Method and device for automatically adjusting acquisition frame rate, equipment and medium

Abstract

The invention belongs to the technical field of interventional robots, and discloses a method, device and equipment for automatically adjusting the collection frame rate and a medium, and the method comprises the steps: obtaining the current movement speed of an interventional robot; adjusting a corresponding collection frame rate according to the movement speed; and controlling a camera to perform data acquisition based on the acquisition frame rate. The appropriate frame rate is selected according to the real-time movement speed of the interventional robot, the high frame rate is provided during high-speed movement by dynamically adjusting the collection frame rate of the camera so as to reduce movement blur, and the frame rate is reduced in a low-speed or static state so as to save bandwidth resources. According to the method, unnecessary data transmission quantity is reduced, network congestion and processing burden are relieved, the overall performance and stability of the system are improved, real-time and accurate transmission of image information is ensured, smooth and clear visual feedback is provided, the accurate control capability in the intervention process is improved, and the safety of the intervention process is improved.

Description

Technical Field

[0001] The present application relates to the technical field of interventional robots, and in particular to a method, device, equipment and medium for automatically adjusting an acquisition frame rate. Background Art

[0002] 5G networks are widely used in remote surgery due to their high speed and low latency, providing the necessary communication guarantee for precise control. Currently, in order to ensure that image information can be accurately transmitted to the remote operator in real time during remote surgery, high acquisition frame rates (such as 60 frames per second) are usually used to acquire and transmit video streams to provide smooth and clear visual feedback.

[0003] However, in actual applications, it is found that when the surgical robot moves at a slower speed, maintaining a fixed high acquisition frame rate will lead to an unnecessary increase in the amount of data, which not only wastes bandwidth resources, but may also affect the stability of the entire system due to excessive data transmission load for a long time. Specifically, excessive data traffic may cause network congestion or increased latency, posing a potential threat to precise control during surgery. In addition, continuous high bandwidth usage may also limit the normal operation of other critical services or functions, further exacerbating the challenge to system reliability.

[0004] Therefore, how to dynamically adjust the video acquisition parameters according to the actual operating status of the surgical robot has become a technical problem that needs to be solved urgently. Summary of the invention

[0005] The present invention provides a method, device, equipment and medium for automatically adjusting the acquisition frame rate, aiming to solve the technical problems of data waste and network bandwidth occupation caused by repeated picture sending in the existing audio transmission process.

[0006] In order to achieve the above-mentioned object of the invention, the first aspect of the present invention provides a method for automatically adjusting the acquisition frame rate, which is applied to a remote intervention robot operating system, wherein the remote intervention robot operating system includes an operating terminal and an intervention robot controlled by instructions of the operating terminal, including: Obtain the current movement speed of the interventional robot; Adjusting the corresponding acquisition frame rate according to the movement speed; The camera is controlled to collect data based on the collection frame rate.

[0007] Furthermore, the step of obtaining the current movement speed of the interventional robot includes: Establishing a communication channel with the intervention robot; The movement speed sent by the interventional robot in real time is received based on the communication channel; wherein the movement speed is obtained by the interventional robot analyzing the control instructions sent by the operation terminal.

[0008] Furthermore, the step of adjusting the corresponding acquisition frame rate according to the motion speed includes: Retrieving a capture frame rate mapping table corresponding to the motion speed; Determine the speed level corresponding to the motion speed in the acquisition frame rate mapping table; Acquire the acquisition frame rate corresponding to the speed gear according to the speed gear; The update is performed based on the currently acquired acquisition frame rate.

[0009] Further, the step of determining the speed gear corresponding to the motion speed in the acquisition frame rate mapping table includes: If the value corresponding to the movement speed is the first movement threshold, the corresponding speed gear is high speed; If the value corresponding to the movement speed is the second movement threshold, the corresponding speed gear is medium speed; If the value corresponding to the movement speed is the third movement threshold, the corresponding speed gear is low speed; If the value corresponding to the movement speed is the fourth movement threshold, the corresponding speed gear is slow speed; If the value corresponding to the movement speed is the fifth movement threshold, the corresponding speed gear is precision speed; wherein the fifth movement threshold < the fourth movement threshold < the third movement threshold < the second movement threshold < the first movement threshold.

