Camera shooting method and device, electronic equipment and storage medium

Abstract

The invention discloses a camera shooting method and device, electronic equipment and a storage medium, and relates to the technical field of security monitoring. The method comprises the following steps: acquiring a jitter parameter when a high-point camera is in a jitter state; wherein the jitter parameter comprises a jitter frequency and a maximum jitter amplitude; for the current jitter period, detecting the actual jitter amplitude of the high-point camera in real time; wherein the jitter period is determined according to the jitter frequency; and determining a jitter amplitude difference value between the actual jitter amplitude and the maximum jitter amplitude, and when the jitter amplitude difference value is smaller than or equal to a target amplitude threshold value, controlling the high-point camera to shoot. In the scheme of the invention, when the jitter amplitude of the high-point camera is close to the maximum jitter amplitude in each jitter period, the high-point camera is controlled to shoot and does not shoot at other time, so that the influence of camera jitter on image shooting can be reduced, and blurring of the shot image can be effectively avoided.

Description

Technical Field

[0001] The present invention relates to the field of security monitoring technology, and in particular to a camera shooting method, device, electronic equipment and storage medium. Background Art

[0002] A high-point camera refers to a camera installed at a relatively high position. For example, a high-point camera may be a camera installed on a pole (such as a traffic sign pole, a security monitoring pole, etc.) or on the top of a tower.

[0003] Since the top of a pole or tower shakes regularly due to wind or other factors, the camera at a high point will shake. The shaking of the camera at a high point will cause the video image taken by the camera at a high point to be blurred. At present, how to reduce the blur of the video image caused by camera shaking has become a technical problem that needs to be solved urgently. Summary of the invention

[0004] The present invention provides a camera shooting method, device, electronic equipment and storage medium, which can effectively solve the problem of blurring of camera-shot images caused by camera shaking.

[0005] According to one aspect of the present invention, a camera shooting method is provided, comprising:

[0006] Obtaining the jitter parameters of the high point camera when it is in a jitter state; wherein the jitter parameters include the jitter frequency and the maximum jitter amplitude;

[0007] According to the current shaking cycle, the actual shaking amplitude of the high point camera is detected in real time; wherein the shaking cycle is determined according to the shaking frequency;

[0008] The jitter amplitude difference between the actual jitter amplitude and the maximum jitter amplitude is determined, and when the jitter amplitude difference is less than or equal to a target amplitude threshold, the high point camera is controlled to shoot.

[0009] According to another aspect of the present invention, there is provided a camera shooting device, comprising:

[0010] A jitter parameter acquisition module, used to acquire jitter parameters when the high-point camera is in a jitter state; wherein the jitter parameters include jitter frequency and maximum jitter amplitude;

[0011] A jitter detection module, used for detecting the actual jitter amplitude of the high point camera in real time according to the current jitter cycle; wherein the jitter cycle is determined according to the jitter frequency;

[0012] The shooting module is used to determine the difference between the actual shaking amplitude and the maximum shaking amplitude, and when the difference is less than or equal to the target amplitude threshold, control the high point camera to shoot.

[0013] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0014] at least one processor; and

[0015] a memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the camera shooting method described in the embodiment of the present invention.

[0017] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the camera shooting method described in the embodiment of the present invention when executed.

[0018] According to the technical solution of the embodiment of the present invention, within each shaking cycle, when the shaking amplitude of the high-point camera reaches the maximum shaking amplitude, the swing speed of the high-point camera is zero, and shooting is only performed within the time period infinitely close to the maximum shaking amplitude, and no shooting is performed at other times. This can reduce the impact of camera shaking on image shooting and effectively avoid blurring of the captured image.

