Unmanned equipment camera visual angle switching method and device based on operation type, equipment and storage medium

Abstract

The embodiment of the invention discloses an unmanned equipment camera visual angle switching method and device based on an operation type, equipment and a storage medium, and relates to the technical field of equipment control. The method comprises the following steps: acquiring operation type information of unmanned equipment; calling a first switching speed coefficient corresponding to the operation type information; and when the unmanned equipment executes the operation task corresponding to the operation type information, in response to a view angle switching operation, controlling a camera of the unmanned equipment to be switched from a current view angle to a target view angle according to the first switching speed coefficient. According to the technical scheme, the camera of the unmanned equipment is controlled to be switched from the current view angle to the target view angle according to the first switching speed coefficient corresponding to the operation type information of the unmanned equipment, so that switching of the view angle of the camera of the unmanned equipment can meet actual requirements in different operation scenes, the operation process of the unmanned equipment is optimized, and the operation efficiency of the unmanned equipment is improved. And the operation quality and efficiency are improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of equipment control technology, and in particular, to a method, apparatus, device and storage medium for switching the camera perspective of an unmanned equipment based on the operation type. Background Art

[0002] In the field of drones, in order to fully capture key information during the flight of drones and assist the intelligent visual operations of drones, current drones generally adopt a first-person perspective remote control strategy.

[0003] Drones can be equipped with multiple cameras to take into account the image acquisition needs of all directions. However, equipping drones with multiple cameras leads to high costs, complex software and hardware design, and very limited viewing angles, making it difficult to cover the middle area of ​​the drone's flight path. To overcome the above limitations, some drones are equipped with fisheye cameras, which can acquire images of a wide range of scenes.

[0004] However, in actual applications, the camera perspective needs to be switched to complete the task, and different tasks have different requirements for the switching speed of the camera perspective. Switching the camera perspective at a fixed switching speed will undoubtedly reduce the work quality and efficiency.

[0005] Therefore, how to meet the camera perspective switching requirements under different types of operations is an urgent problem that people in this field need to solve. Summary of the invention

[0006] The embodiments of the present invention provide a method, device, equipment and storage medium for switching the camera perspective of an unmanned equipment based on the operation type, which can ensure that the switching of the camera perspective of the unmanned equipment in different operation scenarios can meet actual needs, thereby optimizing the operation process of the unmanned equipment and improving the operation quality and efficiency.

[0007] In a first aspect, an embodiment of the present invention provides a method for switching camera perspectives of an unmanned device based on an operation type, the method being performed by an unmanned device, the unmanned device being configured with a camera; the method comprising:

[0008] Obtain the operation type information of unmanned equipment;

[0009] Retrieving a first switching speed coefficient corresponding to the operation type information;

[0010] When the unmanned equipment performs the operation task corresponding to the operation type information, in response to a perspective switching operation, the camera of the unmanned equipment is controlled to switch from a current perspective to a target perspective according to the first switching speed coefficient.

[0011] In a second aspect, an embodiment of the present invention further provides a device for switching camera perspectives of an unmanned equipment based on an operation type, the device comprising:

[0012] The operation type acquisition module is used to obtain the operation type information of the unmanned equipment;

[0013] A first coefficient retrieving module, used for retrieving a first switching speed coefficient corresponding to the operation type information;

[0014] A perspective switching module is used to control the camera of the unmanned device to switch from a current perspective to a target perspective in response to a perspective switching operation when the unmanned device performs the operation task corresponding to the operation type information according to the first switching speed coefficient.

[0015] In a third aspect, an embodiment of the present invention further provides an unmanned device, which is equipped with a camera and includes: one or more processors; a storage device for storing one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors implement the unmanned device camera perspective switching method based on the job type described in an embodiment of the present invention.

[0016] In a fourth aspect, an embodiment of the present invention further provides a storage medium storing computer executable instructions, which, when executed by a computer processor, are used to execute the method for switching the camera perspective of an unmanned equipment based on the operation type described in an embodiment of the present invention.

