CN111083372B - Panoramic monitoring control method, device and equipment and readable storage medium - Google Patents
Panoramic monitoring control method, device and equipment and readable storage medium Download PDFInfo
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- CN111083372B CN111083372B CN201911379402.6A CN201911379402A CN111083372B CN 111083372 B CN111083372 B CN 111083372B CN 201911379402 A CN201911379402 A CN 201911379402A CN 111083372 B CN111083372 B CN 111083372B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
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- 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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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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
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Abstract
The invention discloses a panoramic monitoring control method, which comprises the steps of controlling a monitoring camera and a reflector to rotate at a constant speed together according to a preset rotating speed; the driving reflector periodically swings and rotates in the same direction and in the opposite direction alternately relative to the monitoring camera by taking a second preset rotating shaft as a center along the direction of a preset rotating speed; when the rotating directions of the reflector and the monitoring camera are opposite, the image reflected to the monitoring camera by the reflector is controlled to be unchanged, and the monitoring camera is controlled to shoot the reflected image to obtain a monitoring image. During panorama monitoring, the problem of rotation of a shooting picture of the monitoring camera is avoided through the reflector relative to the reverse rotation of the monitoring camera, the problem of a shooting smear is further avoided, the definition of a monitored image is guaranteed to a great extent, and the reliability of 360-degree panorama monitoring is realized. The application also provides a panoramic monitoring control device, equipment and a computer readable storage medium, which have the beneficial effects.
Description
Technical Field
The present invention relates to the field of video monitoring technologies, and in particular, to a panoramic monitoring control method, apparatus, device, and computer-readable storage medium.
Background
The camera monitoring technology is one of the most widely applied monitoring technologies at present, and can be generally applied to monitoring in large environments such as traffic, warehouses, markets and the like. Based on the higher and higher application demand of the monitoring technology at present, under many circumstances, 360-degree all-around monitoring of the environment is required to be realized. Generally, two ways often exist for realizing 360-degree omnibearing monitoring:
the other is to adopt a plurality of camera devices, each camera device shoots images from different angles, and the images of the plurality of camera devices are spliced to realize 360-degree panoramic monitoring. Although panoramic monitoring can be realized in this way, the number of the camera devices which are often needed is increased, and the use cost of panoramic monitoring is increased to a great extent;
the other is to use a camera device, which is periodically rotated, so that the camera device can shoot all images within 360 degrees by rotating one circle, thereby realizing a panoramic image. However, the problem is that for the image capturing device, it needs a certain imaging time for capturing images, and therefore, a certain retention time is needed for the image capturing device to capture images each time, so that the working efficiency is low, and if there is rotational movement in the image capturing process of the image capturing device, image smear is easily caused by image capturing, and further the monitoring fails.
Disclosure of Invention
The invention aims to provide a panoramic monitoring control method, panoramic monitoring control equipment, a panoramic monitoring control device and a computer readable storage medium, which improve the definition of panoramic monitoring photographing.
In order to solve the above technical problem, the present invention provides a panoramic monitoring control method, including:
controlling the monitoring camera and the reflector to rotate at a constant speed by taking a first preset rotating shaft as a center according to a preset rotating speed;
driving the reflector to periodically swing and rotate alternately in the same direction and in the opposite direction along the direction of the preset rotating speed by taking a second preset rotating shaft as a center relative to the monitoring camera through a preset driving track; wherein the first preset rotation axis and the second preset rotation axis are parallel;
when the rotating directions of the reflector and the monitoring camera are opposite, the speed of the reflector is controlled, so that the monitoring area picture reflected to the monitoring camera by the reflector is not changed, and the monitoring camera is controlled to shoot the monitoring area picture reflected by the reflector to obtain a monitoring image.
Optionally, the process of presetting the driving trajectory includes:
determining the photographing quantity of the monitoring camera for photographing the monitoring image after the monitoring camera rotates for one circle according to the size of the field angle of the monitoring camera;
and determining the size of the preset rotating speed, the equidirectional time length of the reflector rotating in the same direction, the equidirectional rotating speed and the reverse time length and the reverse rotating speed of the reflector rotating in the reverse direction relative to the preset rotating speed every time according to the integral time length and the plotting time length when the monitoring camera shoots the images and the photographing quantity.
