CN113301308A - Video monitoring device for safety monitoring - Google Patents
Video monitoring device for safety monitoring Download PDFInfo
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- CN113301308A CN113301308A CN202110572862.1A CN202110572862A CN113301308A CN 113301308 A CN113301308 A CN 113301308A CN 202110572862 A CN202110572862 A CN 202110572862A CN 113301308 A CN113301308 A CN 113301308A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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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
- H04N23/67—Focus control based on electronic image sensor signals
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W52/00—Power management, e.g. TPC [Transmission Power Control], power saving or power classes
- H04W52/04—TPC
- H04W52/06—TPC algorithms
- H04W52/14—Separate analysis of uplink or downlink
- H04W52/146—Uplink power control
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W52/00—Power management, e.g. TPC [Transmission Power Control], power saving or power classes
- H04W52/04—TPC
- H04W52/18—TPC being performed according to specific parameters
- H04W52/24—TPC being performed according to specific parameters using SIR [Signal to Interference Ratio] or other wireless path parameters
- H04W52/241—TPC being performed according to specific parameters using SIR [Signal to Interference Ratio] or other wireless path parameters taking into account channel quality metrics, e.g. SIR, SNR, CIR, Eb/lo
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Abstract
The invention discloses a video monitoring device for safety monitoring, wherein hardware and software of an image acquisition part are optimally designed, so that high-resolution video monitoring in a large angle range can be realized with lower hardware and software requirements, video data with smaller data volume is allowed, and the burden of a wireless communication channel is favorably reduced; and the wireless communication process is optimized, so that the required data transmission requirement can be realized with the lowest energy consumption, and the data transmission requirement can be met with the energy consumption increment as less as possible even if the state of a wireless communication channel changes. Therefore, the video monitoring device for safety monitoring, which has the advantages of simple structure, low hardware cost, high resolution and low energy consumption, can be realized, and the popularization and the use of the video monitoring device for safety monitoring are facilitated.
Description
Technical Field
The invention relates to the technical field of security and protection, in particular to a video monitoring device for safety monitoring.
Background
With the increasing demand for ubiquitous remote monitoring, the requirements for video quality, cost and the like of a video monitoring device for safety monitoring are increasing. For example, video surveillance devices for safety monitoring are typically battery powered, and their power consumption determines their useful life. However, video surveillance often requires the highest possible resolution, which not only requires higher hardware configuration, but also requires more computational resources and power consumption. This conflict between power consumption and performance is typically addressed by sacrificing one party. In addition, in the prior art, in order to realize monitoring of a certain large area, a plurality of monitoring devices are often required to be arranged to meet high-resolution monitoring in a large angle range, or a wide-angle monitoring device with high resolution is provided, which often puts higher requirements on hardware and software. These requirements often create a limiting factor in monitoring network construction and deployment.
Disclosure of Invention
In view of the above problems in the prior art, the present application provides a video monitoring apparatus for safety monitoring, wherein hardware and software of an image acquisition portion are optimally designed, so that high-resolution video monitoring in a wide angle range can be realized with lower hardware and software requirements, and video data with smaller data volume is allowed, which is beneficial to reducing the burden of a wireless communication channel; and the wireless communication process is optimized, so that the required data transmission requirement can be realized with the lowest energy consumption, and the data transmission requirement can be met with the energy consumption increment as less as possible even if the state of a wireless communication channel changes. Therefore, the video monitoring device for safety monitoring, which has the advantages of simple structure, low hardware cost, high resolution and low energy consumption, can be realized, and the popularization and the use of the video monitoring device for safety monitoring are facilitated.
Specifically, the video monitoring device for safety monitoring according to the present invention may include a first camera module, a second camera module, a wireless transmission module, and a control module;
the first camera module is used for acquiring a first image of a monitoring area in a large visual angle range at a first resolution;
the control module is used for identifying at least one monitoring target based on the first image and determining position information of each monitoring target;
the second camera module is used for optically aligning the monitoring targets according to the position information at a second resolution and acquiring a second image about the monitoring targets, wherein the second resolution is higher than the first resolution;
the control module is used for generating video data based on the second image and determining a transmission mode of the wireless transmission module according to the video data and a wireless communication channel state;
the wireless transmission module is used for transmitting the video data in a wireless mode under the determined transmission mode.