[0017] In an embodiment of the present invention, the operation type information of the unmanned equipment is obtained; the first switching speed coefficient corresponding to the operation type information is retrieved; when the unmanned equipment performs the operation task corresponding to the operation type information, in response to the perspective switching operation, the camera of the unmanned equipment is controlled to switch from the current perspective to the target perspective according to the first switching speed coefficient. The above-mentioned method for switching the perspective of the camera of the unmanned equipment based on the operation type can ensure that the switching of the camera perspective of the unmanned equipment in different operation scenarios can meet the actual needs, thereby optimizing the operation process of the unmanned equipment and improving the operation quality and efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of a process flow of a method for switching camera viewing angles of an unmanned device based on operation type provided in Example 1 of the present application;

[0019] Figure 2 A schematic diagram of a flow chart of a method for switching camera viewing angles of an unmanned equipment based on operation type provided in Embodiment 2 of the present invention;

[0020] Figure 3 is an example diagram of the orientation relationship between viewing angles provided in Embodiment 2 of the present application;

[0021] Figure 4 is an example diagram of the orientation relationship between viewing angles provided in Embodiment 2 of the present application;

[0022] Figure 5 A schematic diagram of a flow chart of a method for switching camera viewing angles of an unmanned equipment based on operation type provided in Embodiment 3 of the present invention;

[0023] Figure 6 This is a structural schematic diagram of an unmanned equipment camera perspective switching device based on operation type provided in Example 4 of the present application;

[0024] Figure 7 It is a structural schematic diagram of an unmanned device provided in Embodiment 5 of the present invention. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

[0026] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0027] The following, in conjunction with the accompanying drawings, describes in detail the method for switching the camera perspective of an unmanned equipment based on the operation type provided in the embodiment of the present application through specific embodiments and their application scenarios.

[0028] Embodiment 1

[0029] Figure 1 1 is a flow chart of a method for switching camera viewing angles of an unmanned device based on the operation type provided in the first embodiment of the present application. Figure 1 As shown, the specific steps include:

[0030] S101, obtaining operation type information of unmanned equipment;

[0031] The application scenario of this solution can be a scenario where the user needs to switch the camera perspective to obtain the target perspective when the unmanned equipment is waiting or executing a task instruction.

[0032] Based on the above usage scenarios, it can be understood that the executor of the present application can be the unmanned device, specifically the processor in the unmanned device, etc., and no excessive limitations are made here.

[0033] Unmanned equipment can refer to unmanned equipment that can execute tasks or instructions issued by users, such as unmanned aerial vehicles and agricultural drones. A camera is a device used to capture image data; image data is information used to represent an image, stored and processed in digital form. The viewing angle refers to the range and angle of the scene that a user can see through a camera, and the image data of a viewing angle refers to the image presented by the scene within the range and angle that can be seen through the viewing angle.

[0034] In this technical solution, optionally, the camera uses electronic pan-tilt technology to switch viewing angles.

[0035] Electronic pan / tilt technology is a new type of integrated pan / tilt technology compared to traditional mechanical pan / tilt technology. Electronic pan / tilt technology has no visible mechanical rotating parts, but directly controls the viewing angle and zoom function of the lens inside the camera through a program, so that the target viewing angle can be selected in its wide field of view.

[0036] Cameras that can use electronic pan / tilt technology include fisheye cameras or wide-angle cameras. Specifically, fisheye cameras have an extremely short focal length and a very large field of view, which can reach or exceed 180 degrees; wide-angle cameras have a shorter focal length and a field of view that is generally above 60 degrees, but smaller than the field of view of fisheye lenses, and the degree of image distortion is smaller than that of fisheye cameras.

[0037] In this solution, the camera can simultaneously obtain image data from various viewing angles between 0 degrees (forward view) and 90 degrees (downward view), where 0 degrees refers to the forward direction of the unmanned device.

[0038] The advantage of this arrangement is that by using the electronic pan-tilt technology of the camera to switch the viewing angle, it can avoid the shortcomings of multi-eye cameras such as high cost and blind spots in the field of view, and achieve fast, smooth and mechanically wear-free viewing angle switching.

[0039] The operation type information may refer to the type of operation task to be performed by the unmanned equipment, which may include marking operation and lifting operation. The operation type information of the unmanned equipment may be set by the user before the user performs the perspective switching operation. The operation type information of the unmanned equipment may be obtained by reading the specific value of the variable storing the operation type information on the unmanned equipment. The operation type information of the unmanned equipment may also be set by the user during the perspective switching operation. The operation type information of the unmanned equipment may be obtained by reading the setting result of the user for the operation type information of the unmanned equipment during the perspective switching operation.

