Robot lens zoom control method, apparatus, device, and storage medium

Abstract

The application relates to the technical field of robots, in particular to a robot lens zoom control method and device, equipment and a storage medium, the method comprises the following steps: acquiring a target focusing value corresponding to a zoom lens of a robot and a lens alias address; the zoom lens has a unique lens alias address; determining a focusing value transmission path based on the lens alias address; determining a target focusing device based on the focusing value transmission path; transmitting the target focusing value to the target focusing device based on the focusing value transmission path, so that the target focusing device controls the corresponding zoom lens to zoom based on the target focusing value. The application facilitates ensuring that the lens on the robot can still collect clear video or images when being relatively close to an object in the environment, and ensuring that the robot host can simultaneously and independently manage each zoom lens in parallel.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to a method, apparatus, device, and storage medium for controlling the zoom of a robot lens. Background Technology

[0002] With the rapid development of robotics technology, various types of robots have been widely used in daily production and life, such as humanoid robots, robot dogs, and collaborative robots. In order to achieve robot motion control, multiple cameras are often set in the main parts of the robot (such as hands, chest, head, etc.). The cameras are used to collect video or images for the robot host to perform environmental perception, such as object recognition.

[0003] Currently, on the one hand, the lenses installed in the main parts of the robot are generally fixed-focus lenses. When a fixed-focus lens is moved towards an object in the environment (such as the robot's hand grasping the object) by a main part (such as the hand), the video or image captured by the fixed-focus lens when it gets closer to or farther away from the object is blurry, resulting in a serious decrease in the robot's environmental perception accuracy. On the other hand, if all the fixed-focus lenses on the robot are directly replaced with zoom lenses, in order to ensure the overall lightweight design of the robot, it is generally necessary to establish a communication connection between the robot host and each zoom lens through a shared control link. However, the focusers corresponding to each zoom lens often have the same I2C device address (due to the extremely limited address space of the I2C protocol itself). This can easily lead to the robot host sending a zoom control signal to a certain I2C device address through the shared control link, and each focuser will respond simultaneously and attempt to drive the control link, making it difficult for the robot host to manage each zoom lens independently and in parallel. Summary of the Invention

[0004] In order to ensure that the robot's lenses can still capture clear video or images when they are close to objects in the environment, and to ensure that the robot host can manage each zoom lens independently and in parallel, this application provides a robot lens zoom control method, device, equipment and storage medium.

[0005] In a first aspect, this application provides a robot lens zoom control method, comprising: Obtain the target focus value and lens alias address corresponding to the robot's zoom lens; the zoom lens has a unique lens alias address; The focus value transmission path is determined based on the lens alias address; The target focuser is determined based on the focus value transmission path; The target focus value is transmitted to the target focuser based on the focus value transmission path, so that the target focuser controls the corresponding zoom lens to zoom based on the target focus value.

[0006] Secondly, this application provides a robot lens zoom control device, comprising: The information acquisition module is used to acquire the target focus value and lens alias address corresponding to the robot's zoom lens; the zoom lens has a unique lens alias address; The path determination module is used to determine the focus value transmission path based on the lens alias address; The focuser determination module is used to determine the target focuser based on the focus value transmission path; The transmission control module is used to transmit the target focus value to the target focuser based on the focus value transmission path, so that the target focuser controls the corresponding zoom lens to zoom based on the target focus value.

[0007] Thirdly, this application provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps in the method described above.

[0008] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps in the above-described method.

[0009] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the steps in any of the above method embodiments.

[0010] The aforementioned robot lens zoom control method, device, equipment, and storage medium obtain the target focus value and lens alias address corresponding to the robot's zoom lens; the zoom lens has a unique lens alias address; a focus value transmission path is determined based on the lens alias address; a target focuser is determined based on the focus value transmission path; and the target focus value is transmitted to the target focuser based on the focus value transmission path, so that the target focuser controls the corresponding zoom lens to zoom based on the target focus value. Through the above implementation, firstly, since each zoom lens corresponds to a unique lens alias address, the robot host can directly distinguish each zoom lens at the upper level through this lens alias address. This allows for the establishment of independent focus value transmission paths corresponding to each zoom lens within the shared control link. Then, through these one-to-one focus value transmission paths, the target focus value corresponding to each zoom lens is transmitted to the target focusr corresponding to the lens alias address. This allows the target focusr to zoom the corresponding zoom lens based on the received target focus value. Secondly, since each zoom lens on the robot is a zoom lens, and each zoom lens can adaptively zoom based on the acquired target focus value, the zoom lenses can still capture clear images or videos even when relatively close to or far from environmental objects.

