CN115278091B - Automatic camera system with all-directional automatic inspection and visual perception functions - Google Patents
Automatic camera system with all-directional automatic inspection and visual perception functions Download PDFInfo
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- CN115278091B CN115278091B CN202211219236.5A CN202211219236A CN115278091B CN 115278091 B CN115278091 B CN 115278091B CN 202211219236 A CN202211219236 A CN 202211219236A CN 115278091 B CN115278091 B CN 115278091B
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- 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
Abstract
The invention provides an automatic camera system with omnibearing automatic tour and visual perception, which comprises a cruise control module, a camera module, a storage module and an analysis control module, wherein the camera module is used for shooting a real-time picture, the cruise control module is used for controlling the rotation of the camera module, the storage module is used for storing the real-time picture shot by the camera module, and the analysis control module is used for analyzing the real-time picture and sending a control instruction to the cruise control module according to an analysis result; the system can automatically control the camera to realize patrol in a specific area, can quickly detect and shoot the area in detail when a motion event occurs in a certain area, and can shoot important events occurring in the specific area in time.
Description
Technical Field
The invention relates to the field of television cameras, in particular to an automatic camera system with omnibearing automatic patrol and visual perception.
Background
The cameras are of various types, and the basic principle of operation is the same: when an object is shot, light reflected on the object is collected by a camera lens, the light is focused on a light receiving surface of an image pickup device, and then the light is converted into electric energy through the image pickup device, namely a video signal is obtained.
The foregoing discussion of the background art is intended only to facilitate an understanding of the present invention. This discussion is not an acknowledgement or admission that any of the material referred to is part of the common general knowledge.
Many cruise camera systems have been developed, and through a lot of search and reference, it is found that the existing camera system is as disclosed in CN101790048B, and these systems generally include a control module and a camera module, the control module drives the camera module to cruise automatically to find a target, and during the cruise process, drives to reduce the imaging resolution of the camera module and increase the rotation speed of the camera module, when the target is identified, the control module controls to adjust the position of the camera module to adjust the imaging of the target in the camera module to the central part of the image, and then amplifies the optical magnification in a proper proportion, and controls the camera module to focus automatically to take a picture. Although the system increases the cruising speed, a blind spot still exists, and the image quality of cruising shooting is reduced due to the increase of the cruising speed.
Disclosure of Invention
The invention aims to provide an automatic camera system with omnibearing automatic patrol and visual perception aiming at the defects.
The invention adopts the following technical scheme:
an automatic camera system with omnibearing automatic tour and visual perception comprises a cruise control module, a camera module, a storage module and an analysis control module, wherein the camera module is used for shooting a real-time picture, the cruise control module is used for controlling the rotation of the camera module, the storage module is used for storing the real-time picture shot by the camera module, and the analysis control module is used for analyzing the real-time picture and sending a control instruction to the cruise control module according to an analysis result;
the camera shooting module comprises a main camera and an auxiliary camera, the operation mode of the main camera comprises a first main mode and a second main mode, under the first main mode, the main camera performs tour shooting under the action of the cruise control module, at the moment, the auxiliary camera is used for shooting and capturing suspicious areas, under the second main mode, the main camera is used for shooting pictures of the suspicious areas, and at the moment, the auxiliary camera is used for replacing the main camera to perform tour shooting;
when the analysis module judges that a motion capture event is triggered, the main camera is switched from a first main mode to a second main mode;
in the process of triggering and judging a motion capture event, real-time pictures shot by the auxiliary camera are divided into special frame pictures and common frame pictures, a time period between two adjacent special frame pictures shot by the auxiliary camera is called a judging period, a reference frame picture corresponding to the special frame pictures is stored in the storage region, pixel points with gray difference of pixel points at corresponding positions of the two pictures being larger than a threshold value are called difference points, and after entering a new judging period, the analysis control module calculates the difference base number P between the special frame pictures and the reference frame pictures according to the following formula:
wherein n is the number of difference points between the special frame picture and the reference frame picture;
the analysis control module counts the number of difference points of two adjacent common frame pictures and records the number as
I is the frame number of the common frame in a judgment period;
the analysis control module calculates a motion index Q according to the following formula:
when the motion index is larger than a motion threshold value, judging that a motion capture event is triggered;
further, when the analysis module judges that a motion stop event is triggered, the main camera is switched from the second main mode to the first main mode;
the analysis is performed during a motion stop event trigger determinationThe control module counts the number of the difference points of two adjacent frames of pictures in the video shot by the main camera in the second main mode, and records the number as
J is the frame number of each frame in the video, and the analysis control module calculates the static index according to the following formula
：
Where k represents the start frame number,
representing the number of frames in the video over a duration t;
when the stillness index is smaller than a stillness threshold, judging that a motion stopping event is triggered;
further, when the analysis control module judges the motion capture event, the analysis control module analyzes the picture shot by the main camera;
further, the cruise control module comprises a first rotating unit and a second rotating unit, the main camera is mounted on the first rotating unit, and the auxiliary camera is mounted on the second rotating unit;
further, the storage module includes three storage areas, which are a first storage area, a second storage area and a third storage area, respectively, where the first storage area stores real-time pictures shot by the main camera and the auxiliary camera, the second storage area stores reference frame pictures used for motion capture event determination, and the third storage area stores video data shot by the main camera in the second main mode.