[0040] S102, retrieving a first switching speed coefficient corresponding to the operation type information;

[0041] The first switching speed coefficient can be used to describe the degree of adjustment of the operation type information on the switching speed of the camera of the unmanned equipment from the current perspective to the target perspective.

[0042] The first switching speed coefficient corresponding to each operation type information can be preset and stored in association with the corresponding operation type information. By using the currently acquired operation type information of the unmanned equipment as a query condition, the associated stored data is queried, and the query result obtained includes the first switching speed coefficient corresponding to the current operation type information of the unmanned equipment.

[0043] In the present technical solution, optionally, the first switching speed coefficient is determined according to the obstacle avoidance requirement and the viewing requirement associated with the current operation type information.

[0044] The obstacle avoidance requirement refers to the ability of unmanned equipment to detect obstacles in the surrounding environment and take actions to avoid collisions with these obstacles; the viewing requirement is the user's demand and expectation for the visual content presented by the camera's perspective.

[0045] The first switching speed coefficient is determined according to the obstacle avoidance requirement and viewing requirement associated with the current operation type information. For example, the current operation type information is dotting operation. The dotting operation may refer to the process of the unmanned device moving to a specified location and marking, shooting or collecting data. The camera perspective of the unmanned device needs to keep looking forward to avoid obstacles during the movement of the unmanned device. The camera perspective of the unmanned device needs to keep looking downward to perform precise dotting during the marking, shooting or data collection process. Therefore, the dotting operation does not need to check the camera perspective between the forward view and the downward view, so that the camera perspective can switch between the forward view and the downward view faster, that is, the first switching speed coefficient corresponding to the dotting operation can be a higher value.

[0046] The first switching speed coefficient is determined according to the obstacle avoidance requirement and viewing requirement associated with the current operation type information. For example, the current operation type information is lifting operation. The lifting operation may refer to the process of unmanned equipment lifting goods to a designated location and putting them down. The camera perspective of the unmanned equipment needs to keep looking forward to avoid obstacles during the process of lifting and moving goods. The camera perspective of the unmanned equipment needs to keep looking downward to achieve precise control of the hook during the process of lifting or putting down goods. Therefore, the lifting operation does not need to check the camera perspective between the forward view and the downward view, so that the switching speed of the camera perspective between the forward view and the downward view can be faster, that is, the first switching speed coefficient corresponding to the dot operation can be a higher value.

[0047] The first switching speed coefficient is determined according to the obstacle avoidance requirement and viewing requirement associated with the current operation type information. For example, the current operation type information is automatic obstacle avoidance. Automatic obstacle avoidance can be the unmanned equipment's automatic recognition and avoidance of obstacles based on the image data from the camera's perspective. The image analysis data volume is huge, time-consuming, and relatively coherent image data is required to achieve accurate recognition and avoidance. Therefore, the switching speed of the camera's perspective should be slower, that is, the first switching speed coefficient corresponding to automatic obstacle avoidance can be a lower value.

[0048] The advantage of this setting of the present scheme is that by determining the first switching speed coefficient according to the obstacle avoidance requirements and viewing requirements associated with the current operation type information, the switching requirements of the camera perspective when the unmanned equipment performs various types of operation tasks can be accurately met, thereby effectively improving the intelligence level and operation efficiency of the unmanned equipment operation.

[0049] S103. When the unmanned device executes the operation task corresponding to the operation type information, in response to a perspective switching operation, the camera of the unmanned device is controlled to switch from a current perspective to a target perspective according to the first switching speed coefficient.

[0050] After the operation type information of the unmanned equipment is set by the user, the unmanned equipment starts to work to execute the operation task corresponding to the operation type information.

[0051] The perspective switching operation may refer to an operation performed by a user to control the camera of the unmanned device to switch from a current perspective to a target perspective. The user may perform the perspective switching operation on a remote control device connected to the unmanned device to achieve switching control of the camera perspective of the unmanned device. The remote control device includes a first type and a second type.

[0052] In the case where the remote control device is of the first type, for example, the remote control device is a remote controller device, the perspective switching operation can be obtained through the wave wheel and / or knob of the remote controller device to obtain the perspective adjustment value, and then a first switching instruction can be generated based on the perspective adjustment value to control the camera of the unmanned device to switch the perspective according to the perspective adjustment value; the perspective switching operation can also be obtained through the quick switching button of the remote controller device to obtain the target custom perspective, and a first switching instruction can be generated based on the target custom perspective to control the camera of the unmanned device to jump from the current perspective to the target custom perspective.

