CN101790048A - Intelligent camera system and method - Google Patents
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- CN101790048A CN101790048A CN 201010113122 CN201010113122A CN101790048A CN 101790048 A CN101790048 A CN 101790048A CN 201010113122 CN201010113122 CN 201010113122 CN 201010113122 A CN201010113122 A CN 201010113122A CN 101790048 A CN101790048 A CN 101790048A
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Abstract
The invention relates to an intelligent camera system and a method. The system comprises a control module and a camera module; the control module drives the camera module to cruise automatically so as to search a target; in the cruising process, the imaging resolution ratio of the camera module is lowered through driving; when the target is identified, the control module controls and adjusts the position of the camera module to adjust the imaging of the target in the camera module to the central part of an image; then, optical magnification is increased according to proper proportion, and the camera module is controlled to carry out automatic focusing for camera shooting. The intelligent camera system and the method adopt the control module to drive the camera module to cruise automatically, so as to search the target in a 360-DEG panoramic space; the imaging resolution ratio of the camera module is lowered through driving in the cruising process, which reduces the total pixel of the image to be processed, thereby improving the pattern recognition computing speed; when the target is identified, the control module controls and adjusts the position of the camera module to adjust the imaging of the target to the central part of the image, and then the camera module is controlled to carry out automatic focusing to form clear images.
Description
[technical field]
The present invention relates to a kind of camera system, especially a kind of intelligent camera system and method.
[background technology]
Traditional camera system has only the video image writing function usually, can't initiatively follow the trail of the objective, and artificial enquiry goes out interested target afterwards, and query script is extremely loaded down with trivial details.
And some camera system only fixedly mounts a certain position, and establishing shot is carried out in a certain zone, a lot of shooting blind angle amounts can occur.Some camera system adopts bugeye lens to cruise, and bugeye lens can't be shot distinct image.
[summary of the invention]
Based on this, be necessary to provide a kind of intelligent camera system that can improve recognition efficiency.
Simultaneously, be necessary to provide a kind of and can improve the intelligent camera method of identification.
A kind of intelligent camera system, comprise: control module, the photographing module that is connected with control module, control module drives the photographing module automatic cruising, at 360 degree panorama spaces active searching targets, drive the imaging resolution that reduces photographing module in the process of cruising, when identifying target, the imaging of target in described photographing module adjusted in the centre of image in the position of control module control adjustment photographing module, carry out optics with proper ratio then and become doubly, and the automatic focus of control photographing module is made a video recording.
In preferred embodiment, described control module drives and extracts the described photographing module photographic images that cruises when photographing module cruises simultaneously, compare with preset mode, carry out characteristic matching, when the cruise feature of photographic images and the success of preset mode characteristic matching of photographing module then identifies target, finish the identifying of cruising.
In preferred embodiment, also comprise the power plant module that is connected with control module, described power plant module comprise the horizontal pivot angle of adjusting photographing module first power, adjust second power of the angle of pitch of photographing module, described first power, second power drive described photographing module 360 degree pan-shots.
In preferred embodiment, after described control module identifies target, determine the coordinate position of target on image, the shooting resolution during according to the coordinate position of target and automatic cruising is adjusted the coordinate position of the imaging of target, and makes the centre of target imaging in image.
In preferred embodiment, after described control module identifies target, adjust the image space of target, improve the resolution of photographing module simultaneously, control module drives the rotation of photographing module horizontal direction and finely tunes so that target imaging is adjusted x-Rx/2 pixel on the horizontal direction of image, drive simultaneously that the photographing module elevating movement is finely tuned so that target imaging is finely tuned y-Ry/2 location of pixels in vertical direction, wherein x is the coordinate of target imaging horizontal direction, y is the coordinate of target imaging vertical direction, Rx, Ry is the cruise horizontal direction of time shooting of photographing module, resolution on the vertical direction.
