CN109059843A - A kind of device with camera angle detection function - Google Patents
A kind of device with camera angle detection function Download PDFInfo
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- CN109059843A CN109059843A CN201811285272.5A CN201811285272A CN109059843A CN 109059843 A CN109059843 A CN 109059843A CN 201811285272 A CN201811285272 A CN 201811285272A CN 109059843 A CN109059843 A CN 109059843A
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- video camera
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
Abstract
It is described not depend on the restriction of cradle head control control mode the invention discloses a kind of device with camera angle detection function, and real-time detection determines dynamic angle monitor camera.The video camera mainly includes sensor unit, data processing unit, communication unit and shell, the sensor unit is used to acquire the bearing data when video camera attitudes vibration for being equipped with described device, data processing unit is responsible for handling the collected data of gyroscope institute, obtains the real-time angular data when video camera attitudes vibration for being equipped with described device.Described device have detection fast speed, the higher feature of detection accuracy, can real-time monitoring video camera real-time angular, dynamic target tracking monitoring and image recognition positioning field have a wide range of applications.
Description
Technical field
The present invention relates to a kind of device with camera angle detection function, the device be related to sensor data acquisition and
The fields such as data processing.
Background technique
Monitor camera is the primary video equipment of safety defense monitoring system.With digital image processing techniques and pattern-recognition
The development of technology, the application range further expansion of monitor camera.Also more it is applied in coal mine underground monitoring video camera
The fields such as coal is exploited automatically, personnel and monitoring of tools position.Monitor camera is generally fixedly installed on holder, by holder control
System control transformation angle processed, to realize the Image Acquisition to different zones.Since holder uses open loop control mode, monitoring
Center can control cloud platform rotation, however can not obtain the real-time angular of monitor camera, even if having closed loop control using special
The holder of system, when video camera forces rotation manually by field personnel or changed angle by other external forces, in monitoring
The heart can not equally obtain the accurate real-time angular of monitor camera, due to can not accurately obtain the real-time angular of monitor camera,
Monitoring center just can not accurately determine the monitoring area of acquired image, therefore can not be by image pattern recognition to monitoring
Target is accurately positioned, and the development and application of monitoring technology are seriously restrict.In actual application process, overwhelming majority prison
It controls video camera and does not have self-view real-time detection function, therefore need a kind of auxiliary not restricted by cradle head control mode in a hurry
Device reaches the function of real-time detection monitor camera self-view.
Summary of the invention
It is an object of that present invention to provide a kind of devices with camera angle detection function, have detection fast speed,
The features such as detection accuracy is higher, and have the function of the transmission of camera angle data, it is fixed in dynamic target tracking monitoring and image
Position field has a wide range of applications.Described device includes sensor unit, data processing unit, communication unit and shell；
The sensor unit is used to acquire the bearing data when video camera attitudes vibration for being equipped with described device, and sensor unit is extremely
It less include a three-axis gyroscope；The data processing unit is responsible for handling the collected data of gyroscope institute, obtains
Real-time angular data when the video camera attitudes vibration of described device are installed；Communication unit is responsible for exporting data processing unit
Angle-data be uploaded to receiving device；When using described device, which need to be rigidly secured on video camera.
1. described device further comprises: before using described device, needing to carry out under conditions of video camera is in static
Calibration, calibration content include:
A) three-dimensional system of coordinate (Xs, Ys, Zs) of video camera body is determined；The method of determination includes, with the three-axis gyroscope
Reference axis of three shafts as the three-dimensional system of coordinate of video camera body；
B) it determines and refers to three-dimensional system of coordinate (X, Y, Z)；The method of determination includes that setting Z axis faces upward perpendicular to ground, and X-axis is hung down
Metope directly is installed in the video camera, Y-axis is parallel to the video camera installation metope；
C) according to the three-dimensional system of coordinate of video camera body, determine that video camera body is flat in reference three-dimensional system of coordinate XOY, XOZ, YOZ
Initial offset angle on face.