[0019] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0021] Figure 1a is a flowchart of a camera shooting method provided according to an embodiment of the present invention;

[0022] Figure 1b is a schematic diagram of the jitter of the camera axis in the horizontal direction and the vertical direction according to an embodiment of the present invention;

[0023] Figure 2a is a flowchart of a camera shooting method provided according to an embodiment of the present invention;

[0024] Figure 2b is a schematic diagram of a jitter curve provided according to an embodiment of the present invention;

[0025] Figure 3 is a flowchart of a camera shooting method provided according to an embodiment of the present invention;

[0026] Figure 4 is a structural schematic diagram of a camera shooting device provided according to an embodiment of the present invention;

[0027] Figure 5 It is a schematic diagram of the structure of an electronic device for implementing the camera shooting method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0029] Embodiment 1

[0030] Figure 1a A flowchart of a camera shooting method is provided for an embodiment of the present invention. This embodiment can be applicable to scenarios where high-point cameras are used for security monitoring. Typically, it is applicable to scenarios where high-point cameras are used for forest fire monitoring. The method can be executed by a camera shooting device, which can be implemented in the form of hardware and / or software. The camera shooting device can be configured in an electronic device, such as integrated in a high-point camera device.

[0031] like Figure 1a As shown, the camera shooting method includes:

[0032] S101, obtaining a shaking parameter of a high point camera when the camera is in a shaking state.

[0033] In the embodiment of the present invention, the high-point camera refers to a camera installed at a relatively high position. For example, the high-point camera may be a camera installed on a pole (such as a traffic sign pole, a security monitoring pole, etc.) or the top of a tower. Since the top of the pole or tower may shake due to wind or other factors, the high-point camera installed on the top of the pole or tower may shake, that is, the high-point camera is in a shaking state. At this time, the shaking parameters of the high-point camera may include the shaking frequency f and the maximum shaking amplitude RMax ; Among them, the unit of the jitter frequency is Hertz. For example, the jitter frequency f is 3 Hertz, which means 3 jitters per second; the unit of the jitter amplitude can be millimeter.

[0034] When the high-point camera is in a shaking state, the camera axis of the high-point camera shakes periodically in the horizontal and vertical directions relative to the distant target it is photographing. For example, see Figure 1b , which shows a schematic diagram of the camera axis shaking in the horizontal and vertical directions; in the horizontal direction, when the high point camera shakes, the camera axis swings from the initial position A1 (the horizontal position when the camera is not swinging) to position A2, and the distance between the two positions A1 and A2 is the horizontal shaking amplitude of the high point camera; in the vertical direction, when the high point camera shakes, the camera axis swings from position B1 (the vertical position when the camera is not swinging) to position B2, and the distance between the two positions B1 and B2 is the vertical shaking amplitude of the high point camera. It should be noted that when the high point camera shakes, the shaking period in the horizontal and vertical directions is the same, but the shaking amplitude may be different.

[0035] Optionally, set the horizontal jitter amplitude to R h , the vertical jitter amplitude is R v , the maximum jitter amplitude in the jitter parameter is set to R Max , then R Max =Max(R h ,R v ), that is, the maximum value of the horizontal jitter amplitude and the vertical jitter amplitude is taken as the maximum jitter amplitude in the jitter parameter.

[0036] Furthermore, since the high-point camera is installed at the top of a pole or tower, and the height of the pole or tower is much greater than the jitter amplitude at the top of the tower, R h ≈R; R v ≈0; where R is the vibration amplitude at the top of the pole or tower. Therefore, the vertical swing amplitude is R v It can be ignored. That is, we only need to take the maximum horizontal jitter amplitude of the high point camera as the maximum jitter amplitude R Max .

[0037] S102 , for the current shaking period, detecting the actual shaking amplitude of the high point camera in real time.

[0038] Wherein, the shaking period is determined according to the shaking frequency. For the shaking period that the high point camera is currently in, the shaking amplitude of the high point camera can be detected in real time by the detection component of the high point camera. Exemplarily, since when the shaking amplitude of the high point camera reaches the maximum shaking amplitude, the swing speed of the high point camera is zero, the conversion relationship between the swing speed and the shaking amplitude can be determined in advance, and then according to the swing speed of the high point camera detected in real time, combined with the conversion relationship, the actual shaking amplitude of the high point camera can be determined in real time.

[0039] S103: Determine a jitter amplitude difference between the actual jitter amplitude and the maximum jitter amplitude, and when the jitter amplitude difference is less than or equal to a target amplitude threshold, control the high point camera to shoot.

