向之间的预定关系，确定该图像采集设备的目标拍摄方向。
其中，该水平正前方向与目标拍摄方向之间的预定关系可以由用户预先设定。比如，该预定关系可以包含水平正前方向与目标拍摄方向之间的夹角，以该图像采集设备为行车记录仪中的图像采集组件，且偏移检测设备为行车记录仪中的计算组件为例，该行车记录仪可以提供一个预定关系设置界面，用于在该设置界面中设置行车记录仪的目标拍摄方向与载具(比如汽车)的正前方向之间的夹角，比如，用户可以设置该目标拍摄方向为载具的水平正前方向(此时上述预定关系中的夹角为0)，或者，用户也可以设置该目标拍摄方向与载具的水平正前方向之间存在某个角度，比如，相对于载具的水平正前方向左偏或右偏5度(此时，上述预定关系中的夹角为左偏或右偏5度)等。
步骤206，检测方向夹角是否满足预设条件；该方向夹角是目标拍摄方向与图像采集设备在预定时间段的结束时间点上的实际拍摄方向之间的夹角。
其中，该预设条件包括以下条件中的至少一种：该方向夹角大于第一预设角度阈值；该方向夹角在水平面上的分量大于第二预设角度阈值；该方向夹角在垂直面上的分量大于第三预设角度阈值。
其中，上述第一预设角度阈值、第二预设角度阈值以及第三预设角度阈值可以是图像采集设备出厂时预设的角度指，或者，也可以是由用户自主设置的角度值。
具体的，请参考图4，其示出了本申请实施例涉及的一种方向夹角的示意图。在图4所示的空间坐标系中，原点为O点，y轴为目标拍摄方向，yOz平面为水平面，x轴与水平面垂直，空间矢量401所对应的方向为图像采集设备的实际拍摄方向，空间矢量401与y轴之间的夹角402即为目标拍摄方向与该图像采集设备的实际拍摄方向之间的方向夹角，从空间矢量401的顶点A作一条yOz平面的垂线，该垂线经过yOz平面中的B点，则y轴与OB两点连线之间的夹角403即为夹角402在水平面上的分量，空间矢量401与OB两点连线之间的夹角404即为夹角402在垂直面上的分量。
在实际应用中，偏移检测设备可以检测实际拍摄方向相对于目标拍摄方向在三维空间中的偏移角度是否满足预设条件，比如，以图4为例，偏移检测设备可以检测上述夹角402的角度值是否大于第一预设角度阈值，若是，则确定目标拍摄方向与实际拍摄方向之间的方向夹角是否预设条件。
或者，偏移检测设备也可以检测实际拍摄方向相对于目标拍摄方向在水平方向上的偏移角度是否满足预设条件，比如，以图4为例，偏移检测设备可以检测上述夹角403的角度值是否大于第二预设角度阈值，若是，则确定目标拍摄方向与实际拍摄方向之间的方向夹角满足预设条件。
或者，偏移检测设备也可以检测实际拍摄方向相对于目标拍摄方向在垂直方向上的偏移角度是否满足预设条件，比如，以图4为例，偏移检测设备可以检测上述夹角404的角度值是否大于第三预设角度阈值，若是，则确定目标拍摄方向与实际拍摄方向之间的方向夹角满足预设条件。
或者，偏移检测设备也可以结合实际拍摄方向相对于目标拍摄方向在三维空间内的偏移角度、水平方向上的偏移角度或者垂直方向上的偏移角度中的任意两种或三种偏移角度来判断是否满足预设条件，即当上述任意两种或三种偏移角度都大于对应的预设角度阈值时，确定目标拍摄方向与实际拍摄方向之间的方向夹角满足预设条件。
步骤207，若该方向夹角满足该预设条件，则确定所述图像采集设备的实际拍摄方向发生偏移。
当偏移检测设备检测出上述目标拍摄方向与实际拍摄方向之间的方向夹角过大时，可以认为图像采集设备的实际拍摄方向发生了较大幅度的偏移，可能会影响到图像采集效果，此时，可以执行后续步骤208或者步骤209。
步骤208，向终端发送提示消息，该提示消息用于提示该图像采集设备的 实际拍摄方向发生偏移。
具体的，当图像采集设备自身不具备拍摄方向调整的能力时，偏移检测设备可以向用户的终端发送提示消息，比如，可以向终端中安装的即时通讯应用发送即时通讯消息或者通知消息，以提示图像采集设备的实际拍摄方向相对于目标拍摄方向发生了偏移，以便用户及时对该图像采集设备的实际拍摄方向进行人工矫正。可选的，该提示消息中还可以包含上述目标拍摄方向与实际拍摄方向之间的方向夹角，进一步的，该提示消息中还可以包含建议调整的方向和角度等等。
步骤209，根据该方向夹角对该图像采集设备的实际拍摄方向进行矫正。
在另一种可能的实现方式中，若图像采集设备自身具备拍摄方向调整的能力，则偏移检测设备可以根据上述方向夹角，自行调整图像采集设备的实际拍摄方向，以将图像采集设备的实际拍摄方向调整至目标拍摄方向。
比如，若图像采集设备中包含用于调整图像采集设备姿态的伺服电机，则偏移检测设备可以根据上述方向夹角控制伺服电机运行来调整图像采集设备的设备姿态，使得图像采集设备的实际拍摄方向与目标拍摄方向接近或保持一致。