In preferred embodiment, described photographing module cruises in the process, and control module drives photographing module and turns down the optics multiplying power or be adjusted to minimum optics multiplying power.
In preferred embodiment, after finishing, the imaging of adjusting target calculates the size of target in image, and with size value and the predetermined threshold value comparison of target imaging in image, if the size value of target imaging in image be greater than then automatic focus imaging of threshold value, if the size value of target imaging in image less than threshold value then drive photographing module increase optics or digital multiplying power parameter until the size value of target imaging in image greater than threshold value.
In preferred embodiment, advanced row mode was selected before described control module drove the photographing module automatic cruising, took when selecting general mode driving photographing module to carry out the fixed position, then drove the photographing module automatic cruising when selecting to carry out cruise mode.
A kind of intelligent camera method,
Automatic cruising is initiatively sought target, and reduces imaging resolution in the process of cruising;
When identifying target, target imaging is adjusted to the centre of image, and automatic focus is made a video recording.
In preferred embodiment, in the described automatic cruising process, extract the photographic images that cruises, and with the image and the preset mode comparison of taking, carry out characteristic matching,, finish the identifying of cruising when the feature of photographic images and the success of preset mode characteristic matching then identify target.
In preferred embodiment, automatically adjust in the process of cruising the horizontal pivot angle taken, and the angle of pitch to carry out 360 degree pan-shots.
In preferred embodiment, after identifying target, determine the coordinate position of target imaging, the shooting resolution during according to the coordinate position of target imaging and automatic cruising is adjusted the image space of target.
In preferred embodiment, x-Rx/2 location of pixels of horizontal coordinate fine setting of described target imaging, y-Ry/2 pixel of fine setting on the vertical direction, wherein x is the coordinate of the horizontal direction of target imaging on image, y is the coordinate of the vertical direction of target imaging on image, and Rx, Ry are the cruise horizontal direction of shooting, the resolution on the vertical direction.
In preferred embodiment, in the described process of cruising, turn down the optics multiplying power of shooting or be adjusted to minimum optics multiplying power.
In preferred embodiment, after finishing, the image space of adjustment target calculates the size of target imaging in image, size value and the predetermined threshold value of target imaging in image compared, if the size value of target imaging in image be greater than then automatic focus imaging of threshold value, if the size value of target imaging in image less than threshold value then increase the optics of shooting or digital multiplying power parameter until the size value of target imaging in image greater than threshold value.
In preferred embodiment, the automatic cruising row mode that advances is selected, and takes when selecting general mode to carry out the fixed position, when selecting then automatic cruising of cruise mode.
Above-mentioned intelligent camera system and image capture method, adopt control module to drive the photographing module automatic cruising, reduce the fixedly shooting blind angle amount of camera system, and photographing module is initiatively sought target by automatic cruising, greatly increase the possibility of target homing, and the convenient photographic images that extracts target, other cruises and drives the imaging resolution that reduces photographing module in the process, so that pending total number of image pixels reduces, reduce the computational complexity of pattern recognition, thereby improve the pattern recognition arithmetic speed, in time identify destination object apace, cruising speed that simultaneously can corresponding raising photographing module improves the speed of service of whole system; When identifying target, the centre of image is adjusted to the imaging of target in the position that photographing module is adjusted in control module control, the object that conveniently follows the trail of the objective, and the automatic focus of control photographing module goes out distinct image with imaging.
[description of drawings]
Fig. 1 is the functional block diagram of one embodiment of the invention;
Fig. 2 is the flow chart of the method for one embodiment of the invention.
[embodiment]
As shown in Figure 1, the intelligent camera system of one embodiment of the invention comprises: control module 20, the photographing module 40 that is connected with control module 20.Photographing module 40 can have the instrument of camera function for clipping the ball, The Cloud Terrace or camera, video camera and other.In the present embodiment, photographing module 40 adopts clipping the ball to realize.Control module 20 can adopt DSP, FPGA to realize, also can adopt single-chip microcomputer, PLC etc. to realize, also can adopt embedded system, computer etc. to realize.In the present embodiment, control module adopts DSP or FPGA to describe.
