CN105163032B - Road monitoring camera anti-shake apparatus and method based on two dimensional motion compensation - Google Patents
Road monitoring camera anti-shake apparatus and method based on two dimensional motion compensation Download PDFInfo
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- CN105163032B CN105163032B CN201510607475.1A CN201510607475A CN105163032B CN 105163032 B CN105163032 B CN 105163032B CN 201510607475 A CN201510607475 A CN 201510607475A CN 105163032 B CN105163032 B CN 105163032B
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Abstract
The present invention relates to road safety, technical field of image processing, and in particular to a kind of road monitoring camera anti-shake apparatus and method based on two dimensional motion compensation；The device includes rotating shaft, horizontal guide rail, and upright guide rail, and centre of gravity adjustment block is set in rotating shaft bottom, this structure design can be in the case where cantilever beam waves, horizontal guide rail is adjusted to horizontality by centre of gravity adjustment block automatically, with the patent of invention of this seminar application《For compensating road monitoring camera anti-shake apparatus and the method that cantilever beam waves》Compare, not only save level meter, reduce hardware cost, and during compensation cantilever beam waves, reduce the active control of a dimension, shorten cantilever beam and wave the compensation time, in the case of cantilever beam swing in high frequency, suppress image and obscure, realize that the effect of blur-free imaging is more notable.
Description
Technical field
The present invention relates to road safety, technical field of image processing, and in particular to a kind of road based on two dimensional motion compensation
Road monitoring camera anti-shake apparatus and method.
Background technology
Preventing road monitoring system is road network information, intelligentized powerful guarantee.Can realize the very first time to break in traffic rules and regulations,
Traffic accident, traffic jam and other accidents judge, and then adjust control parameter, formulate scheduling strategy.It is and real
Now two necessary conditions of above-mentioned function are：Blur-free imaging and real time imagery.
At this stage, preventing road monitoring system is more using monitoring camera to be installed on to the structure of cantilever beam, this structure it is excellent
Gesture is simple in construction, and cost of installation and maintenance is low, but the disadvantage is that, vibrated and air-flow influence, camera can occur with
Machine waves, and causes image to obscure so that preventing road monitoring system is unsatisfactory for blur-free imaging condition, is unfavorable for informationization and the intelligence of road network
Energyization.
In view of the above-mentioned problems, this seminar has applied for a patent of invention《The road monitoring waved for compensating cantilever beam
Camera anti-shake apparatus and method》, the invention is by setting rotating shaft, the first translation shaft, and three crucial devices of the second translation shaft
Part, with reference to trigonometric function principle, three-dimensional adjustment is carried out to monitoring camera, it is ensured that monitoring camera is to auxiliary mark relative position
It is constant, and then cantilever beam caused by compensation vibration and air-flow waves, and reduces the change of road monitoring camera position and angle, has
Effect suppresses image and obscured, and blur-free imaging is realized, to realizing that road network information and intellectuality play facilitation.
However, following problem also be present in the invention：
The apparatus and method need to carry out road monitoring camera three-dimensional active accommodation, and corresponding three steps, right
The compensation delay that cantilever beam waves is longer, and in the case of cantilever beam swing in high frequency, the effect of monitoring camera blur-free imaging is not
It is especially desirable.
The content of the invention
In view of the above-mentioned problems, the invention discloses a kind of road monitoring camera anti-shake apparatus based on two dimensional motion compensation
With method, the apparatus and method only need to carry out two-dimentional active accommodation to road monitoring camera, and only need two steps,
Waved with regard to cantilever beam can be compensated, especially in the case of cantilever beam swing in high frequency, the present invention suppress image obscure, realize clearly into
The effect of picture is more notable.
The object of the present invention is achieved like this：
Road monitoring camera anti-shake apparatus based on two dimensional motion compensation, including camera two-dimension adjustment module and auxiliary
Object module；
The camera two-dimension adjustment module includes horizontal guide rail and upright guide rail, and monitoring camera can be along horizontal guide rail
Horizontal movement, moved up and down along upright guide rail；The horizontal support end that monitoring camera bottom passes through rotating shaft connecting cantilever beam；
Described rotating shaft is hole axle fit structure, and axle can freely swing in hole；Monitoring camera bottom connection hole axle is matched somebody with somebody
The axle construction in structure, axle construction bottom connection centre of gravity adjustment block are closed, the horizontal support end of cantilever beam is connected to hole axle and coordinates knot
Pore structure both ends in structure；
The camera two-dimension adjustment module also includes the auxiliary camera of alignment auxiliary mark module；
The auxiliary mark module includes the installing plate being vertically arranged, the first auxiliary mark on a mounting board setting up and down
With the second auxiliary mark；First auxiliary mark and the second auxiliary mark are in the visual field of auxiliary camera；First auxiliary mesh
Mark and the line of auxiliary camera and the angle of vertical direction are α, the line of the second auxiliary mark and auxiliary camera with vertically
The angle in direction is β.