[0010] Further, the step of acquiring the acquisition frame rate corresponding to the speed gear according to the speed gear includes: If the current speed gear is high speed, the corresponding acquisition frame rate is 60Hz; If the current speed gear is medium speed, the corresponding acquisition frame rate is 30Hz; If the current speed gear is high speed, the corresponding acquisition frame rate is 20Hz; If the current speed gear is micro speed or fine speed, the corresponding acquisition frame rate is 10Hz.

[0011] Furthermore, the step of controlling the camera to collect data based on the acquisition frame rate includes: generating an acquisition frame rate adjustment instruction based on the acquisition frame rate; An acquisition frame rate adjustment instruction is sent to the camera through a preset communication channel, and the camera is controlled to perform image data acquisition based on the acquisition frame rate included in the acquisition frame rate adjustment instruction.

[0012] Furthermore, after the step of controlling the camera to collect data based on the acquisition frame rate, the following steps are included: Receiving collected data sent by the camera; The collected data is sent to a server, and then sent to an operating terminal via the server for image display.

[0013] The second aspect of the present application further provides a device for automatically adjusting the acquisition frame rate, which is applied to a remote intervention robot operating system, wherein the remote intervention robot operating system includes an operating terminal and an intervention robot controlled by instructions of the operating terminal, including: An acquisition module is used to acquire the current movement speed of the interventional robot; An adjustment module, used for adjusting the corresponding acquisition frame rate according to the movement speed; The acquisition module is used to control the camera to acquire data based on the acquisition frame rate.

[0014] The third aspect of the present application further proposes a computer device, comprising a memory and a processor, wherein the processor implements the steps of any of the above-mentioned methods for automatically adjusting the acquisition frame rate when executing the computer program.

[0015] The fourth aspect of the present application further proposes a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the steps of the method for automatically adjusting the acquisition frame rate described in any one of the above items are implemented.

[0016] Beneficial effects: The present invention can select a suitable frame rate according to the real-time movement speed of the interventional robot, and dynamically adjust the acquisition frame rate of the camera to support high frame rates during high-speed movement to reduce motion blur, and reduce the frame rate at low speed or static state to save bandwidth resources. This method not only reduces unnecessary data transmission, alleviates network congestion and processing burden, but also improves the overall performance and stability of the system, ensures real-time and accurate transmission of image information, provides smooth and clear visual feedback, improves the precise control ability during the intervention process, and improves the safety of the intervention process. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of a flow chart of a method for automatically adjusting an acquisition frame rate according to an embodiment of the present invention; Figure 2 A schematic block diagram of the structure of a device for automatically adjusting the acquisition frame rate according to an embodiment of the present invention; Figure 3 A schematic block diagram of the structure of a computer device according to an embodiment of the present invention; The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0019] It will be understood by those skilled in the art that, unless expressly stated, the singular forms "a", "an", "above", and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present invention refers to the presence of features, integers, steps, operations, elements, modules, modules and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, modules, modules, components and / or groups thereof. It should be understood that when we refer to an element as being "connected" or "coupled" to another element, it may be directly connected or coupled to the other element, or there may be an intermediate element. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The term "and / or" used herein includes all or any module and all combinations of one or more associated listed items.

[0020] Those skilled in the art will understand that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as those generally understood by those skilled in the art in the field to which the present invention belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless specifically defined as here.

[0021] Reference Figure 1 The embodiment of the present invention provides a method for automatically adjusting the acquisition frame rate, the method is applied to a remote intervention robot operating system, the remote intervention robot operating system includes an operation terminal and an intervention robot controlled by instructions of the operation terminal, and includes the following steps S1-S3: S1. Obtain the current movement speed of the interventional robot; S2. Adjust the corresponding acquisition frame rate according to the movement speed; S3. Controlling the camera to collect data based on the acquisition frame rate.

