Device and System for Displaying and Recording Stroke Process

Abstract

Embodiments of the present invention provide a device for displaying and recording the pen movement process, including a connecting member, at least one image acquisition unit disposed on the connecting member, an electric pan-tilt head, a control unit, and a processing unit; wherein the at least one image acquisition unit is at least used to acquire panoramic images and / or videos and / or close-up images and / or videos at the pen tip during the pen movement process; the image acquisition unit for acquiring close-up images and / or videos during the pen movement process is disposed on the electric pan-tilt head; the control unit is configured to issue control instructions based on the images and / or videos acquired by the image acquisition unit to control the corresponding components so that the image acquisition unit disposed on the electric pan-tilt head can acquire close-up images and / or videos at the pen tip during the user's pen movement process; the processing unit is configured to store and / or transmit the images and / or videos from at least one image acquisition unit. It can acquire panoramic and pen tip images in calligraphy and painting.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of calligraphy and painting teaching. More specifically, embodiments of the present invention relate to an equipment and system for displaying and recording the pen movement process. Background Art

[0002] This section aims to provide background or context for the embodiments of the present invention stated in the claims. The description herein is not admitted to be prior art merely because it is included in this section.

[0003] In the existing calligraphy and art teaching, basically the traditional physical display stand and high-speed camera are used to show students the writing or painting process of the teacher. Summary of the Invention

[0004] In this context, embodiments of the present invention are expected to provide an equipment and system for displaying and recording the pen movement process.

[0005] In the first aspect of the embodiments of the present invention, an equipment for displaying and recording the pen movement process is provided, including a connecting member, at least one image acquisition unit disposed on the connecting member, an electric pan-tilt head, a control unit and a processing unit; wherein the at least one image acquisition unit is at least used for acquiring panoramic images and / or videos and / or close-up images and / or videos at the pen tip during the pen movement process;

[0006] The image acquisition unit for acquiring close-up images and / or videos during the pen movement process is disposed on the electric pan-tilt head;

[0007] The control unit is configured to issue control instructions based on the images and / or videos acquired by the image acquisition unit, so as to control the corresponding components to enable the image acquisition unit disposed on the electric pan-tilt head to acquire close-up images and / or videos at the pen tip during the user's pen movement process;

[0008] The processing unit is configured to store and / or transmit the images and / or videos from the image acquisition unit.

[0009] In an embodiment of this embodiment, the connecting member can be telescoped under the control of the control unit; and / or

[0010] The at least one image acquisition unit can change its position on the connecting member under the control of the control unit; and / or

[0011] The electric pan-tilt head can change the horizontal angle and / or pitch angle of the image acquisition unit disposed on the electric pan-tilt head under the control of the control unit.

[0012] In an embodiment of the present embodiment, the connecting member is provided with at least one adjusting member, and the electric pan-tilt and the image acquisition unit not disposed on the electric pan-tilt are respectively disposed on the at least one adjusting member; wherein:

[0013] The at least one adjusting member can change its position on the connecting member under the control of the control unit; and / or

[0014] The image acquisition unit on the at least one adjusting member can change its position on the adjusting member under the control of the control unit; and / or

[0015] The at least one adjusting member can be telescoped under the control of the control unit; and / or

[0016] The at least one adjusting member includes a first bracket, and the image acquisition unit or the electric pan-tilt on the adjusting member is disposed on the corresponding first bracket.

[0017] In an embodiment of the present embodiment, at least one adjusting member provided with a first bracket further includes a second bracket disposed on the first bracket, and the corresponding image acquisition unit or electric pan-tilt is disposed on the second bracket; wherein:

[0018] The at least one second bracket can change its position on the first bracket under the control of the control unit; and / or

[0019] The image acquisition unit or the electric pan-tilt on the at least one second bracket can change its position on the second bracket under the control of the control unit; and / or

[0020] The at least one second bracket can be telescoped under the control of the control unit.

[0021] In an embodiment of the present embodiment, the connecting member includes an acquisition object fixing device, which is adapted to fix a planar medium and / or a three-dimensional article.

[0022] In an embodiment of the present embodiment, the device further includes a base, and one end of the connecting member is disposed on the base; wherein:

[0023] The connection between the connecting member and the base is a fixed connection or a detachable connection; and / or

[0024] The position of one end of the connecting member on the base can be changed or not changed under the control of the control unit; and / or

[0025] The base and / or the connecting member includes an acquisition object fixing device, which is adapted to fix a planar medium and / or a three-dimensional article.

[0026] In one embodiment of the present embodiment, it further includes a connecting member fixing device, which is adapted to fix the connecting member in a direction substantially perpendicular to the plane where the acquisition object is located.

[0027] In one embodiment of the present embodiment, the number of the connecting members is at least two.

[0028] In one embodiment of the present embodiment:

[0029] The acquisition direction of at least one image acquisition unit is directly opposite to the plane where the acquisition object is located; and / or

[0030] The acquisition direction of at least one image acquisition unit forms an acute angle with the plane where the acquisition object is located.

[0031] In one embodiment of the present embodiment, the device further includes one or more servo mechanisms, which are adapted to realize the position adjustment and / or telescopic adjustment of one or more components of the device, wherein the one or more components include any one or more of the following components:

[0032] The connecting member;

[0033] The electric pan-tilt head;

[0034] The at least one image acquisition unit;

[0035] One or more of at least one adjustment component on the connecting member;

[0036] The first bracket on the adjustment component;

[0037] The second bracket on the first bracket.

[0038] In one embodiment of the present embodiment, the device further includes one or more stepping motion mechanisms, which are adapted to realize the position adjustment and / or telescopic adjustment of one or more components of the device, wherein the one or more components include any one or more of the following components:

[0039] The connecting member;

[0040] The electric pan-tilt head;

[0041] The at least one image acquisition unit;

[0042] One or more of at least one adjustment component on the connecting member;

[0043] The first bracket on the adjustment component;

[0044] The second bracket on the first bracket.

[0045] In one embodiment of the present embodiment, the device further includes:

[0046] An audio acquisition unit, configured to acquire audio and send it to the processing unit for storing and / or transmitting the audio.

[0047] In an embodiment of this implementation manner, the processing unit is further configured to determine relevant position information based on the panoramic image and / or video and / or close-up image and / or video acquired by the image acquisition unit in real time;

[0048] The control unit includes:

[0049] An instruction generation module, configured to generate an adjustment control instruction based on the position information, so that the close-up image acquisition unit can acquire a close-up picture of the pen tip during the writing process that meets the requirements.

[0050] In an embodiment of this implementation manner, the adjustment control instruction at least adjusts and controls one of the electric pan-tilt, the servo mechanism, and the stepping motion mechanism.