The above-mentioned road monitoring camera anti-shake apparatus based on two dimensional motion compensation, the first described auxiliary mark and second
Auxiliary mark is infrared band LED, and auxiliary camera is infrared band CCD.
The above-mentioned road monitoring camera anti-shake apparatus based on two dimensional motion compensation, the first described auxiliary mark and second
Auxiliary mark radiates r rays to auxiliary camera, and auxiliary camera is r ray receivers.
It is a kind of realized on the above-mentioned road monitoring camera anti-shake apparatus based on two dimensional motion compensation based on two maintenance and operations
The road monitoring camera anti-fluttering method of dynamic compensation, comprises the following steps：
If step a,：
The angle of situation one, the line of the first auxiliary mark and auxiliary camera and vertical direction is less than α, monitoring camera
Moved out along horizontal guide rail, or monitoring camera moves downward along upright guide rail, or monitoring camera is simultaneously along horizontal guide rail
Move out, moved downward along upright guide rail, or monitoring camera alternately moves out along horizontal guide rail, be downward along upright guide rail
Motion, until the angle of the line and vertical direction of the first auxiliary mark and auxiliary camera is equal to α, into step b；
The angle of situation two, the line of the first auxiliary mark and auxiliary camera and vertical direction is more than α, monitoring camera
Inwardly moved along horizontal guide rail, or monitoring camera moves upwards along upright guide rail, or monitoring camera is simultaneously along horizontal guide rail
Inwardly move, moved upwards along upright guide rail, or monitoring camera alternately inwardly moves along horizontal guide rail, be upward along upright guide rail
Motion, until the angle of the line and vertical direction of the first auxiliary mark and auxiliary camera is equal to α, into step b；
The angle of situation three, the line of the first auxiliary mark and auxiliary camera and vertical direction is equal to α, is directly entered step
Rapid b；
If step b,：
The angle of situation one, the line of the second auxiliary mark and auxiliary camera and vertical direction is less than β, monitoring camera
Move out along horizontal guide rail, moved upwards along upright guide rail simultaneously, and the ratio between movement velocity of horizontal guide rail and upright guide rail
For tan α, until the angle of the line and vertical direction of the second auxiliary mark and auxiliary camera is equal to β；
The angle of situation two, the line of the second auxiliary mark and auxiliary camera and vertical direction is more than β, monitoring camera
Inwardly move along horizontal guide rail, moved downward along upright guide rail simultaneously, and the ratio between movement velocity of horizontal guide rail and upright guide rail
For tan α, until the angle of the line and vertical direction of the second auxiliary mark and auxiliary camera is equal to β；
The angle of situation three, the line of the second auxiliary mark and auxiliary camera and vertical direction is equal to β, terminates.
