CN108737777A - Monitoring camera and its control method for movement - Google Patents

Monitoring camera and its control method for movement Download PDF

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Publication number
CN108737777A
CN108737777A CN201810322966.5A CN201810322966A CN108737777A CN 108737777 A CN108737777 A CN 108737777A CN 201810322966 A CN201810322966 A CN 201810322966A CN 108737777 A CN108737777 A CN 108737777A
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China
Prior art keywords
vertical
horizontal
pixel
pitching
horizontal rolling
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Granted
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CN201810322966.5A
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Chinese (zh)
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CN108737777B (en
Inventor
李尚旭
卞载云
金大峰
郑求玹
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Hanhua Vision Co ltd
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Hanwha Techwin Co Ltd
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Priority claimed from KR1020180028850A external-priority patent/KR102467241B1/en
Application filed by Hanwha Techwin Co Ltd filed Critical Hanwha Techwin Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback

Abstract

The present invention provides monitoring camera and its control method for movement, executes the horizontal rolling of set angle and/or vertical pitching, and include the correction step to make corrections to horizontal rolling and/or vertical pitching.The correction step includes horizontal rolling rate-determining steps and/or vertical pitching rate-determining steps.Using the maximum vertical pixel line of the summation of the marginal value, the correction of horizontal rolling is executed.It is acted as a result, by simply additional, the precision for the rolling that can improve the standard.Using the maximum horizontal pixel of the summation of the marginal value, the correction of vertical pitching is executed.It is acted as a result, by simply additional, the precision of vertical pitching can be improved.

Description

Monitoring camera and its control method for movement
Technical field
The present invention relates to a kind of monitoring camera and its control method for movement (Urveillance camera and Method for controlling panning and tilting of surveillance camera), in more detail and Speech is related to a kind of horizontal rolling (panning) executing set angle under various patterns and/or vertical pitching (tilting) monitoring camera and its control method for movement.
Background technology
Under the monitoring mode of monitoring camera, user is specified by horizontal rolling and/or vertical pitching multiple prisons It controls subject area and carries out periodical monitoring.If for example, user's input position coordinate, the main control unit in monitoring camera will be set Fixed horizontal rolling (pan) angle corresponding with the position coordinates inputted and/or vertical pitching (tilt) angle.Later, the period Property execute the horizontal rolling of set horizontal roll angle and/or the vertical pitching of vertical pitch angular.
Under the monitoring mode of monitoring camera as described above, horizontal rolling mechanism part or vertical pitching mechanism part In, because return difference (backlash) and step-out etc. lead to the accuracy decline of horizontal rolling and vertical pitching.In this case, monitoring performance It can reduce.This problem is for executing the cheap water that open loop (open loop) controls rather than closed loop (close loop) controls Flat rolling motor or vertical pitching motor are particularly evident.
On the other hand, in order to realize the cheap horizontal rolling motor for executing opened loop control or vertical pitching electricity Machine can utilize cheap sensor module.
Sensor module includes turntable and sensor.It is formed with the turntable of slit (slits) at predetermined intervals, based on level The action of rolling mechanism part or vertical pitching mechanism part is rotated.Sensor can detect the position of turntable on one side, on one side Binary system (binary) signal is provided to main control unit.
Therefore, the main control unit of monitoring camera obtains the practical water that the moment is completed in horizontal rolling by sensor module The vertical pitch angular of reality at moment is completed in flat roll angle and/or vertical pitching, to carry out horizontal rolling and/or indulge vertically The correction shaken, so that real standard roll angle and/or practical vertical pitch angular are consistent with set angle.
However, in the case that horizontal rolling motor or vertical pitching motor execute opened loop control, although additional using such as The upper sensor module, but still remained because of return difference, step-out etc. in horizontal rolling mechanism part or vertical pitching mechanism part The problem of accuracy decline of caused horizontal rolling or vertical pitching.
The problem of above-mentioned background technology is the problem of inventor exports the present invention and retains, or exports the present invention's The content of acquistion in the process, so being not well-known content before the application present invention.
Invention content
A kind of monitoring camera of the embodiment of the present invention offer and its control method for movement, can improve because of monitoring camera The horizontal rolling caused by return difference, step-out etc. and vertical pitching in the horizontal rolling mechanism part or vertical pitching mechanism part of head The problem of accuracy decline.
The control method for movement of monitoring camera as one embodiment of the invention executes the horizontal rolling of set angle And/or vertical pitching, and include the correction step to make corrections to horizontal rolling and/or vertical pitching, the correction step packet Include horizontal rolling rate-determining steps and/or vertical pitching rate-determining steps.
The horizontal rolling rate-determining steps include：The object that the moment is completed to the horizontal rolling shoots each picture of image Element, find out respectively left side adjacent pixel brightness and right side adjacent pixel brightness difference i.e. first edge value the step of；It finds out The step of object vertical line number, the object vertical line number refers to, in the vertical pixel line that the object shoots image, The number of the maximum vertical pixel line of summation of the first edge value；The correction of the horizontal rolling is executed, so that described right It is vertical that vertical pixel line as vertical line number and the benchmark vertical line of the horizontal rolling corresponding to the set angle are numbered The step of pixel line is aligned.
Benchmark vertical line number refers to, under preset mode in the vertical pixel line of benchmark shooting image, described the The number of the maximum vertical pixel line of summation of one marginal value.
The vertical pitching rate-determining steps include：The object that the moment is completed to the vertical pitching shoots each picture of image Element, find out respectively upside adjacent pixel brightness and downside adjacent pixel brightness difference i.e. second edge value the step of；It finds out The step of object water horizontal line number, the object water horizontal line number refers to, in the horizontal pixel line for shooting image in the object In, the number of the maximum horizontal pixel line of summation of the second edge value；The correction for executing the vertical pitching, so that described The water of the horizontal pixel line of object water horizontal line number and the reference horizontal line number of the vertical pitching corresponding to the set angle The step of flat pixel line alignment.
Reference horizontal line number refers to, under preset mode in the horizontal pixel line of benchmark shooting image, described the The number of the maximum vertical pixel line of summation of two marginal values.
The control method for movement of monitoring camera as another embodiment of the present invention, the level for executing set angle are horizontal It shakes and/or vertical pitching, and includes the correction step to make corrections to horizontal rolling and/or vertical pitching, the correction step Including horizontal rolling rate-determining steps and/or vertical pitching rate-determining steps.
The horizontal rolling rate-determining steps include：In the object shooting image that the moment is completed in the horizontal rolling, to rule Each pixel of fixed multiple blocks finds out difference i.e. first of the brightness of left side adjacent pixel and the brightness of right side adjacent pixel respectively The step of marginal value；To defined multiple blocks, the step of finding out object vertical line number respectively, the object vertical line Number refers to, in vertical pixel line within a block, the number of the maximum vertical pixel line of summation of the first edge value；It is right The correction of horizontal rolling described in defined multiple onblock executings so that the object vertical line number vertical pixel line with The step of being aligned corresponding to the vertical pixel line that the benchmark vertical line of the horizontal rolling of the set angle is numbered.
The benchmark vertical line number refers to, under preset mode in multiple blocks as defined in benchmark shooting image Each of in the area vertical pixel line in the block, the number of the maximum vertical pixel line of summation of the first edge value.
The vertical pitching rate-determining steps include：In the object shooting image that the moment is completed in the vertical pitching, to rule Each pixel of fixed multiple blocks finds out difference i.e. second of the brightness of upside adjacent pixel and the brightness of downside adjacent pixel respectively The step of marginal value；To defined multiple blocks, the step of finding out object water horizontal line number respectively, the object water horizontal line Number refers to, in horizontal pixel line within a block, the number of the maximum horizontal pixel line of summation of the second edge value；It is right The correction of vertical pitching described in defined multiple onblock executings so that the object water horizontal line number horizontal pixel line with The step of being aligned corresponding to the horizontal pixel line that the reference horizontal line of the vertical pitching of the set angle is numbered.
The reference horizontal line number refers to, under preset mode in multiple blocks as defined in benchmark shooting image Each of in area horizontal pixel line in the block, the number of the maximum vertical pixel line of summation of the second edge value.
The step of setting multiple blocks of specified quantity includes the first setting procedure and/or the second setting procedure.
