Image acquisition method and device therefor

Abstract

The disclosure provides an image acquisition device and a smart device, and relates to the technical field of image processing. The image acquisition method comprises the following steps: in response to the fact that an imaging module in the image acquisition device does not track a target in a field of view range, detecting in a blind area of the imaging module based on a blind area detection module in the image acquisition device to obtain first detection data, wherein the blind area detection module has the ability of passive sensing of a heat source; determining motion information of the target in the blind area of the field of view based on the first detection data; and controlling the imaging module of the image acquisition device to turn to a target detection area where the target is located based on the motion information of the target.

Description

Technical Field

[0001] This disclosure relates to the field of image processing technology, and in particular to an image acquisition method, apparatus, electronic device, storage medium, and computer program product. Background Technology

[0002] Existing image acquisition devices typically rely on cameras for target detection and recognition. When a target is directly in front of the camera's field of view, the device can detect, track, or trigger an image through image recognition. However, when the target moves during the shooting process, it may easily move out of the camera's field of view, causing the camera to lose its ability to detect and track the target, resulting in poor image quality. Summary of the Invention

[0003] This disclosure provides an image acquisition method, apparatus, electronic device, storage medium, and computer program product.

[0004] According to one aspect of this disclosure, an image acquisition method is provided, comprising:

[0005] In response to the imaging module in the image acquisition device failing to track the target within the field of view, the blind spot detection module in the image acquisition device performs detection within the blind spot of the imaging module's field of view to obtain first detection data, wherein the blind spot detection module has the ability to passively sense heat sources. Based on the first detection data, the motion information of the target located in the blind spot of the field of view is determined; Based on the motion information of the target, the imaging module of the image acquisition device is controlled to turn towards the target detection area where the target is located.

[0006] According to one aspect of this disclosure, an image acquisition device is provided, comprising: The imaging module is used to track targets within the field of view during image acquisition.

[0007] A blind zone detection module is used to detect targets in the blind zone of the imaging module when the imaging module fails to track them within its field of view, and to obtain first detection data. The blind zone detection module has the ability to passively sense heat sources. An information determination module is used to determine the motion information of the target located in a blind spot based on the first detection data; The control module is used to control the imaging module of the image acquisition device to turn towards the target detection area where the target is located, based on the motion information of the target.

[0008] According to another aspect of this disclosure, an electronic device is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the image acquisition method described in one aspect of the above-described embodiment.

[0009] According to another aspect of this disclosure, a non-transitory computer-readable storage medium is provided storing computer instructions, wherein computer programs / instructions are stored thereon for causing the computer to perform the image acquisition method described in one aspect of the above-described embodiment.

[0010] According to another aspect of this disclosure, a computer program product is provided, including a computer program / instructions that, when executed by a processor, implement the image acquisition method described in one aspect of the embodiments above.

[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 disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0012] The accompanying drawings are provided to better understand this solution and do not constitute a limitation of this disclosure. Wherein: Figure 1 This is a schematic diagram of the structure of an image acquisition device provided in an embodiment of the present disclosure; Figure 2 This is a schematic diagram of another image acquisition device provided in an embodiment of the present disclosure; Figure 3 This is a schematic diagram of another image acquisition device provided in an embodiment of the present disclosure; Figure 4 This is a schematic diagram of another image acquisition device provided in an embodiment of the present disclosure; Figure 5 This is a schematic diagram of another image acquisition device provided in an embodiment of the present disclosure; Figure 6 A schematic diagram of the detection area of ​​another image acquisition device provided in an embodiment of this disclosure; Figure 7 This is a schematic diagram of the structure of a smart device provided in an embodiment of the present disclosure; Figure 8 This is a schematic diagram of the structure of another smart device provided in an embodiment of the present disclosure; Figure 9 This is a schematic diagram of the structure of another smart device provided in an embodiment of the present disclosure; Figure 10A flowchart illustrating another image acquisition method provided in this embodiment of the disclosure; Figure 11 A flowchart illustrating another image acquisition method provided in this embodiment of the disclosure; Figure 12 A flowchart illustrating another image acquisition method provided in this embodiment of the disclosure; Figure 13 This is a schematic diagram of the structure of an image acquisition device provided in an embodiment of the present disclosure; Figure 14 This is a schematic diagram of the structure of another electronic device provided in an embodiment of this disclosure. Detailed Implementation

[0013] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0014] The image acquisition apparatus and smart device of the present disclosure are described below with reference to the accompanying drawings.

[0015] Artificial intelligence (AI) is the study of enabling computers to simulate certain human thought processes and intelligent behaviors (such as learning, reasoning, thinking, and planning). It involves both hardware and software technologies. AI hardware technologies generally include computer vision, speech recognition, natural language processing, and related technologies such as deep learning, big data processing, and knowledge graphs.

[0016] Image processing technology is the technique of using computers to analyze images to achieve desired results. It is also known as image processing. Image processing generally refers to digital image processing. A digital image is a large two-dimensional array obtained by capturing images using equipment such as industrial cameras, video cameras, and scanners. The elements of this array are called pixels, and their values ​​are called grayscale values. Image processing techniques generally include three parts: image compression, enhancement and restoration, and matching, description, and recognition.

[0017] Figure 1 This is a schematic diagram of the structure of an image acquisition device provided in an embodiment of this disclosure. Figure 1 As shown, the image acquisition device 1000 may include, but is not limited to, the following components: an image acquisition unit 110 and a blind spot detection module 120.

[0018] In some possible implementations, the image acquisition unit 110 includes a support 111, an imaging module 112 mounted on the support 110, and a drive mechanism 113 for driving the support 111 to rotate.

[0019] In some possible implementations, the imaging module 112 is used to track targets within the field of view during image acquisition.

[0020] In some possible implementations, the blind spot detection module 130 is used to detect targets in the blind spot of the imaging module 112 under the instruction of a trigger command.

[0021] In some possible implementations, a drive mechanism 113 is used to drive the support 111 to rotate, thereby causing the imaging module 112 to rotate in the direction of the target in the blind spot when the tracked target is lost.

[0022] In some possible implementations, the imaging module 112 can acquire images of the actual scene within its field of view under the user's command.

[0023] In some possible implementations, the image acquisition unit 110 may have the function of target detection on the image acquired by the imaging module 112, and determine that the imaging module 112 has lost the tracked target in response to the undetected target.

[0024] In some possible implementations, if it is determined that the imaging module 112 has lost the tracked target, in order to be able to re-determine the location of the target, a trigger command can be sent to the blind spot detection module 120 to instruct the blind spot detection module 120 to enter the detection mode.

[0025] In some possible implementations, the blind spot detection module 120 can be in standby or sleep mode when it does not receive a trigger command, in order to save energy consumption of the smart device.

[0026] In some possible implementations, the blind spot detection module 120 receives a trigger command, wakes up from standby mode or hibernation mode, and enters detection mode to detect targets in the blind spot of the imaging module 112.

