CN106598081B - A kind of image-pickup method and electronic equipment - Google Patents
A kind of image-pickup method and electronic equipment Download PDFInfo
- Publication number
- CN106598081B CN106598081B CN201611033189.XA CN201611033189A CN106598081B CN 106598081 B CN106598081 B CN 106598081B CN 201611033189 A CN201611033189 A CN 201611033189A CN 106598081 B CN106598081 B CN 106598081B
- Authority
- CN
- China
- Prior art keywords
- holder
- control
- electronic equipment
- parameter
- driving device
- Prior art date
- Legal status (The legal status 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 status listed.)
- Active
Links
Classifications
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Studio Devices (AREA)
- Accessories Of Cameras (AREA)
Abstract
The present invention relates to field of intelligent control, a kind of image-pickup method and electronic equipment are disclosed, to solve the image collecting device in the prior art technical problem excessively complicated there is Image Acquisition.In the embodiment of the present invention, driving device and holder are provided on the first electronic equipment, the driving device is used to provide driving force so that first electronic equipment can generate displacement for first electronic equipment, equipped with image collecting device on the holder, in the state that institute's image collecting device links with holder, the image capturing angle of described image acquisition device changes correspondingly when rotating the holder, pass through the synergistic effect of holder and driving device, then can angle to image collecting device and position control, it goes to cater to image collecting device without subject, to simplify image acquisition process, improve Image Acquisition efficiency.
Description
Technical field
The present invention relates to field of intelligent control more particularly to a kind of image-pickup methods and electronic equipment.
Background technique
With the continuous development of science and technology, electronic technology has also obtained development at full speed, and the type of electronic product is more next
More, people have also enjoyed the various conveniences of development in science and technology bring.Present people can by various types of electronic equipments,
It enjoys as development in science and technology bring is comfortably lived.For example, the electricity such as laptop, desktop computer, smart phone, tablet computer
Sub- equipment has become an important component part in people's life, and user can be used the electronics such as mobile phone, tablet computer and set
It is standby to listen to music, plays game etc., to mitigate pressure brought by modern times fast pace life.
Many electronic equipments all have camera function in the prior art, and diversified figure can be acquired by camera function
Picture and video.But current photography generally requires photographer key that goes to trip and goes to realize, then when realizing self-timer
Meeting is more troublesome, and there are two types of solutions at present, the first is to postpone to shoot using tripod, another method is using certainly
Dabber.But all there is a defect in both methods, the object being exactly taken will generally go to cater to video camera, it is necessary to image
Machine is within sweep of the eye, it can be seen that, the image collecting device in the prior art technology excessively complicated there is Image Acquisition
Problem.
Summary of the invention
The present invention provides a kind of image-pickup method and electronic equipment, is deposited with solving image collecting device in the prior art
In the technical problem that Image Acquisition is excessively complicated.
In a first aspect, the embodiment of the present invention provides a kind of image-pickup method, it is applied in the first electronic equipment, described the
One electronic equipment has driving device, and the driving device is used to provide driving force so that described for first electronic equipment
First electronic equipment can generate displacement；It is provided with holder on first electronic equipment, is adopted on the holder equipped with image
Acquisition means, in the state that institute's image collecting device links with holder, the figure of described image acquisition device when rotating the holder
As acquisition angles change correspondingly, which comprises
The first control command is obtained, first control command is used to indicate first electronic equipment into the first work
Mode, wherein first operating mode is at least used to describe the first subpattern and the driving dress of the holder work
Set the second subpattern of work；
In response to first control command, and controls first electronic equipment and enter first operating mode,
Under first operating mode, the holder work is in first subpattern, and the driving device work is in second son
Mode；
Under first subpattern, the first control strategy for being directed to the holder is obtained, and based on first control
Strategy obtains corresponding first control parameter, generates first control signal based on first control parameter and exports to the cloud
Platform, to control the holder；Under second subpattern, the second control strategy for being directed to the driving device, and base are obtained
Corresponding second control parameter is obtained in second control strategy, second control signal is generated based on second control parameter
It exports to the driving device, to control the driving device.
Optionally, first subpattern is holder tracing mode, and under the holder tracing mode, the holder is driven
The described image acquisition device tracking target object to link with it carries out Image Acquisition；
Correspondingly, the first control parameter of the acquisition, generates first control signal output based on first control parameter
To the holder, comprising:
Obtain the first relative angle between the movement chassis of first electronic equipment and the target object；
Obtain the second relative angle between the holder and the movement chassis of first electronic equipment；
The first rotational parameters of the holder, institute are determined by first relative angle and second relative angle
The rotation direction and angle of the holder for including in the first rotational parameters are stated, first rotational parameters are first control
Parameter processed；
Pass through first rotational parameters to generate the first control signal and export to the holder, to pass through described the
One control signal controls the cloud platform rotation, so that the angle between described image acquisition device and the target object be made to be located at
First default angular range.
Optionally, first subpattern is holder locking mode, and under the holder locking mode, the holder is driven
It is directed at specific direction always with the described image acquisition device that it links；
Correspondingly, the first control parameter of the acquisition, generates first control signal output based on first control parameter
To the holder, comprising:
Obtain the third relative angle between the movement chassis of first electronic equipment and specific direction；
Obtain the 4th relative angle between the movement chassis and the holder；
The second rotational parameters of the holder, institute are determined based on the third relative angle and the 4th relative angle
The rotation direction and angle in the second rotational parameters comprising the holder are stated, second rotational parameters are first control
Parameter；
The first control signal is generated based on second rotational parameters and is transmitted to the holder, to pass through described the
One control signal controls the cloud platform rotation, so that the angle between described image acquisition device and the specific direction be made to be located at
Second default angular range.
Optionally, second subpattern is driving device by remote control mode, in the case where the driving device is by remote control mode,
The driving device is remotely controlled by the second electronic equipment；
Correspondingly, the second control parameter of the acquisition, generates second control signal output based on second control parameter
To the driving device, comprising:
Receive the first telecommand that second electronic equipment is sent；
First telecommand is responded, determines that the moving parameter of the driving device, the moving parameter include: to move
At least one of dynamic direction, movement speed, translational acceleration parameter, the moving parameter are second control parameter；
Pass through the moving parameter to generate the second control signal and export to the driving device, to pass through described the
It is mobile that two control signals control the driving device.
Optionally, first subpattern is holder by remote control mode, in the case where the holder is by remote control mode, the holder
It is remotely controlled by the second electronic equipment, and described image acquisition unit links with the holder；
Correspondingly, the first control parameter of the acquisition, generates first control signal output based on first control parameter
To the holder, comprising:
Receive the second telecommand that second electronic equipment is sent；
Second telecommand is responded, determines the third rotational parameters of the holder, the third rotational parameters packet
Include: at least one of rotation direction, rotational angle, velocity of rotation parameter, the third rotational parameters are first control
Parameter processed；
Pass through the third rotational parameters to generate the first control signal and export to the holder, to pass through described the
Two control signals control the cloud platform rotation.