First setting procedure includes：Benchmark shooting image is divided into multiple blocks, multiple blocks are divided into The step of block of the block of central portion and peripheral portion；It is adjacent to find out left side respectively for each pixel that image is shot to the benchmark The step of difference of the brightness of pixel and the brightness of right side adjacent pixel, that is, first edge value；It is right in the block of the peripheral portion It is more proximate to outermost block, assigns higher weighting proportion, and to each block of the peripheral portion, is calculated separately described The step of summation of first edge value；In the block of peripheral portion, according to summation from big to small suitable of the first edge value Sequence, successively select specified quantity block the step of.
Second setting procedure includes：Benchmark shooting image is divided into multiple blocks, multiple blocks are divided into The step of block of the block of central portion and peripheral portion；It is adjacent to find out upside respectively for each pixel that image is shot to the benchmark The step of difference of the brightness of pixel and the brightness of downside adjacent pixel, that is, second edge value；It is right in the block of the peripheral portion It is more proximate to outermost block, assigns higher weighting proportion, and to each block of the peripheral portion, is calculated separately described The step of summation of second edge value；In the block of peripheral portion, according to summation from big to small suitable of the second edge value Sequence, successively select specified quantity block the step of.
The control method for movement of monitoring camera as another embodiment of the present invention, the level for executing set angle are horizontal It shakes and/or vertical pitching, and includes the correction step to make corrections to horizontal rolling and/or vertical pitching.The correction step Including：The object at moment is completed to the horizontal rolling and/or the vertical pitching and shoots image, uses Sobel filter Vertical edge detection mask, horizontal edge detection mask, upper left to lower right diagonal edge detection mask and Upper right to lower left diagonal edge detection mask, the step of to detect most distinct edge lines；And execute institute The correction of horizontal rolling and/or the vertical pitching is stated, so that the step of edge lines detected are moved to reference position.Institute Stating reference position refers to, image is shot to the benchmark under preset mode, using the vertical edge detection of Sobel filter with covering Film, horizontal edge detection mask, the diagonal edge detection mask of upper left to lower right and upper right are to lower left Diagonal edge detection mask, the position of most distinct edge lines in the edge lines of acquisition.
In addition, the control method for movement of the monitoring camera further includes executing the horizontal rolling and/or described vertical After the correction of pitching, whether the edge lines in the object shooting image are periodically detected departing from the reference position The step of；And if the edge lines in object shooting image execute described horizontal horizontal departing from the reference position It shakes and/or the correction of the vertical pitching, so that the step of edge lines are moved to the reference position.
The control method for movement of monitoring camera as another embodiment of the present invention, the level for executing set angle are horizontal It shakes and/or vertical pitching, includes the correction step of the correction carried out to horizontal rolling and/or vertical pitching.The correction step Including：The object that the moment is completed to the horizontal rolling and/or vertical pitching shoots image, finds out the maximum picture of first edge value The step of element, the first edge value are to use image vertical edge detection mask, the horizontal edge of Sobel filter The diagonal edge of detection mask, the diagonal edge detection mask of upper left to lower right and upper right to lower left detects With more than one in mask, come obtain vertical edge edge value, horizontal sides edge value, the side opposite the angle edge value of upper left to lower right and Upper right to the side opposite the angle edge value of lower left summation；And the correction of the horizontal rolling and/or vertical pitching is executed, so that The step of pixel detected is moved to reference position；The reference position is under preset mode the described in benchmark shooting image The position of the maximum pixel of one marginal value.
In addition, the control method for movement of the monitoring camera further includes executing the horizontal rolling and/or described vertical After the correction of pitching, periodically detect pixel in object shooting image whether departing from the reference position step Suddenly；And if the pixel in object shooting image is departing from the reference position, executes horizontal rolling and/or described perpendicular The correction of straight pitching, so that the step of pixel is moved to reference position.
In addition, in the control method for movement of the monitoring camera, before implementing the correction step, including：Institute After the completion of stating horizontal rolling and/or the vertical pitching, the step of the value for the auto exposure parameter that image is shot used in object is found out Suddenly；And the step of whether value of the auto exposure parameter and the average deviation of a reference value are less than upper limit value judged.
In addition, in the control method for movement of the monitoring camera, before implementing the correction step, if it happens Step-out then executes horizontal rolling and/or vertical pitching correction, so that the reality detected by horizontal rolling PI sensor modules The angle that swings and/or the vertical pitch angular step consistent with set angle.
A kind of mobile controlling party for having and being able to carry out above-mentioned monitoring camera is provided as another embodiment of the present invention The monitoring camera of the control unit of method.
It is executed using the maximum vertical pixel line of the summation of the marginal value according to the control method for movement of the present embodiment The correction of horizontal rolling.It is acted as a result, by simply additional, the precision for the rolling that can improve the standard.
It is executed perpendicular using the maximum horizontal pixel of the summation of the marginal value according to the control method for movement of the present embodiment The correction of straight pitching.It is acted as a result, by simply additional, the precision of vertical pitching can be improved.
Description of the drawings
It is described in detail by data to attached drawing and preferred embodiment, definitely the purpose of aforementioned present invention and excellent Point.
Fig. 1 is the figure of the monitoring system for the monitoring camera for indicating embodiment using the present invention.
Fig. 2 is the figure for indicating the internal structure of a certain monitoring camera in Fig. 1.
Fig. 3 is indicated in the first embodiment of the present invention, when setting a certain monitored object region under preset mode, Fig. 2 In main control unit find out benchmark vertical line number and reference horizontal line number method flow chart.
Fig. 4 is the figure for step S3013 and S3023 in definition graph 3.
Fig. 5 is the figure for step S3014 and S3024 in definition graph 3.
Fig. 6 is indicated in the first embodiment of the present invention, and the main control unit in Fig. 2 carries out horizontal rolling and vertical pitching The flow chart of the method for control.
Fig. 7 is the figure for step S6014 and S6024 in definition graph 6.
Fig. 8 is indicated in the second embodiment of the present invention, when setting a certain monitored object region under preset mode, Fig. 2 In main control unit to each defined multiple blocks find out benchmark vertical line number and reference horizontal line number method stream Cheng Tu.
Fig. 9 is the figure for step S8014 and S8024 in definition graph 8.
Figure 10 is indicated in the second embodiment of the present invention, the main control unit in Fig. 2 to horizontal rolling and vertical pitching into The flow chart of the method for row control.
Figure 11 is the figure for step S1014 and S1024 in definition graph 10.
Figure 12 is to indicate that the main control unit in Fig. 2 is set the method suitable for multiple blocks of the method for Fig. 8 and 10 Flow chart.
Figure 13 is indicated in the third embodiment of the present invention, the main control unit in Fig. 2 to horizontal rolling and vertical pitching into The flow chart of the method for row control.
Figure 14 is indicated in the fourth embodiment of the present invention, the main control unit in Fig. 2 to horizontal rolling and vertical pitching into The flow chart of the method for row control.
Figure 15 is the figure for step S1412 to S1414 or step S1422 to S1424 in definition graph 14.
Figure 16 is indicated in the fifth embodiment of the present invention, when setting a certain monitored object region, the main control unit in Fig. 2 The flow chart of the information of Memory Reference position.
Figure 17 is the figure for indicating the edge detection mask used in the detecting step S1604 of Figure 16.
Figure 18 is the figure of the edge lines detected in illustrating the detecting step S1604 for indicating Figure 16.
Figure 19 is indicated in the fifth embodiment of the present invention, the main control unit in Fig. 2 to horizontal rolling and vertical pitching into The flow chart of row control.
Figure 20 is the figure for correction step S1904 and S1906 in definition graph 19.
Figure 21 is indicated in the sixth embodiment of the present invention, when setting a certain monitored object region, the main control unit in Fig. 2 The flow chart of the information of Memory Reference position.
Figure 22 is the figure of the pixel detected in illustrating the detecting step S2104 for indicating Figure 21.
Figure 23 is indicated in the sixth embodiment of the present invention, the main control unit in Fig. 2 to horizontal rolling and vertical pitching into The flow chart of row control.
Figure 24 is the figure for correction step S2304 and S2306 in definition graph 23.