[0022] In step S1, first, a high-precision speed sensor is installed on the interventional robot to monitor the movement speed of the robot in real time. These sensors can be encoders, inertial measurement units (IMUs), etc. Then, a stable communication channel with the image acquisition program is established through the TCP / IP protocol or other reliable network communication protocols. The image acquisition program can receive the movement speed information from the interventional robot in real time through the communication channel.

[0023] In step S2, the acquisition program can retrieve a preset speed-acquisition frame rate mapping table according to the received motion speed information from the interventional robot, or use a dynamic calculation model to determine a suitable acquisition frame rate. For example, if a mapping table is used, the corresponding acquisition frame rates (high speed 60 Hz, medium speed 30 mm / s, low speed 10 mm / s, micro speed 5 mm / s, and precise speed 2 mm / s) can be set respectively according to different speed gears (high speed 60 mm / s, medium speed 30 Hz, low speed 20 Hz, micro speed or precise speed 10 Hz).

[0024] By adopting a dynamic calculation model, the optimal acquisition frame rate can be directly calculated based on a linear relationship or other mathematical models. Specifically, if a linear relationship is used for calculation, a linear relationship can be defined first to associate the movement speed (v) of the interventional robot with the acquisition frame rate (f) of the camera. This function can be customized according to actual needs and performance requirements. For example, a linear relationship, a piecewise linear relationship, or a nonlinear relationship can be used. For example, if a linear relationship is used for calculation through a preset mathematical function, the function is f=a*v+b, where a and b are constant coefficients, and the values ​​of a and b are determined by experimental data or prior knowledge. For example, the optimal acquisition frame rate at different speeds can be tested and the linear relationship of these points can be fitted. When the current movement speed v of the interventional robot is received, the image acquisition program directly calculates the corresponding acquisition frame rate f according to the above linear formula. For example, if a=1 Hz / (mm / s), b=10 Hz, and the current speed v=30 mm / s, the calculated acquisition frame rate is f=1*30+10=40 Hz. In addition, to prevent the acquisition frame rate from being too high or too low in extreme cases, you can set the upper and lower limits of the acquisition frame rate. For example, the minimum acquisition frame rate is not less than 10Hz, and the maximum is not more than 60Hz, to ensure image quality while not exceeding the system processing capacity. If the calculated acquisition frame rate exceeds these limits, it will be adjusted to the nearest boundary value. This method can more accurately control the acquisition frame rate.

[0025] Furthermore, in order to make the change of the acquisition frame rate more natural and smooth, an easing effect is introduced when changing the acquisition frame rate. For example, the target acquisition frame rate is gradually approached instead of switching immediately. When changing the frame rate, instead of switching to the new value immediately, the target value is gradually approached, which helps to reduce the visual discomfort of the operator during the intervention operation caused by the sudden change of the frame rate. For example, a first-order filter can be used to achieve a smooth transition by weighted averaging the current acquisition frame rate and the target acquisition frame rate. Specifically, a filter coefficient α is set, usually 0<α<1. At system startup, the initial acquisition frame rate is set to the initial motion speed recognized in the current startup state. After receiving the new motion speed and calculating the target acquisition frame rate, the current acquisition frame rate f is updated using the following formulanew =(1−α)*f +α*f, the calculated new acquisition frame rate f new . Subsequently, the corresponding acquisition frame rate can be generated according to the new acquisition frame rate. Each time new motion speed information is received, the above steps are repeated to gradually approach the target acquisition frame rate. As the system runs, feedback data can be further collected and the frame rate calculation model can be optimized. For example, if it is found that the frame rate setting at a certain speed is not ideal, the parameters can be adjusted through the learning algorithm to make the frame rate setting more in line with the actual situation.

