CN103051884A - Omni-directional visual monitoring system combining rough and fine modes - Google Patents

Omni-directional visual monitoring system combining rough and fine modes Download PDF

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CN103051884A
CN103051884A CN 201310012749 CN201310012749A CN103051884A CN 103051884 A CN103051884 A CN 103051884A CN 201310012749 CN201310012749 CN 201310012749 CN 201310012749 A CN201310012749 A CN 201310012749A CN 103051884 A CN103051884 A CN 103051884A
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image acquisition
camera
acquisition subsystem
panoramic
subsystem
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CN 201310012749
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蔡成涛
朱齐丹
夏桂华
刘志林
原新
徐从营
陆军
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哈尔滨工程大学
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Abstract

The invention aims to provide an omni-directional visual monitoring system combining rough and fine modes. The omni-directional visual monitoring system comprises a panorama visual image acquisition subsystem, a general visual angle image acquisition subsystem and an embedded image acquisition processing and data transmission subsystem, wherein the panorama visual image acquisition subsystem comprises a double curved surface reflector, an imaging lens and a panorama camera; the imaging lens is arranged on the panorama camera; the double curved surface reflector is arranged above the imaging lens; the general visual angle image acquisition subsystem comprises a cloud deck which is provided with an industrial camera; the general visual angle image acquisition subsystem is fixedly arranged at the top of the panorama visual image acquisition subsystem; the embedded image acquisition processing and data transmission subsystem is respectively connected with the panorama visual image acquisition subsystem and the general visual angle image acquisition subsystem, is used for acquiring and outputting the image information of the panorama camera and the industrial camera, and sending a control command to the panorama camera and the industrial camera. With the adoption of the omni-directional visual monitoring system combining the rough and fine modes, not only can wide-angle view monitoring be carried out, but also the precision observation can be carried out on view detail.

Description

一种粗精观察模式相结合的全方位视觉监视系统 Fine and rough observation mode combination of omnidirectional vision monitoring system

技术领域 FIELD

[0001 ] 本发明涉及的是一种监控装置。 [0001] The present invention relates to a monitoring device.

背景技术 Background technique

[0002] 单摄像机由于受到监控范围的限制,显然满足不了对整个场景进行360度监控的要求,于是出现了多摄像机的使用,可以扩大监视的有效范围,但对于多摄像机跟踪系统而言,我们需要确定在每个时刻使用哪一个摄像机或哪一幅图像,多摄像机之间的选择和信息融合是一个难点。 [0002] Since the single camera monitoring range is limited, obviously can not meet the requirements of the entire scene to monitor 360 degrees, so there using multiple cameras, can effectively expand the scope of monitoring, but for multi-camera tracking system, we You need to determine which of a camera or an image in which every moment, selection and integration of information between multiple cameras is a difficulty. 云台是一种全方位监控设备,依靠一个摄像头的360度旋转来监控整个场景,但是摄像头的监控视角毕竟有限,在某一时刻肯定存在监控死角,且其图像算法复杂,并没有达到真正意义上的全方位监控,而且其运行过程中存在设备的磨损,因此使用寿命较短。 PTZ is an all-round monitoring equipment, relying on a camera's 360-degree rotation to monitor the entire scene, but the perspective of surveillance cameras is limited, there is certainly monitor the blind spot at some point, and its complex image algorithms, did not achieve a real sense on the comprehensive monitoring, equipment wear and the presence of its operation, and therefore a shorter life. 全方位视觉传感器为实时获取场景的全景图像提供了一种新的解决方案。 Omnidirectional vision sensor provides a new solution for real-time access panoramic image of the scene. 基于全方位视觉传感器的摄像机有着非常突出的优点,其视野广(360度),能把一个半球视野中的信息压缩成一幅图像,一幅图像的信息量更大,全景图像中的任何一点都对应于监视空间中的某一确定的点,因此空间位置标定算法简单,监控时不用瞄准目标,使得视觉信息的获取、检测和跟踪监视范围内的运动物体的算法更加简单,是一种快速、可靠的全景视觉信息采集手段,但全景图像在增加视场角的同时也导致图像对景物细节的分辨能力下降。 Camera-based vision sensor has the advantage of a full range of very prominent, its wide field of view (360 degrees), a message can be compressed into a hemispherical field of view of an image, a larger amount of information of an image, the panoramic image at any point corresponding to a monitoring point in space is determined, and thus the spatial location of the calibration algorithm is simple, while monitoring without targeting, such that the visual access to information, the moving object detection and tracking algorithm is simpler monitoring range, is a fast, reliable panoramic visual information collection means, but the panoramic image in increased angle of view but also led to a drop in image resolution capability of the details of the scene.

