Frame rate adjustment method, frame rate adjustment apparatus, image collection device and storage medium

Abstract

Disclosed in the embodiments of the present application are a frame rate adjustment method, a frame rate adjustment apparatus, an image collection device and a storage medium. The frame rate adjustment method is applied to the image collection device, and comprises: determining a movement speed of an image collection device; and on the basis of the movement speed, adjusting an image acquisition frequency of the image collection device. By means of the frame rate adjustment method provided in the embodiments of the present application, an image acquisition frequency of an image collection device can be dynamically adjusted.

Description

A frame rate adjusting method, a frame rate adjusting device, an image acquisition device and a storage medium

[0001] The present application claims priority from the Chinese patent application No. 202411355983.0 filed on September 26, 2024, and entitled "A frame rate adjusting method, a frame rate adjusting device, an image acquisition device and a storage medium", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present specification relates to the technical field of image acquisition, in particular to a frame rate adjusting method, a frame rate adjusting device, an image acquisition device and a storage medium. BACKGROUND

[0003] An image acquisition device will acquire images at a certain frame rate during use, but there are some problems in actual use. For example, fixed frame rate leads to high power consumption. Fixed frame rate causes the image acquisition device to maintain a fixed high frame rate in unnecessary cases, resulting in increased device power consumption and affecting battery life. For another example: high frame rate leads to computing burden. High frame rate means that the backend faces a large amount of data computation in unit time, which increases the computing burden of the backend processing, which may cause processing delay and efficiency reduction. TECHNICAL SOLUTION

[0004] The embodiments of the present application provide a frame rate adjusting method, a frame rate adjusting device, an image acquisition device and a storage medium, which can dynamically adjust the image acquisition frequency of the image acquisition device.

[0005] In a first aspect, the embodiments of the present application provide a frame rate adjusting method applied to an image acquisition device, which comprises: determining the moving speed of the image acquisition device; and adjusting the image acquisition frequency of the image acquisition device according to the moving speed.

[0006] In some implementations, the adjusting the image acquisition frequency of the image acquisition device according to the moving speed comprises: determining a target frame rate based on the moving speed, and adjusting the image acquisition frequency of the image acquisition device according to the target frame rate, wherein the target frame rate is positively correlated with the moving speed.

[0007] In some implementations, the determining the target frame rate based on the moving speed comprises: determining the target frame rate based on a preset maximum frame rate, a preset minimum frame rate, a preset maximum speed and the moving speed.

[0008] In some implementations, the target frame rate is determined in the following manner:

[0009] wherein ftarget denotes the target frame rate, f min denotes the minimum frame rate, f max denotes the maximum frame rate, v denotes the moving speed, v max denotes the maximum speed.

[0010] In some implementations, the adjusting the image acquisition frequency of the image acquisition device according to the target frame rate comprises: determining a new total number of frame lines based on the target frame rate and a preset line time; and writing the total number of frame lines into a corresponding register of an image sensor of the image acquisition device.

[0011] In some implementations, the adjusting the image acquisition frequency of the image acquisition device according to the target frame rate comprises: determining a frame interval N based on a ratio of the image acquisition frequency of the image acquisition device and the target frame rate, wherein N is a natural number; and for images acquired by the image acquisition device, reserving one frame of image for post-processing every interval N frames.

[0012] In some implementations, the determining the moving speed of the image acquisition device comprises: determining the moving speed based on acceleration sensor data.

[0013] In some implementations, the determining the moving speed of the image acquisition device comprises: determining the moving speed of the image acquisition device on a target plane.

[0014] In a second aspect, an embodiment of the present application provides a frame rate adjustment apparatus, wherein / which comprises: the apparatus comprises:

[0015] a determining module configured to determine a moving speed of the image acquisition device; and

[0016] an adjusting module configured to adjust an image acquisition frequency of the image acquisition device according to the moving speed.

[0017] In a third aspect, an embodiment of the present application provides an image acquisition device, wherein / which comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements operations in the method of the first aspect when executing the computer program.

[0018] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, wherein / which comprises: a computer program is stored in the computer readable storage medium, and the computer program is executable on a processor to implement operations in the method of the first aspect.