具体的，以上述图像采集设备为行车记录仪中的图像采集组件，载具为汽车为例，请参考图5，其示出了本申请实施例涉及的一种实施流程示意图。结合图5，用户在汽车上安装行车记录仪时，可以在行车记录仪提供的设置界面中设置目标拍摄方向与汽车的正前方向之间的预定关系(比如，将目标拍摄方向设置为汽车的正前方向)，或者，用户也可以将该行车记录仪与手机进行绑定，并通过手机屏幕中展示的设置界面设置目标拍摄方向与正前方向之间的预定关系，在设置完成后，行车记录仪保存该预定关系。行车记录仪通电运行后，可以不间断的获取行车记录仪中的加速度传感器采集到的传感器数据，根据传感器数据获取行车记录仪的水平加速度，并通过获取到的水平加速度确定自身的移动状态。当行车记录仪移动时，可以获取移动过程中的某一个预定时间段内的各个时间点上的水平加速度以及预定时间段的初始时刻的初始移动速度，通过该预定时间段内的各个时间点上的水平加速度，以及该预定时间段的初始时刻的初始移动速度，计算该预定时间段内的各个时间点上的水平移动速度，并基于该预定时间段内的各个时间点上的水平移动速度估算汽车的正前方向。结合上述保存的预定关系确定行车记录仪的目标拍摄方向，通过确定的目标拍 摄方向与行车记录仪的实际拍摄方向之间的方向夹角判断行车记录仪的实际拍摄方向是否发生了偏移，若是，则向用户的手机发送提示消息，以提示用户及时进行修正；或者，行车记录仪可以控制内置的伺服电机自动矫正拍摄方向。
综上所述，本申请实施例所示的方法，图像采集设备与载具固定设置时，图像采集设备在移动过程中，偏移检测设备可以获取该图像采集设备在预定时间段内的各个时间点上的水平加速度方向，并按照水平加速度方向以及该预定时间段的初始时刻的水平移动速度计算预定时间段内的各个时间点上的水平移动速度，进而估算该载具的水平正前方向，并根据估算出的水平正前方向确定图像采集设备的目标拍摄方向，再根据图像采集设备的目标拍摄方向检测图像采集设备的实际拍摄方向是否发生偏移，不需要用户人工检查图像采集设备的拍摄方向，提高了检测图像采集设备的拍摄方向发生偏移的及时性和准确性。
此外，在确定图像采集设备的实际拍摄方向是否发生偏移后，可以向用户终端发出提示消息，以提醒用户及时调整拍摄方向，或者直接对图像采集设备的拍摄方向进行调整，提高了图像采集设备的图像采集效果。
在实际应用中，载具在向正前方向或近似正前方向移动时，其移动速度通常较快，而向其它方向移动时，其移动速度通常较慢，基于这一特性，本申请所示的方案，还可以在根据该图像采集设备在该各个时间点上的水平移动速度确定该载具的水平正前方向时，通过图像采集设备的在上述各个时间点上的水平移动速度的速度值对载具的水平正前方向的确定过程进行优化，以提高确定的载具的水平正前方向的准确性。具体的，请参考下述图6所示的实施例。
图6是根据一示例性实施例示出的一种拍摄方向偏移检测方法的流程图，该方法可以应用于偏移检测设备中，该偏移检测设备对应有固定安装于载具中的图像采集设备。该拍摄方向偏移检测方法可以包括如下几个步骤：
步骤601，获取图像采集设备在预定时间段内的各个时间点上的水平加速度。
步骤602，获取该图像采集设备的初始移动速度，该初始移动速度是该图像采集设备在该预定时间段的起始时刻在水平方向上的移动速度。
步骤603，根据该图像采集设备的初始移动速度以及该各个时间点上的水平加速度，计算该图像采集设备在预定时间段内的各个时间点上的水平移动速 度。
上述步骤601至步骤603所示的步骤的具体实现过程可以参考上述图2所示实施例中的步骤601至步骤603下的描述，此处不再赘述。
在计算出图像采集设备在该各个时间点上的水平移动速度后，偏移检测设备即可以根据各个时间点上的水平移动速度的速度值，对上述各个时间点上的水平移动速度进行聚合，其具体的聚合过程可以参考下述步骤604和步骤605，或者，参考步骤606和步骤607。
步骤604，根据图像采集设备在各个时间点上的水平移动速度的速度值，对图像采集设备在各个时间点上的水平移动速度分别设置权重。
在本申请实施例中，可以通过对不同速度值对应的水平移动速度设置权重的方式来弱化载具在转弯或者倒车时的水平移动速度对估算出的载具的水平正前方向的影响，同时强化载具在向正前方向移动时的水平移动速度对估算出的载具的水平正前方向的影响，以此来提高估算出的载具的水平正前方向的准确性。具体的，可以对速度值较高的水平移动速度设置较高的权重，相应的，对速度值较高的水平移动速度设置较低的权重。其中，权重与速度值可以成正相关，比如，请参考表1，其示出了一种权重与水平移动速度的速度值之间的对应关系。
水平速度的速度值v(km/h) 权重
0＜v＜20 0.1
20≤v≤40 1
V＞40 10
表1
