Device image acquisition method, robot, computer device, and storage medium

Abstract

The present application provides a device image acquisition method, a robot, a computer device, and a storage medium. The method comprises: on the basis of first device coordinates of a target device in a world coordinate system, using a first transformation matrix to determine second device coordinates of the target device in a depth camera coordinate system, wherein the first transformation matrix refers to a transformation matrix between the depth camera coordinate system and the world coordinate system; on the basis of the second device coordinates, using a second transformation matrix to determine third device coordinates of the target device in a zoom camera coordinate system, wherein the second transformation matrix refers to a transformation matrix between the depth camera coordinate system and the zoom camera coordinate system; and adjusting the orientation of a gimbal and the magnification of a zoom camera on the basis of the third device coordinates, so as to drive the zoom camera to be aligned with the target device, and then performing image acquisition on the target device by means of the zoom camera of which the magnification has been adjusted. The use of the method ensures that clear and valid device images can be acquired, and the definition of device images is improved.

Description

A device image acquisition method, robot, computer device and storage medium

[0001] The present application claims priority to the Chinese patent application No. 202410624861.0, filed on May 20, 2024, entitled "A device image acquisition method, robot, computer device and storage medium", and the entire contents of the aforementioned patent application are incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to the field of automation control, in particular to a device image acquisition method, robot, computer device and storage medium. BACKGROUND

[0003] The inspection robot can provide safer, more efficient and accurate inspection services, saving time and labor costs for enterprise users, and has become an indispensable intelligent device in many industries. It can perceive the surrounding environment through laser radar, infrared sensors and other technologies, and move according to the pre-set path. In the prior art, in order to collect images of some devices or instruments, a high-definition camera is usually provided for the inspection robot to control the inspection robot to collect images of the area and space where the devices and instruments are located to obtain area images, and then the images of the devices and instruments are obtained by magnifying and intercepting the area images.

[0004] However, it is found in research that since the device only occupies part of the space in the entire space, the device image in the collected area image also only occupies part of the area. If the originally collected area image has a wide field of view, or the device itself is small, resulting in a small area occupied by its image in the entire area image, then when the area image is magnified and screenshot, the clarity of the device and instrument image obtained by the screenshot will be reduced, and it is difficult to obtain a clear and effective device image. SUMMARY

[0005] Therefore, the purpose of the present application is to provide a device image acquisition method, robot, computer device and storage medium to ensure that a clear and effective device image can be collected and the clarity of the device image is improved.

[0006] In a first aspect, the embodiments of the present application provide a device image acquisition method applied to a robot, wherein the robot comprises a holder, a variable magnification camera arranged on the holder, and a depth camera arranged on the variable magnification camera, and the method comprises:

[0007] determining, according to the first device coordinates of the target device in the world coordinate system, second device coordinates of the target device in a depth camera coordinate system by using a first transformation matrix, wherein the first transformation matrix is a transformation matrix between the depth camera coordinate system and the world coordinate system;

[0008] determining, according to the second device coordinates, third device coordinates of the target device in a variable zoom camera coordinate system by using a second transformation matrix, wherein the second transformation matrix is a transformation matrix between the depth camera coordinate system and the variable zoom camera coordinate system;

[0009] adjusting the attitude of the gimbal and the zoom of the variable zoom camera based on the third device coordinates to drive the variable zoom camera to align with the target device, and then performing image acquisition on the target device by the variable zoom camera after the zoom is adjusted.

[0010] Optionally, before determining, according to the first device coordinates of the target device in the world coordinate system, second device coordinates of the target device in the depth camera coordinate system by using the first transformation matrix, the method comprises:

[0011] obtaining first feature point coordinates of a feature point in the world coordinate system;

[0012] obtaining, by the depth camera, second feature point coordinates of the feature point in the depth camera coordinate system;

[0013] determining the first transformation matrix based on the first feature point coordinates and the second feature point coordinates.