Optionally, second subpattern is driving device tracing mode, described under the driving device tracing mode
It is mobile that driving device tracks target object；
Correspondingly, the second control parameter of the acquisition, generates second control signal output based on second control parameter
To the driving device, comprising:
Detection obtains the relative position parameter between first electronic equipment and the target object, the relative position
Parameter includes: at least one of relative distance parameter, relative angle parameter parameter；
The kinematic parameter of the driving device is determined based on the relative position parameter；
The second control signal is generated by the kinematic parameter and the second control signal is transferred to the drive
Dynamic device is moved with controlling the driving device by the second control signal, to make first electronic equipment and institute
The relative distance and angle stated between target object are located at pre-determined distance and angular range.
Second aspect, the embodiment of the present invention provide a kind of first electronic equipment, and first electronic equipment has driving dress
It sets, the driving device is used to provide driving force so that first electronic equipment can generate for first electronic equipment
Displacement；Holder is provided on first electronic equipment, equipped with image collecting device on the holder, in institute's image collector
It sets in the state of linking with holder, the image capturing angle of described image acquisition device changes correspondingly when rotating the holder, institute
State the first electronic equipment further include:
First obtains module, and for obtaining the first control command, first control command is used to indicate first electricity
Sub- equipment enters the first operating mode, wherein first operating mode is at least used to describe the first son of the holder work
Second subpattern of mode and driving device work；
Respond module in response to first control command, and controls first electronic equipment and enters described the
One operating mode, in this first operative mode, the holder work is in first subpattern, the driving device work
In second subpattern；
Second obtains module, under first subpattern, obtaining the first control strategy for being directed to the holder, and
Corresponding first control parameter is obtained based on first control strategy, the first control letter is generated based on first control parameter
Number output to the holder, to control the holder；Under second subpattern, obtains and be directed to the second of the driving device
Control strategy, and corresponding second control parameter is obtained based on second control strategy, it is raw based on second control parameter
It exports at second control signal to the driving device, to control the driving device.
Optionally, first subpattern is holder tracing mode, and under the holder tracing mode, the holder is driven
The described image acquisition device tracking target object to link with it carries out Image Acquisition；
Correspondingly, described second obtains module, comprising:
First obtains unit, for obtaining the between the movement chassis of first electronic equipment and the target object
One relative angle；
Second obtaining unit, for obtaining the second phase between the holder and the movement chassis of first electronic equipment
To angle；
First determination unit, for determining the holder by first relative angle and second relative angle
The first rotational parameters, the rotation direction and angle of the holder for including in first rotational parameters, first rotation
Parameter is first control parameter；
First generation unit, for generating the first control signal by first rotational parameters and exporting to described
Holder, to control the cloud platform rotation by the first control signal, to make described image acquisition device and the target
Angle between object is located at the first default angular range.
Optionally, first subpattern is holder locking mode, and under the holder locking mode, the holder is driven
It is directed at specific direction always with the described image acquisition device that it links；
Correspondingly, described second obtains module, comprising:
Third obtaining unit, for obtaining the third phase between the movement chassis of first electronic equipment and specific direction
To angle；
4th obtaining unit, for obtaining the 4th relative angle between the movement chassis and the holder；
Second determination unit, for determining the holder based on the third relative angle and the 4th relative angle
The second rotational parameters, include the rotation direction and angle of the holder, the second rotation ginseng in second rotational parameters
Number is first control parameter；
Second generation unit, for generating the first control signal based on second rotational parameters and being transmitted to described
Holder, to control the cloud platform rotation by the first control signal, thus make described image acquisition device with it is described specific
Angle between direction is located at the second default angular range.
Optionally, second subpattern is driving device by remote control mode, in the case where the driving device is by remote control mode,
The driving device is remotely controlled by the second electronic equipment；
Correspondingly, described second obtains module, further includes:
First receiving unit, the first telecommand sent for receiving second electronic equipment；
First response unit determines the moving parameter of the driving device, institute for responding first telecommand
Stating moving parameter includes: at least one of moving direction, movement speed, translational acceleration parameter, and the moving parameter is
Second control parameter；
First output unit, for generating the second control signal by the moving parameter and exporting to the driving
Device, it is mobile to control the driving device by the second control signal.
Optionally, first subpattern is holder by remote control mode, in the case where the holder is by remote control mode, the holder
It is remotely controlled by the second electronic equipment, and described image acquisition unit links with the holder；
Correspondingly, described second obtains module, comprising:
Second receiving unit, the second telecommand sent for receiving second electronic equipment；
Second response unit determines the third rotational parameters of the holder, institute for responding second telecommand
Stating third rotational parameters includes: at least one of rotation direction, rotational angle, velocity of rotation parameter, the third rotation ginseng
Number is first control parameter；
Second output unit, for generating the first control signal by the third rotational parameters and exporting to described
Holder, to control the cloud platform rotation by the second control signal.
Optionally, second subpattern is driving device tracing mode, described under the driving device tracing mode
It is mobile that driving device tracks target object；
Correspondingly, described second obtains module, further includes:
Detection unit, for detecting the relative position ginseng obtained between first electronic equipment and the target object
Number, the relative position parameter includes: at least one of relative distance parameter, relative angle parameter parameter；
Third determination unit, for determining the kinematic parameter of the driving device based on the relative position parameter；
Third generation unit, for generating the second control signal by the kinematic parameter and being controlled described second
Signal is transferred to the driving device, is moved with controlling the driving device by the second control signal, to make described
Relative distance and angle between first electronic equipment and the target object are located at pre-determined distance and angular range.
The present invention has the beneficial effect that:
Due in embodiments of the present invention, being provided with driving device and holder, the driving dress on the first electronic equipment
It sets for providing driving force so that first electronic equipment can generate displacement, the holder for first electronic equipment
On equipped with image collecting device rotate the figure when holder in the state that institute's image collecting device links with holder
As the image capturing angle of acquisition device changes correspondingly, so that the first electronic equipment can obtain and respond the first control command,
Holder and driving device is controlled under the second subpattern to control under the first subpattern, passes through cooperateing with for holder and driving device
Effect, then can angle to image collecting device and position control, go to cater to image without subject
Acquisition device improves Image Acquisition efficiency to simplify image acquisition process.
Detailed description of the invention
Fig. 1 is the structure chart of the first electronic equipment of the embodiment of the present invention；
Fig. 2 is the flow chart of the image-pickup method of the embodiment of the present invention；
Fig. 3 is the schematic diagram that relative position information is determined in the image-pickup method of the embodiment of the present invention；
Fig. 4 is the block diagram of the first electronic equipment of the embodiment of the present invention.
Specific embodiment
The present invention provides a kind of image-pickup method and electronic equipment, is deposited with solving image collecting device in the prior art
In the technical problem that Image Acquisition is excessively complicated.