如表1所示，对于上述预定时间段内的各个时间点上的水平移动速度，偏移检测设备可以将速度值处于0～20之间的水平移动速度的权重设置为0.1，将速度值处于20～40之间的水平移动速度的权重设置为1，并将速度值大于40的水平移动速度的权重设置为10。
步骤605，根据图像采集设备在各个时间点上的水平移动速度的权重，对图像采集设备在预定时间段内的各个时间点上的水平移动速度进行聚合，获得聚合后的水平移动速度。
在实际应用中，偏移检测设备可以将各个时间点上的水平移动速度与其对应的权重相乘，并将乘以各自对应的权重后的各个水平移动速度进行矢量加 和，获得聚合后的水平移动速度。
可选的，为了简化计算复杂度，在实际应用中，偏移检测设备可以按照预定的采样频率对上述各个时间点上的水平移动速度进行采样，获得若干个采样时间点上的水平移动速度，并将该若干个采样时间点上的水平移动速度分别乘上对应的权重后进行矢量求和，获得聚合后的水平移动速度。
其中，上述步骤604和步骤605是通过对载具转弯或倒车时的水平移动速度进行弱化，并对载具向正前方向移动时的水平移动速度进行增强的方式来提高对载具的水平正前方向的估算准确度；而在另一种可能的实现方式中，还可以从上述各个时间点对应的水平移动速度中，筛选出载具可能向正前方向移动时的水平移动速度，并根据筛选出的水平移动速度来估算载具的水平正前方向，具体请参考下述步骤606和步骤607。
步骤606，确定上述各个时间点中的有效时间点，该有效时间点是对应的水平移动速度的速度值大于预设速度阈值的时间点。
由于载具在速度值较高时，其移动方向通常是载具的正前方向，因此，在本申请实施例中，可以将上述各个时间点中，对应的水平移动速度的速度值大于某个预设速度阈值(比如40km/h)的时间点提取为有效时间点。
步骤607，对有效时间点上的水平移动速度进行聚合，获得聚合后的水平移动速度。
偏移检测设备可以对有效时间点上的各个水平移动速度进行矢量加和，获得聚合后的水平移动速度。
可选的，在该步骤中，为了简化计算复杂度，偏移检测设备也可以按照预定的采样频率对上述各个时间点上的水平移动速度进行采样，获得若干个采样时间点上的水平移动速度，并将若干个采样点中，对应的水平移动速度的速度值大于预设速度阈值的时间点确定为有效采样时间点，并对确定出有效采样时间上的水平移动速度进行矢量求和，获得聚合后的水平移动速度。
步骤608，将该聚合后的水平移动速度的方向确定为载具的水平正前方向。
经过上述步骤605或步骤607的聚合后，获得的聚合后的水平移动速度在绝大数情况下与载具的水平正前方向之间的差别很小，可以认为聚合后的水平移动速度的方向就是载具的水平正前方向。
步骤609，根据该载具的水平正前方向，以及水平正前方向与目标拍摄方向之间的预定关系，确定该图像采集设备的目标拍摄方向。
步骤610，检测方向夹角是否满足预设条件；该方向夹角是目标拍摄方向与图像采集设备在预定时间段的结束时间点上的实际拍摄方向之间的夹角。
其中，该预设条件包括以下条件中的至少一种：该方向夹角大于第一预设角度阈值；该方向夹角在水平面上的分量大于第二预设角度阈值；该方向夹角在垂直面上的分量大于第三预设角度阈值。
步骤611，若该方向夹角满足该预设条件，则确定所述图像采集设备的实际拍摄方向发生偏移。
步骤612，向终端发送提示消息，该提示消息用于提示该图像采集设备的实际拍摄方向发生偏移。
其中，上述步骤609至步骤612所示的步骤的具体实现过程可以参考上述图2所示实施例中的步骤605至步骤608下的描述，此处不再赘述。
步骤613，根据该方向夹角对该图像采集设备的实际拍摄方向进行矫正。
其中，上述步骤613所示的步骤的具体实现过程可以参考上述图2所示实施例中的步骤609下的描述，此处不再赘述。
可选的，在实际应用中，可能存在用户设置目标拍摄方向后，主动调整图像采集设备的实际拍摄方向，却并未通过设置界面修改目标拍摄方向的情况，此时，即便提示图像采集设备的实际拍摄方向发生了偏移，用户也可能不会再去调整图像采集设备的实际拍摄方向。在本申请实施例中，当偏移检测设备确定出实际拍摄方向发生偏移后，用户可以重设上述水平正前方向与目标拍摄方向之间的预定关系，使得重设预定关系之后，图像采集设备的实际拍摄方向与根据重设的预定关系确定出新的目标拍摄方向相一致。
其中，上述重设预定关系可以是对预定关系中包含的水平正前方向与目标拍摄方向之间的方向夹角进行重设。比如，用户在人工调整图像采集设备的实际拍摄方向之后，在载具行驶一段时间后，可以通过用户终端或者偏移检测设备提供的设置页面发出重设预定关系的指令，偏移检测设备接收到该重设预定关系的指令后，即可以将预定关系中包含的水平正前方向与目标拍摄方向之间的方向夹角，更新为上述步骤608中计算出的载具的水平正前方向与图像采集设备的实际拍摄方向之间的方向夹角，在后续的检测过程中，若图像采集设备的实际拍摄方向不发生大的变化，则根据重设的预定关系确定的目标拍摄方向将会与图像采集设备的实际拍摄方向保持一致。