[0040] In this embodiment, the attribute parameter of the high-point camera can be optionally a limit jitter amplitude; wherein, the limit jitter amplitude is used to characterize the limit value of the jitter amplitude allowed by the high-point camera without affecting the normal shooting effect of the high-point camera. The limit jitter amplitude is determined by the size specification of the sensor photosensitive area of ​​the high-point camera and the resolution of the image collected by the high-point camera. Typical sensor: 1 / 1.8 inches, the corresponding target surface size is 7.2mm wide * 5.4mm high, 9mm diagonal; the actual output resolution is 1920*1080, then the distance between pixels: 0.00375mm*0.005mm; take the minimum pixel spacing or the pixel spacing in the same direction as the swing. In the present invention, only the horizontal swing direction needs to be considered, and the pixel spacing in the horizontal swing direction is consistent with the minimum pixel spacing, that is, the pixel. Therefore, the pixel spacing S p = 0.00375mm. To prevent image blur, the camera’s maximum jitter amplitude R is set along the sensor’s horizontal plane. pMax k*S p . Where k is the correlation constant, which is close to 1.

[0041] Furthermore, the limit jitter amplitude can be directly used as the target amplitude threshold. On this basis, when the jitter amplitude of the high point camera reaches the maximum jitter amplitude, the swing speed of the high point camera is zero, and the high point camera is in a relatively static state at this time. At this time, if the difference in jitter amplitude between the actual jitter amplitude and the maximum jitter amplitude is less than or equal to the target amplitude threshold, the high point camera can capture a clear image. It should be noted that the target amplitude threshold can also be any value less than the limit jitter amplitude. In the scheme of the present invention, the larger the target amplitude threshold, the longer the high point camera takes to shoot, and the longer the exposure time is, and sufficient exposure time can ensure the quality of the captured image. Therefore, the present invention uses the limit jitter amplitude as the target amplitude threshold to ensure that the camera has sufficient exposure time.

[0042] In another optional implementation, in order to avoid calculating the jitter amplitude difference each time, the target amplitude range can be determined according to the maximum jitter amplitude and the limit jitter amplitude. For example, the target amplitude range is [R1, R2], where R1 is equal to the maximum jitter amplitude R Max and the limit jitter amplitude R pMax The difference between the two; R2 is equal to the maximum jitter amplitude R Max It should be noted that the camera shake amplitude at the high point reaches the maximum shake amplitude R Max When the high-point camera swings at zero speed, the high-point camera is in a relatively static state relative to the distant object it is shooting, and the image shot at this time point will not be blurred. Since the limit jitter amplitude determines the limit value of the jitter amplitude allowed by the high-point camera without affecting the normal shooting effect of the high-point camera, as long as the jitter amplitude of the high-point camera is within the range of the maximum jitter amplitude R Max The difference is less than or equal to the limit jitter amplitude R pMax Based on this, according to the maximum jitter amplitude R Max and the limit jitter amplitude R pMax Determine a target amplitude range, and in each shaking cycle, as long as the actual shaking amplitude of the high-point camera is detected to be within this range, continue shooting. In this way, the effective shooting time in each shaking cycle can be extended, ensuring that the high-point camera can collect enough image data in each shaking cycle, thereby ensuring the effect of security monitoring.

[0043] During the actual shooting process, you can also control the high-point camera to turn on the fill light synchronously to prevent the problem of underexposure caused by short shooting time.

[0044] In the embodiment of the present invention, in each shaking cycle, shooting is performed only when the difference between the actual shaking amplitude and the maximum shaking amplitude is less than or equal to the target amplitude threshold, and shooting is not performed at other times. This can reduce the impact of camera shaking on image capture and effectively avoid blurring of the captured image.

[0045] Embodiment 2

[0046] Figure 2a A flowchart of a camera shooting method provided by an embodiment of the present invention. Figure 2a The method flow includes the following steps:

[0047] S201, obtaining the shaking parameters of the high point camera when it is in a shaking state.