Specific implementation mode
The following description and attached drawing are used to understand the action of the present invention, it is convenient to omit those skilled in the art are easy to implement Part.
Moreover, this specification and attached drawing are not intended to limit the present invention and provide, the scope of the present invention should be by claim Book determines.Term as used in this specification should be interpreted that the meaning and concept for meeting the technological thought of the present invention, so as to It most can properly state the present invention.
Hereinafter, with reference to attached drawing, the embodiment of the present invention is illustrated.In the embodiment of the present invention, with preset mode phase First to fourth embodiment closed is not limited to preset mode use.For example, first is readily applicable to 3rd embodiment (Patrol) pattern of inspection or manually (manual) pattern.In the case of inspection pattern, multiple preset modes are executed successively.Hand In the case of dynamic model formula, horizontal rolling and/or vertical pitching are executed to the place specified by user.
Fig. 1 shows the monitoring system of monitoring camera 101a~101n using the embodiment of the present invention.
Referring to Fig.1, the monitoring camera 101a~101n of the present embodiment regarding to the transmission shooting of digital video recorder 102 Frequency signal Svid.
Analog video signal Svid from monitoring camera 101a~101n is converted to number by digital video recorder 102 Word video data stores transformed digital video data DIMAT, by network 103 by digital video data DIMATIt is transmitted to visitor Family end 104a~104m.
In Fig. 1, reference numeral DIMATIndicate the digital video data that network 103 is transmitted to from digital video recorder 102, In addition, reference numeral DIMAIndicate the digital video data that client 104a~104m is transmitted separately to from network 103.
Fig. 2 shows the internal structures of the monitoring camera 101n in Fig. 1.
With reference to Fig. 2, the monitoring camera 101n of the present embodiment includes body part 21 and interface portion 22.In Fig. 2, reference numeral ACin indicates that AC power, Sco indicate that the signal of communication with digital video recorder (the 102 of Fig. 1), Sse indicate and each sensing The signal of communication of device, in addition, Svid1 and Svid indicate vision signal respectively.
Body part 21 include optical system OPS, photoelectric conversion part OEC, Analog-digital Converter portion 201, main control unit 207, Vision signal generating unit 208, driving portion 201, microcomputer 213, aperture motor Ma, zoom motor Mz, focus motor Mf, filter Mating plate motor Md, horizontal rolling motor Mp, vertical pitching motor Mt and light interdict (PI：Photo Interrupt) sensor group Part 219.
The optical system OPS for having lens and infrared ray blocking optical filter carries out at optics the light from reference object Reason.The lens of optical system OPS include zoom lens and condenser lens.
Charge coupling device (CCD, Charge Coupled Device) or CMOS complementary metal-oxide-semiconductor The photoelectric conversion part OEC of (CMOS, Complementary Metal-Oxide-Semiconductor) will come from optical system The light of OPS is converted into electric analoging signal.Wherein, main control unit 207 controls photoelectric conversion part by control sequential circuit 202 The action of OEC and Analog-digital Converter portion 201.
Analog video signal from photoelectric conversion part OEC is converted to digital video signal by Analog-digital Converter portion 201. More specifically, Analog-digital Converter portion 201 removes the high frequency noise and tune of the analog video signal from photoelectric conversion part OEC After whole amplitude, digital video data is converted to.The digital video data is input to main control unit 207.
Main control unit 207, for example, digital signal processor is to optical system OPS, photoelectric conversion part OEC and simulation numeral The action of converter section 201 is controlled, and converts the format of the digital video signal from Analog-digital Converter portion 201.More in detail For thin, main control unit 207 handles the digital video signal from Analog-digital Converter portion 201, and generation is divided into bright Spend signal and the digital video signal of carrier chrominance signal.
The digital video signal in vision signal generating unit autonomous control in 208 future portion 207 is converted to be believed as analog video Number vision signal Svid1.
Main control unit 207 is communicated by interface portion 22 with digital video recorder (the 102 of Fig. 1), and is considered oneself as in the future The vision signal Svid1 of frequency signal generation 208 is transmitted to digital video recorder (the 102 of Fig. 1).
On the other hand, microcomputer 213 drives aperture motor Ma, zoom motor Mz, poly- by controlling driving portion 201 Burnt motor Mf, optical filter motor Md, horizontal rolling motor Mp and vertical pitching motor Mt.
Aperture motor Ma drives aperture, zoom motor Mz that zoom lens, focus motor Mf is driven to drive condenser lens.It filters Piece motor Md driving infrared rays interdict optical filter.
Horizontal rolling motor Mp makes optical system OPS rotate left and right.Vertical pitching motor Mt makes optical system OPS and photoelectricity The component of converter section OEC is rotated up and down.
PI sensor modules 219 include turntable and sensor.The turntable for being formed with slit at predetermined intervals is based on horizontal cross The action of swing mechanism portion or vertical pitching mechanism part and rotated.Sensor-side detects the position of turntable, on one side by two Binary signal is supplied to main control unit 207.Main control unit 207 can be found out in horizontal rolling or vertical pitching completion as a result, The practical rotation angle at moment.
Fig. 3 is shown in the first embodiment of the present invention, when setting a certain monitored object region under preset mode, in Fig. 2 Main control unit 207 find out benchmark vertical line number and reference horizontal line number method.Fig. 4 is for the step in definition graph 3 The figure of rapid S3013 and S3023.
Fig. 5 is the figure for step S3014 and S3024 in definition graph 3.
In Fig. 4 and 5, reference numeral 401 indicates the benchmark shooting image in set monitored object region.Reference numeral V1 To V1920Indicate vertical pixel line, H1To H1080Indicate horizontal pixel line, and Pmn、P(m-1)n、P(m+1)n、Pm(n-1)、Pm(n+1)Respectively Indicate pixel.According to circumstances, the range of benchmark shooting image 401 can be specific region rather than the whole region of frame.
With reference to Fig. 3 to 5, in the first embodiment of the present invention, when setting a certain monitored object region under preset mode, Main control unit 207 in Fig. 2 finds out benchmark vertical line number and the method for reference horizontal line number illustrates.
During the setting of preset mode, if the position coordinates (step in the central place of user's input monitoring subject area S3001), then main control unit 207 judges to be to execute horizontal rolling or vertical pitching according to position coordinates, also or both It executes (step S3002).
When only carrying out horizontal rolling, step S3011 to S3014 is executed.When only carrying out vertical pitching, step S3021 is executed To S3024.When both having executed horizontal rolling or having executed vertical pitching, by step S3011 to S3014 and step S3021 to S3024 groups It executes altogether.
In step S3011, main control unit 207 sets horizontal roll angle corresponding with the position coordinates inputted.Later, Main control unit 207 executes the horizontal rolling (step S3012) of set horizontal roll angle.Later, main control unit 207 is to water Each pixel of the benchmark shooting image 401 at moment is completed in flat rolling, finds out brightness and the right side adjacent pixel of left side adjacent pixel Brightness difference, that is, marginal value (step S3013).For example, pixel PmnMarginal value be pixel Pm(n-1)Brightness and pixel Pm(n+1) Brightness difference.Also, main control unit 207 finds out benchmark vertical line and numbers and stored (step S3014), the base Quasi- vertical line number is that the vertical pixel line V of image 401 is shot in benchmark1To V1920In, the maximum vertical picture of summation of marginal value The number of plain line, such as " 1317 ".
In step S3021, main control unit 207 sets vertical pitch angular corresponding with the position coordinates inputted.Later, Main control unit 207 executes the vertical pitching (step S3022) of set vertical pitch angular.Later, main control unit 207 is to perpendicular Each pixel of the benchmark shooting image 401 at moment is completed in straight pitching, finds out brightness and the downside adjacent pixel of upside adjacent pixel Brightness difference, that is, marginal value (step S3023).For example, pixel PmnMarginal value be pixel P(m-1)nBrightness and pixel P(m+1)n Brightness difference.Also, main control unit 207 finds out reference horizontal line and numbers and stored (step S3024), the base Quasi- horizontal line number is the horizontal pixel line H of benchmark shooting image 4011To H1080In, the maximum horizontal pixel of summation of marginal value The number of line, such as " 378 ".