[0053] In the case where the remote control device is of the second type, for example, the remote control device is a smart terminal device, the click area can be obtained by acquiring a click switching operation through the smart terminal device, or the sliding direction can be obtained by acquiring a sliding switching operation through the smart terminal device, and then the target candidate viewing angle is determined according to the click area or the sliding direction, and a second switching instruction is generated based on the target candidate viewing angle to control the camera of the unmanned device to jump from the current viewing angle to the target candidate viewing angle.

[0054] The method of controlling the camera of the unmanned device to switch from the current perspective to the target perspective according to the first switching speed coefficient can adopt a speed iteration formula for determining the basic switching speed, and determine the switching speed to the target perspective according to the speed iteration formula and the first switching speed coefficient. The switching speed is first fast and then slow in the process of the camera of the unmanned device switching from the current perspective to the target perspective.

[0055] In an embodiment of the present invention, the operation type information of the unmanned equipment is obtained; the first switching speed coefficient corresponding to the operation type information is retrieved; when the unmanned equipment performs the operation task corresponding to the operation type information, in response to the perspective switching operation, the camera of the unmanned equipment is controlled to switch from the current perspective to the target perspective according to the first switching speed coefficient. The above-mentioned method for switching the perspective of the camera of the unmanned equipment based on the operation type can ensure that the switching of the camera perspective of the unmanned equipment in different operation scenarios can meet the actual needs, thereby optimizing the operation process of the unmanned equipment and improving the operation quality and efficiency.

[0056] Embodiment 2

[0057] Figure 2This is a flow chart of the method for switching the camera perspective of an unmanned device based on the operation type provided in the second embodiment of the present application. This solution makes a better improvement on the above embodiment, and the specific improvement is: the method also includes: when receiving a perspective switching operation, determining the travel distance information between the current perspective and the target perspective; retrieving a second switching speed coefficient corresponding to the travel distance information; and controlling the camera of the unmanned device to switch from the current perspective to the target perspective according to the second switching speed coefficient.

[0058] like Figure 2 As shown, specifically including the following:

[0059] S201, when a view switching operation is received, determining travel distance information between a current view and a target view;

[0060] The travel distance information may refer to the angle difference between the current viewing angle and the target viewing angle. The travel distance information may be obtained by obtaining the angle between the current viewing angle and the target viewing angle and performing a subtraction operation thereon.

[0061] S202, retrieving a second switching speed coefficient corresponding to the travel distance information;

[0062] The second switching speed coefficient can be used to describe the degree of adjustment of the travel distance information on the switching speed of the camera of the unmanned device switching from the current perspective to the target perspective.

[0063] It is understandable that when the travel distance information is larger, a faster switching speed is required to switch the current perspective to the target perspective in time, that is, the second switching speed coefficient is positively correlated with the travel distance information. Therefore, the second switching speed coefficient corresponding to the travel distance information can be obtained by multiplying the travel distance information by a preset positive proportional coefficient. The preset positive proportional coefficient can be determined according to the user's requirement for the duration of perspective switching.

[0064] In the present technical solution, optionally, when the perspective switching operation is obtained through the quick switch button of the remote control device, and when the remote control device is a smart terminal device, that is, when the current perspective and the target perspective are both preset perspectives, the azimuth relationship information between the current perspective and the target perspective can be determined, and the second switching speed coefficient corresponding to the azimuth relationship information can be retrieved. Specifically, when the azimuth relationship information is an adjacent relationship, the first preset coefficient is determined as the second switching speed coefficient, and when the azimuth relationship information is an interval relationship, the second preset coefficient is determined as the second switching speed coefficient. Among them, the first preset coefficient is less than the second preset coefficient.

[0065] Figure 32 is an example diagram of the azimuth relationship between the viewing angles provided in the second embodiment of the present application. Figure 3 As shown, the entire scene range can be divided into three viewing angles: upper, middle and lower. This viewing angle setting mode is suitable for scenes where the camera uses a monocular fisheye camera, which can simultaneously obtain image data of each viewing angle between 0 degrees (forward view) and 90 degrees (downward view).

