Camera Control Method, Device and Legged Robot of a Legged Robot

Abstract

The present disclosure relates to a camera control method, device and legged robot, belonging to the technical field of robots. Among them, the camera control method of the legged robot includes: obtaining the working mode of the legged robot, and obtaining the target object and the corresponding recognition accuracy requirement in the working mode; obtaining the target object image of the target object currently captured by the camera of the legged robot; judging whether the target object image meets the recognition accuracy requirement; if it does not meet the recognition accuracy requirement, adjusting the focal length of the camera. This method can effectively identify the target object by automatically judging whether the target object image currently captured by the camera meets the recognition accuracy requirement, and adjusting the focal length of the camera when it does not meet the recognition accuracy requirement, thereby improving the user experience.

Description

Technical Field

[0001] The present disclosure relates to the field of robot technology, and in particular, to a camera control method, device, and legged robot for a legged robot. Background Art

[0002] With the continuous development of robots, the use of robots to identify targets has been widely applied in various fields. However, during the process of target recognition by the robot, due to the distance between the target and the robot being too far or too close, it is difficult for the robot to effectively recognize the target, resulting in failed target recognition and poor user experience. Summary of the Invention

[0003] The present disclosure provides a camera control method, device, legged robot, electronic device, computer-readable storage medium, and computer program product for a legged robot, so as to at least solve the problem in the above technology that during the process of target recognition by the robot, due to the distance between the target and the robot being too far or too close, it is difficult for the robot to effectively recognize the target, resulting in failed target recognition and poor user experience. The technical solution of the present disclosure is as follows:

[0004] According to the first aspect of the embodiments of the present disclosure, a camera control method for a legged robot is provided, including: obtaining the working mode of the legged robot, and obtaining the target object in the working mode and the recognition accuracy requirement corresponding to the target object; obtaining the target object image of the target object currently captured by the camera of the legged robot; determining whether the target object image meets the recognition accuracy requirement; if it does not meet the recognition accuracy requirement, adjusting the focal length of the camera.

[0005] In an embodiment of the present disclosure, the adjusting the focal length of the camera includes: obtaining the first resolution of the target object image; obtaining the second resolution that meets the recognition accuracy requirement; adjusting the focal length of the camera according to the resolution difference between the first resolution and the second resolution.

[0006] In an embodiment of the present disclosure, after adjusting the focal length of the camera, it further includes: if it still does not meet the recognition accuracy requirement, obtaining the current distance between the legged robot and the target object; controlling the distance between the legged robot and the target object according to the current distance until the recognition accuracy requirement is met.

[0007] In an embodiment of the present disclosure, the obtaining the working mode of the legged robot includes: receiving a user instruction; determining the working mode of the legged robot according to the user instruction.

[0008] In one embodiment of the present disclosure, the working mode corresponds to multiple target objects, where each of the target objects respectively corresponds to an identification accuracy requirement.

[0009] In one embodiment of the present disclosure, it further includes: obtaining the positional relationship between the multiple target objects according to the working mode; and controlling the rotation of the camera of the legged robot according to the positional relationship between the multiple target objects.

[0010] In one embodiment of the present disclosure, the legged robot includes a torso and a head, where the camera is mounted on the head, and the head is rotatable relative to the torso.

[0011] In one embodiment of the present disclosure, it further includes: detecting the position change of the target object; and controlling the rotation of the head according to the position change of the target object.

[0012] In one embodiment of the present disclosure, the camera is mounted on the head through a pan-tilt head. The method further includes: detecting the position change of the target object; and controlling the rotation of the pan-tilt head according to the position change of the target object.

[0013] According to the second aspect of the embodiments of the present disclosure, there is provided a camera control device for a legged robot, including: a first acquisition module configured to acquire the working mode of the legged robot, and acquire the target object in the working mode and the identification accuracy requirement corresponding to the target object; a second acquisition module configured to acquire the target object image of the target object currently captured by the camera of the legged robot; a judgment module configured to judge whether the target object image meets the identification accuracy requirement; and an adjustment module configured to, if the identification accuracy requirement is not met, adjust the focal length of the camera.

[0014] In one embodiment of the present disclosure, the adjustment module includes: a first acquisition unit configured to acquire the first resolution of the target object image; a second acquisition unit configured to acquire the second resolution that meets the identification accuracy requirement; and an adjustment unit configured to adjust the focal length of the camera according to the resolution difference between the first resolution and the second resolution.

[0015] In one embodiment of the present disclosure, it further includes: a third acquisition module configured to, if the identification accuracy requirement is still not met, acquire the current distance between the legged robot and the target object; and a first control module configured to control the distance between the legged robot and the target object according to the current distance until the identification accuracy requirement is met.

[0016] In one embodiment of the present disclosure, the first acquisition module includes: a receiving unit configured to receive a user instruction; a determining unit configured to determine the working mode of the legged robot according to the user instruction.

