CN112153270A - Cloud deck zero point detection method and device, camera and storage medium - Google Patents
Cloud deck zero point detection method and device, camera and storage medium Download PDFInfo
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- CN112153270A CN112153270A CN201910569017.1A CN201910569017A CN112153270A CN 112153270 A CN112153270 A CN 112153270A CN 201910569017 A CN201910569017 A CN 201910569017A CN 112153270 A CN112153270 A CN 112153270A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D3/12—Control of position or direction using feedback
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/64—Computer-aided capture of images, e.g. transfer from script file into camera, check of taken image quality, advice or proposal for image composition or decision on when to take image
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Abstract
The embodiment of the invention discloses a cloud deck zero point detection method and device, a camera and a storage medium. The method comprises the following steps: acquiring a first image acquired by an image acquisition device, and acquiring the vertical position of a holder in the vertical direction when the first image is acquired; determining a vertical zero point position of the holder in the vertical direction according to the area value of the structural member shielding area in the first image, the preset area value of the zero point structural member shielding area and the vertical position associated with the first image; acquiring a second image acquired by the image acquisition device, and acquiring the horizontal position of the cradle head in the horizontal direction when the second image is acquired; and determining the horizontal zero point position of the holder in the horizontal direction according to the second image, the preset horizontal zero point image comprising the zero point identifier image and the horizontal position associated with the second image. Through the scheme, zero point detection can be realized through the image collected by the image collector under the condition that no additional part is added, and the detection process is not limited by the environment.
Description
Technical Field
The embodiment of the invention relates to the technical field of zero point detection of a pan/tilt, in particular to a zero point detection method and device of a pan/tilt, a camera and a storage medium.
Background
The cradle head is a supporting device for mounting and fixing a camera and is divided into a fixed cradle head and an electric cradle head. The fixed tripod head is suitable for the condition that the monitoring range is not large, the horizontal and pitching angles of the camera can be adjusted after the camera is installed on the fixed tripod head, and the adjusting mechanism is locked after the best working posture is achieved. The electric pan-tilt is suitable for scanning and monitoring a large range, and can enlarge the monitoring range of the camera. The motor receives the signal from the controller to accurately operate and position, and the camera on the pan-tilt can automatically scan the monitoring area and track the monitored object under the control of the monitoring center attendant under the action of the control signal.
When the electric pan-tilt is applied, zero point detection is needed after the electric pan-tilt is electrified, and the rotation position of the pan-tilt and the coordinate of the monitoring position are controlled by using the detected zero point coordinate position. At present, during the zero point detection of the cradle head, the detection is generally realized in a signal feedback mode, specifically, a detection signal jumping point of a sensor such as a hall sensor or an optical interrupt sensor is used as a zero point position, a zero point detection mark needs to be set on a cradle head rotating structure during the detection through the scheme, the zero point detection mark needs to be accurately positioned according to the maximum rotating angle of the cradle head, the detection precision requirement is high, a detection error is easy to generate, the accuracy is poor, and the detection time is long. In addition, an additional structural component or a cable is required to be added in the horizontal or vertical rotating structure of the holder to connect the corresponding sensor, so that the complexity of the hardware camera is increased, in addition, zero point detection is required to be carried out through the optical interruption sensor under the condition of no external infrared light interference, and the zero point detection process is limited by the surrounding environment.
Disclosure of Invention
The embodiment of the invention provides a cloud deck zero point detection method and device, a camera and a storage medium, so as to realize automatic detection of the zero point position of a cloud deck without increasing a hardware structure.
In a first aspect, an embodiment of the present invention provides a cloud deck zero point detection method, where the method includes:
acquiring a first image acquired by an image acquisition device, and acquiring the vertical position of the holder in the vertical direction when the first image is acquired;
determining a vertical zero point position of the holder in the vertical direction according to the area value of the structural member shielding area in the first image, a preset zero point structural member shielding area threshold value and the vertical position associated with the first image;
acquiring a second image acquired by an image acquisition device, and acquiring the horizontal position of the cradle head in the horizontal direction when the second image is acquired;
and determining the horizontal zero position of the holder in the horizontal direction according to the second image, a preset horizontal zero image comprising a zero identifier image and the horizontal position associated with the second image.
In a second aspect, an embodiment of the present invention provides a pan-tilt zero point detection apparatus, where the apparatus includes:
the first image acquisition module is used for acquiring a first image acquired by the image acquisition device and acquiring the vertical position of the holder in the vertical direction when the first image is acquired;
a vertical zero position determination module, configured to determine a vertical zero position of the pan/tilt head in the vertical direction according to an area value of a structural member shielding region in the first image, a preset zero structural member shielding region area threshold, and a vertical position associated with the first image;
the second image acquisition module is used for acquiring a second image acquired by the image acquisition device and acquiring the horizontal position of the holder in the horizontal direction when the second image is acquired;
and the horizontal direction zero point position determining module is used for determining the horizontal zero point position of the holder in the horizontal direction according to the second image, a preset horizontal zero point image comprising a zero point identifier image and the horizontal position associated with the second image.
