WO2017166766A1 - 一种信息处理方法和电子设备、计算机存储介质 - Google Patents

一种信息处理方法和电子设备、计算机存储介质 Download PDF

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Publication number
WO2017166766A1
WO2017166766A1 PCT/CN2016/101222 CN2016101222W WO2017166766A1 WO 2017166766 A1 WO2017166766 A1 WO 2017166766A1 CN 2016101222 W CN2016101222 W CN 2016101222W WO 2017166766 A1 WO2017166766 A1 WO 2017166766A1
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WO
WIPO (PCT)
Prior art keywords
electronic device
unit
parameter
image acquisition
target object
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2016/101222
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English (en)
French (fr)
Inventor
任冠佼
董世谦
王野
蒲立
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Ninebot Beijing Technology Co Ltd
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Ninebot Beijing Technology Co Ltd
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Publication date
Application filed by Ninebot Beijing Technology Co Ltd filed Critical Ninebot Beijing Technology Co Ltd
Priority to US15/505,241 priority Critical patent/US10165233B2/en
Priority to EP16896536.6A priority patent/EP3422697B1/en
Publication of WO2017166766A1 publication Critical patent/WO2017166766A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/62—Control of parameters via user interfaces
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
    • H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
    • G01S3/14—Systems for determining direction or deviation from predetermined direction
    • G01S3/28—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived simultaneously from receiving antennas or antenna systems having differently-oriented directivity characteristics
    • G01S3/32—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived simultaneously from receiving antennas or antenna systems having differently-oriented directivity characteristics derived from different combinations of signals from separate antennas, e.g. comparing sum with difference
    • G01S3/325—Automatic tracking systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/61—Control of cameras or camera modules based on recognised objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H04N23/681—Motion detection
    • H04N23/6812—Motion detection based on additional sensors, e.g. acceleration sensors
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H04N23/682—Vibration or motion blur correction
    • H04N23/685—Vibration or motion blur correction performed by mechanical compensation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/66—Sonar tracking systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/74—Systems using reradiation of acoustic waves, e.g. IFF, i.e. identification of friend or foe
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence

Definitions

  • the present invention relates to the field of intelligent shooting technology, and in particular, to an information processing method, an electronic device, and a computer storage medium.
  • the common image/video shooting methods in the prior art are: 1. The worker holds the hand-held/shoulder camera for shooting; 2. The camera is mounted on the boom, and the worker controls the movement of the boom to achieve the shooting of the target; The camera is mounted on the guide rail to control the movement of the camera on the guide rail to achieve the shooting of the target.
  • These shooting methods have certain limitations. These limitations include at least the limitations of the shooting environment, the limitations of the shooting range, and so on. Therefore, in order to realize image/video shooting with higher degree of freedom and flexibility, the technical solution of the present invention has been proposed.
  • embodiments of the present invention provide an information processing method, an electronic device, and a computer storage medium.
  • an information processing method is provided, which is applied to a mobile electronic device, wherein the electronic device has an image acquisition unit, and the image acquisition unit is capable of image acquisition; the method includes:
  • the first instruction is used to indicate that image acquisition based on target following is performed
  • the image collection is able to obtain an image that satisfies the first condition.
  • the electronic device stores preset first restriction data, where the first restriction data is used to describe a restricted movement trajectory or a restricted movement area of the electronic device, based on the first restriction data. Controlling the electronic device from moving to the restricted movement track or limiting the movement area; the method further comprising:
  • the electronic device stores preset second restriction data, where the second restriction data is used to describe a restricted movement trajectory of the electronic device, and the electronic device is on the restricted movement trajectory.
  • the mobile policy the method further includes:
  • the second instruction is used to instruct the electronic device to move along the restricted movement trajectory according to the movement strategy, and perform image acquisition on the target object during the movement;
  • the image acquisition unit is capable of obtaining an image that satisfies the first condition.
  • the method further includes: recording a restricted movement trajectory of the electronic device by:
  • the third instruction is used to instruct to start recording a trajectory that the electronic device has moved;
  • the fourth instruction is used to instruct to stop recording a track that the electronic device has moved;
  • the recorded code wheel data and IMU data are saved.
  • the method further includes: obtaining a third parameter of the electronic device, and after obtaining an image that satisfies the first condition, further adjusting an image acquisition posture of the image acquisition unit according to the third parameter Obtaining an image satisfying the second condition; the third parameter is used to describe the posture of the electronic device itself.
  • the target object is provided with an ultra-wideband (UWB) beacon
  • the electronic device includes a UWB unit
  • the obtaining location information between the target object and the electronic device includes:
  • the electronic device performs UWB signal interaction between the UWB unit and the UWB beacon, and obtains the target based on a signal sent by the UWB unit to the UWB beacon and a received return signal of the UWB beacon. Location information between the object and the electronic device.
  • an electronic device including: a mobile unit, an image capturing unit, and a target locking unit, wherein the image capturing unit and the target locking unit are disposed in the shifting On the moving unit, the mobile unit can carry the image capturing unit and the target locking unit to move, the target locking unit is used to lock the target object, and the image capturing unit is used for image capturing;
  • the target locking unit is further configured to obtain a first instruction, where the first instruction is used to indicate that image acquisition based on the target is performed; and in response to the first instruction, obtain position information between the target object and the electronic device And transmitting the location information to the mobile unit and the image acquisition unit;
  • the mobile unit is further configured to receive the location information sent by the target locking unit, obtain a first parameter according to the location information, and control a mobile state of the mobile unit according to the first parameter, so that The mobile unit follows the target object, and the first parameter is a parameter that controls a moving state of the mobile unit;
  • the image acquisition unit is further configured to receive the location information sent by the target locking unit, obtain a second parameter according to the location information, and control an image collection posture of the image acquisition unit according to the second parameter, In order for the mobile unit to follow the target object, the image acquisition unit can obtain an image that satisfies the first condition.
  • the electronic device further includes: a first restriction data saving unit, configured to save preset first restriction data, where the first restriction data is used to describe a restricted movement trajectory of the electronic device or Restricting the movement area, based on the control of the first restriction data, the electronic device cannot move to the restricted movement track or the restricted movement area;
  • a first restriction data saving unit configured to save preset first restriction data, where the first restriction data is used to describe a restricted movement trajectory of the electronic device or Restricting the movement area, based on the control of the first restriction data, the electronic device cannot move to the restricted movement track or the restricted movement area;
  • the mobile unit is further configured to: after obtaining the first parameter according to the location information, correct the first parameter according to the first restriction data, and control the electronic device according to the modified first parameter
  • the moving state causes the electronic device to follow the target object only on the moving track or in the moving area.
  • the electronic device further includes:
  • a second restriction data saving unit configured to save preset second restriction data, where the second restriction data is used to describe a restricted movement trajectory of the electronic device, and a movement strategy of the electronic device on the restricted movement trajectory;
  • the mobile unit, the target locking unit, and the image capturing unit are further configured to obtain a second instruction, where the second instruction is used to instruct the electronic device to move along the restricted movement trajectory according to the movement policy, and during the moving process Perform image acquisition on the target object;
  • the mobile unit is further configured to, according to the second instruction, control, according to the second restriction data, that the electronic device moves on the restricted movement track according to the movement policy;
  • the target locking unit is further configured to: obtain, during the moving of the mobile unit, location information between the target object and the electronic device, and send the location information to the image collection unit;
  • the image acquisition unit is further configured to obtain a second parameter according to the location information, according to the first
  • the two parameters control the image acquisition posture of the image acquisition unit, so that the image acquisition unit can obtain an image satisfying the first condition during the movement of the mobile unit.
  • the electronic device further includes a restricted moving track recording unit configured to record the restricted moving track of the electronic device by:
  • the third instruction is used to start recording a track in which the electronic device has moved; and in response to the third instruction, recording code wheel data and inertial measurement of the electronic device changing with time during the moving process Unit (IMU) data, the code wheel data and IMU data are used to describe the restricted movement trajectory; obtaining a fourth instruction for instructing to stop recording a trajectory that the electronic device has moved; a fourth instruction to stop recording the code wheel data and the IMU data;
  • IMU moving process Unit
  • the recorded code disc data and the IMU data are stored in the first restricted data holding unit or the second limited data holding unit.
  • the image acquisition unit is further configured to obtain a third parameter of the electronic device, and after obtaining an image that satisfies the first condition, further adjust the image acquisition unit according to the third parameter.
  • the image captures the pose to obtain an image that satisfies the second condition; the third parameter is used to describe the pose of the electronic device itself.
  • the target locking unit is an ultra wideband (UWB) unit.
  • UWB ultra wideband
  • the UWB unit is configured to perform UWB signal interaction with a UWB beacon provided on the target object, and based on the signal sent by the UWB unit to the UWB beacon, and the received return of the UWB beacon. And obtaining a position information between the target object and the electronic device.
  • a computer storage medium stores computer executable instructions, and the computer executable instructions are configured to perform information processing according to an embodiment of the present invention. method.
  • An information processing method, an electronic device, and a computer storage medium provided by the embodiments of the present invention enable an electronic device to complete the following of the target object, and can adaptively adjust the image capturing posture of the image capturing unit during the following process, so that The target object is always in the composition of the image acquisition unit.
  • the embodiment of the present invention is not limited by the shooting environment and the shooting range, and can realize image/video shooting with higher degree of freedom and flexibility.
  • FIG. 1 is a flowchart of an information processing method according to Embodiment 1 of the present invention.
  • FIG. 2 is a schematic structural diagram of an electronic device according to Embodiment 2 of the present invention.
  • FIG. 3 is a schematic structural diagram of a self-balancing vehicle for realizing autonomous following target shooting according to an embodiment of the present invention.
  • the first embodiment of the present invention provides an information processing method, which is applied to a mobile electronic device.
  • the electronic device has an image capturing unit, and the image collecting unit can perform image capturing.
  • the method includes:
  • Step 101 Obtain a first instruction, where the first instruction is used to indicate that image acquisition based on target following is performed.
  • the electronic device may obtain a first instruction when the user triggers an operation of following the image acquisition by the target, for example, the electronic device obtains the first instruction when the user triggers a specific button on the electronic device; or the user triggers the control interface (either When the control interface of the electronic device itself is a specific button on the control interface of the control device that is in communication with the electronic device, the electronic device obtains the first instruction, and the like.
  • the electronic device referred to in the embodiment of the present invention is an electronic device capable of autonomously moving.
  • the so-called autonomous movement refers to the realization of autonomous movement according to information obtained by itself without external control, such as: according to the external environment.
  • the detection implements autonomous mobile control (such as obstacle avoidance, path planning), or autonomous movement control based on target following, and the like.
  • the electronic device of the embodiment of the present invention needs to have at least two functions of target following and image capturing.
  • the so-called target following means that the electronic device can follow the target object to move, for example, maintaining a certain distance and angle following with the target object;
  • Image acquisition means that an electronic device can perform image acquisition on a target object, such as photographing and recording.
  • Step 102 In response to the first instruction, obtain location information between the target object and the electronic device.