The intelligent camera system of present embodiment also comprises the horizontal pivot angle that is connected and adjusts photographing module 40 with control module 20, the power plant module of the angle of pitch.Power plant module comprises first power and second power.In the present embodiment, power plant module adopts motor, comprises driving first motor 60, second motor 80 that photographing module 40 moves respectively on both direction.First motor 60, second motor 80 can directly be connected with photographing module 40, drive respectively that photographing module 40 horizontally rotates, elevating movement, adjust horizontal pivot angle, the angle of pitch of photographing module 40, realize 360 degree panorama extraterrestrial targets search.First motor 60, second motor 80 also can be connected with mechanical structure or drive mechanism, drive horizontal pivot angle, the angle of pitch that photographing module 40 is adjusted in photographing module 40 actions by mechanically operated mode, as have the robot of camera function or have the robot of camera, first motor, second motor by driving some mechanism of robot (as joint part) thus action drives photographing module 40 horizontal huntings, elevating movement.
Drive the reduction imaging resolution of photographing module 40 in the process of cruising.Photographing module 40 reduces inner CMOS (Complementary Metal Oxide Semiconductor automatically, complementary metal oxide semiconductors (CMOS)) or CCD (Charge-coupled Device, charge coupled cell) imaging resolution, so that pending total number of image pixels reduces, thereby reach the purpose that improves the pattern recognition arithmetic speed.The cmos sensor of 1,300,000 pixel resolutions (1280X1024) for example, if be divided into 16 * 16 image block, then a secondary complete image need be handled 5120 image blocks; If when cruising, the resolution that reduces cmos sensor then only need be handled 1200 16 * 16 image blocks during to 640X480, and the arithmetic speed of single image can improve more than 4 times.Because control module 20 recognition speeds and arithmetic speed obtain a lot of liftings, then may command first motor 60, second motor 80 promote the cruising speed of photographing module 40, and the speed of service of whole camera system is accelerated.
Simultaneously, in the automatic cruising process, turn down the optics multiplying power parameter of photographing module 40.To increase the angle of visual field that single image is taken, improve the speed of cruising simultaneously.Known camera angle can be defined as:
Wherein D is the size of the lens opening diaphragm of photographing module 40, and selected when the hardware of photographing module 40, then D is a fixed value; F is the focal length of camera lens, when photographing module 40 all is in the focal distance f of adjusting camera lens in focusing (Zoom), focusing (Focus) process; High optics multiplying power is corresponding to big focal length value f; The low optical multiplying power is then corresponding to little focal length value f.When system adopts minimum optics multiplying power, according to formula
It is maximum that the angle of visual field θ of the camera lens of photographing module 40 will reach, and therefore, under the movement velocity of the first identical motor (Pan motor), second motor (Tilt motor), can finish the 360 degree panoramas task of cruising with the shortest time.In the present embodiment, in order to obtain angle of visual field θ to greatest extent, in the automatic cruising process, control module 20 controls are adjusted to minimum optics multiplying power with photographing module 40.The focusing of photographing module 40 (Zoom), focusing (Focus) are regulated by focusing motor, focusing motor-driven camera lens respectively.
During automatic cruising, control module 20 control is carried out feature extraction to photographing module 40 photographic images that cruises, and with systemic presupposition pattern (storehouse) comparison, carries out characteristic matching, if characteristic matching success then finish the recognition function of cruising.
Preset mode (storehouse) can be the different characteristic of object, as face characteristic, and vehicle license plate characteristic, the perhaps a certain behavioural characteristic of human body, motion change feature for example, virtual warning lines feature etc.; Or manifold combination.When 20 pairs of photographic images that cruise of control module are compared, can be as required cruise photographic images and feature database that certain is specific be compared, are mated, also can with a plurality of feature databases coupling of comparing.