[0011] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this application, nor is it intended to limit the scope of this application. Other features of this application will become readily apparent from the following description. Attached Figure Description

[0012] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 This is a flowchart of a robot lens zoom control method provided in the embodiments of this application; Figure 2 This is a topology diagram of the robot lens zoom control system provided in the embodiments of this application; Figure 3 This is a schematic diagram of the structure of a robot lens zoom control device provided in the embodiments of this application; Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application; Figure 5This is an internal structural diagram of a computer-readable storage medium provided in an embodiment of this application. Detailed Implementation

[0014] To make the objectives, technical solutions, and advantages of this disclosure clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this disclosure.

[0015] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings herein are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, apparatus, product, or device that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices.

[0016] In this article, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0017] Example 1 Figure 1 This is a flowchart of a robot lens zoom control method provided in Embodiment 1 of this application, with reference to... Figure 1 The method can be executed by a device that performs the method, which can be implemented in software and / or hardware, and the method includes: S110. Obtain the target focus value and lens alias address corresponding to the robot's zoom lens.

[0018] It should be noted that this robot lens zoom control method is implemented based on the robot lens zoom control system preset in this embodiment, the topology diagram of which can be found in [reference needed]. Figure 2The robot host communicates with a primary gating switch via an I2C bus. This primary gating switch is connected to multiple deserializers. Each deserializer corresponds to a part of the robot that needs to be equipped with a zoom lens, such as the head, chest, or hands. Each part is generally equipped with multiple zoom lenses. Taking one deserializer as an example, it is connected to one or more secondary gating switches. Each secondary gating switch is connected to multiple focusing devices. Each focusing device is used to adjust the focus of a corresponding zoom lens.

[0019] Each autofocus unit is assigned a unique I2C device address at the factory. However, the address space of the I2C protocol itself is extremely limited. Manufacturers often need to produce a large number of autofocus units, which often results in autofocus units from the same batch having the same I2C device address. Furthermore, in the existing technology, each autofocus unit generally communicates with the robot host through the same shared control link. This can easily lead to the robot host sending a zoom control signal to a certain I2C device address through the shared control link, causing each autofocus unit to respond simultaneously and attempt to drive the control link. Consequently, it becomes difficult for the robot host to manage each zoom lens independently and in parallel.

[0020] To enable the robot host to manage each zoom lens independently and in parallel, this embodiment develops and sets up the aforementioned robot lens zoom control system. If a unique custom address is set for each zoom lens on the robot host side of the system, when the robot needs to control a zoom lens, it only needs to send the corresponding focus value to the focuser corresponding to the custom address of that zoom lens through the communication link shown in the aforementioned robot lens zoom control system. This avoids causing all focusers to respond simultaneously and attempt to drive the control link. The unique custom address set for the zoom lens is recorded as the lens alias address. The lens alias address is used to identify the corresponding focuser individually. The lens alias address can also be a lens visibility address, and there is no specific limitation, as long as it can identify the corresponding focuser individually. The focus value sent by the robot to the focuser corresponding to the lens alias address is also recorded as the target focus value.

[0021] S120. Determine the focus value transmission path based on the lens alias address.

[0022] Among them, see Figure 2The robot lens zoom control system starts with the robot host and ends with each focuser. After knowing the lens alias address corresponding to a certain zoom lens, the system can determine the communication path from the first-level gating switch that is directly connected to the robot host to the focuser corresponding to the zoom lens at the lens alias address, and record this communication path as the focus value transmission path. Taking one zoom lens as an example, this focus value transmission path is used to transmit the target focus value corresponding to that zoom lens sent by the robot host.

[0023] S130. Determine the target focuser based on the focus value transmission path.

[0024] Taking a focus value transmission path as an example, the last node of the focus value transmission path is the focuser, and the focuser set on the last node of the focus value transmission path is denoted as the target focuser.

