CN104601897A - Anti-shake device and method of video camera - Google Patents
Anti-shake device and method of video camera Download PDFInfo
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Abstract
The invention discloses an anti-shake device and method of a video camera. The anti-shake device comprises a position sensor, a controller, a servo mechanism, an imaging device and a frame extraction device, the position sensor measures linear acceleration and angular acceleration caused by shaking of the video camera and transmits the linear acceleration and the angular acceleration to the controller, the linear acceleration and the angular acceleration caused by shaking can be converted into mobile distance and angle by the controller, the mobile distance and angle are then compared with the maximum distance and the maximum angle of moving of the imaging device, image frames with the moving distance and angle caused by shaking and exceeding the maximum distance and the maximum angle of moving of the imaging device is abandoned in advance, and on the premise of no influence on subjective feeling of videos, the image frames exceeding the set frame number are abandoned actively according to preset strategies, the servo mechanism is controlled to stop actions within the framing period of abandoning the image frames in advance and the frame extraction device is controlled to abandon the image frames to be abandoned. By the anti-shake device and method, operation time and distance of the servo mechanism are reduced, and servo accuracy requirements are lowered.
Description
Technical field
The invention belongs to technical field of imaging, particularly relate to a kind of video camera anti-shake apparatus and anti-fluttering method.
Background technology
Video monitoring is the important component part of safety and protection system, and video monitoring is directly perceived with it, accurately, timely and the information content is abundant and be widely used in many occasions.In recent years, along with the develop rapidly of computer, network and image procossing, transmission technology, the universalness trend of video monitoring is more and more obvious.In video monitoring system, the stabilization of headend equipment as video camera is a very important link, if video camera stabilization function imperfection, will directly cause video image fuzzy, affects video monitoring effect.
In video camera stabilization, conventional three kinds of modes, are respectively camera lens stabilization, image device stabilization and digital stabilization at present.Wherein camera lens stabilization is exactly in camera lens, arrange special stabilization compensating glass group, and according to jitter direction and the degree of video camera, the corresponding adjustment position of compensating glass group and angle, make light path keep stable; Image device stabilization is after perception DE Camera Shake, and the position or the angle that change image device are held in the stable of picture; Digital stabilization is exactly the situation according to DE Camera Shake, and the mode calculated by software when data sampling and Images uniting makes up the impact that shake brings.
Such as Sensor shift stabilization video camera just adopts image device stabilization, its stabilization parts comprise camera lens, moveable image device (Sensor), position transducer, servomechanism and controller MCU, position transducer measures linear acceleration and the angular acceleration of video camera, the linear acceleration that controller obtains according to position transducer measurement and angular acceleration calculate jitter direction, speed and displacement, then control to drive servo action, thus drive image device to move to eliminate the impact of shaking and bringing, can accept subjective with the degree that the guarantee imaging picture of maximum possible is not shaken or shaken.Visible, during image device exposure, stabilization parts can perception DE Camera Shake servo mobile imaging device, to eliminate the flating that DE Camera Shake causes, the speed of image device movement is faster, segmentation step is less, position is more accurate, and the image stabilization effect obtained is better.
But due to the randomness of shake, to the precision of servomechanism and rate request very high.If between image device exposure period, can not precision servo in real time, just easily cause image blurring or distortion.The shake duration is longer, and the time that servomechanism need continue movement is longer, also higher to the reliability requirement of servo system.
Especially, image device adopts the video camera of rolling shut shutter mode, and a two field picture time for exposure is long, causes servo system needs continuous firing within the whole frame period time.Idle time is short, and the probability that servo system is subject to vibrating random noise disturbance is just high, and image blurring possibility is also high.
Summary of the invention
The object of this invention is to provide a kind of video camera anti-shake apparatus and anti-fluttering method, to reduce time and the stroke that servomechanism continues movement, improve the definition of video image.
To achieve these goals, technical solution of the present invention is as follows:
A kind of video camera anti-shake apparatus, be applied to video camera, this video camera anti-shake apparatus comprises position transducer, controller, servomechanism, image device and takes out frame device, and described servomechanism is controlled by the controller and drives described image device to move, wherein:
Described image device is high frame per second image device;
The linear acceleration that described position transducer measurement DE Camera Shake causes and angular acceleration, and the linear acceleration recorded and angular acceleration are sent to controller;
The linear acceleration of described controller receiving position sensor measurement and angular acceleration, converse the displacement and angle of shaking and causing, then can the ultimate range of movement and maximum angle compare with image device, be discarded in advance shake the displacement that causes and angle exceed image device can the ultimate range of movement and maximum angle time picture frame, then under the prerequisite not affecting video subjective feeling, strategy according to presetting initiatively abandons the picture frame exceeding setting frame number in advance, control servomechanism during the framing abandoning picture frame in advance in stopping action, and export control signal and control to take out frame device and abandon the picture frame abandoned in advance,
The described control signal of taking out frame device and inputting according to controller, abandons the picture frame abandoned in advance, exports the picture frame retained from the picture frame that image device exports.
Further, described in take out frame device when abandoning the picture frame abandoned in advance in the picture frame exported from image device, perform following operation:
Be discarded in shake the displacement that causes and angle exceed image device can the ultimate range of movement and maximum angle time the image device picture frame that gathers, the picture frame that the image frame position be dropped adopts its former frame not to be dropped substitutes;
Initiatively abandon according to the strategy preset the picture frame exceeding setting frame number again, export the picture frame retained.
The image frame position be dropped substitutes with the normal picture frame of former frame and fills up, can prevent image blank screen, the picture frame that above-mentioned steps exports has better continuity.
Further, described default strategy, for abandon every frame, abandons a two field picture frame every a frame.When the frame per second that imaging equipment is is 50 frames/s, export as standard frame number 25 frames/s.
Further, described video camera anti-shake apparatus is also provided with stabilization frame, and described stabilization frame is arranged between the camera lens of video camera and described image device, and the one side of described stabilization frame is fixedly connected with camera lens, another side is facing to image device, and image device is removable within the scope of it.
Inner width and the Nei Gao of described stabilization frame are respectively W and H, and the wide and high of described image device is w and h, then image device moveable ultimate range D up and down
h, the ultimate range D that moves left and right
wbe respectively:
D
h＝(H-h)/2
D
w＝(W-w)/2
Accordingly, the described image device maximum angle θ that can move up and down
hwith the maximum angle θ that can move left and right
wfor:
θ
h＝arctan(D
h/F)
θ
w＝arctan(D
w/F)
Wherein F is focal length.
The invention allows for a kind of video camera anti-fluttering method, be applied to above-mentioned stabilization camera system, described anti-fluttering method comprises step:
The linear acceleration that measurement DE Camera Shake causes and angular acceleration;
According to the linear acceleration measured and angular acceleration, converse the displacement and angle of shaking and causing, then can the ultimate range of movement and maximum angle compare with image device, be discarded in advance shake the displacement that causes and angle exceed image device can the ultimate range of movement and maximum angle time picture frame, then under the prerequisite not affecting video subjective feeling, strategy according to presetting initiatively abandons the picture frame exceeding setting frame number in advance, control servomechanism during the framing abandoning picture frame in advance in stopping action;
From the picture frame that image device exports, abandon the picture frame abandoned in advance, export the picture frame retained.
Preferably, when abandoning the picture frame abandoned in advance from the picture frame that image device exports, step is comprised:
Be discarded in shake the displacement that causes and angle exceed image device can the ultimate range of movement and maximum angle time the image device picture frame that gathers, the picture frame that the image frame position be dropped adopts its former frame not to be dropped substitutes;
Initiatively abandon according to the strategy preset the picture frame exceeding setting frame number again, export the picture frame retained.
The present invention proposes a kind of video camera anti-shake apparatus and anti-fluttering method, by adopting high frame per second image device, gathering the picture frame more than standard frame number, the discarded part component picture frame when Image Coding, the picture frame of a retention criteria frame number exports as video flowing.According to taking out frame strategy discarded part component picture frame, during needing the picture frame framing abandoned, servomechanism quits work, and decreases servomechanism operating time and stroke, reduces servo accuracy requirement.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of video camera anti-shake apparatus of the present invention;
Fig. 2 is the position relationship schematic diagram of embodiment of the present invention stabilization frame and image device;
Fig. 3 is embodiment of the present invention image device displacement schematic diagram;
Fig. 4 is embodiment of the present invention image device move angle schematic diagram.
Embodiment
Be described in further details technical solution of the present invention below in conjunction with drawings and Examples, following examples do not form limitation of the invention.
General thought of the present invention is on the basis of mobile imaging device, in guarantee video image continuous print situation, reduces operating time and the stroke of servomechanism as far as possible, reduces random noise disturbance, reduce the possibility that video image is fuzzy.
To achieve these goals, the present embodiment adopts the image device of high frame per second, such as 50 frames/s (Phase Alternation Line system), 60 frames/s (NTSC), and configures it and be operated in high frame per second imaging.Because naked eyes are seeing that the static images per second more than 24 frames will think continuous dynamic video, that usual video monitoring system adopts is standard frame number (25 frames/s ~ 30 frame/s).The frame number of the video image of the present embodiment image device collection is considerably beyond the frame number meeting the requirement of human eye vision continuity, when high frame per second imaging, defective picture frame is abandoned and the picture frame of the frame number that is above standard according to frame strategy of taking out hereafter, retaining 25 frames and just can meet the requirement of human eye vision continuity, providing necessary condition for taking out frame.Based on foregoing, the present embodiment, by taking out frame to realize the operating time and stroke that reduce servomechanism, specifically realizes taking out frame based on following two kinds of strategies:
Strategy one, abandon defective picture frame.The linear acceleration obtained according to position transducer measurement and angular acceleration, be scaled video camera displacement and angle, image device is driven the threshold value of movement to compare with servomechanism, displacement or angle exceed image device can the threshold value of movement time, initiatively abandon current picture frame in advance, during estimating the picture frame framing be dropped, servomechanism stops action, and image device is not moved.Or according to the chattering frequency recorded, when exceeding the reflection performance of servomechanism driving image device, initiatively abandon current picture frame in advance, during estimating the picture frame framing be dropped, servomechanism stops action, and image device is not moved.
Strategy two, abandon the picture frame of the frame number that is above standard.Displacement or angle do not exceed image device can the threshold value of movement time, under the prerequisite not affecting video subjective feeling, initiatively abandon the picture frame exceeding setting frame number in advance, during estimating the framing of the picture frame be dropped, servomechanism stops action, and image device is not moved.
By above-mentioned two kinds of strategies, according to the video flowing requirement of 25 frames/s, servomechanism can reduce by the operating time of about 50%.
As shown in Figure 1, a kind of video camera anti-shake apparatus of the present embodiment, be applied to video camera, comprise position transducer, controller, servomechanism, image device and take out frame device, its Position Sensor, servomechanism, take out frame device and be all connected with controller, servomechanism is connected by power transmission shaft with image device, when servomechanism is controlled by the controller work, driving image device moves, the picture frame that image device exports outputs to takes out frame device, take out frame device to carry out taking out frame process according to the control signal of controller, the picture frame of outputting standard frame number.Wherein:
The linear acceleration recorded and angular acceleration for the linear acceleration measuring DE Camera Shake and cause and angular acceleration, and are sent to controller by position transducer;
Controller is used for linear acceleration and the angular acceleration of receiving position sensor measurement, converse the displacement and angle of shaking and causing, then can the ultimate range of movement and maximum angle compare with image device, be discarded in advance shake the displacement that causes and angle exceed image device can the ultimate range of movement and maximum angle time picture frame, then under the prerequisite not affecting video subjective feeling, strategy according to presetting initiatively abandons the picture frame exceeding setting frame number in advance, control servomechanism during the framing abandoning picture frame in advance in stopping action, and export control signal and control to take out frame device and abandon the picture frame abandoned in advance,
Taking out the control signal of frame device for inputting according to controller, from the picture frame that image device exports, abandoning the picture frame abandoned in advance, export the picture frame retained.
The position transducer that the present embodiment adopts is 6 axle gyroscopes, the present embodiment controller obtains the linear acceleration and angular acceleration measuring and obtain from position transducer, converse the displacement and angle of shaking and causing, then transportable ultimate range and maximum angle compare with image device, to judge whether to exceed the moveable scope of image device.
The present embodiment image device drives by servomechanism and is moved, transportable ultimate range and maximum angle can be obtained by the performance of servomechanism itself, when itself performance does not limit ultimate range and the maximum angle of movement, obtained by the concrete size of video camera stabilization frame and image device.Video camera stabilization frame is for limiting the transportable concrete scope of image device.The one side of stabilization frame is fixedly connected with camera lens, and another side is facing to image device, and image device is removable within the scope of it, as shown in Figure 2.
Suppose that inner width and the Nei Gao of stabilization frame are respectively W and H, the wide and high of image device is w and h, then image device moveable ultimate range D up and down
h, the ultimate range D that moves left and right
wbe respectively:
D
h＝(H-h)/2
D
w＝(W-w)/2
By D
hand D
wcan the ultimate range of movement as image device.
Fig. 3 shows the displacement of image device when shaking, and time normal, image device is in position 1, and after shaking, image device is positioned at position 2, and now image device can only to the first half imaging of object scene; Driving image device by servomechanism, move it position 3, can completely be object scene imaging, and now image device has moved up distance L.Visible displacement L in the vertical direction can not more than D
h, in the lateral direction can not more than D
w.
And can the maximum angle of movement for image device, with reference to figure 4: time normal, image device is in position 1, and after shaking, image device is positioned at position 2, and now image device can only to the first half imaging of object scene; Driving image device by servomechanism, move it position 3, can completely be object scene imaging.After movement, the angle that image device is moved is θ, and the distance of the image device movement of its correspondence is L.
As shown in Figure 4, when shake occurs DE Camera Shake, if deflected up and down, then need image device to move up and down to eliminate the impact of shake, if left and right deflects, then need image device to move left and right to eliminate the impact of shake.Simultaneously due to: L=F*tan θ, wherein F is focal length of camera, thus can calculate moved angle according to moved distance L.According to the transportable ultimate range D of image device
hand D
w, the maximum angle θ that image device can move up and down can be calculated
hwith the maximum angle θ moved left and right
w:
θ
h＝arctan(D
h/F)
。
θ
w＝arctan(D
w/F)
And image device operationally, the linear acceleration that the displacement caused due to shake and angle can obtain according to position transducer measurement and angular acceleration calculate and obtain.Controller converses the displacement and angle of shaking and causing according to linear acceleration and angular acceleration, formula is as follows:
Speed=speed+linear acceleration * dt
Distance=(speed+linear acceleration/2) * dt
Angle=angle+angular acceleration * dt
The present embodiment position transducer measuring frequency is 2-4Khz, to convert the displacement and angle that obtain shaking and cause according to the linear acceleration measured and angular acceleration.Angle can also do data fusion with linear acceleration angle, promotes the accuracy of data, and linear acceleration angle leads to antitrigonometric function can be in the hope of, because acceleration of gravity is known, linear acceleration is known, can be obtained by antitrigonometric function:
Final angle=angular acceleration angle weights * angular acceleration integration angle+(1-angular acceleration weights) * linear acceleration angle
The method of asking of angle is not limited to said method in addition, by asking hypercomplex number, then can also turn Eulerian angles by hypercomplex number and trying to achieve, the invention is not restricted to concrete conversion method.
The present embodiment middle controller is after conversing the displacement and angle of shaking and causing, can the ultimate range of movement and maximum angle compare with above-mentioned default image device, shake the displacement that causes and angle exceed image device can the ultimate range of movement and maximum angle time, according to strategy one, abandon current picture frame in advance; Then according to strategy two, under the prerequisite not affecting video subjective feeling, initiatively abandon the picture frame exceeding setting frame number in advance, control servomechanism during the framing abandoning picture frame in advance in stop action, and export control signal control and take out frame device and abandon the picture frame abandoned in advance.
It should be noted that, during the framing of the picture frame abandoned in advance, image device is also in the frame per second imaging of current location according to self, after imaging, picture frame is outputted to and take out frame device, take out the control signal that frame device exports according to controller, extracted by the picture frame abandoned in advance and abandon, the picture frame only retaining remaining standard frame number exports.Generally, taking out frame device can be encoder, also can be special equipment, picture frame is encoded to Media Stream after taking out frame process and exports.
The present embodiment take out frame device when taking out frame, comprise two stages, first abandon underproof picture frame, more initiatively abandon the picture frame exceeding setting frame number, ensure the last remaining several picture frame of standard frame.In order to prevent when extracting continuous defective frame, take out and do not have image image duration at this and cause blank screen, the present embodiment adopts the last picture frame do not abandoned of the defective frame abandoned to substitute the picture frame be dropped.
Such as: suppose that the frame per second of image device is 50 frames/s, i.e. imaging 50 two field picture in a second.First abandon underproof picture frame, suppose that the 16th and the 17th frame is defective, then abandoned by the 16th and the 17th frame, and carry out the video image of alternative 16th frame and the 17th frame with the 15th frame, namely the 16th frame is identical with the image of the 15th frame with the image of the 17th frame.
And initiatively abandon the picture frame exceeding setting frame number afterwards again, the strategy preferably preset is for abandon every frame, carry out abandoning every frame, suppose reservation the 1st, 3,5,7 ... frame, abandon the 2nd, 4,6,8 ... frame, because the 17th frame has had the image of the 15th frame, it is hereby ensured the video flowing exported as standard frame number (25 frames/s), keep the continuity of image.
Above-mentioned frame method of taking out is preferred scheme, the present invention is not limited to adopt when initiatively abandoning the picture frame exceeding setting frame number abandon every frame, also can according to totalframes, abandoned by the time interval extracting part component picture frame of setting, only retain a setting frame number picture frame, general setting frame number is standard frame number 25 frames/s.
In sum, the operating time of servomechanism at least half is decreased by taking out frame strategy.Owing to all stopping action at the picture frame framing device servomechanism abandoned in advance, servomechanism only can be driven image device when picture frame formed by image device can not abandon in advance, and therefore the stroke summation of servomechanism also greatly reduces; Simultaneously when shaking large, original needs moves larger stroke, and owing to being defective frame, then do not need mobile, when needing mobile next time, its shake is so not large, then the stroke of movement reduces further.So just reduce hysterisis error, improve servo accuracy, also can improve the relevant Mechatronic Systems life-span; Abandon defective picture frame, can effectively improve image subjective feeling.
The present embodiment also proposed a kind of video camera anti-fluttering method, and be applied to above-mentioned stabilization camera system, described anti-fluttering method comprises step:
The linear acceleration that measurement DE Camera Shake causes and angular acceleration;
According to the linear acceleration measured and angular acceleration, converse the displacement and angle of shaking and causing, then can the ultimate range of movement and maximum angle compare with image device, be discarded in advance shake the displacement that causes and angle exceed image device can the ultimate range of movement and maximum angle time picture frame, then under the prerequisite not affecting video subjective feeling, strategy according to presetting initiatively abandons the picture frame exceeding setting frame number in advance, control servomechanism during the framing abandoning picture frame in advance in stopping action;
From the picture frame that image device exports, abandon the picture frame abandoned in advance, export the picture frame retained.
Preferably, when abandoning the picture frame abandoned in advance from the picture frame that image device exports, step is comprised:
Be discarded in shake the displacement that causes and angle exceed image device can the ultimate range of movement and maximum angle time the image device picture frame that gathers, the picture frame that the image frame position be dropped adopts its former frame not to be dropped substitutes;
Initiatively abandon according to the strategy preset the picture frame exceeding setting frame number again, export the picture frame retained.
The strategy that the present embodiment is preset, for abandon every frame, abandons a two field picture frame every a frame.
Above embodiment is only in order to illustrate technical scheme of the present invention but not to be limited; when not deviating from the present invention's spirit and essence thereof; those of ordinary skill in the art are when making various corresponding change and distortion according to the present invention, but these change accordingly and are out of shape the protection range that all should belong to the claim appended by the present invention.
Claims (10)
1. a video camera anti-shake apparatus, be applied to video camera, it is characterized in that, this video camera anti-shake apparatus comprises position transducer, controller, servomechanism, image device and takes out frame device, described servomechanism is controlled by the controller and drives described image device to move, wherein:
Described image device is high frame per second image device;
Described position transducer, for measuring the linear acceleration and angular acceleration that DE Camera Shake causes, and sends to controller by the linear acceleration recorded and angular acceleration;
Described controller, for linear acceleration and the angular acceleration of receiving position sensor measurement, converse the displacement and angle of shaking and causing, then can the ultimate range of movement and maximum angle compare with image device, be discarded in advance shake the displacement that causes and angle exceed image device can the ultimate range of movement and maximum angle time picture frame, then under the prerequisite not affecting video subjective feeling, strategy according to presetting initiatively abandons the picture frame exceeding setting frame number in advance, control servomechanism during the framing abandoning picture frame in advance in stopping action, and export control signal and control to take out frame device and abandon the picture frame abandoned in advance,
Describedly take out frame device, for the control signal inputted according to controller, from the picture frame that image device exports, abandon the picture frame abandoned in advance, export the picture frame retained.
2. video camera anti-shake apparatus according to claim 1, is characterized in that, described in take out frame device when abandoning the picture frame abandoned in advance in the picture frame exported from image device, perform following operation:
Be discarded in shake the displacement that causes and angle exceed image device can the ultimate range of movement and maximum angle time the image device picture frame that gathers, the picture frame that the image frame position be dropped adopts its former frame not to be dropped substitutes;
Initiatively abandon according to the strategy preset the picture frame exceeding setting frame number again, export the picture frame retained.
3. video camera anti-shake apparatus according to claim 1 and 2, is characterized in that, described default strategy, for abandon every frame, abandons a two field picture frame every a frame.
4. video camera anti-shake apparatus according to claim 1, it is characterized in that, described video camera anti-shake apparatus is also provided with stabilization frame, described stabilization frame is arranged between the camera lens of video camera and described image device, the one side of described stabilization frame is fixedly connected with camera lens, another side is facing to image device, and image device is removable within the scope of it.
5. video camera anti-shake apparatus according to claim 4, is characterized in that, inner width and the Nei Gao of described stabilization frame are respectively W and H, and the wide and high of described image device is w and h, then image device moveable ultimate range D up and down
h, the ultimate range D that moves left and right
wbe respectively:
D
h＝(H-h)/2
D
w＝(W-w)/2
Accordingly, the described image device maximum angle θ that can move up and down
hwith the maximum angle θ that can move left and right
wfor:
θ
h＝arctan(D
h/F)
θ
w＝arctan(D
w/F)
Wherein F is focal length.
6. a video camera anti-fluttering method, is applied to video camera according to claim 1, it is characterized in that, described anti-fluttering method comprises step:
The linear acceleration that measurement DE Camera Shake causes and angular acceleration;
According to the linear acceleration measured and angular acceleration, converse the displacement and angle of shaking and causing, then can the ultimate range of movement and maximum angle compare with image device, be discarded in advance shake the displacement that causes and angle exceed image device can the ultimate range of movement and maximum angle time picture frame, then under the prerequisite not affecting video subjective feeling, strategy according to presetting initiatively abandons the picture frame exceeding setting frame number in advance, control servomechanism during the framing abandoning picture frame in advance in stopping action;
From the picture frame that image device exports, abandon the picture frame abandoned in advance, export the picture frame retained.
7. video camera anti-fluttering method according to claim 6, is characterized in that, described from image device export picture frame abandon the picture frame abandoned in advance time, comprise step:
Be discarded in shake the displacement that causes and angle exceed image device can the ultimate range of movement and maximum angle time the image device picture frame that gathers, the picture frame that the image frame position be dropped adopts its former frame not to be dropped substitutes;
Initiatively abandon according to the strategy preset the picture frame exceeding setting frame number again, export the picture frame retained.
8. the video camera anti-fluttering method according to claim 6 or 7, is characterized in that, described default strategy, for abandon every frame, abandons a two field picture frame every a frame.
9. video camera anti-fluttering method according to claim 6, is characterized in that, described video camera is also provided with stabilization frame, and described video camera anti-fluttering method also comprises step:
According to the size of stabilization frame and image device, calculating image device can the ultimate range of movement and maximum angle.
10. video camera anti-fluttering method according to claim 9, is characterized in that, inner width and the Nei Gao of described stabilization frame are respectively W and H, and the wide and high of described image device is w and h, then image device moveable ultimate range D up and down
h, the ultimate range D that moves left and right
wbe respectively:
D
h＝(H-h)/2
D
w＝(W-w)/2
Accordingly, the described image device maximum angle θ that can move up and down
hwith the maximum angle θ that can move left and right
wfor:
θ
h＝arctan(D
h/F)
θ
w＝arctan(D
w/F)
Wherein F is focal length.
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