Optionally, the controlling the monitoring camera to shoot a monitoring area picture reflected by the mirror to obtain a monitoring image includes:
and when the reverse rotation time length of the reflector relative to the preset rotation speed direction is not less than the integral time length, controlling to trigger the monitoring camera to shoot the monitoring image.
Optionally, the driving the mirror to swing and rotate alternately in the same direction and in the opposite direction with respect to the monitoring camera around a second preset rotation axis as a center, and the driving includes:
and driving the reflector to periodically swing and rotate by controlling a voice coil motor.
The application also provides a panorama monitoring control device, which is characterized in that, includes:
the first control module is used for controlling the monitoring camera and the reflector to rotate at a constant speed by taking a first preset rotating shaft as a center according to a preset rotating speed;
the second control module is used for driving the reflector to periodically swing and rotate alternately in the same direction and in the reverse direction along the direction of the preset rotating speed by taking a second preset rotating shaft as a center relative to the monitoring camera through a preset driving track; wherein the first preset rotation axis and the second preset rotation axis are parallel;
and the image shooting module is used for controlling the speed of the reflector when the rotating directions of the reflector and the monitoring camera are opposite, so that the monitoring area picture reflected to the monitoring camera by the reflector is not changed, and controlling the monitoring camera to shoot the monitoring area picture reflected by the reflector to obtain a monitoring image.
Optionally, the monitoring system further comprises a track determining module, configured to determine, according to the size of the field angle of the monitoring camera, the number of shots of the monitoring image taken by the monitoring camera after one rotation; determining the size of the preset rotating speed, the equidirectional time length of equidirectional rotation and the reverse time length of reverse rotation of the reflector relative to the preset rotating speed each time according to the integral time length and the plotting time length when the monitoring camera shoots the images and by combining the shooting quantity; determining the maximum rotation angle of the reflector according to the equidirectional duration and the preset rotation speed; and determining the rotating speed of the reflector reversely rotating relative to the preset rotating speed according to the maximum rotating angle and the reverse duration.
The application also provides panoramic monitoring control equipment, which comprises a monitoring camera, a reflecting mirror, a first driving part, a second driving part and a processor, wherein the reflecting mirror is fixed with the monitoring camera in relative position;
the processor is respectively connected with the monitoring camera, the first driving part and the second driving part and is used for driving the monitoring camera and the reflector to rotate at a constant speed by taking a first preset rotating shaft as a center through the first driving part; the second driving component drives the reflecting mirror to periodically swing and rotate alternately in the same direction and in the reverse direction along the direction of the preset rotating speed by taking a second preset rotating shaft as a center relative to the monitoring camera; wherein the first preset rotation axis and the second preset rotation axis are parallel; when the rotating directions of the reflector and the monitoring camera are opposite, the speed of the reflector is controlled by the second driving part, so that the monitoring area picture reflected to the monitoring camera by the reflector is not changed, and the monitoring camera is controlled to shoot the monitoring area picture reflected by the reflector to obtain a monitoring image.
Optionally, the second drive component is a voice coil motor.
Optionally, the monitoring camera is an infrared camera.
The present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the panoramic monitoring control method according to any one of the above.
The panoramic monitoring control method provided by the invention comprises the steps that a monitoring camera and a reflector are controlled to rotate at a constant speed according to a preset rotating speed by taking a first preset rotating shaft as a center; the driving reflector rotates in a periodically alternating swinging manner in the same direction and in the reverse direction along the direction of the preset rotating speed by taking a second preset rotating shaft as a center relative to the monitoring camera through a preset driving track; the first preset rotating shaft and the second preset rotating shaft are parallel; when the rotating directions of the reflector and the monitoring camera are opposite, the speed of the reflector is controlled, so that the monitoring area picture reflected to the monitoring camera by the reflector is not changed, and the monitoring camera is controlled to shoot the monitoring area picture reflected by the reflector to obtain a monitoring image.
