CN109995991A - A kind of image pickup method, robot and mobile terminal - Google Patents
A kind of image pickup method, robot and mobile terminal Download PDFInfo
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- CN109995991A CN109995991A CN201711498651.8A CN201711498651A CN109995991A CN 109995991 A CN109995991 A CN 109995991A CN 201711498651 A CN201711498651 A CN 201711498651A CN 109995991 A CN109995991 A CN 109995991A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- 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
- H04N23/62—Control of parameters via user interfaces
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Abstract
This application discloses a kind of image pickup method, robot and mobile terminal, this method includes that robot obtains acquisition parameters and kinematic parameter；Wherein, kinematic parameter includes motion profile and movement velocity；Robot is moved according to kinematic parameter, and is adjusted camera according to acquisition parameters and shot.By obtaining acquisition parameters and kinematic parameter, so that robot is moved according to the parameter of acquisition, it is moved according to the predetermined movement track in kinematic parameter, camera is adjusted simultaneously executes shooting task, so that target object appears in shooting picture always, realize to target object effective track up in real time.
Description
Technical field
This application involves robotic technology field, in particular to a kind of image pickup method, robot and mobile terminal.
Background technique
Present many occasions require the video of shooting certain objects, typically as businessman needs to shoot the small item of oneself
Video, but shot considerable restraint in such a way that manpower lifts camera, many effects, which can not be shot, to be come, and then occurs being permitted
Multi-pass crosses laying track, video camera is mounted on the method slided on specific track or robot to shoot.But it is laid with
The way cost of track is larger, and very not flexible, and more flexible way is the robot that can be moved using one, can pass through
Remote control robot voltuntary movement itself, and cradle head control camera angle is remotely controlled to shoot video.But in part field
It needs accurately to control the motion profile of cameras people and camera direction under scape and can just obtain preferable effect.
Summary of the invention
The application mainly solves the problems, such as to be to provide a kind of image pickup method, robot and mobile terminal, so that robot root
It is moved according to predetermined movement track, so that target object appears in shooting picture always, realization has target object in real time
The track up of effect.
In order to solve the above technical problems, the application is the technical solution adopted is that provide a kind of image pickup method, the image pickup method
Acquisition parameters and kinematic parameter are obtained including robot；Wherein, kinematic parameter includes motion profile and movement velocity；Robot
It is moved according to kinematic parameter, and adjusts camera according to acquisition parameters and shot.
In order to solve the above technical problems, another technical solution that the application uses is to provide a kind of robot, the robot
Including moving parts, camera module, communications module, memory and processor, moving parts are used for robot motion, image mould
Group is for shooting, and memory and communications module couple processor, and communications module is for receiving and sending messages, and memory is based on storing
Calculation machine program, processor is when executing the computer program of memory storage, for cooperating communications module to realize above-mentioned method.
In order to solve the above technical problems, another technical solution that the application uses is to provide a kind of image pickup method, this method
Including obtaining user instruction, corresponding acquisition parameters and kinematic parameter are set；Wherein, kinematic parameter includes motion profile and fortune
Dynamic speed；Establish the network connection with robot；Acquisition parameters and kinematic parameter are sent to robot by being connected to the network,
So that robot is moved according to kinematic parameter, and camera is adjusted according to acquisition parameters and is shot.
In order to solve the above technical problems, another technical solution that the application uses is to provide a kind of mobile terminal, the movement
Terminal includes communications module, memory and processor, and memory and communications module couple processor, and communications module is for sending out
Parameter information is sent, memory is used for for storing computer program, processor when executing the computer program of memory storage
Realize above-mentioned method.
Through the above scheme, the beneficial effect of the application is: by obtaining acquisition parameters and kinematic parameter, so that machine
People is moved according to the motion profile in kinematic parameter with predetermined movement speed, while being adjusted camera according to acquisition parameters and being executed bat
Task is taken the photograph, so that target object appears in shooting picture always, is realized to target object effective track up in real time.