[0017] In one embodiment of the present disclosure, the working mode corresponds to multiple target objects, where each of the target objects corresponds to an identification accuracy requirement respectively.

[0018] In one embodiment of the present disclosure, it further includes: a fourth acquisition module configured to acquire the positional relationship between the multiple target objects according to the working mode; a second control module configured to perform rotational control of the camera of the legged robot according to the positional relationship between the multiple target objects.

[0019] In one embodiment of the present disclosure, the legged robot includes a torso and a head, where the camera is mounted on the head, and the head is rotatable relative to the torso.

[0020] In one embodiment of the present disclosure, it further includes: a first detection module configured to detect the position change of the target object; a first rotation module configured to control the rotation of the head according to the position change of the target object.

[0021] In one embodiment of the present disclosure, the camera is mounted on the head through a pan-tilt head.

[0022] The device further includes: a second detection module configured to detect the position change of the target object; a second rotation module configured to control the rotation of the pan-tilt head according to the position change of the target object.

[0023] According to a third aspect of the embodiments of the present disclosure, there is provided a legged robot including the camera control device of the legged robot as described above.

[0024] In one embodiment of the present disclosure, it further includes: a torso; a head, the head being rotatable relative to the torso; a camera mounted on the head; legs connected to the torso, and feet connected to the legs.

[0025] According to a fourth aspect of the embodiments of the present disclosure, there is provided an electronic device including: a processor; a memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to implement the camera control method of the legged robot as described above.

[0026] According to a fifth aspect of the embodiments of the present disclosure, there is provided a computer-readable storage medium, which enables an electronic device to execute the camera control method of the legged robot as described above when the instructions in the computer-readable storage medium are executed by a processor of the electronic device.

[0027] According to a sixth aspect of the embodiments of the present disclosure, there is provided a computer program product, including a computer program, which implements the camera control method of the legged robot as described above when executed by a processor.

[0028] The technical solutions provided by the embodiments of the present disclosure at least bring the following beneficial effects:

[0029] In the embodiments of the present disclosure, by automatically determining whether the image of the target object currently captured by the camera meets the recognition accuracy requirements corresponding to the target object, and adjusting the focal length of the camera when the recognition accuracy requirements corresponding to the target object are not met, the target object can be effectively recognized, thereby improving the user experience.

[0030] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present disclosure, and are used together with the specification to explain the principles of the present disclosure, and do not constitute an improper limitation to the present disclosure.

[0032] Figure 1 is a flowchart of a camera control method for a legged robot shown according to an exemplary embodiment.

[0033] Figure 2 is a flowchart of a camera control method for a legged robot shown according to another exemplary embodiment.

[0034] Figure 3 is a flowchart of a camera control method for a legged robot shown according to another exemplary embodiment.

[0035] Figure 4 is a flowchart of a camera control method for a legged robot shown according to another exemplary embodiment.

[0036] Figure 5 is a flowchart of a camera control method for a legged robot shown according to another exemplary embodiment.

[0037] Figure 6 is a block diagram of a camera control device for a legged robot shown according to an exemplary embodiment.

[0038] Figure 7 It is a schematic diagram of a legged robot shown according to an exemplary embodiment.

[0039] Figure 8 It is a block diagram of an electronic device shown according to an exemplary embodiment. Detailed implementation manners

[0040] In order to enable those of ordinary skill in the art to better understand the technical solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings.

[0041] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that such used data may be interchanged under appropriate circumstances so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present disclosure. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0042] Figure 1 It is a camera control method of a legged robot shown according to an exemplary embodiment. Here, it should be noted that the execution subject of the camera control method of the legged robot in the embodiments of the present disclosure is the camera control device of the legged robot. This device can be configured in an electronic device, and the electronic device can include a legged robot. The legged robot in the embodiments of the present disclosure can be a multi-degree-of-freedom legged robot, such as a biped robot, a quadruped robot, a tripod robot. The legged robot can include but is not limited to a torso, a head, etc. The embodiments of the present disclosure do not limit this.

[0043] As Figure 1 shown, the camera control method of the legged robot in the embodiments of the present disclosure includes the following steps:

[0044] Step 101, obtain the working mode of the legged robot, and obtain the target object in the working mode and the recognition accuracy requirement corresponding to the target object.

[0045] In the embodiments of the present disclosure, the working mode of the legged robot can be determined according to user requirements. Furthermore, the target object in different working modes can be located to obtain the target object in the working mode, and the recognition accuracy requirement corresponding to the target object can be set by combining the user requirements. Here, it should be noted that the working mode can correspond to multiple target objects, and each target object respectively corresponds to a recognition accuracy requirement.