[0026] Once the new acquisition frame rate is determined, the image acquisition program will generate the corresponding acquisition frame rate adjustment command and send it to the camera through the established communication channel. After receiving the command, the camera immediately adjusts its working parameters and starts to acquire image data at the new acquisition frame rate. At the same time, the image acquisition program will continue to monitor the status of the camera to ensure that the acquisition frame rate is set correctly and runs stably.

[0027] In one embodiment, the step of obtaining the current movement speed of the interventional robot includes: S10, establishing a communication channel with the intervention robot; S11, receiving the movement speed sent in real time by the interventional robot based on the communication channel; wherein the movement speed is obtained by the interventional robot parsing the control instruction sent by the operation terminal.

[0028] In this embodiment, first, a stable communication channel is established with the interventional robot. For example, a communication channel is established through the TCP / IP protocol or other reliable network communication protocols. Specifically, a TCP server can be created in the image acquisition program to listen to a specific port and wait for the connection request of the interventional robot. In the interventional robot, a TCP client is created to try to connect to the server of the image acquisition program. This step is to ensure that the image acquisition program can receive the motion speed information from the interventional robot in real time. The control system inside the interventional robot will receive the control instructions sent by the doctor through the operating terminal, and parse these instructions to determine the motion speed of the robot. Then, the interventional robot will send the parsed motion speed information to the image acquisition program in real time through the communication channel, for example: "speed=60" means a speed of 60mm / s. In this embodiment, a stable communication channel is established between the image acquisition program and the interventional robot through the TCP / IP protocol, and the function of receiving motion speed information in real time is realized. This communication mechanism ensures that the image acquisition program can obtain the latest motion speed information in a timely manner, thereby preparing for the subsequent acquisition frame rate adjustment.

[0029] In one embodiment, the step of adjusting the corresponding acquisition frame rate according to the motion speed includes: S20, retrieving a capture frame rate mapping table corresponding to the motion speed; S21, determining the speed gear corresponding to the motion speed in the acquisition frame rate mapping table; S22, obtaining a capture frame rate corresponding to the speed gear according to the speed gear; S23: Update based on the currently acquired acquisition frame rate.

[0030] In this embodiment, the acquisition frame rate mapping table is a predefined data structure, usually a dictionary or a list, used to store different speed gears and their corresponding acquisition frame rates.

[0031] For example, you can use a Python dictionary to define the acquisition frame rate mapping table, as follows: frame_rate_mapping = { 'High speed': 60,# High speed corresponds to 60Hz 'Medium speed': 30,#Medium speed corresponds to 30Hz 'Low speed': 20,# Low speed corresponds to 20Hz 'Micro speed': 10,# Micro speed corresponds to 10Hz 'Precision speed': 10# Precision speed corresponds to 10Hz}, by defining different speed thresholds, it is used to determine which speed gear the current speed belongs to. First, the current movement speed is received from the interventional robot, and then the speed gear the current speed belongs to is determined according to the speed threshold. According to the determined speed gear, the corresponding acquisition frame rate is found in the acquisition frame rate mapping table and the corresponding acquisition frame rate is determined as the acquisition frame rate that needs to be updated to update the acquisition frame rate, which is then sent to the camera for data acquisition based on the acquisition frame rate.

[0032] In one embodiment, the step of determining the speed level corresponding to the motion speed in the acquisition frame rate mapping table includes: S30, if the value corresponding to the movement speed is the first movement threshold, the corresponding speed gear is high speed; S31, if the value corresponding to the movement speed is the second movement threshold, the corresponding speed gear is medium speed; S32, if the value corresponding to the movement speed is the third movement threshold, the corresponding speed gear is low speed; S33, if the value corresponding to the movement speed is the fourth movement threshold, the corresponding speed gear is slow speed; S34. If the value corresponding to the movement speed is the fifth movement threshold, the corresponding speed gear is precision speed; wherein the fifth movement threshold < the fourth movement threshold < the third movement threshold < the second movement threshold < the first movement threshold.