In order to solve the above technical problems, general thought is as follows for technical solution in the embodiment of the present application:
Driving device and holder are provided on the first electronic equipment, the driving device is used to set for first electronics
It is standby to provide driving force so that first electronic equipment generate displacement, equipped with image collecting device on the holder,
In the state that institute's image collecting device links with holder, the Image Acquisition angle of described image acquisition device when rotating the holder
Degree changes correspondingly, so that the first electronic equipment can obtain and respond the first control command, to control cloud under the first subpattern
Platform simultaneously controls driving device under the second subpattern, then can be to Image Acquisition by the synergistic effect of holder and driving device
The angle of device and position are controlled, and go to cater to image collecting device without subject, to simplify figure
As collection process, Image Acquisition efficiency is improved.
In order to better understand the above technical scheme, below by attached drawing and specific embodiment to technical solution of the present invention
It is described in detail, it should be understood that the specific features in the embodiment of the present invention and embodiment are to the detailed of technical solution of the present invention
Thin explanation, rather than the restriction to technical solution of the present invention, in the absence of conflict, the embodiment of the present invention and embodiment
In technical characteristic can be combined with each other.
In a first aspect, the embodiment of the present invention provides a kind of image-pickup method, it is applied in the first electronic equipment, please refers to
Fig. 1, first electronic equipment includes: driving device, and the driving device is used to provide driving for first electronic equipment
Power is so that first electronic equipment can generate displacement；Holder is provided on first electronic equipment, on the holder
Equipped with image collecting device, in the state that institute's image collecting device links with holder, described image when rotating the holder
The image capturing angle of acquisition device changes correspondingly.
First electronic equipment is for example are as follows: balance car, robot, unmanned plane etc..
Referring to FIG. 2, this method comprises:
Step S201: obtain the first control command, first control command be used to indicate first electronic equipment into
Enter the first operating mode, wherein first operating mode be at least used to describe holder work the first subpattern and
Second subpattern of the driving device work；
Step S202: in response to first control command, and first electronic equipment is controlled into first work
Operation mode, in this first operative mode, the holder work is in first subpattern, and the driving device work is in institute
State the second subpattern；
Step S203: under first subpattern, the first control strategy for being directed to the holder is obtained, and based on described
First control strategy obtains corresponding first control parameter, based on first control parameter generate first control signal export to
The holder, to control the holder；Under second subpattern, the second control plan for the driving device is obtained
Slightly, and based on second control strategy corresponding second control parameter is obtained, generates second based on second control parameter
Control signal is exported to the driving device, to control the driving device.
In step S201, the first control command can generate in several ways, such as: it clicks on the first electronic equipment
Pre-set button generates and presets gesture, receives the telecommand that the second electronic equipment generates etc..
In step S203, the first subpattern may exist a variety of different modes, and then also different to the control of holder, under
Face is enumerated three kinds therein and is introduced, and certainly, in the specific implementation process, is not limited to following three kinds of situations.
The first, first subpattern is holder tracing mode, and under the holder tracing mode, the holder is driven
The described image acquisition device tracking target object to link with it carries out Image Acquisition, for example, the target object can be
People, animal, object etc. realize holder pair based on the tracking technique (such as UWB technology, Visual Tracking) to target object
The tracking of target object.
Correspondingly, the first control parameter of the acquisition, generates first control signal output based on first control parameter
To the holder, comprising: obtain the first opposite folder between the movement chassis of first electronic equipment and the target object
Angle；Obtain the second relative angle between the holder and the movement chassis of first electronic equipment；Pass through first phase
The first rotational parameters of the holder are determined to angle and second relative angle, include in first rotational parameters
The rotation direction and angle of the holder, first rotational parameters are first control parameter；Pass through described first turn
Dynamic parameter generates the first control signal and exports to the holder, to control the holder by the first control signal
Rotation, so that the angle between described image acquisition device and the target object be made to be located at the first default angular range.
For example, it can be determined between holder and target object by the first relative angle and the second relative angle
Relative angle, and image collecting device is fixed on holder, so the relative angle between image collecting device and holder is also solid
Fixed, in such a case, it is possible to pass through relative angle and image collecting device and holder between holder and target object
Between relative angle determine the angle between image collecting device and target object, then judge image collecting device and mesh
Whether the relative angle between mark object is located at the first default angular range (such as: -30 °~30 °, -10 °~10 ° etc.),
In, the angle between image collecting device and target object can be between the central point and target object of image collecting device
Angle between line and the center line of image collecting device.Wherein, if folder between image collecting device and target object
Angle is not located at the first default angular range, then explanation can not collect preferable target object (even by image collecting device
Target object can not be collected completely), in this case, then needs to control image collecting device and rotated, such as: if
Angle between image collecting device and target object then can control image and adopt less than the minimum value of the first predetermined angle range
Acquisition means are to first direction (such as: left side) rotation, if the angle between image collecting device and target object is greater than first
The maximum value of predetermined angle range then can control opposite direction (such as: right side) rotation of the image collecting device to first direction
Etc..
Second, first subpattern is holder locking mode, and under the holder locking mode, the holder is driven
It is directed at specific direction always with the described image acquisition device that it links, for example, specific direction is for example are as follows: the first electronics is set
The standby direction advanced, the direction of retrogressing, the direction set by user of the first electronic equipment etc., the embodiment of the present invention does not limit
System.
Correspondingly, the first control parameter of the acquisition, generates first control signal output based on first control parameter
To the holder, comprising: obtain the third relative angle between the movement chassis of first electronic equipment and specific direction；It obtains
Obtain the 4th relative angle between the movement chassis and the holder；Relatively based on the third relative angle and the described 4th
Angle determines the second rotational parameters of the holder, the rotation direction comprising the holder and angle in second rotational parameters
Degree, second rotational parameters are first control parameter；First control is generated based on second rotational parameters
Signal is simultaneously transmitted to the holder, to control the cloud platform rotation by the first control signal, so that described image be made to adopt
Angle between acquisition means and the specific direction is located at the second default angular range.
For example, pass through third relative angle and the 4th relative angle, so that it may determine holder and specific direction it
Between angle, pass through the angle between the angle and image collecting device and holder between holder and specific direction, so that it may really
The angle between image collecting device and specific direction is made, the second default angular range is for example are as follows: -20 °~20 °, -10 °~
10 ° etc.；After determining the angle between image collecting device and specific direction, it can be determined that image collecting device with it is specific
Whether the angle between direction is located at the second default angular range, if being located at the second default angular range, illustrates that image is adopted
The acquisition to specific direction may be implemented in acquisition means, so image collecting device can not be adjusted；If not being located at the
Two default angular ranges then illustrate that image collecting device cannot achieve the acquisition to specific direction, so by holder to image
Acquisition device is controlled, such as: it controls it and rotates angle and direction etc., to realize image collecting device to specific direction
The acquisition of image.
In the case where the first subpattern is holder tracing mode or holder locking mode, as a kind of optional implementation
Example, second subpattern are driving device by remote control mode, in the case where the driving device is by remote control mode, the driving device
It is remotely controlled by the second electronic equipment, for example, the second electronic equipment is for example are as follows: remote controler, mobile phone, tablet computer etc., this hair
Bright embodiment is with no restriction.