The step S3001 to S3024 is executed repeatedly, until directly receiving end signal (step S3031).That is, to another One monitored object region sets reference horizontal line number and benchmark vertical line number.
Fig. 6 shows in the first embodiment of the present invention, the main control unit 207 in Fig. 2 to horizontal rolling and vertical pitching into The method of row control.
Fig. 7 is the figure for step S6014 and S6024 in definition graph 6.
In Fig. 7, reference numeral 701 indicates that the object shooting image at moment is completed in horizontal rolling and/or vertical pitching.Attached drawing Mark V1To V1920Indicate vertical pixel line, H1To H1080Indicate horizontal pixel line.According to circumstances, the model of object shooting image 701 Enclose can be frame specific region rather than whole region.
With reference to Fig. 6 and 7, in the first embodiment of the present invention, the level of main control unit 207 in Fig. 2 to set angle The method that rolling and vertical pitching are controlled illustrates.
In the way for executing preset mode, if to (step S6001) at the time of change monitored object region, main control unit 207 judge to be to execute horizontal rolling or vertical pitching according to position coordinates, also or both execute (step S6002).
When only carrying out horizontal rolling, step S6011 to S6014 is executed.When only carrying out vertical pitching, step S6021 is executed To S6024.When both having executed horizontal rolling or having executed vertical pitching, by step S6011 to S6014 and step S6021 to S6024 groups It executes altogether.
In step S6011, main control unit 207 executes the horizontal rolling of set horizontal roll angle.Later, main control Portion 207 completes horizontal rolling each pixel of the object shooting image 701 at moment, finds out brightness and the right side of left side adjacent pixel The difference of the brightness of adjacent pixel, that is, marginal value (step S6012).Later, main control unit 207 finds out object vertical line number (step S6013), the object vertical line number is that the vertical pixel line V of image 701 is shot in object1To V1920In, marginal value it is total With the number of maximum vertical pixel line, such as " 1290 ".Later, main control unit 207 executes the correction of horizontal rolling, so that institute The vertical pixel line for stating object vertical line number such as " 1290 " and the benchmark of the horizontal rolling corresponding to the set angle are perpendicular Straight line numbers the vertical pixel line alignment (step S6014) for example, " 1317 ".
For example, horizontal rolling motor (Mp in Fig. 2) is the stepper motor for executing opened loop control, it is assumed that a step is able to carry out Corresponding to the horizontal rolling of 6 vertical pixel lines, if it is desired to carry out corresponding horizontal rolling to 27 vertical pixel lines and make corrections, then 4 steps of driving or 5 steps need to be added.But, if it is desired to corresponding horizontal rolling is carried out to 28 vertical pixel lines and is maked corrections, then needs to chase after Add 5 steps of driving rather than 4 steps.
In step S6021, main control unit 207 executes the vertical pitching of set vertical pitch angular.Later, main control Portion 207 completes vertical pitching each pixel of the object shooting image 701 at moment, finds out brightness and the downside of upside adjacent pixel The difference of the brightness of adjacent pixel, that is, marginal value (step S6022).Later, main control unit 207 finds out object water horizontal line number (step S6023), the object water horizontal line number is the horizontal pixel line H of object shooting image 7011To H1080The summation of middle marginal value is most The number of big horizontal pixel line, such as " 392 ".Later, main control unit 207 executes the correction of vertical pitching, so that described right The horizontal pixel line of such as " 392 " is numbered as horizontal line to compile with the reference horizontal line of the vertical pitching corresponding to the set angle The horizontal pixel line alignment (step S6024) of number such as " 378 ".
For example, vertical pitching motor (Mt in Fig. 2) is the stepper motor for executing opened loop control, it is assumed that a step is able to carry out Corresponding to the vertical pitching of 6 horizontal pixel lines, if it is desired to carry out corresponding vertical pitching correction to 14 horizontal pixel lines, then 2 steps of driving need to be added.
The step S6001 to S6024 is executed repeatedly, until receiving end signal (step S6031).That is, to another prison It controls subject area and executes horizontal rolling and/or vertical pitching.
Fig. 8 is shown in the second embodiment of the present invention, when setting a certain monitored object region under preset mode, in Fig. 2 Main control unit 207 to each defined multiple blocks find out benchmark vertical line number and reference horizontal line number method.Fig. 9 It is the figure for step S8014 and S8024 in definition graph 8.In Fig. 9, reference numeral 901 indicates set monitored object area The benchmark in domain shoots image.Reference numeral X1To X17Indicate the X axis coordinate of regulation block, and Y1To Y13Indicate the regulation area The Y axis coordinate of block.According to circumstances, the range of benchmark shooting image 901 can be specific region rather than the whole region of frame.Ginseng According to Fig. 9, the benchmark shooting image 901 in set monitored object region is divided into 221 blocks.Moreover, benchmark shooting figure As 901 are divided into peripheral portion and central portion this two parts, 8 blocks are set in peripheral portion, and 3 are set in central portion A block.
In the case of Fig. 9, the coordinate for being located at 3 blocks of the central portion of benchmark shooting image 901 is as follows：
(X4, Y4)、(X7, Y9)、(X14, Y5)。
3 blocks of central portion can be used in monitoring the improper illuminance variation caused by the entrance of object moment. Wherein it is possible in all blocks of central portion, according to the summation sequence from big to small of marginal value, 3 blocks are selected successively, For horizontal rolling.Furthermore it is possible in all blocks of central portion, according to the summation sequence from big to small of marginal value, according to It is secondary to select 3 blocks, it is used for vertical pitching.
Hereinafter, in order to illustrate terseness, omit the explanation to 3 blocks of central portion.That is, in a second embodiment, The block directly used for the correction of horizontal rolling and/or vertical pitching is selected from peripheral portion.This is because in comparing The site error of centre portion, horizontal rolling and/or vertical pitching, it is possible more obvious in peripheral portion.In the case of Fig. 9, it is located at base The coordinate of 8 blocks of the peripheral portion of quasi- shooting image 901 is as follows.
(X1, Y1)、(X2, Y2)、(X4, Y13)、(X8, Y1)、(X15, Y6)、(X15, Y9)、(X16, Y2)、(X17, Y1)
About the method for selecting 8 blocks from the peripheral portion that benchmark shoots image 901, then 2 can be said referring to Fig.1 It is bright.
With reference to Fig. 8 and 9, in the second embodiment of the present invention, when setting a certain monitored object region under preset mode, Main control unit 207 in Fig. 2 finds out each defined multiple blocks the side of benchmark vertical line number and reference horizontal line number Method illustrates.
During the setting of preset mode, if the position coordinates (step in the central place of user's input monitoring subject area Rapid S8001), then main control unit 207 is to execute horizontal rolling or vertical pitching according to position coordinates judgement, also or two It is carried out (step S8002).
When only carrying out horizontal rolling, step S8011 to S8014 is executed.When only carrying out vertical pitching, step S8021 is executed To S8024.When both having executed horizontal rolling or having executed vertical pitching, by step S8011 to S8014 and step S8021 to S8024 groups It executes altogether.
In step S8011, main control unit 207 sets horizontal roll angle corresponding with the position coordinates inputted.Later, Main control unit 207 executes the horizontal rolling (step S8012) of set horizontal roll angle.Later, main control unit 207 is in water Flat rolling is completed in the benchmark shooting image 901 at moment, and to each pixel of set multiple blocks, it is adjacent to find out left side respectively The difference of the brightness of pixel and the brightness of right side adjacent pixel, that is, marginal value (step S8013).Later, main control unit 207 is to set Fixed multiple blocks find out benchmark vertical line and number and stored (step S8014) respectively, and the benchmark vertical line number is Area vertical pixel line (V in the block1To V1920) in marginal value the maximum vertical pixel line of summation number.
In step S8021, main control unit 207 sets vertical pitch angular corresponding with the position coordinates inputted.Later, Main control unit 207 executes the vertical pitching (step S8022) of set vertical pitch angular.Later, main control unit 207 is perpendicular Straight pitching is completed in the benchmark shooting image 901 at moment, and to each pixel of set multiple blocks, it is adjacent to find out upside respectively The marginal value (step S8023) of the difference of the brightness of pixel and the brightness of downside adjacent pixel.Later, main control unit 207 is to set Fixed multiple blocks find out reference horizontal line and number and stored (step S8024) respectively, and the reference horizontal line number is Area horizontal pixel line H in the block1To H1080The number of the maximum horizontal pixel line of summation of middle marginal value.