[0066] Figure 4 2 is an example diagram of the azimuth relationship between the viewing angles provided in the second embodiment of the present application. Figure 4 As shown, the entire scene range can also be divided into nine viewing angles, namely, upper left, upper, upper right, left, middle, right, lower left, lower and lower right. Among them, the specific orientation relationship is, for example, that the orientation relationship between the three viewing angles of upper, middle and left and the upper left viewing angle is an adjacent relationship, and the orientation relationship between the five viewing angles of upper right, right, lower right, lower and lower left and the upper left viewing angle is an interval relationship.

[0067] S203: Control the camera of the unmanned device to switch from the current perspective to the target perspective according to the second switching speed coefficient.

[0068] The method of controlling the camera of the unmanned device to switch from the current perspective to the target perspective according to the second switching speed coefficient can adopt a speed iteration formula for determining the basic switching speed, and determine the switching speed to the target perspective according to the speed iteration formula and the second switching speed coefficient. The switching speed is first fast and then slow in the process of the camera of the unmanned device switching from the current perspective to the target perspective.

[0069] The advantage of this arrangement of the present solution is that by determining the second switching speed coefficient according to the travel distance information between the current perspective and the target perspective, the camera perspective switching of various travel distance spans can meet the user's requirements for switching time.

[0070] In this technical solution, optionally, the method further includes:

[0071] When receiving a view switching operation, determining travel distance information between the current view and the target view;

[0072] Retrieving a second switching speed coefficient corresponding to the travel distance information;

[0073] determining a switching speed according to the first switching speed coefficient and the second switching speed coefficient;

[0074] The camera of the unmanned device is controlled to switch from a current perspective to a target perspective according to the switching speed.

[0075] The switching speed may refer to the change value of the camera viewing angle of the unmanned equipment within a unit time. According to the first switching speed coefficient and the second switching speed coefficient, the switching speed may be determined by obtaining a basic switching speed, determining a switching speed corresponding to the operation type information according to the basic switching speed and the first switching speed coefficient, and determining a switching speed corresponding to the travel distance information under the operation type information according to the second switching speed coefficient.

[0076] The method of controlling the camera of the unmanned equipment to switch from the current perspective to the target perspective according to the switching speed can be adopted to determine the real-time perspective at each moment in the process of the camera of the unmanned equipment switching from the current perspective to the target perspective according to the switching speed, the current perspective and the target perspective, and display the image data of the corresponding real-time perspective at each moment.

[0077] In the technical solution, optionally, it is characterized in that the switching speed is determined according to the first switching speed coefficient and the second switching speed coefficient, including:

[0078] Get the basic switching speed;

[0079] determining a switching speed corresponding to the job type information according to the basic switching speed and the first switching speed coefficient;

[0080] A switching speed corresponding to the travel distance information under the operation type information is determined according to the second switching speed coefficient.

[0081] The basic switching speed may refer to the switching speed when the switching speed requirements of the operation type information and the travel distance information are not considered. The basic switching speed may adopt the default switching speed of the unmanned device, may be set by the user, or may be obtained by iterative calculation based on the current viewing angle.

[0082] The switching speed corresponding to the operation type information may be determined by multiplying the first switching speed coefficient by the basic switching speed to obtain the switching speed corresponding to the operation type information. The switching speed corresponding to the travel distance information under the operation type information may be determined by multiplying the second switching speed coefficient by the switching speed corresponding to the travel distance information to obtain the switching speed corresponding to the travel distance information under the operation type information.

[0083] The benefit of this arrangement of the present solution is that by gradually calculating the switching speed corresponding to the job type information and the switching speed corresponding to the travel distance information under the job type information, the calculation flexibility of the switching speed can be improved.

[0084] The advantage of this setting of the present scheme is that by determining the switching speed based on the first switching speed coefficient and the second switching speed coefficient, the requirements for switching the camera perspective when the unmanned equipment performs various types of work tasks and the user's requirements for switching time can be comprehensively considered, thereby effectively improving the intelligence level and operating efficiency of the unmanned equipment.

[0085] Embodiment 3

[0086] Figure 5 A schematic diagram of a flow chart for determining the effective obstacle extension direction provided in Embodiment 3 of the present invention. This solution makes a better improvement on the above embodiment, and the specific improvement is as follows: the method further includes: determining a speed iteration formula for a basic switching speed; determining a switching speed for switching to a target viewing angle according to the speed iteration formula, and the first switching speed coefficient and / or the second switching speed coefficient.