Correspondingly, the second control parameter of the acquisition, generates second control signal output based on second control parameter
To the driving device, comprising: receive the first telecommand that second electronic equipment is sent；First remote control is responded to refer to
It enables, determines that the moving parameter of the driving device, the moving parameter include: moving direction, movement speed, translational acceleration
At least one of parameter, the moving parameter be second control parameter；Described the is generated by the moving parameter
Two control signals are simultaneously exported to the driving device, mobile to control the driving device by the second control signal.
For example, if the user of the first electronic equipment wishes that control the first electronic equipment at the uniform velocity transports towards specific direction
Dynamic, then it is specific direction that the direction of motion can be arranged by the first telecommand, movement speed be default movement speed (or
By user's sets itself movement speed)；Or first electronic equipment be currently in stationary state, user wishes control first
Electronic equipment advances towards target object, then it is target object place side that the direction of motion can be arranged by the first telecommand
To if being not provided with movement speed and translational acceleration, movement speed and translational acceleration are default speed and default
Acceleration certainly can also be by user's sets itself movement speed and translational acceleration in the first telecommand, and the present invention is real
Apply example with no restriction.
It in the specific application process, is holder tracing mode in the first subpattern if the first electronic equipment is robot
In the case where, the program can be applied to robot fixed point, and image collecting device automatically snaps operator, such as may include
Following steps:
(1) it stops after robot being moved to some specific position (such as beside certain sports ground), starts the holder of robot
Tracing mode.
(2) person of being taken wears remote controler (namely: the second electronic equipment), at this time can the person of being taken move freely, such as
It plays basketball, jog.
(3) holder independently tracks the person of being taken, and the person of being taken is placed on visual field center with real-time by 360 ° of movements.
It, can be by if the first subpattern is holder tracing mode, the second subpattern is driving device by remote control mode
The movement of user's remote-controlled robot, to control image collecting device automatic collection user, such as may comprise steps of:
(1) start holder tracing mode, holder by detection UWB ((Ultra Wideband: ultra wide band) signal (namely:
Positioning signal), the direction where user is learnt in real time；
(2) starting camera is shot or is taken pictures.
(3) user at this time can by remote control control robot a bigger scene movement, but in movement
Image collecting device is directed at always user's shooting in the process.
It is central in picture always can to guarantee user through the above scheme, but background is constantly converting.
It, can be by if the first subpattern is holder locking mode, the second subpattern is driving device by remote control mode
The movement of user's remote-controlled robot, holder lock image acquisition device are shot towards some specific direction, and the mode is commonly used
It is shot in scenery, wherein user can be by remote control device robot motion, but holder lock image acquisition device direction exists
Some specific direction, regardless of robot it is mobile where, image collecting device is (such as right against specific direction shooting always
East clap sunrise).
It, can be with if the first subpattern is holder locking mode, the second subpattern is driving device by remote control mode
By user by remote control device robot, cradle head control image collecting device is directed at the shooting of robot direction of advance.
The third, first subpattern is holder by remote control mode, in the case where the holder is by remote control mode, the holder
It is remotely controlled by the second electronic equipment, and described image acquisition unit links with the holder, for example, namely pass through the second electricity
The long-range control of sub- equipment, may be implemented the control to holder.
Correspondingly, the first control parameter of the acquisition, generates first control signal output based on first control parameter
To the holder, comprising: receive the second telecommand that second electronic equipment is sent；Second telecommand is responded,
Determine that the third rotational parameters of the holder, the third rotational parameters include: rotation direction, rotational angle, velocity of rotation
At least one of parameter, the third rotational parameters be first control parameter；It is raw by the third rotational parameters
It at the first control signal and exports to the holder, to control the cloud platform rotation by the second control signal.
For example, image collecting device can send it to the second electronic equipment after acquisition obtains image, the
The user of two electronic equipments may think that the angle of the acquisition image of image collecting device is not after receiving the image
It is too suitable, then the second telecommand can be generated manually and is sent to the first electronic equipment, to pass through the second telecommand pair
Holder is controlled, to make image collector setting in a reasonable acquisition angles, rotation direction is for example are as follows: turns left, is right
Turn etc., rotational angle is for example are as follows: 10 °, 20 ° etc., velocity of rotation is for example are as follows: 100 °/min, 50 °/min etc..
The first subpattern be holder by remote control mode in the case where, as a kind of optional embodiment, it is described second son
Mode is driving device tracing mode, and under the driving device tracing mode, the driving device tracking target object is mobile；
Correspondingly, the second control parameter of the acquisition, generates second control signal output based on second control parameter
To the driving device, comprising: detection obtains the relative position parameter between first electronic equipment and the target object,
The relative position parameter includes: at least one of relative distance parameter, relative angle parameter parameter；Based on the opposite position
Set the kinematic parameter that parameter determines the driving device；Pass through the kinematic parameter and generates the second control signal and will be described
Second control signal is transferred to the driving device, is moved with controlling the driving device by the second control signal, from
And relative distance and angle between first electronic equipment and the target object is made to be located at pre-determined distance and angular range.
For example, the relative distance obtained between the first electronic equipment and target object can be detected by multiple technologies
Parameter, such as: pass through infrared range-measurement system, electromagnetic positioning instrument, UWB etc., wherein if target object carries the second electronics and sets
It, then can also be by the interaction between the first electronic equipment and the second electronic equipment, so that it is determined that the first electronics is set out if standby
The standby relative distance parameter between the second electronic equipment, by the relative distance between the first electronic equipment and the second electronic equipment
Parameter is as the relative distance parameter between the first electronic equipment and target object.
In the specific implementation process, can be detected by multiple technologies obtain the first electronic equipment and the second electronic equipment it
Between relative distance parameter, such as: TOF (Time of Flight: flight time) technology, TDOA (Time Difference
Of Arrival: reaching time-difference) technology etc., for example, the first electronic equipment and the second electronic equipment can use TWR
The method of (Two-way ranging: bidirectional ranging) carries out ranging, and each ranging needs 3 communications, specifically includes following step
Suddenly (a kind of algorithm that TWR is TOF):
(1) first electronic equipment issues a Poll data packet, when sending, timestamp that the first electronic equipment record is sent
tt1；
The first positioning signal that first electronic equipment to be received such as (2) second electronic equipments issues, the second electronic equipment connect
After receiving poll data packet, the timestamp ta of the time of reception is recorded1, a response data packet is then sent, and record hair
Send the timestamp ta of response data packet2；
The positioning signal that second electronic equipment to be received such as (3) first electronic equipments issues, the first electronic equipment receive
After response data packet, the timestamp tt of the time of reception is recorded2, and calculate the timestamp for needing to send final data packet
tt3, the clock arrival tt of the first electronic equipment3When, final data packet is issued, includes 3 timestamp informations in final data packet
(tt1, tt2, tt3)；
After (4) second electronic equipments receive final data packet, record receiving time stabs ta3.The second electronic equipment has been at this time
Recorded 3 timestamp ta1, ta2, ta3, while the content by reading final data packet, also available first electronics
Three timestamp tt of equipment1, tt2, tt3；
(5) due to the time irreversibility of the first electronic equipment and the second electronic equipment, it is therefore desirable to calculate the first electronics and set
It is standby with the second electronic equipment respective time difference, as shown in Figure 3, in which:
Tround1=tt2-tt1………………………………[1]
Treply1=ta2–ta1………………………………[2]
Tround2=ta3–ta2………………………………[3]
Treply2=tt3–tt2………………………………[4]
According to the aforementioned four time difference, so that it may calculate the distance between the first electronic equipment and the second electronic equipment value
(namely: relative distance parameter), calculation formula is as follows:
T=(Tround1-Treply1)/2 ... ... ... ... ... ... [5]
T=(Tround2-Treply2)/2 ... ... ... ... ... ... [6]
DIS=T*V ... ... ... ... ... ... [7]
Wherein, DISIndicate the distance between the first electronic equipment and the second electronic equipment value, T indicate the first electronic equipment with
Communication time between second electronic equipment, V indicate the light velocity.