[0051] In an embodiment of this implementation manner, the processing unit is further configured to construct a coordinate system based on the panoramic image and / or video, and further determine the coordinates of the pen tip in the panoramic image and / or video;

[0052] The instruction generation module includes:

[0053] An adjustment offset determination sub-module, configured to determine an offset that can enable the image acquisition unit to acquire a close-up picture of the pen tip when the user is writing / drawing based on the coordinates of the pen tip;

[0054] An instruction generation sub-module, configured to generate a corresponding adjustment control instruction based on the offset.

[0055] In an embodiment of this implementation manner, the processing unit includes:

[0056] A key point acquisition module, configured to acquire the key points of the target image and / or video;

[0057] A first position determination module, configured to acquire the coordinates of the key points in the panoramic image and / or video, and use the coordinates as the coordinates of the target image and / or video in the panoramic image and / or video.

[0058] In an embodiment of this implementation manner, the key point is the center point of the image and / or video.

[0059] In an embodiment of this implementation manner, the adjustment offset determination sub-module is further configured to determine the moving distance of the corresponding component based on the size of the pen / pen tip image and / or video in the close-up image and / or video;

[0060] The instruction generation unit is further configured to generate an instruction for adjusting and controlling a servo mechanism or a stepping motion mechanism based on the moving distance.

[0061] In an embodiment of the present embodiment, the processing unit is further configured to determine whether a pen / nib exists in the close-up image and / or video collected in real time by the image acquisition unit.

[0062] In an embodiment of the present embodiment, the processing unit is further configured to determine whether the nib is at the center position of the close-up image and / or video.

[0063] In an embodiment of the present embodiment, the processing unit includes:

[0064] A second position determination module, configured to construct a coordinate system based on the close-up image and / or video, and further determine the coordinates of the nib;

[0065] A judgment module, configured to judge whether the nib is at the center position of the close-up image and / or video based on the coordinates of the nib;

[0066] A storage / transmission module, configured to store and / or transmit the close-up image and / or video when the judgment result is yes.

[0067] In an embodiment of the present embodiment, the processing unit is further configured to determine the coordinates of the close-up image and / or video in the panoramic image and / or video;

[0068] The adjustment offset determination sub-module is further configured to determine an offset that can enable the image acquisition unit to acquire a close-up image of the nib during user writing / drawing based on the coordinates of the nib and the coordinates of the close-up image and / or video.

[0069] In an embodiment of the present embodiment, the image acquisition unit for acquiring a close-up image and / or video includes an optical zoom lens.

[0070] In a second aspect of the embodiment of the present invention, a pen movement process display and recording system is provided, wherein the system includes the pen movement process display and recording device as described in any one of the preceding items, and further includes at least one receiving device communicatively connected to the pen movement process display and recording device;

[0071] The at least one receiving device is configured to receive an image and / or video from the pen movement process display and recording device and display it in a display area corresponding to the corresponding acquisition area on the screen of the receiving device.

[0072] In one embodiment of the present embodiment, it further includes a remote control or a network control device, which can control the servo mechanism or the stepper motion mechanism and / or the electric pan-tilt based on the operations performed by the user according to the images and / or videos displayed in the display area, so as to control the corresponding image acquisition unit to align the required acquisition object area at an appropriate angle, distance, and image and / or video acquisition parameters.

[0073] The writing process display and recording device and system according to the embodiment of the present invention can simultaneously acquire the panoramic view during calligraphy and painting and the close-up view during the writing process, enabling students to better observe and learn the writing techniques and skills, and thus more comprehensively master the learning essentials. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] By reading the following detailed description with reference to the accompanying drawings, the above and other objects, features, and advantages of the exemplary embodiments of the present invention will become readily understood. In the drawings, several embodiments of the present invention are shown by way of example and not limitation, wherein:

[0075] Figure 1 is a schematic diagram showing an example structure of a writing process display and recording device according to an embodiment of the present disclosure;

[0076] Figure 2 is a schematic diagram showing another example structure of a writing process display and recording device according to an embodiment of the present disclosure;

[0077] Figure 3 is a schematic diagram showing another example structure of a writing process display and recording device according to an embodiment of the present disclosure;

[0078] Figure 4 is a top view schematically showing an example structure of a writing process display and recording device according to an embodiment of the present disclosure including a second bracket;

[0079] Figure 5 is a schematic diagram showing another example structure of a writing process display and recording device according to an embodiment of the present disclosure;

[0080] Figure 6 is a schematic diagram showing yet another example structure of a writing process display and recording device according to an embodiment of the present disclosure;

[0081] In the drawings, the same or corresponding reference numerals indicate the same or corresponding parts. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0082] In the following, exemplary embodiments of the present disclosure will be described in conjunction with the accompanying drawings. For clarity and conciseness, not all features of the actual embodiments are described in the specification. However, it should be understood that many implementation-specific decisions must be made during the development of any such actual embodiment in order to achieve the specific goals of the developer, for example, to comply with those limitations related to the system and business, and such limitations may vary with different embodiments. In addition, it should also be understood that although the development work may be very complex and time-consuming, for those skilled in the art who benefit from the present disclosure, such development work is merely a routine task.

[0083] Here, it should also be noted that, in order to avoid obscuring the present disclosure with unnecessary details, only the device structures and / or processing steps closely related to the claims according to the present disclosure are shown in the drawings, while other details less relevant to the present disclosure are omitted.

[0084] An embodiment of the present disclosure provides a device for displaying and recording a pen writing process, including a connecting member, at least one image acquisition unit disposed on the connecting member, an electric pan-tilt head, a control unit, and a processing unit; wherein the at least one image acquisition unit is at least used to acquire panoramic images and / or videos and / or close-up images and / or videos at the pen tip during the pen writing process;

[0085] The image acquisition unit for acquiring close-up images and / or videos during the pen writing process is disposed on the electric pan-tilt head;

[0086] The control unit is configured to issue control instructions based on the images and / or videos acquired by the image acquisition unit, so as to control the corresponding components to enable the image acquisition unit disposed on the electric pan-tilt head to acquire close-up images and / or videos at the pen tip during the user's pen writing process;

[0087] The processing unit is configured to store and / or transmit the images from the image acquisition unit.

[0088] It should be noted that in the present disclosure, "A and / or B" should be interpreted as any one of the following three parallel cases: A; B; A and B. For example, "image and / or video" should be understood as any one of "image", "video", and "image and video".

[0089] Figure 1 Schematically shows an example structure of the device according to an embodiment of the present disclosure.

[0090] As Figure 1 shown, the device 100 according to an embodiment of the present disclosure includes a connecting member 1, at least one image acquisition unit 2 disposed on the connecting member 1, an electric pan-tilt head 3, a processing unit 4, and a control unit 5.

[0091] Among them, the connecting member 1 can be, for example, a connecting rod, a connecting bracket or other connecting structures, etc.