Further, the first camera module has a wide-angle lens and a CMOS sensor, and the control module identifies the monitoring target based on depth learning.
Further, the control module is configured to acquire position adjustment information and focus adjustment information about the monitoring target according to the position information of the monitoring target; and the number of the first and second electrodes,
the second camera module includes an alignment unit and a second camera that is adjustable in focus;
the alignment unit is used for changing an optical path entering the second camera according to the position adjustment information so as to enable the second camera to be aligned with the monitoring target optically;
and the second camera is used for adjusting the focal length according to the focal length adjusting information so as to obtain a second image of the monitoring target.
Further, the alignment unit includes a first mirror and a second mirror; and the number of the first and second electrodes,
the second camera module is configured to, under a first XYZ coordinate system with a center of the first mirror as an origin: the optical axis of the second camera is aligned with the X-axis and the distance between its optical center and the center of the first mirror is D1; the central connecting line of the first reflecting mirror and the second reflecting mirror is superposed with the Y axis, and the central distance between the first reflecting mirror and the second reflecting mirror is D2; the first reflector can rotate around a Z axis on an XY plane and forms an included angle A with the Y axis; the second reflector can rotate around an X axis on a YZ plane and forms an included angle B with a Y axis;
wherein the D1 and the D2 are fixed values, and the position adjustment information includes the included angles A and B.
Further, the control module is configured to determine position adjustment information (a, B) for the monitoring target from the position information (X, Y) of the monitoring target on the XY image coordinate system based on the following formula:
the XY image coordinate system takes the intersection point of the optical axis of the wide-angle lens and the plane of the CMOS sensor as an origin, and the X axis and the Y axis are respectively parallel to the X axis and the Y axis of the first XYZ coordinate system; fw is the focal length of the wide angle lens.
Further, the optical center position OPC and the optical axis direction OPX of the second camera optical alignment satisfy the following relational expression:
OPC=[D1×cos2A，-(D1×sin2A+D2)×cos2B+D2，-(D1×sin2A+D2)×sin2B]；
OPX=[-cos2A，sin2A×cos2B，sin2A×sin2B]。
further, the control module is further configured to: performing edge detection on the second image to obtain an edge map of the second image, wherein the pixel value of the edge point is 1, and the pixel values of other points are 0;
dividing the edge graph into M sub-graphs;
for each sub-image, calculating the difference value between the sub-image and the sub-image of the previous frame pixel by pixel, and obtaining the sum of the difference values;
comparing the sum of the differences with a first threshold, and if the sum of the differences is greater than the first threshold, determining that the sub-picture carries motion information and is available for video coding, otherwise, not further processing the sub-picture.
Further, the control module is further configured to: after the above-mentioned processing is completed for one of the subgraphs, one subgraph stored in the buffer is extracted for video coding.
Further, the wireless transmission module comprises a control unit and a transmitter;
the control unit is preset with a plurality of transmission modes including transmission signal power PtxAnd channel rate Rc(ii) a And the number of the first and second electrodes,
the control unit is configured to:
when the wireless channel state is degraded, selecting a transmission mode which can meet the preset error rate in the current wireless channel state from the plurality of transmission modes;
according to formula Pwireless=(P0+k×Ptx)×Rs×Tfr/RcDetermining the power consumption PwirelessAdding a minimum transmission mode as a transmission mode adapted to the current radio channel state, wherein P0For power consumption in relation to the baseband and the transmitter, k is the coefficient, RsTo the source data rate, TfrIs the time interval between adjacent frames in the video data.
Further, a dynamic source rate controller is arranged in the control unit and comprises a first PID controller and a second PID controller;
the first PID controller is configured to control the first threshold value such that a target number of the sub-pictures for video encoding satisfies a target data rate at which a figure of merit for the video encoding takes a value of 50, and a difference between the target number and an actual number of the sub-pictures is used as an input value;
the second PID controller is used to control the quality factor of the video encoding and it takes the difference between the target source data rate and the actual source data rate as an input value.