In the application, during panoramic monitoring, the monitoring camera is rotated by 360 degrees in real time, so that the monitoring camera can realize 360-degree monitoring shooting, but a picture shot by the monitoring camera is reflected to the picture of the monitoring camera through the reflector; and the periodic syntropy and the reverse rotation of this speculum for monitoring camera, when the speculum reverse rotation, through the speed of control speculum reverse rotation, make the picture that the speculum reflected to monitoring camera remain unchanged, also be the picture of monitoring area in reflecting to monitoring camera through the speculum, can not rotate along with monitoring camera's rotation and change, but the picture that stops in a unchangeable monitoring area, when monitoring camera carries out image shooting this moment, just can not produce because of shoot the image and produce the change for monitoring camera, and then produce the problem of smear, the definition of monitoring image has been guaranteed to a great extent, realize 360 degrees panoramic monitoring's reliability, and monitoring camera can shoot when rotatory, the work efficiency of panoramic monitoring has been improved to a great extent.
The application also provides a panoramic monitoring control device, equipment and a computer readable storage medium, which have the beneficial effects.
Drawings
In order to more clearly illustrate the embodiments or technical solutions of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a panoramic monitoring control method according to an embodiment of the present invention;
FIG. 2 is a schematic view of an optical path between a monitoring camera and a mirror provided in an embodiment of the present application;
FIG. 3 is a schematic diagram of an optical path of a mirror rotation process provided in an embodiment of the present invention;
fig. 4 is a block diagram of a panoramic monitoring and controlling apparatus according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, fig. 1 is a schematic flow chart of a panoramic monitoring control method provided in an embodiment of the present invention, where the method may include:
step S11: the control monitoring camera and the reflector rotate at a constant speed by taking a first preset rotating shaft as a center according to a preset rotating speed.
Wherein the relative position between the monitoring camera and the mirror remains unchanged.
Step S12: and controlling the driving reflector to rotate along the reverse direction of the preset rotating speed by taking a second preset rotating shaft as a center relative to the monitoring camera through a preset driving track.
The first preset rotating shaft and the second preset rotating shaft are parallel.
Alternatively, the mirror may be located on the second predetermined rotation axis, and the mirror rotates like a rotation during the rotation in the reverse direction of the predetermined rotation speed without a change in the distance between the mirror and the monitoring camera.
Of course, in practical applications, the mirror is not necessarily on the second preset rotation axis, as long as the first preset rotation axis and the second preset rotation axis are parallel, but the control of the rotation angle and the rotation speed of the mirror is simpler when the mirror is on the second preset rotation axis.
In addition, in the preset driving trajectory, the rotation speed of the mirror rotating in the reverse direction of the preset rotation speed needs to be preset according to factors such as the size of the preset rotation speed, so that the frame of the monitoring area reflected to the monitoring camera is kept unchanged when the mirror rotates in the reverse direction.
Step S13: and controlling the monitoring camera to shoot the monitoring area picture reflected by the reflector to obtain a monitoring image.
It should be noted that, when the monitoring camera is controlled to shoot, a certain integration time is required when the monitoring camera obtains a stable monitoring area picture through the reflector.
Taking an infrared camera as an example, when the reflected light of the reflector is incident to the infrared camera, the infrared sensing chip of the infrared camera needs to sense the heat of the incident light to form thermal imaging, but the sensing process needs to be accumulated over a certain period of time, that is, thermal imaging.
In this embodiment, after the monitoring image receives the light reflected by the reflector, the sensing imaging also needs a certain time, so in an actual operation process, the reflector is often required to rotate in a reverse direction of a preset rotation speed for a certain time before image shooting is started, and the length of the time is determined according to the integration time of different cameras, but is at least not less than the integration time of the camera.
In addition, when the monitoring camera starts to shoot images, the shot images also need a certain time, and then it is required to ensure that the pictures reflected by the reflector do not change in the time period, that is, the reflector still keeps rotating along the reverse direction of the preset rotating speed.
In summary, the length of time that the mirror rotates in the reverse direction of the preset rotation speed cannot be less than the sum of the integration length and the imaging length of the monitoring camera, and the specific time is determined based on the preset driving track.