[0092] In addition, the material of the connecting member 1 can be, for example, plastic, metal or composite material, etc.

[0093] According to an embodiment of the present disclosure, the connecting member 1 can be a vertical rod or a vertical plate, etc. for being substantially vertically arranged (such as placed, fixed or installed) on an approximately horizontal display table plane (such as a desktop, etc.). In this case, the object displayed by the device 100 is located on the above-mentioned approximately horizontal display table plane. The "approximately horizontal display table plane" means that the display table plane is a horizontal plane or a display table close to the horizontal plane, and "close to the horizontal plane" can be, for example, a plane forming a small angle (such as 5 degrees, 10 degrees or 15 degrees, etc.) with the horizontal plane.

[0094] In addition, according to an embodiment of the present disclosure, the connecting member 1 can also be a horizontal rod or a horizontal plate, etc. for being substantially vertically arranged (such as placed, fixed or installed) on an approximately vertical display table plane (such as a blackboard surface, a wall surface, etc.). In this case, the object displayed by the device 100 is located on the above-mentioned approximately vertical display table plane. The "approximately vertical display table plane" means that the display table plane is a vertical plane or a display table close to the vertical plane, and "close to the vertical plane" can be, for example, a plane forming a small angle (such as 5 degrees, 10 degrees or 15 degrees, etc.) with the vertical plane.

[0095] In addition, as Figure 1 shown, the at least one image acquisition unit 2 provided on the connecting member 1 captures images and / or videos of the corresponding acquisition areas along the corresponding acquisition directions respectively, and is at least used for acquiring a panoramic picture or a close-up picture at the tip of the pen during writing.

[0096] For example, the above-mentioned image acquisition unit 2 can include a camera and an independently variable focal length lens.

[0097] In addition, the image acquisition unit 2 for acquiring close-up images and / or videos during the writing process is arranged on the electric pan-tilt head 3.

[0098] In this way, the above-mentioned image acquisition units 2 send the images and / or videos acquired by them to the processing unit 4, and the processing unit 4 processes and / or stores and / or transmits these images and / or videos.

[0099] The electric pan-tilt head 3 can adjust its attitude under the control of the control unit 5, so that the image acquisition unit 2 arranged thereon acquires appropriate close-up images and / or videos at the tip of the pen during the user's writing process.

[0100] It should be noted that although Figure 1The connection modes between the processing unit 4 and the image acquisition unit 2 and between the pan-tilt head 3 and the control unit 5 in the accompanying drawings are wired connections. However, the embodiments of the present disclosure are not limited thereto. For example, the connection mode between the processing unit 4 and the image acquisition unit 2 may also adopt a wireless connection mode.

[0101] In addition, the writing process display and recording device according to the embodiments of the present disclosure may optionally include an audio acquisition unit (not shown in the figure) for acquiring audio. The audio acquisition unit may be disposed at a predetermined position of the writing process display and recording device, or may move between different positions of the writing process display and recording device, or may be separately disposed from the writing process display and recording device (such as being disposed on the demonstrator), and so on. The connection between the audio acquisition unit and other components (such as the processing unit 4) may be a wired connection or a wireless connection, for example. In addition, the number of audio acquisition units is not limited to one, and may also be multiple. Thus, automatic recording can be performed during the writing process through the audio acquisition unit.

[0102] According to the embodiments of the present disclosure, the audio acquisition unit includes, for example, one or more of the following: a wired microphone; a wireless microphone; a built-in microphone integrated in the image acquisition unit 2; and so on.

[0103] According to the embodiments of the present disclosure, the audio acquired by the above audio acquisition unit is associated with the image and / or video acquired by the above at least one image acquisition unit 2, for example. The audio acquisition unit may, for example, send the audio it acquires to the processing unit 4 for storage and / or transmission in association with the image and / or video acquired by the above at least one image acquisition unit 2, or the audio acquisition unit may also synthesize the audio it acquires with the image and / or video acquired by the above at least another image acquisition unit 2 into a data stream and send it to the processing unit 4 for storage and / or transmission.

[0104] For example, the processing unit 4 may include a storage module and a communication module at the same time to implement storage and transmission processing of the image and / or video received by the above at least one image acquisition unit 2 (which may optionally include the audio acquired by the audio acquisition unit). It should be noted that in other examples, the processing unit 4 may also include only the above storage module or only the above communication module, which will not be elaborated here.

[0105] According to the embodiments of the present disclosure, the connecting member 1 can be telescopic. For example, in Figure 1 the example shown, one or more image acquisition units 2 or pan-tilt heads 3 may be installed on the telescopic part of the connecting member 1. In this way, the above one or more image acquisition units 2 or pan-tilt heads 3 can change their positions along with the telescopic movement of the telescopic part of the connecting member 1.

[0106] According to an embodiment of the present disclosure, some or all of the image acquisition units 2 may be indirectly mounted on the connecting member 1 through other connecting components respectively.

[0107] Figure 2 And Figure 3 respectively show schematic diagrams of two other example structures of the pen movement process display and recording device according to an embodiment of the present disclosure.

[0108] As Figure 2 shown, some of the image acquisition units 2 and / or the electric pan-tilt 3 included in the pen movement process display and recording device according to an embodiment of the present disclosure are indirectly mounted on the connecting member 1 through the first bracket (as an example of the above-mentioned other connecting components) shown in the figure.

[0109] As Figure 3 shown, all (two) of the image acquisition units 2 included in the pen movement process display and recording device according to an embodiment of the present disclosure are indirectly mounted on the connecting member 1 through the corresponding first brackets (as an example of the above-mentioned other connecting components). At this time, the image acquisition unit 2 directly mounted on the electric pan-tilt 3 is indirectly mounted on the connecting member 1 by being mounted on the first bracket through the electric pan-tilt 3.

[0110] It should be understood that the relative position relationship and relative direction between the respective image acquisition units 2 are not limited to those described in the above embodiments, and may also be other relative positions and relative directions.

[0111] According to an embodiment of the present disclosure, the position of the image acquisition unit 2 relative to the connecting member 1 may be fixed or changeable. For example, for the image acquisition unit 2 directly mounted on the connecting member 1, the position change relative to the connecting member 1 can be achieved by moving on the connecting member 1; another example is that for the image acquisition unit 2 indirectly mounted on the connecting member 1 through other connecting components (such as the first bracket or the electric pan-tilt), the position change relative to the connecting member 1 can be achieved by moving other components on the above-mentioned other connecting components on the connecting member 1.

[0112] According to an embodiment of the present disclosure, among the above at least two image acquisition units 2, the positions of some or all of the image acquisition units 2 change relative to the connecting member 1.

[0113] For example, for the image acquisition unit 2 directly mounted on the connecting member 1 among the above-mentioned "some or all of the image acquisition units 2", its position change relative to the connecting member 1 can be achieved by moving on the connecting member 1.