[0027] In some possible implementations, the blind spot is the area not covered by the field of view of the imaging module 112. The blind spot changes with the changes in the field of view of the imaging module. For example, if the field of view of the imaging module 112 faces directly forward, the blind spot includes the left and right side areas; for example, if the field of view of the imaging module 112 faces left-front, the blind spot includes the right side area and the front area.

[0028] In some possible implementations, the imaging module 112 can be a visible light camera.

[0029] In some possible implementations, the blind spot detection module 120 has the ability to passively sense heat sources.

[0030] In some possible implementations, the blind spot detection module 120 may include multiple detection units, each with the ability to passively sense heat sources. Different detection units can be responsible for detecting different blind spots in the field of view of the imaging module 112.

[0031] In some possible implementations, the blind spot detection module 120 only performs passive detection and does not actively transmit detection signals. When the heat source target moves into the blind spot of the field of view, it will generate heat or energy due to the movement, and then radiate signals outward so that it can be detected by the blind spot detection module 120.

[0032] In some possible implementations, the blind zone detection module 120 extracts the signal strength and sends a detection signal to the processor of the image acquisition device 1000 based on the signal strength. Optionally, the detection signal can indicate whether the heat source target exists in the detection area of ​​the blind zone detection module 120.

[0033] In some possible implementations, the heat source target is determined to be within the blind zone only when the signal strength is greater than or equal to a set strength threshold, and the processor then sends a first detection signal. This first detection signal indicates that the heat source target exists within the detection area of ​​the blind zone detection module 120.

[0034] In some possible implementations, if the signal strength is less than a set strength threshold, it can be determined that the heat source target is not within the blind zone of the field of view, and a second detection signal is then sent to the processor. This second detection signal can indicate that the heat source target is not within the detection area of ​​the blind zone detection module 120.

[0035] In some possible implementations, the heat source target may include, but is not limited to, objects that can generate heat or energy during movement, such as human bodies and pets.

[0036] In this embodiment of the application, during image acquisition or video shooting, the collaborative imaging module and the blind spot detection module with the ability to passively sense heat sources perform target tracking, which can realize panoramic perception of the monitoring area, facilitate accurate target tracking, and improve the quality of image acquisition or video shooting.

[0037] Figure 2 This is a schematic diagram of the structure of a smart device provided in an embodiment of this application, such as... Figure 2As shown, in some possible implementations, the blind spot detection module 120 includes a passive infrared (PIR) sensor array 121, which includes N PIR sensors, where N is an integer greater than or equal to 2.

[0038] In some possible implementations, N PIR sensors in the PIR sensor array 121 are spaced apart on the bezel of the smart device.

[0039] In some possible implementations, N PIR sensors are arranged around the imaging module 112. For example, the N PIR sensors can be arranged on both sides of the imaging module 112, the left and right sides, the top and bottom sides, etc.

[0040] In some possible implementations, depending on the camera structure, mounting location, and mechanical limiting requirements, the PIR sensor array 121 can achieve coverage of 180°, 240°, 270°, 290°, 300°, or 360° of the blind spot.

[0041] In this embodiment, multiple PIR sensors are deployed and arranged horizontally at intervals on the side frame of the image acquisition device. These multiple PIR sensors can perceive multiple areas such as the front, left front, left rear, right front, and right rear of the smart device, thereby reducing blind spots.

[0042] In some possible implementations, N PIR sensors are symmetrically arranged around the imaging module 112. For example, the N PIR sensors can be symmetrically arranged on both sides of the imaging module 112.

[0043] In some possible implementations, N PIR sensors are arranged at intervals around the imaging module 112. For example, two PIR sensors are arranged on the left side of the imaging module 112, with a set distance between them.

[0044] In some possible implementations, the N PIR sensors can be installed independently, meaning that the N PIR sensors are independent of each other.

[0045] In some possible implementations, N PIR sensors can be installed using an integrated array module. That is, N PIR sensors form a PIR sensor array. The integrated module method of the PIR sensor array can be determined according to the specifications and layout of the smart device.

[0046] In some possible implementations, each PIR sensor also includes a front-end optical assembly, which is an optical structure combination used to filter, focus, and divide the field of view of the infrared radiation of the target.

[0047] In some possible implementations, the front-end optical components may include, but are not limited to, at least one of the following elements: a focusing element, a filtering element, and a light-shielding element.

[0048] In some possible implementations, a focusing element is positioned outside the filtering element to receive and converge the infrared signal radiated by the heat source target. Optionally, the focusing element may include, but is not limited to, a Fresnel lens.

[0049] In some possible implementations, a filtering element is positioned between the focusing element and the PIR sensor to transmit only infrared signals within a preset wavelength range, thereby blocking light from non-target wavelengths. Optionally, the filtering element may include, but is not limited to, an infrared filter.

[0050] In some possible implementations, a light-shielding element is disposed on the periphery or inside the focusing element to block part of the focusing element's field of view, thereby defining the detection boundary of the PIR sensor and shielding non-target interference sources. Optionally, the light-shielding element may include, but is not limited to, a light-shielding partition.

[0051] In this embodiment, the focusing and partitioning effect of the light-concentrating element enables the PIR sensor to generate a differential detection signal with a phase difference, thereby effectively converting target movement into a identifiable electrical change, improving detection range and dynamic response sensitivity. The wavelength-selective transmission of the filter element filters out ambient light noise in non-target bands, reducing DC bias interference in strong light environments and enhancing signal stability. Furthermore, the physical shielding of non-target fields of view by the light-shielding element shields against radiation interference from fixed heat sources, reducing the probability of false identification.

[0052] Figure 3 This is a schematic diagram of the structure of a smart device provided in an embodiment of this application, such as... Figure 3 As shown, the PIR sensor array 121 includes a first PIR sensor group 1211 and a second PIR sensor group 1212, meaning that the N PIR sensors in the PIR sensor array 121 are divided into two sensor groups. The two sensor groups are arranged around the imaging module 112. Optionally, the first PIR sensor group 1211 and the second PIR sensor group 1212 are symmetrically arranged around the imaging module 112. In some possible implementations, the first PIR sensor group 1211 may include one or more PIR sensors, and the second PIR sensor group 1212 may include one or more PIR sensors.

[0053] In some possible implementations, the PIR sensor array 121 may include, but is not limited to, two PIR sensor groups, or three PIR sensor groups, or four, five, or more PIR sensor groups, to obtain higher azimuth resolution.

[0054] Figure 4 This is a schematic diagram of the structure of a smart device provided in an embodiment of this application, such as... Figure 4 As shown, the PIR sensor array 121' includes a first PIR sensor 1211', a second PIR sensor 1212', and a third PIR sensor 1213'. The first PIR sensor 1211' and the second PIR sensor 1212' are respectively arranged on the first side frame 130 and the second side frame 140 of the image acquisition device 1000. The first side frame 130 and the second side frame 140 are two opposite side frames, and both intersect with the top frame 150 where the imaging module 112 is located. The third PIR sensor 1213' is integrated with the imaging module 112 in the support part 111.