In a third aspect, an embodiment of the present invention further provides a camera, where the camera includes:
the system comprises a structural part, an image collector and a holder, wherein the image collector and the holder are fixed on the structural part, identifiers are arranged on the surface of the structural part close to the image collector, and the distance between the position point of each identifier and the central point of the surface of the structural part, on which the identifier is arranged, is equal to that between the position point of the identifier and the central;
the image collector comprises: one or more processors;
a memory for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors implement the pan/tilt zero detection method according to any of the embodiments of the present invention.
In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the pan-tilt zero point detection method according to any one of the embodiments of the present invention.
In the embodiment of the invention, the first image acquired by the image acquisition device is acquired, the area value of the structural part shielding area in the first image is compared with the preset zero structural part shielding area threshold value, so that the image of the first angle acquired by the image acquisition device is determined when the vertical zero position of the cradle head in the vertical direction is determined, and the vertical zero position of the cradle head in the vertical direction is further determined according to the vertical position corresponding to the image. And determining the horizontal zero position of the holder in the horizontal direction according to the second image, the preset horizontal zero image comprising the zero identifier image and the horizontal position of the holder by acquiring the second image acquired by the image acquisition device. Through the scheme, under the condition that additional hardware components such as sensors and cables are not added, the zero point of the image detection holder acquired through the image acquirer is reduced in hardware complexity, and the zero point detection is not limited by the surrounding environment.
Drawings
Fig. 1 is a flowchart of a pan-tilt zero point detection method according to a first embodiment of the present invention;
FIG. 2 is a schematic view of an unobstructed field of view in accordance with a first embodiment of the present invention;
FIG. 3 is a schematic diagram of an occluded field of view according to a first embodiment of the present invention;
FIG. 4 is a schematic diagram of a first image under an unobstructed field of view according to a first embodiment of the present invention;
FIG. 5 is a first diagram illustrating a first image with an occluded field of view according to a first embodiment of the present invention;
FIG. 6 is a second diagram illustrating a first image with an occluded field of view according to a first embodiment of the present invention;
FIG. 7 is a schematic diagram of a horizontal zero image in accordance with one embodiment of the present invention;
fig. 8 is a schematic diagram of a second image acquired by rotating the pan/tilt head 360 degrees in accordance with a first embodiment of the present invention;
fig. 9 is a flowchart of a pan-tilt zero point detection method in the second embodiment of the present invention;
fig. 10 is a schematic structural diagram of a pan-tilt zero point detection device provided in the third embodiment of the present invention;
fig. 11 is an expanded view of the inner side of a structural member provided with an identifier according to a fourth embodiment of the present invention;
fig. 12 is a schematic structural diagram of a camera according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a pan-tilt zero point detection method in an embodiment of the present invention. The cloud deck zero point detection method provided by this embodiment is applicable to the situation of detecting the zero point position of the cloud deck, an image collector is fixedly arranged on the cloud deck, the cloud deck is used for controlling the image collector to rotate, and the image collector can be a camera, a camera and the like. The method may be specifically executed by a pan-tilt zero detection apparatus, which may be implemented by software and/or hardware, and may be integrated in a video camera, referring to fig. 1, where the method of the embodiment of the present invention specifically includes:
s110, acquiring a first image acquired by an image acquisition device, and acquiring the vertical position of the holder in the vertical direction when the first image is acquired.
The image acquisition device is used for acquiring a first image, and when the first image does not meet the condition for determining the vertical zero position in the vertical direction, the cradle head is continuously controlled to rotate along the vertical direction and continuously acquire the first image, and by analogy, at least one first image can be acquired. Fig. 2 is a schematic diagram of first image acquisition according to a first embodiment of the present invention. As shown in fig. 2, the pan/tilt head 1 is mounted on the structural member 2, the image collector is fixedly mounted on the pan/tilt head 1, the ball cover 4 is a transparent ball cover, and the rotation of the pan/tilt head 1 is controlled to enable the image collector to collect a first image. Wherein the rotation in the vertical direction is a rotation in a vertical plane, which is a plane through the central axis of the structural element 2. The position of the holder 1 in the vertical direction can be an included angle between the central axis of the holder 1 and the central axis of the structural member 2.