[0046] For example, an exemplary description is given with the working mode being the tracking mode. The user's requirement is to track a target object. The user can input relevant instructions corresponding to tracking. After receiving the relevant instructions corresponding to tracking, the working mode of the legged robot can be determined as the tracking mode according to the relevant instructions corresponding to tracking. The target object in the tracking mode can be located to obtain the target object in this tracking mode, and the target object recognition accuracy requirement in this tracking mode can be set according to this target object in combination with the user's requirement. For example, a robotic dog tracks an object to achieve object tracking, and the corresponding recognition accuracy requirement for this object is to obtain an object image with the first clarity. Thus, the working mode of the legged robot, as well as the target object and the corresponding target object recognition accuracy requirement in the working mode, can be accurately obtained.

[0047] Another example, an exemplary description is given with the working mode being the shopping mode. The user's requirement is to shop through a vending machine. The user can input relevant instructions corresponding to shopping. After receiving the relevant instructions corresponding to shopping, the working mode of the legged robot can be determined as the shopping mode according to the relevant instructions corresponding to shopping. Furthermore, the target object in the shopping mode can be located to obtain the target object in this shopping mode, and the target object recognition accuracy requirement in this shopping mode can be set according to this target object in combination with the user's requirement. For example, a robotic dog shops at a vending machine, can locate the vending machine in the shopping mode, obtain the position of the vending machine. According to the user's shopping requirement, it is necessary to further obtain the payment page of the vending machine. The corresponding recognition accuracy requirement for this payment page is to obtain a payment page image with the second clarity. When this payment page meets the recognition accuracy requirement, the payment page can be sent to the user, and the user can make a payment according to the payment page. For example, recognize the recognition code of the payment page to complete the payment. Thus, the working mode of the legged robot, as well as the target object and the corresponding target object recognition accuracy requirement in the working mode, can be accurately obtained.

[0048] It should be noted that the second clarity is greater than the first clarity.

[0049] Step 102, obtain the target object image of the target object currently captured by the camera of the legged robot.

[0050] To facilitate the camera in capturing the target object image, the camera can be installed on the head of the legged robot. Additionally, when the target object is in a moving state, to facilitate the camera in capturing the surrounding 360-degree direction, the head of the legged robot can rotate relative to the torso.

[0051] As an example, detect the position change of the target object; control the rotation of the head according to the position change of the target object.

[0052] That is to say, when the camera is directly installed on the head of the legged robot, the camera control device of the legged robot can detect the position of the target object. If the position of the target object is in motion, the head of the legged robot can be controlled to rotate according to the change in the position of the target object.

[0053] As another example, detect the change in the position of the target object; control the rotation of the pan-tilt head according to the change in the position of the target object.

[0054] That is to say, when the camera is installed on the head of the legged robot through a pan-tilt head, the camera control device of the legged robot can detect the change in the position of the target object. If the position of the target object is in motion, the pan-tilt head can be controlled to rotate according to the change in the position of the target object.

[0055] In the embodiment of the present disclosure, the camera control device of the legged robot can be connected to the camera, and the camera can upload the target object image of the currently captured target object to the camera control device of the legged robot. The camera control device of the legged robot can obtain the target object image of the target object currently captured by the camera.

[0056] Step 103, determine whether the target object image meets the recognition accuracy requirement.

[0057] As an example, the camera control device of the legged robot can judge the recognition accuracy of the obtained target object image, and determine whether the recognition accuracy of the target object image meets the recognition accuracy requirement. For example, it can be judged whether the target object image meets the recognition accuracy of the corresponding feature extraction for feature extraction.

[0058] Step 104, if the recognition accuracy requirement is not met, adjust the focal length of the camera.

[0059] Optionally, when the target object image does not meet the recognition accuracy requirement, the first resolution of the target object image can be obtained; the second resolution that meets the recognition accuracy requirement can be obtained; the focal length of the camera can be adjusted according to the resolution difference between the first resolution and the second resolution. See the description of the subsequent embodiments for details.

[0060] In addition, when the target object image meets the recognition accuracy requirement, the target object image can be sent to the user.

[0061] In summary, by automatically judging whether the target object image currently captured by the camera meets the recognition accuracy requirement corresponding to the target object, and adjusting the focal length of the camera when the recognition accuracy requirement corresponding to the target object is not met, the target object can be effectively recognized, improving the user experience.

[0062] To make the target object image meet the recognition accuracy requirement, such as Figure 2As shown, in the embodiments of the present disclosure, when the target object image does not meet the recognition accuracy requirements corresponding to the target object, the first resolution of the target object image can be obtained; the second resolution that meets the recognition accuracy requirements of the target object can be obtained; and the focal length of the camera can be adjusted according to the resolution difference between the first resolution and the second resolution. Figure 2 The steps of the illustrated embodiment are as follows:

[0063] Step 201, obtain the working mode of the legged robot, and obtain the target object and the recognition accuracy requirements corresponding to the target object in the working mode.

[0064] Step 202, obtain the target object image of the target object currently captured by the camera of the legged robot.