[0025] S140. Based on the focus value transmission path, the target focus value is transmitted to the target focuser, so that the target focuser controls the corresponding zoom lens to zoom based on the target focus value.

[0026] The focus value transmission path is used to transmit the target focus value input to the first-level gating switch to the target focus unit. Each target focus unit corresponds to a zoom lens. After receiving the target focus value, the target focus unit adjusts the focal length of the corresponding zoom lens to the target focus value to ensure that the zoom lens can still capture clear video or images.

[0027] It should be noted that in this embodiment, the target focus value and lens alias address corresponding to the robot's zoom lens are obtained; the zoom lens has a unique lens alias address; a focus value transmission path is determined based on the lens alias address; a target focuser is determined based on the focus value transmission path; and the target focus value is transmitted to the target focuser based on the focus value transmission path, so that the target focuser controls the corresponding zoom lens to zoom based on the target focus value. Through the above implementation, firstly, since each zoom lens corresponds to a unique lens alias address, the robot host can directly distinguish each zoom lens at the upper level through this lens alias address. This allows for the establishment of independent focus value transmission paths corresponding to each zoom lens within the shared control link. Then, through these one-to-one focus value transmission paths, the target focus value corresponding to each zoom lens is transmitted to the target focusr corresponding to the lens alias address. This allows the target focusr to zoom the corresponding zoom lens based on the received target focus value. Secondly, since each zoom lens on the robot is a zoom lens, and each zoom lens can adaptively zoom based on the acquired target focus value, the zoom lenses can still capture clear images or videos even when relatively close to or far from environmental objects.

[0028] Example 2 This application provides a robot lens zoom control method in Embodiment 2, which supplements the steps preceding "obtaining the target focus value and lens alias address corresponding to the robot's zoom lens" in Embodiment 1. It should be noted that for parts not detailed in this embodiment, please refer to the descriptions in other embodiments. The method includes: P210. In response to the image sharpness being less than a preset sharpness threshold, obtain the lens-object distance between the zoom lens and the corresponding environmental object, as well as the lens alias address corresponding to the zoom lens.

[0029] It should be noted that the zoom lenses installed on key parts of the robot are used to capture videos of objects in their environment, and these objects are referred to as environmental objects. Taking one zoom lens as an example, the distance between the zoom lens and the corresponding environmental object changes in real time during the robot's movement. If the distance is too large or too small, causing a mismatch between the zoom lens's current focal length and the object's focal length, the video captured by the zoom lens will be noticeably blurry. Therefore, this embodiment aims to immediately adjust the zoom lens's current focus value to a target focus value that makes the video frame clear when a blurry video frame (the image captured by the zoom lens) is detected.

[0030] Taking one zoom lens as an example, the robot host can detect the clarity of the video frames (images captured by the zoom lens) acquired by that zoom lens. In order to measure whether the image acquired by the zoom lens is blurry, this embodiment has a corresponding clarity threshold preset for the clarity. If the clarity of the image acquired by the zoom lens is lower than the clarity threshold, it means that the image acquired by the zoom lens is blurry at this time, and a corresponding target focus value needs to be generated for that zoom lens immediately.

[0031] It should be noted that there is a corresponding mapping relationship between the target focus value that makes the image captured by the zoom lens clear and the distance between the lens and the object. This mapping relationship is established based on experimental and historical experience data. In this embodiment, a mapping table is established based on this mapping relationship to map the target focus value corresponding to each lens distance, which is denoted as the distance to focus value mapping table.

[0032] Taking one zoom lens on the robot as an example, when the image captured by the zoom lens is detected to be less than the preset image clarity threshold (that is, when the image captured by the zoom lens starts to become blurry), the distance between the zoom lens and the corresponding environmental object at this time needs to be collected first, so that the corresponding target focus value can be determined from the distance-to-focus value mapping table through the distance between the zoom lens and the corresponding environmental object.

[0033] It should also be noted that the target focus value is subsequently sent to the focus unit corresponding to the zoom lens, so that the zoom unit can adjust the current focus value of the zoom lens to the target focus value. Therefore, after determining the target focus value, the robot host needs to further determine the focus unit to which the target focus value should be sent. In order to facilitate the robot host to directly determine the corresponding focus unit on the host side, this embodiment has a corresponding lens alias address preset for the focus unit corresponding to each zoom lens.