Step S14: and controlling the reflector to rotate in the same direction of the preset rotating speed by taking the second preset rotating shaft as the center.
When the reflector rotates along the reverse direction of the preset rotating speed, after the monitoring camera finishes shooting of a certain monitoring area, the adjacent monitoring area needs to be shot, therefore, the reflector needs to rotate along the same direction of the preset rotating speed, the reflection picture of the reflector is switched, accordingly, the monitoring camera can also shoot a new picture of the monitoring area through the reflector, and finally panoramic shooting is achieved. It should be noted that, in order to prevent missing photographing, the monitoring frame of the previous reflection should partially overlap with the monitoring frame of the next reflection.
Step S15: when the mirror rotates to the predetermined position in the same direction of the preset rotation speed, the process proceeds to step S12.
Similarly, when the mirror reflects a new monitoring image to the monitoring camera, in order for the monitoring camera to capture a stable image without smear, the mirror needs to rotate again in the reverse direction of the preset rotation speed, and this is repeated, so that the monitoring camera captures a panoramic image rotated by one turn.
The predetermined position may be determined according to a preset driving trajectory. In general, the maximum angle of the mirror wobble rotation is substantially relatively small, nor is the time period of each wobble of the mirror more than 200 ms.
According to the monitoring camera, when monitoring image shooting is carried out, the monitoring camera always keeps rotating at a constant speed, no intermediate pause exists, the monitoring camera does not need to be controlled to frequently start and rotate and stop rotating, the time of one circle of rotation of the monitoring camera is saved to a great extent, and the monitoring efficiency and the accuracy are improved.
In addition, voice coil camera driving may be employed for driving the mirror. The voice coil camera has the advantages of high control precision, rapid feedback and the like, and can quickly and accurately control the reflector.
Specifically, reference may be made to fig. 2, where fig. 2 is a schematic view of an optical path between a monitoring camera and a mirror provided in an embodiment of the present application. In fig. 2, the circular dotted line is a rotation trajectory along which the monitoring camera 1 and the mirror 2 rotate together at a predetermined rotation speed. The center O of the circular dotted line is the overlooking position point of the first preset rotating shaft. The mirror 2 rotates with the monitoring camera 1 by using a second preset rotation axis on the basis of co-rotation with the monitoring camera 1, the second preset rotation axis is parallel to the first preset rotation axis, taking the mirror 2 on the second preset rotation axis as an example, it is equivalent to that the mirror rotates by using the second preset rotation axis as a center, and the rotation direction changes in a periodic reverse manner, so that the mirror rotates in a periodic swing manner, fig. 2 shows a schematic direction of co-rotation of the monitoring camera 1 and the mirror 2, a schematic direction of self-swing rotation of the mirror 2, and a monitoring area which can be reflected by the mirror 2 and enter the monitoring camera 1.
When the reflector 2 does not swing and rotate, the reflector 2 and the monitoring camera 1 rotate together, the picture reflected to the monitoring camera 1 by the reflector 2 obviously rotates, and at the moment, the reflector 2 rotates reversely relative to the first preset rotating speed, so that the change of the picture reflected by the reflector 2 due to the rotation of the reflector 2 along with the monitoring camera 1 can be eliminated to a certain extent or slowed down to a great extent, the picture shot by the monitoring camera 1 when shooting the monitoring image through the reflector 2 is basically unchanged or is changed very slightly, the shooting of the picture is not influenced, and the image quality of the monitoring camera 1 when shooting is further improved. After the monitoring camera 1 finishes shooting the image, the reflector 2 rotates in the same direction as the first preset rotating speed again, so that the reflector 2 rotates to reflect another monitoring picture to the monitoring camera 1, and then the reflector 2 rotates in the reverse direction, and the monitoring image of the monitoring camera 1 surrounding a circle can be shot repeatedly, although the monitoring camera 1 cannot shoot the image in the time period that the reflector 2 rotates in the same direction as the first preset rotating speed, when the reflector 2 is actually controlled, the rotating angle of the reflector 2 can be properly set according to the size of the view field angle of the monitoring camera 1, so that the monitoring image shot in the adjacent time period of the monitoring camera 1 has a certain overlapping area, and the problem of missed shooting is avoided.