It is a kind of realized on the above-mentioned road monitoring camera anti-shake apparatus based on two dimensional motion compensation based on two maintenance and operations
The road monitoring camera anti-fluttering method of dynamic compensation, comprises the following steps：
If step a,：
The angle of situation one, the line of the second auxiliary mark and auxiliary camera and vertical direction is less than β, monitoring camera
Moved out along horizontal guide rail, or monitoring camera moves downward along upright guide rail, or monitoring camera is simultaneously along horizontal guide rail
Move out, moved downward along upright guide rail, or monitoring camera alternately moves out along horizontal guide rail, be downward along upright guide rail
Motion, until the angle of the line and vertical direction of the second auxiliary mark and auxiliary camera is equal to β, into step b；
The angle of situation two, the line of the second auxiliary mark and auxiliary camera and vertical direction is more than β, monitoring camera
Inwardly moved along horizontal guide rail, or monitoring camera moves upwards along upright guide rail, or monitoring camera is simultaneously along horizontal guide rail
Inwardly move, moved upwards along upright guide rail, or monitoring camera alternately inwardly moves along horizontal guide rail, be upward along upright guide rail
Motion, until the angle of the line and vertical direction of the second auxiliary mark and auxiliary camera is equal to β, into step b；
The angle of situation three, the line of the second auxiliary mark and auxiliary camera and vertical direction is equal to β, is directly entered step
Rapid b；
If step b,：
The angle of situation one, the line of the first auxiliary mark and auxiliary camera and vertical direction is less than α, monitoring camera
Inwardly move along horizontal guide rail, moved downward along upright guide rail simultaneously, and the ratio between movement velocity of horizontal guide rail and upright guide rail
For tan β, until the angle of the line and vertical direction of the first auxiliary mark and auxiliary camera is equal to α；
The angle of situation two, the line of the first auxiliary mark and auxiliary camera and vertical direction is more than α, monitoring camera
Move out along horizontal guide rail, moved upwards along upright guide rail simultaneously, and the ratio between movement velocity of horizontal guide rail and upright guide rail
For tan β, until the angle of the line and vertical direction of the first auxiliary mark and auxiliary camera is equal to α；
The angle of situation three, the line of the first auxiliary mark and auxiliary camera and vertical direction is equal to α, terminates.
Beneficial effect：
Firstth, with the patent of invention of this seminar application《The road monitoring camera stabilization waved for compensating cantilever beam
Apparatus and method》Compare, the present invention can equally compensate cantilever beam and wave, and reduce the change of road monitoring camera position and angle
Change, effectively suppress image and obscure, blur-free imaging is realized, to realizing that road network information and intellectuality play facilitation.
Secondth, with the patent of invention of this seminar application《The road monitoring camera stabilization waved for compensating cantilever beam
Apparatus and method》Compare, because present invention preserves the first auxiliary mark and the second auxiliary mark are arranged on into what is be vertically arranged
Structure on installing plate, therefore can likewise ensure that the first auxiliary mark and the second auxiliary mark are constant with respect to ground location, carry
The order of accuarcy of high monitoring camera adjustment.
3rd, with the patent of invention of this seminar application《The road monitoring camera stabilization waved for compensating cantilever beam
Apparatus and method》Compare, due to using following structure：Rotating shaft is hole axle fit structure, and axle can freely swing in hole；Monitoring is taken the photograph
As head bottom connects the axle construction in hole axle fit structure, axle construction bottom connection centre of gravity adjustment block, the horizontal support of cantilever beam
End is connected to the pore structure both ends in hole axle fit structure；Therefore even if cantilever beam waves, in the effect of centre of gravity adjustment block
Under, also horizontal guide rail can be adjusted to horizontality automatically, not only save level meter, reduce hardware cost, and compensate
During cantilever beam waves, reduce the active control of a dimension, shorten cantilever beam and wave the compensation time, in cantilever beam
In the case of swing in high frequency, suppress image and obscure, realize that the effect of blur-free imaging is more notable.
Brief description of the drawings
Fig. 1 is the connection diagram of rotating shaft and related device.
Fig. 2 is camera three-dimensional adjusting module and auxiliary mark module relative position schematic diagram.
Fig. 3 is the flow of the road monitoring camera anti-fluttering method specific embodiment four of the invention based on two dimensional motion compensation
Figure.
Fig. 4 is the flow of the road monitoring camera anti-fluttering method specific embodiment five of the invention based on two dimensional motion compensation
Figure.
In figure：11 horizontal guide rails, 12 upright guide rails, 13 monitoring cameras, 14 rotating shafts, 15 centre of gravity adjustment blocks, 16 auxiliary are taken the photograph
As head, 21 installing plates, 22 first auxiliary marks, 23 second auxiliary marks.
Embodiment
The specific embodiment of the invention is described in further detail below in conjunction with the accompanying drawings.
Specific embodiment one
The present embodiment is the road monitoring camera anti-shake apparatus embodiment based on two dimensional motion compensation.
The road monitoring camera anti-shake apparatus based on two dimensional motion compensation of the present embodiment, including camera two-dimension adjustment
Module and auxiliary mark module；
The camera two-dimension adjustment module includes horizontal guide rail 11 and upright guide rail 12, and monitoring camera 13 can be along water
The horizontal movement of level gauge 11, moves up and down along upright guide rail 12；The bottom of monitoring camera 13 passes through the connecting cantilever beam of rotating shaft 14
Horizontal support end；The other patent of invention that this part-structure is applied with this seminar《The road waved for compensating cantilever beam
Road monitoring camera anti-shake apparatus and method》It is identical, the repeat specification no longer in the form of accompanying drawing in this application.