[0114] According to an embodiment of the present disclosure, among the at least two image acquisition units 2 described above, the horizontal angle and / or the pitch angle of some or all of the image acquisition units 2 are changed. For example, some or all of the above-mentioned image acquisition units 2 can be adjusted in terms of the horizontal angle and / or the pitch angle through a device such as a pan-tilt head.

[0115] According to an embodiment of the present disclosure, at least one adjustment component can be provided on the connecting member 1. The adjustment component is, for example, a component having a position adjustment function such as a stepper motion mechanism or a servo mechanism. At least one of the at least two image acquisition units 2 can be respectively arranged on at least one adjustment component. In other words, one image acquisition unit 2 can be respectively arranged on each adjustment component on the connecting member 1.

[0116] Among all the adjustment components on the connecting member 1, for example, at least one adjustment component can have a changeable position on the connecting member 1.

[0117] Among all the adjustment components on the connecting member 1, for example, at least one adjustment component can have a changeable position of the image acquisition unit 2 on the corresponding adjustment component.

[0118] Among all the adjustment components on the connecting member 1, for example, at least one adjustment component can be telescopic.

[0119] Among all the adjustment components on the connecting member 1, for example, at least one adjustment component respectively includes a first bracket, and the image acquisition units 2 on the at least one adjustment component are respectively arranged on the corresponding first brackets. Among them, the first bracket can be, for example, a cross bar.

[0120] It should be noted that the "at least one adjustment component" respectively defined in the above examples are independent of each other. That is to say, the "at least one adjustment component" respectively defined in the examples can be partially or completely the same, or can be completely different. For example, among all the adjustment components on the connecting member 1, there are m1 adjustment components with a changeable position on the connecting member 1, and the "m1 adjustment components" can be the same or completely different from each other.

[0121] Figure 4 A schematic diagram of another exemplary structure of the writing process display and recording device according to an embodiment of the present disclosure is given.

[0122] As Figure 4As shown, in the writing process display and recording device 400 according to an embodiment of the present disclosure, when at least one adjusting component is provided on the connecting member 1 and at least one of all the adjusting components includes a first bracket, a second bracket may be respectively provided on part or all of the first brackets, and the corresponding image acquisition unit 2 or the electric pan-tilt head 3 is provided on the corresponding second bracket. The second bracket may be, for example, a cross bar.

[0123] Among all the adjusting components on the connecting member 1, for example, at least one second bracket may have a variable position on the first bracket where it is located.

[0124] Among all the adjusting components on the connecting member 1, for example, the image acquisition unit 2 on at least one second bracket may have a variable position on the corresponding second bracket.

[0125] Among all the adjusting components on the connecting member 1, for example, at least one second bracket may be telescopic.

[0126] Figure 4 An example structure including a second bracket of the writing process display and recording device according to an embodiment of the present disclosure is shown, and Figure 4 is a top view of this example structure. In Figure 4 the shown example, two first brackets are provided on the connecting member 1. An image acquisition unit 2 is connected to one of the first brackets, and a second bracket is provided on the other first bracket, and another image acquisition unit 2 is connected to the second bracket.

[0127] According to an embodiment of the present disclosure, the connecting member 1 may include an acquisition object fixing device adapted to fix a planar medium and / or a three-dimensional article. The acquisition object fixing device may be, for example, a clamp provided on the connecting member 1 or other components capable of fixing paper.

[0128] Figure 5 A schematic diagram of another example structure of the writing process display and recording device according to an embodiment of the present disclosure is given.

[0129] As Figure 5 shown, in addition to including the connecting member 1, the image acquisition unit 2, the electric pan-tilt head 3, the processing unit 4, and the control unit 5, the writing process display and recording device 500 according to an embodiment of the present disclosure may further include a base 6, and one end of the connecting member 1 is provided on the base 6. Additionally, it should be noted that the processing unit 4 and the control unit 5 are integrated together, as Figure 5 shown, or the processing unit 4 and the control unit 5 may also be separately provided, and the embodiments of the present disclosure do not limit this.

[0130] The connection between the connecting member 1 and the base 6 may be, for example, a fixed connection or a detachable connection.

[0131] The position of one end of the connecting member 1 on the base 6 can be changed or unchanged, for example.

[0132] According to an embodiment of the present disclosure, the base 6 and / or the connecting member 1 may include an acquisition object fixing device adapted to fix a planar medium and / or a three-dimensional object. In other words, the pen movement display and recording device 500 may include an acquisition object fixing device, which may be provided on the base 4, or on the connecting member 1, or may be partially provided on the base 6 and partially provided on the connecting member 1.

[0133] According to an embodiment of the present disclosure, the pen movement display and recording device may further include a connecting member fixing device adapted to fix the connecting member 1 in a direction substantially perpendicular to the plane where the acquisition object is located. The plane where the acquisition object is located may be, for example, the approximate horizontal display table plane or the approximate vertical display table plane described above. The connecting member fixing device may be, for example, an adhesive, an adsorption connecting member, or a suspension connecting member, etc.

[0134] According to an embodiment of the present disclosure, the number of the connecting members 1 may be at least two. Among them, the above at least two connecting members 1 may have the same structure or different structures. In addition, the above at least two connecting members 1 may be independently separated from each other, or may be partially or entirely connected to each other. In the case of including the base 6, the above at least two connecting members 1 may also be partially or entirely provided on the base 6, as Figure 6 shown.

[0135] According to an embodiment of the present disclosure, there may be one image acquisition unit 2 whose acquisition direction is directly opposite to the plane where the acquisition object is located.

[0136] According to an embodiment of the present disclosure, there may be at least one image acquisition unit 2 whose acquisition direction forms an acute angle with the plane where the acquisition object is located.

[0137] It should be noted that among the above at least two image acquisition units 2, there may also be an image acquisition unit 2 whose acquisition direction is directly opposite to the plane where the acquisition object is located and at least one image acquisition unit 2 whose acquisition direction forms an acute angle with the plane where the acquisition object is located at the same time.

[0138] In addition, the pen movement display and recording device according to an embodiment of the present disclosure may further include one or more servo mechanisms or stepping motion mechanisms adapted to realize position adjustment and / or telescopic adjustment of one or more components of the pen movement display and recording device, where the one or more components include any one or more of the following components: the connecting member 1; one or more of the at least one image acquisition unit 2; the electric pan-tilt head 3; one or more of the at least one adjustment component on the connecting member 1; the first bracket on the adjustment component; the second bracket on the first bracket.

[0139] It should be noted that the adjustment components (such as servo mechanisms, stepper motion mechanisms, and electric pan-tilt heads) in the above embodiments can all move or rotate under the control of the control unit 5 to change the positional relationship between the image carried by it and the acquisition unit 2 relative to the acquisition object.