[0014] Optionally, before determining, according to the second device coordinates, third device coordinates of the target device in the variable zoom camera coordinate system by using the second transformation matrix, the method further comprises:

[0015] determining the second transformation matrix according to the positional relationship between the variable zoom camera and the depth camera.

[0016] Optionally, adjusting the zoom of the variable zoom camera based on the third device coordinates comprises:

[0017] determining, according to the third device coordinates, a separation distance between the target device and the variable zoom camera;

[0018] adjusting the zoom of the variable zoom camera according to the separation distance.

[0019] In a second aspect, the embodiments of the present application provide a robot, comprising a processor, a gimbal, a variable zoom camera arranged on the gimbal, and a depth camera arranged on the variable zoom camera;

[0020] determine, according to the first device coordinates of the target device in the world coordinate system, second device coordinates of the target device in a depth camera coordinate system by using a first transformation matrix, wherein the first transformation matrix is a transformation matrix between the depth camera coordinate system and the world coordinate system;

[0021] determine, according to the second device coordinates, third device coordinates of the target device in a variable zoom camera coordinate system by using a second transformation matrix, wherein the second transformation matrix is a transformation matrix between the depth camera coordinate system and the variable zoom camera coordinate system;

[0022] adjust the attitude of the holder and the zoom of the variable zoom camera based on the third device coordinates, so as to drive the variable zoom camera to align with the target device, and then perform image acquisition on the target device by the variable zoom camera after the zoom is adjusted.

[0023] Optionally, the processor is further configured to:

[0024] acquire first feature point coordinates of a feature point in a world coordinate system before determining, according to the first device coordinates of the target device in the world coordinate system, the second device coordinates of the target device in the depth camera coordinate system by using the first transformation matrix.

[0025] acquire second feature point coordinates of the feature point in a depth camera coordinate system by using the depth camera.

[0026] determine the first transformation matrix based on the first feature point coordinates and the second feature point coordinates.

[0027] Optionally, the processor is further configured to:

[0028] determine the second transformation matrix according to a positional relationship between the variable zoom camera and the depth camera before determining, according to the second device coordinates, the third device coordinates of the target device in the variable zoom camera coordinate system by using the second transformation matrix.

[0029] Optionally, when the processor is configured to adjust the zoom of the variable zoom camera based on the third device coordinates, the processor is specifically configured to:

[0030] determine an interval distance between the target device and the variable zoom camera according to the third device coordinates.

[0031] adjust the zoom of the variable zoom camera according to the interval distance.

[0032] In a third aspect, an embodiment of the present application provides a computer device, comprising: a microprocessor, a memory and a bus, the memory storing machine readable instructions executable by the microprocessor, when the computer device is running, the microprocessor and the memory communicate through the bus, and the machine readable instructions are executed by the microprocessor to perform the steps of the device image acquisition method in any of the optional implementation manners of the first aspect.

[0033] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, the computer readable storage medium storing a computer program, when the computer program is run by a microprocessor, the steps of the device image acquisition method in any of the optional implementation manners of the first aspect are performed.

[0034] The technical solutions provided by the present application include but are not limited to the following beneficial effects:

[0035] According to the first device coordinate of the target device in the world coordinate system, the first transformation matrix is used to determine the second device coordinate of the target device in the depth camera coordinate system, wherein the first transformation matrix is the change matrix between the depth camera coordinate system and the world coordinate system, which can convert the position of the device needing image acquisition from the world coordinate system to the depth camera coordinate system arranged on the robot, facilitating the positioning of the device by the depth camera arranged on the robot.

[0036] Then, according to the second device coordinate, the second transformation matrix is used to determine the third device coordinate of the target device in the variable zoom camera coordinate system, wherein the second transformation matrix is the change matrix between the depth camera coordinate system and the variable zoom camera coordinate system, which can convert the position of the device needing image acquisition from the depth camera coordinate system to the variable zoom camera coordinate system arranged on the robot, facilitating the positioning of the device by the variable zoom camera arranged on the robot.

