CN111614951A - Optical axis calibration equipment and method for integrated pan-tilt camera - Google Patents

Optical axis calibration equipment and method for integrated pan-tilt camera Download PDF

Info

Publication number
CN111614951A
CN111614951A CN201910137570.8A CN201910137570A CN111614951A CN 111614951 A CN111614951 A CN 111614951A CN 201910137570 A CN201910137570 A CN 201910137570A CN 111614951 A CN111614951 A CN 111614951A
Authority
CN
China
Prior art keywords
lens
optical axis
bolt
control instruction
sub
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201910137570.8A
Other languages
Chinese (zh)
Other versions
CN111614951B (en
Inventor
史飞
丁军
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhejiang Uniview Technologies Co Ltd
Original Assignee
Zhejiang Uniview Technologies Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zhejiang Uniview Technologies Co Ltd filed Critical Zhejiang Uniview Technologies Co Ltd
Priority to CN201910137570.8A priority Critical patent/CN111614951B/en
Publication of CN111614951A publication Critical patent/CN111614951A/en
Application granted granted Critical
Publication of CN111614951B publication Critical patent/CN111614951B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N17/00—Diagnosis, testing or measuring for television systems or their details
    • H04N17/002—Diagnosis, testing or measuring for television systems or their details for television cameras
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • General Health & Medical Sciences (AREA)
  • Studio Devices (AREA)

Abstract

The invention discloses an optical axis calibration device and method of an integrated pan-tilt camera, wherein the device comprises a processing device, a base for fixing a lens and placing a bolt, a driving device arranged on the base and connected with the processing device, and a fixing device connected with the driving device, wherein the processing device is used for acquiring optical axis offset information between the lens and the bolt corresponding to the lens and generating a first control instruction according to the optical axis offset information; the control system is also used for generating a second control instruction after the bolt is moved to the corresponding target position; the driving device is used for correspondingly adjusting the position of the bolt according to the first control instruction and moving the bolt to a target position so as to enable the optical axis of the lens to be superposed with the vertical line of the image sensor in the bolt; and the fixing device is also used for driving the fixing device to fix the position of the bolt according to a second control instruction. This application can improve optical axis calibration accuracy and work efficiency in the use.

