Wireless intelligent wearable device and image acquisition method thereof

Abstract

The present application relates to a wireless intelligent wearable device and an image acquisition method thereof. The device comprises a first part and a second part which can communicate with each other wirelessly. The first part and the second part respectively comprise a first and a second processor, a first and a second wireless communication module, a first and a second camera, a first and a second image acquisition module, and a first and a second clock. The first image acquisition module sends a first hardware trigger signal based on the first clock to the first camera; the second image acquisition module sends a second hardware trigger signal based on the second clock to the second camera. At least one processor causes the first wireless communication module and the second wireless communication module to continuously perform wireless communication with each other and / or wireless communication with a smart device, and determines the clock difference to achieve synchronization of the first and second hardware trigger signals. In this way, the multiple cameras arranged on multiple parts of the device achieve dynamic and accurate synchronization of image shooting and acquisition.

Description

TECHNICAL FIELD

[0001] The present application relates to a wireless device and an image acquisition method, and more particularly, to a wireless smart wearable device and an image acquisition method thereof. BACKGROUND

[0002] Smart wearable devices, such as smart glasses, smart watches, etc., gradually enter people's work and life. These smart wearable devices are connected with each other and other smart devices (such as mobile phones, pads, personal computers, multimedia televisions, etc.) in a wireless manner.

[0003] With the development of user needs, these smart wearable devices are usually provided with multiple cameras at multiple positions (such as the left and right eyeglass parts of smart glasses), and provide various video-related functions, such as augmented reality, virtual reality, panoramic view, etc., which require multiple cameras to synchronously acquire videos or images. However, the current video or image acquisition of each camera has the problem of insufficient synchronization accuracy, so that, for example, if the videos or images acquired by multiple cameras are spliced to generate a panoramic video, image blur, motion ghosting, etc. defects will be generated, affecting the user's experience. SUMMARY

[0004] The present application is provided to solve the technical problems existing in the prior art.

[0005] The present application aims to provide a wireless smart wearable device and an image acquisition method thereof, which can realize dynamic accurate synchronization of image shooting and acquisition of multiple cameras arranged at multiple parts of the wireless smart wearable device in a hardware triggered manner.

[0006] According to a first aspect of the present application, a wireless smart wearable device is provided. The wireless smart wearable device includes a first part and a second part which can wirelessly communicate with each other. The first part includes a first processor, a first wireless communication module, a first camera and a first image acquisition module and has a first clock; the second part includes a second processor, a second wireless communication module, a second camera and a second image acquisition module and has a second clock. The first image acquisition module is configured to trigger the first camera to take a first image and acquire the first image by sending a first hardware trigger signal based on the first clock to the first camera; the second image acquisition module is configured to trigger the second camera to take a second image and acquire the second image by sending a second hardware trigger signal based on the second clock to the second camera. At least one of the first processor and the second processor is configured to, during continuous use of the first image acquisition module and the second image acquisition module, cause the first wireless communication module and the second wireless communication module to perform wireless communication with each other and / or wireless communication with a smart device, and determine a clock difference of the first wireless communication module and the second wireless communication module in performing the wireless communication, which is used to realize synchronization of the first hardware trigger signal and the second hardware trigger signal.

[0007] According to a second aspect of the present application, an image acquisition method of a wireless smart wearable device is provided. The wireless smart wearable device includes a first part and a second part which can wirelessly communicate with each other. The first part includes a first processor, a first wireless communication module, a first camera and a first image acquisition module and has a first clock; the second part includes a second processor, a second wireless communication module, a second camera and a second image acquisition module and has a second clock. The image acquisition method includes the following steps. During continuous use of the first image acquisition module and the second image acquisition module, the first wireless communication module and the second wireless communication module are caused to perform wireless communication with each other and / or wireless communication with a smart device, and a clock difference of the first wireless communication module and the second wireless communication module in performing the wireless communication is determined. A first hardware trigger signal based on the first clock is sent by the first image acquisition module to the first camera to trigger the first camera to take a first image and acquire the first image. A second hardware trigger signal based on the second clock is sent by the second image acquisition module to the second camera to trigger the second camera to take a second image and acquire the second image. The clock difference is used to realize synchronization of the first hardware trigger signal and the second hardware trigger signal.

[0008] By using the wireless smart wearable device and the image acquisition method thereof according to the present application, the multiple cameras arranged at multiple parts of the wireless smart wearable device can realize dynamic and accurate synchronization of image shooting and acquisition in a hardware-triggered manner. BRIEF DESCRIPTION OF DRAWINGS

[0009] In the drawings, which are not necessarily drawn to scale, like numerals can describe similar components in different views. Like numerals having different letter suffixes can represent different instances of the components. The drawings illustrate generally, by way of example, various embodiments of the disclosed devices and methods and are not intended to limit the scope of the disclosed devices or methods in any way, together with the description, and appended claims, making apparent to those skilled in the art the nature of the devices and methods. Wherever possible, the same reference numbers are used in the different drawings to represent the same or similar components. Such embodiments are illustrative rather than limiting, and the disclosure is not intended to be exhaustive or exclusive.

[0010] Figure 1 Fig. 1 shows a structural schematic diagram of a wireless smart wearable device according to a first embodiment of the present application;

[0011] Figure 2 Fig. 2 shows a schematic diagram of a synchronization control mode of image shooting and acquisition of different cameras in a wireless smart wearable device according to a second embodiment of the present application;

[0012] Figure 3 Fig. 3 shows a schematic diagram of a synchronization control mode of image shooting and acquisition of different cameras in a wireless smart wearable device according to a third embodiment of the present application;

[0013] Figure 4 Fig. 4 shows a schematic diagram of a synchronization control mode of image shooting and acquisition of different cameras in a wireless smart wearable device according to a fourth embodiment of the present application;

[0014] Figure 5 Fig. 5 shows a schematic diagram of a synchronization control mode of image shooting and acquisition of different cameras in a wireless smart wearable device according to a fifth embodiment of the present application;

[0015] Figure 6 Fig. 6 shows a timing diagram of a hardware trigger signal for triggering image shooting and acquisition of different cameras according to a sixth embodiment of the present application;

[0016] Figure 7 Fig. 7 shows a flowchart of an image acquisition method of a wireless smart wearable device according to a seventh embodiment of the present application;

[0017] Figure 8 Fig. 8 shows a flowchart of an image acquisition method of a wireless smart wearable device according to an eighth embodiment of the present application;

[0018] Figure 9A timing diagram showing the SOT or EOT signal according to the ninth embodiment of the present application is shown.

[0019] Figure 10 A structural schematic diagram of a wireless smart wearable device according to the tenth embodiment of the present application is shown; and

[0020] Figure 11 A flow chart of an image acquisition method of a wireless smart wearable device according to the eleventh embodiment of the present application is shown. DETAILED DESCRIPTION

[0021] To make the skilled in the art better understand the technical solutions of the present application, the present application is described in detail below in combination with the drawings and specific embodiments. The embodiments of the present application are further described in detail below in combination with the drawings and specific embodiments, but not as a limitation on the present application. The order in which each step is described herein as an example should not be considered as a limitation, and those skilled in the art should know that the order can be adjusted, as long as the logic between them is not destroyed and the whole process cannot be realized. The expressions "first", "second" and "third" in the present application are only intended to describe the difference, and do not mean the limitation on the number and order, nor do they mean the difference in physical properties of the elements, devices and systems immediately following the expressions "first", "second" and "third". For example, "first system on chip" can include a system implemented on a single chip, or one or more systems implemented on multiple chips.