[0065] Step 203, determine whether the target object image meets the recognition accuracy requirements.

[0066] For a detailed description of steps 201-203 of the embodiments of the present disclosure, reference can be made to Figure 1 Steps 101-103 of the illustrated embodiment, which will not be elaborated in the present disclosure.

[0067] Step 204, if the recognition accuracy requirements are not met, obtain the first resolution of the target object image.

[0068] In the embodiments of the present disclosure, when the target object image does not meet the recognition accuracy requirements corresponding to the target object, the first resolution of the target object image can be obtained. For example, when the clarity of the face image does not meet the face feature extraction requirements, an image resolution extraction algorithm can be used to obtain the resolution of the person image, and the obtained resolution of the person image can be used as the first resolution.

[0069] Step 205, obtain the second resolution that meets the recognition accuracy requirements.

[0070] In the embodiments of the present disclosure, the camera control device of the legged robot can pre-set the resolution corresponding to the recognition accuracy requirements, and use the resolution that meets the recognition accuracy requirements as the second resolution.

[0071] Step 206, adjust the focal length of the camera according to the resolution difference between the first resolution and the second resolution.

[0072] Furthermore, the first resolution and the second resolution are differentiated, and the focal length of the camera is adjusted according to the differentiation result. For example, when the first resolution is less than the second resolution, the focal length of the camera can be adjusted to be elongated to increase the imaging size of the target object image, so as to increase the first resolution of the target object image until the first resolution is equal to the second resolution or the difference is minimized; for another example, when the first resolution is greater than the second resolution, the focal length of the camera can be adjusted to be shortened to reduce the imaging size of the target object image, so as to decrease the first resolution of the target object image until the first resolution is equal to the second resolution or the difference is minimized.

[0073] In summary, by automatically determining whether the current captured human image of the camera meets the human recognition requirements, when the human recognition requirements are not met, the focal length of the camera is adjusted according to the resolution difference between the first resolution and the second resolution, so that the target object can be effectively recognized and the target object image meets the recognition accuracy requirements.

[0074] To prevent the recognition accuracy requirements from still not being met after the focal length of the camera is adjusted, as Figure 3 shown, in the embodiment of the present disclosure, when the target object image still cannot meet the recognition accuracy requirements corresponding to the target object after the focal length of the camera is adjusted, the current distance between the legged robot and the target object can be obtained, and according to the current distance, the distance between the legged robot and the target object is controlled until the target object recognition requirements are met. Figure 3 The steps of the shown embodiment are as follows:

[0075] Step 301, obtain the working mode of the legged robot, and obtain the target object and the recognition accuracy requirements corresponding to the target object in the working mode.

[0076] Step 302, obtain the target object image of the target object currently captured by the camera of the legged robot.

[0077] Step 303, determine whether the target object image meets the target object recognition accuracy requirements.

[0078] Step 304, if the recognition accuracy requirements are not met, obtain the first resolution of the human image.

[0079] Step 305, obtain the second resolution that meets the recognition accuracy requirements.

[0080] Step 306, adjust the focal length of the camera according to the resolution difference between the first resolution and the second resolution.

[0081] For the detailed description of steps 301-306 of the embodiment of the present disclosure, reference can be made to Figure 2 steps 201-206 of the shown embodiment, which will not be elaborated in the present disclosure.

[0082] Step 307, if the recognition accuracy requirement is still not met, obtain the current distance between the legged robot and the target object.

[0083] In the embodiments of the present disclosure, if the recognition accuracy requirement is still not met after adjusting the focal length of the camera according to the difference between the first resolution and the second resolution, the current distance between the legged robot and the target object can be obtained. For example, the current position of the legged robot can be used as the coordinate origin, and the position of the target object can be used as the target point. According to the distance formula, the current distance between the legged robot and the target object can be calculated.

[0084] Step 308, control the distance between the legged robot and the target object according to the current distance until the recognition accuracy requirement is met.

[0085] As an example, when the first resolution is less than the second resolution and the recognition accuracy requirement is still not met after adjusting the focal length of the camera according to the difference between the first resolution and the second resolution, the legged robot can be controlled to approach the target object to reduce the distance between the legged robot and the target object until the recognition accuracy requirement is met.

[0086] As another example, when the first resolution is greater than the second resolution and the recognition accuracy requirement is still not met after adjusting the focal length of the camera according to the difference between the first resolution and the second resolution, the legged robot can be controlled to move away from the target object to increase the distance between the legged robot and the target object until the recognition accuracy requirement is met.

[0087] In summary, when the target object image still cannot meet the recognition accuracy requirement after adjusting the focal length of the camera, the current distance between the legged robot and the target object can be obtained. According to the current distance, the distance between the legged robot and the target object can be controlled until the recognition accuracy requirement is met. Thus, when the recognition accuracy requirement still cannot be met after adjusting the focal length of the camera, the distance between the legged robot and the target object can be controlled according to the current distance between the legged robot and the target object, so that the target object can be effectively recognized and the target object image can meet the recognition accuracy requirement.