[0055] Figure 5 This is a schematic diagram of the structure of a smart device provided in an embodiment of this application, such as... Figure 5 As shown, the PIR sensor array 121' includes a first PIR sensor 1211' and a second PIR sensor 1212'. The first PIR sensor 1211' and the second PIR sensor 1212' are respectively arranged on the first side frame 130 and the second side frame 140 of the image acquisition device. The first side frame 130 and the second side frame 140 are two opposite side frames, and both intersect with the top frame 150 where the imaging module 112 is located.

[0056] In some possible implementations, PIR sensors are symmetrically arranged on the first side frame 130 and the second side frame 140.

[0057] In some possible implementations, the PIR sensors on the first side frame 130 and the second side frame 140 can also be arranged in an asymmetrical manner depending on the product installation scenario.

[0058] In this embodiment, the first PIR sensor 1211' and the second PIR sensor 1212' are arranged symmetrically with respect to the third PIR sensor 1213', which makes the overall structure and sensing area distribution more balanced, and further facilitates appearance design and mold implementation.

[0059] In some possible implementations, the third PIR sensor 1213' and the imaging module 112 are arranged in the middle area of ​​the top bezel, which can detect and sense the area directly in front of the smart device.

[0060] In some possible implementations, the field of view of the imaging module 112 is the area directly in front of the smart device. Since the third PIR sensor 1213' is integrated with the imaging module 112 in the middle area of ​​the top bezel, the detection direction of the third PIR sensor 1213' is basically consistent with the field of view of the imaging module 112. Therefore, the detection direction of the third PIR sensor 1213' is directly in front of the image acquisition device 1000 in the initial stage (that is, when the image acquisition unit 110 is in the reset position).

[0061] In some possible implementations, the detection directions of the first PIR sensor 1211' and the second PIR sensor 1212' are both directed towards the front of their respective side frames, and form a 90-degree angle with the detection direction of the third PIR sensor 1213', such as... Figure 6 As shown in the figure, 1211'' represents the detection area of ​​the first PIR sensor 1211', 1212'' represents the detection area of ​​the second PIR sensor 1212', and 1213'' represents the detection area of ​​the third PIR sensor 1213'.

[0062] In some possible implementations, the first PIR sensor 1211' located on the first side frame 130 (e.g., the left side frame) is positioned facing directly to the right front and forms a 90-degree angle with the third PIR sensor 1213'.

[0063] In some possible implementations, the second PIR sensor 1212' located on the second side frame 140 (e.g., the right side frame) is positioned facing directly to the left front and forms a 90-degree angle with the third PIR sensor 1213'.

[0064] In this embodiment, the third PIR sensor 1213' is disposed in the central region, and the first PIR sensor 1211' and the second PIR sensor 1212' are arranged on the two opposite side frames, thereby forming a three-segment orientation sensing structure around the imaging module 112. With the above arrangement, the third PIR sensor is mainly responsible for sensing the area in front of the device, and the left and right PIR sensors are respectively responsible for sensing the left front and right front areas. The combination of the three forms a fan-shaped coverage area, which can realize auxiliary perception of the blind spots of the imaging module 112, so as to track the target in all directions.

[0065] In some possible implementations, the detection axes of the first PIR sensor 1211' and the second PIR sensor 1212' are deflected by a preset angle of 90 degrees relative to the front normal of the smart device toward their respective side bezels.

[0066] In some possible implementations, the detection axis of the first PIR sensor 1211' located on the first side bezel 130 (e.g., the left side bezel) is deflected to the left by a preset angle of 90 degrees relative to the front normal of the smart screen.

[0067] In some possible implementations, the detection axis of the second PIR sensor 1212' located on the second side bezel 140 (e.g., the right side bezel) is deflected to the right by a preset angle of 90 degrees relative to the front normal of the smart screen.

[0068] In this embodiment of the disclosure, by setting a deflection angle for the two PIR sensors on the left and right, the detection areas of the two PIR sensors on the left and right can be expanded to both sides of the smart screen, thereby expanding the overall perception coverage and reducing the lateral blind spots.

[0069] In some possible implementations, the image acquisition device 1000 also includes an infrared transmission window (not shown in the figure) for each PIR sensor.

[0070] In some possible implementations, a first infrared transmission window is provided at the placement position of the first PIR sensor 1211' on the first side frame 130; a second infrared transmission window is provided at the placement position of the second PIR sensor 1212' on the second side frame 140; and a third infrared transmission window is provided at the placement position of the third PIR sensor 1213' on the top frame 150.

[0071] In some possible implementations, each infrared transmission window may be located on a decorative cover, frame, or front housing.

[0072] In some possible implementations, each infrared transmission window is an independent window.

[0073] In some possible implementations, multiple infrared windows can be integrated into a single elongated window.

[0074] In some possible implementations, the infrared transmission window is made of a material that is transparent to the infrared band to ensure that the PIR sensor can detect changes in ambient thermal radiation.

[0075] In some possible implementations, the color of the translucent material and the appearance color of the smart device remain harmonious under visible light to make the overall appearance of the device aesthetically pleasing.

[0076] In some possible implementations, the permeable material maintains a certain transmittance in the infrared band to improve the PIR sensor's ability to detect changes in environmental thermal radiation.

[0077] In some possible implementations, the image acquisition device 1000 may also include a support for mounting the PIR sensor. Optionally, the support may take the form of, but is not limited to, a mounting bracket or a mounting position.

[0078] In some possible implementations, the support for mounting the PIR sensor is integrally formed with the main body of the smart device 2000.

[0079] In some possible implementations, each PIR sensor can be mounted on a support within the smart device 2000.

[0080] In some possible implementations, the bracket for mounting the PIR sensor includes the following: Mounting location for PIR sensor; An inclined positioning part used to define the mounting direction of the PIR sensor; Positioning structure for fixing PIR sensors.

[0081] In some possible implementations, the positioning structure may include, but is not limited to, snap-fit, screw post, and welded part.

[0082] In some possible implementations, each PIR sensor can be installed in a different mounting position on the front shell or mid-frame of a smart device (such as a smart screen), and each PIR sensor can be fixed independently.

[0083] In this embodiment, the integrated support component ensures the stability of the relative position and angular relationship of each PIR sensor, thereby improving assembly consistency.

[0084] In some possible implementations, the image acquisition device also includes a Hall sensor for sensing the rotation angle of the support 111 during the driving of the drive mechanism 113.

[0085] In some possible implementations, control of the drive mechanism 113 is stopped in response to the actual rotation angle of the support 111 reaching the desired angle, that is, turning to the target position.

[0086] In some possible implementations, during the rotation of the support 111, the angle difference between two adjacent actual rotation angles of the support 111 is obtained, and in response to the angle difference being greater than a set angle threshold, at least one of the following operations is performed: Reduce the number of drive pulses in drive mechanism 113; Reduce the drive voltage and / or drive current of the drive mechanism 113.