[0087] like Figure 5 As shown, specifically including the following:

[0088] S501, obtaining operation type information of unmanned equipment;

[0089] S502, retrieving a first switching speed coefficient corresponding to the operation type information;

[0090] S503: when a view switching operation is received, determining travel distance information between the current view and the target view;

[0091] S504, retrieving a second switching speed coefficient corresponding to the travel distance information;

[0092] S505, determining a speed iteration formula for a basic switching speed;

[0093] The speed iteration formula of the basic switching speed is:

[0094]

[0095] P t+1 =P t +V t+1

[0096] Where t represents the current moment, t+1 represents the next moment, and the granularity of t is 1 second; V t+1 Indicates the switching speed at the next moment; P t Indicates the current real-time viewing angle, P t-1 Indicates the real-time viewing angle of the previous moment, P t+1 Indicates the real-time viewing angle at the next moment.

[0097] In the technical solution, optionally, a switching speed that is first fast and then slow is obtained based on the speed iteration formula.

[0098] When |P t -P t-1 When the value of | is large, The value of this exponential part will be smaller, so The value of is close to 1, that is, the switching speed is large. This means that in the initial stage of perspective switching, the perspective angle changes greatly and the switching speed is fast. As time goes by, when the perspective angle changes gradually decrease, that is, |P t -P t-1 The value of | is getting smaller and smaller. At this time, This exponential part is getting closer and closer to 1, then The value of gets smaller and smaller, that is, the switching speed gradually slows down.

[0099] The advantage of this setting of the scheme is that by switching the camera perspective of the unmanned device with a switching speed that is first fast and then slow, the switching of the camera perspective can be made smoother and more consistent with the natural transition habits of human vision.

[0100] S506: Determine a switching speed for switching to a target viewing angle according to the speed iteration formula and the first switching speed coefficient and / or the second switching speed coefficient.

[0101] The switching speed to the target viewing angle may be determined based on the following speed iteration formula:

[0102]

[0103] P t+1 =P t +V t+1

[0104] Wherein, α is the speed switching coefficient. Specifically, when only the first switching speed coefficient exists, α is equal to the first switching speed coefficient; when only the second switching speed coefficient exists, α is equal to the second switching speed coefficient; when both the first switching speed coefficient and the second switching speed coefficient exist, α may be equal to the average value of the first switching speed coefficient and the second switching speed coefficient or the product of the first switching speed coefficient and the second switching speed coefficient, etc.

[0105] The advantage of this arrangement of the present solution is that by determining the switching speed to the target perspective based on the speed iteration formula and the first switching speed coefficient and / or the second switching speed coefficient, the switching of the camera perspective can be kept smooth and fluent even under the influence of the adjustment of the operation type information and / or the travel distance information, which conforms to the natural transition habits of human vision.

[0106] Embodiment 4

[0107] Figure 6 Schematic diagram of the structure of the camera view switching device for unmanned equipment based on the operation type provided in the fourth embodiment of the present application. Figure 6 As shown, specifically including the following:

[0108] The operation type acquisition module 610 is used to obtain the operation type information of the unmanned equipment;

[0109] A first coefficient retrieving module 620, configured to retrieve a first switching speed coefficient corresponding to the operation type information;

[0110] The perspective switching module 630 is used to control the camera of the unmanned device to switch from the current perspective to the target perspective according to the first switching speed coefficient in response to the perspective switching operation when the unmanned device performs the operation task corresponding to the operation type information.

[0111] In an embodiment of the present invention, a job type acquisition module is used to acquire the job type information of the unmanned equipment; a first coefficient calling module is used to call the first switching speed coefficient corresponding to the job type information; and a perspective switching module is used to control the camera of the unmanned equipment to switch from the current perspective to the target perspective in response to the perspective switching operation when the unmanned equipment performs the job task corresponding to the job type information. The above-mentioned unmanned equipment camera perspective switching device based on job type can ensure that the switching of the camera perspective of the unmanned equipment in different working scenarios can meet the actual needs, thereby optimizing the working process of the unmanned equipment and improving the working quality and efficiency.

[0112] The unmanned equipment camera perspective switching device based on operation type provided in the embodiment of the present application and the unmanned equipment camera perspective switching method based on operation type provided in the above embodiment have the same beneficial effects. To avoid repetition, they will not be described here.