It should be noted that fig. 2 is only a specific schematic diagram provided by the present application, and in practical applications, the relative positions of the monitoring camera 1 and the reflecting mirror 2 are not necessarily the positions shown in fig. 2, for example, the monitoring camera 1 may rotate with a radius larger than the radius of rotation of the reflecting mirror 2, or the distance between the two may also be increased or decreased, and so on, and thus, no particular limitation is imposed on the present application.
In addition, as for the swing rotation of the mirror 2, there are rotation in the same direction and in the opposite direction to the first preset rotation speed, but the rotation is not strictly real-time in the same direction and in the opposite direction, but means that when the first preset rotation speed direction is a clockwise rotation direction, if the mirror 2 rotates clockwise, the mirror 2 rotates in the same direction as the first preset rotation speed, and conversely, if the mirror 2 rotates counterclockwise, the mirror 2 rotates in the opposite direction to the first preset rotation speed.
In the present embodiment, when the mirror 2 rotates in the opposite direction to the first preset rotation speed, the reflected image of the mirror 2 needs to be controlled to be unchanged, or not to be changed at all in a strict sense. Although the mirror 2 itself swings and rotates, the whole mirror 2 needs to rotate according to the first preset rotation speed, and the incident angle and the reflection angle of the mirror 2 correspondingly change, so that the incident angle reflected to the picture of the monitoring camera 1 obviously has a certain deflection. However, since the process is usually only a few tens of milliseconds, the deflection of the picture is very slow, and the problem of smear on the shooting of the monitoring camera 1 is not caused, which can be ignored, that is, the implementation of the technical scheme in the present application is not affected.
During panoramic monitoring, the monitoring camera is controlled to rotate at a constant speed of 360 degrees, meanwhile, a reflector rotating synchronously with the monitoring camera reflects a detection picture to the monitoring camera, and the reflector is controlled to periodically rotate along the reverse direction of the rotation direction of the monitoring camera, so that the problem of smear caused by the change of the monitoring picture caused by the rotation of the monitoring camera is reduced or even eliminated; on the basis of not needing many monitoring cameras, obtain clear reliable detection image, and then improved panorama detection's validity.
Based on any of the above embodiments, the following describes a process of determining a predetermined undriven trajectory of a mirror in a specific embodiment, which is as follows:
determining the photographing quantity of monitoring images photographed by the monitoring camera rotating for one circle according to the size of the field angle of the monitoring camera;
when determining the number of shots, the product of the monitoring camera field angle and the number of shots should be as large as possible to be larger than 360 degrees so as to splice the shot monitoring images.
According to the integration duration and the plotting duration when the monitoring camera shoots the images, and the shooting quantity, determining the equidirectional duration and the equidirectional rotating speed of the reflector rotating in the same direction relative to the preset rotating speed each time, and the reverse duration and the reverse rotating speed of the reflector rotating in the reverse direction;
specifically, as shown in fig. 3, fig. 3 is a schematic optical path diagram of a mirror rotation process according to an embodiment of the present invention, in fig. 3, the mirror 2 and the monitoring camera 1 are set to rotate clockwise with the same rotation radius, a certain object point of the monitoring area is M, the object point M is taken from a point on a rotation track of the mirror 2 and the monitoring camera 1, and the mirror 2 is located on a second preset rotation axis. Fig. 3 is a schematic diagram of the optical paths when the solid line monitoring camera 1, the solid line mirror, the solid line incident light ray, and the solid line reflected light ray start rotating counterclockwise. When the mirror 2 is set to start rotating counterclockwise, both the incident angle and the reflection angle of the mirror 2 are set to a.
In fig. 3, the monitoring camera 1 with the dotted line, the mirror 2 with the dotted line, the incident light with the dotted line, and the reflected light with the dotted line are all indicated by light paths after the mirror 2 rotates a certain angle counterclockwise. After the reflector 2 rotates counterclockwise by a certain angle, the incident angle and the reflection angle of the reflector 2 are both b, and in the process, the clockwise rotation angle of the reflector 2 and the clockwise rotation angle of the monitoring camera 1 are c, and the counterclockwise rotation angle of the reflector 2 is d.