[0048] In the embodiment of the present invention, the jitter parameters of the high-point camera may include a jitter frequency f and a maximum jitter amplitude R Max; Among them, the unit of the jitter frequency f is Hz. For example, the jitter frequency f is 3 Hz, which means 3 jitters per second; the unit of the jitter amplitude can be millimeter.

[0049] S202: Obtain camera attribute parameters of the high point camera.

[0050] In this embodiment, the camera attribute parameter may be a limit jitter amplitude R. pMax ; Among them, the limit jitter amplitude R pMax It is used to indicate the maximum value of the jitter amplitude allowed by the high-point camera without affecting the normal shooting effect of the high-point camera.

[0051] For the current jitter cycle, when it is detected that the jitter amplitude of the high point camera is within the target amplitude range, the high point camera is controlled to shoot. In order to ensure that the camera can start and end shooting on time, for the current jitter cycle, the jitter amplitude of the high point camera can be calculated when it reaches the maximum jitter amplitude R. Max Before, and the jitter amplitude is equal to R Max With R pMax The time point of the difference is taken as the start time of shooting; at the same time, the camera shake amplitude at the high point is calculated to reach the maximum shake amplitude R Max After that, the jitter amplitude is equal to R Max With R pMax The time point of the difference is used as the shooting end time. Thus, according to the shooting start time and shooting time, the high point camera is controlled to shoot, which can ensure the timeliness of shooting. For the specific implementation process, please refer to the description of steps S203-S206.

[0052] S203 . Determine, on the predetermined jitter curve of the high point camera, an extreme value position point when the high point camera reaches a maximum jitter amplitude.

[0053] In this embodiment, the jitter curve of the high point camera can be a sine function curve. It should be noted that the sine function curve is only a typical example of a jitter curve, and can also be other function curves, which are not specifically limited here. This embodiment is only illustrated by taking the sine function curve as an example.

[0054] For example, see Figure 2b, which shows a schematic diagram of the jitter curve. The jitter curve can be represented by the function f(), and the variable of the function is the value of the position point corresponding to the jitter amplitude; the horizontal axis of the coordinate system where the jitter curve is located is time, and the vertical axis is the jitter amplitude. The extreme position point when the high point camera reaches the maximum jitter amplitude can be selected as the peak point and valley point of the jitter curve in the current jitter cycle; among them, the peak point can be understood as the position point when the high point camera reaches the maximum positive jitter amplitude; the valuation point can be understood as the position point when the high point camera reaches the maximum negative jitter amplitude, and the extreme position point can be measured by the angle value, and the extreme position point can be a position point with an angle value of 90° or 270°.

[0055] S204: Determine a target position point on the jitter curve according to the maximum jitter amplitude and the limit jitter amplitude.

[0056] Wherein, the jitter amplitude difference between the target position point and the extreme position point is equal to the limit jitter amplitude. Figure 2b , where position points M and N are the target position points.

[0057] In an optional implementation scheme, determining a target position point from the jitter curve according to the maximum jitter amplitude and the limit jitter amplitude includes:

[0058] Determine the target location point according to the following formula:

[0059]

[0060] Wherein, X represents the target location point; R Max Represents the maximum jitter amplitude; R pMax Indicates the limit jitter amplitude; f -1 () represents the inverse function of the jitter curve.

[0061] For example, if the jitter curve is a sinusoidal function curve, then If R pMax =0.00375mm, R Max =6mm, then the angle value corresponding to the target position point M can be: The angle value corresponding to the target position point N is 90°-87.974182768°+90°=94.051634464°.

[0062] S205: Determine the shooting start and end time of the high point camera according to the target location point.