[0037] Finally, based on the third device coordinate, the attitude of the gimbal and the zoom of the variable zoom camera are adjusted to drive the variable zoom camera to align the target device, and then the variable zoom camera after adjusting the zoom is used to acquire the image of the target device, which can control the attitude of the gimbal to drive the adjustment of the shooting direction of the variable zoom camera to the direction of the device, and then adjust the zoom of the variable zoom camera to clearly acquire the image of the device, and acquire the image of the device by the variable zoom camera.

[0038] By using the above method, the device needing image acquisition is positioned by the depth camera and the variable magnification camera arranged on the robot holder, then the holder posture is adjusted to drive the variable magnification camera to adjust the shooting angle, the magnification of the variable magnification camera is adjusted according to the device position in the coordinate system of the variable magnification camera, the device is targetedly imaged by the variable magnification camera, and clear and effective device images can be acquired, so that the definition of the acquired device images is improved.

[0039] In order to make the above objectives, characteristics and advantages of the present application more apparent, the following will describe a preferred embodiment in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0040] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments, and it should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation to the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0041] Fig. 1 shows a flow chart of a device image acquisition method provided by the embodiment one of the present application;

[0042] Fig. 2 shows a schematic diagram of a target device area provided by the embodiment one of the present application;

[0043] Fig. 3 shows a flow chart of a first transformation matrix determination method provided by the embodiment one of the present application;

[0044] Fig. 4 shows a schematic diagram of a feature point coordinate conversion provided by the embodiment one of the present application;

[0045] Fig. 5 shows a flow chart of a magnification adjustment provided by the embodiment one of the present application;

[0046] Fig. 6 shows a structural schematic diagram of a robot provided by the embodiment two of the present application;

[0047] Fig. 7 shows a structural schematic diagram of a computer device provided by the embodiment three of the present application. DETAILED DESCRIPTION

[0048] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will be combined with the accompanying drawings of the embodiments of the present application to make a clear and complete description of the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0049] Embodiment one

[0050] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will be combined with the accompanying drawings of the embodiments of the present application to make a clear and complete description of the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0051] Referring to FIG. 1, FIG. 1 shows a flowchart of a device image acquisition method provided by the embodiment one of the present application, wherein the method is applied to a robot, the robot comprises a holder, a variable magnification camera arranged on the holder and a depth camera arranged on the variable magnification camera, and the method comprises steps S101-S103:

[0052] S101: determining, according to a first device coordinate of a target device in a world coordinate system, a second device coordinate of the target device in a depth camera coordinate system by using a first transformation matrix, wherein the first transformation matrix is a transformation matrix between the depth camera coordinate system and the world coordinate system.

[0053] Specifically, the target device is a device to be acquired by the robot, and a three-dimensional map of a region where the target device is located is acquired in advance, and the three-dimensional map is marked with the target device and a feature point position for assisting the robot in positioning. Referring to FIG. 2, FIG. 2 shows a schematic diagram of a region where a target device is located, wherein the target device and the feature point position are both located in the region, and the feature point position can be a corner point of a corner of the region, a step, a door frame and other positions in the scene that are not easy to change, or can be some artificial marks, such as adding some two-dimensional codes as feature point position marks in the scene. The field of view of the robot can cover the target device and the feature point position.

[0054] When the robot travels to the area where the target device is located, the environment information of the area is acquired by the depth camera, and the environment information includes a depth point cloud diagram and visible light picture data carried by the depth camera itself. Feature points in the data collected by the depth camera are extracted from the depth point cloud diagram and the visible light picture. According to the positions of the feature points in the depth camera and the positions of the feature points on the three-dimensional map, the spatial position relationship between the depth camera and the feature points can be obtained. With this spatial position relationship, combined with the positions of the feature points on the three-dimensional map and the position of the target device on the three-dimensional map, the position relationship between the target device and the depth camera can be calculated.