[0140] In an embodiment of the present embodiment, the device may include only one image acquisition unit 2. The image acquisition unit 2 can initially acquire panoramic images and / or videos or randomly rotate the electric pan-tilt head 3 (or rotate the electric pan-tilt head 3 according to prior experience), detect the pen or pen tip from the close-up images and / or videos acquired by rotating the electric pan-tilt head 3, and then determine the position of the pen or pen tip in the images and / or videos based on the images and / or videos, and then perform tracking based on the pen tip position to acquire a close-up image of the pen tip.

[0141] Alternatively, the device may also include two image acquisition units. One of them is arranged on the electric pan-tilt head and is used to acquire close-up images and / or videos of the pen or pen tip; the other image acquisition unit is used to acquire panoramic images and / or videos. The image acquisition unit for acquiring panoramic images and / or videos can be fixedly arranged on the connecting member or the adjustment component in the above embodiments, and the present embodiment does not make any limitation in this regard.

[0142] Therefore, in each of the above embodiments, the processing unit is further configured to determine relevant position information based on the panoramic images and / or videos and / or close-up images and / or videos acquired in real time by the image acquisition unit.

[0143] Specifically, the processing unit first acquires a panoramic or close-up image and / or video acquired by an image acquisition unit 2, then identifies the pen / pen tip therein, and further determines the position information of the pen / pen tip in the image and / or video. For the position information of the pen / pen tip in the image and / or video, the processing unit 3 can construct a coordinate system based on the image and / or video, and further determine the coordinates of the pen tip in the image and / or video. Specifically, taking the pen / pen tip as the target object, key points of the target image and / or video are acquired. For the pen, the center point of its image and / or video can be used as the key point, or the vertex of the pen tip can be used as the key point. Then, the coordinates of the key point in the image and / or video are acquired, and the coordinates are used as the coordinates of the target image and / or video in the image and / or video. For example, a 1000*1000 two-dimensional coordinate system is established based on the image and / or video, and the coordinate of the center point a of the pen in the coordinate system is (400, 640), then the coordinates of point a can be used as the coordinates of the pen or pen tip in the image and / or video.

[0144] After obtaining the position information of the pen tip, the adjustment component of the image acquisition unit for carrying and acquiring close-up images and / or videos can be adjusted.

[0145] In an embodiment of the present embodiment, after obtaining the coordinates of the pen or pen tip in the image and / or video, adjustment control can be performed based on parameters such as the current attitude and position of the electric pan-tilt head 3, so that the image acquisition unit 2 carried thereon can acquire close-up images and / or videos with the pen or pen tip as the center of the image and / or video. It can be understood that in this solution, the image acquisition unit with a relatively fixed position relationship is more conducive to implementing this solution. For example, the device includes an image acquisition unit 2 and an electric pan-tilt head 3, and both the image acquisition unit 2 and the electric pan-tilt head 3 are fixedly installed on the connecting member 1. At this time, only the attitude of the electric pan-tilt head can be adjusted (that is, only the horizontal angle and pitch angle of one image acquisition unit can be changed). Then, after determining the coordinates of the pen or pen tip in the panoramic image and / or video, only the adjustment control parameters need to be determined according to the current attitude (horizontal angle and pitch angle) of the pan-tilt head.

[0146] In addition, for devices with relatively variable position relationships (including devices with servo mechanisms or stepper motion mechanisms), in an embodiment of the present embodiment (this solution includes two image acquisition units 2), after obtaining the coordinates of the pen or pen tip in the panoramic image and / or video, the coordinates of the close-up image and / or video in the panoramic image and / or video can be further obtained. For how to obtain the coordinates of the close-up image and / or video in the panoramic image and / or video, reference can be made to the method for determining the coordinates of the pen or pen tip in the panoramic image and / or video in the above embodiment, and this embodiment will not be repeated here. It should be noted that for the selection of key points in the close-up image and / or video, the most recognizable image and / or video feature points can be selected as key points, or key points can be constructed based on the most recognizable image and / or video features. For example, if the panoramic image and / or video shows the entire desktop during calligraphy or painting, and the close-up image and / or video shows a corner of the desktop (including the desktop and the stationery on the desktop), then the stationery can be used as the basis for selecting key points.

[0147] After obtaining the position information (including the coordinates of the pen or pen tip in the panoramic image and / or video and the coordinates of the close-up image and / or video in the panoramic image and / or video), based on the position information, an adjustment control instruction is generated (at least adjusting and controlling one of the electric pan-tilt head, servo mechanism, and stepper motion mechanism) to enable the close-up image acquisition unit to acquire a close-up picture of the pen tip during the pen movement that meets the requirements.

[0148] Specifically, based on the coordinates at the pen tip and the coordinates in the close-up image and / or video, an offset (which may include the horizontal angle and / or pitch angle adjustment angles of the electric pan-tilt and / or the movement distance of the servo mechanism or stepper motion mechanism) that enables the close-up image acquisition unit to capture a close-up view of the pen tip during user writing / drawing is determined, and then a corresponding adjustment control instruction is generated based on the offset.

[0149] Considering that before adjusting the electric pan-tilt and / or the servo mechanism or stepper motion mechanism, the close-up image and / or video captured by the image acquisition unit may meet the requirements. Therefore, in an embodiment of the present implementation manner, first, it is determined whether there is a pen / pen tip in the close-up image and / or video captured by the image acquisition unit in real time. If so, the close-up image and / or video are stored and / or transmitted. Specifically, a coordinate system is constructed based on the close-up image and / or video, and further, the coordinates of the pen tip in the close-up image and / or video are determined, and then it is determined whether the coordinates are within a preset threshold range (which may be the coordinate range of the central area of the close-up image and / or video).

[0150] In addition, considering that if the position of the electric pan-tilt in the device is variable, even if there is a pen or pen tip in the central area of the close-up image and / or video, it may not meet the requirements. For example, the size of the pen or pen tip does not meet the preset regulations. At this time, the movement distance of the corresponding component (the servo mechanism or stepper motion mechanism that may affect the position of the electric pan-tilt) is determined based on the size of the pen / pen tip image and / or video in the close-up image and / or video, and then an instruction for adjusting and controlling the servo mechanism or stepper motion mechanism is generated based on the movement distance.

[0151] In the above examples, the following technical solutions are disclosed:

[0152] In an embodiment of the present implementation manner, the processing unit is further configured to determine relevant position information based on the panoramic image and / or video and / or close-up image and / or video captured by the image acquisition unit in real time;

[0153] The control unit includes:

[0154] An instruction generation module, configured to generate an adjustment control instruction based on the position information, so that the close-up image acquisition unit can capture a close-up view of the pen tip during the pen movement that meets the requirements.

[0155] In an embodiment of the present implementation manner, the adjustment control instruction at least adjusts and controls one of the electric pan-tilt, the servo mechanism, and the stepper motion mechanism.