[0019] In summary, the embodiment of the present application discloses a frame rate adjusting method, a frame rate adjusting device, an image acquisition device and a storage medium. The frame rate adjusting method is applied to the image acquisition device, and includes: determining a moving speed of the image acquisition device; and adjusting an image acquisition frequency of the image acquisition device according to the moving speed. The frame rate adjusting method provided by the embodiment of the present application can dynamically adjust the image acquisition frequency of the image acquisition device. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0021] FIG. 1 shows a flowchart of the frame rate adjusting method provided by some embodiments of the present application;

[0022] FIG. 2 shows a flowchart of adjusting the image acquisition frequency according to the moving speed provided by some embodiments of the present application;

[0023] FIG. 3 shows a flowchart of adjusting the image acquisition frequency according to the target frame rate provided by some embodiments of the present application;

[0024] FIG. 4 shows a flowchart of adjusting the image acquisition frequency according to the target frame rate provided by some embodiments of the present application;

[0025] FIG. 5 shows a structural diagram of the frame rate adjusting device provided by some embodiments of the present application; and

[0026] FIG. 6 shows a structural diagram of the image acquisition device provided by some embodiments of the present application.

[0027] Embodiments of the present application

[0028] The technical solutions in the present application will be described clearly and completely in the present application combined with the drawings in the present application. Obviously, the described embodiments are only some embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0029] Although the present application shows the logical order in the flowchart, in some cases, the operations shown or described can be performed in different order from that shown in the drawings.

[0030] As described above, the image acquisition device in the related art is prone to high power consumption and high computing burden due to the use of a fixed high frame rate for image acquisition. Therefore, the embodiments of the present application provide a frame rate adjustment method for dynamically adjusting the frame rate. The frame rate adjustment method can be applied to an image acquisition device. The image acquisition device can include, but is not limited to, a scanning device, an imaging device, a smart terminal device, or the like. In some embodiments, the scanning device can include a handheld scanning device, an industrial scanning device, and the like. For example, the handheld scanning device can include a handheld barcode scanner, a handheld document scanner, a handheld scanning pen, a handheld scanning translator, and the like. In some embodiments, the imaging device can include a motion camera, a drone camera, and the like. In some embodiments, the smart terminal device can include a smart wearable device, a smart mobile device, and the like. For example, the smart wearable device can include smart glasses, a smart watch, and the like.

[0031] Taking a handheld scanning pen as an example, a user can use the scanning pen to convert a paper document into an electronic document, and can also use a scanning pen with a translation function to perform instant scanning translation. Taking a motion camera as an example, a user can use the motion camera to record images during movement to obtain higher image stability. When the scanning pen or the motion camera moves relatively slowly or even stops, a lower image acquisition frequency can be applied.

[0032] It should be understood that the application scenarios listed in the present specification are only part of the application scenarios of the frame rate adjustment method provided by the present application. Those skilled in the art should understand that the frame rate adjustment method provided by the present application is also applicable to other use scenarios within the protection scope of the present application.

[0033] FIG. 1 shows a flowchart of the frame rate adjustment method provided by some embodiments of the present application. The frame rate adjustment method can be applied to an image acquisition device. The specific process of the frame rate adjustment method can be as follows:

[0034] S101, determining the moving speed of the image acquisition device.

[0035] The moving speed of the image acquisition device can be the moving speed in a certain direction, the moving speed in a certain plane, or the moving speed in a three-dimensional space. For example, the moving speed can be the total moving speed of the image acquisition device, or the moving speed of the image acquisition device in a plane perpendicular to the extending direction (axial direction) of the image acquisition device. Exemplarily, the moving speed of the image acquisition device in each direction / each plane can be obtained by a three-axis accelerometer installed therein.

[0036] In some embodiments, the image capture device generally moves in a plane, and the speed of the image capture device in the moving plane can be estimated by determining the moving speed of the image capture device on a target plane. The target plane and the moving plane of the image capture device can be the same plane or different planes.

[0037] Taking a scanning pen as an example, if the axial direction of the scanning pen is the Z-axis direction, the X-axis and the Y-axis directions are perpendicular to each other, and the Z-axis is perpendicular to the XY plane. In some embodiments, when the scanning pen moves on a scanning plane, the moving speed of the scanning pen is the moving speed on the scanning plane. If the Z-axis of the scanning pen is perpendicular to the scanning plane, the moving speed of the scanning pen on the scanning plane is the moving speed of the scanning pen on the XY plane. The XY plane is the target plane, and the moving plane and the target plane are the same plane. If the Z-axis of the scanning pen has an inclination angle relative to the normal of the scanning plane, when the inclination angle is within an acceptable range, the XY plane can still be used as the target plane, and the moving plane and the target plane are different planes. The moving speed component of the image capture device on the XY plane can be used as the moving speed of the image capture device.

[0038] S103, adjusting the image acquisition frequency of the image capture device according to the moving speed.

[0039] The image acquisition frequency can be the frequency of capturing images or the frequency of retaining images.

[0040] In some embodiments, the frequency of capturing images can be the frequency of capturing images by an image sensor in the image capture device.

[0041] In some embodiments, the frequency of retaining images can be the frequency of retaining images by a processor in the image capture device. In other embodiments, the frequency of retaining images can be the frequency of retaining images by an application program in communication connection with the image capture device.

[0042] When the moving speed is relatively fast, the image acquisition frequency can be appropriately reduced; when the moving speed is relatively slow, the image acquisition frequency can be appropriately increased. In some embodiments, the image acquisition frequency can be adjusted according to the relationship between the moving speed and a preset speed threshold. When the moving speed is less than the speed threshold, the image acquisition frequency is reduced; otherwise, the image acquisition frequency is increased.

[0043] In summary, the embodiments of the present application disclose a frame rate adjustment method, a frame rate adjustment device, an image capture device, and a storage medium. The frame rate adjustment method is applied to an image capture device and includes determining the moving speed of the image capture device and adjusting the image acquisition frequency of the image capture device according to the moving speed. The frame rate adjustment method provided by the embodiments of the present application can dynamically adjust the image acquisition frequency of the image capture device.

[0044] Next, how to determine the moving speed of the image acquisition device is introduced.

[0045] In some embodiments, the way to determine the moving speed of the image acquisition device can be to determine the moving speed based on the acceleration sensor data. The acceleration sensor can be arranged inside the image acquisition device, for example, can be arranged at the center of gravity of the image acquisition device. The acceleration sensor can be a single-axis acceleration sensor, a two-axis acceleration sensor or a multi-axis acceleration sensor. Among them, the single-axis acceleration sensor can measure the acceleration in one direction. Based on the acceleration in one axis direction, the moving speed of the image acquisition device in the axis direction can be determined. Among them, the two-axis acceleration sensor can measure the acceleration in two mutually perpendicular axis directions. Based on the acceleration in two axis directions, the moving speed of the image acquisition device in the plane can be determined. Among them, the three-axis acceleration sensor can measure the acceleration in three mutually perpendicular axis directions at the same time. Based on the acceleration in three axis directions, the moving speed of the image acquisition device in three-dimensional space can be determined.

[0046] Taking a scanning pen using a three-axis acceleration sensor as an example, assuming that the axis direction of the scanning pen is the Z-axis direction, the X-axis and the Y-axis directions are perpendicular to each other, and the Z-axis is perpendicular to the XY plane. The gravitational acceleration of the scanning pen when it is stationary is g = [g x ,g y ,g z ], and the linear acceleration of the scanning pen in the X and Y directions and are respectively:

[0047] Among them, a x is the acceleration of the X-axis measured by the acceleration sensor, and a y is the acceleration of the Y-axis measured by the acceleration sensor. By integrating the linear acceleration, the moving speed of the scanning pen in the X and Y directions can be obtained. Assuming that the sampling time interval is Δt, then the speeds v x and v y are:

[0048] Among them, t is the sampling time. According to the speed components v x and v y , the moving speed component v xy of the scanning pen in the XY plane can be determined:

[0049] As mentioned earlier, in some embodiments, the speed of the scanning pen in the XY plane can be taken as its speed in the target plane. Using the moving speed component of the XY plane as an estimate of the moving speed of the scanning pen, the amount of calculation can be reduced to some extent.

