CN111953887A

CN111953887A - Indoor aligning method, device and system

Info

Publication number: CN111953887A
Application number: CN201910397124.0A
Authority: CN
Inventors: 张勇
Original assignee: Zhejiang Uniview Technologies Co Ltd
Current assignee: Zhejiang Uniview Technologies Co Ltd
Priority date: 2019-05-14
Filing date: 2019-05-14
Publication date: 2020-11-17

Abstract

The application provides an indoor aligning method, device and system, and relates to the technical field of video monitoring. The image acquisition equipment in communication connection with the image acquisition equipment to be aligned comprises a first adjusting device, a second adjusting device, a lens arranged on the first adjusting device and a laser arranged on the second adjusting device. The difference value between the length of a first connecting line between a first reference point and a second reference point on the aligning piece and the length of a second connecting line between the lens and the laser is not more than a first preset threshold, and the included angle is not more than a second preset threshold. During aligning, the aligning equipment sends an adjusting instruction to the first adjusting device and the second adjusting device so that the point on the optical axis of the lens is aligned with a first reference point included by the aligning piece through the first adjusting device, and the point on the optical axis of the laser is aligned with a second reference point through the second adjusting device. Therefore, the image acquisition equipment can be aligned by adopting an indoor aligning mode, and the aligning error is small.

Description

Indoor aligning method, device and system

Technical Field

The application relates to the technical field of video monitoring, in particular to an indoor aligning method, device and system.

Background

The image acquisition equipment comprises a laser (used as a light supplement lamp) and a lens, and can realize remote night vision monitoring under the cooperation of the laser. Because the laser beam angle is small and the field angle of the long-distance lens is small, the laser beam is required to accurately fall in the effective monitoring field in actual monitoring through aligning. Moreover, because the large zoom lens has individual difference of optical axis deviation (generally, the optical axis deviation of the large zoom lens is less than 5%), and in addition, the optical axis deviation of the laser, the deviation of the assembly structure of the lens and the laser and the like, each image acquisition device needs to be aligned independently to meet the final requirement.

The current aligning mode mainly comprises: indoor centering and outdoor centering. The main reason is that the actual monitored object distance of the image acquisition equipment is far, the object distance during indoor centering is much shorter than the actual object distance, and the laser light spot can deviate from the monitoring center in actual use under the condition of finishing indoor centering. The outdoor aligning mode is to align according to the actual monitored object distance, so the scene generally needs to be selected to be performed at night outdoors. The outdoor centering is inevitably affected by weather, the centering is inconvenient, and the risk is great in the actual delivery of the product.

Disclosure of Invention

In order to overcome the above-mentioned deficiencies in the prior art at least, the present application aims to provide an indoor aligning method, device and system, by aligning a point on a lens optical axis with a first reference point on an aligning member, aligning a point on a laser optical axis with a second reference point on the aligning member, and adding that a difference in length between a first connection line between the first reference point and the second reference point and a second connection line between the lens and the laser is not greater than a first preset threshold, and an included angle is not greater than a second preset threshold, an included angle between a third connection line between the first reference point and the point on the lens optical axis and a fourth connection line between the second reference point and the point on the laser optical axis is smaller than a certain angle, thereby overcoming a conventional indoor aligning error, and finally realizing accurate and efficient indoor aligning.

In a first aspect, an embodiment of the present application provides an indoor aligning method, which is applied to an aligning device in communication connection with an image capturing device to be aligned, where the image capturing device includes a first adjusting device, a second adjusting device, a lens and a laser, the lens is disposed on the first adjusting device, the laser is disposed on the second adjusting device, and the method includes:

sending a first adjusting instruction to a first adjusting device to drive the lens to rotate through the first adjusting device, so that a point on an optical axis of the lens is aligned with a first reference point included by an aligning piece, wherein the aligning piece further comprises a second reference point, a length difference value of a first connecting line between the first reference point and the second reference point and a second connecting line between the lens and the laser is not more than a first preset threshold, and an included angle is not more than a second preset threshold;

and sending a second adjusting instruction to a second adjusting device so as to drive the laser to rotate through the second adjusting device, so that the point on the optical axis of the laser is aligned with the second reference point, and the indoor centering of the image acquisition equipment is completed.