[0022] Figure 1 A structural schematic diagram of a wireless smart wearable device according to the first embodiment of the present application is shown. The wireless smart wearable device can include a first part 101a and a second part 101b which can communicate with each other wirelessly. As an example, a wireless smart glasses device is shown in Figure 1 The first part 101a and the second part 101b can be a left glasses part and a right glasses part, respectively, as an example, but this is only an example. The wireless smart wearable device can adopt other configurations, and can even be formed as an assembly including two or more separate components (devices), as long as each component is provided with a respective camera and the images or videos from the respective cameras need to be synthesized. For example, the wireless smart wearable device can include a wireless smart helmet, a wireless smart bracelet, etc., and can include an assembly of a wireless smart necklace and a wireless smart bracelet, etc.

[0023] The following description will be made with the wireless smart glasses device as an example, and the following description can also be flexibly applied to other configurations of the wireless smart wearable device, which will not be described here.

[0024] As Figure 1and Figure 2 As shown, the first part 101a includes a first processor 102a, a first wireless communication module 103a, a first camera 105a, and a first image acquisition module 104a and has a first clock 106a, and the second part 101b includes a second processor 102b, a second wireless communication module 103b, a second camera 105b, and a second image acquisition module 104b and has a second clock 106b. As an example, the first camera 105a and the second camera 105b are respectively arranged on the left and right sides of the upper beam of the glasses frame, so that the images / video captured can contain as much as possible the peripheral environment information within the user's attention angle. In some embodiments, the first processor 102a, the first wireless communication module 103a, the first image acquisition module 104a, and the first clock 106a are built into the temple of the first part 101a (shown as the right glasses part in Figure 1 ), and the second processor 102b, the second wireless communication module 103b, the second image acquisition module 104b, and the second clock 106b are built into the temple of the second part 101b (shown as the left glasses part in Figure 1 ). Generally, the first part 101a and the second part 101b are wirelessly connected, the first clock 106a and the second clock 106b belong to the two parts respectively, although they can have the same nominal frequency, but they are based on different crystals or crystal oscillators respectively, and the crystals or crystal oscillators often have a certain frequency deviation, for example, within 10ppm, 5ppm, 1ppm. In addition, the starting values of the timers of the first clock 106a and the second clock 106b can also be different.

[0025] In some embodiments, the first clock 106a can belong to the first wireless communication module 103a, and the second clock 106b can belong to the second wireless communication module 103b. For example, if the first wireless communication module 103a is a Bluetooth communication module 103a, the Bluetooth clock built-in can be used as the first clock 106a.

[0026] The first clock 106a can be represented by a first clock counter or a first part clock counter; the second clock 106b can be represented by a second clock counter or a second part clock counter. Since the starting time of the first clock counter and the second clock counter can be different, and even the initial values can be different, in addition, the first clock 106a and the second clock 106b can have a frequency deviation, therefore, at the same time, the first clock counter and the second clock counter are often different. For example, at a certain time, the value of the first clock counter can be 20, and the value of the second clock counter can be 24.

[0027] In some embodiments, as Figure 2As shown, for the first part 101a, the first processor 102a, the first wireless communication module 103a, the first image acquisition module 104a and the first clock 106a are implemented on the same chip, also referred to as being implemented as the same system on chip (hereinafter referred to as the first system on chip), while the first camera 105a is implemented as another independent chip (hereinafter referred to as the second chip). That is, the first camera 105a has an independent clock (timer), even if the set shooting acquisition time is known, the frequency offset between the independent clocks causes the timing difference of the first system on chip and the second chip to be uncontrollable to each other. This will further cause the image shooting acquisition of the first camera 105a and the second camera 105b to be unable to be accurately synchronized.

[0028] The system on chip is also referred to as SOC, for example, various RISC (reduced instruction set computer) processor IPs purchased from ARM Company and the like can be used as the processor of the SOC to perform corresponding functions, so that an embedded system can be implemented. Specifically, there are many modules on the commercially available module (IP), such as but not limited to memory, various communication modules (such as WiFi communication module, Bluetooth communication module, etc.), image acquisition module, buffer, clock, and the like. In some embodiments, the chip manufacturer can also develop customized versions of these modules on the ready-made IP. In addition, other components such as antenna, sensor assembly, speaker, microphone, etc. can be externally connected to the IP. The user can construct an ASIC (application specific integrated circuit) by using the purchased IP or the self-developed module to implement various communication modules, image acquisition modules, etc. in order to reduce power consumption and cost. For example, the user can also use FPGA (field programmable gate array) to implement various communication modules, image acquisition modules, etc. which can be used to verify the stability of the hardware design.

[0029] The first image acquisition module 104a is configured to trigger the first camera 105a to shoot a first image and acquire the first image by sending a first hardware trigger signal S1 based on the first clock 106a to the first camera 105a. The second image acquisition module 104b is configured to trigger the second camera 105b to shoot a second image and acquire the second image by sending a second hardware trigger signal S2 based on the second clock 106b to the second camera 105b. By triggering the shooting of the first camera 105a with the first hardware trigger signal S1 and triggering the shooting of the second camera 105b with the second hardware trigger signal S2 respectively, as long as the first hardware trigger signal S1 and the second hardware trigger signal S2 are simultaneously output from the first image acquisition module 104a and the second image acquisition module 104b side, the image acquisition can be started simultaneously without considering the frequency offset of the clock on the independent chip where the first camera 105a and the second camera 105b are located.

[0030] At least one of the first processor 102a and the second processor 102b is configured to, during the continuous use of the first image acquisition module 104a and the second image acquisition module 104b, make the first wireless communication module 103a and the second wireless communication module 103b perform wireless communication with each other (as shown by the communication signal S3) and / or wireless communication with the smart device (as shown by the communication signal S4), and determine the clock difference of the first wireless communication module 103a and the second wireless communication module 103b in performing the wireless communication, respectively. The dynamic clock difference can be used to realize the synchronization of the first hardware trigger signal S1 and the second hardware trigger signal S2. The so-called "clock difference" can be time2-time1 or time4-time3, which can be seen from the detailed description in the embodiments below.

[0031] Specifically, at least one of the first processor 102a and the second processor 102b can be configured to, during the continuous use of the first image acquisition module 104a and the second image acquisition module 104b, make one of the first wireless communication module 103a and the second wireless communication module 103b send a wireless signal S3 to the other. The difference between the value of the clock timer at the first time when the one sends the wireless signal S3 and the value of the clock counter at the second time when the other receives the wireless signal S3 can be determined as time2-time1. The air time of the two parties sending and receiving the wireless signal S3 to each other can generally be ignored, and the value difference time2-time1 is caused by the initial value and initial counting time difference of the first clock timer and the second clock timer, and the frequency offset between the first clock 106a and the second clock 106b. When the first clock 106a and the second clock 106b are synchronized, time2-time1 will be the same fixed value or approximately the same fixed value. In some embodiments, the difference value of time2-time1 can be used to adjust the second clock 106b, so that the first clock 106a and the second clock 106b are synchronized, so that time2-time1 remains the same fixed value or approximately the same fixed value.