[0034] Specifically, taking a zoom lens on a robot as an example, when it is detected that the image sharpness captured by the zoom lens is less than a preset sharpness threshold, the robot host obtains the lens alias address corresponding to the zoom lens while obtaining the lens-object distance corresponding to the zoom lens.

[0035] P220. Based on a preset distance-to-zoom value mapping table, the distance between the object and the mirror is mapped to the target focus value corresponding to the zoom lens.

[0036] The preset distance-to-zoom value mapping table records the mapping relationship between various lens object distances and corresponding target focus values. Therefore, when a certain lens object distance is determined, the target focus value corresponding to the lens object distance can be mapped out through the distance-to-zoom value mapping table. That is, the target focus value corresponding to the zoom lens at the lens object distance is the target focus value that the zoom lens needs to be adjusted to.

[0037] Through the above implementation, firstly, when the image captured by the zoom lens is detected to be blurry, the lens-object distance corresponding to the zoom lens is immediately determined, which facilitates further mapping of the target focus value corresponding to the lens-object distance. This ensures that when the current focus value of the zoom lens is adjusted to the target focus value, a clear image can continue to be acquired. Secondly, when the image captured by the zoom lens is detected to be blurry, the lens alias address corresponding to the zoom lens is also immediately determined. This helps to determine the data transmission path from the host to the zoom lens based on the lens alias address, so that the target focus value can be transmitted to the focuser corresponding to the zoom lens according to the data transmission path.

[0038] S210. Obtain the target focus value and lens alias address corresponding to the robot's zoom lens.

[0039] S220. Determine the focus value transmission path based on the lens alias address.

[0040] S230. Determine the target focuser based on the focus value transmission path.

[0041] S240. Based on the focus value transmission path, the target focus value is transmitted to the target focuser, so that the target focuser controls the corresponding zoom lens to zoom based on the target focus value.

[0042] Example 3 This application provides a robot lens zoom control method in Embodiment 3, which optimizes the "determining the focus value transmission path based on the lens alias address" in Embodiment 1. It should be noted that for parts not detailed in this embodiment, please refer to the descriptions in other embodiments. The method includes: S310. Obtain the target focus value and lens alias address corresponding to the robot's zoom lens.

[0043] S321. Based on the preset lens alias address to primary communication path mapping table, the lens alias address is mapped to obtain the primary selection switch to deserializer communication path.

[0044] See Figure 2After the target focus value is transmitted from the robot host to the first-level gating switch, it still needs to go through three communication paths before it can be transmitted to the corresponding focuser. Therefore, after obtaining the target focus value and lens alias address corresponding to the zoom lens, the first-level communication path is first determined. This first-level communication path is the communication path between the first-level gating switch and a certain deserializer. The first-level gating switch is used to select a deserializer corresponding to the lens alias address after receiving it. For example, the first-level gating switch is an I2C-MUX (I2C multiplexer), which is essentially a programmable electronic switch. It allows a main I2C bus port to expand into multiple independent sub-channels, and selects any one of them through software instructions during operation, so that the main controller only communicates with the device on the currently selected sub-channel.

[0045] In order to determine the first-level communication path, this embodiment has a corresponding mapping table, and the mapping table is recorded as the lens alias address to first-level communication path mapping table. The mapping table is used to map out the first-level communication path corresponding to the lens alias address.

[0046] It should be noted that, from Figure 2 The system topology diagram shown can be known in advance through the deserializer (that is, the deserializer corresponding to the lens alias address) that must be passed to transmit the target focus value to the focuser corresponding to the lens alias address. Therefore, the above lens alias address can be specified to the first-level communication path mapping table through the system topology diagram.

[0047] The first-level communication path includes the communication path between the first-level gating switch and the deserializer corresponding to the lens alias address, and this first-level communication path is denoted as the communication path from the first-level gating switch to the deserializer.

[0048] S322. Based on the communication path from the first-level gating switch to the deserializer, determine the target deserializer.