As can be seen from the principle of the light reflection geometry, the angle of reflection of the monitoring camera 1 corresponds to the mirror 2 rotating at an angle d relative to the monitoring camera 1, and thus can be determined based on the geometrical relationship: b is a + d.
For the incident angle of the object point M, when the reflector 2 rotates clockwise by an angle c around the center O, the central angle of the object point M corresponding to two points before and after the reflector 2 rotates is 0.5c, as known from the geometric principle, the incident angle of the object point M is increased by 0.5c, and the reflector itself rotates counterclockwise by an angle d, so that the incident angle of the object point M is decreased by the angle d, therefore: b ═ a +0.5 c-d. In combination with b ═ a + d and b ═ a +0.5c-d, it can be determined that c ═ 4 d. It can be determined that the magnitude of the angular velocity at which the monitoring camera 1 and the mirror 2 rotate together is four times the magnitude of the angular velocity at which the mirror 2 rotates reversely by itself.
Of course, fig. 3 is only a specific embodiment, and in practical applications, the rotation radius of the monitoring camera and the mirror rotating together is not necessarily the same, but no matter what position relationship exists between the two, the angular velocity relationship between the two can be obtained by a similar geometric relationship, which is not listed in this embodiment.
The preset rotating speed of the monitoring camera and the reflector which rotate together can be properly selected according to the number of images needing to be shot by the monitoring camera.
Based on the above discussion of the embodiments, it can be known that the reverse time duration of the mirror can be determined based on the integrated view field of the monitoring camera and the time duration of the image, and the magnitude of the same-direction rotation speed and the same-direction time duration can be reasonably selected according to the actual controllable precision of the voice coil camera, the maximum rotation angle of the mirror in reverse rotation, and the like, and do not necessarily satisfy the determination relation, as long as the mirror can rotate to the last position where the mirror starts to rotate in reverse direction every time the mirror rotates in the same direction.
In the following, the panoramic monitoring and controlling apparatus provided in the embodiments of the present invention is introduced, and the panoramic monitoring and controlling apparatus described below and the panoramic monitoring and controlling method described above may be referred to correspondingly.
Fig. 4 is a block diagram of a panoramic monitoring and controlling apparatus according to an embodiment of the present invention, and fig. 4 is a block diagram of the panoramic monitoring and controlling apparatus, which may include:
the first control module 100 is used for controlling the monitoring camera and the reflector to rotate at a constant speed by taking a first preset rotating shaft as a center according to a preset rotating speed;
the second control module 200 is configured to drive the mirror to periodically swing and rotate alternately in the same direction and in the opposite direction along the direction of the preset rotation speed, with respect to the monitoring camera, by taking a second preset rotation axis as a center through a preset driving track; wherein the first preset rotation axis and the second preset rotation axis are parallel;
and an image shooting module 300, configured to control the mirror to have the same size as the preset rotation speed when the rotation directions of the mirror and the monitoring camera are opposite, and control the monitoring camera to shoot a monitoring area picture reflected by the mirror to obtain a monitoring image.
Optionally, in another specific embodiment of the present application, the method may further include:
the track determining module is used for determining the photographing quantity of the monitoring camera for photographing the monitoring image by rotating one circle according to the size of the field angle of the monitoring camera; determining the size of the preset rotating speed, the equidirectional time length of equidirectional rotation and the reverse time length of reverse rotation of the reflector relative to the preset rotating speed each time according to the integral time length and the plotting time length when the monitoring camera shoots the images and by combining the shooting quantity; determining the maximum rotation angle of the reflector according to the equidirectional duration and the preset rotation speed; and determining the rotating speed of the reflector reversely rotating relative to the preset rotating speed according to the maximum rotating angle and the reverse duration.
Optionally, in another specific embodiment of the present application, the method may further include:
the second control module 200 is specifically configured to control to trigger the monitoring camera to shoot the monitoring image when the duration of the reverse rotation of the mirror with respect to the preset rotation speed direction is not less than the integration duration.