[0032] In some embodiments, at least one of the first processor 102a and the second processor 102b is configured to: during the continuous use of the first image acquisition module 104a and the second image acquisition module 104b, cause the first wireless communication module 103a and the second wireless communication module 103b to each receive a wireless signal S4 from a smart device; determine a value of a clock timer at a third time when the first wireless communication module 103a receives the wireless signal S4, time3, and a value of a clock timer at a fourth time when the second wireless communication module 103b receives the wireless signal S4, time4. The difference between the values time4-time3 is usually caused by the difference between the initial values and initial counting times of the first clock timer and the second clock timer, and the frequency offset between the first clock 106a and the second clock 106b. In some embodiments, the first clock 106a can be synchronized with the wireless clock of the smart device by receiving the wireless signal S4 from the smart device using the first wireless communication module 103a; the second clock 106b can be synchronized with the wireless clock of the smart device by receiving the wireless signal S4 from the smart device using the second wireless communication module 103b; thereby achieving time synchronization between the first clock 106a and the second clock 106b; and thereby making time3-time4 remain a fixed value or an approximately fixed value.

[0033] At least one of the first processor 102a and the second processor 102b can use the difference between the values to synchronize the first hardware trigger signal S1 and the second hardware trigger signal S2. Specifically, the difference between the values (time4-time3 or time2-time1, which can dynamically change) can be considered and compensated for when sending the first hardware trigger signal S1 and the second hardware trigger signal S2, respectively, so that the first hardware trigger signal S1 and the second hardware trigger signal S2 are dynamically and accurately synchronized.

[0034] Further, the numerical difference can also be used to achieve precise synchronization of the wireless transceiver clock between the first part 101a and the second part 101b. The first wireless communication module 103a and the second wireless communication module 103b can adopt various wireless communication modes, such as but not limited to Bluetooth module, WiFi module, UWB module, etc. For example, for the Bluetooth module, through the related processing of the Bluetooth access code or part of the access code of the physical layer, the Bluetooth clock of the Bluetooth module of the first part 101a can be synchronized with the Bluetooth clock of the Bluetooth module of the second part 101b, and the Bluetooth clock is the wireless transceiver clock in the Bluetooth mode. For example, for the WIFI module, according to the WiFi protocol, the WiFi device will receive the beacon sent by the access device at the same time (such as every 50ms, 102.4ms, 500ms, etc.), and the WiFi device can take the time of receiving the beacon as the WiFi clock, that is, the wireless transceiver clock in the WiFi mode. In the above examples, the wireless transceiver clock of the first part 101a can be used as the first clock 106a; and the wireless transceiver clock of the second part 101b can be used as the second clock 106b.

[0035] Figure 3 A schematic diagram showing a synchronization control mode of image shooting and collection of different cameras in a wireless intelligent wearable device according to the third embodiment of the present application is shown. As shown in Figure 3 The first image collection module 104a and the first camera 105a are connected through the first (pair) CSI interface CSI1a-CSI1b and the first (pair) GPIO interface GPIO1a-GPIO1b, and the second image collection module 104b and the second camera 105b are connected through the second (pair) CSI interface CSI2a-CSI2b and the second (pair) GPIO interface GPIO2a-GPIO2b.

[0036] Specifically, the first image collection module 104a is further configured to be connected to the first camera 105a through the first GPIO interface GPIO1a-GPIO1b to send the first hardware trigger signal S1 to the first camera 105a. The first camera 105a is further configured to, in response to receiving the first hardware trigger signal S1, start exposure and image shooting and transmit an image S5 to the first image collection module 104a through the first CSI interface CSI1a-CSI1b.

[0037] The second image acquisition module 104b is further configured to connect to the second camera 105b via the second GPIO interface GPIO2a-GPIO2b to send the second hardware trigger signal S2 to the second camera 105b. The second camera 105b is further configured to, in response to receiving the second hardware trigger signal S2, enable exposure and image capture, and transmit the image S6 to the second image acquisition module 104b via the second CSI interface CSI2a-CSI2b.

[0038] CSI, or Camera Serial Interface, is an interface typically found on the chip housing the camera, used for exchanging image information with the outside world. It also serves as the interface between the camera and the main processor. GPIO, or General Purpose Input / Output, usually consists of multiple pins on a chip. This allows various image acquisition modules to be connected to the camera via the CSI and GPIO interfaces. By allowing the GPIO interface to independently handle the transmission of the first hardware trigger signal S1 or the second hardware trigger signal S2, and the CSI interface to independently handle image / video transmission, independent hardware paths are provided for the transmission of hardware trigger signals and image / video information. This ensures transmission speed and avoids information interference between them.

[0039] At once Figure 1 In the wireless smart glasses device shown, the left and right glasses 101a and 101b can simultaneously output hardware trigger signals S1 and S2 to the first camera 105a and the second camera 105b via GPIO ports, respectively, thereby simultaneously starting image acquisition. Furthermore, in each frame or every N frames (N is an integer greater than 1) (timed by their respective clocks, for example, whenever the clock counter corresponding to each frame or every N frames is reached), the first and second image acquisition modules 104a and 104b simultaneously output hardware trigger signals S1 and S2 to the first camera 105a and the second camera 105b, respectively, to correct the asynchronous acquisition of subsequent left and right glasses images caused by the frequency offset of the pixel clocks of the left and right glasses. After image acquisition is started, the first camera 105a and the second camera 105b transmit video images S5 and S6 to the first image acquisition module 104a and the second image acquisition module 104b respectively based on parameters such as exposure time, number of exposure lines, line length and frame length, and enable the left and right eyeglasses 101a and 101b to acquire each frame of image with the same nominal pixel clock count.

[0040] Please note that, in this application, the so-called triggering of the shooting (exposure) and the returning (image acquisition) of the video image of the corresponding camera by sending the hardware trigger signal means that the shooting and returning behaviors are triggered (there is a causal relationship) because of the receipt of the hardware trigger signal, but the time of shooting and returning can be different from the time of receiving the hardware trigger signal (not necessarily at the same time), at least after the time of receiving. In some embodiments, taking the first camera 105a as an example, after the first camera 105a receives the first hardware trigger signal S1, it can start exposure after a predetermined time delay, which is greater than the time offset caused by the frequency offset of the above-mentioned interval N frames, to ensure that the first camera 105a has not started exposure when it receives the first hardware trigger signal S1 after the interval N frames. Thus, it is avoided that the first camera 105a receives the first hardware trigger signal S1 during the exposure process, which causes frame loss or image error of the frame.

[0041] Figure 4 The schematic diagram of the synchronization control mode of the image shooting and acquisition of different cameras in the wireless smart wearable device according to the fourth embodiment of the present application is shown. Figure 5 The schematic diagram of the synchronization control mode of the image shooting and acquisition of different cameras in the wireless smart wearable device according to the fifth embodiment of the present application is shown. The synchronization control mode of the image shooting and acquisition of different cameras will be described in detail respectively. Figure 4 and Figure 5 The synchronization control mode of the image shooting and acquisition of different cameras will be described in detail respectively.

[0042] As Figure 4 shown, the first processor 102a can be further configured to generate the first hardware trigger signal S1 when the value of the clock counter of the first part 101a is a first predetermined value t1; the second processor 102b is further configured to generate the second hardware trigger signal S2 when the value of the clock counter of the second part 101b is a second predetermined value t1+Δt. Wherein, the difference Δt between the first predetermined value t1 and the second predetermined value t1+Δt is set based on the above-mentioned value difference time4-time3 or time2-time1, so that the first predetermined value t1 and the second predetermined value t1+Δt respectively represent substantially the same time for the clock timer of the first clock 106a and the clock timer of the second clock 106b. As an example, the difference Δt can be set as time4-time3 or time2-time1, and updated as time4-time3 or time2-time1 dynamically changes. Thus, the first hardware trigger signal S1 and the second hardware trigger signal S2 can be generated substantially at the same time, thereby realizing the synchronization triggering of the image shooting and acquisition of the first camera 105a and the second camera 105b.