In a second aspect, an embodiment of the present application provides an indoor aligning device, be applied to with treat image acquisition equipment communication connection's of aligning equipment, image acquisition equipment includes first adjusting device, second adjusting device, camera lens and laser instrument, the camera lens sets up on the first adjusting device, the laser instrument sets up on the second adjusting device, the device includes:

the first adjusting module is used for sending a first adjusting instruction to a first adjusting device so as to drive the lens to rotate through the first adjusting device, so that a point on an optical axis of the lens is aligned to a first reference point included by the aligning member, wherein the aligning member further comprises a second reference point, a length difference value between a first connecting line between the first reference point and the second reference point and a second connecting line between the lens and the laser is not more than a first preset threshold value, and an included angle is not more than a second preset threshold value;

and the second adjusting module is used for sending a second adjusting instruction to a second adjusting device so as to drive the laser to rotate through the second adjusting device, so that the point on the optical axis of the laser is aligned with the second reference point, and the indoor centering of the image acquisition equipment is completed.

In a third aspect, an embodiment of the present application provides an indoor aligning system, including: the image acquisition equipment comprises a first adjusting device, a second adjusting device, a lens and a laser, wherein the lens is arranged on the first adjusting device, the laser is arranged on the second adjusting device,

the aligning piece comprises a first reference point and a second reference point, the difference value between the length of a first connecting line between the first reference point and the second reference point and the length of a second connecting line between the lens and the laser is not more than a first preset threshold, and the included angle is not more than a second preset threshold;

the aligning equipment is used for realizing the indoor aligning method by controlling the first adjusting device and the second adjusting device.

Compared with the prior art, the method has the following beneficial effects:

the aligning device firstly sends a first adjusting instruction to the first adjusting device so as to drive the lens to rotate through the first adjusting device, and therefore the point on the optical axis of the lens is aligned with a first reference point included by the aligning piece. And then, sending a second adjusting instruction to a second adjusting device to drive the laser to rotate through the second adjusting device, so that the point on the optical axis of the laser is aligned with the second reference point, and an included angle between a third connecting line between the first reference point and the point on the optical axis of the lens and a fourth connecting line between the second reference point and the point on the optical axis of the laser is smaller than a certain angle. From this, adopt the indoor aligning mode of more saving space to carry out the aligning to image acquisition equipment, overcome the indoor aligning error of conventional simultaneously, finally realize accurate, the indoor aligning of efficient.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 is a schematic structural diagram of an indoor centering system provided in an embodiment of the present application;

fig. 2 is a block schematic diagram of a centering device provided in an embodiment of the present application;

fig. 3 is a schematic flow chart of an indoor centering method according to an embodiment of the present application;

FIG. 4 is a schematic flow chart of the sub-steps included in step S110 in FIG. 3;

FIG. 5 is one of the flow diagrams of the sub-steps included in step S120 of FIG. 3;

FIG. 6 is a second schematic flowchart of the sub-steps included in step S120 in FIG. 3;

fig. 7 is a second schematic flow chart of an indoor centering method according to an embodiment of the present application;

fig. 8 is one of block schematic diagrams of an indoor centering device provided in an embodiment of the present application;

fig. 9 is a second block schematic diagram of an indoor aligning device according to an embodiment of the present application.

Icon: 10-indoor centering system; 110-lens; 120-a laser; 200-a centering member; 300-aligning equipment; 310-a memory; 320-a memory controller; 330-a processor; 400-indoor centering device; 410-a first conditioning module; 420-a second conditioning module; 430-save module.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. 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 application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.

In the prior art, the indoor centering method is used as follows: under a certain aligning distance, the laser and the lens are aligned to the same point, so that the light spot of the laser is positioned at the center of the picture of the lens. However, in practice, the laser spot will be severely decentered because the actual object distance is larger than the object distance at which the center is aligned. Or, the aligning calibration picture is adopted for aligning so as to correct indoor aligning errors. However, due to the irregular optical axis deviation direction of each lens and the individual difference of the optical axis of the laser, the eccentric standard picture required by the error correction needs to be determined by comparing a large number of test samples, which is time-consuming and labor-consuming, and the aligning precision is limited, so that the extreme eccentricity of each example cannot be completely eliminated.