[0033] In this embodiment, five different speed thresholds are defined to determine which speed gear the current speed belongs to. First, the current movement speed is received from the interventional robot. For example, if the first movement threshold is 60mm / s, if the second movement threshold is 30mm / s, if the third movement threshold is 10mm / s, if the fourth movement threshold is 5mm / s, if the fifth movement threshold is 2mm / s, then when the current movement speed received from the interventional robot is 60mm / s, it is determined that it meets the first movement threshold, and the current speed gear is high speed; if the current movement speed received from the interventional robot is 5mm / s, the current speed gear is slow speed. Different speeds can be selected in different scenarios. For example, high speed can be selected when quickly withdrawing instruments; low speed or slow speed can be selected when hanging coronary arteries or nerve selection pathways. The corresponding motion threshold and speed gear can be set according to the actual needs of the operating end. For example, if the operating end adjusts the control speed through the fixed gear operating member of the operating end, the motion speed contained in the control instruction corresponding to each control member can be regarded as a corresponding motion threshold. In this case, the corresponding acquisition frame rate is updated every time the operator switches the operation speed. If the operating end does not distinguish the gear of the operation speed, the gear can also be set using a mapping table, and the corresponding update node of the acquisition frequency can be set in advance, or as described in step S2, based on the real-time changing motion speed, real-time linear calculation is used.

[0034] Among them, the fifth motion threshold < the fourth motion threshold < the third motion threshold < the second motion threshold < the first motion threshold, that is, the higher the current movement speed of the interventional robot, the higher the corresponding acquisition frame rate; the lower the movement speed, the lower the acquisition frame rate will be, which can greatly reduce the amount of redundant data collection, save resource bandwidth, and improve processing efficiency.

[0035] In one embodiment, the step of acquiring the acquisition frame rate corresponding to the speed gear according to the speed gear comprises: S40, if the current speed gear is high speed, the corresponding acquisition frame rate is identified as 60 Hz; S41, if the current speed gear is medium speed, identify that the corresponding acquisition frame rate is 30 Hz; S42, if the current speed gear is high speed, the corresponding acquisition frame rate is identified as 20 Hz; S43. If the current speed gear is micro speed or fine speed, the corresponding acquisition frame rate is identified as 10 Hz.

[0036] In this embodiment, in the predefined frame rate mapping table, high speed represents an acquisition frame rate of 60Hz, which is also a common higher acquisition frame rate for real-time transmission using 5G networks in the current industry. In the case of high-speed movement, a higher frame rate is required to capture rapidly changing images and ensure the continuity and smoothness of the image. By setting a higher frame rate, motion blur can be reduced, image quality can be improved, and doctors can observe the details of the surgical process more clearly. When the movement speed of the interventional robot belongs to the "medium speed" gear, the image acquisition program sets the frame rate to 30Hz. In the case of medium-speed movement, a frame rate of 30Hz can provide sufficient image refresh frequency to keep the image smooth and coherent. Compared with 60Hz in the high-speed case, 30Hz can reduce the amount of data transmission and processing load while ensuring image quality, thereby improving the overall efficiency of the system. When the movement speed of the interventional robot belongs to the "low speed" gear, the image acquisition program sets the frame rate to 20Hz. In the case of low-speed movement, a frame rate of 20Hz can meet the needs of image updates while further reducing the amount of data transmission and processing load. Slow-speed motion usually does not require a very high frame rate, because the image changes slowly, and a lower frame rate can provide adequate visual effects while saving system resources. In the case of micro-speed or fine-speed motion, a frame rate of 10Hz is sufficient to meet the needs of image updates. This low frame rate setting can significantly reduce the amount of data transmission and processing load, and is particularly suitable for scenarios with strict limitations on bandwidth and processing power. Micro-speed or fine-speed are usually used for delicate operations, such as precise positioning or subtle adjustments, when the image changes very slowly and a lower frame rate does not affect the accuracy of the operation.