Specifically, in the embodiment of the present invention, the zero point position is obtained without acquiring data by other sensors, but the first image is acquired by the image acquisition device, and the vertical position of the pan/tilt head in the vertical direction when the first image is acquired, so that whether the position in the vertical direction corresponding to the image is the vertical zero point position in the vertical direction is determined according to whether the first image satisfies the image condition of the zero point position in the vertical direction, thereby implementing zero point detection. In the embodiment of the invention, the vertical zero point position in the vertical direction is determined by the first image acquired by the image acquisition device fixed on the holder, so that other sensors or connecting wires for zero point detection are not required to be added in the camera, the complexity of the hardware camera is reduced, an accurate zero point detection mark is not required to be set in advance according to the maximum rotation angle of the holder, the detection error is reduced, and the detection accuracy is improved.
S120, determining the vertical zero point position of the holder in the vertical direction according to the area value of the structural member shielding area in the first image, a preset zero point structural member shielding area threshold value and the vertical position associated with the first image.
As shown in fig. 3, when the pan/tilt head rotates to a certain position, a part of the structural member 3 may enter into the range of the angle of view captured by the image capturing device, and therefore, a structural member shielding region may exist in the first image captured by the image capturing device.
As shown in fig. 4, if the structural member does not enter the range of the shooting angle of view of the image collector, the structural member occlusion region does not exist in the first image. As shown in fig. 5, if the structural member enters the range of the shooting angle of view of the image collector, a structural member shielding region exists in the first image. As shown in fig. 6, if the portion of the structural member entering the image collector is larger than the portion of the structural member entering the image-capturing angle of view of the image collector during image capturing in fig. 5, the area of the shielding region of the structural member in the captured image is larger.
Specifically, the area threshold of the shielding region of the preset zero structural member is set by a technician according to actual conditions, for example, when the structural member does not enter the shooting angle of the image collector, the rotational position of the cradle head is the first position, and when the cradle head is rotated to maximize the portion of the structural member entering the shooting angle of the image collector, that is, when the cradle head rotates to the limit position, the rotational position of the cradle head is the second position, any position value between the first position and the second position is taken, and when the cradle head is controlled to rotate to the position, the area threshold of the shielding region of the structural member is taken as the preset area threshold of the shielding region of the zero structural member in the image collected by the image collector.
Optionally, determining a vertical zero position of the holder in the vertical direction according to the area value of the structural member shielding region in the first image, a preset zero structural member shielding region area threshold, and a vertical position associated with the first image, includes: and if the area value of the structural part shielding area in any first image is equal to the preset zero structural part shielding area threshold value, taking the vertical position associated with the first image as the vertical zero position of the holder in the vertical direction.
Specifically, when any image exists in the at least one collected first image, where a structural member shielding region exists and an area value of the structural member shielding region is equal to a preset zero structural member shielding region area threshold value, it indicates that a vertical position of the pan/tilt head in the vertical direction when the first image is collected is a vertical zero position in the vertical direction, and therefore, the position is taken as a zero position of the pan/tilt head in the vertical direction. Therefore, the vertical zero position of the holder in the vertical direction is determined, zero detection is achieved without detection of other sensors, the detection process is judged according to the image acquired by the image acquisition device, detection errors caused by the precision of other hardware during detection of other hardware are reduced, and detection accuracy is improved.
S130, acquiring a second image acquired by the image acquisition device, and acquiring the horizontal position of the holder in the horizontal direction when the second image is acquired.
And when the first image does not meet the horizontal zero position determination condition in the horizontal direction, the cloud platform is continuously controlled to rotate along the horizontal direction, the second image is continuously acquired, and by analogy, at least one first image can be acquired. Wherein, rotating along the horizontal direction is moving in a horizontal plane, the horizontal plane is a plane perpendicular to the central axis of the structural member. Specifically, a second image acquired by the image acquisition device is acquired, and the horizontal position of the cradle head in the horizontal direction during acquisition of the second image is acquired, so that whether the position is the horizontal zero position in the horizontal direction is determined according to whether the second image corresponding to the horizontal position meets the zero image condition in the horizontal direction.
Optionally, before acquiring the second image acquired by the image acquirer, the method further includes: and if an identifier image exists in a structural part shielding area of any first image, taking a vertical position associated with the first image as a target vertical position, and controlling the cradle head to keep the cradle head at the target vertical position in the vertical direction to acquire the second image, wherein the identifier is arranged in the structural part along the horizontal direction and comprises a zero point identifier and an auxiliary identifier.
The zero point identifier is used for determining whether a second image of the identifier image is an image acquired when the holder is at a horizontal zero point position in the horizontal direction, and the auxiliary identifier is an identifier other than the zero point identifier. Specifically, at least one identifier is arranged at a position on the structural member, which can enter a shooting visual angle of the image collector, and is used for assisting in determining the relative position of the holder in rotation in the horizontal direction. Since the determination needs to be performed according to the identifier image included in the acquired second image when determining the horizontal zero point of the pan/tilt head in the horizontal direction, the position of the pan/tilt head needs to be adjusted before acquiring the second image, so that the acquired second image includes the identifier image. In the embodiment of the invention, if the identifier image exists in the structural part shielding area of the first image in the acquired first image, the vertical position of the cradle head when the image is acquired is taken as the target vertical position, so that the cradle head is controlled to be kept unchanged at the target vertical position, and the second image is acquired by rotating along the horizontal square line, so that the second image is ensured to have the image meeting the horizontal direction zero point image condition.