[0087] When the angle difference is greater than the set angle threshold, the rotation speed can be reduced by decreasing the number of drive pulses of the drive mechanism 113 and / or reducing the drive voltage and / or drive current of the drive mechanism 113, thereby avoiding shooting shake and improving shooting quality.

[0088] In some possible implementations, the drive mechanism can employ a graded, gradual steering strategy to steer the imaging module and avoid jitter issues. For example, the graded, gradual steering strategy may include, but is not limited to, fixed threshold control, state machine control, rule-based control, or control methods based on statistical learning / predictive models, which are not limited here.

[0089] In this embodiment, a Hall sensor can be used for steering control, so that the image acquisition device can accurately turn to the location of the target. Furthermore, the angular velocity can be controlled during the rotation process to drive the image acquisition device to stably turn to the location of the target, avoiding problems such as jitter, overshoot, or idle rotation during the rotation process.

[0090] Figure 7 This is a schematic diagram of the structure of a smart device provided in an embodiment of this application. Based on the above embodiments, as follows... Figure 7 As shown, in the above embodiment, each module of the image acquisition device 1000 is deployed on the smart device 2000, that is, the main body of the smart device 2000 is used to carry the image acquisition unit 110 and the blind spot detection module 120.

[0091] In some possible implementations, the smart device 2000 may also include a display module 210, a playback module 220, and a radio module 230.

[0092] In some possible implementations, the smart device 2000 may include a smart screen, a learning machine, a tablet computer, a smart camera, or a camera with a pan-tilt-zoom (PTZ) mechanism.

[0093] In some possible implementations, the blind spot detection module 120 is deployed on the bezel of the smart device 2000.

[0094] In some possible implementations, the first PIR sensor 1211' in the PIR sensor array 121 is located on the first side bezel 240 of the smart device 2000.

[0095] In some possible implementations, the first PIR sensors 1212' in the PIR sensor array 121 are spaced apart on the second side frame 250 of the smart device 2000. The first side frame 240 and the second side frame 250 are two opposing side frames, both intersecting with the top frame 260 where the imaging module 112 is located, such as... Figure 8 As shown.

[0096] In some possible implementations, the PIR sensor array 121 includes a first PIR sensor 1201, a second PIR sensor 1202, and a third PIR sensor 1203. The first PIR sensor 1201 and the second PIR sensor 1202 are positioned on the first side frame 240 and the second side frame 250 of the smart device 2000. The first side frame 240 and the second side frame 250 are two opposing side frames, both intersecting with the top frame 260 where the imaging module 112 is located. The third PIR sensor 123 is integrated with the imaging module 112 on the support portion 111. Figure 9 As shown.

[0097] In some possible implementations, both the first side frame 240 and the second side frame 250 include the sound output position of the playback module 220 (not shown in the figure). The PIR sensor is positioned on the side frame at a set distance from the sound output position on the same side. In other words, the PIR sensor on the side frame is located near the sound output position.

[0098] In some possible implementations, the placement position of the first PIR sensor 1211' on the first side frame 240 is separated from the sound emission position on the first side frame by a set distance.

[0099] In some possible implementations, the placement of the second PIR sensor 1212' on the second side frame 250 is separated from the sound emission position on the second side frame by a set distance.

[0100] In some possible implementations, the playback module is a speaker, and the speaker's sound outlet, i.e., the sound outlet position, can be provided on the first side frame 240 and the second side frame 250. The first PIR sensor 1211' is positioned at a predetermined distance from the speaker's sound outlet on the first side frame 240. The second PIR sensor 1212' is positioned at a predetermined distance from the speaker's sound outlet on the second side frame 250.

[0101] In this embodiment of the application, a PIR sensor is placed near the sound output location, which can avoid the need for additional openings on the smart device. This allows the human body sensing function to be realized without compromising the appearance design, making the smart device more intelligent and also facilitating appearance design and mold implementation.

[0102] In this embodiment, the PIR sensor array structure is simple and uses mature components. It achieves reliable blind zone perception and pre-following functions without relying on high-cost LiDAR or multiple high-resolution visual sensors. It features low cost, extremely low power consumption, easy integration into the hardware architecture of a gimbal camera, and a mature manufacturing process, making it suitable for mass production. Based on these advantages, this embodiment is particularly suitable for product scenarios such as home smart security cameras, commercial conference tracking cameras, and live streaming gimbals, significantly improving product tracking performance within a limited cost budget.

[0103] In this embodiment, images or videos can be captured using the smart devices and / or image acquisition devices provided in the above embodiments.

[0104] Figure 10 This is a flowchart illustrating an image acquisition method provided in an embodiment of this application, as shown below. Figure 10 As shown, this image acquisition method may include, but is not limited to, the following steps: S1001, in response to the imaging module failing to track the target within the field of view, the blind zone detection module based on the image acquisition device performs detection within the blind zone of the imaging module's field of view to obtain the first detection data.

[0105] In some possible implementations, the blind spot detection module has the ability to passively sense heat sources.

[0106] In some possible implementations, the blind zone detection module may include at least two detection units capable of passively sensing heat sources.

[0107] In some possible implementations, each detection unit in the blind spot detection module that has the ability to passively sense heat sources can have its own detection area. These detection areas may include, but are not limited to, the area corresponding to the field of view of the imaging module and the blind spot not covered by the field of view of the imaging module.

[0108] In some possible implementations, different detection units correspond to their own detection areas. The detection areas of adjacent detection units may be independent of each other or may partially overlap. This application does not impose any restrictions on this.

[0109] In some possible implementations, the target may leave the field of view of the imaging module during movement, at which point the imaging module will no longer be able to track the target within its field of view. Optionally, during image acquisition or video recording, target recognition can be performed on the images acquired in real time by the imaging module. In response to the failure to extract the target from the image, it is determined that the target has left the field of view of the imaging module, and the imaging module is no longer able to track the target within its field of view.

[0110] In some possible implementations, in order to achieve continuous imaging of the target, after the imaging module loses the target, the blind spot detection module can be triggered to detect the blind spot in the field of view and obtain the first detection data.

[0111] Understandably, a blind spot detection module is a passive sensing module. It does not actively emit infrared signals, but rather acts as a heat source or emits heat fluctuations when a target moves, thus radiating signals outwards. This allows the blind spot detection module to passively receive the signals radiated by the target. For example, if the target is a human body, the human body will generate heat fluctuations as it moves, radiating signals outwards, which can then be detected by the blind spot detection module.

[0112] S1002, based on the first detection data, determine the motion information of the target in the blind spot.