[0156] In one embodiment of the present embodiment, the processing unit is further configured to construct a coordinate system based on the panoramic image and / or video, and further determine the coordinates of the pen tip in the panoramic image and / or video;

[0157] The instruction generation module includes:

[0158] An offset adjustment determination sub-module, configured to determine an offset that can enable the image acquisition unit to capture a close-up image of the pen tip during user writing / drawing based on the coordinates of the pen tip;

[0159] An instruction generation sub-module, configured to generate a corresponding adjustment control instruction based on the offset.

[0160] In one embodiment of the present embodiment, the processing unit includes:

[0161] A key point acquisition module, configured to acquire key points of the target image and / or video;

[0162] A first position determination module, configured to acquire the coordinates of the key points in the panoramic image and / or video, and use the coordinates as the coordinates of the target image and / or video in the panoramic image and / or video.

[0163] In one embodiment of the present embodiment, the key point is the center point of the image and / or video.

[0164] In one embodiment of the present embodiment, the offset adjustment determination sub-module is further configured to determine the moving distance of the corresponding component based on the size of the pen / pen tip image and / or video in the close-up image and / or video;

[0165] The instruction generation unit is further configured to generate a corresponding instruction for adjusting a control servo mechanism or a stepper motion mechanism based on the moving distance.

[0166] In one embodiment of the present embodiment, the processing unit is further configured to determine whether a pen / pen tip exists in the close-up image and / or video captured by the image acquisition unit in real time.

[0167] In one embodiment of the present embodiment, the processing unit is further configured to determine whether the pen tip is at the center position of the close-up image and / or video.

[0168] In one embodiment of the present embodiment, the processing unit includes:

[0169] A second position determination module, configured to construct a coordinate system based on the close-up image and / or video, and further determine the coordinates of the pen tip;

[0170] A judgment module, configured to judge whether the nib is at the center position of the close-up image and / or video based on the coordinates of the nib;

[0171] A storage / transmission module, configured to store and / or transmit the close-up image and / or video when the judgment result is yes.

[0172] In an embodiment of the present embodiment, the processing unit is further configured to determine the coordinates at the close-up image and / or video in the panoramic image and / or video;

[0173] The adjustment offset determination sub-module is further configured to determine an offset that can enable the image acquisition unit to acquire a close-up image of the nib when the user is writing / drawing based on the coordinates at the nib and the coordinates at the close-up image and / or video.

[0174] In addition, it can be understood that the image acquisition unit may include an optical zoom lens to conveniently magnify or reduce the acquired image and / or video without loss.

[0175] In addition, an embodiment of the present invention further provides a writing process display and recording system, which includes the writing process display and recording device as described above, and further includes at least one receiving device communicatively connected to the writing process display and recording device; wherein, the writing process display and recording device may have the structure and function of any writing process display and recording device described in the above embodiments or their combinations, and can achieve similar technical effects, which will not be elaborated here. The at least one receiving device is configured to receive the image and / or video from the writing process display and recording device and display it in a display area corresponding to the corresponding acquisition area on the screen of the receiving device.

[0176] Among them, different display areas may be discrete screens. Alternatively, they may also be different display areas on the same screen.

[0177] According to an embodiment of the present invention, the writing process display and recording system may further include a remote control or a network control device, for example. The remote control or the network control device can control the servo mechanism and / or the stepping motion mechanism and / or the electric pan-tilt based on the operations performed by the user according to the image and / or video displayed in the display area, so as to control the corresponding image acquisition unit to align the required acquisition object area at an appropriate angle, distance, and image and / or video acquisition parameters.

[0178] In summary, in the embodiments according to the present disclosure, the present disclosure provides the following solutions, but not limited thereto:

[0179] 1. An apparatus for displaying and recording a pen writing process, comprising a connecting member, at least one image acquisition unit disposed on the connecting member, an electric pan-tilt head, a control unit, and a processing unit; wherein the at least one image acquisition unit is at least used for acquiring panoramic images and / or videos and / or close-up images and / or videos at the pen tip during the pen writing process;

[0180] The image acquisition unit for acquiring close-up images and / or videos during the pen writing process is disposed on the electric pan-tilt head;

[0181] The control unit is configured to issue control instructions based on the images and / or videos acquired by the image acquisition unit, so as to control the corresponding components to enable the image acquisition unit disposed on the electric pan-tilt head to acquire close-up images and / or videos at the pen tip during the user's pen writing process;

[0182] The processing unit is configured to store and / or transmit the images and / or videos from the image acquisition unit.

[0183] 2. The apparatus according to Scheme 1, wherein the connecting member can be telescoped under the control of the control unit; and / or

[0184] The at least one image acquisition unit can change its position on the connecting member under the control of the control unit; and / or

[0185] The electric pan-tilt head can change the horizontal angle and / or the pitch angle of the image acquisition unit disposed on the electric pan-tilt head under the control of the control unit.

[0186] 3. The apparatus according to Scheme 2, wherein the connecting member is provided with at least one adjusting member, and the electric pan-tilt head and the image acquisition unit not disposed on the electric pan-tilt head are respectively disposed on the at least one adjusting member; wherein:

[0187] At least one adjusting member can change its position on the connecting member under the control of the control unit; and / or

[0188] The image acquisition unit on at least one adjusting member can change its position on the adjusting member under the control of the control unit; and / or

[0189] At least one adjusting member can be telescoped under the control of the control unit; and / or

[0190] At least one adjusting member includes a first bracket, and the image acquisition unit or the electric pan-tilt head on the adjusting member is disposed on the corresponding first bracket.

[0191] 4. The device according to Scheme 3, wherein at least one adjusting member provided with a first bracket further includes a second bracket provided on the first bracket, and the corresponding image acquisition unit or the electric pan-tilt head is provided on the second bracket; wherein:

[0192] At least one second bracket can change its position on the first bracket under the control of the control unit; and / or

[0193] The image acquisition unit or the electric pan-tilt head on at least one second bracket can change its position on the second bracket under the control of the control unit; and / or

[0194] At least one second bracket can be telescoped under the control of the control unit.

[0195] 5. The device according to any one of Schemes 1-4, wherein the connecting member includes an acquisition object fixing device adapted to fix a planar medium and / or a three-dimensional article.

[0196] 6. The device according to any one of Schemes 1-5, wherein the device further includes a base, and one end of the connecting member is provided on the base; wherein:

[0197] The connection between the connecting member and the base is a fixed connection or a detachable connection; and / or

[0198] The position of one end of the connecting member on the base can or cannot be changed under the control of the control unit; and / or

[0199] The base and / or the connecting member includes an acquisition object fixing device adapted to fix a planar medium and / or a three-dimensional article.