或者，在另一种实现场景中，当用户终端接收到提示消息时，若用户不需 要对图像采集设备的实际拍摄角度进行调整，又不想频繁接收到提示消息，则可以通过用户终端或者偏移检测设备提供的设置页面发出上述重设预定关系的指令。
具体的，以上述图像采集设备为行车记录仪中的图像采集组件，载具为汽车为例，用户在汽车上安装行车记录仪时，可以设置预定关系(即目标拍摄方向与水平正前方向之间的夹角)，在设置完成后，行车记录仪保存该预定关系。当行车记录仪移动时，可以获取移动过程中的某一个预定时间段内的各个时间点上的水平加速度，通过该预定时间段内的各个时间点上的水平加速度，以及该预定时间段的初始时刻的水平移动速度，计算该预定时间段内的各个时间点上的水平移动速度，并基于该预定时间段内的各个时间点上的水平移动速度估算汽车的正前方向。结合上述保存的预定关系确定行车记录仪的目标拍摄方向，通过确定的目标拍摄方向与行车记录仪的实际拍摄方向之间的方向夹角判断行车记录仪的实际拍摄方向是否发生了偏移，若是，则向用户的手机发送提示消息，以提示用户及时进行修正，如果行车记录仪接收到用户通过手机发送的，重设预定关系的指令，则行车记录仪将行车记录仪的实际拍摄方向与估算出的汽车的正前方向之间方向夹角设置为新的预定关系。
综上所述，本申请实施例所示的方法，图像采集设备与载具固定设置时，图像采集设备在移动过程中，偏移检测设备可以获取该图像采集设备在预定时间段内的各个时间点上的水平加速度方向，并按照水平加速度方向以及该预定时间段的初始时刻的水平移动速度计算预定时间段内的各个时间点上的水平移动速度，进而估算该载具的水平正前方向，并根据估算出的水平正前方向确定图像采集设备的目标拍摄方向，再根据图像采集设备的目标拍摄方向检测图像采集设备的实际拍摄方向是否发生偏移，不需要用户人工检查图像采集设备的拍摄方向，提高了检测图像采集设备的拍摄方向发生偏移的及时性和准确性。
此外，在确定图像采集设备的实际拍摄方向是否发生偏移后，可以向用户的终端发出提示消息，以提醒用户及时调整拍摄方向，或者直接对图像采集设备的拍摄方向进行调整，提高了图像采集设备的图像采集效果。
另外，本申请实施例所示的方法，在根据该图像采集设备在该各个时间点上的水平移动速度确定该载具的水平正前方向时，通过图像采集设备的在上述各个时间点上的水平移动速度的速度值对载具的水平正前方向的确定过程进 行优化，提高了确定的载具的水平正前方向的准确性。
另外，本申请实施例所示的方法，在向用户发出提示消息后，若用户不对图像采集终端的实际拍摄方向进行调整，而是发出重设预定的指令，则偏移检测设备根据其实际拍摄方向与估算出的载具的正前方向之间的方向夹角更新预定关系，避免用户不对图像采集终端的实际拍摄方向进行调整时频繁发出提醒，减少对用户的困扰，同时简化了用户重新设置预定关系的操作步骤。
图7是根据一示例性实施例示出的一种拍摄方向偏移检测装置的结构方框图。该拍摄方向偏移检测装置可以用于设置在载具中的图像检测设备中，以执行图2或图6所示实施例中的全部或者部分步骤。该拍摄方向偏移检测装置可以包括：
加速度获取模块701，用于获取图像采集设备在预定时间段内的各个时间点上的水平加速度；
方向确定模块702，用于根据所述各个时间点上的水平加速度，确定所述图像采集设备的目标拍摄方向；
偏移确定模块703，用于当方向夹角满足预设条件时，确定所述图像采集设备的实际拍摄方向发生偏移；所述方向夹角是所述目标拍摄方向与所述图像采集设备在所述预定时间段的结束时间点上的实际拍摄方向之间的夹角。
可选的，所述预设条件包括以下条件中的至少一种：
所述方向夹角大于第一预设角度阈值；
所述方向夹角在水平面上的分量大于第二预设角度阈值；
所述方向夹角在垂直面上的分量大于第三预设角度阈值。
可选的，所述图像采集设备固定设置于载具中，所述方向确定模块，包括：
速度获取单元，用于获取所述图像采集设备的初始移动速度，所述初始移动速度是所述图像采集设备在所述预定时间段的起始时刻在水平方向上的移动速度；
速度计算单元，用于根据所述图像采集设备的初始移动速度以及所述各个时间点上的水平加速度，计算所述图像采集设备在所述各个时间点上的水平移动速度；
第一方向确定单元，用于根据所述图像采集设备在所述各个时间点上的水平移动速度确定所述载具的水平正前方向；
第二方向确定单元，用于根据所述载具的水平正前方向，以及所述载具的水平正前方向与所述目标拍摄方向之间的预定关系，确定所述目标拍摄方向。