[0037] This embodiment can effectively reduce unnecessary data transmission by dynamically adjusting the frame rate according to the movement speed, especially in low-speed or static state, thereby saving bandwidth resources. In high-speed movement, a higher frame rate can reduce motion blur and improve image quality; while in low-speed or static state, a lower frame rate can also provide sufficient visual effects. Through this mechanism, the system can maximize the use of resources and improve the stability and efficiency of the system while ensuring image quality and operation accuracy.

[0038] In one embodiment, the step of controlling the camera to collect data based on the acquisition frame rate includes: S50, generating an acquisition frame rate adjustment instruction based on the acquisition frame rate; S51. Sending an acquisition frame rate adjustment instruction to a camera through a preset communication channel, and controlling the camera to perform image data acquisition based on the acquisition frame rate included in the acquisition frame rate adjustment instruction.

[0039] In this embodiment, a specific frame rate adjustment instruction is generated according to the determined acquisition frame rate. This instruction contains the new frame rate value to be set. This instruction is a standardized format for communication between the system and the camera, ensuring that the camera can correctly parse and perform the corresponding operation. First, the acquisition frame rate that has been calculated or determined is obtained from the previous step. The frame rate value is encapsulated into an instruction. For example, if the new frame rate is 30Hz, an instruction string similar to frame_rate=30 can be generated. The instruction needs to be encapsulated in a specified format to ensure that the instruction format meets the protocol and format requirements supported by the camera so that the camera can correctly parse and execute. Use the previously established reliable communication channel (such as TCP / IP connection) to send the frame rate adjustment instruction. After receiving the frame rate adjustment instruction, the camera parses the frame rate value in the instruction. The camera adjusts its internal parameters according to the parsed frame rate value and sets a new acquisition frame rate. The camera starts to collect image data according to the new frame rate setting, and sends the collected image data back to the image acquisition program or other processing unit. In this embodiment, by generating and sending the frame rate adjustment instruction, the system can dynamically adjust the frame rate of the camera according to the actual motion speed to optimize the quality and efficiency of image acquisition. The camera can respond to frame rate adjustment instructions in real time to ensure that it can provide a suitable image update frequency at different movement speeds. This mechanism enables the system to flexibly adapt to various operating scenarios, providing suitable image acquisition solutions from high-speed movement to fine operations, reducing communication content delays caused by introducing resource occupation, and improving safety during interventional operations.

[0040] In one embodiment, after the step of controlling the camera to collect data based on the acquisition frame rate, the following steps are included: S60, receiving the collected data sent by the camera; S61, sending the collected data to a server, and then sending the collected data to an operating terminal via the server for image display.

[0041] In this embodiment, the image acquisition program receives the image data sent by the camera through the corresponding communication channel. The received data can be temporarily stored in a buffer to ensure the integrity and order of the data. The received data is checked for integrity to ensure that no data is lost or damaged. Further, it can also be determined whether the currently acquired image information meets the requirements of the corresponding acquisition frame rate. The received image data is packaged into a format suitable for network transmission, and the packaged image data is sent to the server through the communication channel. After receiving the image data, the server unpacks and verifies it. The server can further process the image data as needed, such as compression, enhancement or other image processing operations. The server sends the processed image data to the operating end (such as the doctor's operating interface) through another communication channel. The operating end receives and decodes the image data, and finally displays the image in real time on the display screen.

[0042] Reference Figure 2 , an embodiment of the present invention further provides a device for automatically adjusting the acquisition frame rate, which is applied to a remote intervention robot operating system, wherein the remote intervention robot operating system includes an operating terminal and an intervention robot controlled by instructions of the operating terminal, including: An acquisition module 100 is used to acquire the current movement speed of the interventional robot; An adjustment module 200, configured to adjust a corresponding acquisition frame rate according to the motion speed; The acquisition module 300 is used to control the camera to acquire data based on the acquisition frame rate.

[0043] In one embodiment, the acquisition module 100 includes: Communication establishment unit: used to establish a communication channel with the interventional robot.

[0044] A speed receiving unit is configured to receive the movement speed sent by the interventional robot in real time based on the communication channel; wherein the movement speed is obtained by the interventional robot analyzing the control instruction sent by the operation terminal.