[0049] The starting point of the communication path from the first-level gating switch to the deserializer is the first-level gating switch, and the ending point of the path is the deserializer corresponding to the lens alias address. The deserializer corresponding to the lens alias address is denoted as the target deserializer.

[0050] S323. Based on the target deserializer, map the lens alias address to the focuser address.

[0051] The deserializer can be used to map the lens alias address transmitted to it to the focuser address, which is the real address of the focuser corresponding to the lens alias address.

[0052] S324. Based on the communication path from the first-level gating switch to the deserializer and the address of the focuser, determine the focus value transmission path.

[0053] The communication path from the first-level selector switch to the deserializer is the first-level communication path through which the target focus value is transmitted from the first-level selector switch to the corresponding focuser. The endpoint of this communication path is the target deserializer. The focuser address indicates the focuser to which the target focus value will ultimately be transmitted. The communication between the target deserializer and the focuser is... Figure 2 The communication path shown in the system topology diagram includes the second-level communication path in a three-level path (the second-level gating switch directly connected to the focuser corresponding to the focuser address, from the target deserializer to the focuser address). Figure 2 The communication path between the first-level switch and the third-level communication path (the communication path between the second-level selector switch and the focuser corresponding to the focuser address) is connected in sequence. Therefore, by connecting the first-level communication path, the second-level communication path and the third-level communication path in sequence, a communication path from the first-level selector switch to the focuser corresponding to the focuser address can be obtained, which is denoted as the focus value transmission path.

[0054] S330. Determine the target focuser based on the focus value transmission path.

[0055] S340. Based on the focus value transmission path, the target focus value is transmitted to the target focuser, so that the target focuser controls the corresponding zoom lens to zoom based on the target focus value.

[0056] Example 4 This application provides a robot lens zoom control method in Embodiment 4, which optimizes the "determining the focus value transmission path based on the communication path from the first-level gating switch to the deserializer and the focuser address" in Embodiment 3. It should be noted that for parts not detailed in this embodiment, please refer to the descriptions in other embodiments. The method includes: S410. Obtain the target focus value and lens alias address corresponding to the robot's zoom lens.

[0057] S421. Based on the preset lens alias address to primary communication path mapping table, the lens alias address is mapped to obtain the primary selection switch to deserializer communication path.

[0058] S422. Based on the communication path from the first-level gating switch to the deserializer, determine the target deserializer.

[0059] S423. Based on the target deserializer, map the lens alias address to the focuser address.

[0060] S424A. Based on the focuser address, determine the communication path from the deserializer to the secondary strobe switch.

[0061] The focuser address is the actual address of the focuser, which has a corresponding lens alias address. In this embodiment, a mapping table is pre-set to map the lens alias address to the second-level communication path, denoted as the alias address to second-level communication path mapping table.

[0062] Specifically, first determine the lens alias address corresponding to the focuser address, then map the second-level communication path corresponding to the lens alias address to the second-level communication path mapping table. See [link to documentation]. Figure 2 The second-level communication path is used to represent the communication path between the target deserializer and the corresponding secondary gating switch. The starting point of the communication path is the deserializer, and the ending point is the secondary gating switch. A corresponding serializer is provided between each set of deserializers and secondary gating switches. The second-level communication path is recorded as the communication path from the deserializer to the secondary gating switch.

[0063] S424B. Based on the communication path from the deserializer to the secondary gating switch, determine the target secondary gating switch.

[0064] The communication path from the deserializer to the secondary gating switch starts at the target deserializer and ends at the secondary gating switch directly connected to the focuser corresponding to the focuser address. The secondary gating switch can also be an I2C-MUX (I2C multiplexer). This secondary gating switch is used to select the focuser corresponding to the focuser address for connection. The secondary gating switch shown at the end of the communication path from the deserializer to the secondary gating switch is denoted as the target secondary gating switch.

[0065] S424C. Based on the target secondary gating switch and the focuser address, determine the communication path from the secondary gating switch to the focuser.

[0066] Among them, the communication path between the target secondary selection switch and the focuser corresponding to the focuser address is the third-level communication path, which is denoted as the communication path from the secondary selection switch to the focuser.

[0067] Specifically, by controlling the connection between the target secondary gating switch and the focuser corresponding to the focuser address, a communication path from the secondary gating switch to the focuser can be constructed.