[0055] Let the first transformation matrix be M, and the first device coordinate of the target device in the world coordinate system be P 目标 Let the second device coordinate of the target device in the depth camera coordinate system be P 深目标 Multiply the first device coordinate by the first transformation matrix to obtain the second device coordinate: P 深目标 = M·P 目标 .

[0056] S102: According to the second device coordinate, a second transformation matrix is used to determine the third device coordinate of the target device in the variable magnification camera coordinate system, wherein the second transformation matrix is the change matrix between the depth camera coordinate system and the variable magnification camera coordinate system.

[0057] Specifically, let the second transformation matrix be T, and the second device coordinate of the target device in the depth camera coordinate system be P 深目标 Let the third device coordinate of the target device in the variable magnification camera coordinate system be P 可变倍目标 Multiply the second device coordinate by the second transformation matrix to obtain the third device coordinate: P 可变倍目标 = T·P 深目标 .

[0058] S103: Based on the third device coordinate, the attitude of the gimbal and the magnification of the variable magnification camera are adjusted to drive the variable magnification camera to align with the target device, and then the variable magnification camera after adjusting the magnification is used to collect images of the target device.

[0059] Specifically, according to the third device coordinate of the target device, the attitude of the gimbal and the magnification and focal length of the variable magnification camera are adjusted. Since the variable magnification camera is arranged on the gimbal, the adjustment of the attitude of the gimbal can drive the alignment position of the variable magnification camera, so that the variable magnification camera aligns with the target device and collects images.

[0060] In one possible implementation, referring to FIG. 3, which shows a flowchart of a first transformation matrix determination method provided by the embodiment one of the present application, before the first transformation matrix is determined to convert the first device coordinates of the target device in the world coordinate system into the second device coordinates of the target device in the depth camera coordinate system, the method comprises steps S301-S303:

[0061] S301: Obtain the first feature point coordinates of the feature point in the world coordinate system.

[0062] S302: Obtain the second feature point coordinates of the feature point in the depth camera coordinate system by the depth camera.

[0063] S303: Determine the first transformation matrix based on the first feature point coordinates and the second feature point coordinates.

[0064] Specifically, the position of the feature in the three-dimensional map is known, and the first feature point coordinates P 特1 of the feature point in the world coordinate system can be obtained by the three-dimensional map. 特2 Since the feature point is a point in the physical world, the spatial structure around the feature point will not change in any coordinate system. By image acquisition of the target device and the feature point by the depth camera, the second feature point coordinates P 特1 of the feature point in the depth camera coordinate system can be directly output by the depth camera; or when the feature point is a corner point, the second feature point coordinates of the feature point can be obtained by obtaining the positions of at least three spatial lines forming the corner point.

[0065] Referring to FIG. 4, which shows a schematic diagram of feature point coordinate conversion provided by the embodiment one of the present application, when the feature point is a corner point and the three spatial lines forming the corner point are mutually perpendicular, the three lines forming the corner point can be visually distinguished. For a specific line in the world coordinate system, the point at a distance d from the feature point is physically the same point. Therefore, two point sets can be obtained, one of which is the feature point P 特2 in the physical world and its surrounding point set S1, and the other is the feature point P 特 in the depth camera and its surrounding point set S2. The points in the two point sets are in one-to-one correspondence. The transformation relationship between the world coordinate system and the depth camera coordinate system, i.e., the first transformation matrix M, can be obtained by combining these points with the least square method. The first transformation matrix is denoted as M, the first device coordinates of the feature point in the world coordinate system is denoted as P 深特 , and the second device coordinates of the target device in the depth camera coordinate system is denoted as P 深特 , then M=P 特The first transformation matrix M can be solved.

[0066] M=P 深特 / P 特 The transformation can obtain P 深特 =M·P 特 , and the above formula is expanded to obtain:

[0067] wherein X 深 , Y 深 and Z 深 are X-axis coordinate value, Y-axis coordinate value and Z-axis coordinate value of the second device coordinate P 深特 , and X w , Y w and Z w are X-axis coordinate value, Y-axis coordinate value and Z-axis coordinate value of the first device coordinate P 特 .