The beneficial effects obtained by the invention are as follows:
this system is through having set up two cameras, and a camera cruises with normal speed, perhaps carries out static monitoring to a certain region, and another camera is found out with faster speed can be regional, or replaces crusing, and this system automatic switch-over under two kinds of modes can realize catching and taking notes the motion incident that takes place in this region in time, and greatly reduced is by the information content of omitting.
For a better understanding of the features and technical content of the present invention, reference should be made to the following detailed description of the invention and accompanying drawings, which are provided for purposes of illustration and description only and are not intended to limit the invention.
Drawings
FIG. 1 is a schematic view of the overall structural framework of the present invention;
FIG. 2 is a schematic diagram illustrating an overview of mode switching according to the present invention;
FIG. 3 is a schematic diagram illustrating a first switching mode process according to the present invention;
FIG. 4 is a schematic flow chart of a second switching mode of the present invention;
fig. 5 is a schematic flow chart of a third switching mode according to the present invention.
Detailed Description
The following is a description of embodiments of the present invention with reference to specific embodiments, and those skilled in the art will understand the advantages and effects of the present invention from the disclosure of the present specification. The invention is capable of other and different embodiments and its several details are capable of modifications and various changes in detail without departing from the spirit and scope of the present invention. The drawings of the present invention are for illustrative purposes only and are not intended to be drawn to scale. The following embodiments will further explain the related art of the present invention in detail, but the disclosure is not intended to limit the scope of the present invention.
The first embodiment.
The embodiment provides an automatic camera system with omnibearing automatic tour and visual perception, which, with reference to fig. 1, includes a cruise control module, a camera module, a storage module and an analysis control module, wherein the camera module is used for shooting a real-time picture, the cruise control module is used for controlling the rotation of the camera module, the storage module is used for storing the real-time picture shot by the camera module, and the analysis control module is used for analyzing the real-time picture and sending a control instruction to the cruise control module according to an analysis result;
the camera shooting module comprises a main camera and an auxiliary camera, the operation mode of the main camera comprises a first main mode and a second main mode, under the first main mode, the main camera performs tour shooting under the action of the cruise control module, the auxiliary camera is used for shooting and capturing suspicious areas, under the second main mode, the main camera is used for shooting pictures of the suspicious areas, and the auxiliary camera is used for replacing the main camera to perform tour shooting;
when the analysis module judges that a motion capture event is triggered, the main camera is switched from a first main mode to a second main mode;
in the process of triggering and judging a motion capture event, real-time pictures shot by the auxiliary camera are divided into special frame pictures and common frame pictures, a time period between two adjacent special frame pictures shot by the auxiliary camera is called a judging period, a reference frame picture corresponding to the special frame pictures is stored in the storage region, pixel points with the gray difference of the pixel points at the corresponding positions of the two pictures being larger than a threshold value are called difference points, and after entering a new judging period, the analysis control module calculates the difference base number P of the special frame pictures and the reference frame pictures according to the following formula:
wherein n is the number of difference points between the special frame picture and the reference frame picture;
the analysis control module counts the number of difference points of two adjacent common frame pictures and records the number as
I is general in a judgment periodFrame number of through frame picture;
the analysis control module calculates a motion index Q according to the following formula:
when the motion index is larger than a motion threshold value, judging that a motion capture event is triggered;
when the analysis module judges that a motion stop event is triggered, the main camera is switched from a second main mode to the first main mode;
in the process of triggering and judging the motion stop event, the analysis control module counts the number of difference points of two adjacent frames of pictures in the video shot by the main camera in the second main mode, and records the number as
J is the frame number of each frame in the video, and the analysis control module calculates the static index according to the following formula
：
Where k represents the start frame number,
representing the number of frames in the video over a duration t;
when the stillness index is smaller than a stillness threshold, judging that a motion stopping event is triggered;
when the analysis control module judges the motion capture event, the analysis control module analyzes the picture shot by the main camera;
the cruise control module comprises a first rotating unit and a second rotating unit, the main camera is mounted on the first rotating unit, and the auxiliary camera is mounted on the second rotating unit;
the storage module comprises three storage areas, namely a first storage area, a second storage area and a third storage area, wherein the first storage area stores real-time pictures shot by the main camera and the auxiliary camera, the second storage area stores reference frame pictures used for judging motion capture events, and the third storage area stores video data shot by the main camera in the second main mode.