[0045] In one embodiment, the adjustment module 200 includes: A mapping table retrieving unit is used to retrieve a capture frame rate mapping table corresponding to the motion speed.

[0046] A speed gear determination unit: used to determine the speed gear corresponding to the motion speed in the acquisition frame rate mapping table; A frame rate acquisition unit: used for acquiring a capture frame rate corresponding to the speed gear according to the speed gear; Frame rate updating unit: used for updating based on the currently acquired acquisition frame rate.

[0047] In one embodiment, the speed gear position determination unit includes: High-speed judgment subunit: used for determining that if the value corresponding to the movement speed is the first movement threshold, the corresponding speed gear is high speed.

[0048] Medium speed judgment subunit: used for determining that if the value corresponding to the movement speed is the second movement threshold, the corresponding speed gear is medium speed.

[0049] Low speed judgment subunit: used for determining that if the value corresponding to the movement speed is the third movement threshold, the corresponding speed gear is low speed.

[0050] The slow speed judgment subunit is used for judging that if the value corresponding to the movement speed is the fourth movement threshold value, the corresponding speed gear is the slow speed.

[0051] Precision speed judgment subunit: used for if the value corresponding to the movement speed is the fifth movement threshold, the corresponding speed gear is precision speed; wherein, the fifth movement threshold < the fourth movement threshold < the third movement threshold < the second movement threshold < the first movement threshold.

[0052] In one embodiment, the frame rate acquisition unit includes: High-speed frame rate subunit: used to identify that the corresponding acquisition frame rate is 60Hz if the current speed gear is high speed.

[0053] Medium frame rate subunit: used to identify that the corresponding acquisition frame rate is 30Hz if the current speed gear is medium speed.

[0054] Low-speed frame rate subunit: used to identify that the corresponding acquisition frame rate is 20Hz if the current speed gear is low speed.

[0055] Micro speed frame rate subunit: used to identify the corresponding acquisition frame rate as 10Hz if the current speed gear is micro speed or fine speed.

[0056] In one embodiment, the acquisition module 300 includes: An instruction generating unit is used to generate an acquisition frame rate adjustment instruction based on the acquisition frame rate.

[0057] An instruction sending unit is used to send an acquisition frame rate adjustment instruction to the camera through a preset communication channel, and control the camera to perform image data acquisition based on the acquisition frame rate included in the acquisition frame rate adjustment instruction.

[0058] In one embodiment, the above-mentioned device further includes a sending and displaying module, and the sending and displaying module includes: Data receiving unit: used for receiving the collected data sent by the camera.

[0059] Data forwarding unit: used to send the collected data to the server, and then send it to the operation end through the server for image display.

[0060] Reference Figure 3 The embodiment of the present invention further provides a computer device, the internal structure of which can be as follows Figure 3 As shown. The computer device includes a processor, a memory, a network interface and a database connected via a system bus. Among them, the processor designed for the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating device, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used for audio and video parameters, etc. The network interface of the computer device is used to communicate with an external terminal through a network connection. Furthermore, the above-mentioned computer device can also be provided with an input device and a display screen, etc. When the above-mentioned computer program is executed by the processor to realize a method for automatically adjusting the acquisition frame rate, the method includes the following steps: obtaining the current movement speed of the interventional robot; adjusting the corresponding acquisition frame rate according to the movement speed; and controlling the camera to collect data based on the acquisition frame rate.

[0061] An embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, a method for automatically adjusting the acquisition frame rate is implemented, comprising the following steps: obtaining the current movement speed of the interventional robot; adjusting the corresponding acquisition frame rate according to the movement speed; and controlling the camera to perform data acquisition based on the acquisition frame rate. It can be understood that the computer-readable storage medium in this embodiment can be a volatile readable storage medium or a non-volatile readable storage medium.

[0062] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media provided in this application and used in the embodiments may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0063] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, device, article or method including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, device, article or method. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the presence of other identical elements in the process, device, article or method including the element.