The step S8001 to S8024 is executed repeatedly, until receiving end signal (step S8031).That is, to another prison Reference horizontal line number and benchmark vertical line number is set separately in the multiple blocks for controlling subject area.
Figure 10 shows in the second embodiment of the present invention, the main control unit 207 in Fig. 2 to horizontal rolling and vertical pitching into The method of row control.Figure 11 is the figure for step S1014 and S1024 in definition graph 10.In Figure 11,1101 table of reference numeral Show that the object shooting image at moment is completed in horizontal rolling and/or vertical pitching.In Figure 11, reference numeral identical with Fig. 9 indicates The object of identical function.According to circumstances, the range of object shooting image 1101 can be the specific region of frame rather than entire area Domain.
Referring to Fig.1 0 and 11, in the second embodiment of the present invention, main control unit 207 in Fig. 2 is to horizontal rolling and perpendicular The method that straight pitching is controlled illustrates.
In the way for executing preset mode, if to (step S1001) at the time of change monitored object region, main control unit 207 judge to be to execute horizontal rolling or vertical pitching according to position coordinates, also or both execute (step S1002).
When only carrying out horizontal rolling, step S1011 to S1014 is executed.When only carrying out vertical pitching, step S1021 is executed To S1024.When both having executed horizontal rolling or having executed vertical pitching, by step S1011 to S1014 and step S1021 to S1024 groups It executes altogether.
In step S1011, main control unit 207 executes the horizontal rolling of set horizontal roll angle.Later, main control It, to each pixel of set multiple blocks, is asked respectively in the object shooting image 1101 that the moment is completed in horizontal rolling in portion 207 Go out the difference i.e. marginal value (step S1012) of the brightness of left side adjacent pixel and the brightness of right side adjacent pixel.Later, main control unit Multiple blocks set by 207 pairs find out object vertical line number (step S1013) respectively, and the object vertical line number is area In vertical pixel line in the block, the number of the maximum vertical pixel line of summation of marginal value.Later, main control unit 207 is to set Fixed multiple blocks, execute the correction of horizontal rolling respectively so that object vertical line number vertical pixel line with correspond to set Determine the vertical pixel line alignment (step S1014) of the benchmark vertical line number of the horizontal rolling of angle.That is, additional execute horizontal cross It shakes, with multiple areas that make corrections average vertical line error in the block.As reference, the benchmark vertical line in Fig. 9 is shown in phase in fig. 11 Same position.
In step S1021, main control unit 207 executes the vertical pitching of set vertical pitch angular.Later, main control It, to each pixel of set multiple blocks, is asked respectively in the object shooting image 1101 that the moment is completed in vertical pitching in portion 207 Go out the difference i.e. marginal value (step S1022) of the brightness of upside adjacent pixel and the brightness of downside adjacent pixel.Later, main control unit Multiple blocks set by 207 pairs find out object water horizontal line number (step S1023) respectively, and the object water horizontal line number is area The number of the maximum horizontal pixel line of the summation of marginal value in horizontal pixel line in the block.Later, main control unit 207 is to set Multiple blocks, execute the correction of vertical pitching respectively so that the object water horizontal line number horizontal pixel line with correspond to The horizontal pixel line alignment (step S1024) of the reference horizontal line number of the vertical pitching of the set angle.That is, additional execute Vertical pitching, with multiple areas that make corrections average water horizontal line error in the block.As reference, the reference horizontal line in Fig. 9 is in fig. 11 It is shown in identical position.
The step S1001 to S1024 is executed repeatedly, until receiving end signal (step S1031).That is, to another prison Subject area is controlled, horizontal rolling and/or vertical pitching are executed.
Figure 12 shows the setting of the main control unit 207 in Fig. 2 by the method suitable for multiple blocks of the method for Fig. 8 and 10. With reference to Fig. 9 and Figure 12, the method for Figure 12 is described as follows.
During the setting of preset mode, if the position coordinates (step in the central place of user's input monitoring subject area Rapid S1201), then main control unit 207 is to execute horizontal rolling or vertical pitching according to position coordinates judgement, also or two It is carried out (step S1202).
When only carrying out horizontal rolling, step S1211 to S1216 is executed.When only carrying out vertical pitching, step S1221 is executed To S1226.When both having executed horizontal rolling or having executed vertical pitching, by step S1211 to S1216 and step S1221 to S1226 groups It executes altogether.
In step S1211, main control unit 207 sets horizontal roll angle corresponding with the position coordinates inputted.Later, Main control unit 207 executes the horizontal rolling (step S1212) of set horizontal roll angle.Later, main control unit 207 is by institute It states horizontal rolling and completes the benchmark shooting image 901 at moment and be divided into multiple (being 221 in Fig. 9) blocks, and by the block It is divided into the block of central portion and the block (step S1213) of peripheral portion.Later, main control unit 207 shoots image to the benchmark 901 each pixel finds out the difference i.e. marginal value (step of the brightness of left side adjacent pixel and the brightness of right side adjacent pixel respectively S1214)。
Later, in the block of the peripheral portion, main control unit 207 is higher to then being assigned closer to outermost block Proportion is weighted, and calculates separately the summation (step S1215) of the marginal value to the block of the peripheral portion.This is because area It the position of block can be relatively more apparent closer to outermost layer, the then site error of horizontal rolling.Also, main control unit 207 is on periphery In the block in portion, according to the summation sequence from big to small of the marginal value, specified quantity (being 8 in Fig. 9) is selected successively Block (step S1216).
On the other hand, in step S1221, main control unit 207 sets vertical pitching corresponding with the position coordinates inputted Angle.Later, main control unit 207 executes the vertical pitching (step S1222) of set vertical pitch angular.Later, master control The benchmark shooting image 901 that the moment is completed in the vertical pitching by portion 207 processed is divided into multiple (being 221 in Fig. 9) blocks, and The block is divided into the block (step S1223) of the block and peripheral portion of central portion.Later, main control unit 207 is to the base Each pixel of quasi- shooting image 901, finds out the difference i.e. side of the brightness of upside adjacent pixel and the brightness of downside adjacent pixel respectively Edge value (step S1224).
Later, in the block of the peripheral portion, main control unit 207 closer to outermost block to assigning higher add Proportion is weighed, and calculates separately the summation (step S1225) of the marginal value to the block of the peripheral portion.This is because block Position closer to outermost layer, then the site error of vertical pitching can be relatively more apparent.Also, main control unit 207 is in peripheral portion Block in, according to the summation sequence from big to small of the marginal value, select the area of specified quantity (being 8 in Fig. 9) successively Block (step S1226).
The step S1201 to S1226 is executed repeatedly, until receiving end signal (step S1231).That is, to another prison The block controlled for horizontal rolling and/or the area controlled for vertical pitching is set separately in the multiple blocks for controlling subject area Block.
Figure 13 shows in the third embodiment of the present invention, the main control unit 207 in Fig. 2 to horizontal rolling and vertical pitching into The method of row control.
Referring to Fig.1 3, the control method of horizontal rolling and the vertical pitching of the third embodiment of the present invention is illustrated.
In the way for executing preset mode, if to (step S1301) at the time of change monitored object region, main control unit 207 judge to be to execute horizontal rolling or vertical pitching according to position coordinates, also or both execute (step S1302).
When only carrying out horizontal rolling, step S1311 to S1316 is executed.When only carrying out vertical pitching, step S1321 is executed To S1326.When both having executed horizontal rolling or having executed vertical pitching, by step S1311 to S1316 and step S1321 to S1326 groups It executes altogether.
In step S1311, main control unit 207 executes the horizontal rolling of set horizontal roll angle.Later, main control Portion 207 finds out the value (step S1314) of the auto exposure parameter for the object shooting image that the moment is completed used in the horizontal rolling. Auto exposure parameter includes shutter speed, the output gain (gain) of photoelectric conversion part (OEC in Fig. 2) and aperture aperture.