[0043] AsFigure 5 As shown, the first processor 102a can be further configured to generate a reference hardware trigger signal (not shown) and obtain a reference value t0 of the clock counter of the first part 101a at the trigger time; cause the first wireless communication module 103a to transmit the reference value t0 to the second wireless communication module 103b; and generate the first hardware trigger signal S1 after a predetermined time delay td from the trigger time t0. Accordingly, the second processor 102b can be further configured to determine the value of the clock counter for generating the second hardware trigger signal S2 based on the reference value t0, the predetermined time delay td, and the value difference At (e.g., time4-time3 or time2-time1) of the clock counter, e.g., t0+td+At; and generate the second hardware trigger signal S2 when the value of the clock counter of the second part 101b reaches the determined value (e.g., t0+td+At), so that the first hardware trigger signal S1 and the second hardware trigger signal S2 are generated at substantially the same time, thereby achieving the synchronous triggering of the image shooting and capturing of the first camera 105a and the second camera 105b. In some embodiments, the predetermined time delay td can be greater than the time offset caused by the frequency offset of the above-mentioned interval N frames, so as to ensure that the first camera 105a (the second camera 105b) has not started exposure when it receives the first hardware trigger signal S1 (the second hardware trigger signal S2) after the interval N frames. Thus, the first camera 105a (the second camera 105b) is prevented from receiving the first hardware trigger signal S1 (the second hardware trigger signal S2) during the exposure process, thereby avoiding frame loss or image error of the frame. Meanwhile, the predetermined time delay td can also be used to transmit the reference value t0 or t0+td from the first wireless communication module 103a to the second wireless communication module 103b.

[0044] Return Figure 1In some embodiments, the first part 101a and the second part 101b each include a brightness detection unit 107a and 107b configured to detect the brightness of ambient light of the corresponding first camera 105a and second camera 105b. In the case of wireless smart glasses, the angle difference of the lens relative to the ambient light source will cause the first camera 105a and the second camera 105b to have different light amounts when exposed to light. At least one of the first processor 102a and the second processor 102b is further configured to set the exposure time of the first camera 105a and the second camera 105b based on the brightness detected by the first part 101a and the second part 101b respectively, so that the lower the detected brightness of the camera, the longer the exposure time. That is, if the brightness detection unit 107a of the first part 101a detects lower brightness of ambient light, the exposure time of the first camera 105a is made longer to compensate for the lack of brightness, so that the image / video exposed by the first camera 105a has consistent brightness with the image / video exposed by the second camera 105b, thereby helping to improve the quality of the subsequent synthesized (fused) image.

[0045] In some embodiments, at least one of the first processor 102a and the second processor 102b can be further configured to, for the first camera 105a or the second camera 105b to which a longer exposure time is to be set, make the first image acquisition module 104a or the second image acquisition module 104b connected thereto generate and send a corresponding hardware trigger signal S1 or S2 in advance of a predetermined time compared to the image acquisition module connected to the other camera. For ease of illustration, assuming that the excess amount of exposure time of a certain camera compared to the other camera is Δtp, the predetermined time in advance can be set according to the excess amount Δtp. The setting method can be adapted according to the setting rule of the time point to which the image acquired during the entire exposure time period belongs. For example, in the case of a long exposure time period, the acquired image can be regarded as the image at the middle time point in the exposure time period. Accordingly, as shown in FIG. 3, in the case where the exposure time of the first camera 105a exceeds that of the second camera 105b by Δtp, the timing of the first hardware trigger signal S1 is about half of the excess amount of the exposure time ahead of the timing of the second hardware trigger signal S2, i.e. about 1 / 2Δtp in advance. In this way, not only can the lack of brightness of the first camera 105a be compensated for, but also the images acquired by the first camera 105a and the second camera 105b during their respective exposure time periods can be kept synchronized without being affected by the long duration of the exposure time period. Figure 6

[0046] ​Benefiting from the dynamic accurate synchronization of the first image and the second image, the first image and the second image can be used for fusion to meet the increasing various needs of users. For example, at least one of the first processor 102a and the second processor 102b can be further configured to use the first image and the second image to generate a panoramic video or a simultaneous localization and mapping.

[0047] Figure 7 A flow chart of an image acquisition method of a wireless smart wearable device according to a seventh embodiment of the present application is shown. The wireless smart wearable device may, for example, adopt a configuration as shown in Figure 1 and Figure 2 but is not limited thereto, which includes a first part and a second part that can wirelessly communicate with each other, the first part including a first processor, a first wireless communication module, a first camera and a first image acquisition module and having a first clock, and the second part including a second processor, a second wireless communication module, a second camera and a second image acquisition module and having a second clock. The first clock and the second clock are independent of each other and can have a frequency offset; each camera can be disposed on an independent chip or can be disposed on the same system on chip as other components, which is not limited herein.

[0048] As shown in Figure 7 the image acquisition method can include the following steps.

[0049] In step 701, during the continuous use of the first image acquisition module and the second image acquisition module, the first wireless communication module and the second wireless communication module are caused to perform wireless communication with each other and / or wireless communication with a smart device, and the clock difference of the first wireless communication module and the second wireless communication module in performing the wireless communication is determined.

[0050] In step 702, a first hardware trigger signal based on the first clock can be sent by the first image acquisition module to the first camera to trigger the first camera to take a first image and acquire the first image.

[0051] In step 703, a second hardware trigger signal based on the second clock 106b can be sent by the second image acquisition module 104b to the second camera 105b to trigger the second camera 105b to take a second image and acquire the second image.

[0052] Note that step 702 and step 703 are parallel processing steps controlled by the first image acquisition module and the second image acquisition module, respectively.

[0053] The first hardware trigger signal and the second hardware trigger signal are synchronized using the dynamic clock difference determined in step 701 (i.e. the value difference of the clock counters of the transmit and receive timing), such as but not limited to compensating the value difference of the corresponding clock counters of the first hardware trigger signal and the second hardware trigger signal, so that the first hardware trigger signal and the second hardware trigger signal are substantially sent at the same time. In this way, no matter how the frequency offset of the first clock and the second clock dynamically changes, it can be dynamically captured and timely and accurately compensated, thereby simultaneously starting the image shooting and collection of the first camera and the second camera without considering the frequency offset of the clock on the independent chips of the first part and the second part where the first camera and the second camera are located. The first image and the second image shot and collected can be accurately dynamically synchronized and can be used for fusion to meet the increasing needs of users, such as being used to generate panoramic video or simultaneous localization and mapping.

[0054] Figure 8 A flow chart of an image collection method of a wireless intelligent wearable device according to the eighth embodiment of the present application is shown. In step 801, the first image collection module is connected to the first camera via a first GPIO interface to send the first hardware trigger signal to the first camera. In step 802, in response to receiving the first hardware trigger signal, the first camera starts exposure and image shooting and transmits images to the first image collection module via a first CSI interface.

[0055] In step 803, the second image collection module is connected to the second camera via a second GPIO interface to send the second hardware trigger signal to the second camera. In step 804, in response to receiving the second hardware trigger signal, the second camera starts exposure and image shooting and transmits images to the second image collection module via a second CSI interface. In this way, each image collection module can be connected with a camera via a CSI interface and a GPIO interface. By letting the GPIO interface independently be responsible for the transmission of the first hardware trigger signal or the second hardware trigger signal, and letting the CSI interface independently be responsible for the transmission of images / video, the transmission of hardware trigger signals and image / video information is provided with independent hardware paths, which can ensure the transmission speed and avoid interference between the information.