发明内容 SUMMARY

[0003] 本发明的目的在于提供实现大范围场景监控、同时可对场景内可疑目标进行精确观察的一种粗精观察模式相结合的全方位视觉监视系统。 [0003] The object of the present invention to provide a monitoring scenes achieve a wide range, while a full range of accurate visual monitoring system of fine and rough observation mode observation of a combination of suspicious targets within a scene.

[0004] 本发明的目的是这样实现的: [0004] The object of the present invention is implemented as follows:

[0005] 本发明一种粗精观察模式相结合的全方位视觉监视系统,其特征是:包括全景视觉图像采集子系统、常规视角图像采集子系统、嵌入式图像采集处理及数据传输子系统,全景视觉图像采集子系统包括双曲面反射镜、成像镜头、全景相机,成像镜头安装在全景相机上,双曲面反射镜设置在成像镜头上方,使全景相机能够拍摄到水平方向360°、竖直方向不小于180°的范围;常规视角图像采集子系统包括云台,云台上安装工业相机,常规视角图像采集子系统固定在全景视觉图像采集子系统顶部,嵌入式图像采集处理及数据传输子系统分别连接全景视觉图像采集子系统和常规视角图像采集子系统,采集并输出全景相机和工业相机图像信息并对全景相机和工业相机发送控制命令。 [0005] omnidirectional vision monitoring system of the present invention is fine and rough combined observation mode, wherein: an image acquisition subsystem includes a panoramic vision, a conventional perspective image acquisition subsystem, an embedded image acquisition and processing and data transmission subsystem, the panoramic vision image acquisition subsystem comprises a double curved mirror, an imaging lens, a panoramic camera, the imaging lens is mounted on a panoramic camera, a hyperboloid reflector is disposed above the imaging lens, so that the camera can capture the panoramic horizontal 360 °, vertical range not less than 180 °; view image acquisition subsystem includes a conventional head, the head mounted industrial camera, a conventional image acquisition subsystem perspective panoramic view image secured in the top of the acquisition subsystem, an embedded image acquisition and processing and data transmission subsystem are respectively connected to the panoramic image acquisition subsystem and a visual perspective of a conventional image acquisition subsystem, and outputs the panoramic camera capture industrial cameras and image information and transmitting the camera panoramic camera and industrial control command.

[0006] 本发明还可以包括: [0006] The present invention may further comprise:

[0007]1、全景视觉图像采集子系统还包括防尘防水玻璃护罩,双曲面反射镜、成像镜头、全景相机均安装在防尘防水玻璃护罩里。 [0007] 1, panoramic visual image acquisition subsystem further comprises a dustproof and waterproof cover glass, a double curved mirror, an imaging lens, a panoramic camera are mounted in the shield against dust and water glass.

[0008] 2、双曲面反射镜表面镀膜,其竖直方向视场可调节。 [0008] 2, coating the surface of the double curved mirror, the field of view which can be adjusted vertically.

[0009] 本发明的优势在于:本发明既能进行大范围场景监视,同时也可对场景细节进行精确观察。 [0009] The advantage of the present invention is that: the present invention is not only for large-scale scenes monitoring, but also for accurate observation of the scene detail. 附图说明 BRIEF DESCRIPTION

[0010] 图1为本发明的结构示意图。 [0010] FIG. 1 is a schematic structural diagram of the present invention.