[0068] In a feasible implementation, before the third device coordinate of the target device in the variable magnification camera coordinate system is determined by using the second transformation matrix according to the second device coordinate, the method further comprises:

[0069] The second transformation matrix is determined according to the positional relationship between the variable magnification camera and the depth camera.

[0070] Specifically, since the positions of the variable magnification camera and the depth camera are fixed, the method for determining the first transformation matrix in steps S201-S203 can be referred to, the third feature point coordinate P 可变倍特 =M·P 特 of the feature point position in the variable magnification camera coordinate system is obtained by the variable magnification camera, and the second feature point coordinate P 深特 of the feature point position in the depth camera coordinate system is obtained by the depth camera, T=P 可变倍特 / P 深 特 The second transformation matrix T can be solved.

[0071] In a feasible implementation, referring to FIG. 5, FIG. 5 shows a flowchart of magnification adjustment provided by the embodiment one of the present application, wherein the magnification of the variable magnification camera is adjusted based on the third device coordinate, comprising steps S501-S502:

[0072] S501: The interval distance between the target device and the variable magnification camera is determined according to the third device coordinate.

[0073] S502: The magnification of the variable magnification camera is adjusted according to the interval distance.

[0074] Specifically, taking the variable zoom camera as the origin of the variable zoom camera coordinate system, the distance between the target device and the variable zoom camera can be calculated according to the third device coordinates. A pre-configured zoom distance table is queried to determine the zoom size corresponding to the interval distance, and the zoom of the variable zoom camera is adjusted to the zoom size, and image acquisition is performed on the target device after automatic focusing.

[0075] When the attitude of the holder is adjusted based on the third device coordinates, the pitch angle and the offset of the target device relative to the variable zoom camera can be obtained according to the third device coordinates, and since the relative positions of the variable zoom camera and the holder are fixed and unchanged, the pitch angle and the offset of the target device relative to the variable zoom camera are also the pitch angle and the offset of the target device relative to the holder. Therefore, the pitch angle and the offset of the holder are adjusted according to the pitch angle and the offset of the target device relative to the variable zoom camera, so that the variable zoom camera can be directed to the target device by the holder.

[0076] For example, when the target device is 20 meters away from the variable zoom camera (which can be regarded as a particle) and the pitch angle is 30° upward horizontally, the holder can adjust the zoom to 10x zoom and the holder to 30° upward; when the target device is 10 meters away from the variable zoom camera horizontally, the holder can adjust the zoom to 5x zoom and the holder to horizontal view.

[0077] In addition to positioning the device by the feature points in the region, some positioning marks such as two-dimensional code marks can be deployed in the region, or a target detection algorithm (Yolo, Faster-RCNN, etc.) can be used to detect targets such as text or valve marks in the region as feature points in the above process, and used for auxiliary positioning of distant targets. In addition, the positional relationship between the feature points and the depth camera can also be used to correct the deviation of the robot's own position positioning.

[0078] Embodiment Two

[0079] Referring to FIG. 6, FIG. 6 shows a structural schematic diagram of a robot provided by an embodiment of the application, wherein the robot comprises a processor 601, a holder 602, a variable zoom camera 603 arranged on the holder, and a depth camera 604 arranged on the variable zoom camera.

[0080] The processor is configured to determine second device coordinates of the target device in a depth camera coordinate system according to first device coordinates of the target device in a world coordinate system by using a first transformation matrix, wherein the first transformation matrix is a change matrix between the depth camera coordinate system and the world coordinate system.

[0081] determine third device coordinates of the target device in a variable zoom camera coordinate system according to the second device coordinates by using a second transformation matrix, wherein the second transformation matrix is a transformation matrix between the depth camera coordinate system and the variable zoom camera coordinate system;

[0082] adjust a pose of the gimbal and a zoom of the variable zoom camera based on the third device coordinates to drive the variable zoom camera to align with the target device, and then perform image acquisition on the target device by the variable zoom camera after the zoom is adjusted.

[0083] In an implementable embodiment, the processor is further configured to:

[0084] determine first feature point coordinates of the feature point in the world coordinate system before determining the second device coordinates of the target device in the depth camera coordinate system according to the first device coordinates of the target device in the world coordinate system by using the first transformation matrix.

[0085] obtain second feature point coordinates of the feature point in the depth camera coordinate system by the depth camera.

[0086] determine the first transformation matrix based on the first feature point coordinates and the second feature point coordinates.

[0087] In an implementable embodiment, the processor is further configured to:

[0088] determine the second transformation matrix according to a positional relationship between the variable zoom camera and the depth camera before determining the third device coordinates of the target device in the variable zoom camera coordinate system according to the second device coordinates by using the second transformation matrix.

[0089] In an implementable embodiment, when the processor is configured to adjust the zoom of the variable zoom camera based on the third device coordinates, the processor is specifically configured to:

[0090] determine a distance between the target device and the variable zoom camera according to the third device coordinates;

[0091] adjust the zoom of the variable zoom camera according to the distance.

[0092] Embodiment Three

[0093] Based on the same application concept, referring to FIG. 7, FIG. 7 shows a structural schematic diagram of a computer device provided by an embodiment of the application, wherein, as shown in FIG. 7, the computer device 700 provided by the embodiment of the application comprises:

[0094] The microprocessor 701, the memory 702 storing machine readable instructions executable by the microprocessor 701, and the bus 703 through which the microprocessor 701 and the memory 702 communicate when the computer device 700 is running, the machine readable instructions being executed by the microprocessor 701 perform the steps of the device image acquisition method shown in Embodiment I above.

[0095] Embodiment IV

[0096] Based on the same application concept, the present embodiment also provides a computer readable storage medium storing a computer program, the computer program performing the steps of the device image acquisition method of any of the above embodiments when executed by a microprocessor.

[0097] Those skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working process of the robot described above can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0098] The computer program product for performing the device image acquisition provided by the embodiment of the present application includes a computer readable storage medium storing program codes, the program codes include instructions for executing the method described in the foregoing method embodiments, and the specific implementation can be referred to the method embodiments, which will not be described here.

[0099] In the embodiments provided by the present application, it should be understood that the disclosed robot and method can be implemented in other ways. The robot embodiments described above are only schematic. For example, the division of the units is only a logical function division, and there can be another division manner in actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between different parts can be indirect couplings or communication connections through some communication interfaces, devices or units, and can be electrical, mechanical or in other forms.

[0100] The units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, i.e. can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0101] In addition, each functional unit in the embodiments provided by the present application can be integrated into a processing unit, or each unit can exist physically independently, or two or more units can be integrated into one unit.

[0102] If the functions are realized in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application or the parts of the present application that essentially contribute to the prior art or the parts of the technical solutions can be embodied in the form of a software product stored in a storage medium, including a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in various embodiments of the present application. The aforementioned storage medium includes a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0103] It should be noted that similar reference numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0104] Finally, it should be noted that the above-described embodiments are only specific implementations of the present application, which are used to illustrate the technical solutions of the present application, but not to limit them. The protection scope of the present application is not limited thereto. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily think of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed by the present application, or make equivalent replacements to some of the technical features. These modifications, changes or replacements do not cause the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application. They should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A device image acquisition method, characterized by, Applied to a robot, the robot comprising a holder, a variable zoom camera arranged on the holder, and a depth camera arranged on the variable zoom camera, the method comprising: determining, according to a first device coordinate of a target device in a world coordinate system, a second device coordinate of the target device in a depth camera coordinate system by using a first transformation matrix, wherein the first transformation matrix is a transformation matrix between the depth camera coordinate system and the world coordinate system; determining, according to the second device coordinate, a third device coordinate of the target device in a variable zoom camera coordinate system by using a second transformation matrix, wherein the second transformation matrix is a transformation matrix between the depth camera coordinate system and the variable zoom camera coordinate system; adjusting a pose of the holder and a zoom of the variable zoom camera based on the third device coordinate, so as to drive the variable zoom camera to align with the target device, and then performing image acquisition on the target device by the variable zoom camera after the zoom is adjusted.

