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

Abstract

The present invention provides a monitoring device and method for fusing panorama and details, comprising: a telephoto camera, a wide-angle camera, a pan/tilt, a fixed base, and an image processing module; the telephoto camera is arranged on the pan/tilt for Collect partial images of the monitoring area; the cloud platform is arranged on the fixed base for driving the wide-angle camera to move in the horizontal direction; the wide-angle camera is fixed on the fixed base for collecting all images of the monitoring area The image processing module is arranged inside the fixed base, and is respectively connected to the telephoto camera and the wide-angle camera, and is used to send the collection area position to the telephoto camera, and receive the collection of the telephoto camera The entire image of the camera and the partial image collected by the wide-angle camera are combined with the partial image and the entire image to identify the monitoring target. The invention realizes the identification of specific details of objects and events in the images collected by the wide-angle camera.

Description

A monitoring device and method for fusing panorama and details

technical field

The embodiments of the present invention relate to the field, and in particular to a monitoring device and method for fusing panorama and details.

Background technique

At present, the application fields of monitoring equipment are very wide.

In the outdoor environment, since the covered area is large and there are many targets to be monitored, it is very difficult to obtain the detailed characteristics of a target in the monitored area.

Contents of the invention

Embodiments of the present invention provide a monitoring device that fuses panoramic views and details to overcome the above technical problems.

The present invention is a monitoring device that integrates panorama and details, including:

Telephoto camera, wide-angle camera, pan/tilt, fixed base and image processing module;

The telephoto camera is arranged on the cloud platform for collecting partial images of the monitoring area;

The pan-tilt is arranged on the fixed base for driving the wide-angle camera to move horizontally;

The wide-angle camera is fixed on the fixed base for collecting all images of the monitoring area;

The image processing module is arranged inside the fixed base, and is respectively connected to the telephoto camera and the wide-angle camera, and is used to send the location of the collection area to the telephoto camera and receive the image captured by the telephoto camera. The entire image and the partial image collected by the wide-angle camera are combined with the partial image and the entire image to identify the monitoring target.

Further, the cloud platform includes:

water platform, support structure and motor;

The horizontal turntable is arranged on the fixed base through a rotating shaft to drive the telephoto camera to rotate in the horizontal direction, and the support structure is arranged on the horizontal turntable to support the telephoto camera And drive the telephoto camera to rotate in the vertical direction, and the motor is arranged in the horizontal turntable and connected with the processing module for controlling the horizontal rotation of the horizontal platform.

Further, the support structure includes:

Two vertically parallel first support rods and second support rods are arranged between the first support rods and the second support rods and are perpendicular to the first support rods and the second support rods The third support rod, the third support rod respectively fixes the two sides of the telephoto camera, the motor is connected to both ends of the third support rod, and controls the third support rod to drive the telephoto camera Movement in the vertical direction.

Further, the first support rod and the second support rod are cuboid structures.

Further, the horizontal platform is a cylindrical structure.

The present invention also provides a monitoring method for fusing panorama and details, including:

Proofreading by moving the telephoto camera according to the shooting range of the wide-angle camera, and obtaining the initial movement angle in the calibration process of the telephoto camera;

According to the moving angle and the coordinate value corresponding to any area within the shooting range of the wide-angle camera, calculate the moving angle of the telephoto camera moving to the any area

Moving the telephoto camera to any area within the shooting range of the wide-angle camera according to the moving angle;

The images taken by the wide-angle camera and the telephoto camera are stored correspondingly according to the shooting time and the coordinates of any region.

Further, before moving the telephoto camera according to the shooting range of the wide-angle camera for proofreading, it also includes:

Sets a fixed focal length for the wide-angle camera.

Further, said moving the telephoto camera for proofreading according to the shooting range of the wide-angle camera, and obtaining the movement angle of the telephoto camera during the proofreading process, including:

Move the telephoto camera to the initial position sequentially to the midpoint of the four frames corresponding to the shooting range of the wide-angle camera, and save the horizontal rotation angle and the vertical adjustment angle of the telephoto camera during the movement process.