可选的，所述第一方向确定单元，包括：
权重设置子单元，用于根据所述图像采集设备在所述各个时间点上的水平移动速度的速度值，对所述图像采集设备在所述各个时间点上的水平移动速度分别设置权重，所述权重与所述速度值成正相关；
第一聚合子单元，用于根据所述图像采集设备在所述各个时间点上的水平移动速度的权重，对所述图像采集设备在所述各个时间点上的水平移动速度进行聚合，获得聚合后的水平移动速度；
第一确定子单元，用于将所述聚合后的水平移动速度的方向确定为所述载具的水平正前方向。
可选的，所述第一方向确定单元，包括：
第二确定子单元，用于确定所述各个时间点中的有效时间点，所述有效时间点是对应的水平移动速度的速度值大于预设速度阈值的时间点；
第二聚合子单元，用于对所述有效时间点上的水平移动速度进行聚合，获得聚合后的水平移动速度；
第三确定子单元，用于将所述聚合后的水平移动速度的方向确定为所述载具的水平正前方向。
可选的，所述预定关系包含水平正前方向与目标拍摄方向之间的夹角，所述装置还包括：
关系更新模块，用于在接收到重设所述预定关系的指令时，将所述预定关系中包含的水平正前方向与目标拍摄方向之间的夹角，更新为所述方向夹角。
可选的，所述装置还包括：
消息发送模块，用于在确定所述图像采集设备的实际拍摄方向发生偏移之后，向终端发送提示消息，所述提示消息用于提示对所述图像采集设备的实际拍摄方向发生偏移。
可选的，所述装置还包括：
矫正模块，用于在确定所述图像采集设备的实际拍摄方向发生偏移之后，根据所述方向夹角对所述图像采集设备的实际拍摄方向进行矫正。
可选的，所述偏移检测设备为行车记录仪，所述图像采集设备为所述行车记录仪中的图像采集组件。
图8是根据一示例性实施例示出的一种设备800的结构示意图。本申请实施例中的设备800可以包括一个或多个如下组成部分：用于执行计算机程序指令以完成各种流程和方法的处理器，用于信息和存储程序指令随机接入存储器(RAM)和只读存储器(ROM)，用于存储数据和信息的存储器，I/O设备，界面，天线等。具体来讲：
设备800可以包括RF(Radio Frequency，射频)电路810、存储器820、输入单元830、显示单元840、传感器850、音频电路860、WiFi(wireless fidelity，无线保真)模块870、处理器880、电源882、摄像头890等部件。本领域技术人员可以理解，图8中示出的设备结构并不构成对设备的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件布置。
下面结合图8对设备800的各个构成部件进行具体的介绍：
RF电路810可用于收发信息或通话过程中，信号的接收和发送，特别地，将基站的下行信息接收后，给处理器880处理；另外，将设计上行的数据发送给基站。通常，RF电路包括但不限于天线、至少一个放大器、收发信机、耦合器、LNA(Low Noise Amplifier，低噪声放大器)、双工器等。此外，RF电路810还可以通过无线通信与网络和其他设备通信。所述无线通信可以使用任一通信标准或协议，包括但不限于GSM(Global System of Mobile communication，全球移动通讯系统)、GPRS(General Packet Radio Service，通用分组无线服务)、CDMA(Code Division Multiple Access，码分多址)、WCDMA(Wideband Code Division Multiple Access,宽带码分多址)、LTE(Long Term Evolution,长期演进)、电子邮件、SMS(Short Messaging Service，短消息服务)等。
存储器820可用于存储软件程序以及模块，处理器880通过运行存储在存储器820的软件程序以及模块，从而执行设备800的各种功能应用以及数据处理。存储器820可主要包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需的应用程序(比如声音播放功能、图像播放功能等)等；存储数据区可存储根据设备800的使用所创建的数据(比如音频数据、电话本等)等。此外，存储器820可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他易失性固态存储器件。