And S140, determining the horizontal zero position of the holder in the horizontal direction according to the second image, the preset horizontal zero image comprising the zero identifier image and the horizontal position associated with the second image.
The preset horizontal zero point image including the zero point identifier image and the specific position of the zero point identifier image in the horizontal zero point image can be set by a technician according to actual conditions. Optionally, determining, according to the second image, a preset horizontal zero point image including a zero point identifier image, and a horizontal position associated with the second image, a horizontal zero point position of the pan/tilt head in the horizontal direction, includes: and if any second image is matched with a preset horizontal zero point image comprising the zero point identifier image, taking the horizontal position associated with the second image as the horizontal zero point position of the holder in the horizontal direction.
Specifically, fig. 7 is a schematic diagram of a horizontal zero-point image in the first embodiment of the present invention, and fig. 8 is a schematic diagram of a second image acquired by rotating the pan/tilt head by 360 degrees in the first embodiment of the present invention. The embodiment of the present invention is described by taking an example that the field angle of the image collector is 60 degrees and the image collector continuously rotates, at this time, 6 identifiers of different shapes arranged at equal intervals may be provided on the structural member, and the pan-tilt is controlled to rotate for one circle, so that at least one second image is collected and spliced to obtain an image as shown in fig. 8. As shown in fig. 7 and 8, if fig. 7 is a preset horizontal zero point image including a zero point identifier, if a corresponding second image at position B in fig. 8 matches fig. 7, the horizontal position of the pan/tilt head at the time of capturing the second image is taken as the horizontal zero point position of the pan/tilt head in the horizontal direction.
It should be noted that, in the embodiment of the present invention, a case where 6 identifiers are provided on a structural member when the angle of view of the image capturing device is 60 degrees and the structural member is continuously rotated is described, but the angle of view, the rotation mode of the image capturing device, and the number of the identifiers provided on the structural member are not limited, and the solution in the embodiment of the present invention is still applicable to a case where the angle of view of the image capturing device is another value and the number of the identifiers provided on the structural member is another value, and the shape of the identifier may be set by a technician or may be set in the form of a number or a letter.
According to the technical scheme of the embodiment of the invention, the first image acquired by the image acquisition device is acquired, and the area value of the structural part shielding area in the first image and the area value of the preset zero structural part shielding area are used for determining the vertical zero position of the cradle head in the vertical direction, the image specifically corresponding to the first position acquired by the image acquisition device, and then the vertical zero position of the cradle head in the vertical direction is further determined according to the vertical position corresponding to the image. And determining the horizontal zero position of the holder in the horizontal direction according to the second image, the preset horizontal zero image comprising the zero identifier image and the horizontal position of the holder by acquiring the second image acquired by the image acquisition device. Through the scheme, under the condition that additional hardware components such as sensors and cables are not added, the zero point of the image detection holder collected by the image collector is used, the complexity of hardware is reduced, the limitation of the surrounding environment on zero point detection is avoided, an accurate zero point detection mark does not need to be arranged in advance according to the maximum rotation position of the holder, the detection error is reduced, and the detection accuracy is improved.
Example two
Fig. 9 is a flowchart of a pan-tilt zero point detection method in the second embodiment of the present invention. The present embodiment is optimized based on the above embodiments, and details not described in detail in the present embodiment are described in the above embodiments. Referring to fig. 9, the method for detecting a zero point of a pan/tilt head provided in this embodiment may include:
s201, when the cloud platform is controlled to rotate to any position, a first image collected by the image collector is obtained, and the vertical position of the cloud platform in the vertical direction when the first image is collected is obtained.
S202, judging whether the area value of the structural part shielding area in the first image acquired by the image acquisition device is equal to the preset zero structural part shielding area threshold value or not, if so, executing S206, and if not, executing S203.
S203, judging whether the area value of the structural part shielding area in the first image acquired by the image acquisition device is smaller than the preset zero structural part shielding area threshold value, if so, executing S204, and if not, executing S205.
S204, controlling the cradle head to rotate along the direction of increasing the view field shielding angle of the image collector to obtain a new vertical position until the area value of a shielding area of a structural part in a first image collected by the image collector is equal to the preset zero structural part shielding area threshold value when the cradle head is at the new vertical position, and executing S206.