[0068] S424D: Based on the communication path from the first-level gating switch to the deserializer, the communication path from the deserializer to the second-level gating switch, and the communication path from the second-level gating switch to the focuser, determine the focus value transmission path.

[0069] The communication paths from the primary gating switch to the deserializer, from the deserializer to the secondary gating switch, and from the secondary gating switch to the focuser can be combined into a single communication path, denoted as the focus value transmission path. This focus value transmission path is used to transmit the target focus value from the primary gating switch to the corresponding focuser.

[0070] S430. Determine the target focuser based on the focus value transmission path.

[0071] S440. Based on the focus value transmission path, the target focus value is transmitted to the target focuser, so that the target focuser controls the corresponding zoom lens to zoom based on the target focus value.

[0072] Example 5 This application provides a robot lens zoom control method in Embodiment 5. This method limits the communication links corresponding to the "communication path from the first-level gating switch to the deserializer, the communication path from the deserializer to the second-level gating switch, and the communication path from the second-level gating switch to the focuser" in Embodiment 4. It should be noted that for parts not detailed in this embodiment, please refer to the descriptions in other embodiments. The method includes: S510: Obtain the target focus value and lens alias address corresponding to the robot's zoom lens.

[0073] S521. Based on the preset lens alias address to primary communication path mapping table, the lens alias address is mapped to obtain the primary selection switch to deserializer communication path.

[0074] S522. Based on the communication path from the first-level gating switch to the deserializer, determine the target deserializer.

[0075] S523. Based on the target deserializer, map the lens alias address to the focuser address.

[0076] S524A. Based on the focuser address, determine the communication path from the deserializer to the secondary selection switch; S524B: Determine the target secondary gating switch based on the communication path from the deserializer to the secondary gating switch; S524C. Based on the target secondary gating switch and the focuser address, determine the communication path from the secondary gating switch to the focuser; S524D: Based on the communication path from the first-level gating switch to the deserializer, the communication path from the deserializer to the second-level gating switch, and the communication path from the second-level gating switch to the focuser, the focus value transmission path is determined; wherein, the communication links corresponding to the communication paths from the first-level gating switch to the deserializer, the communication path from the deserializer to the second-level gating switch, and the communication path from the second-level gating switch to the focuser are all gigabit multimedia serial links.

[0077] It should be noted that the communication link in this embodiment, which is the communication path between the first-level gating switch and any focuser, should not only serve the function of transmitting the video or image captured by the zoom lens corresponding to the focuser back to the robot host, but also serve the function of transmitting the target zoom value from the first-level gating switch to the corresponding focuser, and also need to ensure the bidirectional communication rate. Therefore, in this embodiment, the communication links corresponding to the communication path from the first-level gating switch to the deserializer, the communication path from the deserializer to the second-level gating switch, and the communication path from the second-level gating switch to the focuser are all set as gigabit multimedia serial links (GMSL links).

[0078] S530. Determine the target focuser based on the focus value transmission path.

[0079] S540. Based on the focus value transmission path, the target focus value is transmitted to the target focuser, so that the target focuser controls the corresponding zoom lens to zoom based on the target focus value.

[0080] Example 6 This application provides a robot lens zoom control method in Embodiment Six, which limits the type of "zoom lens" in Embodiment One. It should be noted that for parts not detailed in this embodiment, please refer to the descriptions in other embodiments. The method includes: S610. Obtain the target focus value and lens alias address corresponding to the robot's zoom lens; wherein, the zoom lens is a liquid lens.

[0081] It should be noted that the space available on the robot to accommodate a zoom lens is limited, especially in the robot's hand. To ensure that the lens on the robot is a zoom lens and that the zoom lens has a small volume to meet the actual use requirements, the zoom lens used in this embodiment is preferably a liquid lens with a small volume.

[0082] In other embodiments, if there is no limitation on lens size, the zoom lens may also be a zoom lens that uses a voice coil motor, a stepper motor, a piezoelectric motor, or the like as a driver, and there are no specific limitations.

[0083] S620. Determine the focus value transmission path based on the lens alias address.

[0084] S630. Determine the target focuser based on the focus value transmission path.