输入单元830可用于接收输入的数字或字符信息，以及产生与设备800的用户设置以及功能控制有关的键信号输入。具体地，输入单元830可包括触控面板831以及其他输入设备832。触控面板831，也称为触摸屏，可收集用户在其上或附近的触摸操作(比如用户使用手指、触笔等任何适合的物体或附件在触控面板831上或在触控面板831附近的操作)，并根据预先设定的程式驱动相应的连接装置。可选的，触控面板831可包括触摸检测装置和触摸控制器两个部分。其中，触摸检测装置检测用户的触摸方位，并检测触摸操作带来的信号，将信号传送给触摸控制器；触摸控制器从触摸检测装置上接收触摸信息，并将它转换成触点坐标，再送给处理器880，并能接收处理器880发来的命令并加以执行。此外，可以采用电阻式、电容式、红外线以及表面声波等多种类型实现触控面板831。除了触控面板831，输入单元830还可以包括其他输入设备832。具体地，其他输入设备832可以包括但不限于物理键盘、功能键(比如音量控制按键、开关按键等)、轨迹球、鼠标、操作杆等中的一种或多种。
显示单元840可用于显示由用户输入的信息或提供给用户的信息以及设备800的各种菜单。显示单元840可包括显示面板841，可选的，可以采用LCD(Liquid Crystal Display，液晶显示器)、OLED(Organic Light-Emitting Diode,有机发光二极管)等形式来配置显示面板841。进一步的，触控面板831可覆盖显示面板841，当触控面板831检测到在其上或附近的触摸操作后，传送给处理器880以确定触摸事件的类型，随后处理器880根据触摸事件的类型在显示面板841上提供相应的视觉输出。虽然在图8中，触控面板831与显示面板841是作为两个独立的部件来实现设备800的输入和输入功能，但是在某些实施例中，可以将触控面板831与显示面板841集成而实现设备800的输入和输出功能。
设备800还可包括至少一种传感器850，比如陀螺仪传感器、磁感应传感器、光传感器、运动传感器以及其他传感器。具体地，光传感器可包括环境光传感器及接近传感器，其中，环境光传感器可根据环境光线的明暗来调节显示面板841的亮度，接近传感器可在设备800移动到耳边时，关闭显示面板841和/或背光。作为运动传感器的一种，加速度传感器可检测各个方向上(一般为三轴)加速度的大小，静止时可检测出重力的大小及方向，可用于识别设备姿态的应用(比如横竖屏切换、相关游戏、磁力计姿态校准)、振动识别相关功能(比如计步器、敲击)等；至于设备800还可配置的气压计、湿度计、温度 计、红外线传感器等其他传感器，在此不再赘述。
音频电路860、扬声器881，传声器862可提供用户与设备800之间的音频接口。音频电路860可将接收到的音频数据转换后的电信号，传输到扬声器861，由扬声器861转换为声音信号输出；另一方面，传声器862将收集的声音信号转换为电信号，由音频电路860接收后转换为音频数据，再将音频数据输出处理器880处理后，经RF电路810以发送给比如另一设备，或者将音频数据输出至存储器820以便进一步处理。
WiFi属于短距离无线传输技术，设备800通过WiFi模块870可以帮助用户收发电子邮件、浏览网页和访问流式媒体等，它为用户提供了无线的宽带互联网访问。虽然图8示出了WiFi模块870，但是可以理解的是，其并不属于设备800的必须构成，完全可以根据需要在不改变公开的本质的范围内而省略。
处理器880是设备800的控制中心，利用各种接口和线路连接整个设备的各个部分，通过运行或执行存储在存储器820内的软件程序和/或模块，以及调用存储在存储器820内的数据，执行设备800的各种功能和处理数据，从而对设备进行整体监控。可选的，处理器880可包括一个或多个处理单元；优选的，处理器880可集成应用处理器和调制解调处理器，其中，应用处理器主要处理操作系统、用户界面和应用程序等，调制解调处理器主要处理无线通信。可以理解的是，上述调制解调处理器也可以不集成到处理器880中。
设备800还包括给各个部件供电的电源882(比如电池)，优选的，电源可以通过电源管理系统与处理器880逻辑相连，从而通过电源管理系统实现管理充电、放电、以及功耗管理等功能。
摄像头890一般由镜头、图像传感器、接口、数字信号处理器、CPU、显示屏幕等组成。其中，镜头固定在图像传感器的上方，可以通过手动调节镜头来改变聚焦；图像传感器相当于传统相机的“胶卷”，是摄像头采集图像的心脏；接口用于把摄像头利用排线、板对板连接器、弹簧式连接方式与设备主板连接，将采集的图像发送给所述存储器820；数字信号处理器通过数学运算对采集的图像进行处理，将采集的模拟图像转换为数字图像并通过接口发送给存储器820。
尽管未示出，设备800还可以包括蓝牙模块等，在此不再赘述。
设备800除了包括一个或者多个处理器880，还包括有存储器，以及一个或者多个模块，其中一个或者多个模块存储于存储器中，并被配置成由一个或 者多个处理器执行，以实现上述图2或图6所示方法的全部或者部分步骤。