Present embodiment adopts image and the preset mode of taking that will cruise to carry out characteristic matching, no matter be stationary object, or moving object can both discern, and be not subjected to the motion artifacts or the environmental interference of other object.
In the target identification process, the preset mode of system definition can be used as under the image pickup mode that cruises, unique sign of system tracks interesting target success or not.While and the target imaging zone that preset mode is complementary are that first motor (Pan motor), 60, second motor (Tilt motor) 80 is finely tuned, the target area of photographing module 40 automatic focusings (Zoom), automatic focus (Focus).
After identifying target, determine the coordinate position (x of target imaging, y), and on different coordinate directions, adjust the image space of target with the shooting resolution in the automatic cruising process, and make target be in the centre of image according to the coordinate position of target imaging.If the shooting resolution of automatic cruising process is (Rx, Ry), (being x direction or Pan direction) then in the horizontal direction, the pixel distance that target imaging need be adjusted is (x-Rx/2), (being y direction or Tilt direction) in vertical direction, the pixel distance that target imaging need be adjusted is (y-Ry/2).
After identifying target simultaneously, control module 20 drives photographing module 40 and improves image resolution ratio automatically, simultaneously destination object is followed the trail of.
When the image space of finishing target behind Pan, Tilt directional trim, target has been in the centre of image, control module 20 control photographing module 40 automatic focusings (Auto Zoom).If this moment, the number of pixels of target imaging was Pt, then the size of target in image can be expressed as:
If the threshold value of the size of default target imaging is T, then in the time of ratio＜T, control module 20 control photographing module 40 automatically increases optics multiplying power (Zoom) parameter or digital multiplying power parameter, satisfies ratio＞T until the size of target in image.
Since focusing (Zoom) process can only coarse adjustment photographing module 40 lens focus f, can't guarantee that the image-region at target imaging place is the most clear this moment.Therefore, need carry out automatic focus (Auto Focusing) operation.
Here define an evaluation function that focuses on definition:
The purpose of the Auto-Focusing of present embodiment is exactly to make photographing module 40 under the situation of different focal f, and function f un value is maximum.(xi, yi represent the gray value of image in x direction and y direction, and Atar represents the imaging region of target in image)
The present embodiment intelligent camera system drives 40 liang of direction motions of photographing module automatic cruising by first motor (Pan motor), 60, second motor (Tilt motor) 80, initiatively seeks interesting target.Need not to adopt other more auxiliary equipment, as bugeye lens, panorama speculum etc.
During automatic cruising, the method for the CMOS by reducing photographing module 40 inside or the imaging resolution of ccd sensor at utmost reduces the computational complexity of pattern recognition.
During automatic cruising, the Zoom multiplying power is reduced to minimum (promptly adopting the wide angle shot pattern), increases the shooting visual angle of camera system, finishes the task of cruising of 360 degree panoramas to reach the shortest time.
After searching out target, according to target place imaging region, control module 20 drives first motor 60,80 pairs of photographing modules 40 of second motor are finely tuned in Pan, Tilt two directions, and Zoom, the operation of Focus automatically accurately and are clearly carried out imaging to target automatically.
As shown in Figure 2, the intelligent camera method of above-mentioned intelligent camera system, as follows: control module 20 drives photographing module 40 automatic cruisings and seeks target, drive the horizontal pivot angle and the angle of pitch that photographing module horizontally rotates (Pan), elevating movement (Tilt) adjustment photographing module 40 respectively by first motor (Pan motor), 60, second motor (Tilt motor) 80, realize 360 degree panorama target searches.
In the present embodiment, control module 20 is before driving photographing module 40 carries out automatic cruising, be provided with model selection, photographing module 40 is fixed or fixed position is taken when the selection general mode then drives, and then drives photographing module 40 automatic cruisings when selecting to carry out cruise mode.