[0088] To accurately determine the working mode of the legged robot, as Figure 4 shown, in the embodiments of the present disclosure, the working mode of the legged robot can be determined according to a user instruction. Figure 4 The embodiments shown may include the following steps:

[0089] Step 401, receive a user instruction.

[0090] In the embodiments of the present disclosure, the camera control device of the legged robot can provide a user interface to interact with the user. The user can input a corresponding instruction in the user interface according to the need, and the camera control device of the legged robot can receive the instruction input by the user.

[0091] Step 402: Determine the working mode of the legged robot according to the user instruction.

[0092] It can be understood that the user instruction can represent the user's needs, and the working mode of the legged robot can be determined according to the instruction corresponding to the user's needs. For example, if the user's need is to track a target object, the working mode of the legged robot can be determined as the follow-up shooting mode according to the instruction corresponding to the user's needs. Another example, if the user's need is shopping, the working mode of the legged robot can be determined as the shopping mode according to the instruction corresponding to the user's needs.

[0093] Step 403: Obtain the target object in the working mode and the recognition accuracy requirement corresponding to the target object.

[0094] Step 404: Obtain the target object image of the target object currently captured by the camera of the legged robot.

[0095] Step 405: Determine whether the target object image meets the recognition accuracy requirement.

[0096] Step 406: If the recognition accuracy requirement is not met, adjust the focal length of the camera.

[0097] It should be noted that steps 403-406 can be implemented respectively by any one of the implementation manners in the various embodiments of the present disclosure. The embodiments of the present disclosure do not make any limitations in this regard and will not be elaborated further.

[0098] In summary, by receiving the user instruction and determining the working mode of the legged robot according to the user instruction, thus, the working mode of the legged robot can be accurately determined according to the user instruction.

[0099] In order to accurately capture the target object to be photographed in the working mode, as Figure 5 shown, in the embodiments of the present disclosure, the working mode of the legged robot may include one or more target objects. When there is one target object in the working mode of the legged robot, the target object can be located, and then the target object image of the target object can be captured by the camera of the legged robot. When there are multiple target objects in the working mode of the legged robot, the positional relationship between the multiple target objects can be obtained according to the working mode, and then the camera of the legged robot can be rotated according to the positional relationship. Figure 5 The embodiments shown may include the following steps:

[0100] Step 501: Obtain the working mode of the legged robot, and obtain the target object in the working mode and the recognition accuracy requirement corresponding to the target object. Among them, the working mode corresponds to multiple target objects, and each target object corresponds to a recognition accuracy requirement respectively.

[0101] For example, the working mode of the legged robot is the shopping mode. In the shopping mode, multiple corresponding target objects can be a vending machine and the payment page of the vending machine. The vending machine and the payment page of the vending machine have different recognition accuracy requirements respectively. For example, the recognition accuracy requirement for the payment page of the vending machine is higher than that for the vending machine.

[0102] Step 502, obtain the positional relationship between multiple target objects according to the working mode.

[0103] In the embodiment of the present disclosure, after obtaining multiple target objects in the working mode, the corresponding relationship between the multiple target objects can be further determined according to the working mode. For example, if the working mode is the shopping mode, the legged robot can locate and obtain the positional relationship between the vending machine and the payment page of the vending machine.

[0104] Step 503, perform rotation control on the camera of the legged robot according to the positional relationship between multiple target objects.

[0105] Furthermore, according to the positional relationship between multiple target objects, rotation control can be performed on the camera of the legged robot, and the target object to be photographed in the working mode can be accurately determined. For example, if the working mode is the shopping mode, when the legged robot walks in front of the vending machine, it can rotate the camera of the legged robot upward according to the positional relationship between the payment page of the vending machine and the vending machine to find the payment page of the vending machine and photograph the payment page of the vending machine.

[0106] Step 504, obtain the target object image of the target object currently photographed by the camera of the legged robot.

[0107] Step 505, determine whether the target object image meets the recognition accuracy requirement.

[0108] Step 506, if the recognition accuracy requirement is not met, adjust the focal length of the camera.

[0109] It should be noted that steps 504-506 can be implemented by any implementation method in the embodiments of the present disclosure. The embodiments of the present disclosure do not make any limitations in this regard and will not be elaborated further.

[0110] In summary, obtain the positional relationship between multiple target objects according to the working mode, and perform rotation control on the camera of the legged robot according to the positional relationship between multiple target objects. Thus, the target object to be photographed in the working mode can be accurately photographed.