Optionally, in another specific embodiment of the present application, the method may further include:
the second control module 200 is specifically configured to control the voice coil motor to drive the mirror to periodically swing and rotate.
The panoramic monitoring and controlling apparatus of this embodiment is configured to implement the panoramic monitoring and controlling method, and thus specific implementations of the panoramic monitoring and controlling apparatus can be seen in the foregoing embodiments of the panoramic monitoring and controlling method, for example, the first control module 100, the second control module 200, and the image capturing module 300 are respectively configured to implement steps S11 to S15 in the panoramic monitoring and controlling method, so that the specific implementations of the panoramic monitoring and controlling apparatus may refer to descriptions of corresponding embodiments of each part, and are not described herein again.
The application also provides panoramic monitoring control equipment, which comprises a monitoring camera, a reflecting mirror, a first driving part, a second driving part and a processor, wherein the reflecting mirror is fixed with the monitoring camera in relative position;
the processor is respectively connected with the monitoring camera, the first driving part and the second driving part and is used for driving the monitoring camera and the reflector to rotate at a constant speed by taking a first preset rotating shaft as a center through the first driving part; the second driving component drives the reflecting mirror to periodically swing and rotate alternately in the same direction and in the reverse direction along the direction of the preset rotating speed by taking a second preset rotating shaft as a center relative to the monitoring camera; wherein the first preset rotation axis and the second preset rotation axis are parallel; and when the rotating directions of the reflector and the monitoring camera are opposite, the second driving part controls the reflector to be the same as the preset rotating speed, and controls the monitoring camera to shoot a monitoring area picture reflected by the reflector to obtain a monitoring image.
Optionally, the second drive component is a voice coil motor.
Optionally, the monitoring camera is an infrared camera.
The first driving component may specifically include a rotating platform for supporting the monitoring camera and the mirror, and further include a driving motor for driving the rotating platform to rotate, although other structural forms are not excluded in this application as long as the monitoring camera and the mirror can be driven to rotate together.
In the panorama monitoring and control equipment that provides in this embodiment, monitoring camera and speculum are first drive part drive rotation jointly again, and it is rotatory simultaneously to drive the speculum swing through the second drive part for the speculum is when following preset rotational speed reverse rotation, can eliminate the rotatory picture smear problem of shooting that comes of monitoring camera, makes the picture that the monitoring camera shooting obtained more clear reliable. The usability of the monitoring image of panoramic monitoring can be improved on the basis of not increasing the number of monitoring cameras.
The present application further provides a computer-readable storage medium, having a computer program stored thereon, where the computer program, when executed by a processor, implements the steps of the panoramic monitoring control method according to any of the above embodiments.
The computer-readable storage medium may be Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (5)
1. A panoramic monitoring control method is characterized by comprising the following steps:
controlling the monitoring camera and the reflector to rotate at a constant speed by taking a first preset rotating shaft as a center according to a preset rotating speed;
driving the reflector to periodically swing and rotate alternately in the same direction and in the opposite direction along the direction of the preset rotating speed by taking a second preset rotating shaft as a center relative to the monitoring camera through a preset driving track; wherein the first preset rotation axis and the second preset rotation axis are parallel;
when the rotating directions of the reflector and the monitoring camera are opposite, controlling the speed of the reflector so that the monitoring area picture reflected to the monitoring camera by the reflector is not changed, and controlling the monitoring camera to shoot the monitoring area picture reflected by the reflector to obtain a monitoring image;
drive the speculum for the monitoring camera uses the second to predetermine the rotation axis as the center, and periodic edge predetermine the direction syntropy of rotational speed and reverse swing rotation in turn, include:
the reflecting mirror is driven to periodically swing and rotate by controlling a voice coil motor;
the process of presetting the driving track comprises the following steps:
determining the photographing quantity of the monitoring camera for photographing the monitoring image after the monitoring camera rotates for one circle according to the size of the field angle of the monitoring camera;
determining the size of the preset rotating speed, the equidirectional time length of equidirectional rotation, the equidirectional rotating speed, the reverse time length of reverse rotation and the reverse rotating speed of the reflector relative to the preset rotating speed each time according to the integral time length and the plotting time length when the monitoring camera shoots the images and the photographing quantity;
the control the monitoring camera shoots a monitoring area picture reflected by the reflector to obtain a monitoring image, and the control method comprises the following steps:
and when the reverse rotation time length of the reflector relative to the preset rotation speed direction is not less than the integral time length, controlling to trigger the monitoring camera to shoot the monitoring image.