2. described device further comprises: the angle speed on three axis that sensor unit is continuously obtained by data processing unit
Processing is obtained angle and is overlapped with video camera body initial offset angle according to being handled by degree, obtains sometime institute
State deviation angle data of the video camera body relative to reference three-dimensional system of coordinate plane；Specific method includes, if sensor unit obtains
Taking each instantaneous angular velocity in three axial directions is aX、aY、aZ, video camera body is A1+ ∫ a in the deviation angle of XOY planeZdt；It takes the photograph
Camera body is A2+ ∫ a in the deviation angle of XOZ planeYdt；Video camera body is A3+ ∫ a in the deviation angle of YOZ planeXdt；In formula
A1, A2, A3 are initial offset angle of the video camera body in reference three-dimensional system of coordinate XOY, XOZ, YOZ plane, and t is video camera shifting
Dynamic accumulated time.
3. described device further comprises: the mounting means of described device includes the two of them of the three-axis gyroscope
The plane of shaft composition is parallel with the plane of camera lens, the third shaft of three-axis gyroscope and the center of video camera casing
Axis is parallel, using three shafts of three-axis gyroscope as the reference axis of the three-dimensional system of coordinate of video camera body.
Detailed description of the invention
Fig. 1 has the apparatus function structural schematic diagram of detection monitor camera angle function.
Fig. 2 is equipped with the three-dimensional system of coordinate schematic diagram of described device video camera.
Fig. 3 is equipped with the video camera and three-dimensional system of coordinate angle schematic diagram of described device.
Each axial schematic diagram of Fig. 4 three-axis gyroscope.
Fig. 5 has the device workflow of detection monitor camera angle function
Specific embodiment
In the device embodiment as shown in Figure 1 that there is detection monitor camera angle function, comprising:
1. sensor unit (101), the three-axis gyroscope sensor fast using reaction speed, detection accuracy is high, can be used
The MPU3050 three-axis gyroscope chip of InvenSense company production.The chip characteristics be motion sensing range it is wide, by 250 to
2000 °/sec, susceptibility is higher, and 1% susceptibility is calibrated to before factory, and signal collected is digital signal, collection result
Data processing unit (102) are transferred to by I2C serial communication mode.Need measurement three-axis gyroscope sensor axially inclined before use
Shifting degree compensates final result according to degrees of offset.
2. data processing unit (102) passes through for handling the angular rate signal obtained by sensor unit (101)
Superposition obtains certain moment relative to three axially direction angles.The MSP430F147 monolithic of data processor selection TI company
Machine.16 risc architectures of the model have 32k Flash, 1kRAM；And there are 5 kinds of low-power consumption modes.Three-axis gyroscope sensing
SCL with the SDA pin of device can connect two standard I/O interfaces of MSP430F147 processor plus pull-up resistor, pass through processor
Control generates clock signal and realizes I2C serial data communication.Processor can also be realized by FPGA.
3. communication unit (103) uses wireless communication module, the angle-data for obtaining data processing unit (102)
It is uploaded to receiving device.WIFI module can be used and realize wireless communication, using ESP8266 chip, which is that performance is steady
Fixed, power consumption is lower, is communicated by serial ports with data processor realization, the angle-data that data processing unit is obtained, which is uploaded to, to be connect
Receiving unit.Data communication can also be realized using wired module.
4. auxiliary circuit (104), in addition to above-mentioned each unit equipment, device further includes the auxiliary circuits such as power circuit
And related elements, support is provided for each unit equipment component.
5. shell (105), shell need to be installed convenient for described device to monitor camera, and fixing means includes that bayonet is solid
Fixed, screw is fixed or adhesive sticker is pasted and fixed.It is such as used in underground coal mine, need to use and meet the explosion-proof outer of downhole anti-explosion standard
Shell.
In the device specific embodiment that there is detection monitor camera angle function, three-dimensional system of coordinate and deviation angle
Definition refers to Fig. 2, Fig. 3 and Fig. 4:
1. refer to Fig. 2, (201) are with reference to three-dimensional system of coordinate, and (202) are the three-dimensional system of coordinate of video camera body, in this example
It faces upward with reference to three-dimensional system of coordinate Z axis perpendicular to ground, X-axis is parallel to the video camera installation metope, and Y-axis is perpendicular to the camera shooting
It is outside that machine installs metope；Two coordinate system origin can not be overlapped.
2. referring to Fig. 3, Two coordinate system origin is overlapped in figure, in order to illustrate deviation angle.(301) exist for video camera body
The initial offset angle of XOY plane, (302) are initial offset angle of the video camera body in XOZ plane, and (303) are video camera body
In the initial offset angle of YOZ plane.When specific installation is implemented, video camera body three-dimensional system of coordinate should be made as far as possible and sat with reference to three-dimensional
Each change in coordinate axis direction for marking system is consistent, makes 0 degree of initial offset angle in three planes.
3. referring to Fig. 4, (401) are three-axis gyroscope chip, and shaft is respectively Xt, Yt, Zt, when it is implemented, video camera
Body three-dimensional system of coordinate should be determined with reference to three-axis gyroscope shaft.
The device specific implementation step for having detection monitor camera angle function is as shown in Figure 5:
1. (501) judge whether it is scaled, such as do not calibrate, then execute (502)；If calibration is completed, then directly execute
(503)。
2. (502) executing calibration process, video camera body is obtained in each reference axis composition plane of reference three-dimensional system of coordinate
Initial offset angle A 1, A2, A3.
3. (503) the instantaneous angular velocity α in three axial directions that data processing unit acquisition sensor unit persistently obtainsX,
αY, αZ。
4. (504) data processing unit determines instantaneous angular velocityWhether setting threshold is less than
Value calculates new deviation angle if it is less than (505) are then executed, otherwise directly executes (507).
5. (505) data processing unit is to all α since updating initial offset angle A 1, A2, A3X,αY, αZData into
Row superposition processing, video camera body are A1+ ∫ a in the deviation angle of XOY planeZdt；Deviation angle of the video camera body in XOZ plane
For A2+ ∫ aYdt；Video camera body is A3+ ∫ a in the deviation angle of YOZ planeXdt；In formula, since updating initial offset angle
Accumulated time.
6. (506) deviation angle that (505) are calculated is as new initial offset angle A 1, A2, A3.
7. (507) communication unit is by the video image data after compressed encoding and with the initial offset of temporal information
Angle-data is transferred to receiving device.
Claims (4)
1. a kind of device with camera angle detection function, it is characterised in that: described device includes sensor unit, data
Processing unit, communication unit and shell；The sensor unit is for acquiring the video camera attitudes vibration for being equipped with described device
When bearing data, sensor unit include at least a three-axis gyroscope；The data processing unit is responsible for gyroscope institute
Collected data are handled, and the real-time angular data when video camera attitudes vibration for being equipped with described device are obtained；
Communication unit is responsible for the angle-data that data processing unit exports being uploaded to receiving device；When using described device, need
The device is rigidly secured on video camera.
2. device as described in claim 1, it is characterised in that: before using described device, need to be in static state in video camera
Under the conditions of calibrated, calibration content include:
A) three-dimensional system of coordinate (Xs, Ys, Zs) of video camera body is determined；The method of determination includes, with three of the three-axis gyroscope
Reference axis of the shaft as the three-dimensional system of coordinate of video camera body；
B) it determines and refers to three-dimensional system of coordinate (X, Y, Z), the reference as video camera pivot offset angle；The method of determination includes, if
Determine Z axis to face upward perpendicular to ground, X-axis installs metope perpendicular to the video camera, and Y-axis is parallel to the video camera installation metope；
C) according to the three-dimensional system of coordinate of video camera body, determine video camera body in reference three-dimensional system of coordinate XOY, XOZ, YOZ plane
Initial offset angle.
3. device as described in claim 1, it is characterised in that: data processing unit be continuously obtained sensor unit three
Angular velocity data on axis is handled, and processing is obtained angle and is overlapped with video camera body initial offset angle, is obtained
Sometime deviation angle data of the video camera body relative to reference three-dimensional system of coordinate plane；Specific method includes, if passing
It is a that sensor cell, which obtains each instantaneous angular velocity in three axial directions,X、aY、aZ, video camera body is A1 in the deviation angle of XOY plane
+∫aZdt；Video camera body is A2+ ∫ a in the deviation angle of XOZ planeYdt；Video camera body is A3+ ∫ in the deviation angle of YOZ plane
aXdt；A1, A2, A3 are initial offset angle of the video camera body in reference three-dimensional system of coordinate XOY, XOZ, YOZ plane, t in formula
For the mobile accumulated time of video camera.
4. device as described in claim 1, it is characterised in that: the mounting means of described device includes the three-axis gyroscope
Two of them shaft composition plane it is parallel with the plane of camera lens, the third shaft and video camera of three-axis gyroscope
The centerline axis parallel of casing, using three shafts of three-axis gyroscope as the reference axis of the three-dimensional system of coordinate of video camera body.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811285272.5A CN109059843A (en) | 2018-10-31 | 2018-10-31 | A kind of device with camera angle detection function |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811285272.5A CN109059843A (en) | 2018-10-31 | 2018-10-31 | A kind of device with camera angle detection function |
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Citations (7)
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|---|---|---|---|---|
| US6965397B1 (en) * | 1999-11-22 | 2005-11-15 | Sportvision, Inc. | Measuring camera attitude |
| CN106384367A (en) * | 2016-08-26 | 2017-02-08 | 深圳拍乐科技有限公司 | Method for automatically stabilizing view angle of panoramic camera |
| CN106742003A (en) * | 2015-11-20 | 2017-05-31 | 广州亿航智能技术有限公司 | Unmanned plane cloud platform rotation control method based on intelligent display device |
| CN106815868A (en) * | 2015-11-30 | 2017-06-09 | 深圳佑驾创新科技有限公司 | Camera real-time calibration mthods, systems and devices |
| CN107113376A (en) * | 2015-07-31 | 2017-08-29 | 深圳市大疆创新科技有限公司 | A kind of image processing method, device and video camera |
| CN109167902A (en) * | 2018-10-31 | 2019-01-08 | 中国矿业大学(北京) | A kind of video camera with the angle detection function |
| CN208765699U (en) * | 2018-10-31 | 2019-04-19 | 中国矿业大学(北京) | A kind of device with camera angle detection function |
-
2018
- 2018-10-31 CN CN201811285272.5A patent/CN109059843A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6965397B1 (en) * | 1999-11-22 | 2005-11-15 | Sportvision, Inc. | Measuring camera attitude |
| CN107113376A (en) * | 2015-07-31 | 2017-08-29 | 深圳市大疆创新科技有限公司 | A kind of image processing method, device and video camera |
| CN106742003A (en) * | 2015-11-20 | 2017-05-31 | 广州亿航智能技术有限公司 | Unmanned plane cloud platform rotation control method based on intelligent display device |
| CN106815868A (en) * | 2015-11-30 | 2017-06-09 | 深圳佑驾创新科技有限公司 | Camera real-time calibration mthods, systems and devices |
| CN106384367A (en) * | 2016-08-26 | 2017-02-08 | 深圳拍乐科技有限公司 | Method for automatically stabilizing view angle of panoramic camera |
| CN109167902A (en) * | 2018-10-31 | 2019-01-08 | 中国矿业大学(北京) | A kind of video camera with the angle detection function |
| CN208765699U (en) * | 2018-10-31 | 2019-04-19 | 中国矿业大学(北京) | A kind of device with camera angle detection function |
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