[0111] The camera control method of the legged robot according to the embodiments of the present disclosure obtains the working mode of the legged robot, and obtains the target object and the corresponding recognition accuracy requirement in the working mode; obtains the target object image of the target object currently captured by the camera of the legged robot; determines whether the target object image meets the recognition accuracy requirement; if it does not meet the recognition accuracy requirement, adjusts the focal length of the camera. This method automatically determines whether the currently captured human image by the camera meets the recognition accuracy requirement, and when it does not meet the recognition accuracy requirement, adjusts the focal length of the camera, so as to effectively identify the target object and improve the user experience.

[0112] Figure 6 is a block diagram of a camera control device for a legged robot shown according to an exemplary embodiment. As Figure 6 shown, the camera control device 600 of the legged robot includes: a first acquisition module 610, a second acquisition module 620, a judgment module 630, and an adjustment module 640.

[0113] Among them, the first acquisition module 610 is configured to execute obtaining the working mode of the legged robot, and obtaining the target object and the corresponding recognition accuracy requirement in the working mode; the second acquisition module 620 is configured to execute obtaining the target object image of the target object currently captured by the camera of the legged robot; the judgment module 630 is configured to execute determining whether the target object image meets the recognition accuracy requirement; the adjustment module 640 is configured to execute if it does not meet the recognition accuracy requirement, then adjust the focal length of the camera.

[0114] As a possible implementation manner of the embodiments of the present disclosure, the adjustment module 640 includes: a first acquisition unit, a second acquisition unit, and an adjustment unit.

[0115] Among them, the first acquisition unit is configured to execute obtaining the first resolution of the target object image; the second acquisition unit is configured to execute obtaining the second resolution that meets the recognition accuracy requirement; the adjustment unit is configured to execute adjusting the focal length of the camera according to the resolution difference between the first resolution and the second resolution.

[0116] As a possible implementation manner of the embodiments of the present disclosure, the camera control device 600 of the legged robot further includes: a third acquisition module and a first control module.

[0117] Among them, the third acquisition module is configured to execute if it still does not meet the recognition accuracy requirement, then obtain the current distance between the legged robot and the target object; the first control module is configured to execute controlling the distance between the legged robot and the target object according to the current distance until the recognition accuracy requirement is met.

[0118] As a possible implementation manner of an embodiment of the present disclosure, the first acquisition module 610 includes: a receiving unit and a determining unit.

[0119] Among them, the receiving unit is configured to receive a user instruction; the determining unit is configured to determine the working mode of the legged robot according to the user instruction.

[0120] As a possible implementation manner of an embodiment of the present disclosure, the working mode corresponds to multiple target objects, and each of the target objects respectively corresponds to an identification accuracy requirement.

[0121] As a possible implementation manner of an embodiment of the present disclosure, the camera control device 600 of the legged robot further includes: a fourth acquisition module and a second control module.

[0122] Among them, the fourth acquisition module is configured to acquire the positional relationship between multiple target objects according to the working mode; the second control module is configured to perform rotational control on the camera of the legged robot according to the positional relationship between the multiple target objects.

[0123] As a possible implementation manner of an embodiment of the present disclosure, the legged robot includes a torso and a head. Among them, the camera is installed on the head, and the head is rotatable relative to the torso.

[0124] As a possible implementation manner of an embodiment of the present disclosure, the camera control device 600 of the legged robot further includes: a first detection module and a first rotation module.

[0125] Among them, the first detection module is configured to detect the position change of the target object; the first rotation module is configured to control the rotation of the head according to the position change of the target object.

[0126] As a possible implementation manner of an embodiment of the present disclosure, the camera is installed on the head through a pan-tilt head. The camera control device 600 of the legged robot further includes: a second detection module and a second rotation module.

[0127] Among them, the second detection module is configured to detect the position change of the target object; the second rotation module is configured to control the rotation of the pan-tilt head according to the position change of the target object.

[0128] Regarding the devices in the above embodiments, the specific manners in which each module performs operations have been described in detail in the embodiments related to the method, and will not be elaborated here.

[0129] The camera control device of the legged robot according to the embodiments of the present disclosure obtains the working mode of the legged robot, and obtains the target object and the corresponding recognition accuracy requirement in the working mode; obtains the target object image of the target object currently captured by the camera of the legged robot; determines whether the target object image meets the recognition accuracy requirement; if it does not meet the recognition accuracy requirement, adjusts the focal length of the camera. This device can automatically determine whether the target object image currently captured by the camera meets the recognition accuracy requirement, and when it does not meet the recognition accuracy requirement, adjust the focal length of the camera, so as to effectively identify the target object and improve the user experience.

[0130] To implement the above embodiments, as Figure 7 shown, the embodiments of the present disclosure also propose a legged robot 700, including the camera control device 710 of the legged robot. Among them, the camera control device 710 of the legged robot has the same structure and function as Figure 6 the camera control device 600 of the legged robot in

[0131] As a possible implementation manner of the embodiments of the present disclosure, the legged robot 700 further includes: a torso, a head, a camera mounted on the head, legs connected to the torso, and feet connected to the legs.