Description

Optical axis calibration equipment and method for integrated pan-tilt camera
Technical Field
The embodiment of the invention relates to the technical field of monitoring equipment, in particular to optical axis calibration equipment and method of an integrated pan-tilt camera.
Background
In the field of video monitoring, as the demand of customers for remote monitoring is increasingly increased, a large zooming direct current electric lens (DC lens for short) is produced. The lens has the characteristics of larger variable focal length, and can be used together with a gun camera and a holder to form a holder all-in-one machine, so that the requirement of effective monitoring at multiple angles and long distances can be met.
In the process of zooming the DC lens, the monitoring field angle is enlarged or reduced with the optical axis as the center, and in the process of mounting the bolt and the lens, the optical axis is required to be perpendicular to a sensor (image sensor), wherein the sensor is arranged inside the bolt, so that in the process of zooming the lens, the center of the picture always coincides with the optical axis, and therefore the live-action object at the center of the picture is always located at the center of the picture. If the optical axis is not coincident with the perpendicular line of the sensor, that is, there is optical axis deviation, the geometric center of the picture is not coincident with the optical axis, and in the process of zooming, the real scene object at the center of the picture is deviated. Optical axis offset can affect many monitoring related services, for example, a wide angle of a monitored object in the center of a picture, zooming in to a telephoto that may not be in the monitored picture, affecting privacy masking of a camera or 3D magnification function. In addition, the integrated pan-tilt camera generally adopts laser light supplement at night, the light supplement requires zooming from a wide angle to a long focus, and laser spots are always overlapped with the center of a picture. If the optical axis deviates, the laser spot and the picture center coincide when the laser spot is at a wide angle, and then the laser spot deviates to the outside of the picture after zooming to a long focus from the wide angle, so that the light supplementing effect cannot be achieved completely.
Therefore, the calibration of the optical axis of the integrated pan-tilt camera is an important link. At present, a commonly used optical axis calibration method is to manually observe the position relationship between the bolt and the lens by experience, and manually adjust the perpendicularity between the bolt and the lens when the optical axis deviation exists, so that the optical axis of the lens coincides with the perpendicular line of an image sensor in the bolt. However, the method in the prior art does not quantify the optical axis offset, and only uses manual experience to calibrate the optical axis, so that the accuracy is low, and the working efficiency is low.
In view of the above, how to provide an optical axis calibration apparatus and method for an integrated pan-tilt camera that solve the above technical problems becomes a problem to be solved by those skilled in the art.
Disclosure of Invention
The embodiment of the invention aims to provide optical axis calibration equipment and method of an integrated pan-tilt camera, which can improve the optical axis calibration accuracy and the working efficiency in the using process.
In order to solve the above technical problem, an embodiment of the present invention provides an optical axis calibration device for an integrated pan-tilt camera, including a processing device, a base for fixing a lens and placing a bolt, a driving device arranged on the base and connected to the processing device, and a fixing device connected to the driving device, wherein:
the processing device is used for acquiring optical axis deviation information between the lens and a bolt corresponding to the lens and generating a first control instruction according to the optical axis deviation information; the second control instruction is generated after the bolt face is moved to the corresponding target position;
the driving device is used for correspondingly adjusting the position of the bolt according to the first control instruction, and moving the bolt to the target position so as to enable the optical axis of the lens to coincide with the vertical line of the image sensor in the bolt; and the fixing device is also used for driving the fixing device to fix the position of the bolt according to the second control instruction.
Optionally, the process of acquiring optical axis deviation information between the lens and the bolt corresponding to the lens and generating the first control instruction according to the optical axis deviation information includes:
acquiring first sub-optical axis offset information between a lens and a gunlock when the lens is at the widest angle, and generating a first sub-control instruction according to the first sub-optical axis offset information;
after the bolt is moved to the corresponding first sub-target position, second sub-optical axis offset information between the lens and the bolt in the longest focal time is acquired, and a second sub-control instruction is generated according to the second sub-optical axis offset information;
then, the process of correspondingly adjusting the position of the bolt according to the first control instruction and moving the bolt to a corresponding target position is as follows:
correspondingly adjusting the position of the bolt according to the first sub-control instruction, and moving the bolt to the first sub-target position so as to move the target object in the lens to the center position of the wide-angle picture;
and correspondingly adjusting the position of the bolt according to the second sub-control instruction, and moving the bolt to a corresponding second sub-target position so as to move the target object in the lens to the center position of the current longest-focus picture.
Optionally, the process of acquiring first sub-optical axis offset information between the lens and the bolt when the lens is at the widest angle, and generating a first sub-control instruction according to the first sub-optical axis offset information is as follows:
controlling the lens to be zoomed to the longest focus according to the calibration information, and controlling a holder connected with the lens to adjust the lens so that a target object in the lens is positioned at the central position of a long-focus picture;
controlling the lens to zoom from the longest focal length to the widest angle, and acquiring wide-angle picture image information corresponding to the widest angle;
analyzing the wide-angle picture image information to obtain first relative displacement information between the target object and the center position of the wide-angle picture;
and generating the first sub-control instruction according to the first relative displacement information.
Optionally, the process of acquiring second sub optical axis offset information between the lens and the bolt when the lens is in the longest focus, and generating a second sub control instruction according to the second sub optical axis offset information includes:
controlling the lens to zoom from the widest angle to the longest focus, and acquiring the long-focus picture image information corresponding to the current longest-focus picture;
analyzing the image information of the long-focus picture, and calculating second relative displacement information between the target object and the center position of the current longest-focus picture;
and generating the second sub-control instruction according to the second relative displacement information.
Optionally, the process of analyzing the wide-angle image information to obtain the first relative displacement information between the target object and the center position of the wide-angle image is as follows:
acquiring a first pixel position of the target object in the wide-angle picture according to the wide-angle picture image information;
calculating a first horizontal pixel offset and a first vertical pixel offset between the optical axis of the lens and the central position of the wide-angle picture according to the first pixel position and the central position of the wide-angle picture;
obtaining the first relative displacement information according to the first horizontal pixel offset and the first vertical pixel offset;
then, the process of analyzing the image information of the tele-view and calculating the second relative displacement information between the target object and the center position of the current longest-focus view is as follows:
acquiring a second pixel position of the target object in the current longest focus picture according to the image information of the long focus picture;
calculating a second horizontal pixel offset and a second vertical pixel offset between the optical axis of the lens and the center position of the current longest-focus picture according to the second pixel position and the center position of the current longest-focus picture;
and obtaining the second relative displacement information according to the second horizontal pixel offset and the second vertical pixel offset.
Optionally, the driving device includes a horizontal motor and a vertical motor;
the process of generating the first sub-control instruction according to the first relative displacement information is as follows:
respectively generating a first horizontal control instruction and a first vertical control instruction according to a preset proportional relation between the motor step length and the pixel, the first horizontal pixel offset and the first vertical pixel offset;
the process of generating the second sub-control instruction according to the second relative displacement information is as follows:
respectively generating a second horizontal control instruction and a second vertical control instruction according to the preset proportional relation between the motor step length and the pixel and the second horizontal pixel offset and the second vertical pixel offset;
the horizontal motor is used for controlling the bolt machine to move in the horizontal direction by a first horizontal displacement according to the first horizontal control instruction and controlling the bolt machine to move in the horizontal direction by a second horizontal displacement according to the second horizontal control instruction;
the vertical motor is used for controlling the bolt to move in the vertical direction for a first vertical displacement according to the first vertical control instruction, and controlling the bolt to move in the vertical direction for a second vertical displacement according to the second vertical control instruction.
Optionally, the test system further comprises a distance-increasing lens provided with a test chart, the test chart is provided with a preset pattern, and after the lens is aligned with the distance-increasing lens, the preset pattern is a target object in the lens.
The embodiment of the invention also correspondingly provides an optical axis calibration method of the integrated pan-tilt camera, which is applied to the optical axis calibration equipment and comprises the following steps:
the method comprises the steps that a processing device obtains optical axis deviation information between a lens and a rifle bolt corresponding to the lens, and generates a first control instruction according to the optical axis deviation information;
the driving device correspondingly adjusts the position of the bolt according to the first control instruction, and moves the bolt to a corresponding target position so as to enable the optical axis of the lens to coincide with a vertical line of an image sensor arranged in the bolt;