Described rotating shaft 14 is hole axle fit structure, and axle can freely swing in hole；The bottom connecting hole of monitoring camera 13
Axle construction in axle fit structure, axle construction bottom connection centre of gravity adjustment block 15, the horizontal support end of cantilever beam is connected to hole axle
Pore structure both ends in fit structure；The connection diagram of rotating shaft 14 and related device is as shown in Figure 1.
The camera two-dimension adjustment module also includes the auxiliary camera 16 of alignment auxiliary mark module；
The auxiliary mark module includes the installing plate 21 being vertically arranged, the first auxiliary setting up and down on installing plate 21
The auxiliary mark 23 of target 22 and second；Visual field of the auxiliary mark 23 of first auxiliary mark 22 and second in auxiliary camera 16
It is interior；First auxiliary mark 22 and the line of auxiliary camera 16 and the angle of vertical direction are α, the second auxiliary mark 23 and auxiliary
The line of camera 16 and the angle of vertical direction are β.Camera three-dimensional adjusting module and auxiliary mark module relative position are shown
It is intended to as shown in Figure 2.
Specific embodiment two
The present embodiment is the road monitoring camera anti-shake apparatus embodiment based on two dimensional motion compensation.
The road monitoring camera anti-shake apparatus based on two dimensional motion compensation of the present embodiment, in the base of specific embodiment one
On plinth, it is infrared band LED further to limit the first auxiliary mark 22 and the second auxiliary mark 23, and auxiliary camera 16 is red
Wave section CCD.It is the effect that stabilization is improved the characteristics of utilizing infrared light strong antijamming capability using infrared band device.
Specific embodiment three
The present embodiment is the road monitoring camera anti-shake apparatus embodiment based on two dimensional motion compensation.
The road monitoring camera anti-shake apparatus based on two dimensional motion compensation of the present embodiment, in the base of specific embodiment one
On plinth, further limit the first auxiliary mark 22 and the second auxiliary mark 23 and radiate r rays to auxiliary camera 16, auxiliary is taken the photograph
Picture first 16 is r ray receivers.Strong using r ray penetration powers using r rays so that anti-shake apparatus of the present invention have automobile,
It can still be used during the barriers such as pedestrian.
Specific embodiment four
The present embodiment is the road monitoring camera anti-fluttering method embodiment based on two dimensional motion compensation.
The road monitoring camera anti-fluttering method based on two dimensional motion compensation of the present embodiment, flow chart are as shown in Figure 3.Should
Method comprises the following steps：
If step a,：
The angle of situation one, the line of the first auxiliary mark 22 and auxiliary camera 16 and vertical direction is less than α, and monitoring is taken the photograph
Moved out as first 13 along horizontal guide rail 11, or monitoring camera 13 moves downward along upright guide rail 12, or monitoring camera 13
Move out along horizontal guide rail 11, moved downward along upright guide rail 12 simultaneously, or monitoring camera 13 is alternately along horizontal guide rail 11
Move out, moved downward along upright guide rail 12, until the first auxiliary mark 22 and the line of auxiliary camera 16 and vertical side
To angle be equal to α, into step b；
The angle of situation two, the line of the first auxiliary mark 22 and auxiliary camera 16 and vertical direction is more than α, and monitoring is taken the photograph
Inwardly moved along horizontal guide rail 11 as first 13, or monitoring camera 13 moves upwards along upright guide rail 12, or monitoring camera 13
Inwardly move along horizontal guide rail 11, moved upwards along upright guide rail 12 simultaneously, or monitoring camera 13 is alternately along horizontal guide rail 11
Inwardly move, moved upwards along upright guide rail 12, until the first auxiliary mark 22 and the line of auxiliary camera 16 and vertical side
To angle be equal to α, into step b；
The angle of situation three, the line of the first auxiliary mark 22 and auxiliary camera 16 and vertical direction is equal to α, directly enters
Enter step b；
If step b,：
The angle of situation one, the line of the second auxiliary mark 23 and auxiliary camera 16 and vertical direction is less than β, and monitoring is taken the photograph
Move out along horizontal guide rail 11 as first 13, moved upwards along upright guide rail 12 simultaneously, and horizontal guide rail 11 and upright guide rail 12
The ratio between movement velocity be tan α, until angle of line and vertical direction of the second auxiliary mark 23 and auxiliary camera 16 etc.
