Frame rate adjusting method, frame rate adjusting device, image acquisition equipment and storage medium

Abstract

The embodiment of the invention discloses a frame rate adjusting method, a frame rate adjusting device, image acquisition equipment and a storage medium. The frame rate adjusting method is applied to the image acquisition equipment and comprises the following steps: determining the moving speed of the image acquisition equipment; and adjusting the image acquisition frequency of the image acquisition equipment according to the moving speed. According to the frame rate adjustment method provided by the embodiment of the invention, the image acquisition frequency of the image acquisition equipment can be dynamically adjusted.

Description

Technical Field

[0001] The present invention relates to the field of image acquisition technology, and in particular to a frame rate adjustment method, a frame rate adjustment device, an image acquisition device and a storage medium. Background Art

[0002] Image acquisition devices will acquire images at a certain frame rate during use, but there are some problems in actual use. For example, fixed frame rates lead to high power consumption. Fixed frame rates cause image acquisition devices to maintain a fixed high frame rate even when it is not necessary, which increases device power consumption and affects battery life. Another example: high frame rates lead to computational burden issues. High frame rates mean that the backend faces a large amount of data calculation per unit time, which increases the computational burden of backend processing and may lead to processing delays and reduced efficiency. Summary of the invention

[0003] The embodiments of the present application provide a frame rate adjustment method, a frame rate adjustment device, an image acquisition device, and a storage medium, which can dynamically adjust the image acquisition frequency of the image acquisition device.

[0004] In a first aspect, an embodiment of the present application provides a frame rate adjustment method, which is applied to an image acquisition device and is characterized in that it includes: determining a moving speed of the image acquisition device; and adjusting an image acquisition frequency of the image acquisition device according to the moving speed.

[0005] In some implementations, adjusting the image acquisition frequency of the image acquisition device according to the moving speed includes: determining a target frame rate based on the moving speed, and adjusting the image acquisition frequency of the image acquisition device according to the target frame rate, wherein the target frame rate is positively correlated with the moving speed.

[0006] In some implementations, determining the target frame rate based on the moving speed includes: determining the target frame rate based on a preset maximum frame rate, a minimum frame rate, a maximum speed, and the moving speed.

[0007] In some implementations, the target frame rate is determined as follows:

[0008]

[0009] Among them, f target represents the target frame rate, f min represents the minimum frame rate, f max represents the maximum frame rate, v xy represents the moving speed, v max Indicates the maximum speed.

[0010] In some implementations, adjusting the image acquisition frequency of the image acquisition device according to the target frame rate includes: determining a new total number of frame lines based on the target frame rate and a preset line time; and writing the total number of frame lines into a corresponding register of the image sensor of the image acquisition device.

[0011] In some implementations, adjusting the image acquisition frequency of the image acquisition device according to the target frame rate includes: determining a frame interval N based on a ratio of the image acquisition frequency of the image acquisition device and the target frame rate, where N is a natural number; and retaining one frame of image for post-processing every N frames of the image acquired by the image acquisition device.

[0012] In some implementations, determining the moving speed of the image acquisition device includes: determining the moving speed based on acceleration sensor data.

[0013] In some implementations, determining the moving speed of the image acquisition device includes: determining the moving speed of the image acquisition device on a target plane.

[0014] In a second aspect, an embodiment of the present application provides a frame rate adjustment device, characterized in that the device includes:

[0015] a determination module, configured to determine a moving speed of the image acquisition device; and

[0016] The adjustment module is used to adjust the image acquisition frequency of the image acquisition device according to the moving speed.

[0017] In a third aspect, an embodiment of the present application provides an image acquisition device, characterized in that it includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, it implements the operations in the method described in the first aspect.

[0018] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the operations in the method described in the first aspect are implemented.