the processing device generates a second control instruction after the driving device moves the bolt to the target position;
and the driving device drives the fixing device to fix the position of the bolt machine according to the second control instruction.
Optionally, the process of acquiring optical axis offset information between the lens and the bolt corresponding to the lens and generating the first control instruction according to the optical axis offset information includes:
acquiring first sub-optical axis offset information between a lens and a gunlock when the lens is at the widest angle, and generating a first sub-control instruction according to the first sub-optical axis offset information;
after the bolt is moved to the corresponding first sub-target position, second sub-optical axis offset information between the lens and the bolt in the longest focal time is acquired, and a second sub-control instruction is generated according to the second sub-optical axis offset information;
then, the process of correspondingly adjusting the position of the bolt according to the first control instruction and moving the bolt to a corresponding target position is as follows:
correspondingly adjusting the position of the bolt according to the first sub-control instruction, and moving the bolt to the first sub-target position so as to move the target object in the lens to the center position of the wide-angle picture;
and correspondingly adjusting the position of the bolt according to the second sub-control instruction, and moving the bolt to a corresponding second sub-target position so as to move the target object in the lens to the center position of the current longest-focus picture.
Optionally, the process of acquiring first sub-optical axis offset information between the lens and the bolt when the lens is at the widest angle, and generating a first sub-control instruction according to the first sub-optical axis offset information is as follows:
controlling the lens to be zoomed to the longest focus according to the calibration information, and controlling a holder connected with the lens to adjust the lens so that a target object in the lens is positioned at the central position of a long-focus picture;
controlling the lens to zoom from the longest focal length to the widest angle, and acquiring wide-angle picture image information corresponding to the widest angle;
analyzing the wide-angle picture image information to obtain first relative displacement information between the target object and the center position of the wide-angle picture;
and generating the first sub-control instruction according to the first relative displacement information.
Optionally, the process of acquiring second sub optical axis offset information between the lens and the bolt when the lens is in the longest focus, and generating a second sub control instruction according to the second sub optical axis offset information includes:
controlling the lens to zoom from the widest angle to the longest focus, and acquiring the long-focus picture image information corresponding to the current longest-focus picture;
analyzing the image information of the long-focus picture, and calculating second relative displacement information between the target object and the center position of the current longest-focus picture;
and generating the second sub-control instruction according to the second relative displacement information.
Optionally, the process of analyzing the wide-angle image information to obtain the first relative displacement information between the target object and the center position of the wide-angle image is as follows:
acquiring a first pixel position of the target object in the wide-angle picture according to the wide-angle picture image information;
calculating a first horizontal pixel offset and a first vertical pixel offset between the optical axis of the lens and the central position of the wide-angle picture according to the first pixel position and the central position of the wide-angle picture;
obtaining the first relative displacement information according to the first horizontal pixel offset and the first vertical pixel offset;
then, the process of analyzing the image information of the tele-view and calculating the second relative displacement information between the target object and the center position of the current longest-focus view is as follows:
acquiring a second pixel position of the target object in the current longest focus picture according to the image information of the long focus picture;
calculating a second horizontal pixel offset and a second vertical pixel offset between the optical axis of the lens and the center position of the current longest-focus picture according to the second pixel position and the center position of the current longest-focus picture;
and obtaining the second relative displacement information according to the second horizontal pixel offset and the second vertical pixel offset.
Optionally, the driving device includes a horizontal motor and a vertical motor;
the process of generating the first sub-control instruction according to the first relative displacement information is as follows:
respectively generating a first horizontal control instruction and a first vertical control instruction according to a preset proportional relation between the motor step length and the pixel, the first horizontal pixel offset and the first vertical pixel offset;
the process of generating the second sub-control instruction according to the second relative displacement information is as follows:
respectively generating a second horizontal control instruction and a second vertical control instruction according to the preset proportional relation between the motor step length and the pixel and the second horizontal pixel offset and the second vertical pixel offset;
the horizontal motor is used for controlling the bolt machine to move in the horizontal direction by a first horizontal displacement according to the first horizontal control instruction and controlling the bolt machine to move in the horizontal direction by a second horizontal displacement according to the second horizontal control instruction;
the vertical motor is used for controlling the bolt to move in the vertical direction for a first vertical displacement according to the first vertical control instruction, and controlling the bolt to move in the vertical direction for a second vertical displacement according to the second vertical control instruction.
The invention provides an optical axis calibration device and method of an integrated pan-tilt camera, wherein the device comprises a processing device, a base for fixing a lens and placing a bolt, a driving device arranged on the base and connected with the processing device, and a fixing device connected with the driving device, wherein the processing device is used for acquiring optical axis offset information between the lens and the bolt corresponding to the lens and generating a first control instruction according to the optical axis offset information; the control system is also used for generating a second control instruction after the bolt is moved to the corresponding target position; the driving device is used for correspondingly adjusting the position of the bolt according to the first control instruction and moving the bolt to a target position so as to enable the optical axis of the lens to be superposed with the vertical line of the image sensor in the bolt; and the fixing device is also used for driving the fixing device to fix the position of the bolt according to a second control instruction.
It can be seen that the processing device in the application can acquire optical axis offset information between the optical axis of the lens and the corresponding bolt, and control the driving device to correspondingly adjust the position of the bolt according to the optical axis offset information, and move the bolt to the corresponding target position, so that the optical axis of the lens coincides with the perpendicular line of the image sensor in the bolt, and then control the driving device to drive the fixing device to fix the adjusted position of the bolt, so that the bolt is fixedly connected with the lens after the position of the bolt is fixed, and the lens and the bolt all-in-one machine after the optical axis calibration are obtained. This application can improve optical axis calibration accuracy and work efficiency in the use.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed in the prior art and the embodiments 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 to obtain other drawings without creative efforts.
Fig. 1 is a block diagram of an optical axis calibration apparatus of an integrated pan-tilt camera according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a vertical line between an optical axis and an image sensor when the optical axis is not shifted according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a vertical line between an optical axis and an image sensor when the optical axis is shifted according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating optical axis offset calibration according to an embodiment of the present invention;
fig. 5 is a schematic partial structural diagram of an optical axis calibration device of an integrated pan-tilt camera according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a test chart according to an embodiment of the present invention;
fig. 7 is a schematic flow chart of an optical axis calibration method of an integrated pan-tilt camera according to an embodiment of the present invention.
Detailed Description
The embodiment of the invention provides optical axis calibration equipment and method of an integrated pan-tilt camera, which can improve the optical axis calibration accuracy and the working efficiency in the using process.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present 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.
Referring to fig. 1, fig. 1 is a block diagram of an optical axis calibration apparatus of an integrated pan-tilt camera according to an embodiment of the present invention.
The optical axis calibration device comprises a processing device 11, a base 12 for fixing a lens and placing a bolt, a driving device 13 arranged on the base 12 and connected with the processing device 11, and a fixing device 14 connected with the driving device 13, wherein:
the processing device 11 is used for acquiring optical axis deviation information between the lens and the bolt corresponding to the lens and generating a first control instruction according to the optical axis deviation information; the control system is also used for generating a second control instruction after the bolt is moved to the corresponding target position;
the driving device 13 is used for correspondingly adjusting the position of the bolt according to a first control instruction, and moving the bolt to a target position so as to enable the optical axis of the lens to coincide with the vertical line of the image sensor in the bolt; and is also used for driving the fixing device 14 to fix the position of the bolt according to a second control command.