Further, the calculation of the movement angle of the telephoto camera moving to the any area according to the movement angle and the coordinate value corresponding to any area within the shooting range of the wide-angle camera includes:

The coordinates of any area within the shooting range of the wide-angle camera are (L, T), according to the formula

Calculate the angle of movement of the vertical direction of the telephoto camera moving to any area, wherein, n is the vertical movement angle of the telephoto camera moving from the midpoint of the lower border to the midpoint of the upper border, and M is the upper The ordinate of the midpoint of the frame, β is the vertical movement angle of the telephoto camera moving from the midpoint of the lower frame to T;

According to the formula

Calculate the horizontal movement angle of the telephoto camera moving to the arbitrary area, wherein, θ is the horizontal movement angle of the telephoto camera moving from the midpoint of the left frame to the midpoint of the right frame, and R is the The abscissa of the middle point of the right frame, α is the horizontal movement angle of the telephoto camera moving from the left frame to L.

The invention solves the problem that the target or event cannot be identified due to lack of necessary details in the monitoring video image captured by the wide-angle camera. Provides monitoring efficiency and accuracy.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained according to these drawings without any creative effort.

Fig. 1 is a schematic structural diagram of a monitoring device for fusion of panorama and details according to the present invention;

Fig. 2 is a flow chart of a monitoring method for fusing panorama and details of the present invention;

FIG. 3 is a schematic diagram of the calibration process of the telephoto camera of the present invention.

detailed description

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

Fig. 1 is a schematic structural diagram of a monitoring device that integrates panorama and details according to the present invention. As shown in Fig. 1, the device of this embodiment may include:

Telephoto camera 1, wide-angle camera 4, pan/tilt 2, fixed base 3 and image processing module 3.1;

The telephoto camera is arranged on the cloud platform for collecting partial images of the monitoring area;

The pan-tilt is arranged on the fixed base for driving the wide-angle camera to move horizontally;

The wide-angle camera is fixed on the fixed base for collecting all images of the monitoring area;

The image processing module is arranged inside the fixed base, and is respectively connected to the telephoto camera and the wide-angle camera, and is used to send the location of the collection area to the telephoto camera and receive the image captured by the telephoto camera. The entire image and the partial image collected by the wide-angle camera are combined with the partial image and the entire image to identify the monitoring target.

Specifically, the telephoto camera is fixed on the pan/tilt, which is suitable for finding short-distance targets and capturing the details of the objects for target tracking. It is preferably a 1080P camera. The wide-angle camera is fixed on a fixed base and cannot be moved. It is suitable for finding long-distance targets and does not require high-definition. It is required to be able to capture images of a wide range of surveillance areas to detect moving objects.

Further, the cloud platform includes:

Water platform 2.2, support structure 2.1 and motor;

The horizontal turntable is arranged on the fixed base through a rotating shaft to drive the telephoto camera to rotate in the horizontal direction, and the support structure is arranged on the horizontal turntable to support the telephoto camera And drive the telephoto camera to rotate in the vertical direction, and the motor is arranged in the horizontal turntable and connected with the processing module for controlling the horizontal rotation of the horizontal platform.

Specifically, the cloud platform 2 of this embodiment is divided into two parts, one part is a horizontal rotating platform 2.2 that can rotate 180° in the horizontal direction and a parallel support rod 2.1 that can control the movement of the telephoto camera 1 in the vertical direction. The parallel support rod is divided into three parts: two vertical support rods and a horizontal support rod. The horizontal support rod is connected to the telephoto camera 1 and is responsible for fixing the telephoto camera; the vertical support rod is equipped with a motor to control the horizontal support rod Rotate, when the horizontal support rod rotates, the telephoto camera 1 fixed on the support rod rotates following the support rod. The function of the support rod 2.1 is to allow the telephoto camera to move in the vertical direction; the function of the horizontal rotation platform 2.2 is to adjust the field of view of the telephoto camera by rotating the horizontal rotation platform 2.2 to different angles.

The fixed base 3 is connected with the cloud platform 2, and the front end of the fixed base 3 is equipped with a wide-angle camera 4, and an image control module 3.1 is arranged inside.

The image control module 3.1 is connected with the telephoto camera 1 and the wide-angle camera 4, and by processing the content captured by the two cameras, the surveillance video with the video mark is saved.

Further, the support structure includes:

Two vertically parallel first support rods and second support rods are arranged between the first support rods and the second support rods and are perpendicular to the first support rods and the second support rods The third support rod, the third support rod respectively fixes the two sides of the telephoto camera, the motor is connected to both ends of the third support rod, and controls the third support rod to drive the telephoto camera Movement in the vertical direction.