[0085] S640. Based on the focus value transmission path, the target focus value is transmitted to the target focuser, so that the target focuser controls the corresponding zoom lens to zoom based on the target focus value.

[0086] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0087] Example 7 Based on the same inventive concept, this embodiment also provides a robot lens zoom control device for implementing the robot lens zoom control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more robot lens zoom control device embodiments provided below can be found in the limitations of the robot lens zoom control method described above, and will not be repeated here.

[0088] In this embodiment, as Figure 3 As shown, a robot lens zoom control device is provided, comprising: The information acquisition module is used to acquire the target focus value and lens alias address corresponding to the robot's zoom lens; the zoom lens has a unique lens alias address; The path determination module is used to determine the focus value transmission path based on the lens alias address; The focuser determination module is used to determine the target focuser based on the focus value transmission path; The transmission control module is used to transmit the target focus value to the target focuser based on the focus value transmission path, so that the target focuser controls the corresponding zoom lens to zoom based on the target focus value.

[0089] Each module in the aforementioned robot lens zoom control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of the electronic device in hardware form or independent of it, or stored in the memory of the electronic device in software form, so that the processor can call and execute the corresponding operations of each module.

[0090] It should be noted that in this embodiment, the target focus value and lens alias address corresponding to the robot's zoom lens are obtained; the zoom lens has a unique lens alias address; a focus value transmission path is determined based on the lens alias address; a target focuser is determined based on the focus value transmission path; and the target focus value is transmitted to the target focuser based on the focus value transmission path, so that the target focuser controls the corresponding zoom lens to zoom based on the target focus value. Through the above implementation, firstly, since each zoom lens corresponds to a unique lens alias address, the robot host can directly distinguish each zoom lens at the upper level through this lens alias address. This allows for the establishment of independent focus value transmission paths corresponding to each zoom lens within the shared control link. Then, through these one-to-one focus value transmission paths, the target focus value corresponding to each zoom lens is transmitted to the target focusr corresponding to the lens alias address. This allows the target focusr to zoom the corresponding zoom lens based on the received target focus value. Secondly, since each zoom lens on the robot is a zoom lens, and each zoom lens can adaptively zoom based on the acquired target focus value, the zoom lenses can still capture clear images or videos even when relatively close to or far from environmental objects.

[0091] In an optional embodiment, the robot lens zoom control device further includes: The data acquisition module is used to obtain the lens-object distance between the zoom lens and the corresponding environmental object, as well as the lens alias address corresponding to the zoom lens, in response to the image sharpness of the image acquired by the zoom lens being less than a preset sharpness threshold. The focus value mapping module is used to map the object distance to the target focus value corresponding to the zoom lens based on a preset distance-to-zoom value mapping table.

[0092] In an optional embodiment, determining the focus value transmission path based on the lens alias address includes: Based on the preset lens alias address to primary communication path mapping table, the lens alias address is mapped to obtain the primary gating switch to deserializer communication path; Based on the communication path from the first-level gating switch to the deserializer, the target deserializer is determined; Based on the target deserializer, the lens alias address is mapped to the focuser address; Based on the communication path from the primary selector switch to the deserializer and the address of the focuser, the focus value transmission path is determined.

[0093] In an optional embodiment, determining the focus value transmission path based on the communication path from the primary selector switch to the deserializer and the focuser address includes: Based on the focuser address, the communication path from the deserializer to the secondary gating switch is determined; Based on the communication path from the deserializer to the secondary gating switch, the target secondary gating switch is determined; Based on the target secondary gating switch and the focuser address, determine the communication path from the secondary gating switch to the focuser; The focus value transmission path is determined based on the communication path from the primary gating switch to the deserializer, the communication path from the deserializer to the secondary gating switch, and the communication path from the secondary gating switch to the focuser.

[0094] In an optional embodiment, the communication links corresponding to the communication path from the primary gating switch to the deserializer, the communication path from the deserializer to the secondary gating switch, and the communication path from the secondary gating switch to the focuser are all gigabit multimedia serial links.

[0095] In an optional embodiment, the zoom lens is a liquid lens.

[0096] Example 8 Figure 4 A schematic diagram of an electronic device 10, which can be used to implement embodiments of the present invention, is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0097] like Figure 4As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0098] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0099] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as robotic lens zoom control methods.