Detailed description of the invention
In order to more clearly explain the technical solutions in the embodiments of the present application, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, the drawings in the following description are only some examples of the present application, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.Wherein:
Fig. 1 is the flow diagram of image pickup method first embodiment provided by the present application；
Fig. 2 is the schematic diagram of motion profile in image pickup method first embodiment provided by the present application；
Fig. 3 is the flow diagram of image pickup method second embodiment provided by the present application；
Fig. 4 is the flow diagram of image pickup method 3rd embodiment provided by the present application；
Fig. 5 is the flow diagram of image pickup method fourth embodiment provided by the present application；
Fig. 6 is that the relative position in preview image and specified region is illustrated in image pickup method fourth embodiment provided by the present application
Figure；
Fig. 7 is the flow diagram of the 5th embodiment of image pickup method provided by the present application；
Fig. 8 is the flow diagram of image pickup method sixth embodiment provided by the present application；
Fig. 9 is the flow diagram of the 7th embodiment of image pickup method provided by the present application；
Figure 10 is the structural schematic diagram of one embodiment of robot provided by the present application；
Figure 11 is the structural schematic diagram of one embodiment of mobile terminal provided by the present application.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of embodiments of the present application, rather than whole embodiments.Based on this
Embodiment in application, those of ordinary skill in the art are obtained every other under the premise of not making creative labor
Embodiment shall fall in the protection scope of this application.
Refering to fig. 1, Fig. 1 is the flow diagram of image pickup method first embodiment provided by the present application, this method comprises:
Step 11: robot obtains acquisition parameters and kinematic parameter.
Acquisition parameters include at least one in camera aperture, shutter speed, exposure parameter, Focusing parameter and white balance etc.
Kind；Kinematic parameter includes motion profile, movement velocity and direction of motion etc..
For photographic subjects object, it is necessary first to which user starts robot, input control instruction, so that robot executes bat
Take the photograph task.Wherein, the mode of starting can be the button in manually opened robot, can also be by mobile terminal to robot
Initiate open command.Specifically, it is switched to vertical view angle of field in the terminal, user selects preset under this visual angle picture
Track or can hand drawn robot in the terminal motion profile, after determining the target object that needs are shot,
Centered on target object, the motion profile of robot is formulated, motion profile can also input for system default or user
Motion profile is automatically generated using path planning algorithm after initial point and terminal；Wherein, motion profile can for circle, rectangle,
Triangle or any other reasonable track, as shown in Fig. 2, 21 be target object, motion profile 22 is circle.
Robot has camera, can control displacement and camera angle, function includes but is not limited to photograph, take the photograph
Picture.
The movement velocity of robot can input for system default or user, if during the motion, user's discovery
Robot does not meet the requirement of oneself in the picture that movement is shot on the way, can input the movement velocity of instruction control robot.
Can measure so that when shooting picture is clear robot movement velocity range, when robot current kinetic speed is not belonging to this model
When enclosing, the movement velocity of robot is adjusted, to meet photographing request.
For example, robot movement velocity is 20m/s, user is unintelligible in the shooting picture that mobile terminal is watched, and can incite somebody to action
The speed of robot is turned down so that the picture shot is clear.
Step 12: robot is moved according to kinematic parameter, and is adjusted camera according to acquisition parameters and shot.
After robot receives acquisition parameters and kinematic parameter, moved according to the motion profile in parameter, movement velocity
For the speed in kinematic parameter, the parameter that camera is adjusted when being shot executes shooting task, receives when user's discovery
When unintelligible, target object image size and location that there are target images in real-time video does not meet the problems such as oneself is required,
This can be solved the problems, such as by adjusting the movement velocity of robot, motion profile or acquisition parameters.
For example, robot base is four wheels, two wheel speeds in left side are identical, two wheel speed phases on right side
Together, but the speed of left and right wheels can be different, if motion profile is circle, according to the movement of round radius and setting speed
Degree can calculate the speed of left and right wheels.
It is different from the prior art, image pickup method provided in this embodiment, by obtaining acquisition parameters and kinematic parameter, makes
Robot is obtained according to the motion profile in kinematic parameter with the movement of predetermined movement speed, while adjusting camera according to acquisition parameters
Shooting task is executed, so that target object appears in shooting picture always, realizes that effectively tracking is clapped in real time to target object
It takes the photograph.
It is the flow diagram of image pickup method second embodiment provided by the present application refering to Fig. 3, Fig. 3, this method comprises:
Step 31: robot obtains acquisition parameters and kinematic parameter.
Step 32: robot obtains cradle head control parameter.
Wherein, step 31 and step 32 are also possible to be performed simultaneously, i.e., robot disposably obtains mobile terminal transmission
Acquisition parameters, kinematic parameter and cradle head control parameter；Alternatively, it is also possible to first carry out execution step 31 after step 32.
It, can in robot according in motion profile motion process in order to realize that robot effectively shoots target object
Adjustment cradle head control parameter in real time can be needed, in shooting process camera lock onto target object always, so that target object begins
It is shown in the picture of camera shooting eventually.
Step 33: robot is mounted on taking the photograph on holder to adjust according to the angle of cradle head control parameter regulation holder
As the shooting angle of head.
After obtaining cradle head control parameter, robot adjusts the angle of holder according to the parameter in real time, so as to adjust camera shooting
The shooting angle of head can also be taken the photograph so that target object appears in shooting picture always by controlling the Level Change of holder
As the shooting angle of head.
Step 34: robot is moved according to kinematic parameter, and is adjusted camera according to acquisition parameters and shot.
Wherein, step 31 and step 34 can be with specific reference to above-mentioned steps 11-12, and which is not described herein again.
It is different from the prior art, image pickup method provided in this embodiment, by obtaining kinematic parameter, acquisition parameters and holder
Parameter, so that robot is moved according to the parameter of acquisition, and captured in real-time video, by controlling the angle of holder, thus
The shooting angle of camera is controlled, so that target object remains in shooting picture, is realized real-time to target object, effective
Shooting.
It is the flow diagram of image pickup method 3rd embodiment provided by the present application refering to Fig. 4, Fig. 4, this method comprises:
Step 41: robot obtains acquisition parameters and kinematic parameter.
Step 42: robot obtains cradle head control parameter.
Step 43: before robot setting in motion, the angle of holder is adjusted, so that target object appears in camera
In preview screen.
In order to enable the camera of robot takes target object always, moved in robot according to predetermined movement track
Before, it needs to adjust the angle of holder, camera is allowed to take target object.
Step 44: in the motion process of robot, the angle of holder is adjusted in real time, so that target object remains at
In the preview screen of camera.
During robot is moved along motion profile, due to the complexity of motion profile, in order to enable object
Body remains in the preview screen that camera takes, and needs to adjust the angle of holder in real time.
Step 45: robot is moved according to kinematic parameter, and is adjusted camera according to acquisition parameters and shot.
Wherein, step 41-42 and step 45 can be with specific reference to above-mentioned steps 31-32 and steps 34, and which is not described herein again.
It is different from the prior art, image pickup method provided in this embodiment, by obtaining kinematic parameter, acquisition parameters and holder
Parameter adjusts the angle of holder before robot is moved according to the parameter of acquisition, by controlling the angle of holder to adjust
The shooting angle of whole camera is realized to target object real-time, effectively so that target object remains in preview screen
Shooting.
It is the flow diagram of image pickup method fourth embodiment provided by the present application refering to Fig. 5, Fig. 5, this method comprises:
Step 51: robot obtains acquisition parameters and kinematic parameter.
Step 52: robot obtains cradle head control parameter.
Step 53: before robot setting in motion, the angle of holder is adjusted, so that target object appears in camera
In preview screen.
Step 54: a specified region is set in the preview screen of camera.
When executing shooting task using robot, in order to facilitate object observing object, can be drawn in the preview of camera
One specified region is set in face, is specified in region so that target object is always showed at this, user is avoided to search target object
Position.
Specified region is user's sets itself or system default, which belongs to the preview image of camera acquisition
A part, position may be at center or four angles or other rational positions of the preview image of camera acquisition.Specified area
Domain can show one of situation for any Reasonable Shape, Fig. 6 such as rectangle, round or ellipses, and it is ellipse for specifying region 61
Circle, specified region 61 are located at the center of preview image 60.
Step 55: in the motion process of robot, obtaining preview screen according to setting frame per second.
During robot is moved according to motion profile, in order to judge whether target object appears in specified region
It is interior, it needs to obtain preview image, preview image is obtained to set frame per second, to obtain preview image.
Step 56: judging target object whether in specified region.
