CN106791419A - A kind of supervising device and method for merging panorama and details - Google Patents

A kind of supervising device and method for merging panorama and details Download PDF

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Publication number
CN106791419A
CN106791419A CN201611261130.6A CN201611261130A CN106791419A CN 106791419 A CN106791419 A CN 106791419A CN 201611261130 A CN201611261130 A CN 201611261130A CN 106791419 A CN106791419 A CN 106791419A
Authority
CN
China
Prior art keywords
camera
focal length
angle
wide
length camera
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201611261130.6A
Other languages
Chinese (zh)
Inventor
付先平
赵彤彤
王亚飞
袁国良
张军
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Dalian Maritime University
Original Assignee
Dalian Maritime University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Dalian Maritime University filed Critical Dalian Maritime University
Priority to CN201611261130.6A priority Critical patent/CN106791419A/en
Publication of CN106791419A publication Critical patent/CN106791419A/en
Pending legal-status Critical Current

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Classifications

    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00Control of position or direction
    • G05D3/12Control of position or direction using feedback
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00Details of television systems
    • H04N5/222Studio circuitry; Studio devices; Studio equipment ; Cameras comprising an electronic image sensor, e.g. digital cameras, video cameras, TV cameras, video cameras, camcorders, webcams, camera modules for embedding in other devices, e.g. mobile phones, computers or vehicles
    • H04N5/225Television cameras ; Cameras comprising an electronic image sensor, e.g. digital cameras, video cameras, camcorders, webcams, camera modules specially adapted for being embedded in other devices, e.g. mobile phones, computers or vehicles
    • H04N5/232Devices for controlling television cameras, e.g. remote control ; Control of cameras comprising an electronic image sensor
    • H04N5/23212Focusing based on image signals provided by the electronic image sensor
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00Television systems
    • H04N7/18Closed circuit television systems, i.e. systems in which the signal is not broadcast
    • H04N7/183Closed circuit television systems, i.e. systems in which the signal is not broadcast for receiving images from a single remote source

Abstract

The present invention provides a kind of supervising device and method for merging panorama and details, including:Focal length camera, wide-angle camera, head, firm banking and image processing module;The focal length camera is arranged on the head, for the topography in acquisition monitoring region;The head is arranged on the firm banking, for driving the wide-angle camera horizontal motion;The wide-angle camera is fixed on the firm banking, for acquisition monitoring region all images;Described image processing module is arranged inside the firm banking, and connected respectively at the focal length camera and the wide-angle camera, for sending pickup area position to the focal length camera, and all images of the focal length camera collection and the topography of wide-angle camera collection are received, and combine the topography and all images identification monitoring objective.The present invention realizes the target and event of identification detail in the image of wide-angle camera collection.