The defects existing in the above solutions are the results obtained after the inventors have experimented and studied, and therefore, the discovery process of the above problems and the solutions proposed by the following embodiments of the present application for the above problems should be the contributions of the inventors to the present application in the process of the present application.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

Referring to fig. 1 and fig. 2, fig. 1 is a schematic structural diagram of an indoor aligning system 10 according to an embodiment of the present application, and fig. 2 is a schematic block diagram of an aligning apparatus 300 according to an embodiment of the present application. The indoor aligning system 10 may include an aligning apparatus 300, an aligning member 200, and an image capturing apparatus to be aligned. The aligning device 300 is in communication connection with the image capturing device. The image capturing apparatus includes a first adjusting device, a second adjusting device, a lens 110, and a laser 120. The lens 110 is disposed on the first adjusting device, and the laser 120 is disposed on the second adjusting device. The aligning member 200 includes a first reference point and a second reference point. The aligning apparatus 300 controls the first adjusting device and the second adjusting device to respectively drive the lens 110 and the laser 120 to rotate through the first adjusting device and the second adjusting device, so that a point on an optical axis of the lens 110 is aligned with the first reference point, and a point on an optical axis of the laser 120 is aligned with the second reference point, thereby completing indoor aligning. After the alignment is completed, an included angle between a third connecting line between the first reference point and a point on the optical axis of the lens 110 and a fourth connecting line between the second reference point and a point on the optical axis of the laser 120 is smaller than a certain angle, that is, the third connecting line and the fourth connecting line are parallel or approximately parallel. Therefore, in practical application, even if the actual object distance is larger than the object distance during indoor centering, the light spot center of the laser 120 is still ensured not to be excessively deviated from the picture center of the lens 110. The center of the screen refers to the center of the screen obtained when the lens 110 captures the actual scene.

In this embodiment, the aligning member 200 and the image capturing apparatus may be both horizontally disposed, when the aligning member 200 is disposed, a difference between a first connection line between a first reference point and a second reference point on the aligning member and a second connection line between the lens 110 and the laser 120 is not greater than a first preset threshold, and an included angle between a straight line on which the first connection line is located and a straight line on which the second connection line is located is not greater than a second preset threshold, that is, the lengths of the first connection line and the second connection line are equal or approximately equal and parallel or approximately parallel. Therefore, the lens 110 and the laser 120 can be ensured to rotate subsequently, so that the included angle between the optical axis of the lens 110 and the optical axis of the laser 120 is smaller than a certain angle, even if the optical axis of the lens 110 is parallel or approximately parallel to the optical axis of the laser 120.

As shown in fig. 1, the final purpose of the alignment is to make L1 and L2 parallel, i.e. the third line is parallel to the fourth line, which is actually to adjust the relative position of the optical axis L1 of the lens 110 and the optical axis L2 of the laser 120. To achieve parallelism of L1, L2, two points can be determined on these two lines, respectively, assuming that two points A, C are determined on L1 and two points B, D are determined on L2. If AB is parallel to CD and the distance is equal, it can be considered that the line L1 of AC is parallel to the line L2 of BD.

A, B, C, D in FIG. 1 is explained below. The point a is a point on the optical axis of the lens 110, for example, the point a is the center of the screen of the lens 110. The point C may be a point on the aligning member 200 opposite to the point a corresponding to the lens 110 at the same height as the physical position. Point B is a point on the optical axis of the laser 120, and point D satisfies that the difference between the CD and AB lengths is not greater than a first predetermined threshold, and the included angle is not greater than a second predetermined threshold (i.e., parallel or approximately parallel and equal or approximately equal). Wherein the length of AB and the length of the second line between the lens 110 and the laser 120 described above are less than a certain threshold (i.e., equal or approximately equal), and the length of AB and the second line are less than another threshold (i.e., parallel or approximately parallel).