[0050] It can be understood that for the scanning pen with the triaxial acceleration sensor, the acceleration in three directions can be used to obtain the speed in three directions, and then the moving speed of the scanning pen in the three-dimensional space can be obtained. In other embodiments, the scanning pen can also use a dual-axis acceleration sensor to obtain the moving speed of the scanning pen in the plane of the dual-axis.

[0051] In some other embodiments, the way of determining the moving speed of the image acquisition device can be to determine the moving speed based on the position sensor data. According to the change of the position of the image acquisition device over time, the moving speed of the image acquisition device in space can be determined.

[0052] Some embodiments of the present application provide a frame rate adjustment method, which can obtain data by setting a sensor in the image acquisition device, and determine the moving speed of the image acquisition device based on the data obtained by the sensor.

[0053] FIG. 2 shows a flowchart of adjusting the image acquisition frequency according to the moving speed according to some embodiments of the present application. The specific process of adjusting the image acquisition frequency according to the moving speed in operation S103 can be as follows:

[0054] S201, determining a target frame rate based on the moving speed.

[0055] The target frame rate can represent a relatively appropriate frame rate after balancing the calculation power consumption and the image acquisition effect at different moving speeds. The target frame rate is positively correlated with the moving speed. When the moving speed is fast, a higher target frame rate can be used; when the moving speed is slow, a lower target frame rate can be used. Determining the target frame rate based on the moving speed can be determining the target frame rate based on the preset maximum frame rate, minimum frame rate, maximum speed, and moving speed.

[0056] In some embodiments, the target frame rate can be determined in the following manner:

[0057] Wherein, f target may represent the target frame rate, f min may represent the minimum frame rate, f max may represent the maximum frame rate, v max may represent the maximum speed. The moving speed can be the moving speed in the three-dimensional space, the moving speed in the plane, or the linear speed in a certain direction. For example, taking the scanning pen as an example, when moving in the plane, the moving speed can be the XY plane moving speed v xy .

[0058] In some embodiments, a correspondence curve between frame rate and speed is determined according to the maximum frame rate, the minimum frame rate, the maximum speed, and the minimum speed (which can be zero for the image acquisition device). The correspondence curve can satisfy a polynomial function relationship or a trigonometric function relationship. The corresponding target frame rate value on the curve is obtained according to the moving speed.

[0059] In some other embodiments, a correspondence between frame rate and speed is determined according to the maximum frame rate, the minimum frame rate, the maximum speed, and the minimum speed (which can be zero for the image acquisition device). The correspondence can be a piecewise function relationship. The corresponding target frame rate value on the piecewise function is obtained according to the moving speed.

[0060] S203, adjusting the image acquisition frequency of the image acquisition device according to the target frame rate.

[0061] As mentioned above, the image acquisition frequency can be the frequency of acquiring images, or the frequency of retaining images.

[0062] In some embodiments, the frequency of acquiring images can be the frequency of acquiring images by an image sensor in the image acquisition device. Therefore, the frequency of acquiring images by the image sensor can be adjusted according to the target frame rate. For an image acquisition sensor supporting dynamic adjustment of frame rate, the setting parameter related to the new frame rate can be written through the frame rate writing interface of the sensor.

[0063] FIG. 3 shows a flowchart of adjusting the image acquisition frequency according to the target frame rate according to some embodiments of the present application. The specific process of adjusting the image acquisition frequency according to the target frame rate and the moving speed can be as follows:

[0064] S301, determining a new total number of frame lines based on the target frame rate and a preset line time.

[0065] The new total number of frame lines can be determined in the following manner:

[0066] Wherein, V total_new may represent the new total number of frame lines, i.e., the total number of lines acquired by the sensor within a frame time. T line may represent the line time, i.e., the time required for the sensor to complete acquisition of one line of data. T gtsme_new may represent the new frame interval, which can be determined in the following manner:

[0067] Wherein, f target may represent the target frame rate.

[0068] S303, writing the total number of frame lines into the corresponding register of the image sensor of the image acquisition device.

[0069] The new total number of frame lines Vtotal_new write the image into a corresponding register of the image sensor.