In β；
The angle of situation two, the line of the second auxiliary mark 23 and auxiliary camera 16 and vertical direction is more than β, and monitoring is taken the photograph
Inwardly move along horizontal guide rail 11 as first 13, moved downward along upright guide rail 12 simultaneously, and horizontal guide rail 11 and upright guide rail 12
The ratio between movement velocity be tan α, until angle of line and vertical direction of the second auxiliary mark 23 and auxiliary camera 16 etc.
In β；
The angle of situation three, the line of the second auxiliary mark 23 and auxiliary camera 16 and vertical direction is equal to β, terminates.
Specific embodiment five
The present embodiment is the road monitoring camera anti-fluttering method embodiment based on two dimensional motion compensation.
The road monitoring camera anti-fluttering method based on two dimensional motion compensation of the present embodiment, flow chart are as shown in Figure 3.Should
Method comprises the following steps：
If step a,：
The angle of situation one, the line of the second auxiliary mark 23 and auxiliary camera 16 and vertical direction is less than β, and monitoring is taken the photograph
Moved out as first 13 along horizontal guide rail 11, or monitoring camera 13 moves downward along upright guide rail 12, or monitoring camera 13
Move out along horizontal guide rail 11, moved downward along upright guide rail 12 simultaneously, or monitoring camera 13 is alternately along horizontal guide rail 11
Move out, moved downward along upright guide rail 12, until the second auxiliary mark 23 and the line of auxiliary camera 16 and vertical side
To angle be equal to β, into step b；
The angle of situation two, the line of the second auxiliary mark 23 and auxiliary camera 16 and vertical direction is more than β, and monitoring is taken the photograph
Inwardly moved along horizontal guide rail 11 as first 13, or monitoring camera 13 moves upwards along upright guide rail 12, or monitoring camera 13
Inwardly move along horizontal guide rail 11, moved upwards along upright guide rail 12 simultaneously, or monitoring camera 13 is alternately along horizontal guide rail 11
Inwardly move, moved upwards along upright guide rail 12, until the second auxiliary mark 23 and the line of auxiliary camera 16 and vertical side
To angle be equal to β, into step b；
The angle of situation three, the line of the second auxiliary mark 23 and auxiliary camera 16 and vertical direction is equal to β, directly enters
Enter step b；
If step b,：
The angle of situation one, the line of the first auxiliary mark 22 and auxiliary camera 16 and vertical direction is less than α, and monitoring is taken the photograph
Inwardly move along horizontal guide rail 11 as first 13, moved downward along upright guide rail 12 simultaneously, and horizontal guide rail 11 and upright guide rail 12
The ratio between movement velocity be tan β, until angle of line and vertical direction of the first auxiliary mark 22 and auxiliary camera 16 etc.
In α；
The angle of situation two, the line of the first auxiliary mark 22 and auxiliary camera 16 and vertical direction is more than α, and monitoring is taken the photograph
Move out along horizontal guide rail 11 as first 13, moved upwards along upright guide rail 12 simultaneously, and horizontal guide rail 11 and upright guide rail 12
The ratio between movement velocity be tan β, until angle of line and vertical direction of the first auxiliary mark 22 and auxiliary camera 16 etc.
In α；
The angle of situation three, the line of the first auxiliary mark 22 and auxiliary camera 16 and vertical direction is equal to α, terminates.
It should be noted that of the present invention move out, refer to move away from cantilever beam vertical rod direction, inwardly fortune
It is dynamic, refer to move towards cantilever beam vertical rod direction.