In practical use, two points of CD may be set according to the distance between the lens 110 and the laser 120, and it is ensured that the length of the connecting line between the lens 110 and the laser 120 and the connecting line between the two reference points CD is equal or approximately equal and parallel or approximately parallel when the alignment is started. For example, after the lens 110 and the laser 120 are set, a point whose position change is smaller than a preset position change in a subsequent alignment process may be respectively selected on the lens 110 and the laser 120, a connection line between the two points is used as the second connection line, and two CD points are set according to the two selected points, so that the setting of the first reference point and the second reference point may be completed, so as to perform alignment according to the two CD points subsequently. Alternatively, the selected point on the lens 110 may be, but is not limited to, a center of mass, or a connection point between a rotation axis of the first adjusting device for driving the lens 110 to rotate and the lens 110; the selected point on the laser 120 may be, but is not limited to, the center of mass, or the connection point of the rotation axis of the second adjustment device for rotating the laser 120 and the laser 120.

Alternatively, in an implementation manner of the present embodiment, the point a is a point on the optical axis at a magnification that is most used in practice by the lens 110 (i.e., a magnification at which the image capturing apparatus is most frequently used in practical applications). For example, the center of the longest image of the lens 110 is point a.

Optionally, in an implementation manner of the present embodiment, the laser 120 is fixed on the first adjusting device through the second adjusting device, and when the laser rotates on the first adjusting device, the second adjusting device rotates therewith. In another embodiment of this embodiment, the first adjusting device and the second adjusting device are two adjusting devices that do not affect each other, that is, when one adjusting device rotates, the other adjusting device is not driven to rotate.

Optionally, the image capturing device may be a laser camera, and the first adjusting device and the second adjusting device may be three-dimensional adjusting devices or two-dimensional adjusting devices, and may be set according to actual requirements. For example, the first adjusting device may be a pan/tilt head and the second adjusting device may be an adjusting bracket.

Alternatively, the aligning member 200 may be a paper aligning picture, a display device displaying an aligning image, a display device displaying two light emitting points, or the like. It should be understood that the above is only an example, and other devices may also be used as the centering member 200, or other methods may be used to place the centering member 200 and the image capturing device to be centered, as long as it is ensured that the difference between the length of the connection line between two reference points on the centering member 200 and the length of the connection line between the lens 110 and the laser 120 is not greater than the first preset threshold, and the included angle is not greater than the second preset threshold.

Referring to fig. 2, fig. 2 is a block diagram of a centering apparatus 300 according to an embodiment of the present application. The centering apparatus 300 may be, but is not limited to, a Personal Computer (PC), a tablet PC, an upper computer, and the like. For example, if the aligning device 300 is an upper computer, the adjusting instruction can be issued to the first adjusting device and the second adjusting device through the RS 485/RS 232 serial port, so as to adjust the lens 110 and the laser 120.

As shown in fig. 2, the aligning apparatus 300 may include: a memory 310, a memory controller 320, a processor 330 and an indoor centering device 400. The memory 310, the memory controller 320 and the processor 330 are electrically connected directly or indirectly to realize data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The memory 310 stores therein an indoor centering device 400, and the indoor centering device 400 includes at least one software function module which can be stored in the memory 310 in the form of software or firmware (firmware). The processor 330 executes various functional applications and data processing, i.e. implements the indoor centering method in the embodiment of the present application, by running software programs and modules stored in the memory 310, such as the indoor centering device 400 in the embodiment of the present application.

The Memory 310 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like. The memory 310 is used for storing a program, and the processor 330 executes the program after receiving an execution instruction. Access to the memory 310 by the processor 330 and possibly other components may be under the control of the memory controller 320.

The processor 330 may be an integrated circuit chip having signal processing capabilities. The Processor 330 may be a general-purpose Processor including a Central Processing Unit (CPU), a Network Processor (NP), and the like. But may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

It will be appreciated that the configuration shown in fig. 2 is merely illustrative and that the centering apparatus 300 may also include more or fewer components than shown in fig. 2, or have a different configuration than shown in fig. 2. The components shown in fig. 2 may be implemented in hardware, software, or a combination thereof.

Referring to fig. 1 to 3, fig. 3 is a schematic flow chart of an indoor centering method according to an embodiment of the present application. The method is applied to a centering device 300 in communication connection with an image acquisition device to be centered. The image acquisition equipment comprises a first adjusting device, a second adjusting device, a lens 110 and a laser 120, wherein the lens 110 is arranged on the first adjusting device, and the laser 120 is arranged on the second adjusting device. The specific flow of the indoor centering method is explained in detail below.

Step S110, sending a first adjustment instruction to a first adjustment device, so as to drive the lens 110 to rotate through the first adjustment device, so that a point on the optical axis of the lens 110 is aligned with a first reference point included in the aligning member 200.

In this embodiment, the center-adjusting piece 200 includes a first reference point and a second reference point, a difference between a first connection line between the first reference point and the second reference point and a second connection line between the lens 110 and the laser 120 is not greater than a first preset threshold, and an included angle is not greater than a second preset threshold. Assuming that a plane parallel to the light-emitting surface of the lens 110 is a first plane, in the process of controlling the rotation of the lens 110, if a distance between a point on the optical axis of the lens 110 and a projection of a first reference point on the first plane is smaller than a third preset threshold, it may be determined that the point on the optical axis of the lens 110 is aligned with the first reference point.

Referring to fig. 4, fig. 4 is a flowchart illustrating sub-steps included in step S110 in fig. 3. Step S110 may include sub-step S111, sub-step S112, and sub-step S113.

In the substep S111, a first image obtained by shooting the aligning member 200 by the lens 110 is obtained.

And a substep S112, obtaining a first distance between the center of the image in the first image and the first reference point, and determining whether the first distance is not greater than a third preset threshold.

In the sub-step S113, if the first distance is greater than the third preset threshold, it is determined that the point on the optical axis of the lens 110 is not aligned with the first reference point, and a first adjustment instruction is sent to a first adjustment device according to the first distance, so that the lens 110 rotates.

In this embodiment, the aligning apparatus 300 may first control the lens 110 to be turned on, and then the lens 110 takes a picture of the aligning member 200 to obtain a first image. Wherein the first image comprises a first reference point. The center adjusting device 300 obtains a first image obtained by the lens 110, obtains position information of an image center of the first image and position information of a first reference point included in the first image through analysis, obtains a first distance between the first reference point in the first image and the image center according to the obtained position information, and judges whether a point on an optical axis of the lens 110 is aligned with the first reference point according to the first distance and a third preset threshold.

If the first distance is not greater than the third predetermined threshold, it indicates that the point on the optical axis of the lens 110 is aligned with the first reference point, and the lens 110 does not need to be adjusted. If the first distance is greater than the third preset threshold, it indicates that the point on the optical axis of the lens 110 is not aligned with the first reference point, and the lens 110 needs to be adjusted. The first distance may be a distance value, the third preset threshold may be a distance value, and whether a point on the optical axis of the lens 110 is aligned with the first reference point may be determined by comparing the two distance values. During adjustment, a first adjustment instruction may be sent to the first adjustment device according to the obtained first distance and the direction corresponding to the first distance, so that the first adjustment device drives the lens 110 to rotate in a direction in which a point on the optical axis of the lens 110 is aligned with the first reference point. After the lens 110 is rotated, the substeps S111 to the substep S113 may be repeated until the newly obtained first distance is not greater than the third preset threshold, that is, until the point on the optical axis of the lens 110 is aligned with the first reference point.

If the laser 120 is fixed to the first adjusting device through the second adjusting device, the laser 120 will rotate when the first adjusting device drives the lens 110 to rotate. Optionally, after the point on the optical axis of the lens 110 is aligned with the first reference point, the aligning apparatus 300 may send a locking command to the first adjusting device to prevent the first adjusting device from rotating when the laser 120 is subsequently adjusted.

Step S120, sending a second adjustment instruction to a second adjustment device to drive the laser 120 to rotate through the second adjustment device, so that the point on the optical axis of the laser 120 is aligned with the second reference point, thereby completing the indoor centering of the image capturing device.

Assuming that a plane parallel to the light emitting surface of the laser 120 is a second plane, in the process of controlling the rotation of the laser 120, if a distance between a point on the optical axis of the laser 120 and a projection of a second reference point on the second plane is smaller than a fourth preset threshold, it can be determined that the point on the optical axis of the laser 120 is aligned with the second reference point.

Referring to fig. 5, fig. 5 is a flowchart illustrating one of the sub-steps included in step S120 in fig. 3. Step S120 may include substep S122, substep S123, and substep S124.

In the substep S122, a second image obtained by shooting the aligning member 200 by the lens 110 is obtained.

And a substep S123 of obtaining a second distance between the center of the spot region in the second image and the second reference point, and determining whether the second distance is not greater than a fourth preset threshold.

And a substep S124, if the second distance is greater than the fourth preset threshold, determining that the point on the optical axis of the laser 120 is not aligned with the second reference point, and sending a second adjustment command to a second adjustment device according to the second distance to move the laser 120, and repeating the above steps until the second distance is not greater than the fourth preset threshold.

When the laser 120 is adjusted, the lens 110 captures a second image of the aligning member 200. The second image comprises a light spot and a second reference point. The aligning apparatus 300 obtains a second image obtained by the lens 110, obtains position information of a spot area center of the second image and position information of a second reference point included in the second image through analysis, obtains a second distance between the second reference point and the spot area center in the second image according to the obtained position information, and determines whether the point on the optical axis of the laser 120 is aligned with the second reference point according to the second distance and a fourth preset threshold.

If the second distance is not greater than the fourth predetermined threshold, it indicates that the point on the optical axis of the laser 120 is aligned with the second reference point, and no adjustment of the laser 120 is required. If the second distance is greater than the fourth predetermined distance, it indicates that the point on the optical axis of the laser 120 is not aligned with the second reference point, and the laser 120 needs to be adjusted. The second distance may be a distance value, the fourth preset threshold may be a distance value, and whether a point on the optical axis of the laser 120 is aligned with the second reference point may be determined by comparing the two distance values. During adjustment, a second adjustment instruction may be sent to the second adjustment device according to the obtained second distance and the direction corresponding to the second distance, so that the second adjustment device drives the laser 120 to rotate in a direction in which the point on the optical axis of the laser 120 is aligned with the second reference point. After the laser 120 is rotated, substeps 122-124 may be repeated until the newly obtained second distance is not greater than the fourth preset threshold, i.e., until the point on the optical axis of the laser 120 is aligned with the second reference point.

The third preset threshold and the fourth preset threshold may be the same or different, and may be set according to actual requirements. For example, when the aligning distance is 5m (that is, the distance between the image capturing device to be aligned and the aligning member 200 is 5m), the third preset threshold and the fourth preset threshold may be set to be 5 mm.

Referring to fig. 6, fig. 6 is a second schematic flowchart of the sub-steps included in step S120 in fig. 3. Step S120 may further include a substep S121 before substep S122.

And a substep S121, sending a spot adjustment instruction to the laser 120 to adjust the spot size of the laser 120 to a preset size.

Optionally, the aligning apparatus 300 may send a light spot adjusting instruction to the laser 120, and adjust the light spot size of the laser 120 to a preset size, so as to ensure an alignment effect between a point on the optical axis of the laser 120 and a second reference point, and further ensure that an included angle between the optical axis of the laser 120 and the optical axis of the lens 110 is smaller than a certain angle. In one implementation of this embodiment, the spot size is adjusted to a minimum size.

In the above adjustment process, the magnification of the lens 110 is the most commonly used magnification in practical use. Before adjustment, the center adjusting apparatus 300 may adjust the magnification of the lens 110 to the most common magnification in practical use, i.e., the magnification with the highest frequency.

Optionally, the image capturing device may be a multi-band fused camera, and the multi-band fused camera includes a plurality of lenses 110, and the alignment of the multi-band fused camera may also be completed by using the above manner. For example, the multiband fusion camera includes lenses 1 and 2 and a laser 120, and after the adjustment of the laser 120 and the lens 1 is completed in steps S110 and S120, the point on the optical axis of the lens 2 and the third reference point on the aligning member 200 can be aligned, thereby completing the alignment of the multiband fusion camera. The length of the connection line between the third reference point and the second reference point corresponding to the laser 120 and the connection line between the lens 2 and the laser 120 are smaller than a certain length threshold and the included angle is smaller than a certain included angle threshold (i.e., equal or approximately equal and parallel or approximately parallel).

Referring to fig. 7, fig. 7 is a second schematic flow chart of an indoor aligning method according to an embodiment of the present application. After step S120, the method may further include step S130.

Step S130, obtaining a third image obtained by shooting the aligning member 200 by the lens 110 after aligning is completed, and storing the third image.

In this embodiment, after the point on the optical axis of the laser 120 is aligned with the second reference point, the lens 110 captures the aligning member 200 to obtain a third image. The aligning device 300 obtains the third image, stores the third image, facilitates later remote calling and later inquiry, and further realizes checking of the aligning result. Alternatively, the center adjusting device 300 may directly store the third image locally, or send the third image to a server, and the third image is stored by the server in a unified manner.

Referring to fig. 1, fig. 2 and fig. 8, fig. 8 is a block diagram of an indoor aligning device 400 according to an embodiment of the present application. Indoor aligning device 400 is applied to image acquisition equipment communication connection's with treating the aligning equipment 300, image acquisition equipment includes first adjusting device, second aligning device, camera lens 110 and laser instrument 120, camera lens 110 sets up on the first aligning device, laser instrument 120 sets up on the second adjusting device. The indoor centering device 400 may include a first conditioning module 410 and a second conditioning module 420.

The first adjusting module 410 is configured to send a first adjusting instruction to a first adjusting device, so that the first adjusting device drives the lens 110 to rotate, and a point on the optical axis of the lens 110 is aligned with a first reference point included in the aligning member 200. The aligning member 200 further includes a second reference point, a length difference between a first connection line between the first reference point and the second reference point and a second connection line between a point on the optical axis of the lens 110 and a point on the optical axis of the laser 120 is not greater than a first preset threshold, and an included angle is not greater than a second preset threshold.

In this embodiment, the first adjusting module 410 is specifically configured to:

acquiring a first image obtained by shooting the aligning member 200 by the lens 110;

obtaining a first distance between the center of the image in the first image and the first reference point, and judging whether the first distance is not greater than a third preset threshold value;

if the first distance is greater than the third preset threshold, it is determined that the point on the optical axis of the lens 110 is not aligned with the first reference point, and a first adjustment instruction is sent to a first adjustment device according to the first distance to rotate the lens 110, and the above steps are repeated until the first distance is not greater than the third preset threshold.

In this embodiment, the first adjusting module 410 is configured to execute step S110 in fig. 3, and the detailed description about the first adjusting module 410 may refer to the description about step S110 in fig. 3.

The second adjusting module 420 is configured to send a second adjusting instruction to a second adjusting device, so that the second adjusting device drives the laser 120 to rotate, and the point on the optical axis of the laser 120 is aligned with the second reference point, thereby completing indoor centering of the image capturing apparatus.

In this embodiment, the second adjusting module 420 is specifically configured to:

acquiring a second image obtained by shooting the aligning member 200 by the lens 110;

obtaining a second distance between the center of the light spot area in the second image and the second reference point, and judging whether the second distance is not greater than a fourth preset threshold value;

if the second distance is greater than the fourth preset threshold, it is determined that the point on the optical axis of the laser 120 is not aligned with the second reference point, and a second adjustment instruction is sent to a second adjustment device according to the second distance to move the laser 120, and the above steps are repeated until the second distance is not greater than the fourth preset threshold.

In this embodiment, the second adjusting module 420 is further configured to:

sending a spot adjustment instruction to the laser 120 to adjust the spot size of the laser 120 to a preset size.

In this embodiment, the second adjusting module 420 is configured to perform step S120 in fig. 3, and the detailed description about the second adjusting module 420 may refer to the description about step S120 in fig. 3.

Referring to fig. 9, fig. 9 is a second block schematic diagram of an indoor aligning device 400 according to an embodiment of the present application. The indoor centering device 400 may further include a preservation module 430.

The saving module 430 is configured to obtain a third image obtained by shooting the aligning member 200 by the lens 110 after aligning is completed, and store the third image.