[0070] In some embodiments, the frequency of retaining images can be the frequency of retaining images by a processor in the image acquisition device. In other embodiments, the frequency of retaining images can be the frequency of retaining images by an application program in communication connection with the image acquisition device. Therefore, the frequency of retaining images can be adjusted according to the target frame rate.

[0071] FIG. 4 shows a flowchart of adjusting the image acquisition frequency according to the target frame rate according to some embodiments of the present application. The specific process of adjusting the image acquisition frequency according to the target frame rate moving speed can be as follows:

[0072] S401, determining a frame interval N based on the ratio of the image acquisition frequency of the image acquisition device and the target frame rate, wherein N is a natural number.

[0073] The manner of determining the frame interval N can be as follows:

[0074] wherein f sensor may represent the actual image acquisition frame rate of the image sensor, f target may represent the target frame rate, may represent the floor function.

[0075] S403, for the images acquired by the image acquisition device, retaining one frame of image every N frames for post-processing.

[0076] The processor in the image acquisition device or the application program in communication connection with the image acquisition device receives the images acquired by the image acquisition sensor, and only retains one frame every N frames. Specifically, the first frame, the last frame or the middle frame in every N frames can be retained.

[0077] The frame rate adjustment method provided by some embodiments of the present application can adjust the image acquisition frequency of the sensor or the image retaining frequency of the image processing end according to the target frame rate, and can be applied to various types of image acquisition devices.

[0078] FIG. 5 shows a structural schematic diagram of a frame rate adjustment device according to some embodiments of the present application. The frame rate adjustment device 500 can be applied to an image acquisition device. Specifically, the frame rate adjustment device 500 can include:

[0079] The determining module 501 can be configured to determine the moving speed of the image acquisition device.

[0080] The adjusting module 502 can be configured to adjust the image acquisition frequency of the image acquisition device according to the moving speed.

[0081] The frame rate adjustment apparatus 500 provided by some embodiments of the present application can determine the moving speed of the image acquisition device by the determining module 501. Next, the image acquisition frequency of the image acquisition device can be adjusted according to the moving speed by the adjusting module 502. The frame rate adjustment apparatus 500 provided by the embodiments of the present application can dynamically adjust the image acquisition frequency of the image acquisition device.

[0082] In some embodiments, the adjusting module 502 can include a first determining unit and a first adjusting unit. The first determining unit can be configured to determine a target frame rate based on the moving speed. The first adjusting unit can be configured to adjust the image acquisition frequency of the image acquisition device according to the target frame rate, wherein the target frame rate is positively correlated with the moving speed.

[0083] In some embodiments, the first determining unit can include a first determining subunit. The first determining subunit can be configured to determine the target frame rate based on a preset maximum frame rate, a preset minimum frame rate and a preset maximum speed.

[0084] In some embodiments, the first determining subunit can determine the target frame rate in the following manner:

[0085] wherein f target represents the target frame rate, f min represents the minimum frame rate, f max represents the maximum frame rate, and v max represents the maximum speed.

[0086] In some embodiments, the first adjusting unit can include a second determining subunit and a first writing subunit. The second determining subunit can be configured to determine a new total number of frame lines based on the target frame rate and a preset line time. The first writing subunit can be configured to write the total number of frame lines to a corresponding register of the image sensor of the image acquisition device.

[0087] In some embodiments, the first adjusting unit can include a third determining subunit and a first retaining unit. The third determining subunit can be configured to determine a frame interval N based on the ratio of the image acquisition frequency of the image acquisition device and the target frame rate, wherein N is a natural number. The first retaining unit can be configured to retain one frame of image for post-processing every N frames of images acquired by the image acquisition device.

[0088] In some embodiments, the determining module 501 can include a second determining unit. The second determining unit can be configured to determine the moving speed based on the acceleration sensor data.

[0089] In some embodiments, the determining module 501 can include a third determining unit. The third determining unit can be configured to determine the moving speed of the image acquisition device on the target plane.