[0056] In some embodiments, the clock difference of the first wireless communication module and the second wireless communication module in performing the wireless communication can be determined by the following steps. During the continuous use of the first image acquisition module and the second image acquisition module, one of the first wireless communication module and the second wireless communication module sends a wireless signal to the other; and the difference between the value of the clock counter at the first time when the one sends the wireless signal and the value of the clock counter at the second time when the other receives the wireless signal is determined as the clock difference. The wireless signal includes a signal sequence known by the receiving side, for example, for a Bluetooth module, it can be a Bluetooth access code of the physical layer; for example, for a WIFI module, it can be a beacon signal.

[0057] In some embodiments, the clock difference of the first wireless communication module and the second wireless communication module in performing the wireless communication can be determined by the following steps. During the continuous use of the first image acquisition module and the second image acquisition module, the first wireless communication module and the second wireless communication module each receive a wireless signal from a smart device; and the difference between the value of the clock counter at the third time when the first wireless communication module receives the wireless signal and the value of the clock counter at the fourth time when the second wireless communication module receives the wireless signal is determined as the clock difference. The wireless signal includes a signal sequence known by the receiving side, for example, for a Bluetooth module, it can be a Bluetooth access code of the physical layer; for example, for a WIFI module, it can be a beacon signal.

[0058] The first part-second part mutual communication, the first part / second part-smart device joint communication, for wireless smart wearable devices such as smart glasses, is a regular communication and continuously occurs, so as to dynamically determine the clock difference without affecting the user's experience.

[0059] The timing synchronization of the first and second hardware trigger signals can be implemented in various ways.

[0060] For example, the first hardware trigger signal can be generated when the value of the clock counter of the first part is a first predetermined value; the second hardware trigger signal can be generated when the value of the clock counter of the second part is a second predetermined value, wherein the difference between the first predetermined value and the second predetermined value is set based on the value difference, so as to represent the same time.

[0061] For example, a reference hardware trigger signal can be generated at the first part, and a reference value of a clock counter of the first part at the triggering time can be obtained; the reference value can be transmitted to the second part via the first wireless communication module; the first hardware trigger signal can be generated after a predetermined time delay from the triggering time; at the second part, a value of the clock counter for generating the second hardware trigger signal can be determined based on the reference value, the predetermined time delay, and a value difference of the clock counter; the second hardware trigger signal can be generated when the value of the clock counter of the second part reaches the determined value, so that the first hardware trigger signal and the second hardware trigger signal are generated at the same time.

[0062] The above timing synchronization control method has been described in detail above in conjunction with Figure 4 and Figure 5 and will not be repeated here.

[0063] In some embodiments, the image acquisition method can further include detection and compensation of the brightness of the ambient light of each camera. The brightness of the ambient light of the first camera and the second camera can be detected; the exposure time of the first camera and the second camera can be set such that the lower the brightness of the ambient light, the longer the exposure time of the corresponding camera.

[0064] In some embodiments, the image acquisition method can further include, for the first camera or the second camera to be set with a longer exposure time, the image acquisition module connected thereto generates and sends a corresponding hardware trigger signal in advance by a predetermined time compared with the image acquisition module connected to the other camera. As an example, the predetermined time in advance is about half of the excess of the exposure time.

[0065] The detection and compensation of the brightness of the ambient light of each camera have been described in detail above in conjunction with Figure 6 and will not be repeated here.

[0066] The following describes a variant of the wireless intelligent wearable device. The wireless intelligent wearable device of the variant can adopt the hardware configuration shown in Figure 10 , in which the first clock 106a and the second clock 106b are independent of each other and also contain the function of the clock counter, and for the sake of simplicity, are referred to as the first clock counter 106a and the second clock counter 106b, respectively, in the following. The first clock counter 106a and the second clock counter 106b are connected to the first wireless communication module 102a and the second wireless communication module 102b, respectively, and are configured to generate a hardware trigger signal for the first wireless communication module 102a and the second wireless communication module 102b, respectively. Figure 2The difference in the hardware configuration shown is that this variant does not rely on the GPIO interface and does not need to send hardware trigger signals from the chip on the image acquisition module side to the chip on the camera side. Instead, it uses the frames captured by a certain camera as reference images, takes into account the clock difference between the timing of the other camera and the corresponding frames (e.g., adjacent frames) captured and acquired by it, and interpolates based on the timing of the capture and acquisition of the reference image to obtain synchronized images. Figure 10 Zhongyu Figure 2 For the same structural parts, please refer to the description above. They will not be repeated here. We will only explain the differences between the two.

[0067] The following description uses a wireless smart glasses device as an example of a wireless smart wearable device, and takes the first image captured by the first camera 105a of the first unit 101a as a reference image. However, it should be noted that the wireless smart wearable device can adopt other structures. The first unit 101a and the second unit 101b can switch between the left and right glasses, and the first image captured by the first camera 105a and the second image captured by the second camera 105b can be switched and used as reference images.

[0068] Specifically, the first image acquisition module 104a is configured to interconnect with the first camera 105a via first CSI interfaces CSI1a-CSI1b and acquire first images S5 of each frame captured by the first camera 105a as reference images. The second image acquisition module 104b is configured to interconnect with the second camera 105b via second CSI interfaces CSI2a-CSI2b and acquire second images S6 of each frame captured by the second camera 105b.

[0069] The first processor 102a is configured to: acquire the first value of the first clock counter 106a when the first image acquisition module 104a receives the SOT or EOT signal for transmitting each frame of the first image from the first CSI interface, or after a preset time delay. The second processor 102b is configured to: acquire the second value of the second clock counter 106b when the second image acquisition module 104b receives the SOT or EOT signal for transmitting each frame of the second image from the second CSI interface, or after the preset time delay.

[0070] In some embodiments, the first value of the first clock counter 106a and the second value of the second clock counter 106b can be compensated based on the difference of the count values of the first clock counter 106a and the second clock counter 106b at the same time, and then the subsequent analysis is performed. That is, the value (e.g., but not limited to the first value) of the first clock counter 106a and the corresponding value (e.g., but not limited to the second value) of the second clock counter 106b used for interpolation processing below can be compensated by the difference of the values of the first clock counter 106a and the second clock counter 106b at the same time, so as to eliminate the value difference at the actual same time caused by the initial count values and / or frequency offset of the two clock counters. The value difference may, for example, be time2-time1, or time4-time3, see the specific description in the following embodiments.

[0071] Specifically, referring to Figure 10 , at least one of the first processor 102a and the second processor 102b can be configured to cause one of the first wireless communication module 103a and the second wireless communication module 103b to send a wireless signal S3 to the other (see Figure 2 ) during the continuous use of the first image acquisition module 104a and the second image acquisition module 104b. The difference time2-time1 between the value time1 of the clock timer at the first time when the one sends the wireless signal S3 and the value time2 of the clock counter at the second time when the other receives the wireless signal S3 can be determined. The air time of the two parties sending and receiving wireless signals S3 to each other can generally be ignored, so the value difference time2-time1 is caused by the initial values and initial count time difference of the first clock timer and the second clock timer, and the frequency offset between the first clock 106a and the second clock 106b. When the first clock 106a and the second clock 106b are synchronized, time2-time1 will be the same fixed value or approximately the same fixed value. In some embodiments, the difference of time2-time1 can be used to adjust the second clock 106b, so that the first clock 106a and the second clock 106b are synchronized, so that time2-time1 remains the same fixed value or approximately the same fixed value.