When being shot with the camera of robot, target object may not necessarily be appeared in by chance in setting regions, in order to
So that target object remains in specified region, needs to obtain the position of target image, judged using algorithm of target detection
Whether target object is located in specified region.
Step 57: if target object adjusts the angle of holder, so that target object is in specified area not in specified region
In domain.
It, can be by adjusting the angle of holder, so that target object is kept when target object is not located in specified region
In setting regions.It can be by identifying target object, such as the tensorflow deep learning Open Framework using ***
It is trained, then by adjusting camera, guarantees that specific position of the target object in screen, such as many robots have
The function of following face, after recognizing face, adjustment holder keeps face in camera preview screen.
Step 58: robot is moved according to kinematic parameter, and is adjusted camera according to acquisition parameters and shot.
Wherein, step 51-53 and step 58 can be with specific reference to above-mentioned steps 41-43 and steps 45, and which is not described herein again.
It is different from the prior art, image pickup method provided in this embodiment, by obtaining acquisition parameters, kinematic parameter and holder
Control parameter detects target so that robot is moved along the motion profile of setting, and carries out captured in real-time in shooting process
Whether object is located in setting regions, if target object is not located in setting regions, makes by adjusting the angle of holder
Target object is fixed in setting regions, and user is facilitated to observe, and realization effectively shoots target object in real time.
It is the flow diagram of the 5th embodiment of image pickup method provided by the present application refering to Fig. 7, Fig. 7, this method comprises:
Step 71: robot obtains acquisition parameters and kinematic parameter.
Wherein, step 71 can be with specific reference to above-mentioned steps 11, and which is not described herein again.
Step 72: robot is moved according to motion profile and movement velocity.
After obtaining kinematic parameter, robot by according in kinematic parameter motion profile and movement velocity transport
It is dynamic.For example, motion profile is square trace in kinematic parameter, movement velocity 2m/s then can be according to this rail when robot motion
Mark is moved with the speed of 2m/s, executes shooting task.
Step 73: judging whether robot moves to the end of motion profile.
When robot moves from the off, need to detect whether to move to setting motion profile during the motion
End increases energy consumption to prevent robot from repeating shooting task, whether can detect robot according to prefixed time interval
Move to the end of motion profile.
Step 74: if robot does not move to the end of motion profile, continuation is moved according to motion profile.
When detecting that robot does not move to the end of motion profile, robot then will continue to transport along motion profile
It is dynamic, until moving to trailing end.
Step 75: adjusting camera according to acquisition parameters and shot.
In robot kinematics, the acquisition parameters obtained according to step 71 adjust camera and are shot, to complete
Shooting task.
It is different from the prior art, image pickup method provided in this embodiment, by obtaining motion profile and movement velocity, so that
Robot is moved according to motion profile, while executing shooting task during the motion, and detect whether robot has covered
Entire motion profile, realization comprehensively shoot target object in real time.
It is the flow diagram of image pickup method sixth embodiment provided by the present application refering to Fig. 8, Fig. 8, this method comprises:
Step 81: obtaining user instruction and corresponding acquisition parameters and kinematic parameter are set.
In order to enable robot executes shooting task, mobile terminal needs kinematic parameter needed for robot being sent to machine
People, mobile terminal need to obtain user's input/setting acquisition parameters and kinematic parameter；Wherein, kinematic parameter includes movement rail
Mark, movement velocity and direction of motion etc..
Step 82: establishing the network connection with robot.
In order to which acquisition parameters and kinematic parameter are sent to robot, need to establish between mobile terminal and robot
Network connection.The connection of mobile terminal and robot can be connected by any wired, wireless network mode, be included but are not limited to
WIFI, bluetooth and ZigBee etc..User connects robot by wired or wireless network using mobile terminal, to operate machine
People.
Step 83: acquisition parameters and kinematic parameter are sent to robot by being connected to the network so that robot according to
Kinematic parameter is moved, and is adjusted camera according to acquisition parameters and shot.
Acquisition parameters and kinematic parameter are sent to robot by being connected to the network by mobile terminal so that robot according to
Motion profile in kinematic parameter is moved, and is adjusted camera according to acquisition parameters and carried out captured in real-time.