[0090] In addition, the present application also provides an image acquisition device. FIG. 6 shows a structural schematic diagram of an image acquisition device according to some embodiments of the present application. Specifically,

[0091] The image acquisition device 600 can include a processor 601 having one or more processing cores, a memory 602 having one or more computer readable storage media, and the like. Those skilled in the art can understand that the structure of the image acquisition device 600 shown in FIG. 6 does not constitute a limitation on the image acquisition device 600, and the image acquisition device 600 can include more or fewer components than those shown, or combine certain components, or have a different arrangement of components. Among them:

[0092] The processor 601 is the control center of the image acquisition device 600, and connects various parts of the image acquisition device 600 through various interfaces and lines. The processor 601 executes software programs and / or modules stored in the memory 602 and calls data stored in the memory 602 to perform various functions of the image acquisition device 600 and process data, thereby monitoring the image acquisition device 600 as a whole. Optionally, the processor 601 can include one or more processing cores. Preferably, the processor 601 can integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application program, and the modem processor mainly processes wireless communication. It can be understood that the above-mentioned modem processor can also not be integrated into the processor 601.

[0093] The memory 602 can be used to store software programs and modules. The processor 601 executes the software programs and modules stored in the memory 602 to perform various functions and data processing. The memory 602 can mainly include a program storage area and a data storage area. The program storage area can store an operating system, at least one application program required by a function, and the like. The data storage area can store data created according to the use of the image acquisition device 600, and the like. In addition, the memory 602 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other volatile solid-state memory device. Accordingly, the memory 602 can also include a memory controller to provide access for the processor 601 to the memory 602.

[0094] Specifically in this embodiment, the processor 601 in the image acquisition device 600 will load the executable file corresponding to the process of one or more application programs into the memory 602 according to the following instructions, and execute the application program stored in the memory 602 by the processor 601, thereby realizing the operation in any frame rate adjustment method provided by the embodiments of the present application.

[0095] The image acquisition device 600 can further include an image sensor for image acquisition. The acquired image data can be stored in the memory 602 or transmitted to an application program for image processing in a wireless communication manner by the processor 601.

[0096] In some embodiments, the image acquisition device 600 can further include an acceleration sensor. The acceleration sensor can be used to acquire acceleration data of the image acquisition device. The data acquired by the acceleration sensor can be stored in the memory 602. The processor 601 can access the acceleration data in the memory 602 to determine the moving speed of the image acquisition device.

[0097] The specific process of the image acquisition device 600 performing the frame rate adjustment method can refer to the description in FIGS. 1 to 4, which will not be repeated here.

[0098] Those skilled in the art can understand that all or part of the operations in the various methods of the above embodiments can be completed by instructions or controlled by instructions related to hardware, which can be stored in a computer readable storage medium and loaded and executed by a processor.

[0099] Therefore, the present application provides a computer readable storage medium, which stores a computer program capable of being loaded by a processor to execute the operations in any of the frame rate adjustment methods provided by the present application.

[0100] The specific implementation of each operation can refer to the foregoing embodiments, which will not be repeated here.

[0101] The computer readable storage medium can include a read only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0102] Since the instructions stored in the computer readable storage medium can execute the operations in any of the frame rate adjustment methods provided by the present application, the beneficial effects of any of the frame rate adjustment methods provided by the present application can be achieved, which will be described in detail in the foregoing embodiments, which will not be repeated here.

[0103] The above provides a kind of frame rate adjusting method, frame rate adjusting device, image acquisition equipment and storage medium provided by the present application in detail, the principle and implementation mode of the present application are described in this paper, the above example is only used to help understand the method and its core idea of the present application;At the same time, for those skilled in the art, according to the idea of the present application, there will be changes in specific implementation mode and application range, and the above description should not be understood as limiting the present application.

Claims

1. A frame rate adjusting method applied to an image acquisition device, comprising: determining a moving speed of the image acquisition device; and adjusting an image acquisition frequency of the image acquisition device according to the moving speed. The adjusting the image acquisition frequency of the image acquisition device according to the moving speed comprises: determining a target frame rate based on the moving speed; and adjusting the image acquisition frequency of the image acquisition device according to the target frame rate, wherein the target frame rate is positively correlated with the moving speed. The determining the target frame rate based on the moving speed comprises: determining the target frame rate based on a preset maximum frame rate, a preset minimum frame rate, a preset maximum speed and the moving speed. The adjusting the image acquisition frequency of the image acquisition device according to the target frame rate comprises: determining a new total number of frame lines based on the target frame rate and a preset line time; and writing the total number of frame lines into a corresponding register of an image sensor of the image acquisition device.