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The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 shows a schematic diagram of a framework of a video surveillance device for security monitoring according to the invention.
Detailed Description
Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. The following examples are provided by way of illustration in order to fully convey the spirit of the invention to those skilled in the art to which the invention pertains. Accordingly, the present invention is not limited to the embodiments disclosed herein.
As shown in fig. 1, the video monitoring apparatus for security monitoring according to the present invention may include a first camera module, a second camera module, a wireless transmission module, and a control module.
The first camera module is used for acquiring a first image of a large viewing angle range of a monitored area, and may have a wide-angle lens and a CMOS sensor. As an example, the wide angle lens may have a focal length of 8.5 mm.
The control module may identify a plurality of monitoring targets from the first image based on the deep learning and determine location information of the respective monitoring targets.
In the invention, the first image has lower resolution, so that the calculation time required by the control module for image processing of the first image is reduced, the control module is allowed to configure lower hardware resources, and faster response speed is realized.
The second camera module is used for respectively aligning each monitoring target and acquiring a second image related to the monitoring target, wherein the second image has higher resolution than the first image.
In particular, the second phaseThe machine module can respectively aim at each monitoring target according to the position information of each monitoring target in the first image to acquire the image of the monitoring target at high resolution, namely the second image. It will be readily understood by those skilled in the art that if the control module identifies N monitoring targets from the first image and determines the position information P of each monitoring target i of the N monitoring targetsiThen the second camera module can be based on each position information PiThe monitoring target i is aligned and a second image thereof is acquired.
According to the present invention, the second camera module may include an alignment unit and a second camera that is adjustable in focus, wherein: the alignment unit is used for changing an optical path entering the second camera according to the position adjusting information so as to enable the second camera to be optically aligned with the monitoring target; the second camera is used for adjusting the focal distance of the second camera according to the focal distance adjusting information so as to acquire a second image related to the monitored target.
The control module can calculate and obtain position adjustment information and focal length adjustment information of the monitoring target i according to the position information Pi of the monitoring target.
As an example, the alignment unit may enable adjustment of the optical alignment position of the second camera on a two-dimensional plane by means of a mirror.
For example, the alignment unit may comprise a first mirror and a second mirror, wherein the first and second mirrors are rotatable in a horizontal plane and in a vertical plane, respectively, by a motor, thereby providing two-dimensional adjustment of the optical alignment position.
The second camera may be a high-speed camera and the focal length may be adjustable.
According to the present invention, in the second camera module, in a first XYZ coordinate system having an origin at the center of the first mirror, the optical axis of the second camera is aligned with the X axis, and the distance between the optical center thereof and the center of the first mirror is D1; the central connecting line of the first reflecting mirror and the second reflecting mirror is superposed with the Y axis, and the central distance between the first reflecting mirror and the second reflecting mirror is D2; the first reflector can rotate around the Z axis on the XY plane and forms an included angle A with the Y axis; the second mirror is rotatable about the x-axis in the YZ-plane and forms an angle B with the Y-axis.
With the aid of the alignment unit, the second camera module can achieve optical alignment whose position can be changed, and the optical center position OPC and the optical axis direction OPX of its optical alignment can be expressed by the following formulas:
OPC=[D1×cos2A，-(D1×sin2A+D2)×cos2B+D2，-(D1×sin2A+D2)×sin2B]；
OPX=[-cos2A，sin2A×cos2B，sin2A×sin2B]。
thereby, it is allowed to realize optical alignment of the monitoring target having different positions by the second camera whose position is fixed, thereby acquiring a high-resolution image with respect to the monitoring target.
In the aligning unit of the present invention, the distances D1, D2 will be set to fixed values, and adjustment of the optical alignment position is achieved only by adjusting the included angles a and B. Accordingly, the position adjustment information may be composed of the angles a and B, which are determined based on the position information of the monitoring target determined based on the first image.
