# US 11,115,594 B2 · Shutter speed adjusting method and apparatus, and robot using the same

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- Number: US 11,115,594 B2
- Document ID: US11115594B2
- Status: Granted
- Kind: B2
- Application number: 16/195,871
- Filed: 2018-11-20
- Published: 2019-06-27
- Granted: 2021-09-07
- Earliest claimed: 2017-12-26
- Assignees: Ubtech Robotics Corp Ltd
- Applicants: UBTECH Robotics Corp
- Inventors: Youjun Xiong; Xiangnan Gu
- Web page: https://patentgrep.com/patent/US11115594B2

## CPC

- H04N 23/689: {Motion occurring during a rolling shutter mode}
- B25J 9/1664: {characterised by motion, path, trajectory planning}
- B25J 9/1697: {Vision controlled systems}
- B25J 19/023: {including video camera means}
- H04N 23/6812: {based on additional sensors, e.g. acceleration sensors}
- H04N 23/683: {performed by a processor, e.g. controlling the readout of an image memory}
- H04N 23/73: by influencing the exposure time
- H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})

## Abstract

The present disclosure provides a shutter speed adjusting method and apparatus or a robot with a photographing device, and a robot using the same. The method includes: obtaining a motion speed of the robot: obtaining an included angle between a motion direction of the robot and a shooting direction of the photographing device; obtaining a distance between the robot and a photographed object; and adjusting a shutter speed of the photographing device based on the motion speed, the included angle, and the distance. Through the present disclosure, the problem of blurred picture caused by the movement of the robot itself can be avoided, thereby improving the photographing quality.

## Claims

### Claim 1

A computer-implemented shutter speed adjusting method for a robot with a photographing device, comprising executing on a processor the steps of:
obtaining a motion speed of the robot;
obtaining an included angle between a motion direction of the robot and a shooting direction of the photographing device;
obtaining a distance between the robot and a photographed object; and
adjusting a shutter speed of the photographing device based on the motion speed, the included angle, and the distance;
wherein the step of obtaining the motion speed of the robot comprises:
calculating the motion speed of the robot based on a rotational speed of a servo of the robot through the following formula:
v=R×ω,
where, v indicates the motion speed of the robot, ω indicates the angular speed of the servo of the robot, and R indicates the radius of a wheel of the robot.

### Claim 2 (depends on 1)

The method of claim 1, wherein, the step of obtaining the included angle between the motion direction of the robot and the shooting direction of the photographing device comprises:
obtaining a rotational angle of the photographing device;
calculating the included angle between the motion direction of the robot and the photographing direction of the photographing device based on the rotational angle of the photographing device through the following formula:
w=|1−90°|;
where, w indicates the included angle and w1 indicates the rotational angle of the photographing device.

### Claim 3 (depends on 1)

The method of claim 1, wherein the step of obtaining the distance between the robot and the photographed object comprises:
obtaining the distance between the robot and the photographed object through a sensor.

### Claim 4 (depends on 1)

The method of claim 1, wherein the step of adjusting the shutter speed of the photographing device based on the motion speed, the included angle, and the distance comprises:
calculating a first shutter speed based on the motion speed of the robot and the distance between the robot and the photographed object through the following formula:
v
⁢
⁢
1
=
d
v
·
u
;
where, v1 indicates the first shutter speed, v indicates the motion speed of the robot, d indicates the distance between the robot and the photographed object, and u indicates a lens focal length of the photographing device;
calculating a second shutter speed based on the first shutter speed and the included angle between the motion direction of the robot and the shooting direction of the photographing device through the following formula:
v2=v1·K;
where, v2 indicates the second shutter speed, v1 indicates the first shutter speed, and K indicates a scale factor corresponding to the included angle; and
adjusting the shutter speed of the photographing device based on the second shutter speed.

### Claim 5 (depends on 3)

The method of claim 3, wherein the step of obtaining the distance between the robot and the photographed object through the sensor, comprises:
obtaining the distance between the robot and the photographed object through through a laser sensor or a radar sensor.

### Claim 6 (depends on 1)

The method of claim 1, the step of adjusting the shutter speed of the photographing device based on the motion speed, the included angle, and the distance, comprises:
determining whether the motion speed, the included angle, and the distance are all within their corresponding value range; and
adjusting the shutter speed of the photographing device based on the motion speed, the included angle, and the distance, when the distance are all within their corresponding value range.

### Claim 7

A shutter speed adjusting apparatus for a robot with a photographing device, comprising:
a first obtaining module configured to obtain a motion speed of the robot;
a second obtaining module configured to obtain an included angle between a motion direction of the robot and a shooting direction of the photographing device;
a third obtaining module configured to obtain a distance between the robot and a photographed object; and
an adjustment module configured to adjust a shutter speed of the photographing device based on the motion speed, the included angle, and the distance;
wherein the first obtaining module is configured to: calculating the motion speed of the robot based on a rotational speed of a servo of the robot through the following formula:
v=R×ω;
where, v indicates the motion speed of the robot, ω indicates the angular speed of the servo of the robot, and R indicates the radius of a wheel of the robot.

### Claim 8 (depends on 7)

The apparatus of claim 7, wherein the second obtaining module is configured to:
obtaining a rotational angle of the photographing device;
calculating the included angle between the motion direction of the robot and the photographing direction of the photographing device based on the rotational angle of the photographing device through the following formula:
w=|w1−90 °|;
where, w indicates the included angle and w1 indicates the rotational angle of the photographing device.

### Claim 9 (depends on 7)

The apparatus of claim 7, the third obtaining module is configured to obtain the distance between the robot and the photographed object through a sensor.

### Claim 10 (depends on 7)

The apparatus of claim 7, wherein the adjustment module comprises:
a first calculation unit configured to calculate a first shutter speed based on the motion speed of the robot and the distance between the robot and the photographed object through the following formula:
v
⁢
⁢
1
=
d
v
·
u
;
where, v1 indicates the first: shutter speed, v indicates the motion speed of the robot, d indicates the distance between the robot and the photographed object, and u indicates a lens focal length of the photographing device;
a second calculation unit configured to calculate a second shutter speed based on the first shutter speed and the included angle between the motion direction of the robot and the shooting direction of the photographing device through the following formula:
v2=v1·K;
where, v2 indicates the second, shutter speed, v1 indicates the first shutter speed, and K indicates a scale factor corresponding to the included angle; and
an adjustment unit configured to adjust the shutter speed of the photographing device based on the second shutter speed.

### Claim 11 (depends on 9)

The apparatus of claim 9, wherein the third obtaining module is further configured to obtain the distance between the robot and the photographed object through through a laser sensor or a radar sensor.

### Claim 12 (depends on 7)

The apparatus of claim 7, wherein the adjustment module is further configured to determine whether the motion speed, the included angle, and the distance are all within their corresponding value range, and adjust the shutter speed of the photographing device based on the motion speed, the included angle, and the distance, when the distance are all within their corresponding value range.

### Claim 13

A robot comprising:
a photographing device;
a memory;
one or more processors; and
one or more computer programs stored in the memory and executable on the one or more processors, wherein the one or more computer programs comprise:
instructions for obtaining a motion speed of the robot;
instructions for obtaining an included angle between a motion direction of the robot and, a shooting direction of the photographing device;
instructions to obtaining a distance between the robot and a photographed object; and instructions for obtaining adjusting a shutter speed of the photographing device based on the motion speed, the included angle, and the distance;
wherein the instructions for obtaining the motion speed of the robot comprise: instructions for calculating the motion speed of the robot based on a rotational speed of a servo of the robot through the following formula:
v=R×ω,
where, v indicates the motion speed of the robot, ω indicates the angular speed of the servo of the robot, and R indicates the radius of a wheel of the robot.

### Claim 14 (depends on 13)

The robot of claim 13, wherein the instructions for obtaining the included angle between the motion direction of the robot and the shooting direction of the photographing device comprise:
instructions for obtaining a rotational angle of the photographing device;
instructions the calculating the included angle between the motion direction of the robot and the photographing direction of the photographing device based on the rotational angle of the photographing device through the following formula:
w=|w1−90 °|;
where, w indicates the included angle and w1 indicates the rotational angle of the photographing device.

### Claim 15 (depends on 13)

The robot of claim 13, wherein the instructions for obtaining the distance between the robot and the photographed object comprise: instructions for obtaining the distance between the robot and the photographed object through a sensor.

### Claim 16 (depends on 13)

The robot of claim 13, wherein the instructions for obtaining adjusting the shutter speed of the photographing device based on the motion speed, the included angle, and the distance comprise:
instructions for calculating a first shutter speed based on the motion speed of the robot and the distance between the robot and the photographed object through the following formula:
v
⁢
⁢
1
=
d
v
·
u
;
where, v1 indicates the first shutter speed, v indicates the motion speed of the robot, d indicates the distance between the robot and the photographed object, and u indicates a lens focal length of the photographing device;
instructions for calculating a second shutter speed based on the first shutter speed and the included angle between the motion direction of the robot and the shooting direction of the photographing device through the following formula:
v2=v1·K;
where, v2 indicates the second shutter speed, v1 indicates the first shutter speed, and K indicates a scale factor corresponding to the included angle; and
instructions for adjusting the shutter speed of the photographing device based on the second shutter speed.

### Claim 17 (depends on 15)

The robot of claim 15, wherein the instructions for obtaining the distance between the robot and the photographed object through the sensor comprise:
instructions for obtaining the distance between the robot and the, photographed object through through a laser sensor or a radar sensor.

### Claim 18 (depends on 13)

The robot of claim 13 wherein the instructions for adjusting the shutter speed of the photographing device based on the motion speed, the included angle, and the distance, comprises:
instructions for determining whether the motion speed, the included angle, and the distance are all within their corresponding value range; and
instructions for adjusting the shutter speed of the photographing device based on the motion speed, the included angle, and the distance, when the distance are all within their corresponding value range.