[0063] In an optional implementation scheme, the maximum jitter amplitude includes a positive maximum jitter amplitude (a jitter amplitude corresponding to a peak point); the target position point includes a first target position point M and a second target position point N; on this basis, according to the target position point, determining the shooting start and end time of the high point camera in the current jitter cycle includes:

[0064] During the movement of the high point camera from the initial position point toward the extreme position point corresponding to the maximum positive jitter amplitude, the moment when the high point camera reaches the first target position point M is taken as the shooting start time t1; wherein the initial position point is the position point on the jitter curve where the jitter amplitude is zero; after the jitter amplitude of the high point camera reaches the maximum positive jitter amplitude, and during the movement from the extreme position point corresponding to the maximum positive jitter amplitude toward the initial position point, the moment when the high point camera reaches the second target position point N is taken as the shooting end time t2.

[0065] In another optional implementation, the maximum jitter amplitude includes the negative maximum jitter amplitude (the jitter amplitude corresponding to the valley point); the target position points include the third target position point P and the fourth target position point Q. On this basis, according to the target position points, the shooting start and end time of the high point camera in the current jitter cycle is determined, including: when the high point camera moves from the initial position point to the extreme position point corresponding to the negative maximum jitter amplitude, the moment when the high point camera reaches the third target position point P is used as the shooting start time t3; after the jitter amplitude of the high point camera reaches the negative maximum jitter amplitude, and in the process of moving from the extreme position point corresponding to the negative maximum jitter amplitude to the initial position point, the moment when the high point camera reaches the fourth target position point Q is used as the shooting end time t4.

[0066] In order to explain in detail the calculation method of the shooting start and end time, the jitter curve is a sine curve as an example. The shooting start and end time is determined according to the following formula:

[0067]

[0068]

[0069] Wherein, t1 represents the shooting start time corresponding to the target position point M; t2 represents the shooting end time corresponding to the target position point N; and f represents the jitter frequency.

[0070] It should be noted that, for the current cycle, when the extreme value position point is a valley value point, based on the same calculation principle as above, the shooting start time t3 and the shooting end time t4 can also be calculated.

[0071] S206: Adjust the shutter of the high-point camera according to the shooting start and end time to shoot an image.

[0072] Optionally, after determining the shooting start and end times (ie, the shooting start time and the shooting end time), the shooting duration may be calculated, for example, the shooting end time minus the shooting start time is the shooting duration.

[0073] In an optional implementation, the shooting duration is T1; the calculation formula of T1 is exemplarily as follows:

[0074]

[0075] Among them, S p is the pixel spacing; k is the correlation constant, which is close to 1; f is the jitter frequency; R Max Represents the maximum jitter amplitude; R PMax It can be seen that the shooting time T1 is inversely proportional to the jitter frequency f and inversely proportional to the maximum jitter amplitude R Max Inversely proportional to the sensor pixel array pitch.

[0076] When shooting, you can shoot according to the start and end time, as long as the shutter time is kept less than or equal to the shooting time.

[0077] In this embodiment, the shooting start and end time in each shaking cycle is accurately calculated so that the high-point camera shoots according to the shooting start and end time, which can effectively avoid the problem of image blur.

[0078] Embodiment 3

[0079] Figure 3 A flowchart of a camera shooting method provided by an embodiment of the present invention. Figure 3 The method flow includes the following steps:

[0080] S301, obtaining the shaking parameters of the high point camera when it is in a shaking state.

[0081] In the embodiment of the present invention, the jitter parameters of the high-point camera may include a jitter frequency f and a maximum jitter amplitude R Max ; Among them, the unit of the jitter frequency f is Hz. For example, the jitter frequency f is 3 Hz, which means 3 jitters per second; the unit of the jitter amplitude can be millimeter.

[0082] S302: Obtain camera attribute parameters of the high point camera.

[0083] Among them, the camera attribute parameter can be selected as the limit jitter amplitude R pMax ; Among them, the limit jitter amplitude R pMax It is used to indicate the maximum value of the jitter amplitude allowed by the high-point camera without affecting the normal shooting effect of the high-point camera.

[0084] S303 , determining, on the predetermined jitter curve of the high point camera, an extreme value position point when the high point camera reaches a maximum jitter amplitude.

[0085] The extreme position point when the camera reaches the maximum jitter amplitude is the peak point and valley point of the jitter curve in the current jitter cycle. The jitter curve can be a sine function curve.