[0072] In some embodiments, at least one of the first processor 102a and the second processor 102b is configured to cause the first wireless communication module 103a and the second wireless communication module 103b to each receive a wireless signal S4 from a smart device (see Figure 2) ; determine the value of the clock timer of the third time instant when the first wireless communication module 103a receives the wireless signal S4, time3, and the value of the clock counter of the fourth time instant when the second wireless communication module 103b receives the wireless signal S4, time4. The difference between the values time4 and time3 is usually negligible due to the air time difference between the two receiving wireless signals S4 from the smart device, and is caused by the difference between the initial values and initial counting time instants of the first clock timer and the second clock timer, and the frequency offset between the first clock 106a and the second clock 106b. In some embodiments, the first clock 106a can be synchronized with the wireless clock of the smart device by receiving the wireless signal S4 from the smart device using the first wireless communication module 103a; the second clock 106b can be synchronized with the wireless clock of the smart device by receiving the wireless signal S4 from the smart device using the second wireless communication module 103b; thus, the time synchronization between the first clock 106a and the second clock 106b is achieved; and thus, the difference between time3 and time4 is also kept at a fixed value or an approximately fixed value.

[0073] The difference between the values time2 and time1 or the difference between the values time4 and time3 can be used to compensate and adjust the counting values of the first clock counter 106a and the second clock counter 106b. Specifically, if time2 is the value of the clock timer of the first time instant when the second wireless communication module 103b transmits the wireless signal S3, and time1 is the value of the clock counter of the second time instant when the first wireless communication module 103a receives the wireless signal S3, and time2 > time1, the dynamic counting value of the second clock counter 106b can be reduced by (time2-time1), so as to eliminate the adverse effects of the difference between the initial values and initial counting time instants of the first clock timer and the second clock timer, and the frequency offset between the first clock 106a and the second clock 106b. For another example, if time4 > time3, the dynamic counting value of the second clock counter 106b can be reduced by (time4-time3), so as to eliminate the adverse effects of the difference between the initial values and initial counting time instants of the first clock timer and the second clock timer, and the frequency offset between the first clock 106a and the second clock 106b.

[0074] After the compensation adjustment of the count value, the real time sequence between the time when the SOT or EOT signal for transmitting each frame of the first image is received by the first CSI interface after eliminating the adverse effects of the initial value difference of the first clock timer and the second clock timer and the initial count time and the frequency offset between the first clock 106a and the second clock 106b and the time when the SOT or EOT signal for transmitting each frame of the second image is received by the second CSI interface after a preset time delay or after a preset time delay can be obtained, which facilitates the synchronization of the subsequent interpolated image and the reference image.

[0075] As shown in Figure 9 , a timing diagram of the CSI interface defined according to the MIPI CSI-2 protocol when transmitting a data packet is shown. The CSI interface is a one-way transmission, from the camera to the outside, including a clock lane (data channel) and one to four data lanes, four data lanes, LANE 1, LANE 2, LANE 3 and LANE 4 shown in Figure 9 .

[0076] SOT, also known as transmission start signal, EOT, also known as transmission end signal, is a transmission timing reference signal when the CSI interface transmits image information from the camera. Therefore, the first value and the second value essentially represent the shooting and collection time of the first image and the second image respectively. As shown in Figure 9 , on each LANE, the payload (byte 0-byte N-1, N is a positive integer) is transmitted between the SOT and the EOT signal. There is an LPS state (low power state) between each data packet.

[0077] The first processor 102a or the second processor 102b is further configured to cause the first wireless communication module 103a to transmit the first value to the second wireless communication module 103b, or to cause the first wireless communication module 103a and the second wireless communication module 103b to transmit the first value, the second value and the second image to the smart device, so that the second processor 102b or a third processor 102c (see Figure 2) the first value and the second value are compensated based on the difference between the values of the first clock counter 106a and the second clock counter 106b at the same time, and then the second image is interpolated based on the compensated first value and the second value to obtain a third image synchronized with the first image. Thus, by using the conventional signal interaction mode of the CSI interface, through simple interpolation operation, without the interaction configuration of other hardware interfaces, the accurate dynamic synchronization of each frame of image of the first part 101a and the second part 101b can be conveniently realized. The level of the accurate dynamic synchronization enables the first image and the synchronized third image to be used to generate a panoramic video or to realize simultaneous positioning and map construction.

[0078] Before the interpolation operation, the clock difference between the first clock 106a and the second clock 106b can also be considered as in the other embodiments, and the first value and / or the second value are compensated based on the clock difference, and then used for the interpolation of the second image. The method of compensating the first value and / or the second value based on the difference between the values of the first clock counter 106a and the second clock counter 106b at the same time in the embodiments of the present application can be combined herein. The difference between the values can be time2-time1, or time4-time3, as described in the embodiments.

[0079] For example, at least one of the first processor 102a and the second processor 102b is further configured to, during the continuous use of the first image acquisition module 104a and the second image acquisition module 104b, cause the first wireless communication module 103a and the second wireless communication module 103b to perform wireless communication with each other and / or with the smart device; calculate a difference between the first clock counter 106a and the second clock counter 106b in value when the wireless communication is performed by using the first wireless communication module 103a and the second wireless communication module 103b; and compensate and adjust the first value and / or the second value based on the difference in value, and then use the compensated and adjusted first value and / or the second value for the interpolation processing of the second image of each frame. The above has described in detail how to determine the clock difference (i.e., the difference in value between the first clock counter 106a and the second clock counter 106b) by using the first wireless communication module 103a and the second wireless communication module 103b to perform wireless communication with each other and / or with the smart device, and how to use the difference in value for compensation and adjustment, which are incorporated herein and will not be described herein again.

[0080] In some embodiments, the second processor 102b is further configured to obtain the corresponding two second values T0 and T2 of the second clock counter 106b when the second image acquisition module 104b receives the SOT or EOT signal of the second CSI interface CSI2a-CSI2b for transmitting the second images of the (N-1)th frame and the Nth frame, or after the preset time delay. The second processor 102b can obtain the corresponding first value T1 of the first clock counter when the first image acquisition module 104a receives the SOT or EOT signal of the first CSI interface CSI1a-CSI1b for transmitting the first image of the Nth frame, or after the preset time delay, where T2 is greater than or equal to T1. That is, the first value T1 of the timing corresponding to the first image of the Nth frame can be between the two values T0 and T2 of the timing corresponding to the second images of the (N-1)th frame and the Nth frame.

[0081] The second processor 102b can obtain the second image of the (N-1)th frame and the second image of the Nth frame, and perform interpolation processing on the obtained second image of the (N-1)th frame and the second image of the Nth frame according to the following formula (1) to obtain the third image of the Nth frame synchronized with the first image of the Nth frame:

[0082] New_image=[image_N_1*(T2-T1)+image_N*(T1-T0)] / (T2-T0), formula (1)

[0083] Wherein, New_image represents the third image of the Nth frame synchronized with the first image of the Nth frame, image_N_1 represents the second image of the (N-1)th frame, and image_N represents the second image of the Nth frame.

[0084] Referring back to Figure 1 The first part 101a and the second part 101b each can include a luminance detection unit 107a and 107b configured to detect the luminance of the ambient light of the corresponding first camera 105a and second camera 105b. At least one of the first processor 102a and the second processor 102b is further configured to set the exposure time of the first camera 105a and the second camera 105b based on the luminance detected by the first part 101a and the second part 101b respectively, so that the lower the detected luminance corresponding to the camera, the longer the exposure time.