Later, it is upper to judge whether the value of the auto exposure parameter and the average deviation of a reference value are less than for main control unit 207 Limit value (step S1315).If the average deviation is less than upper limit value, illustrate that illuminance is not abnormal variation, therefore Main control unit 207 executes the correction (step S1316) of horizontal rolling using marginal value.In the step S1316, Fig. 6 is executed In step S6012 to S6014, or execute Figure 10 in step S1012 to S1014.
On the other hand, in step S1321, main control unit 207 executes the vertical pitching of set vertical pitch angular.It Afterwards, main control unit 207 finds out the value (step of the auto exposure parameter for the object shooting image that the moment is completed used in the vertical pitching Rapid S1324).Auto exposure parameter include shutter speed, photoelectric conversion part (OEC in Fig. 2) output gain (gain) and light Enclose aperture.
Later, it is upper to judge whether the value of the auto exposure parameter and the average deviation of a reference value are less than for main control unit 207 Limit value (step S1325).If the average deviation is less than upper limit value, illustrate that illuminance is not abnormal variation, therefore Main control unit 207 executes the correction (step S1326) of vertical pitching using marginal value.In the step S1326, Fig. 6 is executed In step S6022 to S6024, or execute Figure 10 in step S1022 to S1024.
The step S1301 to S1326 is executed repeatedly, until receiving end signal (step S1331).That is, to another prison Subject area is controlled, horizontal rolling and/or vertical pitching are executed.
Therefore, according to the 3rd embodiment of Figure 13, can prevent the horizontal rolling caused by illuminance anomalous variation or Vertical the abnormal of pitching correction executes.Wherein, using the value of auto exposure parameter, can effectively grasp illuminance whether occur it is different Often variation.As the example of illuminance anomalous variation, the case where taking unexpected new object can be enumerated.
Figure 14 shows in the fourth embodiment of the present invention, the main control unit 207 in Fig. 2 to horizontal rolling and vertical pitching into The method of row control.Figure 15 is the figure for step S1412 to S1414 or step S1422 to S1424 in definition graph 14. In Figure 15, reference numeral 219 indicates PI sensor modules, and 151 indicate turntable, and 151s indicates slit, and 152 indicate PI sensings Device.Referring to Fig.1 4 and 15, the control method of horizontal rolling and the vertical pitching of the fourth embodiment of the present invention is illustrated.
It is monitoring on the way, if to (step S1401) at the time of change monitored object region, main control unit 207 is according to position It is to execute horizontal rolling or vertical pitching to set coordinate judgement, also or both executes (step S1402).
When the case where only carrying out horizontal rolling, step S1411 to S1415 is executed.When only carrying out vertical pitching, step is executed S1421 to S1425.When both having executed horizontal rolling or having executed vertical pitching, extremely by step S1411 to S1415 and step S1421 S1425 combines execution.
In step S1411, main control unit 207 executes the horizontal rolling of set horizontal roll angle.Later, main control Portion 207 finds out the real standard roll angle i.e. object horizontal cross that the moment is completed in horizontal rolling by PI sensor modules 219 Cradle angle degree (step S1412).
PI sensor modules 219 include horizontal rolling PI sensor modules and vertical pitching PI sensor modules, but by this It is illustrated a bit respectively as the PI sensor modules 219 of Figure 14.
Horizontal rolling PI sensor modules (for example, 219) include turntable 151 and PI sensors 152.It is formed at predetermined intervals There is the turntable 151 of slit 151s to be rotated based on the action of horizontal rolling mechanism part.PI sensors 152 detect turntable on one side Binary signal is provided to main control unit 207 by 151 position on one side.For example, being in PI sensors 152 in slit 151s Period, PI sensors 152 periodically export the signal (left state of Figure 15) of " 1 ".It is not at PI sensings in slit 151s During device 152, PI sensors 152 periodically export the signal (right state of Figure 15) of " 0 ".
Main control unit 207 finds out the reality that the moment is completed in horizontal rolling by horizontal rolling PI sensor modules 219 as a result, International standard roll angle, that is, object horizontal roll angle (step S1412).Herein, it in case of step-out (step S1413), then leads Control unit 207 executes the first time correction of the horizontal rolling, so that object horizontal roll angle is consistent with the set angle (step S1414).The generation of step-out indicates the difference D of object horizontal roll angle and the set angleAPIt has been more than benchmark boundary DRP.If step-out does not occur, the step S1414 is not executed.
Later, using marginal value, second of correction (step S1415) of horizontal rolling is executed.Herein, using marginal value into The reasons why second of correction of row, is, although addition uses horizontal rolling PI sensor modules 219, in rolling of improving the standard Precision on still have limitation.
In the step S1415, the step S1012 in the step S6012 to S6014 in execution Fig. 6, or execution Figure 10 is extremely S1014。
On the other hand, in step S1421, main control unit 207 executes the vertical pitching of set vertical pitch angular.It Afterwards, main control unit 207 finds out the vertical pitch angle of reality that the moment is completed in vertical pitching by vertical pitching PI sensor modules Degree is the vertical pitch angular (step S1422) of object.Since vertical pitching PI sensor modules are equivalent in the step S1412 Illustrated horizontal rolling PI sensor modules 219, therefore the description thereof will be omitted.
Herein, in case of step-out (step S1423), then main control unit 207 executes first time of the vertical pitching and mends Just, so that the vertical pitch angular of object is consistent with the set angle (step S1424).The generation of step-out indicates that object is vertical The difference D of pitch angular and the set angleATIt has been more than benchmark boundary DRT.If step-out does not occur, the step is not executed S1424。
Later, main control unit 207 utilizes marginal value, executes second of correction (step S1425) of vertical pitching.Wherein, The reasons why using marginal value make corrections for second is, although addition uses vertical pitching PI sensor modules 219, Improving in the precision of vertical pitching still has limitation.
In the step S1425, the step S1022 in the step S6022 to S6024 in execution Fig. 6, or execution Figure 10 is extremely S1024。
The step S1401 to S1425 is executed repeatedly, until receiving end signal (step S1431).That is, to another prison Subject area is controlled, horizontal rolling and/or vertical pitching are executed.
According to the fourth embodiment of the present invention, executed by using PI sensor modules 219 horizontal rolling or The first time correction of vertical pitching, therefore in the case where step-out occurs can shorten making corrections using second of marginal value Time.That is, can further shorten total correction time of horizontal rolling or vertical pitching.
Figure 16 is shown in the fifth embodiment of the present invention, when setting a certain monitored object region, the main control unit in Fig. 2 The process of the information of 207 Memory Reference positions.
Figure 17 shows the edge detection mask used in the detecting step S1604 of Figure 16.In Figure 17, reference numeral 1701 indicate vertical edge detection mask, and 1702 indicate horizontal edge detection mask, and 1703 indicate upper left to lower right Diagonal edge detection mask, in addition, 1704 indicate upper rights to lower left diagonal edge detection mask.
The edge lines 1801e detected in the detecting step S1604 of the exemplified Figure 16 of Figure 18.In Figure 18, with Fig. 5 phases Same reference numeral indicates the object of identical function.
Referring to Fig.1 6 to 18, the process of 207 Memory Reference location information of main control unit is illustrated.
If the position coordinates (step S1601) in the central place of user's input monitoring subject area, main control unit 207 are set Fixed horizontal roll angle corresponding with the position coordinates inputted and vertical pitch angular (step S1602).Later, main control unit 207 to set the horizontal rolling of horizontal roll angle execution and execute vertical pitching (step S1603) to set vertical pitch angular.
If completing horizontal rolling and vertical pitching, 207 use direction of main control unit (directional) edge filter Device shoots in image 1801 from benchmark and detects edge lines 1801e (step S1604).According to circumstances, benchmark shoots image 1801 range can be specific region rather than the whole region of frame.
In the present embodiment, it is used as direction boundary filter using well-known Sobel (Sobel) filter.Using When Sobel filter, vertical edge detection mask 1701, horizontal edge detection mask 1702, upper left to lower right are used To diagonal edge detection mask 1703 and upper right to lower left diagonal edge detection mask 1704.Passing through 4 In the edge lines that mask 1701 to 1704 detects, select most distinct edge lines 1801e as reference edge lines. That is, in the present embodiment, other than using horizontally or vertically edge, diagonal edge is also utilized.