Description

A kind of supervising device and method for merging panorama and details
Technical field
The present embodiments relate to field, more particularly to a kind of supervising device and method for merging panorama and details.
Background technology
Current monitoring device and application field is very wide.
Out of doors in environment, because the region for covering is very big, it is necessary to the target of monitoring is a lot, therefore specific acquisition is wanted The minutia of some target of monitor area content, difficulty is very big.
The content of the invention
The embodiment of the present invention provides a kind of supervising device for merging panorama and details, to overcome above-mentioned technical problem.
A kind of supervising device for merging panorama and details of the present invention, including:
Focal length camera, wide-angle camera, head, firm banking and image processing module;
The focal length camera is arranged on the head, for the topography in acquisition monitoring region;
The head is arranged on the firm banking, for driving the wide-angle camera horizontal motion;
The wide-angle camera is fixed on the firm banking, for acquisition monitoring region all images;
Described image processing module is arranged inside the firm banking, and respectively at the focal length camera and described wide Angle camera connection, for sending pickup area position to the focal length camera, and receives the focal length camera collection All images and the topography of wide-angle camera collection, and combine the topography and all images identification prison Control target.
Further, the head includes:
Horizontal stand, supporting construction and motor;
The horizontal revolving stage is arranged on the firm banking by rotating shaft, for driving the focal length camera in water Square to rotation, the supporting construction is arranged on the horizontal rotating table, for supporting the focal length camera and driving The focal length camera is rotated in vertical direction, and the motor is arranged in the horizontal revolving stage and is connected with the processing module, For controlling the horizontal stand horizontal direction to rotate.
Further, the supporting construction, including:
The parallel first support bar of two vertical directions and second support bar, it is arranged at the first support bar, described Between two support bars and threeth support bar vertical with the first support bar, the second support bar, the 3rd support bar The both sides of the focal length camera are fixed respectively, and the motor is connected with the 3rd support bar two ends, controls described 3rd Strut drives the focal length camera vertical direction motion.
Further, the first support bar and the second support bar are rectangular structure.
Further, the horizontal stand is cylindrical structure.
The present invention also provides a kind of monitoring method for merging panorama and details, including:
Coverage movement focal length camera according to wide-angle camera is proofreaded, and obtains the focal length camera check and correction During initial move angle;
Calculated according to the corresponding coordinate value of any region in the move angle and the wide-angle camera coverage Focal length camera is moved to the move angle of any region
Appoint according to the move angle is moved in the focal length camera to the wide-angle camera coverage One region is shot;
The wide-angle camera and the focal length camera should be preserved according to shooting time and any region coordinate pair Shooting image.
Further, it is described to be moved before focal length camera proofreaded according to the coverage of wide-angle camera, also wrap Include:
Set the fixed focal length of wide-angle camera.
Further, it is described to be proofreaded according to the coverage of wide-angle camera movement focal length camera, obtain described Move angle during the check and correction of focal length camera, including:
Corresponding four frames of coverage that focal length camera to initial position is moved into wide-angle camera successively Midpoint, preserves the adjustment angle of focal length camera horizontal direction rotational angle and vertical direction in moving process.
Further, it is described according to any region correspondence in the move angle and the wide-angle camera coverage Coordinate value calculate focal length camera and be moved to the move angle of any region, including:
Coordinate in wide-angle camera coverage in any region is (L, T), according to formula
The move angle that focal length camera is moved to the vertical direction of any region is calculated, wherein, η is the focal length Camera is moved to the vertical direction move angle at upper side frame midpoint from lower frame midpoint, and M is the vertical seat at the upper side frame midpoint Mark, β is the vertical direction move angle that the focal length camera is moved to T from lower frame midpoint;
According to formula
The move angle that the focal length camera is moved to the horizontal direction of any region is calculated, wherein, θ is described Focal length camera is moved to the horizontal direction move angle at left frame midpoint from left frame midpoint, and R is the left frame midpoint Abscissa, α is the horizontal direction move angle that the focal length camera is moved to L from left frame.
The present invention is solved cannot in default of necessary details in the monitor video image that wide-angle camera shoots The problem of identification target or event.There is provided the operating efficiency and accuracy of monitoring.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are this hairs Some bright embodiments, for those of ordinary skill in the art, without having to pay creative labor, can be with Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is a kind of supervising device structural representation for merging panorama and details of the present invention;
Fig. 2 is a kind of monitoring method flow chart for merging panorama and details of the present invention;
Fig. 3 is that focal length camera of the present invention proofreads process schematic.
Specific embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is A part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
Fig. 1 is a kind of supervising device structural representation for merging panorama and details of the present invention, as shown in figure 1, the present embodiment Device can include:
Focal length camera 1, wide-angle camera 4, head 2, firm banking 3 and image processing module 3.1;
The focal length camera is arranged on the head, for the topography in acquisition monitoring region;
The head is arranged on the firm banking, for driving the wide-angle camera horizontal motion;
The wide-angle camera is fixed on the firm banking, for acquisition monitoring region all images;
Described image processing module is arranged inside the firm banking, and respectively at the focal length camera and described wide Angle camera connection, for sending pickup area position to the focal length camera, and receives the focal length camera collection All images and the topography of wide-angle camera collection, and combine the topography and all images identification prison Control target.
Specifically, focal length camera is fixed on head, is adapted to search close-in target, and mesh is caught to object detail Mark is followed the trail of, preferably 1080P video cameras.Wide-angle camera is fixed on firm banking, irremovable, is adapted to search remote mesh Mark, without high definition, it is desirable to large-scale monitor area image can be captured, be used to detect moving object.
Further, the head includes:
Horizontal stand 2.2, supporting construction 2.1 and motor;