Specifically, if the area value of the structural member shielding region in the first image is smaller than the preset zero structural member shielding region area threshold, it indicates that the vertical position of the cradle head is not the vertical zero position of the cradle head in the vertical direction when the second image is acquired, and therefore, the rotational position of the cradle head needs to be continuously adjusted to the vertical zero position in the vertical direction. Because the area value of the shielding region of the structural member in the first image is smaller than the preset zero structural member shielding region area threshold value, the area value of the shielding region of the structural member in the first image needs to be increased so as to be equal to the preset zero structural member shielding region area threshold value, therefore, the cloud platform is controlled to rotate along the direction of increasing the shielding position of the view field of the image collector, the part of the structural member entering the shooting view angle of the image collector is increased, and the area value of the shielding region of the structural member in the first image is increased. After the position of the cloud platform is adjusted, when the area value of the shielding area of the structural part in the first image acquired by the image acquisition device when the cloud platform is at the new vertical position is equal to the area value of the shielding area of the preset zero structural part, the adjustment of the position of the cloud platform is stopped, and S206 is executed.
S205, controlling the cradle head to rotate along the direction of reducing the shielding angle of the view field of the image collector to obtain a new vertical position until the area value of the shielding area of the structural part in the first image collected by the image collector is equal to the preset zero structural part shielding area threshold value when the cradle head is at the new vertical position, and executing S206.
Specifically, if the area value of the structural member shielding region in the first image is greater than the preset zero structural member shielding region area threshold value, it indicates that the vertical position of the cradle head is not the vertical zero position of the cradle head in the vertical direction when the second image is acquired, and therefore, the rotational position of the cradle head needs to be continuously adjusted to the vertical zero position in the vertical direction. Because the area value of the shielding region of the structural member in the first image is greater than the preset zero structural member shielding region area threshold value, the area value of the shielding region of the structural member in the first image needs to be reduced so as to be equal to the preset zero structural member shielding region area threshold value, therefore, the cloud platform is controlled to rotate along the direction in which the shielding angle of the view field of the image collector is reduced, the part of the structural member entering the shooting view angle of the image collector is reduced, and the area value of the shielding region of the structural member in the first image is reduced. After the position of the cloud platform is adjusted, when the area value of the shielding area of the structural part in the first image acquired by the image acquisition device when the cloud platform is at the new vertical position is equal to the area threshold value of the shielding area of the preset zero structural part, the adjustment of the position of the cloud platform is stopped, and S206 is executed.
And S206, taking the vertical position associated with the first image as the vertical zero position of the holder in the vertical direction.
S207, when the holder rotates to any position, acquiring a second image acquired by the image acquisition device, and acquiring the horizontal position of the holder in the horizontal direction when the second image is acquired.
And S208, judging whether the second image acquired by the image acquisition device is matched with a preset horizontal zero point image comprising a zero point identifier image, if so, executing S211, and if not, executing S209-S210.
S209, if the second image acquired by the image acquisition device comprises the auxiliary identifier image, determining the relative orientation of the auxiliary identifier and the zero point identifier in the structural part along the horizontal direction.
Specifically, if the second image phase acquired by the image acquisition device includes an auxiliary identifier other than the zero point identifier, the relative position of the auxiliary identifier and the zero point identifier is determined according to the specific shape of the auxiliary identifier. For example, if the identifiers are arranged according to the identifier arrangement in fig. 8, and if the current second image is the image corresponding to the position a, the auxiliary identifier therein is a semicircle, it may be determined that the zero-point identifier is the 3 rd identifier in fig. 8 and is located at the right of the semicircle auxiliary identifier.
S210, determining the rotating direction of the holder according to the relative orientation, controlling the holder to rotate to a new horizontal position until a second image acquired by the image acquisition device is matched with a preset horizontal zero point image comprising a zero point identifier image when the holder is at the new horizontal position, and executing S211.
Since the zero point identifier is located at the right side of the semicircular auxiliary identifier, the cradle head is controlled to rotate towards the direction in which the view angle of the image collector is close to the shooting zero point identifier, so that the collected second image is matched with the preset horizontal zero point image including the zero point identifier image, the position of the cradle head is stopped being adjusted, and S206 is executed.
And S211, taking the horizontal position related to the second image as the horizontal zero position of the holder in the horizontal direction.
According to the technical scheme of the embodiment of the invention, the vertical position of the holder in the vertical direction is adaptively adjusted by judging the size relation between the size of the structural member shielding region in the first image and the area value of the preset zero structural member shielding region, so that the vertical zero position of the holder in the vertical direction is determined. The second image is matched with the preset horizontal zero point image, and the horizontal adjustment position of the holder is determined according to the relative position of the auxiliary identifier and the zero point identifier, so that the zero point position of the holder in the horizontal direction can be determined more quickly and specifically.