[0113] In some possible implementations, the first detection data can indicate whether a target exists within the blind spot. After acquiring the first detection data, the movement information of the target within the blind spot can be predicted based on the deployment of the blind spot detection module. For example, if the first detection data indicates that someone is in the blind spot, it can be clearly stated that the target is currently within the blind spot. Since the blind spot detection module includes multiple detection units, the current detection area of ​​the target can be determined based on the detection areas each detection unit is responsible for and the detection signals from each unit. As another example, the duration for which the detection unit's detection signals indicate someone is in the blind spot can be used to determine the movement time of the person within the corresponding detection area of ​​that unit. For instance, by combining the order in which multiple detection units send detection signals and their deployment, the person's movement trajectory, also known as their movement route or trend, can be determined.

[0114] S1003, based on the target's motion information, controls the image acquisition device's drive mechanism to drive the imaging module to turn towards the target area where the target is located.

[0115] In some possible implementations, after obtaining the motion information of the target, the target area where the target is located can be determined. Then, the drive mechanism can be controlled according to the target area to drive the support to rotate towards the target area where the target is located. It can be understood that the rotation of the support can drive the imaging model to turn, so that the imaging module can turn towards the target area where the target is located, thereby realizing the re-tracking of the target.

[0116] In some possible implementations, after acquiring the target area where the target is located, the direction of the target's movement is determined based on the current position of the imaging module, and then the drive mechanism is controlled according to the direction of movement to drive the support part to turn towards the target area where the target is located.

[0117] In some possible implementations, during the turning of the imaging module and / or the blind spot detection of the blind spot detection module, the imaging module can be controlled to continuously perceive the target in the field of view. If the imaging module perceives the target again, the drive control of the drive mechanism can be stopped, and further, the target can be tracked and photographed based on the visual recognition results of the imaging module.

[0118] In this embodiment, after the visually tracked target is lost, the blind zone detection module, i.e., the PIR array, is used to reposition the target's location. This allows for real-time provision of the target's orientation and motion data when the visual sensor fails to track due to target occlusion, rapid movement beyond the field of view, or sudden changes in ambient lighting. Based on this data, the imaging module is controlled to turn, enabling it to quickly align with the target's location and re-track or detect it. Through the blind zone detection and pre-following mechanism of the PIR array, the system maintains tracking continuity even when the target crosses different detection areas, preventing interruptions due to the imaging module "not being able to see" the target.

[0119] Figure 11 This is a schematic flowchart illustrating another image acquisition method provided in an embodiment of this application. Figure 11 As shown, this image acquisition method may include, but is not limited to, the following steps: S1101, in response to the imaging module failing to track the target within the field of view, the blind zone detection module performs detection within the blind zone of the imaging module's field of view to obtain the first detection data.

[0120] In some possible implementations, the blind zone detection module includes a PIR sensor array, wherein the PIR sensor array includes N PIR sensors, where N is an integer greater than or equal to 2.

[0121] The layout of the N PIR sensors can be found in the relevant embodiments of this application, and will not be repeated here.

[0122] In some possible implementations, the PIR sensor is in an energy-saving mode when the imaging module successfully tracks the target, in order to reduce the device's energy consumption and computing resource usage.

[0123] In some possible implementations, the power-saving modes of the PIR sensor may include, but are not limited to, standby mode and sleep mode.

[0124] In some possible implementations, in response to the imaging module failing to track the target within the field of view, the PIR sensor is controlled to switch from power-saving mode to working mode in order to passively receive the signal radiated by the target.

[0125] In some possible implementations, in response to the imaging module tracking the target within the field of view, the PIR sensor can be kept in an energy-saving mode to reduce device power consumption.

[0126] In some possible implementations, the PIR sensor can be controlled to re-enter the power-saving mode from the working mode by waiting for the imaging module to track or sense the target again in the field of view.

[0127] S1102, Analyze the detection signal in the first detection data to determine the order in which the target PIR sensor is detected by the target.

[0128] S1103 determines the target's motion information based on the order in which the target PIR sensor passes through the target.

[0129] In some possible implementations, the detection signal of a PIR sensor can indicate the presence of a target within its detection area. For example, a detection signal of "1" from the PIR sensor can indicate the presence of a target within its detection area. Conversely, a detection signal of "0" from the PIR sensor can indicate the absence of a target within its detection area.

[0130] In some possible implementations, the first detection data may include the detection signals from each PIR sensor within a set time interval, that is, the detection signals from each PIR sensor at multiple consecutive moments. Understandably, the interval between each moment is extremely small to achieve rapid detection of blind spots.

[0131] In some possible implementations, multiple consecutive time intervals can be set according to the detection accuracy or based on the device's shooting delay requirements.

[0132] In some possible implementations, after acquiring the first detection data, the target PIR sensor can be identified from among the PIT sensors whose detection signals indicate the presence of a target in their own area. In other words, based on the value of the detection signal, the PIR sensor that detected the target is identified from among the N PIR sensors and is used as the target PIR sensor.

[0133] In some possible implementations, the order in which the target PIR sensor is detected by the target is determined based on the time of target appearance corresponding to the detection area of ​​the target PIR sensor.

[0134] In some possible implementations, the transmission time of the detection signal indicating the presence of the target in the first detection data is determined, and the order in which the target PIR sensor is detected by the target is determined based on the transmission time. It can be understood that the transmission time of the detection signal corresponding to the target PIR sensor is also the time when the target appears within the detection area of ​​the target PIR sensor.

[0135] In some possible implementations, a detection signal indicating the presence of a target is determined from the first detection data; this detection signal is a signal transmitted by the target PIR sensor. Further, the transmission time of the detection signal indicating the presence of the target is determined.

[0136] In some possible implementations, each detection signal may carry the sensor identifier of the PIR sensor to which it belongs.

[0137] In some possible implementations, sensor identifiers carried by the detection signal indicating the presence of a target are determined, and these sensor identifiers are identifiers of the target's PIR sensor.

[0138] In some possible implementations, the timing of the transmission of the detection signal indicating the presence of a target can be indicated, and the sensor identifiers carried by the detection signal indicating the presence of a target can be sorted to determine the order in which the target PIR sensor is passed by the target.

[0139] In some possible implementations, the target's trajectory and the last PIR sensor along its path are determined based on the order in which the target's PIR sensors are detected. Further, the target's motion information is determined based on the trajectory and the last PIR sensor. It should be noted that the last PIR sensor is the target PIR sensor corresponding to the detection area of ​​the target's last path in the current analysis.

[0140] In some possible implementations, the detection area of ​​the target PIR sensor is determined based on the identifier of the target PIR sensor. Furthermore, the order in which the detection area of ​​the target PIR sensor is accessed by the target is determined based on the order in which the target PIR sensor is accessed, thereby determining the trajectory of the target.

[0141] In some possible implementations, the duration of the detection signal from the last PIR sensor is obtained. If the duration is less than a set duration, it indicates that the detection area of ​​the last PIR sensor is only the area where the target briefly passes through, and the neighboring PIR sensors are identified. Furthermore, the target's motion information can be determined based on the motion trajectory and the neighboring PIR sensors.