Specifically, when the first camera module acquires the first image, the control module may recognize the monitoring target i on the first image and acquire the position information P of the monitoring target i on the XY image coordinate systemi=（Xi,Yi) And the origin of the XY image coordinate system is the intersection point of the optical axis of the wide-angle lens and the plane of the CMOS sensor, and the X axis and the Y axis of the XY image coordinate system are parallel to the X axis and the Y axis of the first XYZ coordinate system respectively.
On the basis, the control module can be used for monitoring the position information (X) of the target i according to the following formulai,Yi) Determining position adjustment information (A) for monitoring the target ii,Bi）：
Where fw is the focal length of the wide angle lens.
Thus, in the second camera module, the information (A) can be adjusted according to the positioni,Bi) The alignment unit is adjusted to achieve optical alignment of the second camera with the monitored target i.
In the invention, through the arrangement of the first camera module, the second camera module and the control module, the identification of a plurality of monitoring targets in a large angle range and the high-resolution monitoring of each monitoring target can be quickly realized by a simple optical structure, and simultaneously, the spatial position relation among the monitoring targets can be conveniently determined without a plurality of high-definition cameras.
Further, the control module needs to generate corresponding monitoring video data based on the second image.
For this purpose, a second image I for the monitoring object IiThe control module may use, for example, a Sobel operator for the second image IiPerforming edge detection to obtain edge map EiThe pixel value of the edge point is 1, and the pixel values of the other points are 0.
Then, the edge map EiDivided into M sub-graphs Eij，j=1,…,M。
Next, for each subgraph EijCalculating sub-picture E pixel by pixelij(t) and the previous frame subpicture Eij(t-delta t) and adding the pixel value differences between two adjacent frames to obtain the Sum Sum of absolute difference valuesij。
Finally, Sum SumijComparing with a first threshold: if the Sum is SumijIf the value is larger than the first threshold value, the subgraph E is consideredijCarries motion information and uses it for subsequent video coding, otherwise sub-picture E will not be processed anymoreijAnd (5) further processing.
By the method, the part carrying the motion information can be screened from the second image and used for video coding, and redundant static information is discarded, so that the data amount required to be calculated in the video coding process can be greatly reduced, the video coding is more efficient, and the saving of calculation resources and wireless transmission resources is facilitated.
Further, unlike the previous frame-by-frame processing, in the control module of the present invention, the sub-picture units are pipelined, i.e., after the above pre-processing is completed for one sub-picture, the control module extracts one sub-picture stored in the buffer for the video encoding process accordingly, thereby allowing lower time delay and smaller buffer. For example, for a second image divided into 300 sub-images and having pixels of 160 × 120, the latency and buffer size can be reduced by a factor of about 300 by means of the invention compared to a video processing process performed in units of frames.
According to the invention, the wireless transmission module is used for sending the video data generated by the control module based on the second image to the outside, for example to the control center in a wireless communication mode.
In the present invention, the wireless transmission module may include a control unit and a transmitter, wherein the control unit may adjust its transmission mode according to the current wireless channel status to ensure the required bit error rate.
Power consumption P of wireless transmission module for transmitting video datawirelessCan be expressed by the following formula:
Pwireless=(P0+k×Ptx)×Rs×Tfr/Rc
wherein, P0For power consumption in relation to the baseband and the transmitter, k is the coefficient, PtxFor transmitting signal power, RsAs source data rate, RcFor channel rate, TfrIs the time interval between adjacent frames in the video data.
It can be seen that at channel rate RcWithout change, by increasing the power P of the transmitted signaltxThe signal-to-noise ratio SNR of the receiving end can be improved, so that the lower bit error rate BER is realized; at transmission signal power PtxWithout change, by reducing the signal rate RcThe BER can also be reduced.
In the wireless transmission module of the present invention, a plurality of transmission modes including the parameter P may be preset in the control unittxAnd channel rate Rc。
When the wireless channel state becomes poor, namely the error rate is greater than the preset error rate, the control unit selects a transmission mode which can meet the preset error rate in the current channel state from a plurality of preset transmission modes.