Finally, main control unit 207 is stored the location information of the edge lines 2001e detected as reference position information Get up (step S1605).The reference position information stored in this way be used for after horizontal rolling and vertical pitching control.With this Relevant content 9 and 20 can then illustrate referring to Fig.1.
The step S1601 to S1605 is executed repeatedly, until receiving end signal (step S1606).
Figure 19 shows in the fifth embodiment of the present invention, the main control unit 207 in Fig. 2 to horizontal rolling and vertical pitching into The process of row control.
Figure 20 is the figure for correction step S1904 and S1906 in definition graph 19.It is identical with Figure 18 attached in Figure 20 Icon note indicates the object of identical function.
Referring to Fig.1 9 and 20, the process of controlled level rolling and vertical pitching in the 5th embodiment is illustrated.
At the time of main control unit 207 determines whether to change monitored object region (step S1901).
Later, main control unit 207 is held with the horizontal rolling of the horizontal roll angle execution of setting and with setting vertical pitch angular The vertical pitching (step S1902) of row.
If completing horizontal rolling and vertical pitching, 207 use direction boundary filter of main control unit, from object shooting figure As detecting edge lines 2001e (step S1903) in 2001.According to circumstances, the range of object shooting image 2001 can be The specific region of frame rather than whole region.
The step S1903 is executed as being described in detail in the step S1604.Certainly, in the step S1903 In can only use the mask that reference edge lines 1801e is generated in 4 masks (the 1701 to 1704 of Figure 17).
Later, main control unit 207 executes the correction of horizontal rolling and vertical pitching, so that the edge lines detected 2001e is moved to reference position (step S1904).Wherein, reference position is from benchmark shooting image (1801 in Figure 18) The position of the edge lines 1801e detected.Come namely based on the reference position information stored in step S1605 (referring to Fig.1 6) Execute step S1904.For example, horizontal rolling correction and horizontal error DPCorresponding amount, vertical pitching correction and vertical error DTIt is right The amount answered.
Although performing horizontal rolling correction and vertical pitching correction as described above, as time go on, still because The step-out of the possible occurred level rolling of external factor or vertical pitching.At this point, the edge lines in object shooting image 2001 The reference position may be detached from.Become defocused when being restored to original multiplying power in addition, executing, object shoots the side in image 2001 Edge lines may also can be detached from the reference position.
Therefore, whether main control unit 207 judges the edge lines in object shooting image 2001 departing from the benchmark position It sets (step S1905).
If edge lines 2001e executes the correction of horizontal rolling and vertical pitching departing from the reference position, so that Edge lines in object shooting image 2001 are moved to reference position (step S1906).
The step S1901 to S1906 is periodically carried out, until receiving end signal (step S1907).For example, by In periodically carrying out the step S1905, therefore whether periodically detect the edge lines in object shooting image 2001 Departing from the reference position.
Figure 21 is shown in the sixth embodiment of the present invention, when setting a certain monitored object region, the main control unit in Fig. 2 The process of 207 Memory Reference location informations.
The pixel 2201e detected in the detecting step S2104 of the exemplified Figure 21 of Figure 22.It is identical with Fig. 5 in Figure 22 Reference numeral indicates the object of identical function.
With reference to Figure 21 and 22, the process of 207 Memory Reference location information of main control unit is illustrated.
If the position coordinates (step S2101) in the central place of user's input monitoring subject area, main control unit 207 are set Fixed horizontal roll angle corresponding with the position coordinates inputted and vertical pitch angular (step S2102).Later, main control unit 207 to set the horizontal rolling of horizontal roll angle execution and execute vertical pitching (step S2103) to set vertical pitch angular.
If completing horizontal rolling and vertical pitching, main control unit 207 shoots in video 2201 from benchmark and detects have The pixel 2201e (step S2104) of maximal margin value.According to circumstances, the range of benchmark shooting video 2201 can be the spy of frame Determine region rather than whole region.
In the present embodiment, using well-known Sobel (Sobel) filter as direction boundary filter.Using rope When Bell's filter, use mask (in Figure 17 using vertical edge detection mask (1701 in Figure 17), horizontal edge detection 1702), the diagonal edge detection mask (1703 in Figure 17) and upper right of upper left to lower right are diagonal to lower left Edge detection is with mask (1704 in Figure 17).For example, the marginal value of pixel can be vertical edge edge value, horizontal sides edge value, a left side Up to lower right side opposite the angle edge value and upper right to the side opposite the angle edge value of lower left summation.It certainly, also can be according to benchmark The characteristic for shooting image 2201, only uses one of mask.
Finally, main control unit 207 stores the location information of the pixel 2201e detected as reference position information (step S2105).The reference position information stored in this way be used for after horizontal rolling and vertical pitching control.It is related to this Content can then be illustrated with reference to Figure 23 and 24.
The step S2101 to S2105 is executed repeatedly, until receiving end signal (step S2106).
Figure 23 shows in the sixth embodiment of the present invention, the main control unit 207 in Fig. 2 to horizontal rolling and vertical pitching into The process of row control.
Figure 24 is the figure for correction step S2304 and S2306 in definition graph 23.It is identical with Figure 22 attached in Figure 24 Icon note indicates the object of identical function.
With reference to Figure 23 and 24, the process of controlled level rolling and vertical pitching in sixth embodiment is illustrated.
At the time of main control unit 207 determines whether to change monitored object region (step S2301).
Later, main control unit 207 is held with the horizontal rolling of the horizontal roll angle execution of setting and with setting vertical pitch angular The vertical pitching (step S2302) of row.
If water completes flat rolling and vertical pitching, main control unit 207 shoots in image 2401 from object and detects have The pixel 2401e (step S2303) of maximal margin value.According to circumstances, the range of object shooting image 2401 can be the spy of frame Determine region rather than whole region.The step S2303 is executed as being described in detail in the step S2104.
Later, main control unit 207 executes the correction of horizontal rolling and vertical pitching, so that the pixel 2401e detected is moved It moves to reference position (step S2304).Wherein, the picture that reference position is detected from benchmark shooting image (2201 in Figure 22) The position of plain 2201e.Step S2304 is executed namely based on the reference position information stored in step S2105 (with reference to Figure 21). For example, horizontal rolling correction and horizontal error DPCorresponding amount, vertical pitching correction and vertical error DTCorresponding amount.
Although performing horizontal rolling correction and vertical pitching correction as described above, as time go on, still because The step-out of the possible occurred level rolling of external factor or vertical pitching.At this point, the pixel in object shooting image 2401 The reference position may be detached from.Become defocused in addition, executing, when object shooting image 2401 is restored to original multiplying power, object The pixel in shooting image 2401 may also can be detached from the reference position.
Therefore, whether main control unit 207 judges the pixel in object shooting image 2401 departing from the benchmark position It sets (step S2305).
If the pixel 2401e executes the correction of horizontal rolling and vertical pitching departing from the reference position, so that The pixel in object shooting image 2401 is moved to reference position (step S2306).
The step S2301 to S2306 is periodically carried out, until receiving end signal (step S2307).For example, by In periodically carrying out the step S2305, therefore whether periodically detect the pixel in object shooting image 2401 Departing from the reference position.
As described above, according to the control method for movement of the present embodiment, horizontal rolling and/or vertical is executed using marginal value The correction of pitching.Pass through additional simple action, the precision of can improve the standard rolling and/or vertical pitching as a result,.
More than, it is illustrated centered on the preferred embodiment of the present invention.The technology people of the technical field of the invention Member is appreciated that realize the present invention in a manner of deformation in the range of not departing from the intrinsic propesties of the present invention.Therefore, it answers Above-mentioned the disclosed embodiments from the viewpoint of explanation and infinite viewpoint.The scope of the present invention passes through claim The style of calligraphy shows rather than explanation above-mentioned, by claims invention claimed and is equal to hair claimed Bright invention is included in the present invention.

Claims (10)

1. a kind of control method for movement of monitoring camera executes the horizontal rolling of set angle and/or vertical pitching, and includes The correction step to make corrections to horizontal rolling and/or vertical pitching, which is characterized in that
The correction step includes horizontal rolling rate-determining steps and/or vertical pitching rate-determining steps,
The horizontal rolling rate-determining steps include：
The object that the moment is completed to the horizontal rolling shoots each pixel of image, find out respectively the brightness of left side adjacent pixel with The step of difference of the brightness of right side adjacent pixel, that is, first edge value,
The step of finding out object vertical line number, the object vertical line number refer to shooting the vertical of image in the object In pixel line, the number of the maximum vertical pixel line of summation of the first edge value,
Execute the correction of the horizontal rolling so that the object vertical line number vertical pixel line with correspond to the setting The step of vertical pixel line alignment of the benchmark vertical line number of the horizontal rolling of angle,
The benchmark vertical line number refers to, under preset mode in the vertical pixel line of benchmark shooting image, first side The number of the maximum vertical pixel line of summation of edge value；
The vertical pitching rate-determining steps include：
The object that the moment is completed to the vertical pitching shoots each pixel of image, find out respectively the brightness of upside adjacent pixel with The step of difference of the brightness of downside adjacent pixel, that is, second edge value,
The step of finding out object water horizontal line number, the object water horizontal line number refers to, in the water for shooting image in the object In flat pixel line, the number of the maximum horizontal pixel line of summation of the second edge value,
Execute the correction of the vertical pitching so that the object water horizontal line number horizontal pixel line with correspond to the setting The step of horizontal pixel line alignment of the reference horizontal line number of the vertical pitching of angle,
The reference horizontal line number refers to, under preset mode in the horizontal pixel line of benchmark shooting image, second side The number of the maximum vertical pixel line of summation of edge value.
2. a kind of control method for movement of monitoring camera executes the horizontal rolling of set angle and/or vertical pitching, and includes The correction step to make corrections to horizontal rolling and/or vertical pitching, which is characterized in that
The correction step includes horizontal rolling rate-determining steps and/or vertical pitching rate-determining steps,
The horizontal rolling rate-determining steps include：
In the object shooting image that the moment is completed in the horizontal rolling, to each pixel of defined multiple blocks, find out respectively The step of difference of the brightness of left side adjacent pixel and the brightness of right side adjacent pixel, that is, first edge value,
To defined multiple blocks, the step of finding out object vertical line number respectively, the object vertical line number refers to, In vertical pixel line within a block, the number of the maximum vertical pixel line of summation of the first edge value,
Correction to horizontal rolling described in defined multiple onblock executings, so that the vertical picture of object vertical line number The step of plain line is aligned with the vertical pixel line of the benchmark vertical line of the horizontal rolling corresponding to set angle number,
The benchmark vertical line number refers to that multiple areas as defined in benchmark shooting image are in the block every under preset mode In a area vertical pixel line in the block, the number of the maximum vertical pixel line of summation of the first edge value；
The vertical pitching rate-determining steps include：
In the object shooting image that the moment is completed in the vertical pitching, to each pixel of defined multiple blocks, find out respectively The step of difference of the brightness of upside adjacent pixel and the brightness of downside adjacent pixel, that is, second edge value,
To defined multiple blocks, the step of finding out object water horizontal line number respectively, the object water horizontal line number refers to, In horizontal pixel line within a block, the number of the maximum horizontal pixel line of summation of the second edge value,
Correction to vertical pitching described in defined multiple onblock executings, so that the horizontal picture of object water horizontal line number The step of plain line is aligned with the horizontal pixel line of the reference horizontal line of the vertical pitching corresponding to set angle number,
The reference horizontal line number refers to that multiple areas as defined in benchmark shooting image are in the block every under preset mode In a area horizontal pixel line in the block, the number of the maximum vertical pixel line of summation of the second edge value.
3. the control method for movement of monitoring camera according to claim 2, which is characterized in that
The step of setting multiple blocks of specified quantity includes the first setting procedure and/or the second setting procedure,
First setting procedure includes：
Benchmark shooting image is divided into multiple blocks, multiple blocks are divided into the block and peripheral portion of central portion The step of block,
Each pixel that image is shot to the benchmark finds out the brightness of the brightness and right side adjacent pixel of left side adjacent pixel respectively Difference, that is, first edge value the step of,
In the block of the peripheral portion, to being more proximate to outermost block, higher weighting proportion is assigned, and to the week Each block of edge, the step of calculating separately the summation of the first edge value,
In the block of peripheral portion, according to the summation sequence from big to small of the first edge value, specified quantity is selected successively Block the step of；
Second setting procedure includes：
Benchmark shooting image is divided into multiple blocks, multiple blocks are divided into the block and peripheral portion of central portion The step of block,
Each pixel that image is shot to the benchmark finds out the brightness of the brightness and downside adjacent pixel of upside adjacent pixel respectively Difference, that is, second edge value the step of,
In the block of the peripheral portion, to being more proximate to outermost block, higher weighting proportion is assigned, and to the week Each block of edge, the step of calculating separately the summation of the second edge value,
In the block of peripheral portion, according to the summation sequence from big to small of the second edge value, specified quantity is selected successively Block the step of.
4. a kind of control method for movement of monitoring camera executes the horizontal rolling of set angle and/or vertical pitching, and includes The correction step to make corrections to horizontal rolling and/or vertical pitching, which is characterized in that
The correction step includes：
The object at moment is completed to the horizontal rolling and/or the vertical pitching and shoots image, uses Sobel filter Vertical edge detection mask, horizontal edge detection mask, upper left to lower right diagonal edge detection mask and Upper right to lower left diagonal edge detection mask, the step of to detect most distinct edge lines, and
The correction of the horizontal rolling and/or the vertical pitching is executed, so that the edge lines detected are moved to benchmark position The step of setting；
The reference position refers to shooting image to the benchmark under preset mode, is examined using the vertical edge of Sobel filter Survey mask, horizontal edge detection mask, the diagonal edge detection mask of upper left to lower right and upper right are to lower-left The diagonal edge detection mask in direction, the position of most distinct edge lines in the edge lines of acquisition.
5. the control method for movement of monitoring camera according to claim 4, which is characterized in that further include：
After the correction for executing the horizontal rolling and/or the vertical pitching, the object shooting image is periodically detected In edge lines whether departing from the reference position the step of；And
If edge lines in object shooting image departing from the reference position, execute the horizontal rolling and/or The correction of the vertical pitching, so that the step of edge lines are moved to the reference position.
6. a kind of control method for movement of monitoring camera executes the horizontal rolling of set angle and/or vertical pitching, including right The correction step for the correction that horizontal rolling and/or vertical pitching carry out, which is characterized in that
The correction step includes：
The object that the moment is completed to the horizontal rolling and/or vertical pitching shoots image, finds out the maximum picture of first edge value The step of element, the first edge value are to use image vertical edge detection mask, the horizontal edge of Sobel filter The diagonal edge of detection mask, the diagonal edge detection mask of upper left to lower right and upper right to lower left detects With more than one in mask, come obtain vertical edge edge value, horizontal sides edge value, the side opposite the angle edge value of upper left to lower right and Upper right to the side opposite the angle edge value of lower left summation, and
The correction of the horizontal rolling and/or vertical pitching is executed, so that the step of pixel detected is moved to reference position；
The reference position is that first edge described in benchmark shooting image is worth the position of maximum pixel under preset mode.
7. the control method for movement of monitoring camera according to claim 6, which is characterized in that further include：
After the correction for executing the horizontal rolling and/or the vertical pitching, the object shooting image is periodically detected In pixel whether departing from the reference position the step of；And
If pixel in object shooting image departing from the reference position, executes horizontal rolling and/or described vertical The correction of pitching, so that the step of pixel is moved to reference position.
8. the control method for movement of monitoring camera according to any one of claim 1 to 7, which is characterized in that
Before implementing the correction step, including：
After the completion of the horizontal rolling and/or the vertical pitching, the auto exposure parameter used in object shooting image is found out The step of value；And
The step of whether average deviation of the value and a reference value that judge the auto exposure parameter is less than upper limit value.
9. the control method for movement of monitoring camera according to any one of claim 1 to 7, which is characterized in that including：
Before implementing the correction step, in case of step-out, then horizontal rolling and/or vertical pitching correction are executed, so that Actually swing angle and/or the vertical pitch angular and set angle one detected by horizontal rolling PI sensor modules The step of cause.
10. a kind of monitoring camera, has control unit, which is characterized in that the control unit perform claim is any in requiring 1 to 9 Method described in.
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