[0142] In some possible implementations, the target's trajectory can at least indicate its direction of movement. The neighboring PIR sensors of the last PIR sensor can be one or more; for example, they can include a first neighboring PIR sensor and a second neighboring PIR sensor. After identifying the neighboring PIR sensors, the next neighboring PIR sensor to be passed through can be determined based on the target's direction of movement. The detection area of ​​the next neighboring PIR sensor is used as the area the target will enter at the next moment, serving as motion information for the target.

[0143] In some possible implementations, if the duration of the detection signal from the last PIR sensor is greater than or equal to a set duration, it indicates that the detection area of ​​the last PIR sensor may be the area where the target is about to stop, thus serving as motion information of the target.

[0144] S1104, based on the target's motion information, controls the imaging module of the image acquisition device to turn towards the target area where the target is located.

[0145] In some possible implementations, the target's motion information may include, but is not limited to: the target's trajectory, the target's direction of motion, the duration of the target's stay in each detection area, and the area where the target finally stayed in the current analysis.

[0146] In some possible implementations, the steering information of the imaging module is determined based on the target's motion information, which instructs the imaging module on how to turn. Further, based on the imaging module's steering information, a control mechanism is used to drive the imaging module to turn toward the target detection area where the target is located.

[0147] In some possible implementations, based on the steering information of the imaging module, the drive mechanism is controlled to drive the support unit where the imaging module is located to turn, so as to drive the imaging module to turn towards the target detection area where the target is located.

[0148] In some possible implementations, after determining the motion information of the target, the target detection area and / or direction of motion of the target can be determined based on the motion information. Furthermore, based on the target detection area and / or direction of motion of the target, the imaging module of the image acquisition device can be controlled to turn towards the target detection area where the target is located.

[0149] In some possible implementations, the target turning angle that the imaging module needs to reach is determined based on the target detection area where the target is located. Optionally, the relative positional relationship between the target detection area where the target is located and the current position of the imaging module is determined, and then the target turning angle that the imaging module needs to reach is determined based on the relative positional relationship.

[0150] In some possible implementations, the turning direction of the imaging module is determined based on the target's direction of motion. For example, if the target is moving towards the left front of the smart device, the imaging module can be rotated to the left. If the target is moving towards the right front of the smart device, the imaging module can be rotated to the right.

[0151] In some possible implementations, control commands for the drive mechanism can be generated based on the target turning angle and / or target turning direction of the imaging module, and then sent to the drive mechanism to drive the support unit where the imaging module is located to turn.

[0152] In this embodiment, based on the first detection data of the PIR array, the detection area where the target is located can be repositioned. When the visual sensor fails to track due to target occlusion, rapid movement beyond the field of view, or sudden changes in ambient light, it can provide the target's motion trend data in real time. This effectively avoids the problems of poor target positioning accuracy, large computational overhead, and long re-acquisition time caused by the reliance on historical trajectory prediction after the target is lost in traditional single vision systems.

[0153] Furthermore, based on the time sequence of changes in multiple sets of detection signals output by the PIR array, the target's motion trend and expected orientation are calculated and predicted in real time. Based on the predicted information, the vision sensor can be controlled to perform a turning action, enabling the vision sensor to respond quickly and turn after the target enters the blind spot of the field of view. This improves the probability of the vision sensor capturing fast-moving targets and the timeliness of its response, and can significantly enhance the system's tracking continuity for highly dynamic targets.

[0154] Figure 12 This is a schematic flowchart illustrating another image acquisition method provided in an embodiment of this application. Figure 12 As shown, this image acquisition method may include, but is not limited to, the following steps: S1201, in response to the imaging module failing to track the target within the field of view, the blind zone detection module performs detection within the blind zone of the imaging module's field of view to obtain the first detection data.

[0155] S1202, based on the first detection data, determine the motion information of the target in the blind spot of the field of view.

[0156] S1203, based on the target's motion information, controls the image acquisition device's drive mechanism to drive the imaging module to turn towards the target area where the target is located.

[0157] In some possible implementations, the drive mechanism can employ a graded, gradual steering strategy to steer the imaging module toward the target area, thus avoiding issues such as jitter, overshoot, or idle rotation. For example, the graded, gradual steering strategy may include, but is not limited to, fixed threshold control, state machine control, rule-based control, or control methods based on statistical learning / predictive models; these are not limited here.

[0158] For a detailed description of steps S1201 to S1203, please refer to the relevant content in the above embodiments, which will not be repeated here.

[0159] S1204, based on the Hall sensor in the image acquisition device, senses the current turning angle of the imaging module.

[0160] In some possible implementations, during the turning process of the imaging module, the current turning angle of the imaging module can be sensed or detected by a Hall sensor in the image acquisition device to identify whether the imaging module has reached the target detection area where the target is located.

[0161] S1205, in response to the imaging module's current turning angle reaching the target turning angle, stops the drive control of the drive mechanism.

[0162] In some possible implementations, during the turning process of the imaging module, the current turning angle detected by the Hall sensor is compared with the target turning angle to identify whether the current turning angle of the imaging module has reached the target turning angle, that is, whether the field of view of the imaging module overlaps with the detection area where the target is located.

[0163] In some possible implementations, in response to the current turning angle of the imaging module reaching the target turning angle, indicating that the field of view of the imaging module overlaps with the detection area where the target is located, the imaging module can currently sense or detect the target within its field of view. At this time, the drive control of the drive mechanism can be stopped, so that the imaging module stops turning.

[0164] In some possible implementations, if the current turning angle of the imaging module does not reach the target turning angle, it means that the field of view of the imaging module and the detection area where the target is located do not overlap. The imaging module has not yet sensed or detected the target within its field of view. At this time, it is necessary to continue to drive the driving mechanism so that the imaging module can continue to turn until the current turning angle of the imaging module reaches the target turning angle.

[0165] In some possible implementations, during the turning process of the imaging module, the angle difference between adjacent turning angles of the imaging module is acquired. If the angle difference exceeds a set angle threshold, it indicates that the turning speed of the imaging module is too fast. If the imaging module turns too fast, it may cause jitter, leading to image blurring and other quality issues. To avoid jitter in the imaging module, optionally, the frequency of the drive pulses of the drive mechanism can be reduced, that is, the number of pulses sent to the control chip of the drive mechanism can be reduced, thereby decreasing the stroke and / or turning angle of the drive mechanism within the current control cycle, thus reducing the turning speed of the imaging module. Optionally, the drive voltage and / or drive current of the drive mechanism can be reduced, which can decrease the output torque of the drive mechanism, causing step loss and making the turning angle within the current control cycle smaller, thereby reducing the turning speed of the imaging module.

[0166] In this embodiment, a Hall sensor can be used for steering control, so that the image acquisition device can accurately turn to the location of the target. Furthermore, the angular velocity can be controlled during the rotation process to drive the image acquisition device to stably turn to the location of the target, avoiding problems such as jitter, overshoot, or idle rotation during the rotation process.

[0167] In some possible implementations, during the turning process of the imaging module, the imaging module continuously detects and senses the target to determine whether the target appears in the field of view.