在示例性实施例中，还提供了一种包括指令的非临时性计算机可读存储介质，例如包括指令的存储器，上述指令可由偏移检测设备的处理器执行以完成本申请各个实施例所示的拍摄方向偏移检测方法。例如，所述非临时性计算机可读存储介质可以是ROM、随机存取存储器(RAM)、CD-ROM、磁带、软盘和光数据存储设备等。
本领域技术人员在考虑说明书及实践这里公开的申请后，将容易想到本申请的其它实施方案。本申请旨在涵盖本申请的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本申请的一般性原理并包括本申请未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本申请的真正范围和精神由下面的权利要求指出。
应当理解的是，本申请并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本申请的范围仅由所附的权利要求来限制。

Claims (20)

  1. 一种拍摄方向偏移检测方法，其特征在于，所述方法包括：
    偏移检测设备获取图像采集设备在预定时间段内的各个时间点上的水平加速度；
    所述偏移检测设备根据所述各个时间点上的水平加速度，确定所述图像采集设备的目标拍摄方向；
    当方向夹角满足预设条件时，所述偏移检测设备确定所述图像采集设备的实际拍摄方向发生偏移；所述方向夹角是所述目标拍摄方向与所述图像采集设备在所述预定时间段的结束时间点上的实际拍摄方向之间的夹角。
  2. 根据权利要求1所述的方法，其特征在于，所述图像采集设备固定设置于载具中，所述偏移检测设备根据所述各个时间点上的水平加速度，确定所述图像采集设备的目标拍摄方向，包括：
    所述偏移检测设备获取所述图像采集设备的初始移动速度，所述初始移动速度是所述图像采集设备在所述预定时间段的起始时刻在水平方向上的移动速度；
    所述偏移检测设备根据所述图像采集设备的初始移动速度以及所述各个时间点上的水平加速度，计算所述图像采集设备在所述各个时间点上的水平移动速度；
    所述偏移检测设备根据所述图像采集设备在所述各个时间点上的水平移动速度确定所述载具的水平正前方向；
    所述偏移检测设备根据所述载具的水平正前方向，以及水平正前方向与目标拍摄方向之间的预定关系，确定所述图像采集设备的目标拍摄方向。
  3. 根据权利要求2所述的方法，其特征在于，所述偏移检测设备根据所述图像采集设备在所述各个时间点上的水平移动速度确定所述载具的水平正前方向，包括：
    所述偏移检测设备根据所述图像采集设备在所述各个时间点上的水平移动速度的速度值，对所述图像采集设备在所述各个时间点上的水平移动速度分别设置权重，所述权重与所述速度值成正相关；
    所述偏移检测设备根据所述图像采集设备在所述各个时间点上的水平移动速度的权重，对所述图像采集设备在所述各个时间点上的水平移动速度进行聚合，获得聚合后的水平移动速度；
    所述偏移检测设备将所述聚合后的水平移动速度的方向确定为所述载具的水平正前方向。
  4. 根据权利要求2所述的方法，其特征在于，所述偏移检测设备根据所述图像采集设备在所述各个时间点上的水平移动速度确定所述载具的水平正前方向，包括：
    所述偏移检测设备确定所述各个时间点中的有效时间点，所述有效时间点是对应的水平移动速度的速度值大于预设速度阈值的时间点；
    所述偏移检测设备对所述有效时间点上的水平移动速度进行聚合，获得聚合后的水平移动速度；
    所述偏移检测设备将所述聚合后的水平移动速度的方向确定为所述载具的水平正前方向。
  5. 根据权利要求2所述的方法，其特征在于，所述预定关系包含水平正前方向与目标拍摄方向之间的夹角，所述方法还包括：
    在接收到重设所述预定关系的指令时，所述偏移检测设备将所述预定关系中包含的水平正前方向与目标拍摄方向之间的夹角，更新为所述方向夹角。
  6. 根据权利要求1至4任一所述的方法，其特征在于，所述偏移检测设备在确定所述图像采集设备的实际拍摄方向发生偏移之后，所述方法还包括：
    所述偏移检测设备向用户终端发送提示消息，所述提示消息用于提示所述图像采集设备的实际拍摄方向发生偏移。
  7. 根据权利要求1至4任一所述的方法，其特征在于，所述偏移检测设备在确定所述图像采集设备的实际拍摄方向发生偏移之后，所述方法还包括：
    所述偏移检测设备根据所述方向夹角对所述图像采集设备的实际拍摄方向进行矫正。
  8. 根据权利要求1至5任一所述的方法，其特征在于，所述预设条件包括以下条件中的至少一种：