EXAMPLE III
Fig. 10 is a schematic structural diagram of a pan-tilt zero point detection device provided in the third embodiment of the present invention. The device is suitable for detecting the zero position of the holder, can be realized by software and/or hardware, and can be integrated in a camera. Referring to fig. 10, the apparatus specifically includes:
the first image acquisition module 310 is configured to acquire a first image acquired by an image acquirer and a vertical position of the holder in a vertical direction when the first image is acquired;
a vertical zero position determining module 320, configured to determine a vertical zero position of the pan/tilt head in the vertical direction according to an area value of a structural member shielding region in the first image, a preset zero structural member shielding region area threshold, and a vertical position associated with the first image;
the second image acquisition module 330 is configured to acquire a second image acquired by the image acquirer and a horizontal position of the holder in the horizontal direction when the second image is acquired;
and a horizontal zero position determining module 340, configured to determine a horizontal zero position of the pan/tilt head in the horizontal direction according to the second image, a preset horizontal zero image including a zero identifier image, and a horizontal position associated with the second image.
Optionally, the vertical zero position determining module 320 is specifically configured to:
and if the area value of the structural part shielding area in any first image is equal to the preset zero structural part shielding area threshold value, taking the vertical position associated with the first image as the vertical zero position of the holder in the vertical direction.
Optionally, the first image capturing module 310 includes:
the first control unit is used for controlling the cradle head to rotate along the direction of increasing the view field shielding angle of the image collector to obtain a new vertical position if the area value of the structural part shielding area in the first image collected by the image collector is smaller than the preset zero structural part shielding area threshold value, until the area value of the structural part shielding area in the first image collected by the image collector is equal to the preset zero structural part shielding area value when the cradle head is at the new vertical position;
and the second control unit is used for controlling the cradle head to rotate along the direction that the shielding angle of the view field of the image collector is reduced to obtain a new vertical position if the area value of the shielding region of the structural part in the first image collected by the image collector is greater than the area threshold value of the shielding region of the preset zero structural part, until the cradle head is at the new vertical position, the area value of the shielding region of the structural part in the first image collected by the image collector is equal to the area threshold value of the shielding region of the preset zero structural part.
Optionally, the method further includes: and the target vertical position determining module is used for taking a vertical position associated with any first image as a target vertical position if an identifier image exists in a structural member shielding area of the first image, and controlling the cradle head to keep the cradle head at the target vertical position in the vertical direction to acquire the second image, wherein the identifier is arranged in the structural member along the horizontal direction, and comprises a zero point identifier and an auxiliary identifier.
Optionally, the horizontal zero position determining module 340 is specifically configured to:
and if any second image is matched with a preset horizontal zero point image comprising the zero point identifier image, taking the horizontal position associated with the second image as the horizontal zero point position of the holder in the horizontal direction.
Optionally, the second image capturing module 330 includes:
the relative orientation determining unit is used for determining the relative orientation of the auxiliary identifier and the zero point identifier in the structural part along the horizontal direction if the second image acquired by the image acquisition device comprises the auxiliary identifier image;
and the new horizontal position determining unit is used for determining the rotating direction of the holder according to the relative position and controlling the holder to rotate to a new horizontal position until a second image acquired by the image acquisition unit is matched with a preset horizontal zero point image comprising a zero point identifier image when the holder is at the new horizontal position.
According to the technical scheme of the embodiment of the invention, a first image acquisition module acquires a first image acquired by an image acquisition device and the vertical position of a holder in the vertical direction when the first image is acquired; a vertical zero position determining module determines a vertical zero position of the holder in the vertical direction according to the area value of the structural member shielding area in the first image, a preset area value of the zero structural member shielding area and the vertical position associated with the first image; a second image acquisition module acquires a second image acquired by an image acquisition device and the horizontal position of the holder in the horizontal direction when the second image is acquired; and the horizontal direction zero point position determining module determines the horizontal zero point position of the holder in the horizontal direction according to the second image, a preset horizontal zero point image comprising a zero point identifier image and the horizontal position associated with the second image. Through the scheme, under the condition that additional hardware components such as sensors and cables are not added, the zero point of the image detection holder acquired through the image acquirer is reduced in hardware complexity, and the zero point detection is not limited by the surrounding environment.
Example four
Fig. 12 is a schematic structural diagram of an image collector in a camera according to a fourth embodiment of the present invention. FIG. 12 illustrates a block diagram of an exemplary image collector 412 suitable for use in implementing embodiments of the present invention. The image collector 412 shown in fig. 12 is only an example, and should not bring any limitation to the functions and the scope of the embodiments of the present invention.
The camera in the embodiment of the invention comprises: the image acquisition device comprises a structural part, an image acquisition device and a holder, wherein the image acquisition device and the holder are fixed on the structural part, identifiers are arranged on the surface of the structural part close to the image acquisition device, and the heights of the identifiers in the vertical direction are equal, as shown in fig. 11;
the image collector 412 includes: fig. 12, image capturer 412, one or more processors 416; a memory 428, configured to store one or more programs, when the one or more programs are executed by the one or more processors 416, so that the one or more processors 416 implement the pan/tilt zero detection method provided in the embodiment of the present invention, including:
acquiring a first image acquired by an image acquisition device, and acquiring the vertical position of the holder in the vertical direction when the first image is acquired;
determining a vertical zero point position of the holder in the vertical direction according to the area value of the structural member shielding area in the first image, the preset area value of the zero point structural member shielding area and the vertical position associated with the first image;
acquiring a second image acquired by an image acquisition device, and acquiring the horizontal position of the cradle head in the horizontal direction when the second image is acquired;
and determining the horizontal zero position of the holder in the horizontal direction according to the second image, a preset horizontal zero image comprising a zero identifier image and the horizontal position associated with the second image.
In the form of a universal camera. The components of image capturer 412 may include, but are not limited to: one or more processors or processors 416, a system memory 428, and a bus 418 that couples the various system components (including the system memory 428 and the processors 416).
The system memory 428 may include computer system readable storage media in the form of volatile memory, such as Random Access Memory (RAM)430 and/or cache memory 432. The image capturer 412 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, the storage system 434 may be used to read from and write to non-removable, nonvolatile magnetic storage media (not shown in FIG. 12, commonly referred to as "hard drives"). Although not shown in FIG. 12, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical storage medium) may be provided. In these cases, each drive may be connected to bus 418 by one or more data storage media interfaces. Memory 428 can include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 440 having a set (at least one) of program modules 442 may be stored, for instance, in memory 428, such program modules 462 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 462 generally perform the functions and/or methodologies of the described embodiments of the invention.
The image capturer 412 may also communicate with one or more external cameras 414 (e.g., keyboard, pointing camera, display 426, etc.), with one or more cameras that enable a user to interact with the image capturer 412, and/or with any cameras (e.g., network card, modem, etc.) that enable the image capturer 412 to communicate with one or more other computing cameras. Such communication may occur via input/output (I/O) interfaces 422. Also, image collector 412 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet) via network adapter 420. As shown, network adapter 420 communicates with the other modules of image capturer 412 over bus 418. It should be appreciated that although not shown in FIG. 12, other hardware and/or software modules may be used in conjunction with image capturer 412, including but not limited to: microcode, camera drives, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
The processor 416 executes various functional applications and data processing by executing at least one of other programs stored in the system memory 428, for example, to implement a pan-tilt zero detection method provided by the embodiment of the present invention, including:
acquiring a first image acquired by an image acquisition device, and acquiring the vertical position of the holder in the vertical direction when the first image is acquired;
determining a vertical zero point position of the holder in the vertical direction according to the area value of the structural member shielding area in the first image, the preset area value of the zero point structural member shielding area and the vertical position associated with the first image;
acquiring a second image acquired by an image acquisition device, and acquiring the horizontal position of the cradle head in the horizontal direction when the second image is acquired;
and determining the horizontal zero position of the holder in the horizontal direction according to the second image, a preset horizontal zero image comprising a zero identifier image and the horizontal position associated with the second image.
EXAMPLE five
An embodiment of the present invention further provides a storage medium containing computer-executable instructions, where the computer-executable instructions, when executed by a computer processor, are configured to perform a pan-tilt zero detection method:
acquiring a first image acquired by an image acquisition device, and acquiring the vertical position of the holder in the vertical direction when the first image is acquired;
determining a vertical zero point position of the holder in the vertical direction according to the area value of the structural member shielding area in the first image, the preset area value of the zero point structural member shielding area and the vertical position associated with the first image;
acquiring a second image acquired by an image acquisition device, and acquiring the horizontal position of the cradle head in the horizontal direction when the second image is acquired;
and determining the horizontal zero position of the holder in the horizontal direction according to the second image, a preset horizontal zero image comprising a zero identifier image and the horizontal position associated with the second image.
Computer storage media for embodiments of the present invention can take the form of any combination of one or more computer-readable storage media. The computer readable storage medium may be a computer readable signal storage medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In embodiments of the invention, the computer readable storage medium may be any tangible storage medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal storage medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal storage medium may also be any computer readable storage medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable storage medium may be transmitted using any appropriate storage medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or camera. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A cloud deck zero point detection method is characterized in that a cloud deck is used for controlling an image collector to rotate, and the method comprises the following steps:
acquiring a first image acquired by an image acquisition device, and acquiring the vertical position of the holder in the vertical direction when the first image is acquired;
determining a vertical zero point position of the holder in the vertical direction according to the area value of the structural member shielding area in the first image, a preset zero point structural member shielding area threshold value and the vertical position associated with the first image;
acquiring a second image acquired by an image acquisition device, and acquiring the horizontal position of the cradle head in the horizontal direction when the second image is acquired;
and determining the horizontal zero position of the holder in the horizontal direction according to the second image, a preset horizontal zero image comprising a zero identifier image and the horizontal position associated with the second image.
2. The method according to claim 1, wherein determining the vertical zero position of the pan/tilt head in the vertical direction according to the area value of the structure-blocking area in the first image, a preset zero-point structure-blocking area threshold value, and the vertical position associated with the first image comprises:
and if the area value of the structural part shielding area in any first image is equal to the preset zero structural part shielding area threshold value, taking the vertical position associated with the first image as the vertical zero position of the holder in the vertical direction.
3. The method of claim 1, wherein acquiring the first image acquired by the image acquisition device and acquiring the vertical position of the pan-tilt head in the vertical direction when the first image is acquired comprises:
if the area value of the structural part shielding area in the first image acquired by the image acquisition device is smaller than the preset zero structural part shielding area value, controlling the cradle head to rotate along the direction of increasing the field shielding angle of the image acquisition device to obtain a new vertical position until the area value of the structural part shielding area in the first image acquired by the image acquisition device is equal to the preset zero structural part shielding area threshold value when the cradle head is at the new vertical position;
if the area value of the shielding area of the structural part in the first image acquired by the image collector is larger than the area value of the shielding area of the preset zero structural part, the cradle head is controlled to rotate along the direction of reducing the shielding angle of the view field of the image collector to obtain a new vertical position until the area value of the shielding area of the structural part in the first image acquired by the image collector is equal to the area threshold value of the shielding area of the preset zero structural part.
4. The method of claim 1, wherein before acquiring the second image captured by the image capture device, further comprising:
and if an identifier image exists in a structural part shielding area of any first image, taking a vertical position associated with the first image as a target vertical position, and controlling the cradle head to keep the cradle head at the target vertical position in the vertical direction to acquire the second image, wherein the identifier is arranged in the structural part along the horizontal direction, and the height of the identifier in the vertical direction is equal.
5. The method according to claim 1, wherein determining the horizontal zero position of the pan-tilt head in the horizontal direction according to the second image, the preset horizontal zero image comprising the zero identifier image, and the horizontal position associated with the second image comprises:
and if any second image is matched with a preset horizontal zero point image comprising the zero point identifier image, taking the horizontal position associated with the second image as the horizontal zero point position of the holder in the horizontal direction.
6. The method of claim 1, wherein the identifiers comprise a null identifier and a secondary identifier,
correspondingly, acquire the second image that image collector gathered, and gather horizontal position of cloud platform on the horizontal direction during the second image, include:
if the second image acquired by the image acquisition device comprises the auxiliary identifier image, determining the relative position of the auxiliary identifier and the zero point identifier in the structural part along the horizontal direction;
and determining the rotation direction of the cradle head according to the relative orientation, and controlling the cradle head to rotate to a new horizontal position until a second image acquired by the image acquisition device is matched with a preset horizontal zero point image comprising a zero point identifier image when the cradle head is at the new horizontal position.
7. A pan-tilt zero point detection device, characterized in that the device comprises:
the first image acquisition module is used for acquiring a first image acquired by the image acquisition device and acquiring the vertical position of the holder in the vertical direction when the first image is acquired;
the vertical zero position determining module is used for determining the vertical zero position of the holder in the vertical direction according to the area value of the structural member shielding area in the first image, a preset zero structural member shielding area threshold value and the vertical position associated with the first image;
the second image acquisition module is used for acquiring a second image acquired by the image acquisition device and acquiring the horizontal position of the holder in the horizontal direction when the second image is acquired;
and the horizontal zero position determining module is used for determining the horizontal zero position of the holder in the horizontal direction according to the second image, a preset horizontal zero image comprising a zero identifier image and the horizontal position associated with the second image.
8. The apparatus of claim 7, wherein the vertical zero position determination module is specifically configured to:
and if the area value of the structural part shielding area in any first image is equal to the preset area value of the zero structural part shielding area, taking the vertical position associated with the first image as the vertical zero position of the holder in the vertical direction.
9. A camera, characterized in that the camera comprises:
the image acquisition device comprises a structural part, an image acquisition device and a holder, wherein the image acquisition device and the holder are fixed on the structural part, identifiers are arranged on the surface of the inner side of the structural part, and the heights of the identifiers in the vertical direction are equal;
the image collector comprises:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement a pan/tilt zero detection method according to any one of claims 1-6.
10. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out a pan-tilt zero detection method according to any one of claims 1 to 6.
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