Example two.
The embodiment includes the whole content of the first embodiment, and provides an automatic camera system with omnibearing automatic tour and visual perception, which comprises a cruise control module, a camera module, a storage module and an analysis control module, wherein the camera module is used for shooting a real-time picture, the cruise control module is used for controlling the rotation of the camera module, the storage module is used for storing the real-time picture shot by the camera module, and the analysis control module is used for analyzing the real-time picture and sending a control instruction to the cruise control module according to an analysis result;
the camera module includes main camera and assistance camera, main camera can shoot than assist the more clear picture of camera, the operational mode of main camera includes first main mode and second main mode, the operational mode of assisting the camera includes first assistance mode and second assistance mode, works as main camera with when first main mode is operated, vice camera with first assistance mode operation works as main camera with when second main mode is operated, vice camera with mode operation is assisted to the second under the first main mode, main camera patrols with fixed speed, patrols the time period of once all-round picture for patrolling for first main mode
In the second main mode, the main camera stops the patrol and still shoots a picture in a fixed direction, and in the first main mode, the auxiliary camera patrols at a fixed speed,the time period of one-time all-round picture inspection is
In the second auxiliary mode, the auxiliary camera performs patrol at a fixed speed, and the time period of patrol for one-time omnibearing picture is
Period of time
Less than period
；
With reference to fig. 2, the system is provided with two trigger events, when the trigger event occurs, the main camera changes its operation mode, a first type of trigger event is a motion capture event, when a long-time operation picture appears in a picture taken by the main camera in the first main mode or the auxiliary camera in the first auxiliary mode, the main camera switches from the first main mode to the second main mode, a second type of trigger event is a motion stop event, and when a long-time unchanged picture taken by the main camera in the second main mode appears, the main camera switches from the second main mode to the first main mode;
the cruise control module comprises a first rotating unit and a second rotating unit, the main camera is installed on the first rotating unit, the auxiliary camera is installed on the second rotating unit, the first rotating unit and the second rotating unit can control the rotating speeds of the main camera and the auxiliary camera, the first rotating unit and the second rotating unit are both provided with a reset contact, the cruise control module further comprises a timing unit, when the main camera or the auxiliary camera rotates to the reset contact, the timing unit can reset time and count again, the cruise control module can calculate the position of the main camera according to the rotating speed of the first rotating unit and the time on the timing unit, the cruise control module can calculate the position of the auxiliary camera according to the rotating speed of the second rotating unit and the time on the timing unit, and two sets of timing systems are arranged in the timing unit and can independently time the main camera and the auxiliary camera;
the storage module comprises three storage areas, namely a first storage area, a second storage area and a third storage area, wherein the first storage area is used for storing real-time pictures shot by the main camera and the auxiliary camera, the first storage area is provided with storage aging, the storage data exceeding the storage aging can be covered by new storage data, the second storage area is used for storing reference pictures, the main camera and the auxiliary camera are provided with a plurality of reference points, each reference point corresponds to one position, the reference pictures are pictures shot by the main camera and the auxiliary camera at the reference points, the reference pictures can be selectively replaced, the third storage area is used for storing suspicious videos, the suspicious videos are videos shot by the main camera in the second main mode, the suspicious videos are directly obtained by recording data in the first storage area, and the suspicious videos cannot be automatically deleted or covered;
the analysis control module compares and analyzes real-time pictures shot by the main camera and the auxiliary camera with corresponding reference pictures and is used for judging whether a motion capture event is triggered or not, and when the motion capture event is triggered, the analysis control module sends an instruction to the cruise control module to enable the main camera to enter a second main mode;
with reference to fig. 3, when the picture triggering the motion capture event is captured by the main camera, the workflow of the camera module switching mode includes the following steps:
s1, the analysis control module sends a first switching instruction to the cruise control module;
s2, the cruise control module controls the first rotating unit to stop rotating;
s3, the cruise control module adjusts the rotating speed of the second rotating unit to enable the auxiliary camera to enter a second auxiliary mode;
with reference to fig. 4, when the picture triggering the motion capture event is captured by the secondary camera, the workflow of the camera module switching mode includes the following steps:
s21, the analysis control module sends a second switching instruction to the cruise control module;
s22, the cruise control module controls the first rotating unit to stop rotating and sends the position information at the moment to the analysis control module;
s23, the cruise control module sends the current position of the second rotating unit to the analysis control module, and adjusts the rotating speed of the second rotating unit to enable the auxiliary camera to enter a second auxiliary mode;
s24, the analysis control module calculates an adjustment parameter according to the two pieces of position information and sends the adjustment parameter to the cruise control module;
s25, after the cruise control module rotates the first rotating unit to the position in the step S23 according to the adjusting parameters, the main camera enters a second main mode;
with reference to fig. 5, the analysis control module analyzes the suspicious video being shot by the main camera in the second main mode, and when the analysis result triggers a motion stop event, the workflow of the camera module for switching modes includes the following steps:
s31, the analysis control module sends a position inquiry instruction to the cruise control module;
s32, the cruise control module feeds back the position information of the main camera to the analysis control module;
s33, the analysis control module sends a termination instruction to the storage module, wherein the termination instruction contains the position information in the step S32;
s34, the storage module stops recording the suspicious video, and replaces the last frame picture of the suspicious video with the reference picture at the corresponding position in the second storage area;
s35, the analysis control module sends a third switching instruction to the cruise control module;
s36, the cruise control module controls the first rotating unit to start and rotate, so that the main camera enters a first main mode;
s37, the cruise control module adjusts the rotating speed of the second rotating unit to enable the auxiliary camera to enter a first auxiliary mode;
in the process of triggering and judging a motion capture event, dividing a shot real-time picture into a special frame picture and a common frame picture according to whether a corresponding reference point exists in a second storage area, wherein a time period between two adjacent special frame pictures shot by the main camera or the auxiliary camera is called a judging period, a reference picture corresponding to the first special frame picture in the judging period in the storage area is called a reference frame picture, pixel points with the gray difference of the pixel points at the corresponding positions being larger than a threshold value in the two pictures are called difference points, and the analysis control module calculates the difference base number P between the special frame picture and the reference frame picture according to the following formula:
wherein n is the number of difference points between the special frame picture and the reference frame picture;
the analysis control module counts the number of difference points of two adjacent common frame pictures and records the number as
I is the frame number of the normal frame,
the analysis control module calculates the motion index Q according to the following formula:
when the motion index is larger than a motion threshold value, judging that a motion capture event is triggered;
it should be noted that a complete decision cycle time is not required to trigger a motion capture event;
in the process of triggering and judging the motion stop event, the analysis control module counts the number of difference points of two adjacent frames of pictures in the suspicious video and records the number of the difference points as
J is the frame number of each frame in the suspicious video, and the analysis control module calculates the static index according to the following formula
：
Where k represents the start frame number,
representing the number of frames in the suspect video over a duration t;
when the static index is smaller than a static threshold value, judging that a motion stopping event is triggered;
it should be noted that at least the duration t is required to trigger the motion stop event.
The disclosure is only a preferred embodiment of the invention, and is not intended to limit the scope of the invention, so that all equivalent technical changes made by using the contents of the specification and the drawings are included in the scope of the invention, and further, the elements thereof can be updated as the technology develops.