[0019] In summary, the embodiments of the present application disclose a frame rate adjustment method, a frame rate adjustment device, an image acquisition device, and a storage medium. The frame rate adjustment method is applied to an image acquisition device, and includes: determining a moving speed of the image acquisition device; and adjusting the image acquisition frequency of the image acquisition device according to the moving speed. The frame rate adjustment method provided in the embodiments of the present application can dynamically adjust the image acquisition frequency of the image acquisition device. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of this specification, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 A schematic diagram showing a flow chart of a frame rate adjustment method provided in some embodiments of the present application;

[0022] Figure 2 A schematic diagram of a process of adjusting the image acquisition frequency according to the moving speed provided in some embodiments of the present application is shown;

[0023] Figure 3 A schematic diagram of a process for adjusting the image acquisition frequency according to a target frame rate provided in some embodiments of the present application is shown;

[0024] Figure 4 A schematic diagram of a process for adjusting the image acquisition frequency according to a target frame rate provided in some other embodiments of the present application is shown;

[0025] Figure 5 A schematic diagram showing the structure of a frame rate adjustment device provided in some embodiments of the present application; and

[0026] Figure 6 A schematic diagram of the structure of an image acquisition device provided in some embodiments of the present application is shown. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in this application to clearly and completely describe the technical solutions in this application. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0028] Although the present application shows a logical sequence in the flow charts, in some cases, the operations shown or described may be performed in a different order than that shown in the drawings.

[0029] As mentioned above, the image acquisition device in the related art is prone to high power consumption and high computing burden due to the use of a fixed high frame rate for image acquisition. Therefore, an embodiment of the present application provides a frame rate adjustment method to dynamically adjust the frame rate. The frame rate adjustment method can be applied to image acquisition devices. The image acquisition device may include, but is not limited to, a scanning device, an imaging device, an intelligent terminal device, or a similar device. In some embodiments, the scanning device may include a handheld scanning device, an industrial scanning device, and the like. For example, a handheld scanning device may include a handheld barcode scanner, a handheld document scanner, a handheld scanning pen, a handheld scanning translator, and the like. In some embodiments, the camera device may include a sports camera, a drone camera, and the like. In some embodiments, the intelligent terminal device may include an intelligent wearable device, an intelligent mobile device, and the like. For example, an intelligent wearable device may include smart glasses, a smart watch, and the like.

[0030] Taking a handheld scanner as an example, users can use the scanner to convert paper documents into electronic documents, and can also use a scanner with a translation function to perform instant scanning and translation. Taking a sports camera as an example, users can use the sports camera to record images while moving to obtain higher image stability. When the scanner or sports camera moves slowly or even stops, a lower image acquisition frequency can be used.

[0031] It should be understood that the application scenarios listed in this specification are only some of the application scenarios of the frame rate adjustment method provided by this application. Those skilled in the art should understand that the application of the frame rate adjustment method provided by this application to other usage scenarios is also within the protection scope of this application.

[0032] Figure 1 A schematic flow chart of a frame rate adjustment method provided in some embodiments of the present application is shown. The frame rate adjustment method can be applied to an image acquisition device. The specific flow of the frame rate adjustment method can be as follows:

[0033] S101, determining the moving speed of the image acquisition device.

[0034] The moving speed of the image acquisition device may be a moving speed along a certain direction, a moving speed on a certain plane, or a moving speed in three-dimensional space. For example, the moving speed may be the total moving speed of the image acquisition device, or the moving speed of the image acquisition device on a plane perpendicular to its own extension direction (axial direction). Exemplarily, the moving speed of the image acquisition device in each direction / in each plane may be obtained by a three-axis accelerometer installed therein.

[0035] In some embodiments, the image acquisition device generally moves in a plane, and the speed of the image acquisition device in the moving plane can be estimated by determining the moving speed of the image acquisition device on the target plane, wherein the target plane and the moving plane of the image acquisition device may be the same plane or not.

[0036] Taking the scanning pen as an example, if the axial direction of the scanning pen is in the Z-axis direction, the X-axis and the Y-axis directions are perpendicular to each other, and the Z-axis is perpendicular to the XY plane. In some embodiments, when the scanning pen moves in the scanning plane, the movement speed of the scanning pen is the movement speed in the scanning plane. If the Z-axis of the scanning pen is perpendicular to the scanning plane, the movement speed of the scanning pen in the scanning plane is the movement speed of the scanning pen in the XY plane. The XY plane is the target plane, and the moving plane and the target plane are the same plane. If the Z-axis of the scanning pen has an inclination angle relative to the normal of the scanning plane, when the inclination angle is within an acceptable range, the XY plane can still be used as the target plane. At this time, the moving plane and the target plane are different planes, and the moving speed component of the image acquisition device in the XY plane can be used as the moving speed of the device.