Be different from the prior art, image pickup method provided in this embodiment, by acquisition parameters that user is inputted/is arranged and
Kinematic parameter is sent to robot, so that robot is moved according to the motion profile of user setting, and adjusts camera parameter,
Realization effectively shoots target object in real time.
It is the flow diagram of the 7th embodiment of image pickup method provided by the present application refering to Fig. 9, Fig. 9, this method comprises:
Step 91: obtaining motion profile and movement velocity of the user instruction setting relative to target object, and setting phase
The acquisition parameters answered.
The motion profile and movement velocity and acquisition parameters of acquisition for mobile terminal user setting, and send it to machine
People, so that robot is moved according to predetermined movement track.
Step 92: obtaining user instruction and cradle head control parameter is set.
In order to enable robot takes target object always, need to obtain the instruction of the lock onto target object of user's input
So that cradle head control parameter is arranged.
Step 93: establishing the network connection with robot.
Step 94: acquisition parameters and kinematic parameter are sent to robot by being connected to the network so that robot according to
Kinematic parameter is moved, and is adjusted camera according to acquisition parameters and shot.
Wherein, step 93-94 can be with specific reference to above-mentioned steps 82-83, and which is not described herein again.
The picture of the camera current shooting of real-time display robot on mobile terminal, user specify holder motion control ginseng
Number, user is by clicking or touching the specified target object to be shot, camera lock onto target object always during subsequent motion
Body；Or allow holder that robot motion, such as holder and robot direction of advance is followed to remain 90 degree of angles, work as robot
The direction of holder also follows variation when changing the direction of motion.
It is different from the prior art, image pickup method provided in this embodiment, mobile terminal passes through bat that user is inputted/is arranged
It takes the photograph parameter and motion profile and movement velocity is sent to robot, so that robot is transported according to the motion profile of user setting
It is dynamic, and camera parameter and cradle head control parameter are adjusted, realization effectively shoots target object in real time.
0, Figure 10 is the structural schematic diagram of one embodiment of robot provided by the present application, the robot 100 packet refering to fig. 1
Include: communications module 101, memory 102, processor 103, moving parts 104 and camera module 105 and are deposited at communications module 101
Reservoir 102 couples processor 103, and communications module 101 for receiving and sending messages, locate for storing computer program by memory 102
Device 103 is managed when executing the computer program that memory 102 stores, for cooperating communications module 101 to realize in above-described embodiment
Method, moving parts 104 are used for robot motion, and camera module 105 is for shooting.
1, Figure 11 is the structural schematic diagram of one embodiment of mobile terminal provided by the present application, the mobile terminal 110 refering to fig. 1
It include: communications module 111, memory 112 and processor 113, communications module 111 and memory 112 couple processor
113, communications module 111 is for sending parameter information, and memory 112 for storing computer program, deposit in execution by processor 113
When the computer program that reservoir 112 stores, for realizing the method in above-described embodiment.
Mobile terminal 110 includes the equipment such as smart phone, palm PC, plate and vehicle-mounted computer.
Memory 112 can be server, USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory),
Random access memory (RAM, Random Access Memory), magnetic or disk etc. be various to can store program code
Medium.
In several embodiments provided herein, it should be understood that disclosed method and equipment, Ke Yitong
Other modes are crossed to realize.For example, equipment embodiment described above is only schematical, for example, module or unit
Division, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or group
Part can be combined or can be integrated into another system, or some features can be ignored or not executed.
Unit may or may not be physically separated as illustrated by the separation member, shown as a unit
Component may or may not be physical unit, it can and it is in one place, or may be distributed over multiple networks
On unit.It can select some or all of unit therein according to the actual needs to realize the mesh of present embodiment scheme
's.
In addition, each functional unit in each embodiment of the application can integrate in one processing unit, it can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units.It is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.
The above is only embodiments herein, are not intended to limit the scope of the patents of the application, all to be said using the application
Equivalent structure or equivalent flow shift made by bright book and accompanying drawing content is applied directly or indirectly in other relevant technology necks
Domain similarly includes in the scope of patent protection of the application.
Claims (10)
1. a kind of image pickup method characterized by comprising
Robot obtains acquisition parameters and kinematic parameter；Wherein, the kinematic parameter includes motion profile and movement velocity；
The robot is moved according to the kinematic parameter, and is adjusted camera according to the acquisition parameters and clapped
It takes the photograph.