[0085] When the second image acquisition module 104b receives the SOT or EOT signal of the second CSI interface CSI2a-CSI2b for transmitting the second image of the Nth frame, or after the preset time delay, the corresponding second value T2 of the second clock counter 106b can be adjusted according to the difference between the exposure times of the first camera 105a and the second camera 105b.

[0086] Specifically, the second processor 102b can be further configured to obtain the first exposure time t00 of the first camera and the second exposure time t11 of the second camera, and calculate the adjusted second value T2' of T2 according to the following formula (2):

[0087] T2' = T2 - (t11 - t00) / 2, formula (2).

[0088] In the case of a long exposure time period, the collected image can be taken as the image at the intermediate time point in the exposure time period. For example, in the case where the excess of the exposure time of the second camera 105b over the first camera 105a is t11-t00, T2 is advanced by about half of the excess t11-t00 / 2. In this way, not only can the insufficient luminance of the second camera 105b be compensated for, but also the images collected by the first camera 105a and the second camera 105b in each other's exposure time period can be kept synchronized without being affected by the long duration of the exposure time period. The adjusted second value T2' above can be used to substitute T2 in formula (1) to interpolate the third image of the Nth frame synchronized with the first image of the Nth frame.

[0089] Figure 11A flow chart of an image capturing method of a wireless smart wearable device according to an eleventh embodiment of the present application is shown. The wireless smart wearable device comprises a first part and a second part in wireless communication with each other. The first part comprises a first processor, a first wireless communication module, a first camera, a first image capturing module and a first clock counter, and the second part comprises a second processor, a second wireless communication module, a second camera, a second image capturing module and a second clock counter. The first clock counter and the second clock counter are independent of each other, and there can be a dynamic clock deviation between them. The wireless smart wearable device can adopt the configurations according to various embodiments of the present application as long as the image capturing method can be implemented, and details are not repeated here.

[0090] As shown in Figure 11 the image capturing method comprises the following steps.

[0091] In step 1101, the first image capturing module is interconnected with the first camera through the first CSI interface, and each frame of first image captured by the first camera is acquired as a reference image.

[0092] In step 1102, the second image capturing module is interconnected with the second camera through the second CSI interface, and each frame of second image captured by the second camera is acquired.

[0093] In step 1103, the first processor acquires the first value of the first clock counter when the first image capturing module receives the SOT or EOT signal for transmitting each frame of first image through the first CSI interface, or after a preset time delay.

[0094] In step 1104, the second processor acquires the second value of the second clock counter when the second image capturing module receives the SOT or EOT signal for transmitting each frame of second image through the second CSI interface, or after the preset time delay.

[0095] In step 1105, the first wireless communication module transmits the first value to the second wireless communication module, or the first wireless communication module and the second wireless communication module transmit the first value, the second value and the second image to a smart device, so that the second processor or a third processor in the smart device acquires the first value, the second value and the second image.

[0096] At step 1106, a third processor in the second processor or the smart device that acquires the first value and the second value performs interpolation processing on each frame of the second image based on the first value and the second value to obtain each frame of the third image synchronized with each frame of the first image.

[0097] The processing steps of the image acquisition method described above in connection with the structure of the wireless smart wearable device in each embodiment can be combined here, and will not be described in detail.

[0098] In some embodiments, the image acquisition method can further include: during continuous use of the first image acquisition module and the second image acquisition module, performing wireless communication with each other by the first wireless communication module and the second wireless communication module and / or wireless communication with the smart device; calculating a value difference between the first clock counter and the second clock counter when the wireless communication is performed using the first wireless communication module and the second wireless communication module; and compensating and adjusting the first value and / or the second value based on the value difference, and then using the first value and / or the second value for interpolation processing on each frame of the second image.

[0099] In some embodiments, the image acquisition method further includes: using each frame of the first image and each frame of the synchronized third image to generate a panoramic video or a simultaneous localization and mapping.

[0100] In some embodiments, the image acquisition method further includes, by the second processor: acquiring corresponding two second values T0 and T2 of the second clock counter when the second CSI interface receives the SOT or EOT signal for transmitting the N-1th frame and the Nth frame of the second image or after the preset time delay; acquiring a corresponding first value T1 of the first clock counter when the first CSI interface receives the SOT or EOT signal for transmitting the Nth frame of the first image or after the preset time delay, wherein T2 is greater than or equal to T1; acquiring the N-1th frame of the second image and the Nth frame of the second image, and performing interpolation processing on the acquired N-1th frame of the second image and the Nth frame of the second image according to the following formula (1) to obtain the Nth frame of the third image synchronized with the Nth frame of the first image:

[0101] New_image=[image_N_1*(T2-T1)+image_N*(T1-T0)] / (T2-T0), formula (1)

[0102] Wherein, New_image represents the third image of the Nth frame synchronized with the first image of the Nth frame, image_N_1 represents the second image of the (N-1)th frame, and image_N represents the second image of the Nth frame.

[0103] In some embodiments, the image acquisition method further comprises: detecting the brightness of the ambient light of the first camera and the second camera; and setting the exposure time of the first camera and the second camera such that the lower the brightness of the ambient light, the longer the exposure time of the corresponding camera.

[0104] In some embodiments, the image acquisition method further comprises, by the second processor: obtaining a first exposure time t00 of the first camera and a second exposure time t11 of the second camera; and calculating a second value T2' of the second clock counter when the second CSI interface transmits the second image of the Nth frame or after the preset time delay according to the following formula (2):

[0105] T2' = T2-(t11-t00) / 2, formula (2).

[0106] The above adjusted second value T2' can be used to replace T2 in formula (1) to interpolate the third image of the Nth frame synchronized with the first image of the Nth frame.

[0107] The above embodiments are only examples and do not limit the protection scope of the present application. The protection scope of the present application is defined by the claims, and those skilled in the art can make various modifications and changes to the embodiments without departing from and exceeding the protection scope of the claims. The combination of technical elements described in the above embodiments is not limited to the combination described in the embodiments, and the technical elements in different embodiments can also be flexibly combined with each other. Each claim defines a technical solution which constitutes an independent embodiment and can be combined with each other.

Claims

1. A wireless smart wearable device comprising a first part and a second part that can communicate wirelessly with each other, characterized in that, The first part includes a first processor, a first wireless communication module, a first camera and a first image acquisition module and has a first clock, the second part includes a second processor, a second wireless communication module, a second camera and a second image acquisition module and has a second clock, The first image acquisition module is configured to trigger the first camera to take a first image and acquire the first image by sending a first hardware trigger signal based on the first clock to the first camera; The second image acquisition module is configured to trigger the second camera to take a second image and acquire the second image by sending a second hardware trigger signal based on the second clock to the second camera, At least one of the first processor and the second processor is configured to, during continuous use of the first image acquisition module and the second image acquisition module, cause the first wireless communication module and the second wireless communication module to perform wireless communication with each other and / or wireless communication with a smart device, and determine a clock difference in which the first wireless communication module and the second wireless communication module respectively perform the wireless communication, the clock difference being used to realize synchronization of the first hardware trigger signal and the second hardware trigger signal.

2. The wireless smart wearable device of claim 1, wherein, The wireless smart wearable device includes a wireless smart glasses device, one of the first part and the second part is a left glasses part and the other is a right glasses part.