[0037] S103, adjusting the image acquisition frequency of the image acquisition device according to the moving speed.

[0038] The image acquisition frequency may be a frequency of collecting images or a frequency of retaining images.

[0039] In some embodiments, the frequency of acquiring images may be the frequency of acquiring images by an image sensor in an image acquisition device.

[0040] In some embodiments, the frequency of retaining images may be the frequency of a processor in the image acquisition device retaining images. In other embodiments, the frequency of retaining images may be the frequency of an application in communication with the image acquisition device retaining images.

[0041] When the moving speed is fast, the image acquisition frequency can be appropriately reduced; when the moving speed is slow, the image acquisition frequency can be appropriately increased. In some embodiments, the image acquisition frequency can be adjusted according to the relationship between the moving speed and a preset speed threshold. When the moving speed is less than the speed threshold, the image acquisition frequency is reduced; otherwise, the image acquisition frequency is increased.

[0042] In summary, the embodiments of the present application disclose a frame rate adjustment method, a frame rate adjustment device, an image acquisition device, and a storage medium. The frame rate adjustment method is applied to an image acquisition device, and includes: determining a moving speed of the image acquisition device; and adjusting the image acquisition frequency of the image acquisition device according to the moving speed. The frame rate adjustment method provided in the embodiments of the present application can dynamically adjust the image acquisition frequency of the image acquisition device.

[0043] Next, how to determine the moving speed of the image acquisition device is introduced.

[0044] In some embodiments, the method for determining the moving speed of the image acquisition device can be to determine the moving speed based on the acceleration sensor data. The acceleration sensor can be set inside the image acquisition device, for example, it can be set at the center of gravity of the image acquisition device. The acceleration sensor can be a single-axis acceleration sensor, a dual-axis acceleration sensor, or a multi-axis acceleration sensor. Among them, the single-axis acceleration sensor can measure the acceleration in one direction. Based on the acceleration in one axis, the moving speed of the image acquisition device along the axis can be determined. Among them, the dual-axis acceleration sensor can measure the acceleration in two mutually perpendicular axes. Based on the acceleration in two axes, the moving speed of the image acquisition device on the plane can be determined. Among them, the three-axis acceleration sensor can simultaneously measure the acceleration in three mutually perpendicular axes. Based on the acceleration in three axes, the moving speed of the image acquisition device in three-dimensional space can be determined.

[0045] Take the scanning pen using a three-axis acceleration sensor as an example. Assume that the axial direction of the scanning pen is the Z axis, the X axis and the Y axis are perpendicular to each other, and the Z axis is perpendicular to the XY plane. The gravitational acceleration of the scanning pen when it is stationary is g = [g x ,g y ,g z ], then its linear acceleration in the X and Y directions and They are:

[0046]

[0047] Among them, a x is the acceleration of the X axis measured by the acceleration sensor, a y is the acceleration of the Y axis measured by the acceleration sensor. By integrating the linear acceleration, the moving speed of the scanning pen in the X and Y directions can be obtained. Assuming the sampling time interval is Δt, the speed v x and v y for:

[0048]

[0049] Where t is the sampling time. According to the velocity component v x and v y The moving velocity component v of the scanning pen on the XY plane can be determined xy :

[0050]

[0051] As mentioned above, in some embodiments, the speed of the scanning pen on the XY plane can be used as its speed on the target plane. Using the moving speed component of the XY plane as an estimate of the moving speed of the scanning pen can reduce the amount of calculation to a certain extent.

[0052] It is understandable that for a scanning pen equipped with a three-axis acceleration sensor, the accelerations in three directions can be used to obtain the speeds in three directions, and then the moving speed of the scanning pen in three-dimensional space can be obtained. In other embodiments, the scanning pen can also use a two-axis acceleration sensor to obtain the moving speed of the scanning pen on the plane where the two axes are located.

[0053] In some other embodiments, the moving speed of the image acquisition device may be determined based on position sensor data. The moving speed of the image acquisition device in space may be determined based on the change in the position of the image acquisition device over time.

[0054] The frame rate adjustment method provided in some embodiments of the present application can acquire data by setting a sensor in the image acquisition device, and determine the moving speed of the image acquisition device based on the data acquired by the sensor.

[0055] Figure 2 A schematic diagram of a process of adjusting the image acquisition frequency according to the moving speed provided in some embodiments of the present application is shown. The specific process of adjusting the image acquisition frequency according to the moving speed in operation S103 may be as follows:

[0056] S201. Determine a target frame rate based on a moving speed.

[0057] Among them, the target frame rate can represent a more appropriate frame rate after balancing computing power consumption and image acquisition effect at different moving speeds. The target frame rate is positively correlated with the moving speed. When the moving speed is faster, a higher target frame rate can be applied; when the moving speed is slower, a lower target frame rate can be applied. Determining the target frame rate based on the moving speed can be based on a preset maximum frame rate, minimum frame rate, maximum speed, and moving speed.

[0058] In some embodiments, the target frame rate may be determined as follows:

[0059]

[0060] Among them, f target It can represent the target frame rate, f min Can represent the minimum frame rate, f max It can represent the maximum frame rate, v can represent the moving speed, v maxIt can represent the maximum speed. The moving speed can be the moving speed in three-dimensional space, the moving speed in a plane, or the linear speed in a certain direction. For example, when the scanning pen moves in a plane, the moving speed can be the moving speed in the XY plane v xy .

[0061] In some embodiments, a corresponding relationship curve between frame rate and speed is determined according to the maximum frame rate, the minimum frame rate, the maximum speed, and the minimum speed (for an image acquisition device, the minimum speed may be zero). The corresponding relationship curve may satisfy a polynomial function relationship or a trigonometric function relationship. The target frame rate value corresponding to the curve is obtained according to the moving speed.

[0062] In other embodiments, the correspondence between the frame rate and the speed is determined according to the maximum frame rate, the minimum frame rate, the maximum speed, and the minimum speed (for an image acquisition device, the minimum speed may be zero). The correspondence may be a piecewise function relationship. The target frame rate value corresponding to the piecewise function is obtained according to the moving speed.

[0063] S203: Adjust the image acquisition frequency of the image acquisition device according to the target frame rate.

[0064] As mentioned above, the image acquisition frequency may be a frequency of collecting images, or a frequency of retaining images.

[0065] In some embodiments, the frequency of acquiring images may be the frequency at which an image sensor in an image acquisition device acquires images. Therefore, the frequency at which the image sensor acquires images may be adjusted according to a target frame rate. For an image acquisition sensor that supports dynamic adjustment of the frame rate, setting parameters related to the new frame rate may be written through the frame rate writing interface of the sensor.

[0066] Figure 3 A schematic diagram of a process for adjusting the image acquisition frequency according to a target frame rate provided in some embodiments of the present application is shown. The specific process for adjusting the image acquisition frequency according to the target frame rate moving speed may be as follows:

[0067] S301 : Determine a new total number of frame lines based on a target frame rate and a preset line time.

[0068] The new total number of frames can be determined as follows:

[0069]

[0070] Among them, V total_new It can represent the total number of rows in the new frame, that is, the total number of rows collected by the sensor within one frame. line It can represent the row time, that is, the time required for the sensor to complete a row of data acquisition. frame_new The new frame interval can be determined as follows:

[0071]

[0072] Among them, f target Can indicate target frame rate.

[0073] S303, writing the total number of frame rows into the corresponding register of the image sensor of the image acquisition device.

[0074] Set the total number of rows in the new frame V total_new Write to the corresponding register of the image sensor.

[0075] In some embodiments, the frequency of retaining images may be the frequency of a processor in the image acquisition device retaining images. In other embodiments, the frequency of retaining images may be the frequency of an application program in communication with the image acquisition device retaining images. Therefore, the frequency of retaining images may be adjusted according to the target frame rate.

[0076] Figure 4 A schematic diagram of a process for adjusting the image acquisition frequency according to a target frame rate provided by other embodiments of the present application is shown. The specific process for adjusting the image acquisition frequency according to the target frame rate moving speed may be as follows:

[0077] S401. Determine a frame interval N based on a ratio of an image acquisition frequency of an image acquisition device to a target frame rate, where N is a natural number.

[0078] The frame interval N may be determined as follows:

[0079]

[0080] Among them, f sensor It can represent the frame rate of the image sensor actually capturing the image, f target It can indicate the target frame rate, Can indicate rounding down.

[0081] S403 , for the images acquired by the image acquisition device, retain one frame of image for post-processing every N frames.

[0082] The processor in the image acquisition device or the application program in communication with the image acquisition device receives the image acquired by the image acquisition sensor, and retains only one frame out of every N frames received, specifically, the first frame, the last frame, or the middle frame out of every N frames.

[0083] The frame rate adjustment method provided in some embodiments of the present application can adjust the image acquisition frequency of the sensor or the image retention frequency of the image processing end according to the target frame rate, and can be applicable to various types of image acquisition devices.

[0084] Figure 5 The schematic diagram of the structure of the frame rate adjustment device provided in some embodiments of the present application is shown. The frame rate adjustment device 500 can be applied to an image acquisition device. The frame rate adjustment device 500 can specifically include:

[0085] The determination module 501 may be used to determine the moving speed of the image acquisition device.

[0086] The adjustment module 502 may be used to adjust the image acquisition frequency of the image acquisition device according to the moving speed.

[0087] The frame rate adjustment device 500 provided in some embodiments of the present application can determine the moving speed of the image acquisition device by the determination module 501. Next, the image acquisition frequency of the image acquisition device can be adjusted by the adjustment module 502 according to the moving speed. The frame rate adjustment device 500 provided in the embodiments of the present application can dynamically adjust the image acquisition frequency of the image acquisition device.

[0088] In some embodiments, the adjustment module 502 may include a first determination unit and a first adjustment unit. The first determination unit may be used to determine a target frame rate based on the moving speed. The first adjustment unit may be used to adjust the image acquisition frequency of the image acquisition device according to the target frame rate, wherein the target frame rate is positively correlated with the moving speed.

[0089] In some embodiments, the first determining unit may include a first determining subunit. The first determining subunit may be configured to determine the target frame rate based on a preset maximum frame rate, a minimum frame rate, and a maximum speed.

[0090] In some embodiments, the first determining subunit may determine the target frame rate in the following manner:

[0091]

[0092] Among them, f target represents the target frame rate, f min Indicates the minimum frame rate, f max represents the maximum frame rate, v represents the moving speed, and v max Indicates maximum speed.

[0093] In some embodiments, the first adjustment unit may include a second determination subunit and a first writing subunit. The second determination subunit may be used to determine a new total number of frame rows based on a target frame rate and a preset row time. The first writing subunit may be used to write the total number of frame rows into a corresponding register of an image sensor of an image acquisition device.

[0094] In some embodiments, the first adjustment unit may include a third determination subunit and a first retention unit. The third determination subunit may be used to determine a frame interval N based on a ratio of an image acquisition frequency of an image acquisition device to a target frame rate, where N is a natural number. The first retention unit may be used to retain one frame of image for post-processing every N frames of the image acquired by the image acquisition device.

[0095] In some embodiments, the determination module 501 may include a second determination unit. The second determination unit may be configured to determine the movement speed based on the acceleration sensor data.

[0096] In some embodiments, the determination module 501 may include a third determination unit. The third determination unit may be used to determine the moving speed of the image acquisition device on the target plane.

[0097] In addition, the present application also provides an image acquisition device, Figure 6 The following is a schematic diagram showing the structure of an image acquisition device provided by some embodiments of the present application, specifically:

[0098] The image acquisition device 600 may include a processor 601 of one or more processing cores, a memory 602 of one or more computer-readable storage media, and other components. Those skilled in the art will appreciate that Figure 6 The structure of the image acquisition device 600 shown in the figure does not constitute a limitation on the image acquisition device 600, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0099] The processor 601 is the control center of the image acquisition device 600. It uses various interfaces and lines to connect various parts of the entire image acquisition device 600. By running or executing software programs and / or modules stored in the memory 602 and calling data stored in the memory 602, it executes various functions of the image acquisition device 600 and processes data, thereby monitoring the image acquisition device 600 as a whole. Optionally, the processor 601 may include one or more processing cores; preferably, the processor 601 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 601.

[0100] The memory 602 can be used to store software programs and modules. The processor 601 executes various functional applications and data processing by running the software programs and modules stored in the memory 602. The memory 602 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function, etc.; the data storage area may store data created according to the use of the image acquisition device 600, etc. In addition, the memory 602 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices. Accordingly, the memory 602 may also include a memory controller to provide the processor 601 with access to the memory 602.