[0168] In some possible implementations, during the detection process of the blind zone detection module, the imaging module continuously detects and senses the target to determine whether the target appears in the field of view.

[0169] In some possible implementations, in response to the imaging module re-detecting the target within the field of view, the drive control of the drive mechanism can be stopped. Furthermore, the target can be tracked and captured based on the visual recognition results of the imaging module.

[0170] In some possible implementations, in response to the imaging module re-detecting the target within the field of view, the blind spot detection module is controlled to switch from the working mode to the energy-saving mode to reduce the energy consumption of the equipment.

[0171] In this embodiment, the imaging module continuously perceives targets within its field of view. When the target reappears within the field of view, it can quickly switch to visual tracking, thereby improving the accuracy and reliability of the tracking.

[0172] In some possible implementations, an auxiliary detection module can be deployed on the smart device or image acquisition device. The blind spot of the field of view is detected based on the auxiliary detection module to obtain the second detection data of the auxiliary detection module. Furthermore, the first detection data and the second detection data are fused, and the motion information of the target in the blind spot is determined based on the fused detection data.

[0173] In some possible implementations, the auxiliary detection module may include, but is not limited to, sensors such as millimeter-wave radar, TOF, ultrasound, and thermal imaging.

[0174] This embodiment breaks away from the traditional isolated mode of PIR or vision working alone, forming a closed-loop collaborative control process between PIR blind zone detection and visual fine tracking. Under this collaborative control process, the PIR array is responsible for providing coarse-grained target orientation guidance and trend prediction, while the vision sensor is responsible for providing high-precision position deviation correction. The two complement each other, enabling the tracking system to maintain effective perception of the target direction even during the brief loss of the visual target, and to achieve rapid and accurate docking after the target reappears. This closed-loop collaborative mechanism can improve the system's fault tolerance and anti-interference capability, ensuring the continuity and reliability of the tracking task throughout the entire process.

[0175] Corresponding to the image acquisition methods provided in the above embodiments, one embodiment of this disclosure also provides an image acquisition device. Since the image acquisition device provided in this disclosure corresponds to the image acquisition methods provided in the above embodiments, the implementation methods of the above image acquisition methods are also applicable to the image acquisition device provided in this disclosure, and will not be described in detail in the following embodiments.

[0176] Figure 12 is a schematic diagram of the structure of an image acquisition device provided in an embodiment of the present disclosure. As shown in Figure 12, the image acquisition device 1200 of the present disclosure includes: an imaging module 1201, a blind spot detection module 1202, an information determination module 1203, and a control module 1204.

[0177] Imaging module 1201 is used to track targets within the field of view during image acquisition.

[0178] The blind spot detection module 1202 is used to detect the target in the blind spot of the imaging module when the imaging module fails to track the target within the field of view, and to obtain first detection data. The blind spot detection module has the ability to passively sense heat sources. The information determination module 1203 is used to determine the motion information of the target located in the blind spot of the field of view based on the first detection data; The control module 1204 is used to control the imaging module of the image acquisition device to turn towards the target detection area where the target is located based on the motion information of the target.

[0179] In some possible implementations, the blind zone detection module 1202 includes a passive sensor PIR array, the PIR array including N PIR sensors, N≥2 and being an integer, wherein the first detection data includes the detection signals of each of the N PIR sensors.

[0180] In some possible implementations, the information determination module 1203 is further configured to: The detection signals in the first detection data are analyzed to determine the target PIR sensor and the order in which the target PIR sensor is detected by the target, wherein the target PIR sensor is the sensor that detects the target among the N PIR sensors; The motion information of the target is determined based on the order in which the target PIR sensor passes through the target.

[0181] In some possible implementations, the information determination module 1203 is further configured to: Determine the transmission time of the detection signal indicating the presence of the target in the first detection data and the associated sensor identifier; The associated sensor identifiers are sorted according to the transmission time; Based on the order of the sensor identifiers, the order in which the target PIR sensor is accessed by the target path is determined.

[0182] In some possible implementations, the information determination module 1203 is further configured to: Based on the order in which the target PIR sensors are passed by the target, the trajectory of the target and the last PIR sensor passed by the target are determined. The motion information of the target is determined based on the motion trajectory and the last PIR sensor.

[0183] In some possible implementations, the information determination module 1203 is further configured to: The duration of the detection signal from the last PIR sensor is obtained; In response to the duration being less than a set duration, the neighboring PIR sensor of the last PIR sensor is determined; The motion information of the target is determined based on the motion trajectory and the neighboring PIR sensor.

[0184] In some possible implementations, the control module 1204 is further configured to: Based on the motion information, the steering information of the imaging module is determined; Based on the steering information, the drive mechanism is controlled to drive the imaging module to turn toward the target detection area where the target is located.

[0185] In some possible implementations, the control module 1204 is further configured to: During the turning process of the imaging module, the current turning angle of the imaging module is sensed based on the Hall sensor in the image acquisition device; Based on the steering information, the target steering angle of the imaging module is determined; In response to the imaging module's current turning angle reaching the target turning angle, the drive control of the drive mechanism is stopped.

[0186] In some possible implementations, the control module 1204 is further configured to: During the turning process of the imaging module, the angle difference between adjacent turning angles of the imaging module is obtained; In response to the angle difference being greater than a set angle threshold, at least one of the following operations is performed: Reduce the number of drive pulses of the drive mechanism; Reduce the driving voltage and / or driving current of the driving mechanism.

[0187] In some possible implementations, the control module 1204 is further configured to: Continuously control the imaging module to perform target perception; In response to the imaging module re-detecting the target within the field of view, the drive control of the drive mechanism is stopped; Control the blind spot detection module to switch from working mode to energy-saving mode; Switching to the visual recognition results based on the imaging module, the image acquisition device is controlled, and the target is tracked and captured.

[0188] In this embodiment, after the visually tracked target is lost, the blind zone detection module, i.e., the PIR array, is used to reposition the target's location. This allows for real-time provision of the target's orientation and motion data when the visual sensor fails to track due to target occlusion, rapid movement beyond the field of view, or sudden changes in ambient lighting. Based on this data, the imaging module is controlled to turn, enabling it to quickly align with the target's location and re-track or detect it. Through the blind zone detection and pre-following mechanism of the PIR array, the system maintains tracking continuity even when the target crosses different detection areas, preventing interruptions due to the imaging module "not being able to see" the target.

[0189] The acquisition, storage, and application of user personal information involved in the technical solution disclosed herein comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0190] The examples in this disclosure may involve user data, data acquisition, and / or use. All of these aspects comply with relevant laws, regulations, and provisions. In the examples of this disclosure, all data collection, acquisition, processing, manipulation, forwarding, and use are conducted with the user's knowledge and confirmation. Accordingly, when implementing each example, the type, scope of use, and usage scenarios of any data or information that may be involved should be communicated to the user and their authorization obtained through appropriate means in accordance with relevant laws and regulations. The specific methods of notification and / or authorization can vary depending on the actual situation and application scenario, and the scope of the solution is not limited in this regard.