2. image pickup method according to claim 1, which is characterized in that
The method also includes:
The robot obtains cradle head control parameter；
The robot is according to the angle of the cradle head control parameter regulation holder, to adjust the institute being mounted on the holder
State the shooting angle of camera.
3. image pickup method according to claim 2, which is characterized in that
The cradle head control parameter includes lock onto target object；
The robot is according to the angle of the cradle head control parameter regulation holder, to adjust the institute being mounted on the holder
The step of stating the shooting angle of camera, comprising:
Before the robot setting in motion, the angle of holder is adjusted, so that the target object appears in the camera
Preview screen in；
In the motion process of the robot, the angle of the holder is adjusted in real time, so that the target object remains
In the preview screen of the camera.
4. image pickup method according to claim 3, which is characterized in that
It is described to adjust the angle of the holder in real time in the motion process of the robot, so that the target object is always
The step being maintained in the preview screen of the camera, comprising:
One specified region is set in the preview screen of the camera；
In the motion process of the robot, preview screen is obtained according to setting frame per second；
Judge the target object whether in the specified region；
If it is not, the angle of the holder is adjusted, so that the target object is in the specified region.
5. image pickup method according to claim 1, which is characterized in that
The step of robot is moved according to the kinematic parameter, comprising:
The robot is moved according to the motion profile and the movement velocity；
Judge whether the robot moves to the end of the motion profile；
If it is not, then continuing to be moved according to the motion profile.
6. image pickup method according to claim 1, which is characterized in that
The acquisition parameters include at least one of camera aperture, shutter speed, exposure parameter, Focusing parameter and white balance.
7. a kind of robot, which is characterized in that including moving parts, camera module, communications module, memory and processor,
The moving parts are used for robot motion, and the camera module is for shooting, the memory and the equal coupling of the communications module
The processor is connect, the communications module is for receiving and sending messages, and the memory is for storing computer program, the processor
When executing the computer program of the memory storage, for cooperating the communications module to realize as claim 1-6 is any
Method described in.
8. a kind of image pickup method characterized by comprising
It obtains user instruction and corresponding acquisition parameters and kinematic parameter is set；Wherein, the kinematic parameter includes motion profile
And movement velocity；
Establish the network connection with robot；
The acquisition parameters and the kinematic parameter are sent to the robot by the network connection, so that the machine
Device people moves according to the kinematic parameter, and adjusts camera according to the acquisition parameters and shot.
9. image pickup method according to claim 8, which is characterized in that
The method also includes:
It obtains user instruction and cradle head control parameter is set；Wherein, the cradle head control parameter includes lock onto target object；
The step of corresponding acquisition parameters and kinematic parameter is arranged in the acquisition user instruction, comprising:
Obtain motion profile and movement velocity of the user instruction setting relative to the target object, and the corresponding shooting of setting
Parameter.
10. a kind of mobile terminal, which is characterized in that including communications module, memory and processor, the memory and described
Communications module couples the processor, and the communications module is calculated for sending parameter information, the memory for storing
Machine program, the processor is when executing the computer program of the memory storage, for realizing such as claim 8 or 9 institutes
The method stated.
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| CN111328387A (en) * | 2019-07-19 | 2020-06-23 | 深圳市大疆创新科技有限公司 | Pan-tilt control method, device and computer readable storage medium |
| CN112511759A (en) * | 2021-02-08 | 2021-03-16 | 常州微亿智造科技有限公司 | Flying shooting control method and device |
| CN112653843A (en) * | 2020-12-24 | 2021-04-13 | 维沃移动通信有限公司 | Shooting method and device based on holder and electronic equipment |
| CN112862861A (en) * | 2021-02-08 | 2021-05-28 | 广州富港生活智能科技有限公司 | Camera motion path determining method and device and shooting system |
| WO2021168776A1 (en) * | 2020-02-28 | 2021-09-02 | 深圳市大疆创新科技有限公司 | Video capturing method, apparatus, and system |
| CN114979473A (en) * | 2022-05-16 | 2022-08-30 | 遥相科技发展(北京)有限公司 | Industrial robot control method |
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