[0200] 7. The device according to any one of Schemes 1-6, further including a connecting member fixing device adapted to fix the connecting member in a direction substantially perpendicular to the plane where the acquisition object is located.

[0201] 8. The device according to any one of Schemes 1-7, wherein the number of the connecting members is at least two.

[0202] 9. The device according to any one of Schemes 1-8, wherein:

[0203] The acquisition direction of at least one image acquisition unit is directly opposite to the plane where the acquisition object is located; and / or

[0204] The acquisition direction of at least one image acquisition unit forms an acute angle with the plane where the acquisition object is located.

[0205] 10. The device according to any one of Solutions 1-19, wherein the device further comprises one or more servo mechanisms adapted to effect position adjustment and / or telescopic adjustment of one or more component parts of the device, wherein the one or more component parts include any one or more of the following parts:

[0206] The connecting member;

[0207] The electric pan-tilt head;

[0208] The at least one image acquisition unit;

[0209] One or more of the at least one adjustment member on the connecting member;

[0210] The first bracket on the adjustment member;

[0211] The second bracket on the first bracket.

[0212] 11. The device according to any one of Solutions 1-10, wherein the device further comprises one or more stepping motion mechanisms adapted to effect position adjustment and / or telescopic adjustment of one or more component parts of the device, wherein the one or more component parts include any one or more of the following parts:

[0213] The connecting member;

[0214] The electric pan-tilt head;

[0215] The at least one image acquisition unit;

[0216] One or more of the at least one adjustment member on the connecting member;

[0217] The first bracket on the adjustment member;

[0218] The second bracket on the first bracket.

[0219] 12. The device according to any one of Solutions 1-11, wherein the device further comprises:

[0220] An audio acquisition unit for acquiring audio to be sent to the processing unit for storage and / or transmission of the audio.

[0221] 13. The device according to any one of Solutions 1-12, wherein the processing unit is further configured to determine relevant position information based on panoramic images and / or videos and / or close-up images and / or videos acquired in real time by the image acquisition unit;

[0222] The control unit includes:

[0223] An instruction generation module, configured to generate an adjustment control instruction based on the position information, so that the close-up image acquisition unit can acquire a close-up picture of the pen tip during the writing process that meets the requirements.

[0224] 14. The device according to scheme 13, wherein the adjustment control instruction at least adjusts and controls one of an electric pan-tilt head, a servo mechanism, and a stepper motion mechanism.

[0225] 15. The device according to scheme 14, wherein the processing unit is further configured to construct a coordinate system based on the panoramic image and / or video, and further determine the coordinates of the pen tip in the panoramic image and / or video;

[0226] The instruction generation module includes:

[0227] An adjustment offset determination sub-module, configured to determine an offset that can enable the image acquisition unit to acquire a close-up picture of the pen tip when the user is writing / drawing based on the coordinates of the pen tip;

[0228] An instruction generation sub-module, configured to generate a corresponding adjustment control instruction based on the offset.

[0229] 16. The device according to scheme 15, wherein the processing unit includes:

[0230] A key point acquisition module, configured to acquire key points of a target image and / or video;

[0231] A first position determination module, configured to acquire the coordinates of the key points in the panoramic image and / or video, and use the coordinates as the coordinates of the target image and / or video in the panoramic image and / or video.

[0232] 17. The device according to scheme 16, wherein the key point is the center point of the image and / or video.

[0233] 18. The device according to scheme 15, wherein the adjustment offset determination sub-module is further configured to determine the moving distance of a corresponding component based on the size of the pen / pen tip image and / or video in the close-up image and / or video;

[0234] The instruction generation unit is further configured to generate an instruction for adjusting and controlling the servo mechanism or the stepper motion mechanism based on the moving distance.

[0235] 19. The device according to scheme 9, wherein the processing unit is further configured to determine whether there is a pen / pen tip in the close-up image and / or video collected by the image acquisition unit in real time.

[0236] 20. The device according to Scheme 19, wherein the processing unit is further configured to determine whether the pen tip is at the center position of the close-up image and / or video.

[0237] 21. The device according to Scheme 20, wherein the processing unit includes:

[0238] A second position determination module, configured to construct a coordinate system based on the close-up image and / or video, and further determine the coordinates of the pen tip;

[0239] A judgment module, configured to judge whether the pen tip is at the center position of the close-up image and / or video based on the coordinates of the pen tip;

[0240] A storage / transmission module, configured to store and / or transmit the close-up image and / or video when the judgment result is yes.

[0241] 22. The device according to Scheme 15, wherein the processing unit is further configured to determine the coordinates at the close-up image and / or video in the panoramic image and / or video;

[0242] The adjustment offset determination sub-module is further configured to determine an offset that can enable the image acquisition unit to acquire a close-up image of the pen tip when the user is writing / drawing based on the coordinates at the pen tip and the coordinates at the close-up image and / or video.

[0243] 23. The device according to Scheme 1, wherein the image acquisition unit for acquiring the close-up image and / or video includes an optical zoom lens.

[0244] A writing stroke display and recording system, wherein the system includes the writing stroke display and recording device according to any one of Schemes 1-12, and further includes at least one receiving device communicatively connected to the writing stroke display and recording device;

[0245] The at least one receiving device is configured to receive the image and / or video from the writing stroke display and recording device and display it in a display area corresponding to the corresponding acquisition area on the screen of the receiving device.

[0246] 25. The writing stroke display and recording system according to Scheme 24, further including a remote controller or a network control device, which can control the servo mechanism or the stepping motion mechanism and / or the electric pan-tilt head based on the operations of the user according to the image and / or video displayed in the display area, so as to control the corresponding image acquisition unit to align with the required acquisition object area at an appropriate angle, distance, and image and / or video acquisition parameters.