[0100] In some embodiments, the robotic lens zoom control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or mounted on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the robotic lens zoom control method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the robotic lens zoom control method by any other suitable means (e.g., by means of firmware).

[0101] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0102] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0103] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0104] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0105] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0106] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0107] Example 9 In this embodiment, a computer-readable storage medium is provided, such as... Figure 5 As shown, a computer program is stored thereon, and when the computer program is executed by the processor, it implements the steps in the above-described method embodiments.

[0108] Example 10 In this embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[0109] It should be noted that the information collected is information and data authorized by the user or fully authorized by all parties, and the collection, storage, use, processing, transmission, provision, disclosure and application of the relevant data all comply with the relevant laws, regulations and standards of the relevant countries and regions, necessary confidentiality measures have been taken, and it does not violate public order and good morals. Corresponding operation portals are provided for users to choose to authorize or refuse.

[0110] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this disclosure can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this disclosure may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this disclosure may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0111] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0112] The embodiments described above are merely illustrative of several implementations of this disclosure, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent disclosure. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this disclosure, and these all fall within the protection scope of this disclosure. Therefore, the protection scope of this disclosure should be determined by the appended claims.

Claims

1. A method for controlling the zoom of a robot lens, characterized in that, include: Obtain the target focus value and lens alias address corresponding to the robot's zoom lens; The zoom lens has a unique lens alias address; The focus value transmission path is determined based on the lens alias address; The target focuser is determined based on the focus value transmission path; The target focus value is transmitted to the target focuser based on the focus value transmission path, so that the target focuser controls the corresponding zoom lens to zoom based on the target focus value.

2. The method according to claim 1, characterized in that, Before obtaining the target focus value and lens alias address corresponding to the robot's zoom lens, the process also includes: In response to the image sharpness being less than a preset sharpness threshold, the lens-object distance between the zoom lens and the corresponding environmental object, as well as the lens alias address corresponding to the zoom lens, are obtained. Based on a preset distance-to-zoom value mapping table, the distance between the object and the mirror is mapped to the target focus value corresponding to the zoom lens.

3. The method according to claim 1, characterized in that, The step of determining the focus value transmission path based on the lens alias address includes: Based on the preset lens alias address to primary communication path mapping table, the lens alias address is mapped to obtain the primary gating switch to deserializer communication path; Based on the communication path from the first-level gating switch to the deserializer, the target deserializer is determined; Based on the target deserializer, the lens alias address is mapped to the focuser address; Based on the communication path from the primary selector switch to the deserializer and the address of the focuser, the focus value transmission path is determined.

4. The method according to claim 3, characterized in that, The step of determining the focus value transmission path based on the communication path from the first-level gating switch to the deserializer and the focuser address includes: Based on the focuser address, the communication path from the deserializer to the secondary gating switch is determined; Based on the communication path from the deserializer to the secondary gating switch, the target secondary gating switch is determined; Based on the target secondary gating switch and the focuser address, determine the communication path from the secondary gating switch to the focuser; The focus value transmission path is determined based on the communication path from the primary gating switch to the deserializer, the communication path from the deserializer to the secondary gating switch, and the communication path from the secondary gating switch to the focuser.

5. The method according to claim 4, characterized in that, The communication links corresponding to the communication paths from the primary gating switch to the deserializer, from the deserializer to the secondary gating switch, and from the secondary gating switch to the focuser are all gigabit multimedia serial links.

6. The method according to claim 1, characterized in that, The zoom lens is a liquid lens.

7. A robot lens zoom control device, characterized in that, The device includes: The information acquisition module is used to acquire the target focus value and lens alias address corresponding to the robot's zoom lens; the zoom lens has a unique lens alias address; The path determination module is used to determine the focus value transmission path based on the lens alias address; The focuser determination module is used to determine the target focuser based on the focus value transmission path; The transmission control module is used to transmit the target focus value to the target focuser based on the focus value transmission path, so that the target focuser controls the corresponding zoom lens to zoom based on the target focus value.

8. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the robot lens zoom control method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the robot lens zoom control method according to any one of claims 1-6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1-6.

Images