2. A panoramic monitoring and control device, comprising:
the first control module is used for controlling the monitoring camera and the reflector to rotate at a constant speed by taking a first preset rotating shaft as a center according to a preset rotating speed;
the second control module is used for driving the reflector to periodically swing and rotate alternately in the same direction and in the reverse direction along the direction of the preset rotating speed by taking a second preset rotating shaft as a center relative to the monitoring camera through a preset driving track; wherein the first preset rotation axis and the second preset rotation axis are parallel;
the image shooting module is used for controlling the speed of the reflector when the rotating directions of the reflector and the monitoring camera are opposite, so that the monitoring area picture reflected to the monitoring camera by the reflector is not changed, and controlling the monitoring camera to shoot the monitoring area picture reflected by the reflector to obtain a monitoring image;
the second control module is used for driving the reflector to periodically swing and rotate by controlling a voice coil motor;
the track determining module is used for determining the photographing quantity of the monitoring camera for photographing the monitoring image by rotating one circle according to the size of the field angle of the monitoring camera; determining the size of the preset rotating speed, the equidirectional time length of equidirectional rotation and the reverse time length of reverse rotation of the reflector relative to the preset rotating speed each time according to the integral time length and the plotting time length when the monitoring camera shoots the images and by combining the shooting quantity; determining the maximum rotation angle of the reflector according to the equidirectional duration and the preset rotation speed; determining the rotating speed of the reflector rotating reversely relative to the preset rotating speed according to the maximum rotating angle and the reverse duration;
and the second control module is also used for controlling and triggering the monitoring camera to shoot the monitoring image when the reverse rotation time length of the reflector relative to the preset rotation speed direction is not less than the integral time length.
3. A panoramic monitoring control device is characterized by comprising a monitoring camera, a reflecting mirror with a fixed relative position between the monitoring camera and the reflecting mirror, a first driving part, a second driving part and a processor;
the processor is respectively connected with the monitoring camera, the first driving part and the second driving part and is used for driving the monitoring camera and the reflector to rotate at a constant speed by taking a first preset rotating shaft as a center through the first driving part; the second driving component drives the reflecting mirror to periodically swing and rotate alternately in the same direction and in the reverse direction along the direction of the preset rotating speed by taking a second preset rotating shaft as a center relative to the monitoring camera; wherein the first preset rotation axis and the second preset rotation axis are parallel; when the rotating directions of the reflector and the monitoring camera are opposite, the speed of the reflector is controlled by the second driving part, so that the monitoring area picture reflected to the monitoring camera by the reflector is not changed, and the monitoring camera is controlled to shoot the monitoring area picture reflected by the reflector to obtain a monitoring image;
the second driving part is a voice coil motor;
the processor is further used for determining the photographing quantity of the monitoring camera for photographing the monitoring image after the monitoring camera rotates for one circle according to the size of the field angle of the monitoring camera; determining the size of the preset rotating speed, the equidirectional time length of equidirectional rotation, the equidirectional rotating speed, the reverse time length of reverse rotation and the reverse rotating speed of the reflector relative to the preset rotating speed each time according to the integral time length and the plotting time length when the monitoring camera shoots the images and the photographing quantity; and when the reverse rotation time length of the reflector relative to the preset rotation speed direction is not less than the integral time length, controlling to trigger the monitoring camera to shoot the monitoring image.
4. The panoramic monitoring and control device of claim 3, wherein the monitoring camera is an infrared camera.
5. A computer-readable storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of the panoramic monitoring control method according to claim 1.
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| CN117761888A (en) * | 2022-10-13 | 2024-03-26 | 中科昊瀚(西安)智能科技有限责任公司 | Flying pendulum high-speed infrared panoramic scanning system |
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