Claims (5)
1. the road monitoring camera anti-shake apparatus based on two dimensional motion compensation, it is characterised in that including camera two-dimension adjustment
Module and auxiliary mark module；
The camera two-dimension adjustment module includes horizontal guide rail (11) and upright guide rail (12), and monitoring camera (13) being capable of edge
Horizontal guide rail (11) horizontal movement, moved up and down along upright guide rail (12)；Monitoring camera (13) bottom is connected by rotating shaft (14)
Connect the horizontal support end of cantilever beam；
Described rotating shaft (14) is hole axle fit structure, and axle can freely swing in hole；Monitoring camera (13) bottom connecting hole
Axle construction in axle fit structure, axle construction bottom connection centre of gravity adjustment block (15), the horizontal support end of cantilever beam is connected to hole
Pore structure both ends in axle fit structure；
The camera two-dimension adjustment module also includes the auxiliary camera (16) of alignment auxiliary mark module；
The auxiliary mark module includes the installing plate (21) being vertically arranged, the first auxiliary setting up and down on installing plate (21)
Target (22) and the second auxiliary mark (23)；First auxiliary mark (22) and the second auxiliary mark (23) are in auxiliary camera
(16) in visual field；The angle of the line and vertical direction of first auxiliary mark (22) and auxiliary camera (16) is α, and second is auxiliary
It is β to help the line of target (23) and auxiliary camera (16) and the angle of vertical direction.
2. the road monitoring camera anti-shake apparatus according to claim 1 based on two dimensional motion compensation, it is characterised in that
Described the first auxiliary mark (22) and the second auxiliary mark (23) is infrared band LED, and auxiliary camera (16) is infrared
Wave band CCD.
3. the road monitoring camera anti-shake apparatus according to claim 1 based on two dimensional motion compensation, it is characterised in that
Described the first auxiliary mark (22) and the second auxiliary mark (23) radiate r rays, second camera to auxiliary camera (16)
Head (16) is r ray receivers.
4. it is a kind of realized described in claim 1 on the road monitoring camera anti-shake apparatus based on two dimensional motion compensation based on
The road monitoring camera anti-fluttering method of two dimensional motion compensation, it is characterised in that comprise the following steps：
If step a,：
The angle of situation one, the line of the first auxiliary mark (22) and auxiliary camera (16) and vertical direction is less than α, and monitoring is taken the photograph
Picture head (13) moves out along horizontal guide rail (11), or monitoring camera (13) moves downward along upright guide rail (12), or monitoring
Camera (13) while move out along horizontal guide rail (11), moved downward along upright guide rail (12), or monitoring camera (13)
Alternating is moved out along horizontal guide rail (11), moved downward along upright guide rail (12), until the first auxiliary mark (22) and auxiliary
The line of camera (16) and the angle of vertical direction are equal to α, into step b；
The angle of situation two, the line of the first auxiliary mark (22) and auxiliary camera (16) and vertical direction is more than α, and monitoring is taken the photograph
Picture head (13) inwardly moves along horizontal guide rail (11), or monitoring camera (13) moves upwards along upright guide rail (12), or monitors
Camera (13) at the same along horizontal guide rail (11) inwardly motion, move upwards along upright guide rail (12), or monitoring camera (13)
Alternately inwardly move along horizontal guide rail (11), moved upwards along upright guide rail (12), until the first auxiliary mark (22) and auxiliary
The line of camera (16) and the angle of vertical direction are equal to α, into step b；
The angle of situation three, the line of the first auxiliary mark (22) and auxiliary camera (16) and vertical direction is equal to α, directly enters
Enter step b；
If step b,：
The angle of situation one, the line of the second auxiliary mark (23) and auxiliary camera (16) and vertical direction is less than β, and monitoring is taken the photograph
Move out as head (13) while along horizontal guide rail (11), along upright guide rail (12) motion upwards, and horizontal guide rail (11) is with erecting
The ratio between movement velocity of straight guide (12) is tan α, until the second auxiliary mark (23) and the line of auxiliary camera (16) and is erected
Nogata to angle be equal to β；
The angle of situation two, the line of the second auxiliary mark (23) and auxiliary camera (16) and vertical direction is more than β, and monitoring is taken the photograph
Inwardly move as head (13) while along horizontal guide rail (11), moved downward along upright guide rail (12), and horizontal guide rail (11) is with erecting
The ratio between movement velocity of straight guide (12) is tan α, until the second auxiliary mark (23) and the line of auxiliary camera (16) and is erected
Nogata to angle be equal to β；
The angle of situation three, the line of the second auxiliary mark (23) and auxiliary camera (16) and vertical direction is equal to β, terminates；
The inwardly motion is to be moved close to auxiliary mark module direction, described to move out as away from auxiliary mark module direction
Motion.