Claims

1. A pen movement process display and recording device, characterized in that It includes a connecting piece, at least one image acquisition unit arranged on the connecting piece, a motorized pan-tilt, a control unit and a processing unit; wherein the at least one image acquisition unit includes a first image acquisition unit and a second image acquisition unit, the first image acquisition unit is used to acquire panoramic images and / or videos during the pen writing process, and the second image acquisition unit is used to acquire close-up images and / or videos at the pen tip during the pen writing process; The second image acquisition unit for acquiring close-up images and / or videos during the pen writing process is arranged on the motorized pan-tilt; The control unit is configured to issue an adjustment control instruction based on the acquired panoramic images and / or videos and / or close-up images and / or videos, so as to control the corresponding components to enable the second image acquisition unit arranged on the motorized pan-tilt to acquire close-up images and / or videos at the pen tip during the user's pen writing process; The processing unit is configured to store and / or transmit the panoramic images and / or videos and the close-up images and / or videos; The processing unit is further configured to determine relevant position information based on the panoramic images and / or videos real-time acquired by the first image acquisition unit and / or the close-up images and / or videos real-time acquired by the second image acquisition unit, and the relevant position information includes the position information of the pen or the pen tip; The control unit includes: an instruction generation module configured to generate the adjustment control instruction based on the position information, so that the second image acquisition unit can acquire a close-up picture of the pen tip during the pen writing process that meets the requirements; The processing unit is further configured to judge whether there is a pen / pen tip in the close-up images and / or videos real-time acquired by the second image acquisition unit; if so, store and / or transmit the close-up images and / or videos; If not, the processing unit is further configured to construct a coordinate system based on the panoramic images and / or videos, and further determine the coordinates of the pen tip in the panoramic images and / or videos; After obtaining the coordinates of the pen tip in the panoramic images and / or videos, obtain the coordinates of the close-up images and / or videos in the panoramic images and / or videos; the coordinates of the close-up images and / or videos in the panoramic images and / or videos are determined based on the key points in the close-up images and / or videos, and the key points in the close-up images and / or videos are the feature points of the most recognizable images and / or videos in the close-up images and / or videos; the key points include the desktop or the stationery on the desktop; The instruction generation module includes: An adjustment offset determination sub-module configured to determine an offset that can enable the second image acquisition unit to acquire a close-up picture of the pen tip during the user's writing / drawing based on the coordinates of the pen tip and the coordinates of the close-up images and / or videos; An instruction generation sub-module configured to generate a corresponding adjustment control instruction based on the offset; 2. The device according to claim 1, wherein The connecting piece can be telescoped under the control of the control unit; and / or The at least one image acquisition unit can change its position on the connecting piece under the control of the control unit; and / or The electric pan-tilt can, under the control of the control unit, change the horizontal angle and / or the pitch angle of the image acquisition unit disposed on the electric pan-tilt.

3. The device according to claim 2, wherein The connecting member is provided with at least one adjusting member, and the electric pan-tilt and the image acquisition unit not disposed on the electric pan-tilt are respectively disposed on the at least one adjusting member; wherein: At least one adjusting member can, under the control of the control unit, change its position on the connecting member; and / or The image acquisition unit on at least one adjusting member can, under the control of the control unit, change its position on the adjusting member; and / or At least one adjusting member can, under the control of the control unit, expand and contract; and / or At least one adjusting member includes a first bracket, and the image acquisition unit or the electric pan-tilt on the adjusting member is disposed on the corresponding first bracket.

4. The device according to claim 3, wherein, At least one adjusting member provided with a first bracket further includes a second bracket disposed on its first bracket, and the corresponding image acquisition unit or electric pan-tilt is disposed on the second bracket; wherein: At least one second bracket can, under the control of the control unit, change its position on the first bracket; and / or The image acquisition unit or the electric pan-tilt on at least one second bracket can, under the control of the control unit, change its position on the second bracket; and / or At least one second bracket can, under the control of the control unit, expand and contract.

5. The device according to any one of claims 1-4, wherein, The device further includes a base, and one end of the connecting member is disposed on the base; wherein: The connection between the connecting member and the base is a fixed connection or a detachable connection; and / or The position of one end of the connecting member on the base can or cannot be changed under the control of the control unit; and / or The base and / or the connecting member includes a collection object fixing device, which is suitable for fixing a planar medium and / or a three-dimensional object.

6. The device according to claim 5, further comprising a connecting member fixing device, which is suitable for fixing the connecting member in a direction substantially perpendicular to the plane where the collection object is located.

7. The device according to claim 6, wherein, The number of the connecting members is at least two.

8. The device according to claim 7, wherein: The collection direction of at least one image acquisition unit is directly opposite to the plane where the collection object is located; and / or The collection direction of at least one image acquisition unit forms an acute angle with the plane where the collection object is located.

9. The device according to claim 8, wherein The device further includes one or more servo mechanisms, which are suitable for realizing the position adjustment and / or the expansion and contraction adjustment of one or more components of the device. Among them, the one or more components further include any one or more of the following components: The connecting member; The electric pan-tilt; The at least one image acquisition unit; One or more of the at least one adjusting member on the connecting member; The first bracket on the adjusting member; The second bracket on the first bracket.

10. The device according to claim 9, wherein, The device further includes one or more stepping motion mechanisms, which are suitable for realizing the position adjustment and / or the expansion and contraction adjustment of one or more components of the device. Among them, the one or more components include any one or more of the following components: The connecting member; The electric pan-tilt; The at least one image acquisition unit; One or more of the at least one adjusting member on the connecting member; The first bracket on the adjusting component; The second bracket on the first bracket.

11. The device according to claim 9 or 10, wherein, The device further includes: An audio acquisition unit, configured to acquire audio for sending to the processing unit for storing and / or transmitting the audio.

12. The device according to claim 11, wherein, The adjustment control instruction is used to adjust and control an electric pan-tilt or a servo mechanism or a stepper motion mechanism.

13. The device according to claim 1, wherein The processing unit includes: A key point acquisition module, configured to acquire key points of a target image and / or video; A first position determination module, configured to acquire coordinates of the key points in a panoramic image and / or video, and use the coordinates as coordinates of the target image and / or video in the panoramic image and / or video.

14. The device according to claim 1, wherein The adjustment offset determination sub-module is further configured to determine a moving distance of a corresponding component based on the size of a pen / pen tip image and / or video in the close-up image and / or video; The instruction generation unit is further configured to generate an instruction for adjusting and controlling a servo mechanism or a stepper motion mechanism based on the moving distance.

15. The device according to claim 14, wherein, The processing unit is further configured to determine whether the pen tip is at the center position of the close-up image and / or video.

16. The device according to claim 15, wherein, The processing unit includes: A second position determination module, configured to construct a coordinate system based on the close-up image and / or video, and further determine coordinates of the pen tip; A judgment module, configured to determine whether the pen tip is at the center position of the close-up image and / or video based on the coordinates of the pen tip; A storage / transmission module, configured to store and / or transmit the close-up image and / or video when the judgment result is yes.

17. The device according to claim 1, wherein, The image acquisition unit for acquiring a close-up image and / or video includes an optical zoom lens.

18. A pen movement process display and recording system, wherein, The system includes a pen movement process display and recording device according to any one of claims 1-17, and further includes at least one receiving device communicatively connected to the pen movement process display and recording device; The at least one receiving device is configured to receive an image and / or video from the pen movement process display and recording device and display it in a display area corresponding to a corresponding acquisition area on a screen of the receiving device.

19. The pen movement process display and recording system according to claim 18, further including a remote controller or a network control device, capable of controlling a servo mechanism or a stepper motion mechanism and / or an electric pan-tilt based on an operation of a user according to the image and / or video displayed in the display area, so as to control a corresponding image acquisition unit to align with a required acquisition object area at an appropriate angle, distance, and image and / or video acquisition parameters.

Images