  • the electronic device After obtaining the first instruction, the electronic device responds to the first instruction and obtains location information between the target object and the electronic device through the location information measurement tool of the electronic device.
  • location information measurement tools including measurement tools capable of measuring the absolute position information of the target object and the electronic device (such as a GPS positioning tool), and the ability to measure the relative relationship between the target object and the electronic device.
  • Measurement tools for positional relationships (such as relative distance and angle) (eg based on ultra-wideband, ultrasonic, infrared ranging, sonar, radar, binocular vision, etc.).
  • Step 103a Obtain a first parameter according to the location information, and control the electronic device according to the first parameter.
  • the state of movement is such that the electronic device follows the target object, and the first parameter is a parameter that controls the movement state of the electronic device.
  • the electronic device After obtaining the location information between the target object and the electronic device, the electronic device can obtain the relative positional relationship with the target object, thereby obtaining a first parameter for controlling the moving state of the electronic device, by executing the first parameter. Control the movement of the electronic device so that the electronic device can follow the target object in real time.
  • the electronic device calculates the absolute position information that the electronic device needs to go according to the preset following conditions (such as following distance, following angle, etc.), and according to The absolute position information that needs to be traveled, and the absolute position information currently stored by the electronic device are calculated to obtain a first parameter, where the first parameter describes the translational speed and the rotational speed of the electronic device, and the electronic device rotates by pressing the translation speed Speed travels to the absolute position that needs to be traveled; during driving, the electronic device will continue to obtain the absolute position information of the target object and the electronic device, and continuously calculate the new first parameter, thereby continuously controlling the translation speed of the electronic device. And the speed of rotation, enabling the electronic device to continuously keep up with the target object.
  • the preset following conditions such as following distance, following angle, etc.
  • the electronic device obtains the relative distance and the angle between the target object and the electronic device through a relative position measuring tool (such as ultra-wideband, ultrasonic, infrared ranging, sonar, radar, binocular vision, etc.) according to a preset Following the condition (such as following distance, following angle, etc.), the distance adjustment amount and the angle adjustment amount of the electronic device are calculated, and the first parameter is obtained according to the distance adjustment amount and the angle adjustment amount, and the first parameter describes the flatness of the electronic device.
  • a relative position measuring tool such as ultra-wideband, ultrasonic, infrared ranging, sonar, radar, binocular vision, etc.
  • the moving speed and the rotating speed the electronic device drives at the translation speed and the rotation speed; while driving, the electronic device still continuously obtains the relative position information of the target object and the electronic device, and continuously calculates a new first parameter, thereby continuously calculating Continuous control of the translation speed and rotation speed of the electronic device enables the electronic device to continuously keep up with the target object.
  • Step 103b Obtain a second parameter according to the location information, and control an image acquisition gesture of the image acquisition unit according to the second parameter, so that the image acquisition unit can obtain an image satisfying the first condition in the process of following the target object by the electronic device.
  • the electronic device After obtaining the location information between the target object and the electronic device, the electronic device can obtain its relative positional relationship with the target object, so that the second image acquisition gesture for controlling the image acquisition unit can be obtained according to the relative positional relationship.
  • the image acquisition posture of the image acquisition unit is adjusted according to the second parameter, so that the image acquisition unit can acquire an image that satisfies the first condition during the process of following the target object by the electronic device.
  • the first condition may be used to limit a location/area or the like where the target object is located in the image acquired by the image acquisition unit, for example, the first condition is used to limit the target object as long as it is in the composition of the image acquisition unit, or A condition is used to limit the target object to the composition center rectangle/circle area of the image acquisition unit, and so on.
  • the image acquisition gesture may include: a pitch, a yaw, and a roll of the image acquisition unit, a pitch refers to an angle of rotation of the image acquisition unit around the X axis, and yaw refers to an image acquisition unit.
  • the angle of rotation about the Y axis, roll refers to the angle at which the image acquisition unit rotates about the Z axis.
  • the second parameter may include a pitch adjustment amount, a yaw adjustment amount, and a roll adjustment amount to describe an adjustment amount that the image acquisition unit needs to respectively perform on pitch, yaw, and roll.
  • the adjustment of pitch, yaw, and roll causes the target object to be in the composition of the image acquisition unit; or, by adjusting the pitch, yaw, and roll, the target object is in the composition center rectangle/circle area of the image acquisition unit.
  • the electronic device continuously obtains the location information between the target object and the electronic device according to a certain frequency, thereby continuously updating the corresponding first parameter and the second parameter, so as to continuously update according to the first a parameter to update the moving state of the electronic device, causing the electronic device to continuously follow the target object, and continuously updating the image capturing posture of the image capturing unit according to the updated second parameter, so that the image collecting unit follows the target object During the process, an image that satisfies the first condition can always be obtained.
  • the electronic device stores preset first restriction data, where the first restriction data is used to describe a restricted movement trajectory or a restricted movement area of the electronic device, based on the control of the first restriction data, Preventing the electronic device from moving to the restricted movement trajectory or limiting the movement area, but the movement of the electronic device on the restricted movement trajectory or within the restricted movement area is autonomous; in the embodiment of the present invention
  • the method also includes:
  • the present embodiment limits the movement trajectory or the movement area of the electronic device by the manner of presetting the first restriction data, so that the mobile device moves only on the preset movement trajectory or the movement area;
  • the electronic device can only follow the target object with restrictions (ie, restrictions on moving tracks or moving areas).
  • restrictions ie, restrictions on moving tracks or moving areas.
  • the electronic device may predict the moving track of the electronic device according to the first parameter, compare the predicted moving track with the restricted moving track or the restricted moving area, and determine the predicted Whether the movement track exceeds the limit movement track or the restriction movement area, and if it is exceeded, correcting the first parameter according to the first limit data, so that the corrected first parameter predicted movement track does not exceed the limit movement track or the restricted movement area If it is not exceeded, there is no need to correct the first parameter.
  • the electronic device stores preset second restriction data
  • the second restriction data is used to describe a restricted movement trajectory of the electronic device
  • the electronic device is in the restricted moving track.
  • the mobile policy of the track is used to describe the moving rule (route, time, speed, and the like) of the electronic device on the restricted moving track.
  • the second instruction is used to instruct the electronic device to move along the restricted movement trajectory according to the movement strategy, and perform image collection on a target object during the movement;
  • the movement policy specifies the electronic device from Limiting the movement of point A on the movement trajectory to point B, or restricting the movement trajectory to a closed loop trajectory
  • the movement strategy stipulates that the electronic device moves cyclically along the closed loop trajectory (ie, turns), and the like;
  • the image acquisition unit is capable of obtaining an image that satisfies the first condition.
  • the electronic device is controlled to move from the point A to the point B on the restricted movement trajectory according to the second restriction data, and the electronic device obtains the position information between the target object and the electronic device during the movement, thereby obtaining a second parameter for controlling an image acquisition posture of the image acquisition unit, and controlling the posture of the image acquisition unit by the second parameter to enable the acquisition to satisfy the first condition (eg, the lens of the image acquisition unit is always aligned with the target object) )Image.
  • the first condition eg, the lens of the image acquisition unit is always aligned with the target object
  • the electronic device controls the electronic device to perform a cyclic movement (ie, a circle) on the closed loop trajectory according to the second limit data.
  • the electronic device obtains the position information between the target object and the electronic device, and further Obtaining a second parameter for controlling an image acquisition posture of the image acquisition unit, and controlling the posture of the image acquisition unit by the second parameter to enable the acquisition to satisfy the first condition (eg, the lens of the image acquisition unit is always aligned with the target) The image of the object).
  • the movement of the electronic device is not required to follow the target object, because the second restriction data requires the electronic device to move along a certain limited movement trajectory according to a certain movement strategy; but the image acquisition unit of the electronic device is required to follow the target object.
  • the image acquisition posture of the image acquisition unit is adjusted at any time, so that the lens of the image acquisition unit is aimed at the target object.
  • the third instruction is used to instruct to start recording a trajectory that the electronic device has moved;
  • the fourth instruction is used to indicate to stop recording the track that the electronic device has moved trace;
  • the recorded code wheel data and IMU data that are recorded over time are saved.
  • the above describes a method of moving track recording of teaching reproduction, for example, the user pushes the electronic device to move from point A to point B, and the electronic device records the code wheel data and the IMU data that change with time during the movement; subsequently, the electronic The device is reset to point A, and the electronic device can perform the autonomous movement from point A to point B by implementing the time-varying code wheel data and the IMU data.
  • the embodiment of the present invention is not limited to the mobile track recording method of the teaching reproduction, and the time-varying code wheel data and the IMU data may be pre-stored directly in the electronic device by the encoding method.
  • the method of the embodiment of the present invention further includes: obtaining a third parameter of the electronic device, and after obtaining an image that satisfies the first condition, further adjusting the image acquiring unit according to the third parameter The image captures the pose to obtain an image that satisfies the second condition; the third parameter is used to describe the pose of the electronic device itself.
  • the present embodiment obtains the attitude information of the electronic device, that is, the third parameter (such as pitch, according to a certain frequency). Yaw, roll, etc.), according to this, further adjust (possibly fine-tuning) the image acquisition posture of the image acquisition unit to enhance the visual effect of the image.
  • the third parameter such as pitch, according to a certain frequency
  • the first condition limiting target object is located in the composition center area of the image acquisition unit, and when the second parameter control image acquisition unit only satisfies the first condition (the target object in the central area of the composition), Ensuring the image effect obtained, because there is usually jitter and bump in the movement of the electronic device, which easily causes the target object to shake in the central region of the composition.
  • the obtained image is not effective; and the third parameter of the electronic device is measured.
  • the sensitivity of the image acquisition unit is adjusted in a more sensitive manner, so that the shooting posture of the image acquisition unit is always in the best posture (pitch, yaw, roll is optimal), without being affected by the jitter and bump of the electronic device.
  • the visual effect of the obtained image is adjusted in a more sensitive manner, so that the shooting posture of the image acquisition unit is always in the best posture (pitch, yaw, roll is optimal), without being affected by the jitter and bump of the electronic device.
  • the target object is provided with a UWB (UWB)
  • the electronic device includes a UWB unit
  • the obtaining location information between the target object and the electronic device includes:
  • the electronic device performs UWB signal interaction between the UWB unit and the UWB beacon, and obtains the target based on a signal sent by the UWB unit to the UWB beacon and a received return signal of the UWB beacon. Location information between the object and the electronic device.
  • the electronic device can follow the position of the target object, install the UWB beacon on the target object, install the UWB unit on the electronic device, transmit the signal to the UWB beacon through the UWB unit, and receive the UWB beacon.
  • Return signal can obtain the relative between UWB beacon and UWB unit
  • the distance d and the relative angle ⁇ are used to describe the relative positional relationship between the UWB beacon and the UWB unit; according to the relative positional relationship between the UWB beacon and the UWB unit, and considering the preset UWB beacon and target
  • the position conversion relationship between the object, the UWB unit and the electronic device can obtain a relative positional relationship between the electronic device and the target object, and is used to describe the relative position between the electronic device and the target object.