[0113] Embodiment 5

[0114] Figure 7 Schematic diagram of the structure of an unmanned device provided by Embodiment 5 of the present invention. Figure 7 As shown, the embodiment of the present application also provides an unmanned device 700, which is configured with a camera 701 and includes: one or more processors 702; a storage device 703, which is used to store one or more programs. The one or more programs can be executed by the one or more processors 702, and the processor 702 can implement the various processes of the above-mentioned unmanned device camera perspective switching method embodiment based on the operation type, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0115] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises one..." does not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the method and device in the embodiment of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0116] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for a terminal (which can be a mobile device, mobile phone, computer, server or network device, etc.) to execute the methods described in each embodiment of the present application.

[0117] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A method for switching camera viewing angles of unmanned equipment based on operation type, characterized in that: The unmanned equipment is equipped with a camera for acquiring image data from at least two perspectives; the method comprises: Obtain the operation type information of unmanned equipment; Retrieving a first switching speed coefficient corresponding to the operation type information; When the unmanned equipment performs the operation task corresponding to the operation type information, in response to a perspective switching operation, the camera of the unmanned equipment is controlled to switch from a current perspective to a target perspective according to the first switching speed coefficient.

2. The method for switching camera viewing angles of unmanned equipment based on remote control equipment type according to claim 1, characterized in that: The camera uses electronic pan-tilt technology to switch viewing angles.

3. The method for switching camera viewing angles of unmanned equipment based on operation type according to claim 1, characterized in that: The method further comprises: When receiving a view switching operation, determining travel distance information between the current view and the target view; Retrieving a second switching speed coefficient corresponding to the travel distance information; The camera of the unmanned device is controlled to switch from a current perspective to a target perspective according to the second switching speed coefficient.

4. The method for switching camera viewing angles of unmanned equipment based on operation type according to claim 1, characterized in that: The method further comprises: When receiving a view switching operation, determining travel distance information between the current view and the target view; Retrieving a second switching speed coefficient corresponding to the travel distance information; determining a switching speed according to the first switching speed coefficient and the second switching speed coefficient; The camera of the unmanned device is controlled to switch from a current perspective to a target perspective according to the switching speed.

5. The method for switching camera viewing angles of unmanned equipment based on operation type according to claim 4, characterized in that: Determining a switching speed according to the first switching speed coefficient and the second switching speed coefficient includes: Get the basic switching speed; determining a switching speed corresponding to the job type information according to the basic switching speed and the first switching speed coefficient; A switching speed corresponding to the travel distance information under the operation type information is determined according to the second switching speed coefficient.

6. The method for switching camera view angles of unmanned equipment based on operation type according to any one of claims 1, 3 and 4, characterized in that: The method further comprises: Speed ​​iteration formula to determine base switching speed; The switching speed for switching to the target viewing angle is determined according to the speed iteration formula and the first switching speed coefficient and / or the second switching speed coefficient.

7. The method for switching camera viewing angles of unmanned equipment based on operation type according to claim 6, characterized in that: Based on the speed iteration formula, a switching speed that is first fast and then slow is obtained.

8. The method for switching camera viewing angles of unmanned equipment based on operation type according to claim 1, characterized in that: The first switching speed coefficient is determined according to the obstacle avoidance requirement and the viewing requirement associated with the current operation type information.

9. A camera viewing angle switching device for unmanned equipment based on operation type, characterized in that: The device comprises: The operation type acquisition module is used to obtain the operation type information of the unmanned equipment; A first coefficient retrieving module, used for retrieving a first switching speed coefficient corresponding to the operation type information; A perspective switching module is used to control the camera of the unmanned device to switch from a current perspective to a target perspective in response to a perspective switching operation when the unmanned device performs the operation task corresponding to the operation type information according to the first switching speed coefficient.

10. An unmanned device, characterized in that: The unmanned equipment is configured with a camera and includes: one or more processors; a storage device for storing one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors implement the unmanned equipment camera perspective switching method based on the operation type as described in any one of claims 1-8.

11. A storage medium storing computer executable instructions, characterized in that: The computer executable instructions, when executed by a computer processor, are used to execute the method for switching the camera perspective of an unmanned equipment based on the operation type as described in any one of claims 1-8.

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