Then, according to the formula Pwireless=(P0+k×Ptx)×Rs×Tfr/RcDetermining the power consumption PwirelessThe minimum transmission mode is added as a transmission mode adapted to the current channel state.
In the wireless transmission module according to the present invention, by selecting the transmission mode with the minimum energy consumption increment from the modes satisfying the preset bit error rate BER, the energy consumption for preventing the increase of the bit error rate loss caused by the change of the channel state can be minimized, and compared with the conventional scheme of selecting the highest transmission rate satisfying the maximum bit error rate requirement, the energy efficiency of the wireless transmission module can be significantly improved.
Further, the control unit of the present invention, after determining the transmission mode, may also calculate a required source data rate Rs to maintain the transmission energy, and notify the control module of the rate Rs to control the output rate of its video data. This results in an optimum balance between energy consumption and data transmission quality, which is particularly advantageous for video surveillance devices for security surveillance, which require extensive arrangements, for example, in order to increase their service life.
Further, during use, the situation in the monitored area usually changes, and therefore, the size and number of the monitored objects in the video data usually change from frame to frame, resulting in a change in the distribution of the sub-images carrying motion information in the frames. Thus, if the first threshold is fixed, the number of subgraphs used for encoding will change in each frame. When the quality factor of the video data is also fixed, such variations will cause fluctuations in the source data rate. Even if the average source data rate of the entire video meets the channel rate, fluctuations in the source rate will cause a data rate mismatch between encoding and transmission. This data rate mismatch will require a larger buffer to buffer the relevant data to avoid random dropping of data, which puts higher demands on the hardware.
Therefore, a dynamic source rate controller is also provided in the control unit of the present invention for adjusting parameters according to the input video characteristics to reduce the buffer size required to meet such fluctuations while ensuring optimal power consumption, since such fluctuations also cause changes in the transmission power, resulting in more power consumption.
In particular, the dynamic source rate controller may comprise a first PID controller for controlling the first threshold value to be able to keep a target number of sub-pictures for encoding to meet the target data rate with a quality factor of 50, and a second PID controller for controlling the quality factor for video encoding.
For the image frame at the time t, the difference value between the target number and the actual number of the sub-images is used as the input of a first PID controller; and the difference between the target source data rate and the actual source data rate is used as an input to the second PID controller. Thus, the PID-based controller requires 74-83% less buffer than the fixed parameter scheme, and the quality loss of the video data is less than 0.07.
Although the present invention has been described in connection with the embodiments illustrated in the accompanying drawings, it will be understood by those skilled in the art that the embodiments described above are merely exemplary for illustrating the principles of the present invention and are not intended to limit the scope of the present invention, and that various combinations, modifications and equivalents of the above-described embodiments may be made by those skilled in the art without departing from the spirit and scope of the present invention.
Claims (10)
1. A video monitoring device for safety monitoring comprises a first camera module, a second camera module, a wireless transmission module and a control module;
the first camera module is used for acquiring a first image of a monitoring area in a large visual angle range at a first resolution;
the control module is used for identifying at least one monitoring target based on the first image and determining position information of each monitoring target;
the second camera module is used for optically aligning the monitoring targets according to the position information at a second resolution and acquiring a second image about the monitoring targets, wherein the second resolution is higher than the first resolution;
the control module is used for generating video data based on the second image and determining a transmission mode of the wireless transmission module according to the video data and a wireless communication channel state;
the wireless transmission module is used for transmitting the video data in a wireless mode under the determined transmission mode.
2. The video surveillance apparatus for security monitoring according to claim 1, wherein the first camera module has a wide-angle lens and a CMOS sensor, and the control module identifies the monitoring target based on deep learning.
3. The video surveillance apparatus for security monitoring according to claim 2, wherein:
the control module is arranged to acquire position adjustment information and focus adjustment information about the monitoring target according to the position information of the monitoring target; and the number of the first and second electrodes,
the second camera module includes an alignment unit and a second camera that is adjustable in focus;
the alignment unit is used for changing an optical path entering the second camera according to the position adjustment information so as to enable the second camera to be aligned with the monitoring target optically;
and the second camera is used for adjusting the focal length according to the focal length adjusting information so as to obtain a second image of the monitoring target.