[0086] S304: Determine a target position point on the jitter curve according to the maximum jitter amplitude and the limit jitter amplitude.

[0087] The jitter amplitude difference between the target position point and the extreme value position point is equal to the limit jitter amplitude. The specific process of determining the target position point can be referred to the above embodiment, which will not be described in detail here.

[0088] S305: Determine the shooting start and end time of the high point camera according to the target location point.

[0089] The specific process of determining the shooting start and end time can be referred to the above embodiment, which will not be repeated here.

[0090] S306: Adjust the shutter of the high-point camera according to the shooting start and end time to shoot an image.

[0091] In the embodiment of the present invention, the pole or tower may sometimes shake more due to external factors, thereby increasing the shaking frequency of the high-point camera. Since the shaking frequency is inversely proportional to the shooting time added to the high points (see the calculation formula for the shooting time in the above embodiment), the increase in the shaking frequency causes the shooting time of the high-point camera in each shaking cycle to become shorter, resulting in insufficient exposure and the need for synchronous fill light. For the specific fill light process, see S307-S308.

[0092] S307 , if the shaking frequency is greater than a preset threshold, determining fill light intensity according to the shooting distance of the high point camera, the shaking frequency, the maximum shaking amplitude, and the exposure required by the high point camera.

[0093] In this embodiment, as long as the shaking frequency of the high point camera is detected to be greater than the preset threshold, the exposure time is determined and the exposure amount is calculated, wherein the exposure time is equal to the shooting time calculated based on the shaking frequency; it is determined whether the exposure amount meets the requirements, and if not, it is necessary to synchronize the fill light. The fill light intensity can be determined based on the shooting distance L of the high point camera, the shaking frequency f, and the maximum shaking amplitude R Max , the exposure H required by the high-point camera is determined. Optionally, the calculation formula of the fill light intensity I is as follows:

[0094]

[0095] According to the fill light intensity formula, the fill light intensity is proportional to the jitter frequency and proportional to the maximum jitter amplitude.

[0096] S308: Control the high point camera to start fill light according to the fill light intensity.

[0097] After the fill light intensity is obtained, the fill light is controlled according to the fill light intensity so that the high-point camera can perform fill light synchronously when shooting an image, thereby ensuring the effect of the shot image.

[0098] In an optional implementation scheme, according to the fill light intensity, the number of fill light lamp beads that need to be turned on in the high-point camera and the lamp bead voltage value applied to each fill light lamp bead are determined; according to the number of lamp beads and the lamp bead voltage value, the high-point camera is controlled to light up a certain number of fill light lamp beads for fill light.

[0099] In the present embodiment, after the shaking frequency of the high-point camera becomes larger, a fill light operation is performed synchronously when capturing an image in each shaking cycle, so as to avoid the problem of unclear captured images due to insufficient exposure.

[0100] Embodiment 4

[0101] Figure 4 This is a schematic diagram of the structure of a camera shooting device provided by an embodiment of the present invention. This embodiment is applicable to scenarios where a high-point camera is used for security monitoring. Typically, it is applicable to scenarios where a high-point camera is used for forest fire monitoring. Figure 4 As shown, the device specifically includes:

[0102] The jitter parameter acquisition module 401 is used to acquire the jitter parameters of the high point camera when it is in a jitter state; wherein the jitter parameters include the jitter frequency and the maximum jitter amplitude;

[0103] A jitter detection module 402 is used to detect the actual jitter amplitude of the high point camera in real time according to the current jitter cycle; wherein the jitter cycle is determined according to the jitter frequency;

[0104] The shooting module 403 is used to determine the difference between the actual shaking amplitude and the maximum shaking amplitude, and when the difference is less than or equal to the target amplitude threshold, control the high point camera to shoot.

[0105] Based on the above embodiment, optionally, the device further includes:

[0106] A camera attribute acquisition module, used to acquire the camera attribute parameters of the high point camera; wherein the camera attribute parameters include a limit jitter amplitude;

[0107] The target amplitude threshold determination module is used to use the limit jitter amplitude as the target amplitude threshold.