具体实施方式 detailed description

[0011] 下面结合附图举例对本发明做更详细地描述: [0011] By way of example in conjunction with the accompanying drawings The present invention will be described in more detail:

[0012] 结合图1,本发明装置包括全景视觉图像采集子系统,宽范围光学变焦的常规视角图像采集子系统和嵌入式图像采集处理及数据传输子系统5,宽范围光学变焦的常规视角图像采集子系统云台底座固定于全景视觉图像采集子系统顶部,嵌入式图像采集处理及数据传输子系统5封装在全景视觉图像采集子系统取景装置内。 [0012] conjunction with Figure 1, the present invention includes an image acquisition subsystem panoramic vision, a conventional image with a wide viewing angle range of the optical zoom acquisition subsystem embedded image acquisition and processing and data transmission subsystem 5 in the regular image with a wide viewing angle range of the optical zoom acquisition subsystem base fixed to the top head panoramic vision image acquisition subsystem, embedded image acquisition and processing of data transmission subsystem 5 in the encapsulated image acquisition subsystem panoramic vision viewing apparatus. 系统中的双曲面反射镜作为取景元件主要用来对周围物体成像,使相机能够拍摄到水平方向360°,竖直方向不小于180°范围内的物体,双曲面反射镜根据不同观察需求其竖直方向视场可调节,并采用镀膜技术,使其表面具有较高的表面反射率。 System hyperboloid mirror element is mainly used as a finder image on surrounding objects, so that the camera can shoot in the horizontal direction 360 °, the vertical direction is not less than 180 ° within the range of the object, depending on the hyperboloid mirror needs to observe its vertical direct viewing direction can be adjusted, and the use of coating technology, so that the surface has a high surface reflectivity. 防尘、防水玻璃护罩配合支柱用来支撑双曲面反射镜,玻璃护罩采用增透技术提高光线透过率,同时玻璃护罩起到对相机和反射镜的保护作用。 Dust, water glass pillar for supporting the shroud with a hyperboloid mirror cover glass using AR technology to improve the light transmittance, and the glass cover and protect the camera mirror. 防尘、防水玻璃护罩要求坚固,透光性好,表面平整度和光洁度好。 Dust, water glass shroud claim strong, good transparency, good surface flatness and finish.

[0013] 全景视觉图像采集子系统由高分辨率科学级相机4,高性能镜头3和双曲面形反射镜2,防尘、防水玻璃护罩组成6,防尘、防水玻璃护罩配合支柱用来支撑双曲面反射镜,玻璃护罩采用增透技术提高光线透过率,同时玻璃护罩起到对相机和反射镜的保护作用。 [0013] The panoramic vision subsystem consists of a high-resolution image acquisition scientific cameras 4, high-performance lens 3 and a hyperboloid mirror 2, dust-proof, waterproof cover glass composition 6, dust-proof, waterproof cover glass fitted with struts supported hyperboloid mirror cover glass using AR technology to improve the light transmittance, and the glass cover and protect the camera mirror. 高分辨率科学级相机4采用千万像素级逐行扫描面阵CXD相机,相机采用Gige接口,通过调整镜头的焦距可以获得不同曲率的双曲线和不同的视场角。 High Resolution scientific camera 4 million-pixel level using progressive scanning CXD plane array camera, the camera uses Gige interfaces, by adjusting the focal length of the lens can be obtained and different curvatures hyperbolic different viewing angle. 宽范围光学变焦的常规视角图像采集子系统主要由高清一体工业相机和中载变速云台I组成,相机输出视频格式为标准PAL制式的高变倍模拟相机,最高变倍倍数为220倍;云台满足海洋环境的三防要求,采取全天候环境设计,整体采用抗风结构设计,铝合金精铸外壳,采用隐蔽走线。 Conventional optical zoom wide angle of view by the image acquisition subsystem are integrally industrial cameras and high-definition contained in the transmission pan I composition, the camera output video format is the PAL standard analog high magnification camera, maximum zoom multiple of 220 times; Cloud Taiwan to meet the requirements of the marine environment of the three anti-take-weather environmental design, the overall use of wind design, cast aluminum alloy shell, with concealed wiring. 具有360°无限位连续旋转,重复精度高,能够实现远程控制。 360 ° having an infinite continuous rotation, high repeatability, to control remotely. 嵌入式图像采集处理及数据传输子系统为嵌入式DSP视频系统电路板,整个系统分为5个部分:外部存储器扩展部分,视频输入输出部分,I2C总线,JTAG接口,百兆集成网卡接口,用于接收辨率科学级相机和云台相机采集的图像数据及发送云台及相机指控制令。 Embedded image acquisition and processing for the data transmission subsystem embedded DSP board video system, the entire system is divided into five parts: an external memory extension, video input and output section, I2C bus, the JTAG interface, a Fast integrated network interface, with resolution to receiving scientific camera head and the camera transmits the acquired image data and refers to the camera head and the control command.