The horizontal revolving stage is arranged on the firm banking by rotating shaft, for driving the focal length camera in water Square to rotation, the supporting construction is arranged on the horizontal rotating table, for supporting the focal length camera and driving The focal length camera is rotated in vertical direction, and the motor is arranged in the horizontal revolving stage and is connected with the processing module, For controlling the horizontal stand horizontal direction to rotate.
Specifically, 2 points of the present embodiment head is two parts, and a part is that can be revolved with 180 ° of levels of rotation of horizontal direction Turntable 2.2 and the vertically moving parallel support bars 2.1 of controllable focal length camera 1.Parallel support bars are divided into three Point:The steady arm of two pieces of vertical direction and the steady arm of horizontal direction, horizontal support bar are connected with focal length camera 1, are responsible for solid Fixed length Jiao's camera;Built with motor, controllable levels support bar is rotated vertical support bar, when horizontal support bar is rotated, Gu The focal length camera 1 being scheduled on support bar follows support bar to rotate.The effect of support bar 2.1 can be to allow focal length camera to drill vertical Nogata is to motion;The effect of horizontal rotating table 2.2 is, by rotating horizontal rotating table 2.2 to different angles, can to adjust length The visual field of burnt camera.
Firm banking 3 is connected with head 2, and the front end of firm banking 3 is mounted with wide-angle camera 4, and there is image control inside Module 3.1.
The image control mold 3.1, is connected with focal length camera 1 and wide-angle camera 4, by what is captured to two cameras Content is processed, and preserves the monitor video with video marker.
Further, the supporting construction, including:
The parallel first support bar of two vertical directions and second support bar, it is arranged at the first support bar, described Between two support bars and threeth support bar vertical with the first support bar, the second support bar, the 3rd support bar The both sides of the focal length camera are fixed respectively, and the motor is connected with the 3rd support bar two ends, controls described 3rd Strut drives the focal length camera vertical direction motion.
Further, the first support bar and the second support bar are rectangular structure.
Further, the horizontal stand is cylindrical structure.
Fig. 2 is a kind of monitoring method flow chart for merging panorama and details of the present invention, as shown in Fig. 2 the present embodiment method, Including,
Step 101, focal length camera is moved according to the coverage of wide-angle camera proofreaded, obtained the focal length and take the photograph As the initial move angle during head check and correction;
Further, it is described to be proofreaded according to the coverage of wide-angle camera movement focal length camera, obtain described Move angle during the check and correction of focal length camera, including:
Corresponding four frames of coverage that focal length camera to initial position is moved into wide-angle camera successively Midpoint, preserves the adjustment angle of focal length camera horizontal direction rotational angle and vertical direction in moving process.
Specifically, as shown in figure 3, using, firstly the need of being calibrated, wide-angle camera is fixed focal length before the equipment, And focal length camera is variable focal length.After setting the focal length of wide-angle camera, start calibration.What A was represented is wide-angle camera The visual field, B is expressed as the visual field of focal length camera, and A1 points are the midpoint of wide-angle camera visual field left frame in A, and A2 takes the photograph for the wide-angle As the midpoint of head visual field upper side frame, A3 is the midpoint of wide-angle camera left frame, and A4 is the midpoint of wide-angle camera lower frame.Turn Moving platform drives B cameras to be turned left with rotatable platform, while adjusting the angle of vertical direction, makes the picture one of B1 and A1 Cause, the rotatable platform for writing down now B1 rotates the number of degrees in the horizontal and vertical directions, similarly write down B2 and A2 to it is corresponding when turn Moving platform rotates the number of degrees in the horizontal and vertical directions, B3 and A3 to it is corresponding when rotatable platform rotation both horizontally and vertically On the number of degrees, B4 and A4 to it is corresponding when rotatable platform rotate the number of degrees in the horizontal and vertical directions.
Further, it is described to be moved before focal length camera proofreaded according to the coverage of wide-angle camera, also wrap Include:
Set the fixed focal length of wide-angle camera.
Specifically, the focal length of wide-angle camera is fixed value, and check and correction is carried out in wide-angle camera and focal length camera Preceding setting.
Step 102, according to the corresponding seat of any region in the move angle and the wide-angle camera coverage Scale value calculates the move angle that focal length camera is moved to any region;
Further, it is described according to any region correspondence in the move angle and the wide-angle camera coverage Coordinate value calculate focal length camera and be moved to the move angle of any region, including:
Coordinate in wide-angle camera coverage in any region is (L, T), according to formula
The move angle that focal length camera is moved to the vertical direction of any region is calculated, wherein, η is the focal length Camera is moved to the vertical direction move angle at upper side frame midpoint from lower frame midpoint, and M is the vertical seat at the upper side frame midpoint Mark, β is the vertical direction move angle that the focal length camera is moved to T from lower frame midpoint;
According to formula
The move angle that the focal length camera is moved to the horizontal direction of any region is calculated, wherein, θ is described Focal length camera is moved to the horizontal direction move angle at left frame midpoint from left frame midpoint, and R is the left frame midpoint Abscissa, α is the horizontal direction move angle that the focal length camera is moved to L from left frame.
Specifically, when equipment is formally started working, by the image that image processing module shoots wide-angle camera Mobile target rectangle frame C is labeled, while relative coordinate position A5 of the target in the A of the visual field can be obtained, according to A1, A2, A3, A4 can deduce the corresponding rotatable platform rotations of the A5 number of degrees in the horizontal and vertical directions.
By repeating said process, the target of all movements in shooting process can all be processed.
Step 103, moved in the focal length camera to the wide-angle camera coverage according to the move angle Any region shot;
Step 104, the wide-angle camera and the length should be preserved according to shooting time and any region coordinate pair Burnt camera shooting image.
Specifically, the monitor video data for thus generating can be in playback time by clicking on rectangle frame, it can be seen that right Answer each target details, therefore in the monitor video image of wide-angle camera find there is event when, occur because Lack the situation of necessary details and None- identified target or event.The present invention is applied to criminal investigation etc. needs image in monitor video Details will be greatly improved operating efficiency.
Finally it should be noted that:Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations;To the greatest extent Pipe has been described in detail with reference to foregoing embodiments to the present invention, it will be understood by those within the art that:Its according to The technical scheme described in foregoing embodiments can so be modified, or which part or all technical characteristic are entered Row equivalent;And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology The scope of scheme.