In the process of cruising, reduce the CMOS of photographing module 40 or the imaging resolution of ccd sensor simultaneously, at utmost reduce the computational complexity of pattern recognition.
In the process of cruising simultaneously, control module 20 drives turns down the optics multiplying power that photographing module 40 is taken, obtain big angle of visual field θ, and photographing module 40 is adjusted to minimum optics multiplying power to obtain maximum field of view angle θ, single like this photographed scene can obtain bigger angular field of view, can drive photographing module 40 and rotate fast, so that photographing module 40 is finished the 360 degree panoramas tasks of cruising with the very short time under the driving of motor.
In the automatic cruising process, control module 20 is extracted photographing modules 40 photographic images that cruises, and the photographic images that will cruise compares with preset mode, carries out characteristic matching, when the feature of photographic images and the success of preset mode characteristic matching then identify target, finish the identifying of cruising.
After identifying target, determine the coordinate position of target imaging on the image of whole photographed scene, the shooting resolution during according to the coordinate position of target imaging and automatic cruising is adjusted the target imaging position.If the target imaging coordinate is (x, y), the shooting resolution of automatic cruising be (Rx, Ry), then target imaging is (x-Rx/2) at the pixel distance that Pan direction (being directions X) needs to finely tune, and needing the pixel distance of fine setting in Tilt direction (being the y direction) is (y-Ry/2).After identifying target simultaneously, control module 20 is the image resolution ratio of control raising photographing module 40 automatically, simultaneously destination object is followed the trail of.
After photographing module 40 was finished the fine setting of Pan, Tilt direction, target imaging had been in the centre of image, if the imaging pixel number of target is Pt, then the size of target imaging in whole image can be expressed as:
Camera system is preset with the percentage threshold T of target imaging at the size of whole image, then in the time of ratio＜T, system increases optics Zoom parameter (also comprise digital become doubly) automatically, until the image of the target size ratio＞T at whole image.
Since focusing (Zoom) process can only coarse adjustment photographing module 40 lens focus f, can't guarantee that the image-region at target imaging place is the most clear this moment.Therefore, need carry out automatic focus (Auto Focusing) operation.
Here define an evaluation function that focuses on definition:
The purpose of the Auto-Focusing of present embodiment is exactly to make photographing module 40 under the situation of different focal f, and function f un value is maximum.(xi, yi represent the gray value of image in x direction and y direction, A
TarRepresent the imaging region of target in image)
The above embodiment has only expressed several execution mode of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to claim of the present invention.Should be pointed out that for the person of ordinary skill of the art without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection range of patent of the present invention should be as the criterion with claims.
Claims (16)
1. intelligent camera system, it is characterized in that, comprise: control module, the photographing module that is connected with control module, control module drives the photographing module automatic cruising, at 360 degree panorama spaces active searching targets, drive the imaging resolution that reduces photographing module in the process of cruising, when identifying target, the imaging of target in described photographing module adjusted in the centre of image in the position of control module control adjustment photographing module, carry out optics with proper ratio then and become doubly, and the automatic focus of control photographing module is made a video recording.
2. intelligent camera system as claimed in claim 1, it is characterized in that, described control module drives photographing module and carries out the active panorama when cruising, extract the described photographing module photographic images that cruises simultaneously, compare with preset mode, carry out characteristic matching,, finish the identifying of cruising when the cruise feature of photographic images and the success of preset mode characteristic matching of photographing module then identifies target.
3. intelligent camera system as claimed in claim 1, it is characterized in that, also comprise the power plant module that is connected with control module, described power plant module comprise the horizontal pivot angle of adjusting photographing module first power, adjust second power of the angle of pitch of photographing module, described first power, second power drive described photographing module 360 degree pan-shots.