[0132] Figure 8 is a block diagram of an electronic device 800 shown according to an exemplary embodiment. As Figure 8 shown, the above electronic device 800 includes:

[0133] A memory 810 and a processor 820, a bus 830 connecting different components (including the memory 810 and the processor 820), and the memory 810 stores a computer program. When the processor 820 executes the program, it implements the camera control method of the legged robot according to the embodiments of the present disclosure.

[0134] The bus 830 represents one or more of several types of bus structures, including a memory bus or a memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any bus structure in a variety of bus structures. For example, these architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

[0135] The electronic device 800 typically includes a variety of electronic device-readable media. These media can be any available media that can be accessed by the electronic device 800, including volatile and non-volatile media, removable and non-removable media.

[0136] The memory 810 may also include computer system readable media in the form of volatile memory, such as random access memory (RAM) 840 and / or cache memory 850. The electronic device 800 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 860 can be used for reading and writing on non-removable, non-volatile magnetic media ( Figure 8 not shown, commonly referred to as a "hard disk drive"). Although Figure 8 not shown in the figure, a disk drive for reading and writing on removable non-volatile disks (such as "floppy disks"), and an optical disk drive for reading and writing on removable non-volatile optical disks (such as CD-ROM, DVD-ROM or other optical media) can be provided. In these cases, each drive can be connected to the bus 830 through one or more data media interfaces. The memory 810 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present disclosure.

[0137] A program / utility 880 having a set (at least one) of program modules 870 can be stored, for example, in the memory 810. Such program modules 870 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include the implementation of a network environment. The program modules 870 generally perform the functions and / or methods in the embodiments described in the present disclosure.

[0138] The electronic device 800 can also communicate with one or more external devices 890 (such as a keyboard, a pointing device, a display 891, etc.), and can also communicate with one or more devices that enable a user to interact with the electronic device 800, and / or communicate with any device that enables the electronic device 800 to communicate with one or more other computing devices (such as a network card, a modem, etc.). Such communication can be carried out through the input / output (I / O) interface 892. Moreover, the electronic device 800 can also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through the network adapter 893. As Figure 8 shown, the network adapter 893 communicates with other modules of the electronic device 800 through the bus 830. It should be understood that although not shown in the figure, other hardware and / or software modules can be used in conjunction with the electronic device 800, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0139] The processor 820 executes various functional applications and data processing by running the programs stored in the memory 810.

[0140] It should be noted that for the implementation process and technical principle of the electronic device in this embodiment, please refer to the foregoing explanation of the camera control method of the legged robot in the embodiments of the present disclosure, which will not be elaborated here.

[0141] The electronic device provided by the embodiments of the present disclosure can execute the camera control method of the legged robot as described above. By obtaining the working mode of the legged robot, and obtaining the target object and the corresponding recognition accuracy requirement in the working mode; obtaining the target object image of the target object currently captured by the camera of the legged robot; determining whether the target object image meets the recognition accuracy requirement; if it does not meet the recognition accuracy requirement, adjusting the focal length of the camera. This method can effectively identify the target object by automatically determining whether the target object image currently captured by the camera meets the recognition accuracy requirement, and adjusting the focal length of the camera when it does not meet the recognition accuracy requirement, thereby improving the user experience.

[0142] To implement the above embodiment, the present disclosure also proposes a computer-readable storage medium.

[0143] Among them, when the instructions in the computer-readable storage medium are executed by the processor of the electronic device, the electronic device can execute the camera control method of the legged robot as described above. Optionally, the computer-readable storage medium may be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0144] To implement the above embodiment, the present disclosure also provides a computer program product, including computer programs / instructions, characterized in that when the computer programs / instructions are executed by the processor of the electronic device, the camera control method of the legged robot as described above is implemented.

[0145] Those skilled in the art will readily think of other implementation schemes of the present disclosure after considering the specification and practicing the invention disclosed herein. The present disclosure aims to cover any variations, uses, or adaptations of the present disclosure, which follow the general principles of the present disclosure and include the common general knowledge or conventional technical means in the technical field not disclosed in the present disclosure. The specification and embodiments are only regarded as exemplary, and the true scope and spirit of the present disclosure are pointed out by the following claims.

[0146] It should be understood that the present disclosure is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present disclosure is only limited by the appended claims.

Claims

1. A camera control method for a legged robot, characterized in that, it includes: Obtain the working mode of the legged robot, and obtain the target object in the working mode and the recognition accuracy requirement corresponding to the target object, wherein the working mode of the legged robot is determined according to user requirements; Obtain the target object image of the target object currently photographed by the camera of the legged robot; Judge whether the target object image meets the recognition accuracy requirement; If the recognition accuracy requirement is not met, adjust the focal length of the camera; The working mode corresponds to multiple target objects, and each of the target objects corresponds to a recognition accuracy requirement respectively; Obtain the positional relationship between the multiple target objects according to the working mode; Perform rotation control on the camera of the legged robot according to the positional relationship between the multiple target objects to determine the target object to be photographed in the working mode; After adjusting the focal length of the camera, it further includes: If the recognition accuracy requirement is still not met, obtain the current distance between the legged robot and the target object; Control the distance between the legged robot and the target object according to the current distance until the recognition accuracy requirement is met.

2. The camera control method for a legged robot according to claim 1, characterized in that, The adjustment of the focal length of the camera includes: Obtain the first resolution of the target object image; Obtain the second resolution that meets the recognition accuracy requirement; Adjust the focal length of the camera according to the resolution difference between the first resolution and the second resolution.

3. The camera control method for a legged robot according to claim 1, characterized in that, The obtaining of the working mode of the legged robot includes: Receive a user instruction; Determine the working mode of the legged robot according to the user instruction.

4. The camera control method for a legged robot according to claim 1, characterized in that, The legged robot includes a torso and a head, wherein the camera is installed on the head, and the head is rotatable relative to the torso.

5. The camera control method for a legged robot according to claim 4, characterized in that, It further includes: Detect the position change of the target object; Control the rotation of the head according to the position change of the target object.

6. The camera control method for a legged robot according to claim 4, characterized in that, The camera is installed on the head through a pan-tilt, and the method further includes: Detect the position change of the target object; Control the rotation of the pan-tilt according to the position change of the target object.

7. A camera control device for a legged robot, characterized in that, it includes: A first acquisition module configured to execute obtaining the working mode of the legged robot, and obtaining the target object in the working mode and the recognition accuracy requirement corresponding to the target object, wherein the working mode of the legged robot is determined according to user requirements; A second acquisition module configured to execute obtaining the target object image of the target object currently photographed by the camera of the legged robot; A judgment module, configured to execute a judgment on whether the target object image meets the recognition accuracy requirement; An adjustment module, configured to execute an adjustment of the focal length of the camera if the recognition accuracy requirement is not met; The working mode corresponds to multiple target objects, where each of the target objects respectively corresponds to a recognition accuracy requirement; A fourth acquisition module, configured to execute an acquisition of the positional relationship between the multiple target objects according to the working mode; A second control module, configured to execute a rotation control of the camera of the legged robot according to the positional relationship between the multiple target objects to determine the target object to be photographed in the working mode; The device further includes: A third acquisition module, configured to execute an acquisition of the current distance between the legged robot and the target object if the recognition accuracy requirement is still not met; A first control module, configured to execute a control of the distance between the legged robot and the target object according to the current distance until the recognition accuracy requirement is met.

8. The camera control device of the legged robot according to claim 7, wherein, the adjustment module includes: A first acquisition unit, configured to execute an acquisition of the first resolution of the target object image; A second acquisition unit, configured to execute an acquisition of the second resolution that meets the recognition accuracy requirement; An adjustment unit, configured to execute an adjustment of the focal length of the camera according to the resolution difference between the first resolution and the second resolution.

9. The camera control device of the legged robot according to claim 7, wherein, the first acquisition module includes: A receiving unit, configured to execute a reception of a user instruction; A determination unit, configured to execute a determination of the working mode of the legged robot according to the user instruction.

10. The camera control device of the legged robot according to claim 7, wherein, the legged robot includes a torso and a head, where the camera is mounted on the head, and the head is rotatable relative to the torso.

11. The camera control device of the legged robot according to claim 10, wherein, it further includes: A first detection module, configured to execute a detection of the position change of the target object; A first rotation module, configured to execute a control of the head rotation according to the position change of the target object.

12. The camera control device of the legged robot according to claim 10, wherein, the camera is mounted on the head through a pan-tilt, and the device further includes: A second detection module, configured to execute a detection of the position change of the target object; A second rotation module, configured to execute a control of the pan-tilt rotation according to the position change of the target object.

13. A legged robot, wherein, it includes: The camera control device of the legged robot according to any one of claims 7-12.

14. The legged robot according to claim 13, wherein, it further includes: A torso; A head, the head being rotatable relative to the torso; A camera mounted on the head; Legs connected to the torso, and feet connected to the legs.

15. An electronic device, characterized in that, comprising: a processor; a memory for storing executable instructions of the processor; wherein the processor is configured to execute the instructions to implement the camera control method of the legged robot according to any one of claims 1-6.

16. A computer-readable storage medium, when the instructions in the computer-readable storage medium are executed by a processor of an electronic device, enabling the electronic device to execute the camera control method of the legged robot according to any one of claims 1-6.

17. A computer program product, characterized in that, comprising a computer program, the computer program implementing the camera control method of the legged robot according to any one of claims 1 to 6 when executed by a processor.

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