  • the relative distance d between the UWB beacon and the UWB unit can be measured by a technique based on (TOF, Time of Flight), which is converted into a time difference by calculating a radio wave (or light, sound wave, etc.) emission and reflection.
  • the relative angle ⁇ between the UWB beacon and the UWB unit can be measured by a technique based on Angle of Arrival (AOA), which is a positioning algorithm based on the angle of arrival of the signal, and the arrival of the signal of the transmitting node is sensed by some hardware devices.
  • AOA Angle of Arrival
  • Direction, the relative orientation or relative angle between the receiving node and the anchor node can be calculated.
  • the embodiment of the present invention is not limited to the use of the UWB technology to obtain the location information between the target object and the electronic device, and the electronic device can follow the target object.
  • the embodiment of the present invention can also adopt, for example, ultrasonic and infrared ranging.
  • the electronic device can complete the following of the target object, and can adaptively adjust the image capturing posture of the image capturing unit during the following process, so that the target object is always in the composition of the image capturing unit;
  • the image acquisition unit can cope with the jitter of the electronic device during the movement process by further fine-tuning the image acquisition posture. Bumpy, ensuring the visual effect of the images obtained.
  • the target following shooting in the embodiment of the present invention is not limited by the shooting environment and the shooting range, and can realize image/video shooting with higher degree of freedom and flexibility, and the application scene is wide.
  • the second embodiment of the present invention further provides an electronic device, as shown in FIG. 2, the electronic device includes: a mobile unit 10, an image acquisition unit 30, and a target locking unit 20,
  • the image capturing unit 30 and the target locking unit 20 are disposed on the moving unit 10, and the moving unit 10 can carry the image capturing unit 30 and the target locking unit 20 to move, and the target locking unit 20 is used to lock the target object.
  • the image acquisition unit 30 is configured to perform image acquisition;
  • the target locking unit 20 is further configured to obtain a first instruction, where the first instruction is used to instruct image acquisition based on target following; and in response to the first instruction, obtain location information between the target object and the electronic device And transmitting the location information to the mobile unit 10 and the image acquisition unit 30;
  • the mobile unit 10 is further configured to receive the location information sent by the target locking unit 20, where Obtaining a first parameter according to the location information, and controlling a movement state of the mobile unit 10 according to the first parameter, so that the mobile unit 10 follows the target object, and the first parameter is to control the movement The parameter of the moving state of the unit 10;
  • the image acquisition unit 30 is further configured to receive the location information sent by the target locking unit 20, obtain a second parameter according to the location information, and control image collection by the image collection unit 30 according to the second parameter.
  • the gesture so that the image capturing unit 30 can obtain an image satisfying the first condition while the moving unit 10 is following the target object.
  • the electronic device further includes: a first restriction data saving unit 40, connected to the mobile unit 10, configured to save preset first restriction data, where the first restriction data is used to describe the electronic device Restricting the movement trajectory or restricting the movement area, based on the control of the first restriction data, the electronic device cannot move to the restricted movement trajectory or the restricted movement area;
  • a first restriction data saving unit 40 connected to the mobile unit 10, configured to save preset first restriction data, where the first restriction data is used to describe the electronic device Restricting the movement trajectory or restricting the movement area, based on the control of the first restriction data, the electronic device cannot move to the restricted movement trajectory or the restricted movement area;
  • the mobile unit 10 is further configured to: after obtaining the first parameter according to the location information, correct the first parameter according to the first restriction data, and control the mobile unit according to the modified first parameter
  • the moving state of 10 causes the mobile unit 10 to follow the target object only on the moving track or in the moving area.
  • the electronic device further includes:
  • a second restriction data holding unit 50 connected to the mobile unit 10, configured to save preset second restriction data, the second restriction data is used to describe a restricted movement trajectory of the electronic device, and the electronic device moves in the restriction Movement strategy on the track;
  • the mobile unit 10, the target locking unit 20, and the image acquisition unit 30 are further configured to obtain a second instruction, where the second instruction is used to indicate that the electronic device moves along the restricted movement trajectory according to the movement policy, and Perform image acquisition on the target object during the movement;
  • the mobile unit 10 is further configured to, according to the second instruction, control, according to the second restriction data, that the mobile unit 10 moves according to the mobility policy on the restricted movement track;
  • the target locking unit 20 is further configured to: during the movement of the mobile unit 10, obtain location information between the target object and the electronic device, and send the location information to the image collection unit 30;
  • the image acquisition unit 30 is further configured to: obtain a second parameter according to the location information, and control an image collection posture of the image collection unit 30 according to the second parameter, so that the mobile unit 10 is in the process of moving
  • the image acquisition unit 30 is capable of obtaining an image that satisfies the first condition.
  • the electronic device further includes a restricted movement track recording unit 60 that connects the first restriction data holding unit 40 and the second restriction data holding unit 50, and the restriction movement track recording unit 60 is configured to record the Restricted movement of electronic devices:
  • the third instruction is used to instruct to start recording a track on which the electronic device has moved Recording, in response to the third instruction, the code wheel data and the IMU data of the electronic device changing with time during the moving process, the code wheel data and the IMU data are used to describe the restricted movement track; obtaining the fourth instruction The fourth instruction is used to indicate to stop recording the track that the electronic device has moved; and in response to the fourth instruction, stop recording the code wheel data and the IMU data;
  • the code wheel data and the IMU data recorded are stored in the first limit data holding unit 40 or the second limit data holding unit 50.
  • the image acquisition unit 30 is further configured to obtain a third parameter of the electronic device, and after obtaining an image that satisfies the first condition, further adjusting the image acquisition unit according to the third parameter.
  • the image acquisition gesture is to obtain an image satisfying the second condition; the third parameter is used to describe the posture of the mobile unit 10 itself.
  • the target locking unit 20 is a UWB unit.
  • the UWB unit is configured to perform UWB signal interaction with a UWB beacon provided on the target object, and based on the signal sent by the UWB unit to the UWB beacon, and the received return of the UWB beacon. And obtaining a position information between the target object and the electronic device.
  • the electronic device can complete the following of the target object, and can adaptively adjust the image capturing posture of the image capturing unit during the following process, so that the target object is always in the composition of the image capturing unit;
  • the image acquisition unit can cope with the jitter of the electronic device during the movement process by further fine-tuning the image acquisition posture. Bumpy, ensuring the visual effect of the images obtained.
  • the target following shooting in the embodiment of the present invention is not limited by the shooting environment and the shooting range, and can realize image/video shooting with higher degree of freedom and flexibility, and the application scene is wide.
  • the electronic device referred to in the embodiment of the present invention is an electronic device capable of autonomously moving.
  • the so-called autonomous movement refers to the realization of autonomous movement according to information obtained by itself without external control, such as:
  • the detection of the environment enables autonomous mobile control (such as obstacle avoidance), or autonomous movement control based on target following, and the like.
  • Common electronic devices that can achieve autonomous movement such as self-balancing vehicles, drones, and so on.
  • the electronic device of the embodiment of the present invention needs to have at least two functions of target following and image capturing.
  • the so-called target following means that the electronic device can follow the target object to move, for example, maintaining a certain distance and angle following with the target object;
  • Image acquisition means that an electronic device can perform image acquisition on a target object, such as photographing and recording.
  • FIG. 3 is a schematic structural diagram of a self-balancing vehicle according to an embodiment of the present invention.
  • 01 represents a self-balancing car
  • a PTZ 02 is installed on the self-balancing car 01
  • a UWB unit is provided on the gimbal (in the figure) Not shown) and the image acquisition unit 03 (camera);
  • the self-balancing vehicle 01 is the autonomous mobile device according to the embodiment of the present invention, and the self-balancing vehicle 01 can implement the follow-up of the target object based on the UWB technology (meeting the preset Follow distance and / or follow angle, etc.).
  • Yuntai 02 is a three-degree-of-freedom pan/tilt that can adjust the three angles of pitch, yaw, and roll. Based on the adjustment of the pan/tilt 02, the attitude adjustment of the image acquisition unit 03 mounted thereon can be realized.
  • the target following shooting process of the self-balancing vehicle 01 equipped with the PTZ 02, the UWB unit and the image acquisition unit 03 will be separately described below in combination with different application scenarios.
  • the self-balancing car 01 moves according to the preset trajectory (for example: the preset self-balancing car 01 moves from point A to point B in a track within 1 minute), and the pan/tilt during the movement
  • the UWB unit on 02 measures the position information between the target object (whether the target object is still or moving) and the UWB unit, and the image capturing unit 03 (camera) lens is always aimed at the target object by adjusting the pan/tilt 02.
  • the following shooting process during the movement of the self-balancing car 01 is as follows:
  • the self-balancing vehicle 01 obtains a second instruction, and the second instruction is used for the self-balancing vehicle 01 to move along the preset limit moving trajectory according to a preset movement strategy, and performs image collection on the target object during the moving process. ;
  • the self-balancing vehicle 01 responds to the second instruction, moves according to a preset movement strategy and moves along a preset movement trajectory, and during the movement of the self-balancing vehicle 01, the UWB unit on the platform 02 passes the target object.
  • the UWB beacon installed on the communication communicates to obtain location information between the UWB beacon and the UWB unit;
  • the pan/tilt 02 obtains a second parameter for adjusting the attitude of the pan/tilt 02 (pitch, yaw, and roll) according to the position information, and adjusts the posture of the gimbal 02 itself according to the second parameter to maintain the self-balancing
  • the lens of the image acquisition unit 03 can always be aimed at the target object, so that the target object is always in the composition of the image acquisition unit 03 (for example, the target object is always in the central region of the composition of the image acquisition unit 03) );
  • the embodiment in order to reduce the influence of the posture fluctuation during the movement of the self-balancing vehicle 01 on the working stability of the image capturing unit 03 (such as maintaining the lens stability), the embodiment also obtains the attitude information of the self-balancing vehicle 01 at a certain frequency. That is, the third parameter (such as pitch, yaw, roll, etc.), according to which the posture of the image acquisition unit 03 is further adjusted (possibly fine-tuned), so that the shooting posture of the image acquisition unit 03 always maintains the optimal posture (pitch, yaw, roll) Best), without being affected by the jitter and bumps of the self-balancing car 01, to enhance the visual effect of the image.
  • the third parameter such as pitch, yaw, roll, etc.
  • the self-balancing car 01 can realize the automatic following of the target object based on the UWB unit (meeting the preset following distance and/or following angle, etc.), in the self-balancing car 01
  • the UWB unit on the PTZ 02 measures the position information between the target object (whether the target object is still or moving) and the UWB unit, and adjusts the image by adjusting the PTZ 02
  • the set unit 03 (camera) lens is always aimed at the target object.
  • the following shooting process during the movement of the self-balancing car 01 is as follows:
  • the first instruction is obtained from the self-balancing vehicle 01, the first instruction is used to instruct image acquisition based on the target following; the self-balancing vehicle 01 responds to the first instruction, and the UWB unit on the pan/tilt 02 passes Communicating with the UWB beacon installed on the target object to obtain position information (relative distance and relative angle, etc.) between the UWB beacon and the UWB unit;
  • the self-balancing vehicle 01 obtains a first parameter (the rotational speed, the rotational speed, and the like of the wheel) for controlling its own moving state according to the position information, and controls the moving state of the self-balancing vehicle 01 according to the obtained first parameter. So that the self-balancing car 01 follows the target object;
  • the pan/tilt 02 obtains a second parameter for adjusting the posture of the pan/tilt 02 (pitch, yaw, and roll) according to the position information, and adjusts the posture of the pan/tilt 02 itself according to the second parameter to maintain
  • the lens of the image acquisition unit 03 can always be aimed at the target object such that the target object is always in the composition of the image acquisition unit 03 (for example, the target object is always at the center of the composition of the image acquisition unit 03) within the area);
  • the embodiment in order to reduce the influence of the posture fluctuation during the movement of the self-balancing vehicle 01 on the working stability of the image capturing unit 03 (such as maintaining the lens stability), the embodiment also obtains the attitude information of the self-balancing vehicle 01 at a certain frequency. That is, the third parameter (such as pitch, yaw, roll, etc.), according to which the posture of the image acquisition unit 03 is further adjusted (possibly fine-tuned), so that the shooting posture of the image acquisition unit 03 always maintains the optimal posture (pitch, yaw, roll) Best), without being affected by the jitter and bumps of the self-balancing car 01, to enhance the visual effect of the image.
  • the third parameter such as pitch, yaw, roll, etc.
  • Scene 3 Preset the movement path of the self-balancing car 01/limit movement area, the self-balancing car 01 can only move on the preset track/area (but unlike the scene one, the self-balancing car 01 is preset)
  • the trajectory/area is autonomously movable; the self-balancing vehicle 01 can follow the UWB unit to follow the restricted condition of the target object (ie, the limitation of the moving trajectory or the moving area), and the process of following the target object in the self-balancing vehicle 01
  • the UWB unit on the pan/tilt 02 measures the position information between the target object (whether the target object is still or moving) and the UWB unit, and the image capturing unit 03 (camera) lens is always aimed at the target object by adjusting the pan/tilt 02.
  • the following shooting process during the movement of the self-balancing car 01 is as follows:
  • the first instruction is obtained from the self-balancing vehicle 01, the first instruction is used to instruct image acquisition based on the target following; the self-balancing vehicle 01 responds to the first instruction, and the UWB unit on the pan/tilt 02 passes Communicating with the UWB beacon installed on the target object to obtain location information between the UWB beacon and the UWB unit;
  • the self-balancing vehicle 01 obtains a first parameter (the rotational speed, the rotational speed, and the like of the wheel) for controlling its own moving state according to the position information, and after obtaining the first parameter, according to the first parameter Measuring the movement trajectory of the balance car 01, comparing the predicted movement trajectory with the restricted movement trajectory or the restricted movement area to determine whether the predicted movement trajectory exceeds the restricted movement trajectory or restricting the movement area, and if it is exceeded, correcting
  • the first parameter is such that the corrected movement track of the first parameter does not exceed the limit movement track or the restricted movement area, and if not exceeded, the first parameter is not required to be corrected;
  • the pan/tilt 02 obtains a second parameter for adjusting the posture of the pan/tilt 02 (pitch, yaw, and roll) according to the position information, and adjusts the posture of the pan/tilt 02 itself according to the second parameter to maintain
  • the lens of the image acquisition unit 03 can always be aimed at the target object such that the target object is always in the composition of the image acquisition unit 03 (for example, the target object is always at the center of the composition of the image acquisition unit 03) within the area);
  • the embodiment in order to reduce the influence of the posture fluctuation during the movement of the self-balancing vehicle 01 on the working stability of the image capturing unit 03 (such as maintaining the lens stability), the embodiment also obtains the attitude information of the self-balancing vehicle 01 at a certain frequency. That is, the third parameter (such as pitch, yaw, roll, etc.), according to which the posture of the image acquisition unit 03 is further adjusted (possibly fine-tuned), so that the shooting posture of the image acquisition unit 03 always maintains the optimal posture (pitch, yaw, roll) Best), without being affected by the jitter and bumps of the self-balancing car 01, to enhance the visual effect of the image.
  • the third parameter such as pitch, yaw, roll, etc.
  • the electronic device can complete the following of the target object, and can adaptively adjust the image capturing posture of the image capturing unit during the following process, so that the target object is always in the image capturing unit.
  • the image acquisition unit can cope with the electronic device during the movement process by further fine-tuning the image acquisition posture.
  • the jitter and bumps ensure the visual effect of the obtained image.
  • the target following shooting in the embodiment of the present invention is not limited by the shooting environment and the shooting range, and can realize image/video shooting with higher degree of freedom and flexibility, and the application scene is wide.
  • the solution of the embodiment of the present invention is not limited to the application on a self-balancing vehicle (a two-dimensional autonomous mobile device), and it should also be applied to an application on a drone (a three-dimensional autonomous mobile device) or the like;
  • the implementation process on the human-machine (three-dimensional autonomous mobile device) is similar to the implementation process on the autonomous mobile device in the two-dimensional space, and will not be described here.
  • the disclosed methods, apparatus, and electronic devices may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the unit is only a logical function division.
  • there may be another division manner such as: multiple units or components may be combined, or Can be integrated into another system, or some features can be ignored or not executed.
  • the various components shown or discussed are coupled to each other,
  • the direct coupling, or communication connection may be an indirect coupling or communication connection through some interface, device or unit, and may be electrical, mechanical or otherwise.
  • the units described above as separate components may or may not be physically separated, and the components displayed as the unit may or may not be physical units, that is, may be located in one place or distributed to multiple network units; Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may be separately used as one unit, or two or more units may be integrated into one unit;
  • the unit can be implemented in the form of hardware or in the form of hardware plus software functional units.
  • the foregoing program may be stored in a computer readable storage medium, and the program is executed when executed.
  • the foregoing storage device includes the following steps: the foregoing storage medium includes: a mobile storage device, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.
  • ROM read-only memory
  • RAM random access memory
  • magnetic disk or an optical disk.
  • optical disk A medium that can store program code.
  • the above-described integrated unit of the embodiment of the present invention may be stored in a computer readable storage medium if it is implemented in the form of a software function module and sold or used as a stand-alone product.
  • the technical solution of the embodiments of the present invention may be embodied in the form of a software product in essence or in the form of a software product stored in a storage medium, including a plurality of instructions.
  • a computer device (which may be a personal computer, server, or network device, etc.) is caused to perform all or part of the methods described in various embodiments of the present invention.
  • the foregoing storage medium includes: a removable storage device, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes.
  • an embodiment of the present invention further provides a computer readable storage medium, the storage medium comprising a set of computer executable instructions for performing the information processing method according to the embodiment of the present invention.

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Abstract

本发明公开一种信息处理方法和电子设备、计算机存储介质，所述方法应用于可移动的电子设备，电子设备具有图像采集单元，图像采集单元能够进行图像采集；所述方法包括：获得第一指令，第一指令用于指示进行基于目标跟随的图像采集；响应第一指令，获得目标对象与电子设备之间的位置信息；根据位置信息获得第一参数，并根据第一参数控制电子设备的移动状态，以使电子设备跟随所述目标对象，第一参数为控制电子设备移动状态的参数；且，根据位置信息获得第二参数，并根据第二参数控制图像采集单元的图像采集姿态，以使电子设备在跟随目标对象的过程中，图像采集单元能够获得满足第一条件的图像。

Description

一种信息处理方法和电子设备、计算机存储介质 技术领域
本发明涉及智能拍摄技术领域，尤其涉及一种信息处理方法和电子设备、计算机存储介质。
背景技术
现有技术中常见的图像/视频拍摄手段有：1、工作人员手持/肩扛摄像机进行拍摄；2、将摄像机安装在吊臂上，工作人员控制吊臂的运动，实现对目标的拍摄；3、将摄像机安装在导轨上，通过控制摄像机在导轨上的移动，实现对目标的拍摄。这些拍摄手段都有一定的局限性，这些局限性至少包括：拍摄环境的局限、拍摄范围的局限等等。因此，为实现自由度和灵活性更高的图像/视频拍摄，提出本发明的技术方案。
发明内容
为解决现有存在的技术问题，本发明的实施例提供一种信息处理方法和电子设备、计算机存储介质。
本发明实施例是这样实现的：
在本发明的一实施例中，提供了一种信息处理方法，应用于可移动的电子设备，所述电子设备具有图像采集单元，所述图像采集单元能够进行图像采集；所述方法包括：
获得第一指令，所述第一指令用于指示进行基于目标跟随的图像采集；
响应所述第一指令，获得目标对象与所述电子设备之间的位置信息；
根据所述位置信息获得第一参数，并根据所述第一参数控制所述电子设备的移动状态，以使所述电子设备跟随所述目标对象，所述第一参数为控制所述电子设备移动状态的参数；
且，根据所述位置信息获得第二参数，并根据所述第二参数控制所述图像采集单元的图像采集姿态，以使所述电子设备在跟随所述目标对象的过程中，所述图像采集单元能够获得满足第一条件的图像。
在一可实施方式中，所述电子设备保存有预设的第一限制数据，所述第一限制数据用于描述所述电子设备的限制移动轨迹或限制移动区域，基于所述第一限制数据的控制，使所述电子设备无法移动到所述限制移动轨迹或限制移动区域之外；所述方法还包括：
在根据所述位置信息获得第一参数后，根据所述第一限制数据对所述第一参数进行修正，并根据修正后的第一参数控制所述电子设备的移动状态，使所述电子设备仅在所述移动轨迹上或移动区域内跟随所述目标对象。
在一可实施方式中，所述电子设备保存有预设的第二限制数据，所述第二限制数据用于描述所述电子设备的限制移动轨迹、以及电子设备在所述限制移动轨迹上的移动策略，所述方法还包括：
获得第二指令，所述第二指令用于指示所述电子设备按所述移动策略沿所述限制移动轨迹移动，且在移动过程中对目标对象进行图像采集；
响应所述第二指令，根据所述第二限制数据控制所述电子设备在所述限制移动轨迹上按所述移动策略进行移动，且在所述电子设备移动的过程中，获得目标对象与所述电子设备之间的位置信息，并根据所述位置信息获得第二参数，根据所述第二参数控制所述图像采集单元的图像采集姿态，以使所述电子设备在移动的过程中，所述图像采集单元能够获得满足第一条件的图像。
在一可实施方式中，所述方法还包括：通过以下方式记录所述电子设备的限制移动轨迹：
获得第三指令，所述第三指令用于指示开始记录所述电子设备移动过的轨迹；
响应所述第三指令，记录所述电子设备在移动过程中随时间变化的码盘数据以及惯性测量单元(IMU)数据，所述码盘数据以及IMU数据用于描述所述限制移动轨迹；
获得第四指令，所述第四指令用于指示停止记录所述电子设备移动过的轨迹；
响应所述第四指令，保存记录的所述码盘数据以及IMU数据。
在一可实施方式中，所述方法还包括：获得所述电子设备的第三参数，在获得满足第一条件的图像后，根据所述第三参数进一步调整所述图像采集单元的图像采集姿态，以获得满足第二条件的图像；所述第三参数用于描述所述电子设备自身的姿态。
在一可实施方式中，所述目标对象上设有超宽带(UWB)信标，所述电子设备包括UWB单元，所述获得目标对象与电子设备之间的位置信息，包括：
所述电子设备通过UWB单元与所述UWB信标之间进行UWB信号交互，并基于所述UWB单元发送给所述UWB信标的信号、以及接收的所述UWB信标的返回信号，获得所述目标对象与电子设备之间的位置信息。
在本发明的另一实施例中，还提供了一种电子设备，包括：移动单元、图像采集单元和目标锁定单元，所述图像采集单元和目标锁定单元设置于所述移 动单元上，所述移动单元能够搭载所述图像采集单元和目标锁定单元移动，所述目标锁定单元用于锁定目标对象，所述图像采集单元用于进行图像采集；
所述目标锁定单元还用于，获得第一指令，所述第一指令用于指示进行基于目标跟随的图像采集；响应所述第一指令，获得目标对象与所述电子设备之间的位置信息，并将所述位置信息发送给所述移动单元和所述图像采集单元；
所述移动单元还用于，接收所述目标锁定单元发送的所述位置信息，根据所述位置信息获得第一参数，并根据所述第一参数控制所述移动单元的移动状态，以使所述移动单元跟随所述目标对象，所述第一参数为控制所述移动单元移动状态的参数；
所述图像采集单元还用于，接收所述目标锁定单元发送的所述位置信息，根据所述位置信息获得第二参数，并根据所述第二参数控制所述图像采集单元的图像采集姿态，以使所述移动单元在跟随所述目标对象的过程中，所述图像采集单元能够获得满足第一条件的图像。
在一可实施方式中，所述电子设备还包括：第一限制数据保存单元，用于保存预设的第一限制数据，所述第一限制数据用于描述所述电子设备的限制移动轨迹或限制移动区域，基于所述第一限制数据的控制，所述电子设备无法移动到所述限制移动轨迹或限制移动区域之外；
所述移动单元还用于，在根据所述位置信息获得第一参数后，根据所述第一限制数据对所述第一参数进行修正，并根据修正后的第一参数控制所述电子设备的移动状态，使所述电子设备仅在所述移动轨迹上或移动区域内跟随所述目标对象。
在一可实施方式中，所述电子设备还包括：
第二限制数据保存单元，用于保存预设的第二限制数据，所述第二限制数据用于描述所述电子设备的限制移动轨迹、以及电子设备在所述限制移动轨迹上的移动策略；
所述移动单元、目标锁定单元和图像采集单元还用于，获得第二指令，所述第二指令用于指示所述电子设备按所述移动策略沿所述限制移动轨迹移动，且在移动过程中对目标对象进行图像采集；
所述移动单元还用于，响应所述第二指令，根据所述第二限制数据控制所述电子设备在所述限制移动轨迹上按所述移动策略进行移动；
所述目标锁定单元还用于，在所述移动单元移动的过程中，获得目标对象与所述电子设备之间的位置信息，并将所述位置信息发送给所述图像采集单元；
所述图像采集单元还用于，根据所述位置信息获得第二参数，根据所述第 二参数控制所述图像采集单元的图像采集姿态，以使所述移动单元在移动的过程中，所述图像采集单元能够获得满足第一条件的图像。
在一可实施方式中，所述电子设备还包括限制移动轨迹记录单元，用于通过以下方式记录所述电子设备的限制移动轨迹：
获得第三指令，所述第三指令用于指示开始记录所述电子设备移动过的轨迹；响应所述第三指令，记录所述电子设备在移动过程中随时间变化的码盘数据以及惯性测量单元(IMU)数据，所述码盘数据以及IMU数据用于描述所述限制移动轨迹；获得第四指令，所述第四指令用于指示停止记录所述电子设备移动过的轨迹；响应所述第四指令，停止记录所述码盘数据以及IMU数据；
其中，记录的所述码盘数据以及IMU数据存入所述第一限制数据保存单元或第二限制数据保存单元。
在一可实施方式中，所述图像采集单元还用于，获得所述电子设备的第三参数，在获得满足第一条件的图像后，根据所述第三参数进一步调整所述图像采集单元的图像采集姿态，以获得满足第二条件的图像；所述第三参数用于描述所述电子设备自身的姿态。
在一可实施方式中，所述目标锁定单元为超宽带(UWB)单元，
所述UWB单元用于，与所述目标对象上设有的UWB信标之间进行UWB信号交互，并基于所述UWB单元发送给所述UWB信标的信号、以及接收的所述UWB信标的返回信号，获得所述目标对象与电子设备之间的位置信息。
在本发明的再一实施例中，还提供了一种计算机存储介质，所述计算机存储介质中存储有计算机可执行指令，所述计算机可执行指令配置为执行本发明实施例所述的信息处理方法。
本发明实施例所提供的一种信息处理方法和电子设备、计算机存储介质，使电子设备能够完成对目标对象的跟随，并能在跟随过程中适应性的调整图像采集单元的图像采集姿态，使目标对象始终处于图像采集单元的构图中。本发明实施例不受拍摄环境、拍摄范围的局限，能实现自由度和灵活性更高的图像/视频拍摄。
附图说明
通过阅读下文优选实施方式的详细描述，各种其他的优点和益处对于本领域普通技术人员将变得清楚明了。本实施例的附图仅用于示出优选实施方式的目的，而并不认为是对本发明的限制。在附图中：
图1为本发明实施例一的信息处理方法的流程图；
图2为本发明实施例二的电子设备的组成结构示意图；
图3为本发明实施例的一种实现自主跟随目标拍摄的自平衡车的组成结构示意图。
具体实施方式
下面将参照附图更详细地描述本公开的示例性实施例。虽然附图中显示了本公开的示例性实施例，然而应当理解，可以以各种形式实现本公开而不应被这里阐述的实施例所限制。相反，提供这些实施例是为了能够更透彻地理解本公开，并且能够将本公开的范围完整的传达给本领域的技术人员。
下面结合附图和具体实施例对本发明的技术方案进一步详细阐述。
实施例一
本发明实施例一提供了一种信息处理方法，应用于可移动的电子设备，所述电子设备具有图像采集单元，图像采集单元能够进行图像采集；如图1所示，该方法包括：
步骤101，获得第一指令，第一指令用于指示进行基于目标跟随的图像采集。电子设备可以在用户触发跟随目标进行图像采集的操作时，获得第一指令，例如：用户触发电子设备上的特定按钮时，电子设备获得所述第一指令；或者，用户触发控制界面(既可以是电子设备自身的控制界面，也可以是与电子设备保持通信的控制设备的控制界面)上的特定按钮时，电子设备获得所述第一指令，等等。
需要说明的是，本发明实施例所指的电子设备是能够实现自主移动的电子设备，所谓自主移动是指无需外部控制而能够根据自身所获得的信息实现自主的移动，如：根据对外部环境的检测实现自主移动控制(如避障、路径规划)，或，基于目标跟随的自主移动控制等等。本发明实施例的电子设备需要至少具备目标跟随和图像采集这两种功能，所谓目标跟随是指电子设备能够跟随目标对象移动，如：与目标对象之间保持一定的距离和角度的跟随；所谓图像采集是指电子设备能够对目标对象进行图像采集，如拍照、录像。
步骤102，响应第一指令，获得目标对象与电子设备之间的位置信息。
在获得第一指令后，电子设备响应所述第一指令，并通过电子设备的位置信息测量工具获得目标对象与电子设备之间的位置信息。需要说明的是，位置信息测量工具可以有多种，这其中既包括能够测量目标对象和电子设备绝对位置信息的测量工具(如GPS定位工具)，也包括能够测量目标对象和电子设备之间相对位置关系(如相对距离和夹角)的测量工具(如基于超宽带、超声波、红外测距、声呐、雷达、双目视觉等)。
步骤103a，根据位置信息获得第一参数，并根据第一参数控制电子设备的 移动状态，以使电子设备跟随目标对象，第一参数为控制电子设备移动状态的参数。
在获得目标对象与电子设备之间的位置信息后，电子设备即能获得其与目标对象的相对位置关系，从而获得用来控制电子设备移动状态的第一参数，通过执行所述第一参数来控制电子设备移动，让电子设备能够实时的跟随目标对象。
例如：电子设备在通过GPS定位工具获得目标对象和电子设备的绝对位置信息后，根据预设的跟随条件(如跟随距离、跟随角度等)，计算获得电子设备需要前往的绝对位置信息，并根据所述需要前往的绝对位置信息、以及电子设备当前所处的绝对位置信息计算获得第一参数，第一参数描述电子设备的平动速度和转动速度，电子设备通过按所述平动速度和转动速度行驶，到达需要前往的绝对位置；在行驶过程中，电子设备仍然会不断获得目标对象和电子设备的绝对位置信息，并不断计算新的第一参数，从而不断的控制电子设备的平动速度和转动速度，使电子设备能够连续的跟上目标对象。
再例如：电子设备通过相对位置测量工具(如基于超宽带、超声波、红外测距、声呐、雷达、双目视觉等)获得目标对象与电子设备之间的相对距离和夹角，根据预设的跟随条件(如跟随距离、跟随角度等)，计算获得电子设备的距离调整量和角度调整量，并根据所述距离调整量和角度调整量计算获得第一参数，第一参数描述电子设备的平动速度和转动速度，电子设备按所述平动速度和转动速度行驶；在行驶过程中，电子设备仍然会不断获得目标对象和电子设备的相对位置信息，并不断计算新的第一参数，从而不断的控制电子设备的平动速度和转动速度，使电子设备能够连续的跟上目标对象。
步骤103b，根据位置信息获得第二参数，并根据第二参数控制图像采集单元的图像采集姿态，以使电子设备在跟随目标对象的过程中，图像采集单元能够获得满足第一条件的图像。
在获得目标对象与电子设备之间的位置信息后，电子设备即能获得其与目标对象的相对位置关系，从而能够根据这种相对位置关系获得用于控制图像采集单元的图像采集姿态的第二参数；根据第二参数来调整图像采集单元的图像采集姿态，使电子设备在跟随目标对象的过程中，图像采集单元能够采集获得满足第一条件的图像。
所述第一条件可用于限制目标对象在图像采集单元所采集图像中所处的位置/区域等，例如：第一条件用于限制目标对象只要处于图像采集单元的构图中即可，或者，第一条件用于限制目标对象处于图像采集单元的构图中心矩形/圆形区域，等等。
所述图像采集姿态可以包括：图像采集单元的俯仰角(pitch)、偏航角(yaw)和翻滚角(roll)，pitch是指图像采集单元围绕X轴旋转的角度，yaw是指图像采集单元围绕Y轴旋转的角度，roll是指图像采集单元围绕Z轴旋转的角度。所述第二参数可以包括pitch调整量、yaw调整量和roll调整量，用来描述图像采集单元需要分别在pitch、yaw和roll上的调整量。例如：通过pitch、yaw和roll的调整，使目标对象处于图像采集单元的构图中；或者，通过pitch、yaw和roll的调整，使目标对象处于图像采集单元的构图中心矩形/圆形区域。
需要说明的是，本发明实施例中，电子设备按照一定的频率不断获得目标对象与电子设备之间的位置信息，从而不断更新相应的第一参数和第二参数，以不断的根据更新的第一参数来更新电子设备的移动状态，使电子设备连续的跟随目标对象，且，不断的根据更新的第二参数来更新图像采集单元的图像采集姿态，使图像采集单元在跟随所述目标对象的过程中，始终能够获得满足第一条件的图像。
在一实施方式中，电子设备保存有预设的第一限制数据，所述第一限制数据用于描述所述电子设备的限制移动轨迹或限制移动区域，基于所述第一限制数据的控制，使所述电子设备无法移动到所述限制移动轨迹或限制移动区域之外，但所述电子设备在所述限制移动轨迹上或限制移动区域内的移动是具有自主性的；本发明实施例的方法还包括：
在根据所述位置信息获得第一参数后，根据所述第一限制数据对所述第一参数进行修正，并根据修正后的第一参数控制所述电子设备的移动状态，使所述电子设备仅在所述限制移动轨迹上或限制移动区域内跟随所述目标对象。
也就是说，本实施方式通过预设第一限制数据的方式来限制电子设备的移动轨迹或移动区域，使移动设备仅在预设的移动轨迹上或移动区域内移动；那么，本实施方式使电子设备只能完成有限制条件(即移动轨迹或移动区域的限制)的跟随所述目标对象。有了第一限制数据的限制，电子设备在根据其与目标对象的位置信息获得第一参数后，需要用第一限制数据来修正第一参数，以防止不加修正的第一参数控制电子设备移动到限制移动轨迹或移动区域之外；具体的，电子设备可以根据第一参数预测电子设备的移动轨迹，将预测的移动轨迹与所述限制移动轨迹或限制移动区域进行比较，以判断预测的移动轨迹是否超出所述限制移动轨迹或限制移动区域，如果超出，则根据第一限制数据修正第一参数，使修正后的第一参数预测的移动轨迹不超出所述限制移动轨迹或限制移动区域，如果没超出，则无需对第一参数进行修正。
在另一实施方式中，电子设备保存有预设的第二限制数据，所述第二限制数据用于描述所述电子设备的限制移动轨迹、以及电子设备在所述限制移动轨 迹上的移动策略，移动策略用于描述电子设备在所述限制移动轨迹上的移动规则(路线、时间、速度等等)，本发明实施例的方法还包括：
获得第二指令，所述第二指令用于指示所述电子设备按所述移动策略沿所述限制移动轨迹移动，且在移动过程中对目标对象进行图像采集；例如：移动策略规定电子设备从限制移动轨迹上的A点移动到B点，或者，限制移动轨迹为闭环轨迹，移动策略规定电子设备沿所述闭环轨迹循环移动(即转圈)，等等；
响应所述第二指令，根据所述第二限制数据控制所述电子设备在所述限制移动轨迹上按所述移动策略进行移动，且在所述电子设备移动的过程中，获得目标对象与所述电子设备之间的位置信息，并根据所述位置信息获得第二参数，根据所述第二参数控制所述图像采集单元的图像采集姿态，以使所述电子设备在移动的过程中，所述图像采集单元能够获得满足第一条件的图像。
例如：根据所述第二限制数据控制电子设备从限制移动轨迹上的A点移动到B点，在移动过程中，电子设备获得目标对象与所述电子设备之间的位置信息，进而依此获得用于控制图像采集单元的图像采集姿态的第二参数，通过所述第二参数来控制图像采集单元的姿态，使其能够采集获得满足第一条件(如图像采集单元的镜头始终对准目标对象)的图像。
再例如：根据所述第二限制数据控制电子设备在限制闭环轨迹上做循环移动(即转圈)，在移动过程中，电子设备获得目标对象与所述电子设备之间的位置信息，进而依此获得用于控制图像采集单元的图像采集姿态的第二参数，通过所述第二参数来控制图像采集单元的姿态，使其能够采集获得满足第一条件(如图像采集单元的镜头始终对准目标对象)的图像。
在本实施方式中，不要求电子设备的移动跟随目标对象，因为第二限制数据要求电子设备按一定的移动策略沿一定的限制移动轨迹移动；但要求电子设备的图像采集单元能跟随目标对象，依据电子设备与目标对象的位置变化，随时调整图像采集单元的图像采集姿态，使图像采集单元的镜头对准目标对象。
其中，本发明实施例可以通过以下方式记录所述电子设备的限制移动轨迹：
获得第三指令，所述第三指令用于指示开始记录所述电子设备移动过的轨迹；
响应所述第三指令，记录所述电子设备在移动过程中随时间变化的码盘数据(能够描述电子设备的车轮转速)以及惯性测量单元(IMU，Inertial Measurement Unit)数据(能够描述电子设备的三轴角速度和加速度)，所述码盘数据以及IMU数据能够描述所述限制移动轨迹；
获得第四指令，所述第四指令用于指示停止记录所述电子设备移动过的轨 迹；
响应所述第四指令，保存记录的随时间变化的所述码盘数据以及IMU数据。
上述描述了一种示教再现的移动轨迹记录方法，例如：用户推动电子设备从A点移动到B点，电子设备记录在移动过程中随时间变化的码盘数据以及IMU数据；随后，将电子设备重新放到A点，电子设备通过实施所述随时间变化的码盘数据以及IMU数据，能够自主的完成从A点移动到B点。
当然，本发明实施例并非仅限于这种示教再现的移动轨迹记录方法，也可以通过编码方式直接在电子设备中预存所述随时间变化的码盘数据以及IMU数据。
在再一实施方式中，本发明实施例的方法还包括：获得所述电子设备的第三参数，在获得满足第一条件的图像后，根据所述第三参数进一步调整所述图像采集单元的图像采集姿态，以获得满足第二条件的图像；所述第三参数用于描述所述电子设备自身的姿态。
为降低电子设备移动过程中的姿态波动对图像采集单元的工作稳定性(如保持镜头稳定性)的影响，本实施方式按一定的频率获得电子设备的姿态信息、即第三参数(如pitch、yaw、roll等)，依此来进一步调整(可能是微调)图像采集单元的图像采集姿态，以提升图像的视觉效果。
例如：所述第一条件限制目标对象位于图像采集单元的构图中心区域内，而通过第二参数控制图像采集单元仅仅满足所述第一条件(构图的中心区域内有目标对象)时，并不能确保获得的图像效果，因为，通常电子设备移动存在抖动、颠簸，这容易导致目标对象在构图的中心区域内抖动，这种情况下获得的图像效果不佳；而通过测量电子设备的第三参数，采用灵敏度更高的方式来调整图像采集单元的姿态，使图像采集单元的拍摄姿态始终保持最佳姿态(pitch、yaw、roll最佳)，而不受电子设备的抖动、颠簸的影响，提升所获得图像的视觉效果。
在又一实施方式中，目标对象上设有超宽带(UWB，Ultra Wideband)信标，所述电子设备包括UWB单元，所述获得目标对象与电子设备之间的位置信息，包括：
所述电子设备通过UWB单元与所述UWB信标之间进行UWB信号交互，并基于所述UWB单元发送给所述UWB信标的信号、以及接收的所述UWB信标的返回信号，获得所述目标对象与电子设备之间的位置信息。
也就是说，基于UWB技术，能够实现电子设备对目标对象的位置跟随，在目标对象上安装UWB信标，电子设备上安装UWB单元，通过UWB单元向UWB信标发射信号，并接收UWB信标的返回信号，能够获得UWB信标与UWB单元之间的相对 距离d和相对角度θ，依此来描述UWB信标与UWB单元之间的相对位置关系；根据所述UWB信标与UWB单元之间的相对位置关系，并考虑预设的UWB信标与目标对象、UWB单元与电子设备之间的位置换算关系，能够获得电子设备与目标对象之间的相对位置关系，并用来描述电子设备与目标对象之间的相对位置。其中，UWB信标与UWB单元之间的相对距离d可以采用基于(TOF，Time of Flight)的技术来测量，TOF通过计算无线电波(或光、声波等)发射和反射的时间差，来换算成相对距离d。UWB信标与UWB单元之间的相对角度θ可以采用基于到达角(AOA，Angle of arrival)的技术来测量，AOA是基于信号到达角度的定位算法，通过某些硬件设备感知发射节点信号的到达方向，可以计算接收节点和锚节点之间的相对方位或相对角度。
需要说明的是，本发明实施例并非仅限于用UWB技术来获得目标对象与电子设备之间的位置信息，实现电子设备对目标对象的跟随；本发明实施例还可以采用诸如超声波、红外测距、声呐、雷达、双目视觉、GPS等技术手段，来获得目标对象与电子设备之间的位置信息，实现电子设备对目标对象的跟随，本发明实施例在此不做限制。
通过实施本发明的实施例一，电子设备能够完成对目标对象的跟随，并能在跟随过程中适应性的调整图像采集单元的图像采集姿态，使目标对象始终处于图像采集单元的构图中；且，通过检测电子设备在移动过程中的抖动、颠簸对图像采集单元的图像采集姿态造成的影响，能通过对图像采集姿态的进一步微调，使图像采集单元能够应对电子设备在移动过程中的抖动、颠簸，保证所获得图像的视觉效果。本发明实施例的目标跟随拍摄不受拍摄环境、拍摄范围的局限，能实现自由度和灵活性更高的图像/视频拍摄，其应用场景广泛。
实施例二
对应本发明实施例一的信息处理方法，本发明实施例二还提供了一种电子设备，如图2所示，该电子设备包括：移动单元10、图像采集单元30和目标锁定单元20，所述图像采集单元30和目标锁定单元20设置于所述移动单元10上，所述移动单元10能够搭载所述图像采集单元30和目标锁定单元20移动，所述目标锁定单元20用于锁定目标对象，所述图像采集单元30用于进行图像采集；
所述目标锁定单元20还用于获得第一指令，所述第一指令用于指示进行基于目标跟随的图像采集；响应所述第一指令，获得目标对象与所述电子设备之间的位置信息，并将所述位置信息发送给所述移动单元10和所述图像采集单元30；
所述移动单元10还用于接收所述目标锁定单元20发送的所述位置信息，根 据所述位置信息获得第一参数，并根据所述第一参数控制所述移动单元10的移动状态，以使所述移动单元10跟随所述目标对象，所述第一参数为控制所述移动单元10移动状态的参数；
所述图像采集单元30还用于接收所述目标锁定单元20发送的所述位置信息，根据所述位置信息获得第二参数，并根据所述第二参数控制所述图像采集单元30的图像采集姿态，以使所述移动单元10在跟随所述目标对象的过程中，所述图像采集单元30能够获得满足第一条件的图像。
在一实施方式中，所述电子设备还包括：第一限制数据保存单元40，连接移动单元10，用于保存预设的第一限制数据，所述第一限制数据用于描述所述电子设备的限制移动轨迹或限制移动区域，基于所述第一限制数据的控制，所述电子设备无法移动到所述限制移动轨迹或限制移动区域之外；
所述移动单元10还用于，在根据所述位置信息获得第一参数后，根据所述第一限制数据对所述第一参数进行修正，并根据修正后的第一参数控制所述移动单元10的移动状态，使所述移动单元10仅在所述移动轨迹上或移动区域内跟随所述目标对象。
在一实施方式中，所述电子设备还包括：
第二限制数据保存单元50，连接移动单元10，用于保存预设的第二限制数据，所述第二限制数据用于描述所述电子设备的限制移动轨迹、以及电子设备在所述限制移动轨迹上的移动策略；
所述移动单元10、目标锁定单元20和图像采集单元30还用于，获得第二指令，所述第二指令用于指示所述电子设备按所述移动策略沿所述限制移动轨迹移动，且在移动过程中对目标对象进行图像采集；
所述移动单元10还用于，响应所述第二指令，根据所述第二限制数据控制所述移动单元10在所述限制移动轨迹上按所述移动策略进行移动；
所述目标锁定单元20还用于，在所述移动单元10移动的过程中，获得目标对象与所述电子设备之间的位置信息，并将所述位置信息发送给所述图像采集单元30；
所述图像采集单元30还用于，根据所述位置信息获得第二参数，根据所述第二参数控制所述图像采集单元30的图像采集姿态，以使所述移动单元10在移动的过程中，所述图像采集单元30能够获得满足第一条件的图像。
在一实施方式中，所述电子设备还包括限制移动轨迹记录单元60，连接第一限制数据保存单元40和第二限制数据保存单元50，限制移动轨迹记录单元60用于通过以下方式记录所述电子设备的限制移动轨迹：
获得第三指令，所述第三指令用于指示开始记录所述电子设备移动过的轨 迹；响应所述第三指令，记录所述电子设备在移动过程中随时间变化的码盘数据以及IMU数据，所述码盘数据以及IMU数据用于描述所述限制移动轨迹；获得第四指令，所述第四指令用于指示停止记录所述电子设备移动过的轨迹；响应所述第四指令，停止记录所述码盘数据以及IMU数据；
其中，记录的所述码盘数据以及IMU数据存入所述第一限制数据保存单元40或第二限制数据保存单元50。
在一实施方式中，所述图像采集单元30还用于，获得所述电子设备的第三参数，在获得满足第一条件的图像后，根据所述第三参数进一步调整所述图像采集单元的图像采集姿态，以获得满足第二条件的图像；所述第三参数用于描述所述移动单元10自身的姿态。
在一实施方式中，所述目标锁定单元20为UWB单元，
所述UWB单元用于，与所述目标对象上设有的UWB信标之间进行UWB信号交互，并基于所述UWB单元发送给所述UWB信标的信号、以及接收的所述UWB信标的返回信号，获得所述目标对象与电子设备之间的位置信息。
通过实施本发明的实施例二，电子设备能够完成对目标对象的跟随，并能在跟随过程中适应性的调整图像采集单元的图像采集姿态，使目标对象始终处于图像采集单元的构图中；且，通过检测电子设备在移动过程中的抖动、颠簸对图像采集单元的图像采集姿态造成的影响，能通过对图像采集姿态的进一步微调，使图像采集单元能够应对电子设备在移动过程中的抖动、颠簸，保证所获得图像的视觉效果。本发明实施例的目标跟随拍摄不受拍摄环境、拍摄范围的局限，能实现自由度和灵活性更高的图像/视频拍摄，其应用场景广泛。
需要特别说明的是，本发明实施例所指的电子设备是能够实现自主移动的电子设备，所谓自主移动是指无需外部控制而能够根据自身所获得的信息实现自主的移动，如：根据对外部环境的检测实现自主移动控制(如避障)，或，基于目标跟随的自主移动控制等等。常见的能实现自主移动的电子设备如：自平衡车、无人机等等。本发明实施例的电子设备需要至少具备目标跟随和图像采集这两种功能，所谓目标跟随是指电子设备能够跟随目标对象移动，如：与目标对象之间保持一定的距离和角度的跟随；所谓图像采集是指电子设备能够对目标对象进行图像采集，如拍照、录像。
下面以自平衡车上搭载目标跟随和图像采集这两种功能为例，进一步详细阐述本发明的实施例。
参见图3，图3为本发明实施例的一种自平衡车的组成结构示意图。图3中01代表自平衡车，在自平衡车01上安装有云台02，云台上设有UWB单元(图中 未示出)和图像采集单元03(相机)；自平衡车01即为本发明实施例所述的自主移动装置，且自平衡车01能够基于UWB技术实现对目标对象的跟随(满足预设的跟随距离和/或跟随角度等等)。云台02为一种三自由度云台，其能实现pitch、yaw、roll这三种角度的调节，基于云台02的调节，能实现对安装于其上的图像采集单元03的姿态调节。下面结合不同的应用场景分别阐述搭载有云台02、UWB单元和图像采集单元03的自平衡车01的目标跟随拍摄过程。
场景一：
预设自平衡车01的移动轨迹，自平衡车01按预设轨迹移动(比如：预设自平衡车01在1分钟之内按轨迹从A点走到B点)，在移动过程中云台02上的UWB单元测量目标对象(无论目标对象静止还是运动)与UWB单元之间的位置信息，通过调节云台02使图像采集单元03(相机)镜头始终对准目标对象。在自平衡车01移动过程中的跟随拍摄过程如下：
首先，基于用户触发，自平衡车01获得第二指令，第二指令用于自平衡车01按预设的移动策略沿预设的限制移动轨迹移动，且在移动过程中对目标对象进行图像采集；
其次，自平衡车01响应所述第二指令，按预设的移动策略并沿预设的移动轨迹移动，且在自平衡车01移动的过程中，云台02上的UWB单元通过与目标对象上安装的UWB信标进行通信，获得UWB信标与UWB单元之间的位置信息；
云台02根据所述位置信息获得用于调整云台02姿态(pitch、yaw、roll三种姿态)的第二参数，根据所述第二参数调整云台02自身的姿态，以保持在自平衡车01的移动过程中，图像采集单元03的镜头始终能够对准目标对象，使目标对象始终处于图像采集单元03的构图中(例如：使目标对象始终处于图像采集单元03的构图的中心区域内)；
另外，为降低自平衡车01移动过程中的姿态波动对图像采集单元03的工作稳定性(如保持镜头稳定性)的影响，本实施例还按一定的频率获得自平衡车01的姿态信息、即第三参数(如pitch、yaw、roll等)，依此来进一步调整(可能是微调)图像采集单元03的姿态，使图像采集单元03的拍摄姿态始终保持最佳姿态(pitch、yaw、roll最佳)，而不受自平衡车01的抖动、颠簸的影响，以提升图像的视觉效果。
场景二：不为自平衡车01预设移动轨迹，自平衡车01能够基于UWB单元实现对目标对象的自动跟随(满足预设的跟随距离和/或跟随角度等等)，在自平衡车01跟随目标对象的过程中，云台02上的UWB单元测量目标对象(无论目标对象静止还是运动)与UWB单元之间的位置信息，通过调节云台02使图像采 集单元03(相机)镜头始终对准目标对象。在自平衡车01移动过程中的跟随拍摄过程如下：
首先，基于用户触发，自平衡车01获得第一指令，所述第一指令用于指示进行基于目标跟随的图像采集；自平衡车01响应所述第一指令，云台02上的UWB单元通过与目标对象上安装的UWB信标进行通信，获得UWB信标与UWB单元之间的位置信息(相对距离和相对角度等)；
其次，自平衡车01根据所述位置信息获得用于控制其自身移动状态的第一参数(车轮的平动速度、转动速度等)，并根据获得的第一参数控制自平衡车01的移动状态，以使自平衡车01跟随目标对象；
且，云台02根据所述位置信息获得用于调整云台02姿态(pitch、yaw、roll三种姿态)的第二参数，根据所述第二参数调整云台02自身的姿态，以保持在自平衡车01的移动过程中，图像采集单元03的镜头始终能够对准目标对象，使目标对象始终处于图像采集单元03的构图中(例如：使目标对象始终处于图像采集单元03的构图的中心区域内)；
另外，为降低自平衡车01移动过程中的姿态波动对图像采集单元03的工作稳定性(如保持镜头稳定性)的影响，本实施例还按一定的频率获得自平衡车01的姿态信息、即第三参数(如pitch、yaw、roll等)，依此来进一步调整(可能是微调)图像采集单元03的姿态，使图像采集单元03的拍摄姿态始终保持最佳姿态(pitch、yaw、roll最佳)，而不受自平衡车01的抖动、颠簸的影响，以提升图像的视觉效果。
场景三：预设自平衡车01的限制移动轨迹/限制移动区域，自平衡车01只能在预设的轨迹/区域上移动(但与场景一不同的是，自平衡车01在预设的轨迹/区域上是可自主移动的)；自平衡车01能够基于UWB单元实现对目标对象的有限制条件(即移动轨迹或移动区域的限制)的跟随，在自平衡车01跟随目标对象的过程中，云台02上的UWB单元测量目标对象(无论目标对象静止还是运动)与UWB单元之间的位置信息，通过调节云台02使图像采集单元03(相机)镜头始终对准目标对象。在自平衡车01移动过程中的跟随拍摄过程如下：
首先，基于用户触发，自平衡车01获得第一指令，所述第一指令用于指示进行基于目标跟随的图像采集；自平衡车01响应所述第一指令，云台02上的UWB单元通过与目标对象上安装的UWB信标进行通信，获得UWB信标与UWB单元之间的位置信息；
其次，自平衡车01根据所述位置信息获得用于控制其自身移动状态的第一参数(车轮的平动速度、转动速度等)，在获得第一参数后，根据第一参数预 测自平衡车01的移动轨迹，将预测的移动轨迹与所述限制移动轨迹或限制移动区域进行比较，以判断预测的移动轨迹是否超出所述限制移动轨迹或限制移动区域，如果超出，则修正第一参数，使修正后的第一参数预测的移动轨迹不超出所述限制移动轨迹或限制移动区域，如果没超出，则无需对第一参数进行修正；
按修改正后的第一参数控制自平衡车01的移动状态，使自平衡车01仅在所述限制移动轨迹上或限制移动区域内跟随目标对象；
且，云台02根据所述位置信息获得用于调整云台02姿态(pitch、yaw、roll三种姿态)的第二参数，根据所述第二参数调整云台02自身的姿态，以保持在自平衡车01的移动过程中，图像采集单元03的镜头始终能够对准目标对象，使目标对象始终处于图像采集单元03的构图中(例如：使目标对象始终处于图像采集单元03的构图的中心区域内)；
另外，为降低自平衡车01移动过程中的姿态波动对图像采集单元03的工作稳定性(如保持镜头稳定性)的影响，本实施例还按一定的频率获得自平衡车01的姿态信息、即第三参数(如pitch、yaw、roll等)，依此来进一步调整(可能是微调)图像采集单元03的姿态，使图像采集单元03的拍摄姿态始终保持最佳姿态(pitch、yaw、roll最佳)，而不受自平衡车01的抖动、颠簸的影响，以提升图像的视觉效果。
综上所述，通过实施本发明实施例，电子设备能够完成对目标对象的跟随，并能在跟随过程中适应性的调整图像采集单元的图像采集姿态，使目标对象始终处于图像采集单元的构图中；且，通过检测电子设备在移动过程中的抖动、颠簸对图像采集单元的图像采集姿态造成的影响，能通过对图像采集姿态的进一步微调，使图像采集单元能够应对电子设备在移动过程中的抖动、颠簸，保证所获得图像的视觉效果。本发明实施例的目标跟随拍摄不受拍摄环境、拍摄范围的局限，能实现自由度和灵活性更高的图像/视频拍摄，其应用场景广泛。
另外，本发明实施例的方案并非仅限于在自平衡车上(二维空间自主移动设备)的应用，其应当也适用于无人机(三维空间自主移动设备)等上的应用；其在无人机(三维空间自主移动设备)上的实现过程与在二维空间自主移动设备上的实现过程类似，此处不再赘述。
在本发明所提供的几个实施例中，应该理解到，所揭露的方法、装置和电子设备，可以通过其它的方式实现。以上所描述的设备实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，如：多个单元或组件可以结合，或可以集成到另一个系统，或一些特征可以忽略，或不执行。另外，所显示或讨论的各组成部分相互之间的耦合、 或直接耦合、或通信连接可以是通过一些接口，设备或单元的间接耦合或通信连接，可以是电性的、机械的或其它形式的。
上述作为分离部件说明的单元可以是、或也可以不是物理上分开的，作为单元显示的部件可以是、或也可以不是物理单元，即可以位于一个地方，也可以分布到多个网络单元上；可以根据实际的需要选择其中的部分或全部单元来实现本实施例方案的目的。
另外，在本发明各实施例中的各功能单元可以全部集成在一个处理单元中，也可以是各单元分别单独作为一个单元，也可以两个或两个以上单元集成在一个单元中；上述集成的单元既可以采用硬件的形式实现，也可以采用硬件加软件功能单元的形式实现。
本领域普通技术人员可以理解：实现上述方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成，前述的程序可以存储于一计算机可读取存储介质中，该程序在执行时，执行包括上述方法实施例的步骤；而前述的存储介质包括：移动存储设备、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
或者，本发明实施例上述集成的单元如果以软件功能模块的形式实现并作为独立的产品销售或使用时，也可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明实施例的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机、服务器、或者网络设备等)执行本发明各个实施例所述方法的全部或部分。而前述的存储介质包括：移动存储设备、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
鉴于此，本发明实施例还提供了一种计算机可读存储介质，所述存储介质包括一组计算机可执行指令，所述指令用于执行本发明实施例所述的信息处理方法。
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应以所述权利要求的保护范围为准。

Claims (13)

  1. 一种信息处理方法，应用于可移动的电子设备，所述电子设备具有图像采集单元，所述图像采集单元能够进行图像采集；所述方法包括：
    获得第一指令，所述第一指令用于指示进行基于目标跟随的图像采集；
    响应所述第一指令，获得目标对象与所述电子设备之间的位置信息；
    根据所述位置信息获得第一参数，并根据所述第一参数控制所述电子设备的移动状态，以使所述电子设备跟随所述目标对象，所述第一参数为控制所述电子设备移动状态的参数；
    且，根据所述位置信息获得第二参数，并根据所述第二参数控制所述图像采集单元的图像采集姿态，以使所述电子设备在跟随所述目标对象的过程中，所述图像采集单元能够获得满足第一条件的图像。
  2. 根据权利要求1所述信息处理方法，其中，所述电子设备保存有预设的第一限制数据，所述第一限制数据用于描述所述电子设备的限制移动轨迹或限制移动区域，基于所述第一限制数据的控制，使所述电子设备无法移动到所述限制移动轨迹或限制移动区域之外；所述方法还包括：
    在根据所述位置信息获得第一参数后，根据所述第一限制数据对所述第一参数进行修正，并根据修正后的第一参数控制所述电子设备的移动状态，使所述电子设备仅在所述移动轨迹上或移动区域内跟随所述目标对象。
  3. 根据权利要求1所述信息处理方法，其中，所述电子设备保存有预设的第二限制数据，所述第二限制数据用于描述所述电子设备的限制移动轨迹、以及电子设备在所述限制移动轨迹上的移动策略，所述方法还包括：
    获得第二指令，所述第二指令用于指示所述电子设备按所述移动策略沿所述限制移动轨迹移动，且在移动过程中对目标对象进行图像采集；
    响应所述第二指令，根据所述第二限制数据控制所述电子设备在所述限制移动轨迹上按所述移动策略进行移动，且在所述电子设备移动的过程中，获得目标对象与所述电子设备之间的位置信息，并根据所述位置信息获得第二参数，根据所述第二参数控制所述图像采集单元的图像采集姿态，以使所述电子设备在移动的过程中，所述图像采集单元能够获得满足第一条件的图像。
  4. 根据权利要求2或3所述信息处理方法，其中，所述方法还包括：通过以下方式记录所述电子设备的限制移动轨迹：
    获得第三指令，所述第三指令用于指示开始记录所述电子设备移动过的轨迹；
    响应所述第三指令，记录所述电子设备在移动过程中随时间变化的码盘数据以及惯性测量单元IMU数据，所述码盘数据以及IMU数据用于描述所述限制移 动轨迹；
    获得第四指令，所述第四指令用于指示停止记录所述电子设备移动过的轨迹；
    响应所述第四指令，保存记录的所述码盘数据以及IMU数据。
  5. 根据权利要求1、2或3所述信息处理方法，其中，所述方法还包括：获得所述电子设备的第三参数，在获得满足第一条件的图像后，根据所述第三参数进一步调整所述图像采集单元的图像采集姿态，以获得满足第二条件的图像；所述第三参数用于描述所述电子设备自身的姿态。
  6. 根据权利要求1、2或3所述信息处理方法，其中，所述目标对象上设有超宽带UWB信标，所述电子设备包括UWB单元，所述获得目标对象与电子设备之间的位置信息，包括：
    所述电子设备通过UWB单元与所述UWB信标之间进行UWB信号交互，并基于所述UWB单元发送给所述UWB信标的信号、以及接收的所述UWB信标的返回信号，获得所述目标对象与电子设备之间的位置信息。
  7. 一种电子设备，包括：移动单元、图像采集单元和目标锁定单元，所述图像采集单元和目标锁定单元设置于所述移动单元上，所述移动单元能够搭载所述图像采集单元和目标锁定单元移动，所述目标锁定单元用于锁定目标对象，所述图像采集单元用于进行图像采集；
    所述目标锁定单元还用于，获得第一指令，所述第一指令用于指示进行基于目标跟随的图像采集；响应所述第一指令，获得目标对象与所述电子设备之间的位置信息，并将所述位置信息发送给所述移动单元和所述图像采集单元；
    所述移动单元还用于，接收所述目标锁定单元发送的所述位置信息，根据所述位置信息获得第一参数，并根据所述第一参数控制所述移动单元的移动状态，以使所述移动单元跟随所述目标对象，所述第一参数为控制所述移动单元移动状态的参数；
    所述图像采集单元还用于，接收所述目标锁定单元发送的所述位置信息，根据所述位置信息获得第二参数，并根据所述第二参数控制所述图像采集单元的图像采集姿态，以使所述移动单元在跟随所述目标对象的过程中，所述图像采集单元能够获得满足第一条件的图像。
  8. 根据权利要求7所述电子设备，其中，所述电子设备还包括：第一限制数据保存单元，用于保存预设的第一限制数据，所述第一限制数据用于描述所述电子设备的限制移动轨迹或限制移动区域，基于所述第一限制数据的控制，所述电子设备无法移动到所述限制移动轨迹或限制移动区域之外；
    所述移动单元还用于，在根据所述位置信息获得第一参数后，根据所述第 一限制数据对所述第一参数进行修正，并根据修正后的第一参数控制所述移动单元的移动状态，使所述移动单元仅在所述移动轨迹上或移动区域内跟随所述目标对象。
  9. 根据权利要求7所述电子设备，其中，所述电子设备还包括：
    第二限制数据保存单元，用于保存预设的第二限制数据，所述第二限制数据用于描述所述电子设备的限制移动轨迹、以及电子设备在所述限制移动轨迹上的移动策略；
    所述移动单元、目标锁定单元和图像采集单元还用于，获得第二指令，所述第二指令用于指示所述电子设备按所述移动策略沿所述限制移动轨迹移动，且在移动过程中对目标对象进行图像采集；
    所述移动单元还用于，响应所述第二指令，根据所述第二限制数据控制所述移动单元在所述限制移动轨迹上按所述移动策略进行移动；
    所述目标锁定单元还用于，在所述移动单元移动的过程中，获得目标对象与所述电子设备之间的位置信息，并将所述位置信息发送给所述图像采集单元；
    所述图像采集单元还用于，根据所述位置信息获得第二参数，根据所述第二参数控制所述图像采集单元的图像采集姿态，以使所述移动单元在移动的过程中，所述图像采集单元能够获得满足第一条件的图像。
  10. 根据权利要求8或9所述电子设备，其中，所述电子设备还包括限制移动轨迹记录单元，用于通过以下方式记录所述电子设备的限制移动轨迹：
    获得第三指令，所述第三指令用于指示开始记录所述电子设备移动过的轨迹；响应所述第三指令，记录所述电子设备在移动过程中随时间变化的码盘数据以及惯性测量单元IMU数据，所述码盘数据以及IMU数据用于描述所述限制移动轨迹；获得第四指令，所述第四指令用于指示停止记录所述电子设备移动过的轨迹；响应所述第四指令，停止记录所述码盘数据以及IMU数据；
    其中，记录的所述码盘数据以及IMU数据存入所述第一限制数据保存单元或第二限制数据保存单元。
  11. 根据权利要求7、8或9所述电子设备，其中，所述图像采集单元还用于，获得所述电子设备的第三参数，在获得满足第一条件的图像后，根据所述第三参数进一步调整所述图像采集单元的图像采集姿态，以获得满足第二条件的图像；所述第三参数用于描述所述移动单元自身的姿态。
  12. 根据权利要求7、8或9所述电子设备，其中，所述目标锁定单元为超宽带UWB单元，
    所述UWB单元用于，与所述目标对象上设有的UWB信标之间进行UWB信号交 互，并基于所述UWB单元发送给所述UWB信标的信号、以及接收的所述UWB信标的返回信号，获得所述目标对象与电子设备之间的位置信息。
  13. 一种计算机存储介质，所述计算机存储介质中存储有计算机可执行指令，所述计算机可执行指令配置为执行权利要求1-6任一项所述的信息处理方法。
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