Similarly, in the case where target object carries the second electronic equipment, the first electronic equipment and the second electricity be can detecte
Relative angle parameter between sub- equipment, and using the relative angle parameter between the first electronic equipment and the second electronic equipment as
Relative angle parameter between first electronic equipment and target object.It in the specific implementation process, can be true by multiple technologies
Relative angle angle value between fixed first electronic equipment and the second electronic equipment, such as: AOA (Angle of Arrival: angle of arrival
Spend ranging) technology, PDOA (Phase Different of Arrival: reaching phase difference) technology etc., wherein the second electronics
Equipment may include at least two antennas, the first electronic equipment to the second electronic equipment send the first positioning signal (such as:
Poll data packet, final data packet etc.) when, at least two antennas of the second electronic equipment are in reception state, so as to
The first positioning signal is received, the phase difference that two antennas of the second electronic equipment are then reached by the first positioning signal determines
Relative angle angle value between first electronic equipment and the second electronic equipment (namely: relative angle parameter) out, for example, can pass through
Following formula calculates relative angle angle value:
PD=P1-P2(unit is radian value) ... ... ... ... ... ... [8]
Ang=(PD/(2∏))*360°………………………………[9]
Wherein, P1Indicate that the first positioning signal reaches the phase of the first antenna of the second electronic equipment, unit is radian value；
P2Indicate that the first positioning signal reaches the phase of the second antenna of the second electronic equipment, unit is radian value；
Wherein PDIndicate that the first positioning signal reaches the phase difference of first antenna and the second antenna, unit is radian value；
Ang indicates that the relative angle angle value between the first electronic equipment and the second electronic equipment, unit are degree.
In the specific implementation process, pre-determined distance range can be by the first electronic equipment default setting, can also be by first
The user of electronic equipment sets, such as are as follows: 5m ± 1m, 10m ± 2m etc.；Equally, predetermined angle range both can be by first
Electronic equipment default setting can also be set by the user of the first electronic equipment, and the embodiment of the present invention is with no restriction.
After determining the relative distance parameter between the first electronic equipment and target object, so that it may judge that this is opposite
Whether distance parameter is located at pre-determined distance range, if be not located at, can by second control signal control driving device into
Row movement, so that the relative distance parameter is located at pre-determined distance range, such as: if the relative distance parameter is greater than pre-determined distance
The maximum value of range then can control the first electronic equipment by driving device and move towards the direction close to target object, such as
The fruit relative distance parameter is less than the minimum value of pre-determined distance range, then can control the first electronic equipment court by driving device
Moved to the direction far from target object etc..Equally, it equally may determine that the relative angle after obtaining relative angle parameter
Whether degree parameter is located at predetermined angle range, if not being located at predetermined angle range, the first electricity can be controlled by driving device
Sub- equipment rotation, so that the relative angle parameter between the first electronic equipment and target object be made to be located at predetermined angle range.
It, can in the case where the first subpattern be holder by remote control mode, the second subpattern is driving device tracing mode
Independently to be tracked, holder by the driving device of robot (such as: movement chassis) to tag beacon (such as: remote controler)
It is completed to shoot by remote control device by user, such as may comprise steps of:
(1) start robot chassis tracing mode (angle and distance of tracking can be set), robot passes through detection positioning
Signal (such as: UWB signal), the direction where user is measured in real time；
(2) holder is in by remote control mode, and user passes through the rotational angle of remote control control holder；
(3) after the video camera to appropriate angle that rotary platform carries it, remote controler issues shooting instruction, Image Acquisition
Device responds the shooting instruction, and then carries out Image Acquisition.
Second aspect, based on the same inventive concept, the embodiment of the present invention provide a kind of first electronic equipment, please continue to refer to
Fig. 1, first electronic equipment have driving device, and the driving device is used to provide driving force for first electronic equipment
So that first electronic equipment can generate displacement；It is provided with holder on first electronic equipment, is taken on the holder
It is loaded with image collecting device, in the state that institute's image collecting device links with holder, described image is adopted when rotating the holder
The image capturing angle of acquisition means changes correspondingly.
Referring to FIG. 4, first electronic equipment further include:
First obtains module 40, and for obtaining the first control command, first control command is used to indicate described first
Electronic equipment enters the first operating mode, wherein first operating mode is at least used to describe the first of the holder work
Second subpattern of subpattern and driving device work；
Respond module 41 is used in response to first control command, and is controlled described in the first electronic equipment entrance
First operating mode, in this first operative mode, the holder work is in first subpattern, the driving device work
Make in second subpattern；
Second obtains module 42, for obtaining the first control strategy for being directed to the holder under first subpattern,
And corresponding first control parameter is obtained based on first control strategy, the first control is generated based on first control parameter
Signal is exported to the holder, to control the holder；Under second subpattern, for the driving device is obtained
Two control strategies, and corresponding second control parameter is obtained based on second control strategy, it is based on second control parameter
It generates second control signal to export to the driving device, to control the driving device.
Optionally, first subpattern is holder tracing mode, and under the holder tracing mode, the holder is driven
The described image acquisition device tracking target object to link with it carries out Image Acquisition；
Correspondingly, described second obtains module 42, comprising:
First obtains unit, for obtaining the between the movement chassis of first electronic equipment and the target object
One relative angle；
Second obtaining unit, for obtaining the second phase between the holder and the movement chassis of first electronic equipment
To angle；
First determination unit, for determining the holder by first relative angle and second relative angle
The first rotational parameters, the rotation direction and angle of the holder for including in first rotational parameters, first rotation
Parameter is first control parameter；
First generation unit, for generating the first control signal by first rotational parameters and exporting to described
Holder, to control the cloud platform rotation by the first control signal, to make described image acquisition device and the target
Angle between object is located at the first default angular range.