Claims (5)
1. An automatic camera system for omnibearing automatic tour and visual perception is characterized by comprising a cruise control module, a camera module, a storage module and an analysis control module, wherein the camera module is used for shooting real-time pictures, the cruise control module is used for controlling the camera module to rotate, the storage module is used for storing the real-time pictures shot by the camera module, and the analysis control module is used for analyzing the real-time pictures and sending control instructions to the cruise control module according to analysis results;
the camera shooting module comprises a main camera and an auxiliary camera, the operation mode of the main camera comprises a first main mode and a second main mode, under the first main mode, the main camera performs tour shooting under the action of the cruise control module, at the moment, the auxiliary camera is used for shooting and capturing suspicious areas, under the second main mode, the main camera is used for shooting pictures of the suspicious areas, and at the moment, the auxiliary camera is used for replacing the main camera to perform tour shooting;
when the analysis control module judges that a motion capture event is triggered, the main camera is switched from a first main mode to a second main mode;
in the process of triggering and judging a motion capture event, a real-time picture shot by the auxiliary camera is divided into a special frame picture and a common frame picture, a time period between two adjacent special frame pictures shot by the auxiliary camera is called a judging period, a reference frame picture corresponding to the special frame picture is stored in the storage module, pixel points with gray difference of pixel points at corresponding positions of the two pictures being larger than a threshold value are called difference points, and after entering a new judging period, the analysis control module calculates a difference base number P between the special frame picture and the reference frame picture according to the following formula:
wherein n is the number of difference points between the special frame picture and the reference frame picture;
the analysis control module counts the number of difference points of two adjacent common frame pictures and records the number as
I is common in one judgment periodA frame number of the frame;
the analysis control module calculates a motion index Q according to the following formula:
and when the motion index is larger than a motion threshold value, judging that a motion capture event is triggered.
2. The automatic camera system for omni-directional automatic patrol and visual perception according to claim 1, wherein said main camera is switched from the second main mode to the first main mode when said analysis control module judges that a motion stop event is triggered;
in the process of triggering and judging the motion stop event, the analysis control module counts the number of difference points of two adjacent frames of pictures in the video shot by the main camera in the second main mode, and records the number as
J is the frame number of each frame in the video, and the analysis control module calculates the static index according to the following formula
：
Where k represents the start frame number,
representing the number of frames in the video over a duration t;
and when the static index is smaller than a static threshold value, judging that a motion stopping event is triggered.
3. The automatic camera system for full automatic inspection and visual perception according to claim 2, wherein said analysis control module performs motion capture event determination including analyzing pictures taken by said main camera.
4. The automatic camera system for full automatic inspection and visual perception according to claim 3, wherein said cruise control module includes a first rotating unit and a second rotating unit, said primary camera being mounted on said first rotating unit and said secondary camera being mounted on said second rotating unit.
5. The automatic camera system for omnidirectional automatic tours and visual perception of claim 4, wherein the storage module comprises three storage areas, a first storage area, a second storage area and a third storage area, wherein the first storage area stores the real-time pictures taken by the primary camera and the secondary camera, the second storage area stores the reference frame pictures used for motion capture event determination, and the third storage area stores the video data taken by the primary camera in the second primary mode.
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| US8471910B2 (en) * | 2005-08-11 | 2013-06-25 | Sightlogix, Inc. | Methods and apparatus for providing fault tolerance in a surveillance system |
| CN101277430A (en) * | 2008-04-23 | 2008-10-01 | 秦皇岛视听机械研究所 | Non-blind spot novel video monitoring system |
| TWI423112B (en) * | 2009-12-09 | 2014-01-11 | Ind Tech Res Inst | Portable virtual human-machine interaction device and method therewith |
| JP6099026B1 (en) * | 2016-07-14 | 2017-03-22 | パナソニックＩｐマネジメント株式会社 | MONITORING SYSTEM, VIDEO DISPLAY METHOD, AND COMPUTER PROGRAM |
| CN112468765B (en) * | 2019-09-06 | 2022-04-15 | 杭州海康威视系统技术有限公司 | Method, device, system, equipment and storage medium for tracking target object |
| CN112601008B (en) * | 2020-11-17 | 2022-03-25 | 中兴通讯股份有限公司 | Camera switching method, terminal, device and computer readable storage medium |
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