In this embodiment, the saving module 430 is configured to execute step S130 in fig. 7, and the detailed description about the saving module 430 may refer to the description of step S130 in fig. 7.

In summary, the embodiment of the present application provides an indoor aligning method, device and system. The aligning device firstly sends a first adjusting instruction to the first adjusting device so as to drive the lens to rotate through the first adjusting device, and therefore the point on the optical axis of the lens is aligned with a first reference point included by the aligning piece. And then, sending a second adjusting instruction to a second adjusting device to drive the laser to rotate through the second adjusting device, so that the point on the optical axis of the laser is aligned with the second reference point, and an included angle between a third connecting line between the first reference point and the point on the optical axis of the lens and a fourth connecting line between the second reference point and the point on the optical axis of the laser is smaller than a certain angle. From this, adopt the indoor aligning mode of more saving space to carry out the aligning to image acquisition equipment, overcome the indoor aligning error of conventional simultaneously, finally realize accurate, the indoor aligning of efficient.

The above description is only for various embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present application, and all such changes or substitutions are included in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. The utility model provides an indoor aligning method, its characterized in that is applied to the aligning equipment with treating the image acquisition equipment communication connection of aligning, image acquisition equipment includes first adjusting device, second adjusting device, camera lens and laser instrument, the camera lens sets up on the first adjusting device, the laser instrument sets up on the second adjusting device, the method includes:

2. The indoor aligning method according to claim 1, wherein the sending a first adjusting command to a first adjusting device to drive the lens to rotate through the first adjusting device, so that a point on an optical axis of the lens is aligned with a first reference point included in the aligning member, includes:

acquiring a first image obtained by shooting the aligning member by the current lens;

if the first distance is larger than the third preset threshold, judging that the point on the optical axis of the lens is not aligned with the first reference point, sending a first adjusting instruction to a first adjusting device according to the first distance to enable the lens to rotate, and repeating the steps until the first distance is not larger than the third preset threshold.

3. The indoor aligning method according to claim 1, wherein the sending a second adjusting command to a second adjusting device to rotate the laser through the second adjusting device so that the point on the optical axis of the laser is aligned with the second reference point includes:

acquiring a second image obtained by shooting the aligning member by the current lens;

if the second distance is larger than the fourth preset threshold, judging that the point on the optical axis of the laser is not aligned with the second reference point, sending a second adjusting instruction to a second adjusting device according to the second distance to enable the laser to move, and repeating the steps until the second distance is not larger than the fourth preset threshold.

4. The indoor aligning method according to claim 3, wherein before obtaining a second image obtained by shooting the aligning member by the lens, the sending a second adjusting instruction to a second adjusting device to drive the laser to rotate by the second adjusting device, so that a point on an optical axis of the laser is aligned with the second reference point, further comprises:

and sending a light spot adjusting instruction to the laser so as to adjust the light spot size of the laser to a preset size.

5. An indoor centering method according to claim 1, further comprising:

and acquiring a third image obtained by shooting the aligning piece by the lens after aligning is finished, and storing the third image.

6. The indoor aligning method according to claim 1, wherein the point on the optical axis of the lens is a point on the optical axis of the lens at a magnification at which a use frequency is the highest.

7. The utility model provides an indoor aligning device, its characterized in that is applied to the image acquisition equipment communication connection's of treating the aligning equipment, image acquisition equipment includes first adjusting device, second adjusting device, camera lens and laser instrument, the camera lens sets up on the first adjusting device, the laser instrument sets up on the second adjusting device, the device includes:

8. The indoor centering device according to claim 7, wherein the first adjusting module is specifically configured to:

9. The indoor centering device according to claim 7, wherein the second adjusting module is specifically configured to:

10. An indoor self-aligning device according to claim 9, wherein the second adjusting module is further specifically configured to:

11. An indoor aligning system, comprising: the image acquisition equipment comprises a first adjusting device, a second adjusting device, a lens and a laser, wherein the lens is arranged on the first adjusting device, the laser is arranged on the second adjusting device,

the aligning apparatus is configured to implement the indoor aligning method according to any one of claims 1 to 6 by controlling the first adjusting device and the second adjusting device.