Optionally, first subpattern is holder locking mode, and under the holder locking mode, the holder is driven
It is directed at specific direction always with the described image acquisition device that it links；
Correspondingly, described second obtains module 42, comprising:
Third obtaining unit, for obtaining the third phase between the movement chassis of first electronic equipment and specific direction
To angle；
4th obtaining unit, for obtaining the 4th relative angle between the movement chassis and the holder；
Second determination unit, for determining the holder based on the third relative angle and the 4th relative angle
The second rotational parameters, include the rotation direction and angle of the holder, the second rotation ginseng in second rotational parameters
Number is first control parameter；
Second generation unit, for generating the first control signal based on second rotational parameters and being transmitted to described
Holder, to control the cloud platform rotation by the first control signal, thus make described image acquisition device with it is described specific
Angle between direction is located at the second default angular range.
Optionally, second subpattern is driving device by remote control mode, in the case where the driving device is by remote control mode,
The driving device is remotely controlled by the second electronic equipment；
Correspondingly, described second obtains module 42, further includes:
First receiving unit, the first telecommand sent for receiving second electronic equipment；
First response unit determines the moving parameter of the driving device, institute for responding first telecommand
Stating moving parameter includes: at least one of moving direction, movement speed, translational acceleration parameter, and the moving parameter is
Second control parameter；
First output unit, for generating the second control signal by the moving parameter and exporting to the driving
Device, it is mobile to control the driving device by the second control signal.
Optionally, first subpattern is holder by remote control mode, in the case where the holder is by remote control mode, the holder
It is remotely controlled by the second electronic equipment, and described image acquisition unit links with the holder；
Correspondingly, described second obtains module 42, comprising:
Second receiving unit, the second telecommand sent for receiving second electronic equipment；
Second response unit determines the third rotational parameters of the holder, institute for responding second telecommand
Stating third rotational parameters includes: at least one of rotation direction, rotational angle, velocity of rotation parameter, the third rotation ginseng
Number is first control parameter；
Second output unit, for generating the first control signal by the third rotational parameters and exporting to described
Holder, to control the cloud platform rotation by the second control signal.
Optionally, second subpattern is driving device tracing mode, described under the driving device tracing mode
It is mobile that driving device tracks target object；
Correspondingly, described second obtains module 42, further includes:
Detection unit, for detecting the relative position ginseng obtained between first electronic equipment and the target object
Number, the relative position parameter includes: at least one of relative distance parameter, relative angle parameter parameter；
Third determination unit, for determining the kinematic parameter of the driving device based on the relative position parameter；
Third generation unit, for generating the second control signal by the kinematic parameter and being controlled described second
Signal is transferred to the driving device, is moved with controlling the driving device by the second control signal, to make described
Relative distance and angle between first electronic equipment and the target object are located at pre-determined distance and angular range.
One or more embodiment of the invention, at least has the advantages that
Due in embodiments of the present invention, being provided with driving device and holder, the driving dress on the first electronic equipment
It sets for providing driving force so that first electronic equipment can generate displacement, the holder for first electronic equipment
On equipped with image collecting device rotate the figure when holder in the state that institute's image collecting device links with holder
As the image capturing angle of acquisition device changes correspondingly, so that the first electronic equipment can obtain and respond the first control command,
Holder and driving device is controlled under the second subpattern to control under the first subpattern, passes through cooperateing with for holder and driving device
Effect, then can angle to image collecting device and position control, go to cater to image without subject
Acquisition device improves Image Acquisition efficiency to simplify image acquisition process.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the present invention, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The equipment for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of equipment, the commander equipment realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications may be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the scope of the invention.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of image-pickup method, which is characterized in that be applied in the first electronic equipment, first electronic equipment, which has, to be driven
Dynamic device, the driving device are used to provide driving force so that first electronic equipment can for first electronic equipment
Generate displacement；It is provided with holder on first electronic equipment, equipped with image collecting device on the holder, is adopted in institute's image
In the state that acquisition means link with holder, the image capturing angle of described image acquisition device changes therewith when rotating the holder
Become, which comprises
The first control command is obtained, first control command is used to indicate first electronic equipment into the first Working mould
Formula, wherein first operating mode is at least used to describe the first subpattern and the driving device of the holder work
Second subpattern of work；
In response to first control command, and first electronic equipment is controlled into first operating mode, described
Under first operating mode, the holder work is in first subpattern, and the driving device work is in second subpattern；
Under first subpattern, the first control strategy for being directed to the holder is obtained, and obtain based on first control strategy
Corresponding first control parameter generates first control signal based on first control parameter and exports to the holder, with control
The holder；Under second subpattern, the second control strategy for being directed to the driving device is obtained, and be based on described second
Control strategy obtains corresponding second control parameter, generates second control signal based on second control parameter and exports to described
Driving device, to control the driving device；
First subpattern is holder tracing mode, and under the holder tracing mode, the holder drive links with it
Described image acquisition device tracks target object and carries out Image Acquisition；
Correspondingly, the first control parameter of the acquisition, generates first control signal based on first control parameter and exports to institute
State holder, comprising:
Obtain the first relative angle between the movement chassis of first electronic equipment and the target object；
Obtain the second relative angle between the holder and the movement chassis of first electronic equipment；
Determine the first rotational parameters of the holder by first relative angle and second relative angle, described
The rotation direction and angle for the holder for including in one rotational parameters, first rotational parameters are the first control ginseng
Number；
The first control signal is generated by first rotational parameters and is exported to the holder, to control by described first
Signal processed controls the cloud platform rotation, so that the angle between described image acquisition device and the target object be made to be located at first
Default angular range.
2. the method as described in claim 1, which is characterized in that first subpattern is holder locking mode, in the cloud
Under stand lock mould-fixed, the holder drives is directed at specific direction with the described image acquisition device that it links always；
Correspondingly, the first control parameter of the acquisition, generates first control signal based on first control parameter and exports to institute
State holder, comprising:
Obtain the third relative angle between the movement chassis of first electronic equipment and specific direction；
Obtain the 4th relative angle between the movement chassis and the holder；
Determine the second rotational parameters of the holder based on the third relative angle and the 4th relative angle, described
It include the rotation direction and angle of the holder in two rotational parameters, second rotational parameters are the first control ginseng
Number；
The first control signal is generated based on second rotational parameters and is transmitted to the holder, to control by described first
Signal processed controls the cloud platform rotation, so that the angle between described image acquisition device and the specific direction be made to be located at second
Default angular range.
3. method according to claim 1 or 2, which is characterized in that second subpattern is driving device by remote control mode,
In the case where the driving device is by remote control mode, the driving device is remotely controlled by the second electronic equipment；
Correspondingly, the second control parameter of the acquisition, generates second control signal based on second control parameter and exports to institute
State driving device, comprising:
Receive the first telecommand that second electronic equipment is sent；
First telecommand is responded, determines that the moving parameter of the driving device, the moving parameter include: movement side
To, at least one of movement speed, translational acceleration parameter, the moving parameter be second control parameter；
The second control signal is generated by the moving parameter and is exported to the driving device, to control by described second
It is mobile that signal processed controls the driving device.
4. the method as described in claim 1, which is characterized in that first subpattern is holder by remote control mode, described
Holder is under by remote control mode, and the holder is remotely controlled by the second electronic equipment, and described image acquisition unit links with the holder；
Correspondingly, the first control parameter of the acquisition, generates first control signal based on first control parameter and exports to institute
State holder, comprising:
Receive the second telecommand that second electronic equipment is sent；
Second telecommand is responded, determines that the third rotational parameters of the holder, the third rotational parameters include: to turn
At least one of dynamic direction, rotational angle, velocity of rotation parameter, the third rotational parameters are the first control ginseng
Number；
The first control signal is generated by the third rotational parameters and is exported to the holder, to control by described second
Signal processed controls the cloud platform rotation.
5. method as claimed in claim 4, which is characterized in that second subpattern is driving device tracing mode, in institute
It states under driving device tracing mode, the driving device tracking target object is mobile；
Correspondingly, the second control parameter of the acquisition, generates second control signal based on second control parameter and exports to institute
State driving device, comprising:
Detection obtains the relative position parameter between first electronic equipment and the target object, the relative position parameter
It include: at least one of relative distance parameter, relative angle parameter parameter；
The kinematic parameter of the driving device is determined based on the relative position parameter；Described the is generated by the kinematic parameter
The second control signal is simultaneously transferred to the driving device by two control signals, to control institute by the second control signal
Driving device movement is stated, so that it is pre- to be located at relative distance and angle between first electronic equipment and the target object
If distance and angular range.
6. a kind of first electronic equipment, which is characterized in that first electronic equipment has driving device, and the driving device is used
In providing driving force for first electronic equipment so that first electronic equipment can generate displacement；First electronics
Holder is provided in equipment, equipped with image collecting device on the holder, in the shape that institute's image collecting device links with holder
Under state, the image capturing angle of described image acquisition device is changed correspondingly when rotating the holder, and first electronic equipment is also
Include:
First obtains module, and for obtaining the first control command, first control command is used to indicate first electronics and sets
It is standby to enter the first operating mode, wherein first operating mode be at least used to describe the holder work the first subpattern,
And the second subpattern of the driving device work；
Respond module is used in response to first control command, and controls first electronic equipment into first work
Operation mode, in this first operative mode, the holder work is in first subpattern, and the driving device work is in institute
State the second subpattern；
Second obtains module, for obtaining the first control strategy for being directed to the holder, and be based under first subpattern
First control strategy obtains corresponding first control parameter, and it is defeated to generate first control signal based on first control parameter
Out to the holder, to control the holder；Under second subpattern, the second control for the driving device is obtained
Strategy, and obtain corresponding second control parameter based on second control strategy generates the based on second control parameter
Two control signals are exported to the driving device, to control the driving device；
First subpattern is holder tracing mode, and under the holder tracing mode, the holder drive links with it
Described image acquisition device tracks target object and carries out Image Acquisition；
Correspondingly, described second obtains module, comprising:
First obtains unit, for obtaining the first phase between the movement chassis of first electronic equipment and the target object
To angle；
Second obtaining unit, for obtaining the second opposite folder between the holder and the movement chassis of first electronic equipment
Angle；
First determination unit, for determining the of the holder by first relative angle and second relative angle
One rotational parameters, the rotation direction and angle of the holder for including in first rotational parameters, first rotational parameters
As described first control parameter；
First generation unit, for generating the first control signal by first rotational parameters and exporting to the cloud
Platform, to control the cloud platform rotation by the first control signal, to make described image acquisition device and the target pair
Angle as between is located at the first default angular range.
7. the first electronic equipment as claimed in claim 6, which is characterized in that first subpattern is holder locking mode,
Under the holder locking mode, the holder drives is directed at specific direction with the described image acquisition device that it links always；
Correspondingly, described second obtains module, comprising:
Third obtaining unit, for obtaining the third phase between the movement chassis of first electronic equipment and specific direction to folder
Angle；
4th obtaining unit, for obtaining the 4th relative angle between the movement chassis and the holder；
Second determination unit, for determining the of the holder based on the third relative angle and the 4th relative angle
Two rotational parameters, include the rotation direction and angle of the holder in second rotational parameters, and second rotational parameters are
For first control parameter；
Second generation unit, for generating the first control signal based on second rotational parameters and being transmitted to the cloud
Platform, to control the cloud platform rotation by the first control signal, to make described image acquisition device and the certain party
Angle between is located at the second default angular range.
8. the first electronic equipment as claimed in claims 6 or 7, which is characterized in that second subpattern be driving device by
Remote control mode, in the case where the driving device is by remote control mode, the driving device is remotely controlled by the second electronic equipment；
Correspondingly, described second obtains module, further includes:
First receiving unit, the first telecommand sent for receiving second electronic equipment；
First response unit determines the moving parameter of the driving device, the shifting for responding first telecommand
Dynamic parameter includes: at least one of moving direction, movement speed, translational acceleration parameter, and the moving parameter is described
Second control parameter；
First output unit is filled for generating the second control signal by the moving parameter and exporting to the driving
It sets, it is mobile to control the driving device by the second control signal.
9. the first electronic equipment as claimed in claim 6, which is characterized in that first subpattern is holder by remote control mould
Formula, in the case where the holder is by remote control mode, the holder is remotely controlled by the second electronic equipment, and described image acquisition unit is with described
Holder linkage；
Correspondingly, described second obtains module, comprising:
Second receiving unit, the second telecommand sent for receiving second electronic equipment；
Second response unit determines the third rotational parameters of the holder for responding second telecommand, described
Three rotational parameters include: at least one of rotation direction, rotational angle, velocity of rotation parameter, and the third rotational parameters are
For first control parameter；
Second output unit, for generating the first control signal by the third rotational parameters and exporting to the cloud
Platform, to control the cloud platform rotation by the second control signal.
10. the first electronic equipment as claimed in claim 9, which is characterized in that second subpattern is driving device tracking
Mode, under the driving device tracing mode, the driving device tracking target object is mobile；
Correspondingly, described second obtains module, further includes:
Detection unit, for detecting the relative position parameter obtained between first electronic equipment and the target object, institute
Stating relative position parameter includes: at least one of relative distance parameter, relative angle parameter parameter；
Third determination unit, for determining the kinematic parameter of the driving device based on the relative position parameter；
Third generation unit, for by the kinematic parameter generation second control signal and by the second control signal
It is transferred to the driving device, is moved with controlling the driving device by the second control signal, to make described first
Relative distance and angle between electronic equipment and the target object are located at pre-determined distance and angular range.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2016109583283 | 2016-10-27 | ||
| CN201610958328 | 2016-10-27 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106598081A CN106598081A (en) | 2017-04-26 |
| CN106598081B true CN106598081B (en) | 2019-08-23 |
Family
ID=58591604
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611033189.XA Active CN106598081B (en) | 2016-10-27 | 2016-11-14 | A kind of image-pickup method and electronic equipment |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106598081B (en) |
| WO (1) | WO2018076573A1 (en) |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106921833A (en) * | 2017-03-31 | 2017-07-04 | 思依暄机器人科技（深圳）有限公司 | A kind of filming control method, device and dynamic track up equipment |
| CN107368066A (en) * | 2017-06-13 | 2017-11-21 | 纳恩博（北京）科技有限公司 | A kind of control method, equipment and system |
| JP7000646B2 (en) * | 2017-12-27 | 2022-01-19 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッド | Gimbal operation mode switching method and control device |
| CN108322656B (en) * | 2018-03-09 | 2022-02-15 | 深圳市道通智能航空技术股份有限公司 | Shooting method, shooting device and shooting system |
| CN113645410B (en) * | 2018-04-09 | 2024-02-13 | 深圳市大疆创新科技有限公司 | Image acquisition method, device and machine-readable storage medium |
| CN111050100A (en) * | 2018-10-12 | 2020-04-21 | 黑快马股份有限公司 | Automatic video recording and follow-up system and automatic video recording and follow-up method |
| WO2020107284A1 (en) * | 2018-11-28 | 2020-06-04 | 深圳市大疆创新科技有限公司 | Mode switching method and device for tripod head, movable platform, and storage medium |
| CN109788198A (en) * | 2019-01-22 | 2019-05-21 | 桂林飞宇科技股份有限公司 | A kind of camera cradle head control system and method |
| CN110401799B (en) * | 2019-08-02 | 2020-12-15 | 睿魔智能科技（深圳）有限公司 | Automatic tracking shooting method and system |
| CN112292650A (en) * | 2019-11-28 | 2021-01-29 | 深圳市大疆创新科技有限公司 | Cloud deck control method, control device and control system |
| CN111768361B (en) * | 2020-05-09 | 2022-12-02 | 中铁第四勘察设计院集团有限公司 | Underground space quality evaluation and visual presentation method and system thereof |
| CN111901528B (en) * | 2020-08-05 | 2022-01-18 | 深圳市浩瀚卓越科技有限公司 | Shooting equipment stabilizer |
| CN114401371B (en) * | 2020-08-05 | 2024-03-26 | 深圳市浩瀚卓越科技有限公司 | tracking control method, device, object tracking unit, and storage medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105335627A (en) * | 2014-08-06 | 2016-02-17 | 杭州海康威视数字技术股份有限公司 | PTZ rotation control method and device |
| CN105438492A (en) * | 2015-12-17 | 2016-03-30 | 小米科技有限责任公司 | Integrated type platform camera and unmanned aerial vehicle |
| CN105676862A (en) * | 2016-04-01 | 2016-06-15 | 成都云图秀色科技有限公司 | Flight device control system and control method |
| CN105872372A (en) * | 2016-03-31 | 2016-08-17 | 纳恩博（北京）科技有限公司 | Image acquisition method and electronic device |
| CN105872371A (en) * | 2016-03-31 | 2016-08-17 | 纳恩博（北京）科技有限公司 | Information processing method and electronic device |
| CN105867362A (en) * | 2016-04-20 | 2016-08-17 | 北京博瑞爱飞科技发展有限公司 | Terminal equipment and control system of unmanned aerial vehicle |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104808680A (en) * | 2015-03-02 | 2015-07-29 | 杨珊珊 | Multi-rotor flight shooting device |
| CN105652891B (en) * | 2016-03-02 | 2018-06-29 | 中山大学 | A kind of rotor wing unmanned aerial vehicle movement Target self-determination tracks of device and its control method |
| CN105700543B (en) * | 2016-04-01 | 2019-06-21 | 成都第二记忆科技有限公司 | A kind of flight instruments control system, control method and unmanned plane of taking photo by plane |
-
2016
- 2016-11-14 CN CN201611033189.XA patent/CN106598081B/en active Active
-
2017
- 2017-02-09 WO PCT/CN2017/073166 patent/WO2018076573A1/en active Application Filing
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105335627A (en) * | 2014-08-06 | 2016-02-17 | 杭州海康威视数字技术股份有限公司 | PTZ rotation control method and device |
| CN105438492A (en) * | 2015-12-17 | 2016-03-30 | 小米科技有限责任公司 | Integrated type platform camera and unmanned aerial vehicle |
| CN105872372A (en) * | 2016-03-31 | 2016-08-17 | 纳恩博（北京）科技有限公司 | Image acquisition method and electronic device |
| CN105872371A (en) * | 2016-03-31 | 2016-08-17 | 纳恩博（北京）科技有限公司 | Information processing method and electronic device |
| CN105676862A (en) * | 2016-04-01 | 2016-06-15 | 成都云图秀色科技有限公司 | Flight device control system and control method |
| CN105867362A (en) * | 2016-04-20 | 2016-08-17 | 北京博瑞爱飞科技发展有限公司 | Terminal equipment and control system of unmanned aerial vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106598081A (en) | 2017-04-26 |
| WO2018076573A1 (en) | 2018-05-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106598081B (en) | A kind of image-pickup method and electronic equipment | |
| US11573562B2 (en) | Magic wand interface and other user interaction paradigms for a flying digital assistant | |
| CN104407622B (en) | robot tracking method and system | |
| CN108602561A (en) | For the system and method using multiple-camera network capture static scene and/or moving scene | |
| CN105049733B (en) | A kind of positioning shooting auxiliary device and method | |
| CN106054924B (en) | A kind of unmanned plane accompanying flying method, accompanying flying device and accompanying flying system | |
| CN103679687A (en) | Target tracking method of intelligent tracking high-speed dome camera | |
| TWI568261B (en) | Wisdom tracking camera | |
| US20160117811A1 (en) | Method for generating a target trajectory of a camera embarked on a drone and corresponding system | |
| WO2016168722A1 (en) | Magic wand interface and other user interaction paradigms for a flying digital assistant | |
| CN103619090A (en) | System and method of automatic stage lighting positioning and tracking based on micro inertial sensor | |
| CN104349038B (en) | Enable the method and electronic equipment of pan-shot | |
| CN104580872A (en) | Automatic-positioning tracking photography system and automatic-positioning tracking photography method | |
| CN104571135A (en) | Cloud deck tracking photography system and cloud deck tracking photography method | |
| CN109357679A (en) | A kind of indoor orientation method based on significant characteristics identification | |
| CN108989765B (en) | Tripod system for dynamically tracking self-timer | |
| CN105245845A (en) | Method for controlling camera to follow and shoot automatically based on gathering trend in match field | |
| AU2011365175B2 (en) | Television set and control method and apparatus thereof | |
| CN112887558B (en) | Focus tracking method and device and electronic equipment | |
| CN104580873A (en) | Positioning tracking shooting system and positioning tracking shooting method | |
| CN106954127B (en) | A kind of VR scene subaudio frequency immersion control method | |
| CN105183142B (en) | A kind of digital information reproducing method of utilization space position bookbinding | |
| CN104580871A (en) | Automatic tracking photography system and automatic racking photography method | |
| CN107979731B (en) | Method, device and system for acquiring audio and video data | |
| EP4040268A1 (en) | Object sharing method and apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |