Multi-camera frame synchronization control method and self-propelled device
AssigneeBeijing Roborock Innovation Technology Co., Ltd.
InventorsJie LI, Zhanzhi ZHANG
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Abstract
A method for performing frame synchronization control on a first camera and a second camera of a self-propelled device includes: sending, in response to capturing a first image frame, a synchronization instruction to a controller of the self-propelled device; in response to receiving the synchronization instruction, determining a sending timepoint of a frame synchronization signal based on a time offset relative to a timepoint of capturing the first image frame; and sending the frame synchronization signal to the second camera at the sending timepoint, thereby controlling the second camera to capture a second image frame.
Claims21
A method for performing frame synchronization control on a first camera and a second camera of a self-propelled device, comprising:
- sending, by the first camera in response to capturing a first image frame, a synchronization instruction to a controller of the self-propelled device;
- in response to receiving the synchronization instruction, determining, by the controller, a sending timepoint of a frame synchronization signal based on a time offset relative to a timepoint of capturing the first image frame;
- and
- sending, by the controller, the frame synchronization signal to the second camera at the sending timepoint, thereby controlling the second camera to capture a second image frame.
A self-propelled device, comprising a first camera, a second camera and a controller, wherein;
- the first camera is configured to send a synchronization instruction to the controller in response to capturing a first image frame;
- and
- the controller is configured to, in response to receiving the synchronization instruction, determine a sending timepoint of a frame synchronization signal based on a time offset relative to a timepoint of capturing the first image frame;
- and send the frame synchronization signal to the second camera at the sending timepoint, thereby controlling the second camera to capture a second image frame.
15-16. (canceled)
A non-transitory computer-readable storage medium, having a computer program stored therein, wherein the computer program is configured to, upon execution by at least one hardware processor, perform a method for performing frame synchronization control on a first camera and a second camera of a self-propelled device, the method comprising:
- sending, in response to capturing a first image frame, a synchronization instruction to a controller of the self-propelled device;
- in response to receiving the synchronization instruction, determining a sending timepoint of a frame synchronization signal based on a time offset relative to a timepoint of capturing the first image frame;
- and
- sending the frame synchronization signal to the second camera at the sending timepoint, thereby controlling the second camera to capture a second image frame.
Dependencies are inferred from the claim text.