2. The method of claim 1, wherein, Before determining, according to a first device coordinate of a target device in a world coordinate system, a second device coordinate of the target device in a depth camera coordinate system by using a first transformation matrix, the method comprises: obtaining a first feature point coordinate of a feature point in the world coordinate system; obtaining a second feature point coordinate of the feature point in a depth camera coordinate system by using the depth camera; determining the first transformation matrix based on the first feature point coordinate and the second feature point coordinate.

3. The method of claim 1, wherein, Before determining, according to the second device coordinate, a third device coordinate of the target device in a variable zoom camera coordinate system by using a second transformation matrix, the method further comprises: determining the second transformation matrix according to a positional relationship between the variable zoom camera and the depth camera.

4. The method of claim 1, wherein, Adjusting the zoom of the variable zoom camera based on the third device coordinate comprises: determining a spacing distance between the target device and the variable zoom camera according to the third device coordinate; adjusting the zoom of the variable zoom camera according to the spacing distance.

5. A robot, characterized in that The robot comprises a processor, a holder, a variable zoom camera arranged on the holder, and a depth camera arranged on the variable zoom camera; the processor is configured to determine, according to a first device coordinate of a target device in a world coordinate system, a second device coordinate of the target device in a depth camera coordinate system by using a first transformation matrix, wherein the first transformation matrix is a transformation matrix between the depth camera coordinate system and the world coordinate system; the processor is configured to determine, according to the second device coordinate, a third device coordinate of the target device in a variable zoom camera coordinate system by using a second transformation matrix, wherein the second transformation matrix is a transformation matrix between the depth camera coordinate system and the variable zoom camera coordinate system; the processor is configured to adjust a pose of the holder and a zoom of the variable zoom camera based on the third device coordinate, so as to drive the variable zoom camera to align with the target device, and then perform image acquisition on the target device by the variable zoom camera after the zoom is adjusted.

6. The robot of claim 5, wherein, the processor is further configured to: Before determining the second device coordinates of the target device in the depth camera coordinate system according to the first device coordinates of the target device in the world coordinate system by using a first transformation matrix, the first feature point coordinates of the feature point in the world coordinate system are acquired; The second feature point coordinates of the feature point in the depth camera coordinate system are acquired by using the depth camera; The first transformation matrix is determined based on the first feature point coordinates and the second feature point coordinates.

7. The robot of claim 5, wherein, The processor is further configured to: Before determining the third device coordinates of the target device in the variable zoom camera coordinate system according to the second device coordinates by using a second transformation matrix, the second transformation matrix is determined according to the positional relationship between the variable zoom camera and the depth camera.

8. The robot of claim 5, wherein, When the processor is used to adjust the zoom lens of the variable zoom camera based on the third device coordinates, the processor is specifically configured to: The interval distance between the target device and the variable zoom camera is determined according to the third device coordinates; The zoom lens of the variable zoom camera is adjusted according to the interval distance.

9. A computer device, comprising: The computer device comprises: a microprocessor, a memory and a bus, the memory stores machine readable instructions executable by the microprocessor, when the computer device is running, the microprocessor and the memory communicate through the bus, and the machine readable instructions are executed by the microprocessor to perform the steps of the device image acquisition method in any one of claims 1 to 7.

10. A computer readable storage medium characterized by, The computer readable storage medium stores a computer program, and the computer program is executed by the microprocessor to perform the steps of the device image acquisition method in any one of claims 1 to 7.

Images