[0191] In this manual and the sample solutions, any processing of personal information will be conducted only on a legal basis (such as with the consent of the data subject or as necessary for the performance of a contract) and will only be carried out within the scope stipulated or agreed upon. A user's refusal to process personal information beyond what is necessary for basic functions will not affect the user's use of basic functions.

[0192] According to embodiments of this disclosure, this disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0193] Figure 14 A schematic block diagram of an example electronic device 1400 that can be used to implement embodiments of the present disclosure is shown.

[0194] like Figure 14 As shown, device 1400 includes a computing unit 1401, which can perform various appropriate actions and processes based on computer programs / instructions stored in read-only memory (ROM) 1402 or loaded from storage unit 14014 into random access memory (RAM) 1403. RAM 1403 may also store various programs and data required for the operation of device 1400. The computing unit 1401, ROM 1402, and RAM 1403 are interconnected via bus 1404. Input / output (I / O) interface 1405 is also connected to bus 1404.

[0195] Multiple components in device 1400 are connected to I / O interface 1405, including: input units 14014 such as keyboard, mouse, etc.; output units 1407 such as various types of displays, speakers, etc.; storage units 14014 such as disks, optical disks, etc.; and communication units 14014 such as network cards, modems, wireless transceivers, etc. The communication unit 14014 allows device 1400 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0196] The computing unit 1401 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 1401 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 computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 1401 performs the various methods and processes described above, such as the annotation method for teaching materials. For example, in some embodiments, the annotation method for teaching materials can be implemented as a computer software program that is tangibly contained in a machine-readable medium, such as storage unit 14014. In some embodiments, part or all of the computer program / instructions can be loaded and / or installed on device 1400 via ROM 1402 and / or communication unit 14014. When the computer program / instructions are loaded into RAM 1403 and executed by the computing unit 1401, one or more steps of the annotation method for teaching materials described above can be performed. Alternatively, in other embodiments, the computing unit 1401 may be configured to perform an image acquisition method by any other suitable means (e.g., by means of firmware).

[0197] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations may include: implementations in one or more computer programs / instructions 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 transferring data and instructions to the storage system, the at least one input device, and the at least one output device.

[0198] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0199] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. 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 fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0200] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. 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).

[0201] 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), the Internet, and blockchain networks.

[0202] Computer systems can include clients and servers. Clients and servers are generally located far apart and typically interact via communication networks. The client-server relationship is created by computer programs / instructions running on the respective computers and having a client-server relationship with each other. Servers can be cloud servers, servers in distributed systems, or servers incorporating blockchain technology.

[0203] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in the disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this document does not impose any restrictions.

[0204] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. An image acquisition method, wherein, include: In response to the imaging module in the image acquisition device failing to track the target within the field of view, the blind spot detection module in the image acquisition device performs detection within the blind spot of the imaging module's field of view to obtain first detection data, wherein the blind spot detection module has the ability to passively sense heat sources. Based on the first detection data, the motion information of the target located in the blind spot of the field of view is determined; Based on the motion information of the target, the imaging module of the image acquisition device is controlled to turn towards the target detection area where the target is located.

2. The method according to claim 1, wherein, The blind zone detection module includes a passive sensor PIR array, which includes N PIR sensors, where N ≥ 2 and is an integer. The first detection data includes the detection signals of each of the N PIR sensors.

3. The method according to claim 2, characterized in that, The step of determining the motion information of the target in the blind spot based on the first detection data includes: The detection signals in the first detection data are analyzed to determine the target PIR sensor and the order in which the target PIR sensor is detected by the target, wherein the target PIR sensor is the sensor that detects the target among the N PIR sensors; The motion information of the target is determined based on the order in which the target PIR sensor passes through the target.

4. The method according to claim 3, characterized in that, The step of analyzing the detection signal in the first detection data to determine the order in which the target PIR sensor is detected by the target path includes: Determine the transmission time of the detection signal indicating the presence of the target in the first detection data and the associated sensor identifier; The associated sensor identifiers are sorted according to the transmission time; Based on the order of the sensor identifiers, the order in which the target PIR sensor is accessed by the target path is determined.

5. The method according to claim 3, wherein, Determining the motion information of the target based on the order in which the target PIR sensor passes by the target includes: Based on the order in which the target PIR sensors are passed by the target, the trajectory of the target and the last PIR sensor passed by the target are determined. The motion information of the target is determined based on the motion trajectory and the last PIR sensor.

6. The method according to claim 5, wherein, The step of determining the motion information of the target based on the motion trajectory and the last PIR sensor includes: The duration of the detection signal from the last PIR sensor is obtained; In response to the duration being less than a set duration, the neighboring PIR sensor of the last PIR sensor is determined; The motion information of the target is determined based on the motion trajectory and the neighboring PIR sensor.

7. The method according to any one of claims 1-6, wherein, The step of controlling the imaging module of the image acquisition device to turn toward the target detection area based on the motion information of the target includes: Based on the motion information, the steering information of the imaging module is determined; Based on the steering information, the drive mechanism is controlled to drive the imaging module to turn toward the target detection area where the target is located.

8. The method according to claim 7, wherein, The method includes During the turning process of the imaging module, the current turning angle of the imaging module is sensed based on the Hall sensor in the image acquisition device; Based on the steering information, the target steering angle of the imaging module is determined; In response to the imaging module's current turning angle reaching the target turning angle, the drive control of the drive mechanism is stopped.

9. The method according to claim 8, wherein, The method further includes: During the turning process of the imaging module, the angle difference between adjacent turning angles of the imaging module is obtained; In response to the angle difference being greater than a set angle threshold, at least one of the following operations is performed: Reduce the number of drive pulses of the drive mechanism; Reduce the driving voltage and / or driving current of the driving mechanism.

10. The method according to any one of claims 1-6, wherein, The method further includes: Continuously control the imaging module to perform target perception; In response to the imaging module re-detecting the target within the field of view, the drive control of the drive mechanism is stopped; Control the blind spot detection module to switch from working mode to energy-saving mode; Switching to the visual recognition results based on the imaging module, the image acquisition device is controlled, and the target is tracked and captured.

11. An image acquisition device, wherein, include: The imaging module is used to track targets within the field of view during image acquisition. A blind spot detection module is used to detect targets in the blind spot of the imaging module when the imaging module fails to track them within its field of view, and to obtain first detection data. The blind spot detection module has the ability to passively sense heat sources. An information determination module is used to determine the motion information of the target located in a blind spot based on the first detection data; The control module is used to control the imaging module of the image acquisition device to turn towards the target detection area where the target is located, based on the motion information of the target.

12. An electronic device, comprising: At least one processor; And a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the method as described in any one of claims 1-10.

13. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to cause the computer to perform the method according to any one of claims 1-10.

14. A computer program product comprising a computer program / instructions, wherein, When the computer program / instructions are executed by the processor, they implement the method of any one of claims 1-10.

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