2. The method of claim 1, wherein, The adjusting the image acquisition frequency of the image acquisition device according to the target frame rate comprises: determining a frame interval N based on a ratio of an image acquisition frequency of the image acquisition device and the target frame rate, wherein N is a natural number; and for images acquired by the image acquisition device, reserving one frame of image for post-processing every N frames. The down arrow can represent rounding down. The determining the moving speed of the image acquisition device comprises: determining the moving speed based on acceleration sensor data.

3. The method of claim 2, wherein, The determining the moving speed of the image acquisition device comprises: determining the moving speed of the image acquisition device on a target plane. The apparatus comprises: a determining module configured to determine a moving speed of the image acquisition device; and an adjusting module configured to adjust an image acquisition frequency of the image acquisition device according to the moving speed.

4. The method of claim 3, wherein, The target frame rate is determined in the following way: where f target may represent a target frame rate, f min may represent a minimum frame rate, f max may represent a maximum frame rate, v max may represent a maximum velocity.

5. The method of claim 2, wherein, The adjusting module is further configured to adjust the image acquisition frequency of the image acquisition device according to the moving speed by: determining a target frame rate based on the moving speed; and adjusting the image acquisition frequency of the image acquisition device according to the target frame rate, wherein the target frame rate is positively correlated with the moving speed. The adjusting module is further configured to determine the target frame rate based on the moving speed by: determining the target frame rate based on a preset maximum frame rate, a preset minimum frame rate, a preset maximum speed and the moving speed. The adjusting module is further configured to adjust the image acquisition frequency of the image acquisition device according to the target frame rate by: determining a new total number of frame lines based on the target frame rate and a preset line time; and writing the total number of frame lines into a corresponding register of an image sensor of the image acquisition device.

6. The method of claim 2, wherein, The adjusting module is further configured to adjust the image acquisition frequency of the image acquisition device according to the target frame rate by: determining a frame interval N based on a ratio of an image acquisition frequency of the image acquisition device and the target frame rate, wherein N is a natural number; and for images acquired by the image acquisition device, reserving one frame of image for post-processing every N frames. The down arrow can represent rounding down. The determining module is further configured to determine the moving speed of the image acquisition device by: determining the moving speed based on acceleration sensor data.

7. The method of claim 6, wherein, The frame interval is determined in the following way: wherein f sensor may represent a frame rate at which the image sensor actually captures images, f target may represent a target frame rate, ​ 8. The method of claim 1, wherein, ​ ​ 9. The method of claim 1, wherein, ​ ​ 10. A frame rate adaptation apparatus, wherein, ​ ​ ​ 11. The apparatus of claim 10, wherein, ​ ​ ​ 12. The apparatus of claim 11, wherein, ​ ​ 13. The apparatus of claim 12, wherein, The target frame rate in the adjustment module is determined in the following manner: where f target may represent a target frame rate, f min may represent a minimum frame rate, f max may represent a maximum frame rate, v max may represent a maximum speed.

14. The apparatus of claim 11, wherein, ​ ​ ​ 15. The apparatus of claim 11, wherein, ​ ​ ​ 16. The apparatus of claim 15, wherein, The frame interval in the adjustment module is determined in the following way: wherein f sensor may represent a frame rate at which the image sensor actually captures images, f target may represent a target frame rate, ​ 17. The apparatus of claim 10, wherein, ​ ​ 18. The apparatus of claim 10, wherein, The determining module is further configured to determine a moving speed of the image acquisition device, including: determining a moving speed of the image acquisition device on the target plane.

19. An image capture device, wherein, The image acquisition device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements operations in the method according to any one of claims 1-9 when executing the computer program.

20. A computer readable storage medium, wherein, The computer readable storage medium stores a computer program, and the computer program is executable on the processor to implement operations in the method according to any one of claims 1-9.

Images