[0064] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for automatically adjusting the acquisition frame rate, applied to a remote intervention robot operating system, wherein the remote intervention robot operating system comprises an operating terminal and an intervention robot controlled by instructions of the operating terminal, characterized in that: include: Acquiring the current movement speed of the interventional robot; Adjusting the corresponding acquisition frame rate according to the movement speed; The camera is controlled to collect data based on the collection frame rate.

2. The method for automatically adjusting the acquisition frame rate according to claim 1, characterized in that: The step of obtaining the current movement speed of the interventional robot includes: establishing a communication channel with the interventional robot; The movement speed sent by the interventional robot in real time is received based on the communication channel; wherein the movement speed is obtained by the interventional robot parsing the control instruction sent by the operation terminal.

3. The method for automatically adjusting the acquisition frame rate according to claim 1, characterized in that: The step of adjusting the corresponding acquisition frame rate according to the motion speed comprises: Retrieving a capture frame rate mapping table corresponding to the motion speed; Determine the speed level corresponding to the motion speed in the acquisition frame rate mapping table; Acquire the acquisition frame rate corresponding to the speed gear according to the speed gear; The update is performed based on the currently acquired acquisition frame rate.

4. The method for automatically adjusting the acquisition frame rate according to claim 3, characterized in that: The step of determining the speed level corresponding to the motion speed in the acquisition frame rate mapping table comprises: If the value corresponding to the movement speed is the first movement threshold, the corresponding speed gear is high speed; If the value corresponding to the movement speed is the second movement threshold, the corresponding speed gear is medium speed; If the value corresponding to the movement speed is the third movement threshold, the corresponding speed gear is low speed; If the value corresponding to the movement speed is the fourth movement threshold, the corresponding speed gear is slow speed; If the value corresponding to the movement speed is the fifth movement threshold, the corresponding speed gear is precision speed; wherein the fifth movement threshold < the fourth movement threshold < the third movement threshold < the second movement threshold < the first movement threshold.

5. The method for automatically adjusting the acquisition frame rate according to claim 4, characterized in that: The step of acquiring the acquisition frame rate corresponding to the speed gear according to the speed gear comprises: If the current speed gear is high speed, the corresponding acquisition frame rate is 60Hz; If the current speed gear is medium speed, the corresponding acquisition frame rate is 30Hz; If the current speed gear is high speed, the corresponding acquisition frame rate is 20Hz; If the current speed gear is micro speed or fine speed, the corresponding acquisition frame rate is 10Hz.

6. The method for automatically adjusting the acquisition frame rate according to claim 1, characterized in that: The step of controlling the camera to collect data based on the acquisition frame rate includes: generating an acquisition frame rate adjustment instruction based on the acquisition frame rate; An acquisition frame rate adjustment instruction is sent to the camera through a preset communication channel to control the camera to perform image data acquisition based on the acquisition frame rate included in the acquisition frame rate adjustment instruction.

7. The method for automatically adjusting the acquisition frame rate according to claim 1, characterized in that: After the step of controlling the camera to collect data based on the acquisition frame rate, the method further comprises: Receiving collected data sent by the camera; The collected data is sent to a server, and then sent to an operating terminal via the server for image display.

8. A device for automatically adjusting the acquisition frame rate, applied to a remote intervention robot operating system, wherein the remote intervention robot operating system comprises an operating terminal and an intervention robot controlled by instructions from the operating terminal, characterized in that: include: An acquisition module is used to obtain the current movement speed of the interventional robot; An adjustment module, used for adjusting the corresponding acquisition frame rate according to the movement speed; The acquisition module is used to control the camera to acquire data based on the acquisition frame rate.

9. A computer device comprising a memory and a processor, wherein a computer program is stored in the memory, wherein: When the processor executes the computer program, the steps of the method for automatically adjusting the acquisition frame rate according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method for automatically adjusting the acquisition frame rate according to any one of claims 1 to 7 are implemented.

Images