5. it is a kind of realized described in claim 1 on the road monitoring camera anti-shake apparatus based on two dimensional motion compensation based on
The road monitoring camera anti-fluttering method of two dimensional motion compensation, it is characterised in that comprise the following steps：
If step a,：
The angle of situation one, the line of the second auxiliary mark (23) and auxiliary camera (16) and vertical direction is less than β, and monitoring is taken the photograph
Picture head (13) moves out along horizontal guide rail (11), or monitoring camera (13) moves downward along upright guide rail (12), or monitoring
Camera (13) while move out along horizontal guide rail (11), moved downward along upright guide rail (12), or monitoring camera (13)
Alternating is moved out along horizontal guide rail (11), moved downward along upright guide rail (12), until the second auxiliary mark (23) and auxiliary
The line of camera (16) and the angle of vertical direction are equal to β, into step b；
The angle of situation two, the line of the second auxiliary mark (23) and auxiliary camera (16) and vertical direction is more than β, and monitoring is taken the photograph
Picture head (13) inwardly moves along horizontal guide rail (11), or monitoring camera (13) moves upwards along upright guide rail (12), or monitors
Camera (13) at the same along horizontal guide rail (11) inwardly motion, move upwards along upright guide rail (12), or monitoring camera (13)
Alternately inwardly move along horizontal guide rail (11), moved upwards along upright guide rail (12), until the second auxiliary mark (23) and auxiliary
The line of camera (16) and the angle of vertical direction are equal to β, into step b；
The angle of situation three, the line of the second auxiliary mark (23) and auxiliary camera (16) and vertical direction is equal to β, directly enters
Enter step b；
If step b,：
The angle of situation one, the line of the first auxiliary mark (22) and auxiliary camera (16) and vertical direction is less than α, and monitoring is taken the photograph
Inwardly move as head (13) while along horizontal guide rail (11), moved downward along upright guide rail (12), and horizontal guide rail (11) is with erecting
The ratio between movement velocity of straight guide (12) is tan β, until the first auxiliary mark (22) and the line of auxiliary camera (16) and is erected
Nogata to angle be equal to α；
The angle of situation two, the line of the first auxiliary mark (22) and auxiliary camera (16) and vertical direction is more than α, and monitoring is taken the photograph
Move out as head (13) while along horizontal guide rail (11), along upright guide rail (12) motion upwards, and horizontal guide rail (11) is with erecting
The ratio between movement velocity of straight guide (12) is tan β, until the first auxiliary mark (22) and the line of auxiliary camera (16) and is erected
Nogata to angle be equal to α；
The angle of situation three, the line of the first auxiliary mark (22) and auxiliary camera (16) and vertical direction is equal to α, terminates；
The inwardly motion is to be moved close to auxiliary mark module direction, described to move out as away from auxiliary mark module direction
Motion.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510607475.1A CN105163032B (en) | 2015-09-22 | 2015-09-22 | Road monitoring camera anti-shake apparatus and method based on two dimensional motion compensation |
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| CN105163032B true CN105163032B (en) | 2018-01-30 |
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| CN108765469B (en) * | 2016-06-16 | 2022-02-08 | 哈尔滨理工大学 | Road monitoring random motion blurred image fast restoration simulation system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6466260B1 (en) * | 1997-11-13 | 2002-10-15 | Hitachi Denshi Kabushiki Kaisha | Traffic surveillance system |
| CN201114487Y (en) * | 2007-08-30 | 2008-09-10 | 黄智信 | Two-wing correction conversion base |
| CN104135614A (en) * | 2014-07-24 | 2014-11-05 | 浙江宇视科技有限公司 | Camera displacement compensation method and device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050151846A1 (en) * | 2004-01-14 | 2005-07-14 | William Thornhill | Traffic surveillance method and system |
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2015
- 2015-09-22 CN CN201510607475.1A patent/CN105163032B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6466260B1 (en) * | 1997-11-13 | 2002-10-15 | Hitachi Denshi Kabushiki Kaisha | Traffic surveillance system |
| CN201114487Y (en) * | 2007-08-30 | 2008-09-10 | 黄智信 | Two-wing correction conversion base |
| CN104135614A (en) * | 2014-07-24 | 2014-11-05 | 浙江宇视科技有限公司 | Camera displacement compensation method and device |
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| CN105163032A (en) | 2015-12-16 |
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