[0108] Based on the above embodiment, optionally, the shooting module further includes:

[0109] A first position determination unit, configured to determine, on a predetermined jitter curve of the high point camera, an extreme value position point when the high point camera reaches a maximum jitter amplitude;

[0110] A second position determination unit, configured to determine a target position point on the jitter curve according to the maximum jitter amplitude and the limit jitter amplitude; wherein the jitter amplitude difference between the target position point and the extreme position point is equal to the limit jitter amplitude;

[0111] A start and end time determination unit, used to determine the shooting start and end time of the high point camera according to the target location point;

[0112] The shooting unit is used to adjust the shutter of the high-point camera according to the shooting start and end time to shoot images.

[0113] Based on the above embodiment, optionally, the second position determining unit is further configured to:

[0114] Determine the target location point according to the following formula:

[0115]

[0116] Wherein, X represents the target location point; R Max Represents the maximum jitter amplitude; R pMax Indicates the limit jitter amplitude; f -1 () represents the inverse function of the jitter curve

[0117] Based on the above embodiment, optionally, the maximum jitter amplitude includes a positive maximum jitter amplitude; the target position point includes a first target position point and a second target position point; and the start and end time determination unit is further used to:

[0118] When the high point camera moves from the initial position point to the extreme position point corresponding to the maximum positive jitter amplitude, the moment when the high point camera reaches the first target position point is taken as the shooting start time; wherein the initial position point is the position point on the jitter curve where the jitter amplitude is zero;

[0119] When the high point camera moves from the extreme position point corresponding to the maximum positive jitter amplitude toward the initial position point, the moment when the high point camera reaches the second target position point is taken as the shooting end time.

[0120] On the basis of the above embodiment, optionally, the maximum jitter amplitude includes a negative maximum jitter amplitude; the target position point includes a third target position point and a fourth target position point;

[0121] The start and end time determination unit is also used for:

[0122] During the movement of the high point camera from the initial position point toward the extreme position point corresponding to the maximum negative jitter amplitude, the time when the high point camera reaches the third target position point is used as the shooting start time;

[0123] When the high point camera moves from the extreme position point corresponding to the negative maximum jitter amplitude toward the initial position point, the time when the high point camera reaches the fourth target position point is used as the shooting end time.

[0124] Based on the above embodiment, optionally, the device further includes:

[0125] A fill light intensity determination module, configured to determine the fill light intensity according to the shooting distance of the apex camera, the jitter frequency, the maximum jitter amplitude, and the exposure required by the apex camera if the jitter frequency is greater than a preset threshold;

[0126] A fill light module is used to control the high point camera to turn on the fill light according to the fill light intensity.

[0127] Based on the above embodiment, optionally, the fill light module is further used for:

[0128] According to the fill light intensity, determine the number of fill light lamp beads that need to be turned on in the high point camera and the lamp bead voltage value applied to each fill light lamp bead;

[0129] According to the number of lamp beads and the voltage value of the lamp beads, the high point camera is controlled to start fill light.

[0130] The camera shooting device provided in the embodiment of the present invention can execute the camera shooting method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0131] Embodiment 5

[0132] Figure 5A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0133] like Figure 5 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0134] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0135] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as executing a camera shooting method.

[0136] In some embodiments, the camera shooting method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the camera shooting method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the camera shooting method in any other appropriate manner (e.g., by means of firmware).

[0137] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0138] The computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable camera capture device, so that when the computer programs are executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer programs may be executed entirely on the machine, partially on the machine, partially on the machine as a stand-alone software package and partially on a remote machine, or entirely on a remote machine or server.

[0139] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0140] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0141] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0142] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0143] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0144] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A camera shooting method, characterized in that: include: Obtaining the jitter parameters of the high point camera when it is in a jitter state; wherein the jitter parameters include the jitter frequency and the maximum jitter amplitude; According to the current shaking cycle, the actual shaking amplitude of the high point camera is detected in real time; wherein the shaking cycle is determined according to the shaking frequency; The jitter amplitude difference between the actual jitter amplitude and the maximum jitter amplitude is determined, and when the jitter amplitude difference is less than or equal to a target amplitude threshold, the high point camera is controlled to shoot.