4. The video surveillance apparatus for safety monitoring according to claim 3, wherein the alignment unit comprises a first mirror and a second mirror; and the number of the first and second electrodes,
the second camera module is configured to, under a first XYZ coordinate system with a center of the first mirror as an origin: the optical axis of the second camera is aligned with the X-axis and the distance between its optical center and the center of the first mirror is D1; the central connecting line of the first reflecting mirror and the second reflecting mirror is superposed with the Y axis, and the central distance between the first reflecting mirror and the second reflecting mirror is D2; the first reflector can rotate around a Z axis on an XY plane and forms an included angle A with the Y axis; the second reflector can rotate around an X axis on a YZ plane and forms an included angle B with a Y axis;
wherein the D1 and the D2 are fixed values, and the position adjustment information includes the included angles A and B.
5. The video surveillance apparatus for security monitoring according to claim 4, wherein the control module is configured to determine the position adjustment information (A, B) for the monitoring target based on the position information (X, Y) of the monitoring target on the XY image coordinate system based on the following formula:
the XY image coordinate system takes the intersection point of the optical axis of the wide-angle lens and the plane of the CMOS sensor as an origin, and the X axis and the Y axis are respectively parallel to the X axis and the Y axis of the first XYZ coordinate system; fw is the focal length of the wide angle lens.
6. The video surveillance apparatus for security surveillance according to claim 5, wherein the optical center position OPC and the optical axis direction OPX of the optical alignment of the second camera satisfy the following relation:
OPC=[D1×cos2A，-(D1×sin2A+D2)×cos2B+D2，-(D1×sin2A+D2)×sin2B]；
OPX=[-cos2A，sin2A×cos2B，sin2A×sin2B]。
7. the video surveillance apparatus for security monitoring of claim 6, wherein the control module is further configured to:
performing edge detection on the second image to obtain an edge map of the second image, wherein the pixel value of the edge point is 1, and the pixel values of other points are 0;
dividing the edge graph into M sub-graphs;
for each sub-image, calculating the difference value between the sub-image and the sub-image of the previous frame pixel by pixel, and obtaining the sum of the difference values;
comparing the sum of the differences with a first threshold, and if the sum of the differences is greater than the first threshold, determining that the sub-picture carries motion information and is available for video coding, otherwise, not further processing the sub-picture.
8. The video surveillance apparatus for security monitoring of claim 7, wherein the control module is further configured to: after the above-mentioned processing is completed for one of the subgraphs, one subgraph stored in the buffer is extracted for video coding.
9. The video surveillance apparatus for security monitoring according to claim 8, wherein the wireless transmission module includes a control unit and a transmitter;
the control unit is preset with a plurality of transmission modes including transmission signal power PtxAnd channel rate Rc(ii) a And the number of the first and second electrodes,
the control unit is configured to:
when the wireless channel state is degraded, selecting a transmission mode which can meet the preset error rate in the current wireless channel state from the plurality of transmission modes;
according to formula Pwireless=(P0+k×Ptx)×Rs×Tfr/RcDetermining the power consumption PwirelessAdding a minimum transmission mode as a transmission mode adapted to the current radio channel state, wherein P0K is a coefficient relating to power consumption of the baseband and transmitter，RsTo the source data rate, TfrIs the time interval between adjacent frames in the video data.
10. The video monitoring apparatus for safety monitoring according to claim 9, wherein the control unit is provided therein with a dynamic source rate controller including a first PID controller and a second PID controller;
the first PID controller is configured to control the first threshold value such that a target number of the sub-pictures for video encoding satisfies a target data rate at which a figure of merit for the video encoding takes a value of 50, and a difference between the target number and an actual number of the sub-pictures is used as an input value;
the second PID controller is used to control the quality factor of the video encoding and it takes the difference between the target source data rate and the actual source data rate as an input value.
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