[0101] Specifically in this embodiment, the processor 601 in the image acquisition device 600 will load the executable files corresponding to the processes of one or more applications into the memory 602 according to the following instructions, and the processor 601 will run the applications stored in the memory 602, thereby implementing the operations in any frame rate adjustment method provided in the embodiments of the present application.

[0102] The image acquisition device 600 may also include an image sensor for performing image acquisition. The acquired image data may be stored in the memory 602, or may be transmitted to an application program for performing image processing by the processor 601 in a wireless communication manner.

[0103] In some embodiments, the image acquisition device 600 may further include an acceleration sensor. The acceleration sensor may be used to obtain acceleration data of the image acquisition device. The data obtained by the acceleration sensor may be stored in the memory 602. The processor 601 may access the acceleration data in the memory 602 to determine the moving speed of the image acquisition device.

[0104] The specific process of the image acquisition device 600 executing the frame rate adjustment method can be referred to Figures 1 to 4 The description in , this application will not be repeated here.

[0105] A person skilled in the art will appreciate that all or part of the operations in the various methods of the above embodiments may be accomplished through instructions, or through instruction-controlled related hardware. The instructions may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0106] To this end, the present application provides a computer-readable storage medium, on which a computer program is stored. The computer program can be loaded by a processor to perform operations in any frame rate adjustment method provided in the present application.

[0107] The specific implementation of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0108] The computer-readable storage medium may include: a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0109] Since the instructions stored in the computer-readable storage medium can execute the operations in any frame rate adjustment method provided in the present application, the beneficial effects that can be achieved by any frame rate adjustment method provided in the present application can be achieved. Please refer to the previous embodiments for details and will not be repeated here.

[0110] The frame rate adjustment method, frame rate adjustment device, image acquisition device and storage medium provided by the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A frame rate adjustment method, applied to an image acquisition device, characterized in that: include: determining a moving speed of the image acquisition device; as well as The image acquisition frequency of the image acquisition device is adjusted according to the moving speed.

2. The method according to claim 1, characterized in that in, The step of adjusting the image acquisition frequency of the image acquisition device according to the moving speed comprises: determining a target frame rate based on the moving speed; and The image acquisition frequency of the image acquisition device is adjusted according to the target frame rate, wherein the target frame rate is positively correlated with the moving speed.

3. The method according to claim 2, characterized in that in, The determining the target frame rate based on the moving speed includes: The target frame rate is determined based on a preset maximum frame rate, a minimum frame rate, a maximum speed, and the moving speed.

4. The method according to claim 3, characterized in that in, The target frame rate is determined as follows: Among them, f target represents the target frame rate, f min represents the minimum frame rate, f max represents the maximum frame rate, v represents the moving speed, and v max Indicates the maximum speed.

5. The method according to claim 2, characterized in that in, The step of adjusting the image acquisition frequency of the image acquisition device according to the target frame rate comprises: Determining a new total number of frame lines based on the target frame rate and a preset line time; and The total number of frames is written into a corresponding register of the image sensor of the image acquisition device.

6. The method according to claim 2, characterized in that in, The step of adjusting the image acquisition frequency of the image acquisition device according to the target frame rate comprises: Determining a frame interval N based on a ratio of an image acquisition frequency of the image acquisition device to the target frame rate, wherein N is a natural number; and For the images captured by the image acquisition device, one frame of image is retained for post-processing every N frames.

7. The method according to claim 1, characterized in that in, Determining the moving speed of the image acquisition device includes: The speed of movement is determined based on acceleration sensor data.

8. The method according to claim 1, characterized in that in, Determining the moving speed of the image acquisition device includes: A moving speed of the image acquisition device on a target plane is determined.

9. A frame rate adjustment device, characterized in that: The device comprises: a determination module, configured to determine a moving speed of the image acquisition device; and The adjustment module is used to adjust the image acquisition frequency of the image acquisition device according to the moving speed.

10. An image acquisition device, characterized in that: The method comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the operations in the method according to any one of claims 1 to 8 when executing the computer program.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the operations in the method according to any one of claims 1 to 8 are implemented.

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