4. intelligent camera system as claimed in claim 1, it is characterized in that, after described control module identifies target, determine the coordinate position of target on image, shooting resolution during according to the coordinate position of target and automatic cruising is adjusted the coordinate position of the imaging of target, and makes the centre of target imaging in image.
5. intelligent camera system as claimed in claim 4, it is characterized in that, after described control module identifies target, adjust the image space of target, improve the resolution of photographing module simultaneously, control module drives the rotation of photographing module horizontal direction and finely tunes so that target imaging is adjusted x-Rx/2 pixel on the horizontal direction of image, drive simultaneously that the photographing module elevating movement is finely tuned so that target imaging is finely tuned y-Ry/2 location of pixels in vertical direction, wherein x is the coordinate of target imaging horizontal direction, y is the coordinate of target imaging vertical direction, Rx, Ry is the cruise horizontal direction of time shooting of photographing module, resolution on the vertical direction.
6. intelligent camera system as claimed in claim 1 is characterized in that, described photographing module cruises in the process, and control module drives photographing module and turns down the optics multiplying power or be adjusted to minimum optics multiplying power.
7. intelligent camera system as claimed in claim 4, it is characterized in that, after finishing, the imaging of adjusting target calculates the size of target imaging in image, and with size value and the predetermined threshold value comparison of target imaging in image, if the size value of target imaging in image be greater than then automatic focus imaging of threshold value, if the size value of target imaging in image less than threshold value then drive photographing module increase optics or digital multiplying power parameter until the size value of target imaging in image greater than threshold value.
8. intelligent camera system as claimed in claim 1, it is characterized in that, advanced row mode was selected before described control module drove the photographing module automatic cruising, took when selecting general mode driving photographing module to carry out the fixed position, then drove the photographing module automatic cruising when selecting to carry out cruise mode.
9. an intelligent camera method is characterized in that,
Automatic cruising is initiatively sought target, and reduces imaging resolution in the process of cruising;
When identifying target, target imaging is adjusted to the centre of image, and automatic focus is made a video recording.
10. intelligent camera method as claimed in claim 9, it is characterized in that, in the described automatic cruising process, the extraction photographic images that cruises, and with the image and the preset mode comparison of taking, carry out characteristic matching,, finish the identifying of cruising when the feature of photographic images and the success of preset mode characteristic matching then identify target.
11. intelligent camera method as claimed in claim 9 is characterized in that, automatically adjust in the process of cruising the horizontal pivot angle taken, and the angle of pitch to carry out 360 degree pan-shots.
12. intelligent camera method as claimed in claim 9 is characterized in that, after identifying target, determines the coordinate position of target imaging, the shooting resolution during according to the coordinate position of target imaging and automatic cruising is adjusted the image space of target.
13. intelligent camera system as claimed in claim 12, it is characterized in that, x-Rx/2 location of pixels of horizontal coordinate fine setting of described target imaging, y-Ry/2 pixel of fine setting on the vertical direction, wherein x is the coordinate of the horizontal direction of target imaging on image, y is the coordinate of the vertical direction of target imaging on image, and Rx, Ry are the cruise horizontal direction of shooting, the resolution on the vertical direction.
14. intelligent camera system as claimed in claim 9 is characterized in that, in the described process of cruising, turns down the optics multiplying power of shooting or is adjusted to minimum optics multiplying power.
15. intelligent camera system as claimed in claim 12, it is characterized in that, after finishing, the image space of adjustment target calculates the size of target imaging in image, size value and the predetermined threshold value of target imaging in image compared, if the size value of target imaging in image be greater than then automatic focus imaging of threshold value, if the size value of target imaging in image less than threshold value then increase the optics of shooting or digital multiplying power parameter until the size value of target imaging in image greater than threshold value.
16. intelligent camera system as claimed in claim 9 is characterized in that, the automatic cruising row mode that advances is selected, and takes when selecting general mode to carry out the fixed position, when selecting then automatic cruising of cruise mode.
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