3. The wireless smart wearable device of claim 1, wherein, The first image acquisition module and the first camera are connected through a first CSI interface and a first GPIO interface, and the second image acquisition module and the second camera are connected through a second CSI interface and a second GPIO interface, The first image acquisition module is further configured to be connected to the first camera via the first GPIO interface to send the first hardware trigger signal to the first camera; The first camera is further configured to, in response to receiving the first hardware trigger signal, start exposure and image taking and transmit an image to the first image acquisition module via the first CSI interface; The second image acquisition module is further configured to be connected to the second camera via the second GPIO interface to send the second hardware trigger signal to the second camera; The second camera is further configured to, in response to receiving the second hardware trigger signal, start exposure and image taking and transmit an image to the second image acquisition module via the second CSI interface.

4. The wireless smart wearable device of claim 3, wherein At least one of the first processor and the second processor is configured to, during continuous use of the first image acquisition module and the second image acquisition module, cause one of the first wireless communication module and the second wireless communication module to send a wireless signal to the other; determine a value difference of a clock counter of a first time at which the one sends the wireless signal and a second time at which the other receives the wireless signal, the value difference being used to realize synchronization of the first hardware trigger signal and the second hardware trigger signal. 5.The wireless smart wearable device of claim 3, wherein at least one of the first processor and the second processor is configured to, during continuous use of the first image capturing module and the second image capturing module, cause the first wireless communication module and the second wireless communication module to each receive a wireless signal from a smart device, determine a difference in values of clock counters of the first wireless communication module receiving the wireless signal and the second wireless communication module receiving the wireless signal, and use the difference in values to synchronize the first hardware trigger signal and the second hardware trigger signal. 6.The wireless smart wearable device of claim 4 or 5, wherein, the first processor is further configured to generate the first hardware trigger signal when the value of the clock counter of the first portion is a first predetermined value, the second processor is further configured to generate the second hardware trigger signal when the value of the clock counter of the second portion is a second predetermined value, wherein the difference between the first predetermined value and the second predetermined value is set based on the difference in values such that the first hardware trigger signal and the second hardware trigger signal are generated at the same time. 7.The wireless smart wearable device of claim 4 or 5, wherein, the first processor is further configured to generate a reference hardware trigger signal and obtain a reference value of the clock counter at a triggering time, cause the first wireless communication module to transmit the reference value to the second wireless communication module, and generate the first hardware trigger signal after a predetermined time delay from the triggering time, the second processor is further configured to determine a value of the clock counter for generating the second hardware trigger signal based on the reference value, the predetermined time delay, and the difference in values of the clock counters, and generate the second hardware trigger signal when the value of the clock counter of the second portion reaches the determined value, such that the first hardware trigger signal and the second hardware trigger signal are generated at the same time.

8. The wireless smart wearable device of claim 3, wherein, the first portion and the second portion each include a brightness detection unit configured to detect brightness of ambient light of the corresponding camera, at least one of the first processor and the second processor is further configured to set exposure times of the first camera and the second camera based on the detected brightness of the first portion and the second portion, such that the lower the detected brightness of the corresponding camera, the longer the exposure time.

9. The wireless smart wearable device of claim 8, wherein, at least one of the first processor and the second processor is further configured to, for the first camera or the second camera that is to have a longer exposure time, cause the image capturing module connected to the camera to generate and send a corresponding hardware trigger signal a predetermined time earlier than the image capturing module connected to the other camera. 10.The wireless smart wearable device of claim 9, wherein, the predetermined time is half of the excess of the exposure time.

11. The wireless smart wearable device of claim 2, wherein, at least one of the first processor and the second processor is further configured to use the first image and the second image to generate a panoramic video or simultaneous localization and mapping.

12. An image capturing method of a wireless smart wearable device, the wireless smart wearable device comprising a first part and a second part that can wirelessly communicate with each other, the method comprising: The first part includes a first processor, a first wireless communication module, a first camera and a first image acquisition module and has a first clock, the second part includes a second processor, a second wireless communication module, a second camera and a second image acquisition module and has a second clock, and the image acquisition method comprises: During continuous use of the first image acquisition module and the second image acquisition module, the first wireless communication module and the second wireless communication module are caused to perform wireless communication with each other and / or wireless communication with the smart device, and a clock difference in which the first wireless communication module and the second wireless communication module respectively perform the wireless communication is determined; A first hardware trigger signal based on the first clock is sent from the first image acquisition module to the first camera to trigger the first camera to take a first image and acquire the first image; and A second hardware trigger signal based on the second clock is sent from the second image acquisition module to the second camera to trigger the second camera to take a second image and acquire the second image, wherein the clock difference is utilized to realize synchronization of the first hardware trigger signal and the second hardware trigger signal.

13. The image acquisition method of claim 12, wherein, Further comprising: The first image acquisition module is connected to the first camera via a first GPIO interface to send the first hardware trigger signal to the first camera; In response to receiving the first hardware trigger signal, the first camera is caused to start exposure and image taking and transmit an image to the first image acquisition module via a first CSI interface; The second image acquisition module is connected to the second camera via a second GPIO interface to send the second hardware trigger signal to the second camera; In response to receiving the second hardware trigger signal, the second camera is caused to start exposure and image taking and transmit an image to the second image acquisition module via a second CSI interface.

14. The image acquisition method of claim 13, wherein, Further comprising, the clock difference in which the first wireless communication module and the second wireless communication module respectively perform the wireless communication is determined by: During continuous use of the first image acquisition module and the second image acquisition module, one of the first wireless communication module and the second wireless communication module is caused to send a wireless signal to the other party; and a value difference of a clock counter at a first time at which the one party sends the wireless signal and a second time at which the other party receives the wireless signal is determined as the clock difference.

15. The image acquisition method of claim 13, wherein, Further comprising, the clock difference in which the first wireless communication module and the second wireless communication module respectively perform the wireless communication is determined by: During continuous use of the first image acquisition module and the second image acquisition module, the first wireless communication module and the second wireless communication module are caused to respectively receive a wireless signal from the smart device; and a value difference of a clock counter at a third time at which the first wireless communication module receives the wireless signal and a fourth time at which the second wireless communication module receives the wireless signal is determined as the clock difference.

16. The image acquisition method according to claim 14 or 15, characterized in that, Further comprising: The first hardware trigger signal is generated when the clock counter of the first part reaches a first predetermined value; The second hardware trigger signal is generated when the clock counter of the second part reaches a second predetermined value, wherein the difference between the first predetermined value and the second predetermined value is set based on the value difference, so that the first hardware trigger signal and the second hardware trigger signal are generated at the same time.

17. The image acquisition method of claim 14 or 15, wherein, Further comprising: A reference hardware trigger signal is generated at the first part, and a reference value of the clock counter of the first part at the trigger time is obtained; The reference value is transmitted to the second wireless communication module via the first wireless communication module; The first hardware trigger signal is generated after a predetermined time delay from the trigger time; At the second part, the value of the clock counter for generating the second hardware trigger signal is determined based on the reference value, the predetermined time delay, and the value difference of the clock counter; The second hardware trigger signal is generated when the value of the clock counter of the second part reaches the determined value, so that the first hardware trigger signal and the second hardware trigger signal are generated at the same time.

18. The image acquisition method of claim 13, wherein, Further comprising: Detecting the brightness of the ambient light of the first camera and the second camera; Setting the exposure time of the first camera and the second camera, so that the lower the brightness of the ambient light, the longer the exposure time of the corresponding camera.

19. The image acquisition method of claim 18, wherein, Further comprising: For the first camera or the second camera that needs to set a longer exposure time, the image acquisition module connected to it generates and sends the corresponding hardware trigger signal a predetermined time earlier than the image acquisition module connected to the other camera.

20. The image acquisition method of claim 19, wherein, The predetermined time in advance is half of the excess of the exposure time.

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