Further, the first support rod and the second support rod are cuboid structures.

Further, the horizontal platform is a cylindrical structure.

Fig. 2 is a flow chart of a monitoring method for integrating panorama and details according to the present invention. As shown in Fig. 2, the method of this embodiment includes,

Step 101, move the telephoto camera for calibration according to the shooting range of the wide-angle camera, and obtain the initial movement angle of the telephoto camera during the calibration process;

Further, said moving the telephoto camera for proofreading according to the shooting range of the wide-angle camera, and obtaining the movement angle of the telephoto camera during the proofreading process, including:

Move the telephoto camera to the initial position sequentially to the midpoint of the four frames corresponding to the shooting range of the wide-angle camera, and save the horizontal rotation angle and the vertical adjustment angle of the telephoto camera during the movement process.

Specifically, as shown in Figure 3, calibration is required before using the device. The wide-angle camera has a fixed focal length, while the telephoto camera has a variable focal length. After setting the focal length of the wide-angle camera, start the calibration. A represents the field of view of the wide-angle camera, B represents the field of view of the telephoto camera, point A1 in A is the midpoint of the left border of the field of view of the wide-angle camera, A2 is the midpoint of the upper border of the field of view of the wide-angle camera, and A3 is the right border of the wide-angle camera The midpoint of A4 is the midpoint of the lower frame of the wide-angle camera. The rotating platform drives the B camera to rotate to the left with the rotating platform, and adjust the vertical angle at the same time, so that the pictures of B1 and A1 are consistent. Write down the degree of rotation of the rotating platform of B1 in the horizontal and vertical directions at this time, and write down in the same way When B2 corresponds to A2, the degree of rotation of the rotating platform in the horizontal and vertical directions; when B3 corresponds to A3, the degree of rotation of the rotating platform in the horizontal and vertical directions; when B4 corresponds to A4, the degree of rotation of the rotating platform in the horizontal and vertical directions degrees above.

Further, before moving the telephoto camera according to the shooting range of the wide-angle camera for proofreading, it also includes:

Sets a fixed focal length for the wide-angle camera.

Specifically, the focal length of the wide-angle camera is a fixed value, which is set before the calibration of the wide-angle camera and the telephoto camera.

Step 102: Calculate the movement angle of the telephoto camera to any region according to the movement angle and the coordinate value corresponding to any region within the shooting range of the wide-angle camera;

Further, the calculation of the movement angle of the telephoto camera moving to the any area according to the movement angle and the coordinate value corresponding to any area within the shooting range of the wide-angle camera includes:

The coordinates of any area within the shooting range of the wide-angle camera are (L, T), according to the formula

Calculate the angle of movement of the vertical direction of the telephoto camera moving to any area, wherein, n is the vertical movement angle of the telephoto camera moving from the midpoint of the lower border to the midpoint of the upper border, and M is the upper The ordinate of the midpoint of the frame, β is the vertical movement angle of the telephoto camera moving from the midpoint of the lower frame to T;

According to the formula

Calculate the horizontal movement angle of the telephoto camera moving to the arbitrary area, wherein, θ is the horizontal movement angle of the telephoto camera moving from the midpoint of the left frame to the midpoint of the right frame, and R is the The abscissa of the middle point of the right frame, α is the horizontal movement angle of the telephoto camera moving from the left frame to L.

Specifically, when the device officially starts working, the moving target in the image captured by the wide-angle camera is marked with a rectangular frame C through the image processing module, and the relative coordinate position A5 of the target in the field of view A can be obtained at the same time. According to A1, A2, A3 and A4 can infer the degree of rotation of the rotating platform corresponding to A5 in the horizontal and vertical directions.

By repeating the above process, all moving objects in the shooting process can be processed.

Step 103, moving the telephoto camera to any area within the shooting range of the wide-angle camera according to the moving angle;

Step 104: Correspondingly saving the images taken by the wide-angle camera and the telephoto camera according to the shooting time and the coordinates of any region.

Specifically, the surveillance video data thus generated can be clicked on the rectangle frame during playback to see the details corresponding to each target. Therefore, when an event is found in the surveillance video image of the wide-angle camera, it occurs due to lack of necessary The details of the target or event cannot be identified. The application of the present invention to criminal investigation and the like requires monitoring of image details in video will greatly improve work efficiency.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the various embodiments of the present invention. scope.

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.