    所述方向夹角大于第一预设角度阈值；
    所述方向夹角在水平面上的分量大于第二预设角度阈值；
    所述方向夹角在垂直面上的分量大于第三预设角度阈值。
  9. 根据权利要求1至5任一所述的方法，其特征在于，所述偏移检测设备为行车记录仪，所述图像采集设备为所述行车记录仪中的图像采集组件。
  10. 一种拍摄方向偏移检测装置，其特征在于，所述装置包括：
    加速度获取模块，用于获取图像采集设备在预定时间段内的各个时间点上的水平加速度；
    方向确定模块，用于根据所述各个时间点上的水平加速度，确定所述图像采集设备的目标拍摄方向；
    偏移确定模块，用于当方向夹角满足预设条件时，确定所述图像采集设备的实际拍摄方向发生偏移；所述方向夹角是所述目标拍摄方向与所述图像采集设备在所述预定时间段的结束时间点上的实际拍摄方向之间的夹角。
  11. 根据权利要求10所述的装置，其特征在于，所述图像采集设备固定设置于载具中，所述方向确定模块，包括：
    速度获取单元，用于获取所述图像采集设备的初始移动速度，所述初始移动速度是所述图像采集设备在所述预定时间段的起始时刻在水平方向上的移动速度；
    速度计算单元，用于根据所述图像采集设备的初始移动速度以及所述各个时间点上的水平加速度，计算所述图像采集设备在所述各个时间点上的水平移动速度；
    第一方向确定单元，用于根据所述图像采集设备在所述各个时间点上的水平移动速度确定所述载具的水平正前方向；
    第二方向确定单元，用于根据所述载具的水平正前方向，以及水平正前方向与目标拍摄方向之间的预定关系，确定所述图像采集设备的目标拍摄方向。
  12. 根据权利要求11所述的装置，其特征在于，所述第一方向确定单元，包括：
    权重设置子单元，用于根据所述图像采集设备在所述各个时间点上的水平移动速度的速度值，对所述图像采集设备在所述各个时间点上的水平移动速度分别设置权重，所述权重与所述速度值成正相关；
    第一聚合子单元，用于根据所述图像采集设备在所述各个时间点上的水平移动速度的权重，对所述图像采集设备在所述各个时间点上的水平移动速度进行聚合，获得聚合后的水平移动速度；
    第一确定子单元，用于将所述聚合后的水平移动速度的方向确定为所述载具的水平正前方向。
  13. 根据权利要求11所述的装置，其特征在于，所述第一方向确定单元，包括：
    第二确定子单元，用于确定所述各个时间点中的有效时间点，所述有效时间点是对应的水平移动速度的速度值大于预设速度阈值的时间点；
    第二聚合子单元，用于对所述有效时间点上的水平移动速度进行聚合，获得聚合后的水平移动速度；
    第三确定子单元，用于将所述聚合后的水平移动速度的方向确定为所述载具的水平正前方向。
  14. 根据权利要求11所述的装置，其特征在于，所述预定关系包含水平正前方向与目标拍摄方向之间的夹角，所述装置还包括：
    关系更新模块，用于在接收到重设所述预定关系的指令时，将所述预定关系中包含的水平正前方向与目标拍摄方向之间的夹角，更新为所述方向夹角。
  15. 根据权利要求10至13任一所述的装置，其特征在于，所述装置还包括：
    消息发送模块，用于在确定所述图像采集设备的实际拍摄方向发生偏移之后，向用户终端发送提示消息，所述提示消息用于提示所述图像采集设备的实际拍摄方向发生偏移。
  16. 根据权利要求10至13任一所述的装置，其特征在于，所述装置还包括：
    矫正模块，用于在确定所述图像采集设备的实际拍摄方向发生偏移之后，根据所述方向夹角对所述图像采集设备的实际拍摄方向进行矫正。
  17. 根据权利要求10至14任一所述的装置，其特征在于，所述预设条件包括以下条件中的至少一种：
    所述方向夹角大于第一预设角度阈值；
    所述方向夹角在水平面上的分量大于第二预设角度阈值；
    所述方向夹角在垂直面上的分量大于第三预设角度阈值。
  18. 根据权利要求10至14任一所述的装置，其特征在于，所述偏移检测设备为行车记录仪，所述图像采集设备为所述行车记录仪中的图像采集组件。
  19. 一种偏移检测设备，其特征在于，所述偏移检测设备包含处理器和存储器，所述存储器中存储有指令，所述指令由所述处理器执行以实现如权利要求1至9任一所述的拍摄方向偏移检测方法。
  20. 一种计算机可读存储介质，其特征在于，所述存储介质中存储有指令，所述指令由偏移检测设备的处理器执行，以实现如权利要求1至9任一所述的拍摄方向偏移检测方法。
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