2. The method according to claim 1, characterized in that The method further comprises: Acquire the camera attribute parameters of the high point camera; wherein the camera attribute parameters include a limit jitter amplitude; The limit jitter amplitude is used as the target amplitude threshold.

3. The method according to claim 2, characterized in that Determining a jitter amplitude difference between the actual jitter amplitude and the maximum jitter amplitude, and controlling the high point camera to shoot when the jitter amplitude difference is less than or equal to a target amplitude threshold, comprising: On a predetermined jitter curve of the high point camera, determining an extreme value position point when the high point camera reaches a maximum jitter amplitude; Determine a target position point on the jitter curve according to the maximum jitter amplitude and the limit jitter amplitude; wherein the jitter amplitude difference between the target position point and the extreme position point is equal to the limit jitter amplitude; According to the target position point, determining the shooting start and end time of the high point camera in the current shaking cycle; According to the shooting start and end time, the shutter of the high point camera is adjusted to shoot the image.

4. The method according to claim 3, characterized in that Determining a target position point on the jitter curve according to the maximum jitter amplitude and the limit jitter amplitude includes: Determine the target location point according to the following formula: Wherein, X represents the target location point; R Max Represents the maximum jitter amplitude; R pMax Indicates the limit jitter amplitude; f -1 () represents the inverse function of the jitter curve.

5. The method according to claim 3, characterized in that: The maximum jitter amplitude includes a positive maximum jitter amplitude; the target position point includes a first target position point and a second target position point; Determining the shooting start and end time of the high point camera in the current shaking cycle according to the target position point includes: When the high point camera moves from the initial position point to the extreme position point corresponding to the maximum positive jitter amplitude, the moment when the high point camera reaches the first target position point is taken as the shooting start time; wherein the initial position point is the position point on the jitter curve where the jitter amplitude is zero; When the high point camera moves from the extreme position point corresponding to the maximum positive jitter amplitude toward the initial position point, the moment when the high point camera reaches the second target position point is taken as the shooting end time.

6. The method according to claim 3, characterized in that The maximum jitter amplitude includes a negative maximum jitter amplitude; the target position points include a third target position point and a fourth target position point; Determining the shooting start and end time of the high point camera in the current shaking cycle according to the target position point includes: During the movement of the high point camera from the initial position point toward the extreme position point corresponding to the maximum negative jitter amplitude, the time when the high point camera reaches the third target position point is used as the shooting start time; When the high point camera moves from the extreme position point corresponding to the negative maximum jitter amplitude toward the initial position point, the time when the high point camera reaches the fourth target position point is used as the shooting end time.

7. The method according to claim 1, characterized in that The method further comprises: If the shaking frequency is greater than a preset threshold, the fill light intensity is determined according to the shooting distance of the high point camera, the shaking frequency, the maximum shaking amplitude, and the exposure required by the high point camera; According to the fill light intensity, the high point camera is controlled to start the fill light.

8. The method according to claim 7, characterized in that According to the fill light intensity, controlling the high point camera to start the fill light includes: According to the fill light intensity, determine the number of fill light lamp beads that need to be turned on in the high point camera and the lamp bead voltage value applied to each fill light lamp bead; According to the number of lamp beads and the voltage value of the lamp beads, the high point camera is controlled to start fill light.

9. A camera shooting device, characterized in that: include: A jitter parameter acquisition module, used to acquire jitter parameters when the high-point camera is in a jitter state; wherein the jitter parameters include jitter frequency and maximum jitter amplitude; A jitter detection module, used for detecting the actual jitter amplitude of the high point camera in real time according to the current jitter cycle; wherein the jitter cycle is determined according to the jitter frequency; The shooting module is used to determine the difference between the actual shaking amplitude and the maximum shaking amplitude, and when the difference is less than or equal to the target amplitude threshold, control the high point camera to shoot.

10. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the method according to any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method according to any one of claims 1 to 8 when executed.

Images