It should be noted that, in this embodiment, the base 12 may be used to fix a lens and a corresponding bolt, an image sensor is disposed in the bolt, the lens may be fixed at a preset fixed position on the base 12, and then the bolt and the lens may be movably connected, when calibrating a relative position between an optical axis of the lens and a perpendicular line of the image sensor in the bolt, the processing device 11 may obtain optical axis deviation information between the lens and the bolt, where the optical axis deviation information is obtained according to parameter information in a lens zooming process, and the optical axis deviation information can accurately reflect deviation information between the optical axis of the lens and the perpendicular line of the image sensor, after obtaining the optical axis deviation information, the processing device 11 may obtain adjustment information corresponding to the bolt according to the optical axis deviation information, and generate a first control instruction according to the adjustment information, and send the first control instruction to the driving device 13, the driving device 13 correspondingly adjusts the position of the bolt according to the first control instruction, so that the bolt moves to the target position corresponding to the first control instruction, and after the position of the bolt is adjusted, the optical axis of the lens coincides with the vertical line of the image sensor in the bolt. The processing device 11 generates a second control instruction after detecting that the driving device 13 adjusts the bolt to a corresponding target position, and sends the second control instruction to the driving device 13, and the driving device 13 drives the fixing device 14 to fix the current position of the bolt according to the second control instruction, so as to fixedly connect the bolt and the lens in the subsequent process, wherein after the driving and fixing device 14 fixes the position of the bolt, an interface between the bolt and the lens can be manually fixed, or the fixing device 14 can be controlled to fix the interface between the bolt and the lens, and how to operate the embodiment is not particularly limited. In this embodiment, the processing device 11 obtains the optical axis offset information between the lens and the bolt, quantizes the optical axis offset, and further controls the driving device 13 to correspondingly adjust the position of the bolt according to the optical axis offset information, so that the calibration accuracy can be improved.
Further, the process of acquiring the optical axis deviation information between the lens and the bolt corresponding to the lens by the processing device 11 and generating the first control instruction according to the optical axis deviation information may specifically be:
acquiring first sub-optical axis offset information between the lens and the gunlock at the widest angle, and generating a first sub-control instruction according to the first sub-optical axis offset information;
after the gunlock is moved to the corresponding first sub-target position, second sub-optical axis offset information between the shot and the gunlock in the longest focal time is obtained, and a second sub-control instruction is generated according to the second sub-optical axis offset information;
then, correspondingly adjusting the position of the bolt according to the first control instruction, and moving the bolt to a corresponding target position:
correspondingly adjusting the position of the bolt according to the first sub-control instruction, and moving the bolt to a first sub-target position so as to move the target object in the lens to the center position of the wide-angle picture;
and correspondingly adjusting the position of the bolt according to the second sub-control instruction, and moving the bolt to a corresponding second sub-target position so as to move the target object in the lens to the center position of the current longest-focus picture.
It should be noted that, when the position between the optical axis of the lens and the perpendicular line of the image sensor in the bolt is calibrated, coarse adjustment may be performed first, and then fine adjustment may be performed, thereby ensuring the calibration accuracy.
Specifically, the processing device 11 obtains first sub-optical axis offset information between the lens and the bolt when the lens is at the widest angle, and generates a first sub-control instruction according to the first sub-optical axis offset information, and the driving device 13 correspondingly adjusts the position of the bolt according to the first sub-control instruction, and moves the bolt to the first sub-target position, so as to move the target object in the lens to the center position of the wide-angle picture, thereby completing coarse adjustment. After the processing device 11 detects that the coarse adjustment is completed, that is, after the driving device 13 moves the bolt to the first sub-target position, at this time, the processing device 11 obtains second sub-optical axis offset information between the longest focal time of the lens and the bolt, and generates a second sub-control instruction according to the second sub-optical axis offset information, and the driving device 13 performs corresponding adjustment on the position of the bolt according to the second sub-control instruction, and moves the bolt to the corresponding second sub-target position, so as to move the target object in the lens to the center position of the current longest focal picture, thereby completing the fine adjustment.
When the optical axis is calibrated, the lens can be aligned to a preset observation scene in advance, specifically, a landmark object can be set in the preset observation scene as a target object in advance, and the target object can be used as a reference object when the bolt is moved, so as to determine whether to move the bolt to a corresponding target position.
Further, the process of acquiring the first sub-optical axis offset information between the lens and the bolt when the lens is at the widest angle, and generating the first sub-control instruction according to the first sub-optical axis offset information may specifically be:
controlling the lens to be zoomed to the longest focus according to the calibration information, and controlling a holder connected with the lens to adjust the lens so that a target object in the lens is positioned at the central position of the long-focus picture;
controlling the lens to zoom from the longest focal length to the widest angle, and acquiring wide-angle picture image information corresponding to the widest angle;
analyzing the wide-angle picture image information to obtain first relative displacement information between a target object and the center position of the wide-angle picture;
and generating a first sub-control instruction according to the first relative displacement information.
It is understood that the calibration information in the present embodiment may be input by the user, that is, after the user places both the lens and the bolt at the corresponding positions of the base 12, the calibration information (for example, information such as a calibration start instruction) may be input, and the processing device 11 starts the optical axis calibration operation according to the calibration information.
It should be noted that, since the optical axis offset is measured by using the perpendicular line between the optical axis of the lens and the image sensor, but the angle is generally small and it is difficult to implement the measurement, and the relative displacement between the target object in the lens and the picture can further reflect the optical axis offset, in this application, the position of the bolt can be further adjusted by measuring the relative displacement between the target object and the picture center and according to the relative displacement.
Specifically, before the optical axis calibration operation is performed, the lens is aligned to a preset observation scene in advance, and after the processing device 11 receives the calibration information, the lens is controlled to be zoomed to the longest focus first, and then the pan-tilt is controlled to move up and down and left and right, so that a target object in the lens is located at the center position of the long-focus picture; then, controlling the lens to zoom from the longest focal length to the widest angle, namely, zooming back the lens to the widest angle position, wherein the target object is not located at the center position of the current wide-angle picture due to optical axis deviation, the wide-angle picture image information corresponding to the widest angle can be acquired at the moment, and the wide-angle picture image information is analyzed according to an image analysis method, wherein the wide-angle picture image information can comprise image size and target object position information, the center position information of the picture can be determined according to the image size, and first relative displacement information (as first sub-optical axis deviation information) between the target object and the center position of the wide-angle picture can be further calculated according to the center position information of the picture and the target object position information, namely parameter information of the target object deviating from the center position can be determined; then, a first sub-control command is generated according to the first relative displacement information, so as to further control the bolt machine to move correspondingly through the driving device 13.
It should be noted that, in the process of zooming back the lens from the longest focal length to the widest angle, acquiring the first relative displacement information in the wide-angle picture of the widest angle, and then adjusting the position of the bolt according to the first relative displacement information, since the target object occupies a small proportion in the picture and the positioning accuracy is not very high, in order to further improve the accuracy of the optical axis calibration, in this embodiment, the optical axis calibration may be finely adjusted by the following method, specifically as follows:
the process of acquiring the second sub optical axis offset information between the lens and the bolt when the lens is in the longest focus and generating the second sub control instruction according to the second sub optical axis offset information may specifically be:
controlling the lens to zoom from the widest angle to the longest focus, and acquiring the long-focus image information corresponding to the current longest-focus image;
analyzing the image information of the long-focus picture, and calculating second relative displacement information between the target object and the center position of the current longest-focus picture;
and generating a second sub-control instruction according to the second relative displacement information.
It should be noted that, in this embodiment, after the driving device 13 adjusts the position of the gun camera according to the first sub-control instruction, the processing device 11 may further control the lens to zoom from the widest angle to the longest focus, and since the target object occupies a small proportion in the frame when the lens is at the widest angle, a situation that the target object shifts from the center position of the tele frame after the lens is zoomed from the widest angle to the longest focus is described, where an optical axis of the lens still shifts from a perpendicular line of the gun camera during the lens zooming (where an optical axis non-shift diagram and an optical axis shift diagram are shown in fig. 2 and fig. 3, respectively), at this time, the tele frame image information corresponding to the current longest focus frame is obtained, where the tele frame image information may also include an image size and target object position information, and the center position information of the current longest focus frame may be determined according to the image size, second relative displacement information (as second sub-optical axis displacement information) between the target object and the center position of the current longest-focus picture can be further calculated according to the center position information and the target object position information; then, a second sub-control command is generated based on the second relative displacement information to further control the bolt to move correspondingly through the driving device 13, so that the optical axis of the lens coincides with the perpendicular line of the image sensor in the bolt.