Claims (9)

1. a kind of supervising device for merging panorama and details, it is characterised in that including:
Focal length camera, wide-angle camera, head, firm banking and image processing module;
The focal length camera is arranged on the head, for the topography in acquisition monitoring region;
The head is arranged on the firm banking, for driving the wide-angle camera horizontal motion;
The wide-angle camera is fixed on the firm banking, for acquisition monitoring region all images;
Described image processing module is arranged inside the firm banking, and is taken the photograph respectively at the focal length camera and the wide-angle As head connection, for sending pickup area position to the focal length camera, and the whole of the focal length camera collection is received Image and the topography of wide-angle camera collection, and combine the topography and all images identification monitoring mesh Mark.
2. device according to claim 1, it is characterised in that the head includes:
Horizontal stand, supporting construction and motor;
The horizontal revolving stage is arranged on the firm banking by rotating shaft, for driving the focal length camera in level side To rotation, the supporting construction is arranged on the horizontal rotating table, for supporting the focal length camera and driving described Focal length camera is rotated in vertical direction, and the motor is arranged in the horizontal revolving stage and is connected with the processing module, is used for The horizontal stand horizontal direction is controlled to rotate.
3. device according to claim 2, it is characterised in that the supporting construction, including:
The parallel first support bar of two vertical directions and second support bar, be arranged at the first support bar, described second Between strut and threeth support bar vertical with the first support bar, the second support bar, the 3rd support bar difference The both sides of the fixation focal length camera, the motor is connected with the 3rd support bar two ends, controls the 3rd support bar The focal length camera vertical direction is driven to move.
4. device according to claim 3, it is characterised in that the first support bar and the second support bar are rectangular Body structure.
5. the device according to any one of claim 2 to 4, it is characterised in that the horizontal stand is cylindrical structure.
6. a kind of monitoring method for merging panorama and details, it is characterised in that
Coverage movement focal length camera according to wide-angle camera is proofreaded, and obtains the focal length camera check and correction process In initial move angle;
Focal length is calculated according to the corresponding coordinate value of any region in the move angle and the wide-angle camera coverage Camera is moved to the move angle of any region;
The focal length camera to the described any area in the wide-angle camera coverage is moved according to the move angle Domain is shot;
The wide-angle camera should be preserved according to shooting time and any region coordinate pair and the focal length camera shoots Image.
7. method according to claim 6, it is characterised in that described that focal length is moved according to the coverage of wide-angle camera Before camera is proofreaded, also include:
Set the fixed focal length of wide-angle camera.
8. the method according to claim 6 or 7, it is characterised in that described to be moved according to the coverage of wide-angle camera Focal length camera is proofreaded, and obtains the move angle during the focal length camera check and correction, including:
The midpoint of corresponding four frames of coverage that focal length camera to initial position is moved into wide-angle camera successively, Preserve the adjustment angle of focal length camera horizontal direction rotational angle and vertical direction in moving process.
9. method according to claim 8, it is characterised in that described according to the move angle and the wide-angle imaging The corresponding coordinate value of any region calculates the move angle that focal length camera is moved to any region in head coverage, bag Include:
Coordinate in wide-angle camera coverage in any region is (L, T), according to formula
The move angle that focal length camera is moved to the vertical direction of any region is calculated, wherein, η is imaged for the focal length Head is moved to the vertical direction move angle at upper side frame midpoint from lower frame midpoint, and M is the ordinate at the upper side frame midpoint, β The vertical direction move angle of T is moved to from lower frame midpoint for the focal length camera;
According to formula
The move angle that the focal length camera is moved to the horizontal direction of any region is calculated, wherein, θ is the focal length Camera is moved to the horizontal direction move angle at left frame midpoint from left frame midpoint, and R is the horizontal seat at the left frame midpoint Mark, α is the horizontal direction move angle that the focal length camera is moved to L from left frame.
CN201611261130.6A 2016-12-30 2016-12-30 A kind of supervising device and method for merging panorama and details Pending CN106791419A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201611261130.6A CN106791419A (en) 2016-12-30 2016-12-30 A kind of supervising device and method for merging panorama and details

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201611261130.6A CN106791419A (en) 2016-12-30 2016-12-30 A kind of supervising device and method for merging panorama and details

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107155064A (en) * 2017-06-23 2017-09-12 维沃移动通信有限公司 A kind of image pickup method and mobile terminal
CN107396067A (en) * 2017-08-29 2017-11-24 浙江大华技术股份有限公司 A kind of bicamera
CN107896316A (en) * 2017-11-29 2018-04-10 合肥寰景信息技术有限公司 Digital video intelligent monitoring system based on dual camera
CN108989681A (en) * 2018-08-03 2018-12-11 北京微播视界科技有限公司 Panorama image generation method and device
WO2018228278A1 (en) * 2017-06-14 2018-12-20 杭州海康威视数字技术股份有限公司 Panoramic detail camera
CN109788208A (en) * 2019-01-30 2019-05-21 华通科技有限公司 Target identification method and system based on multiple groups focal length images source
WO2019184450A1 (en) * 2018-03-30 2019-10-03 杭州海康威视数字技术股份有限公司 Binocular camera
CN110661979A (en) * 2019-09-12 2020-01-07 北京字节跳动网络技术有限公司 Image pickup method, image pickup device, terminal and storage medium
CN110855883A (en) * 2019-11-05 2020-02-28 浙江大华技术股份有限公司 Image processing system, method, device equipment and storage medium

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018228278A1 (en) * 2017-06-14 2018-12-20 杭州海康威视数字技术股份有限公司 Panoramic detail camera
CN107155064A (en) * 2017-06-23 2017-09-12 维沃移动通信有限公司 A kind of image pickup method and mobile terminal
CN107155064B (en) * 2017-06-23 2019-11-05 维沃移动通信有限公司 A kind of image pickup method and mobile terminal
CN107396067A (en) * 2017-08-29 2017-11-24 浙江大华技术股份有限公司 A kind of bicamera
CN107896316A (en) * 2017-11-29 2018-04-10 合肥寰景信息技术有限公司 Digital video intelligent monitoring system based on dual camera
WO2019184450A1 (en) * 2018-03-30 2019-10-03 杭州海康威视数字技术股份有限公司 Binocular camera
CN108989681A (en) * 2018-08-03 2018-12-11 北京微播视界科技有限公司 Panorama image generation method and device
CN109788208A (en) * 2019-01-30 2019-05-21 华通科技有限公司 Target identification method and system based on multiple groups focal length images source
CN110661979A (en) * 2019-09-12 2020-01-07 北京字节跳动网络技术有限公司 Image pickup method, image pickup device, terminal and storage medium
CN110855883A (en) * 2019-11-05 2020-02-28 浙江大华技术股份有限公司 Image processing system, method, device equipment and storage medium

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