[0014] 本发明工作过程: [0014] The working process of the present invention:

[0015] 首先高分辨率相机4采集场景内全景图像,采集到的数据经过图像处理单元转换成有效的图像数据交由嵌入式图像采集处理及数据传输子系统进行处理,若发现场景内有可疑目标,则根据全景图像计算出目标方位,角度,控制云台转向目标并对其进行精确观察,观察数据交由嵌入式图像采集处理及数据传输子系统进行处理,嵌入式图像采集处理及数据传输子系统负责高分辨率科学级相机和云台相机的图像数据采集,图像数据传输,设置高分辨率科学级相机参数及传输云台、相机控制命令。 [0015] First, a high-resolution camera 4 within the panoramic image scene acquired, collected data converted through the image processing unit referred to as an effective image data embedded image acquisition and processing subsystem for processing transmission data, if found within the scene suspicious target, the panoramic image is calculated according to the target position, the angle, the target steering control pan and subjected to accurate observation, observation data is referred to and embedded image acquisition and processing subsystem for processing data transmission, embedded image acquisition and processing of data transmission High-resolution image data acquisition subsystem is responsible for scientific cameras and PTZ cameras, image data transmission, high-resolution scientific grade camera set parameters and transmit PTZ camera control commands.

Claims (3)

  1. 1. 一种粗精观察模式相结合的全方位视觉监视系统,其特征是:包括全景视觉图像采集子系统、常规视角图像采集子系统、嵌入式图像采集处理及数据传输子系统,全景视觉图像采集子系统包括双曲面反射镜、成像镜头、全景相机,成像镜头安装在全景相机上,双曲面反射镜设置在成像镜头上方,使全景相机能够拍摄到水平方向360°、竖直方向不小于180°的范围;常规视角图像采集子系统包括云台,云台上安装工业相机,常规视角图像采集子系统固定在全景视觉图像采集子系统顶部,嵌入式图像采集处理及数据传输子系统分别连接全景视觉图像采集子系统和常规视角图像采集子系统,采集并输出全景相机和工业相机图像信息并对全景相机和工业相机发送控制命令。 An omnidirectional vision monitoring system Coarse combined observation mode, wherein: an image acquisition subsystem includes a panoramic vision, a conventional perspective image acquisition subsystem, an embedded image acquisition and processing and data transmission subsystem, panoramic visual image acquisition subsystem comprises a double curved mirror, an imaging lens, a panoramic camera, the imaging lens is mounted on a panoramic camera, a hyperboloid reflector is disposed above the imaging lens, so that the camera can capture the panoramic horizontal 360 °, the vertical direction is not less than 180 range °; the angle of view image acquisition subsystem includes a conventional head, the head mounted industrial camera, a conventional image acquisition subsystem perspective panoramic view image secured in the top of the acquisition subsystem, embedded image acquisition and processing subsystem are connected to the data transmission favorites visual image acquisition subsystem and conventional perspective image acquisition subsystem, gathering and outputs panoramic cameras and industrial cameras and image information and the panoramic camera industrial camera to send control commands.
  2. 2.根据权利要求1所述的一种粗精观察模式相结合的全方位视觉监视系统,其特征是:全景视觉图像采集子系统还包括防尘防水玻璃护罩,双曲面反射镜、成像镜头、全景相机均安装在防尘防水玻璃护罩里。 A coarse and fine observation mode according to claim 1 omnidirectional vision monitoring system in combination, wherein: the panoramic view image acquisition subsystem further comprises a dustproof and waterproof cover glass, a double curved mirror, an imaging lens , panoramic camera are mounted in a dust cover in waterproof glass.
  3. 3.根据权利要求1或2所述的一种粗精观察模式相结合的全方位视觉监视系统,其特征是:双曲面反射镜表面镀膜,其竖直方向视场可调节。 The fine and rough observation mode or the omnidirectional vision of the monitoring system 12 in conjunction with claim, characterized in that: the double curved mirror surface coating, which may be vertically adjustable field of view.
CN 201310012749 2013-01-14 2013-01-14 Omni-directional visual monitoring system combining rough and fine modes CN103051884A (en)

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