In addition, in this embodiment, when calibrating the optical axis, the lens is first zoomed to the longest focus, then the longest focus is pulled back to the widest angle, the position of the bolt is adjusted at the widest angle position according to the acquired first relative displacement information, coarse calibration of the optical axis is completed, then the lens is zoomed from the widest angle to the longest focus, and further fine calibration of the optical axis is performed. If the lens is firstly zoomed to the widest angle, then the target object is moved to the central position of the picture by adjusting the holder, and then the lens is controlled to zoom and amplify to the longest focus, when the optical axis deviation is too large and exceeds half of the field angle of the camera at the longest focus end, the target object at the center of the picture at the wide angle can appear, and after the lens is zoomed to the longest focus, the target object is not in the picture; however, if the lens is first zoomed to the longest focus, then the target object is moved to the center of the picture by adjusting the holder, and then the lens is controlled to zoom to the widest angle, because the picture is reduced in the process of zooming to the widest angle, the target object will always be in the picture in the process of controlling the lens to zoom from the longest focus to the widest angle. Therefore, in order to improve optical axis calibration precision and accuracy in this embodiment, adopt earlier with camera lens zoom to the longest burnt, then move the central point department of putting to the picture of longest burnt picture through adjusting cloud platform with the target object, zoom with the camera lens again and draw back to wide angle, further acquire first relative displacement information to carry out subsequent calibration work, and then guarantee that whole calibration in-process target object is all in the picture, and then be favorable to ensureing calibration precision and efficiency.
Further, the process of analyzing the image information of the wide-angle picture to obtain the first relative displacement information between the target object and the center position of the wide-angle picture may specifically be:
acquiring a first pixel position of a target object in a wide-angle picture according to the wide-angle picture image information;
calculating a first horizontal pixel offset and a first vertical pixel offset between the optical axis of the lens and the central position of the wide-angle picture according to the first pixel position and the central position of the wide-angle picture;
obtaining first relative displacement information according to the first horizontal pixel offset and the first vertical pixel offset;
it should be noted that, in order to improve the measurement accuracy and reduce the calculation complexity, the present embodiment may calibrate the displacement amount by the pixel offset amount, specifically, may obtain a first pixel position of the target object in the wide-angle frame and a center position of the wide-angle frame, in the image coordinate system, an upper left corner of the image is a coordinate origin, assuming that the horizontal and longitudinal sizes of the frame are W pixel and H pixel respectively, the frame center position may be represented by (W/2, H/2), the first pixel position of the target object in the wide-angle frame may be represented by (x, y), according to the first pixel position of the target object in the wide-angle frame and the center position of the wide-angle frame, a first horizontal pixel offset amount Lx and a first vertical pixel offset amount Ly between the optical axis of the lens and the center position of the wide-angle frame may be obtained, that is, the first relative displacement information may be relative pixel position information, specifically, the first horizontal pixel shift amount Lx and the first vertical pixel shift amount Ly can be obtained, as shown in fig. 4, where the "+" icon in fig. 4 is the target object.
It is understood that the percentage η of the first horizontal pixel shift amount Lx to the total picture can be calculated according to the first horizontal pixel shift amount Lx, the first vertical pixel shift amount Ly, and the picture sizexThe first vertical pixel offset Ly as a percentage η of the total picture, Lx/WyLy/H, the first optical axis offset angle is Rx ηx*Ht，Ry＝ηyVt, wherein the horizontal and vertical field angles of the lens at the longest focal point are Ht and Vt, respectively, so that the first horizontal and vertical pixel shift amounts between the visible optical axis and the center position of the wide-angle screen can accurately reflect the optical axis shift angle, and thus adjusting the position of the bolt according to the first horizontal and vertical pixel shift amounts between the optical axis and the center position of the wide-angle screen can achieve coarse adjustment of the optical axis alignment.
Correspondingly, the process of analyzing the image information of the tele-frame and calculating the second relative displacement information between the target object and the center position of the current longest-focus frame may specifically be:
acquiring a second pixel position of the target object in the current longest focus picture according to the image information of the long focus picture;
calculating a second horizontal pixel offset and a second vertical pixel offset between the optical axis of the lens and the center position of the current longest-focus picture according to the second pixel position and the center position of the current longest-focus picture;
and obtaining second relative displacement information according to the second horizontal pixel offset and the second vertical pixel offset.
Specifically, a second horizontal pixel offset and a second vertical pixel offset between the optical axis of the lens and the center position of the current longest-focus picture can be obtained according to the second pixel position of the target object in the current longest-focus picture and the center position of the current longest-focus picture, that is, the second relative displacement information may specifically be relative pixel position information, and specifically may be obtained from the second horizontal pixel offset and the second vertical pixel offset.
It can be understood that, as the same principle as the coarse adjustment, the present embodiment may also accurately reflect the current offset angle of the optical axis through the second horizontal pixel offset and the second vertical pixel offset between the optical axis and the center position of the current longest-focus picture, so that the fine adjustment of the optical axis calibration can be implemented by adjusting the position of the bolt according to the second horizontal pixel offset and the second vertical pixel offset between the optical axis and the center position of the current longest-focus picture.
Further, the driving device 13 in this embodiment may include a horizontal motor 131 and a vertical motor 132;
specifically, the partial structure of the optical axis calibration apparatus in this embodiment is shown in fig. 5, wherein the driving device 13 may include a stepping motor, the stepping motor includes a horizontal motor 131 and a vertical motor 132, the horizontal motor 131 may specifically drive the horizontal screw to rotate to adjust the horizontal position of the bolt, and the vertical motor 132 may specifically drive the vertical screw to rotate to adjust the vertical position of the bolt, wherein the horizontal screw and the vertical screw may be disposed on the inverted U-shaped fixing slot 15, and the bolt may be disposed in the U-shaped space below the inverted U-shaped fixing slot 15. In addition, the fixing device 14 in this embodiment may include an inverted U-shaped fixing slot 141 disposed on the base 12 and a fixing screw 142 disposed on the inverted U-shaped fixing slot 141, and after the driving device 13 completes the position adjustment of the bolt according to the first control instruction, the fixing screw 142 on the inverted U-shaped fixing slot 141 may also be driven, so as to fix the position of the bolt through the fixing screw 142, that is, fix the bolt at the current position, at this time, the optical axis of the lens and the perpendicular line of the image sensor in the bolt have completed the calibration, and subsequently, the interface between the bolt and the lens may be screwed, so as to fix the bolt and the lens.
The process of generating the first sub-control instruction according to the first relative displacement information may specifically be:
respectively generating a first horizontal control instruction and a first vertical control instruction according to the preset proportional relation between the motor step length and the pixel and the first horizontal pixel offset and the first vertical pixel offset;
specifically, a proportional relationship between the motor step length and the pixel is preset, for example, when the preset ratio between the motor step length and the pixel is 1:2, that is, the pixel offset is 2 pixels, the motor moves by one step length. Therefore, the processing device 11 can determine, according to the motor step length, the preset proportional relationship between the pixels, and the first horizontal pixel offset, that the motor needs to move by the first horizontal displacement in the horizontal direction, that is, the direction and the step length of the motor to be moved in the horizontal direction are determined, so as to generate a first horizontal control instruction, so that the horizontal motor 131 in the driving device 13 moves by the corresponding step length in the direction to be moved according to the first horizontal control instruction, and thus, the rifle bolt is controlled to move by the corresponding distance in the horizontal direction in the direction to be moved; the processing device 11 can determine, according to the preset proportional relationship between the motor step size and the pixel and the first vertical pixel offset, that the motor needs to move by a first vertical displacement in the vertical direction, that is, determine the direction and the step size of the motor to be moved in the vertical direction, so as to generate a first vertical control command, so that the vertical motor 132 in the driving device 13 moves by a corresponding step size in the direction to be moved according to the first vertical control command, thereby controlling the bolt to move by a corresponding distance in the direction to be moved in the vertical direction, so as to move the bolt to the first sub-target position in the coarse adjustment stage.
Correspondingly, the process of generating the second sub-control instruction according to the second relative displacement information may specifically be:
respectively generating a second horizontal control instruction and a second vertical control instruction according to the preset proportional relation between the motor step length and the pixel and the second horizontal pixel offset and the second vertical pixel offset;
specifically, after the coarse adjustment is completed, when the fine adjustment is performed, the processing device 11 may also determine, according to the preset proportional relationship between the motor step size and the pixel and the second horizontal pixel offset, that the motor needs to move a second horizontal displacement in the horizontal direction, that is, the direction and the step size of the motor to be moved in the horizontal direction are determined, so as to generate a second horizontal control instruction, so that the horizontal motor 131 in the driving device 13 moves a corresponding step size in the direction to be moved according to the second horizontal control instruction, and thus, the gun is controlled to move a corresponding distance in the horizontal direction in the direction to be moved; the processing device 11 can determine, according to the preset proportional relationship between the motor step length and the pixel and the second vertical pixel offset, that the motor needs to move a second vertical displacement in the vertical direction, that is, determine the direction and the step length of the motor to be moved in the vertical direction, so as to generate a second vertical control command, so that the vertical motor 132 in the driving device 13 moves a corresponding step length in the direction to be moved according to the second vertical control command, so as to control the bolt to move a corresponding distance in the direction to be moved in the vertical direction, so as to move the bolt to a second sub-target position in the fine adjustment stage, thereby completing the calibration of the position between the lens optical axis and the bolt.
It should be further noted that the optical axis calibration apparatus in this embodiment may further include a range finder provided with a test chart, where the test chart is provided with a preset pattern, and after the lens is aligned with the range finder, the preset pattern is a target object in the lens.
It can be understood that the observation scene in this embodiment may be provided by a range finder, where the range finder may be used to simulate infinite object distance, the test chart may specifically be a white canvas, the preset pattern set in the canvas may be a "cross" (please refer to fig. 6), when performing optical axis calibration, the lens may be aligned with the range finder, and the lens is controlled to be zoomed to the longest focus, and then the preset pattern (that is, the target object is found) is found in the scene picture by adjusting the pan-tilt head, and the target object is moved to the picture center.
Of course, the test chart in the range finder in this embodiment may also be a test chart, the test chart may be composed of lattices with coordinates and scales, and the coordinates are used as markers, and after the lens is aligned with the range finder, the pan-tilt does not need to be adjusted, so that the calibration efficiency can be further improved. Specifically, after the lens is aligned with the distance-increasing lens, the lens is controlled to be zoomed to the longest focus, the actual coordinate of the image center corresponding to the long-focus image is read and recorded, then the lens is controlled to be zoomed and pulled back to the widest angle position, because of the deviation of the optical axis, the actual coordinate recorded in the previous step is not in the image center position, and the corresponding relative displacement can be calculated according to the coordinate and the horizontal and vertical directions of the wide-angle image center.
It can be seen that the processing device in the application can acquire optical axis offset information between the optical axis of the lens and the corresponding bolt, and control the driving device to correspondingly adjust the position of the bolt according to the optical axis offset information, and move the bolt to the corresponding target position, so that the optical axis of the lens coincides with the perpendicular line of the image sensor in the bolt, and then control the driving device to drive the fixing device to fix the adjusted position of the bolt, so that the bolt is fixedly connected with the lens after the position of the bolt is fixed, and the lens and the bolt all-in-one machine after the optical axis calibration are obtained. This application can improve optical axis calibration accuracy and work efficiency in the use.
On the basis of the above embodiments, the embodiments of the present invention further provide a method for calibrating an optical axis of an integrated pan/tilt camera, which is applied to the above optical axis calibration device, specifically refer to fig. 7. The method comprises the following steps:
s210: the processing device acquires optical axis deviation information between the lens and the rifle bolt corresponding to the lens, and generates a first control instruction according to the optical axis deviation information;
s220: the driving device correspondingly adjusts the position of the bolt according to the first control instruction, and moves the bolt to a corresponding target position so as to enable the optical axis of the lens to coincide with a vertical line of an image sensor arranged in the bolt;
s230: the processing device generates a second control instruction after the driving device moves the bolt to the target position;
s240: the driving device drives the fixing device to fix the position of the bolt according to the second control instruction.
Further, the process of acquiring the optical axis deviation information between the lens and the bolt corresponding to the lens in S210, and generating the first control instruction according to the optical axis deviation information may specifically be:
acquiring first sub-optical axis offset information between the lens and the gunlock at the widest angle, and generating a first sub-control instruction according to the first sub-optical axis offset information;
after the gunlock is moved to the corresponding first sub-target position, second sub-optical axis offset information between the shot and the gunlock in the longest focal time is obtained, and a second sub-control instruction is generated according to the second sub-optical axis offset information;
then, correspondingly adjusting the position of the bolt according to the first control instruction, and moving the bolt to a corresponding target position:
correspondingly adjusting the position of the bolt according to the first sub-control instruction, and moving the bolt to a first sub-target position so as to move the target object in the lens to the center position of the wide-angle picture;
and correspondingly adjusting the position of the bolt according to the second sub-control instruction, and moving the bolt to a corresponding second sub-target position so as to move the target object in the lens to the center position of the current longest-focus picture.
Further, the process of acquiring the first sub-optical axis offset information between the lens and the bolt when the lens is at the widest angle and generating the first sub-control instruction according to the first sub-optical axis offset information may specifically be:
controlling the lens to be zoomed to the longest focus according to the calibration information, and controlling a holder connected with the lens to adjust the lens so that a target object in the lens is positioned at the central position of the long-focus picture;
controlling the lens to zoom from the longest focal length to the widest angle, and acquiring wide-angle picture image information corresponding to the widest angle;
analyzing the wide-angle picture image information to obtain first relative displacement information between a target object and the center position of the wide-angle picture;
and generating a first sub-control instruction according to the first relative displacement information.
Further, the process of acquiring the second sub optical axis offset information between the lens and the bolt when the lens is in the longest focus and generating the second sub control command according to the second sub optical axis offset information may specifically be:
controlling the lens to zoom from the widest angle to the longest focus, and acquiring the long-focus image information corresponding to the current longest-focus image;
analyzing the image information of the long-focus picture, and calculating second relative displacement information between the target object and the center position of the current longest-focus picture;
and generating a second sub-control instruction according to the second relative displacement information.
Further, the analyzing the image information of the wide-angle frame to obtain the first relative displacement information between the target object and the center position of the wide-angle frame comprises:
acquiring a first pixel position of a target object in a wide-angle picture according to the wide-angle picture image information;
calculating a first horizontal pixel offset and a first vertical pixel offset between the optical axis of the lens and the central position of the wide-angle picture according to the first pixel position and the central position of the wide-angle picture;
obtaining first relative displacement information according to the first horizontal pixel offset and the first vertical pixel offset;
correspondingly, the process of analyzing the image information of the long-focus picture and calculating the second relative displacement information between the target object and the center position of the current longest-focus picture is as follows:
acquiring a second pixel position of the target object in the current longest focus picture according to the image information of the long focus picture;
calculating a second horizontal pixel offset and a second vertical pixel offset between the optical axis of the lens and the center position of the current longest-focus picture according to the second pixel position and the center position of the current longest-focus picture;
and obtaining second relative displacement information according to the second horizontal pixel offset and the second vertical pixel offset.
Furthermore, the driving device comprises a horizontal motor and a vertical motor;
the process of generating the first sub-control command according to the first relative displacement information comprises the following steps:
respectively generating a first horizontal control instruction and a first vertical control instruction according to the preset proportional relation between the motor step length and the pixel and the first horizontal pixel offset and the first vertical pixel offset;
the process of generating the second sub-control instruction according to the second relative displacement information comprises the following steps:
respectively generating a second horizontal control instruction and a second vertical control instruction according to the preset proportional relation between the motor step length and the pixel and the second horizontal pixel offset and the second vertical pixel offset;
the horizontal motor is used for controlling the bolt to move in the horizontal direction by a first horizontal displacement according to a first horizontal control instruction and controlling the bolt to move in the horizontal direction by a second horizontal displacement according to a second horizontal control instruction;
and the vertical motor is used for controlling the bolt to move for a first vertical displacement in the vertical direction according to the first vertical control command and controlling the bolt to move for a second vertical displacement in the vertical direction according to the second vertical control command.
It should be noted that the optical axis calibration method for an integrated pan/tilt camera provided in this embodiment has the same beneficial effects as the optical axis calibration device for an integrated pan/tilt camera in the foregoing embodiment, and for detailed description of the optical axis calibration method for an integrated pan/tilt camera in this embodiment, please refer to related descriptions in the foregoing embodiment, which is not repeated herein.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The method disclosed by the embodiment corresponds to the equipment disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the description of the method part.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (13)

1. The utility model provides an optical axis calibration equipment of integration cloud platform camera which characterized in that, including processing apparatus, be used for fixed camera lens and place the base of rifle bolt, set up in on the base with the drive arrangement that processing apparatus is connected and with the fixing device that drive arrangement is connected, wherein:
the processing device is used for acquiring optical axis deviation information between the lens and a bolt corresponding to the lens and generating a first control instruction according to the optical axis deviation information; the second control instruction is generated after the bolt face is moved to the corresponding target position;
the driving device is used for correspondingly adjusting the position of the bolt according to the first control instruction, and moving the bolt to the target position so as to enable the optical axis of the lens to coincide with the vertical line of the image sensor in the bolt; and the fixing device is also used for driving the fixing device to fix the position of the bolt according to the second control instruction.
2. The optical axis calibration device of an integrated pan-tilt camera according to claim 1, wherein the process of acquiring optical axis offset information between a lens and a bolt corresponding to the lens and generating a first control command according to the optical axis offset information is as follows:
acquiring first sub-optical axis offset information between a lens and a gunlock when the lens is at the widest angle, and generating a first sub-control instruction according to the first sub-optical axis offset information;
after the bolt is moved to the corresponding first sub-target position, second sub-optical axis offset information between the lens and the bolt in the longest focal time is acquired, and a second sub-control instruction is generated according to the second sub-optical axis offset information;
then, the process of correspondingly adjusting the position of the bolt according to the first control instruction and moving the bolt to a corresponding target position is as follows:
correspondingly adjusting the position of the bolt according to the first sub-control instruction, and moving the bolt to the first sub-target position so as to move the target object in the lens to the center position of the wide-angle picture;
and correspondingly adjusting the position of the bolt according to the second sub-control instruction, and moving the bolt to a corresponding second sub-target position so as to move the target object in the lens to the center position of the current longest-focus picture.
3. The optical axis calibration device of an integrated pan-tilt camera according to claim 2, wherein the process of acquiring the first sub optical axis offset information between the lens and the gun camera at the widest angle and generating the first sub control command according to the first sub optical axis offset information is:
controlling the lens to be zoomed to the longest focus according to the calibration information, and controlling a holder connected with the lens to adjust the lens so that a target object in the lens is positioned at the central position of a long-focus picture;
controlling the lens to zoom from the longest focal length to the widest angle, and acquiring wide-angle picture image information corresponding to the widest angle;
analyzing the wide-angle picture image information to obtain first relative displacement information between the target object and the center position of the wide-angle picture;
and generating the first sub-control instruction according to the first relative displacement information.
4. The optical axis calibration device of an integrated pan-tilt camera according to claim 3, wherein the process of acquiring the second sub optical axis offset information between the lens and the gun camera in the longest focus and generating the second sub control command according to the second sub optical axis offset information is as follows:
controlling the lens to zoom from the widest angle to the longest focus, and acquiring the long-focus picture image information corresponding to the current longest-focus picture;
analyzing the image information of the long-focus picture, and calculating second relative displacement information between the target object and the center position of the current longest-focus picture;
and generating the second sub-control instruction according to the second relative displacement information.
5. The optical axis calibration apparatus of an integrated pan-tilt camera according to claim 4, wherein the analyzing the wide-angle view image information to obtain the first relative displacement information between the target object and the center position of the wide-angle view is performed by:
acquiring a first pixel position of the target object in the wide-angle picture according to the wide-angle picture image information;
calculating a first horizontal pixel offset and a first vertical pixel offset between the optical axis of the lens and the central position of the wide-angle picture according to the first pixel position and the central position of the wide-angle picture;
obtaining the first relative displacement information according to the first horizontal pixel offset and the first vertical pixel offset;
then, the process of analyzing the image information of the tele-view and calculating the second relative displacement information between the target object and the center position of the current longest-focus view is as follows:
acquiring a second pixel position of the target object in the current longest focus picture according to the image information of the long focus picture;
calculating a second horizontal pixel offset and a second vertical pixel offset between the optical axis of the lens and the center position of the current longest-focus picture according to the second pixel position and the center position of the current longest-focus picture;
and obtaining the second relative displacement information according to the second horizontal pixel offset and the second vertical pixel offset.
6. The optical axis calibration apparatus of an integrated pan-tilt camera according to claim 5, wherein the driving device includes a horizontal motor and a vertical motor;
the process of generating the first sub-control instruction according to the first relative displacement information is as follows:
respectively generating a first horizontal control instruction and a first vertical control instruction according to a preset proportional relation between the motor step length and the pixel, the first horizontal pixel offset and the first vertical pixel offset;
the process of generating the second sub-control instruction according to the second relative displacement information is as follows:
respectively generating a second horizontal control instruction and a second vertical control instruction according to the preset proportional relation between the motor step length and the pixel and the second horizontal pixel offset and the second vertical pixel offset;
the horizontal motor is used for controlling the bolt machine to move in the horizontal direction by a first horizontal displacement according to the first horizontal control instruction and controlling the bolt machine to move in the horizontal direction by a second horizontal displacement according to the second horizontal control instruction;
the vertical motor is used for controlling the bolt to move in the vertical direction for a first vertical displacement according to the first vertical control instruction, and controlling the bolt to move in the vertical direction for a second vertical displacement according to the second vertical control instruction.
7. The optical axis calibration device of an integrated pan-tilt camera according to any one of claims 2 to 6, further comprising a distance-increasing lens provided with a test pattern, wherein the test pattern is provided with a preset pattern, and after the lens is aligned with the distance-increasing lens, the preset pattern is a target object in the lens.
8. An optical axis calibration method of an integrated pan-tilt camera, applied to the optical axis calibration apparatus according to any one of claims 1 to 7, comprising:
the method comprises the steps that a processing device obtains optical axis deviation information between a lens and a rifle bolt corresponding to the lens, and generates a first control instruction according to the optical axis deviation information;
the driving device correspondingly adjusts the position of the bolt according to the first control instruction, and moves the bolt to a corresponding target position so as to enable the optical axis of the lens to coincide with a vertical line of an image sensor arranged in the bolt;
the processing device generates a second control instruction after the driving device moves the bolt to the target position;
and the driving device drives the fixing device to fix the position of the bolt machine according to the second control instruction.
9. The optical axis calibration method of an integrated pan-tilt camera according to claim 8, wherein the process of acquiring optical axis offset information between a lens and a bolt corresponding to the lens and generating a first control command according to the optical axis offset information comprises:
acquiring first sub-optical axis offset information between a lens and a gunlock when the lens is at the widest angle, and generating a first sub-control instruction according to the first sub-optical axis offset information;
after the bolt is moved to the corresponding first sub-target position, second sub-optical axis offset information between the lens and the bolt in the longest focal time is acquired, and a second sub-control instruction is generated according to the second sub-optical axis offset information;
then, the process of correspondingly adjusting the position of the bolt according to the first control instruction and moving the bolt to a corresponding target position is as follows:
correspondingly adjusting the position of the bolt according to the first sub-control instruction, and moving the bolt to the first sub-target position so as to move the target object in the lens to the center position of the wide-angle picture;
and correspondingly adjusting the position of the bolt according to the second sub-control instruction, and moving the bolt to a corresponding second sub-target position so as to move the target object in the lens to the center position of the current longest-focus picture.
10. The optical axis calibration method of an integrated pan-tilt camera according to claim 9, wherein the process of acquiring the first sub optical axis offset information between the lens and the gun camera at the widest angle and generating the first sub control command according to the first sub optical axis offset information comprises:
controlling the lens to be zoomed to the longest focus according to the calibration information, and controlling a holder connected with the lens to adjust the lens so that a target object in the lens is positioned at the central position of a long-focus picture;
controlling the lens to zoom from the longest focal length to the widest angle, and acquiring wide-angle picture image information corresponding to the widest angle;
analyzing the wide-angle picture image information to obtain first relative displacement information between the target object and the center position of the wide-angle picture;
and generating the first sub-control instruction according to the first relative displacement information.
11. The optical axis calibration method of an integrated pan-tilt camera according to claim 10, wherein the process of acquiring the second sub optical axis offset information between the lens and the bolt when the lens is in the longest focus, and generating the second sub control command according to the second sub optical axis offset information comprises:
controlling the lens to zoom from the widest angle to the longest focus, and acquiring the long-focus picture image information corresponding to the current longest-focus picture;
analyzing the image information of the long-focus picture, and calculating second relative displacement information between the target object and the center position of the current longest-focus picture;
and generating the second sub-control instruction according to the second relative displacement information.
12. The method for calibrating the optical axis of an integrated pan-tilt camera according to claim 11, wherein the analyzing the image information of the wide-angle view to obtain the first relative displacement information between the target object and the center position of the wide-angle view comprises:
acquiring a first pixel position of the target object in the wide-angle picture according to the wide-angle picture image information;
calculating a first horizontal pixel offset and a first vertical pixel offset between the optical axis of the lens and the central position of the wide-angle picture according to the first pixel position and the central position of the wide-angle picture;
obtaining the first relative displacement information according to the first horizontal pixel offset and the first vertical pixel offset;
then, the process of analyzing the image information of the tele-view and calculating the second relative displacement information between the target object and the center position of the current longest-focus view is as follows:
acquiring a second pixel position of the target object in the current longest focus picture according to the image information of the long focus picture;
calculating a second horizontal pixel offset and a second vertical pixel offset between the optical axis of the lens and the center position of the current longest-focus picture according to the second pixel position and the center position of the current longest-focus picture;
and obtaining the second relative displacement information according to the second horizontal pixel offset and the second vertical pixel offset.
13. The optical axis calibration method of an integrated pan-tilt camera according to claim 12, wherein the driving device comprises a horizontal motor and a vertical motor;
the process of generating the first sub-control instruction according to the first relative displacement information is as follows:
respectively generating a first horizontal control instruction and a first vertical control instruction according to a preset proportional relation between the motor step length and the pixel, the first horizontal pixel offset and the first vertical pixel offset;
the process of generating the second sub-control instruction according to the second relative displacement information is as follows:
respectively generating a second horizontal control instruction and a second vertical control instruction according to the preset proportional relation between the motor step length and the pixel and the second horizontal pixel offset and the second vertical pixel offset;
the horizontal motor is used for controlling the bolt machine to move in the horizontal direction by a first horizontal displacement according to the first horizontal control instruction and controlling the bolt machine to move in the horizontal direction by a second horizontal displacement according to the second horizontal control instruction;
the vertical motor is used for controlling the bolt to move in the vertical direction for a first vertical displacement according to the first vertical control instruction, and controlling the bolt to move in the vertical direction for a second vertical displacement according to the second vertical control instruction.
CN201910137570.8A 2019-02-25 2019-02-25 Optical axis calibration equipment and method for integrated pan-tilt camera Active CN111614951B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910137570.8A CN111614951B (en) 2019-02-25 2019-02-25 Optical axis calibration equipment and method for integrated pan-tilt camera

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910137570.8A CN111614951B (en) 2019-02-25 2019-02-25 Optical axis calibration equipment and method for integrated pan-tilt camera

Publications (2)

Publication Number Publication Date
CN111614951A true CN111614951A (en) 2020-09-01
CN111614951B CN111614951B (en) 2022-05-13

Family

ID=72201956

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910137570.8A Active CN111614951B (en) 2019-02-25 2019-02-25 Optical axis calibration equipment and method for integrated pan-tilt camera

Country Status (1)

Country Link
CN (1) CN111614951B (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113959374A (en) * 2021-12-22 2022-01-21 普宙科技(深圳)有限公司 Image-based laser holder optical axis correction method and device
CN114374783A (en) * 2022-01-10 2022-04-19 重庆紫光华山智安科技有限公司 Calibration method, calibration device, monitoring equipment and readable storage medium
CN114401370A (en) * 2022-01-26 2022-04-26 重庆紫光华山智安科技有限公司 Movement calibration method and device, camera equipment and readable storage medium
CN115542530A (en) * 2022-11-29 2022-12-30 中国科学院自动化研究所 Method and device for aligning position of micro target

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050270375A1 (en) * 2004-05-24 2005-12-08 Pierre Poulin Camera calibrating apparatus and method
CN102387398A (en) * 2010-08-27 2012-03-21 索尼公司 Method and apparatus for determining the movement of an optical axis
CN203551876U (en) * 2013-11-05 2014-04-16 王国忠 Bugeye lens of SLR (Single Lens Reflex) camera
CN104104919A (en) * 2014-07-24 2014-10-15 山东神戎电子股份有限公司 Lens coaxial correction method of monitor
CN104301715A (en) * 2014-10-15 2015-01-21 天津市亚安科技股份有限公司 Method and device for achieving 3D preset accurate linkage between camera and pan-tilt
CN106506941A (en) * 2016-10-20 2017-03-15 深圳市道通智能航空技术有限公司 The method and device of image procossing, aircraft
KR101838453B1 (en) * 2017-10-31 2018-04-27 (주)세웅정보통신 Assemnbly For Installation Of CCTV Camera

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050270375A1 (en) * 2004-05-24 2005-12-08 Pierre Poulin Camera calibrating apparatus and method
CN102387398A (en) * 2010-08-27 2012-03-21 索尼公司 Method and apparatus for determining the movement of an optical axis
CN203551876U (en) * 2013-11-05 2014-04-16 王国忠 Bugeye lens of SLR (Single Lens Reflex) camera
CN104104919A (en) * 2014-07-24 2014-10-15 山东神戎电子股份有限公司 Lens coaxial correction method of monitor
CN104301715A (en) * 2014-10-15 2015-01-21 天津市亚安科技股份有限公司 Method and device for achieving 3D preset accurate linkage between camera and pan-tilt
CN106506941A (en) * 2016-10-20 2017-03-15 深圳市道通智能航空技术有限公司 The method and device of image procossing, aircraft
KR101838453B1 (en) * 2017-10-31 2018-04-27 (주)세웅정보통신 Assemnbly For Installation Of CCTV Camera

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113959374A (en) * 2021-12-22 2022-01-21 普宙科技(深圳)有限公司 Image-based laser holder optical axis correction method and device
CN113959374B (en) * 2021-12-22 2022-03-15 普宙科技(深圳)有限公司 Image-based laser holder optical axis correction method and device
CN114374783A (en) * 2022-01-10 2022-04-19 重庆紫光华山智安科技有限公司 Calibration method, calibration device, monitoring equipment and readable storage medium
CN114374783B (en) * 2022-01-10 2023-05-30 重庆紫光华山智安科技有限公司 Calibration method, device, monitoring equipment and readable storage medium
CN114401370A (en) * 2022-01-26 2022-04-26 重庆紫光华山智安科技有限公司 Movement calibration method and device, camera equipment and readable storage medium
CN114401370B (en) * 2022-01-26 2023-09-26 重庆紫光华山智安科技有限公司 Movement calibration method, apparatus, image pickup device, and readable storage medium
CN115542530A (en) * 2022-11-29 2022-12-30 中国科学院自动化研究所 Method and device for aligning position of micro target

Also Published As

Publication number Publication date
CN111614951B (en) 2022-05-13

Similar Documents

Publication Publication Date Title
CN111614951B (en) Optical axis calibration equipment and method for integrated pan-tilt camera
US6519359B1 (en) Range camera controller for acquiring 3D models
DE112007003293B4 (en) Optical instrument and method for obtaining distance and image information
JP4957134B2 (en) Distance measuring device
JP6464281B2 (en) Information processing apparatus, information processing method, and program
US8872944B2 (en) Method and system for image centering during zooming
CN111862620B (en) Image fusion processing method and device
US20070098251A1 (en) Non-contact three-dimensional measuring methods and apparatuses
KR101111503B1 (en) Apparatus for controlling Pan/Tilt/Zoom camera in omnidirectional and method for the same
CN108362479A (en) A kind of determination method of virtual image image distance measuring system and virtual image image distance
JP6534455B2 (en) INFORMATION PROCESSING APPARATUS, INFORMATION PROCESSING METHOD, AND PROGRAM
JP2001066158A (en) Measurement result or analysis result projecting device and method
JP2020194125A (en) Information processing device, imaging device, camera system, information processing method, a program, and storage medium
CN111741210A (en) Fast automatic focusing method and device based on fixed scene
KR101670247B1 (en) System for magnifying-moving object using one click of cctv real-time image and method therefor
CN113840084A (en) Method for realizing control of panoramic tripod head based on PTZ (Pan/Tilt/zoom) return technology of dome camera
CN114166187A (en) Mobile terminal-based quadratic element image measuring method and device
JP2006098255A (en) Photographing method, photographing system, composite device, three-dimensional shape restoring method, program, and information recording medium
JP2014096761A (en) Image processing apparatus, and control method and control program of the same
JP5610579B2 (en) 3D dimension measuring device
KR100395530B1 (en) Digital camera capable of displaying distance information for a subject and method for displaying the same
KR100910832B1 (en) Method for tracing real time the trace of transfer and apparatus and recoding media for the same
CN110771147A (en) Method for adjusting parameters of shooting device, control equipment and shooting system
KR101283825B1 (en) 3-d auto-convergence camera
JP7463133B2 (en) Area measuring device, area measuring method, and program

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant