CN113949814B - Gun-ball linkage snapshot method, device, equipment and medium - Google Patents
Gun-ball linkage snapshot method, device, equipment and medium Download PDFInfo
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- CN113949814B CN113949814B CN202111318963.2A CN202111318963A CN113949814B CN 113949814 B CN113949814 B CN 113949814B CN 202111318963 A CN202111318963 A CN 202111318963A CN 113949814 B CN113949814 B CN 113949814B
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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
- H04N23/80—Camera processing pipelines; Components thereof
Abstract
The application relates to the field of security and protection monitoring, and provides a gun-ball linkage snapshot method, device, equipment and medium, which are used for solving the problem of how to realize 360-degree panoramic tracking snapshot of a camera of a ball camera on the basis of using a cable. The method is applied to a microcontroller of a panoramic module of gun-ball linkage equipment, the panoramic module further comprises a panoramic camera, the equipment further comprises a dome camera of a dome camera module, and the panoramic module and the dome camera module are connected through a cable, and the method comprises the following steps: and controlling the rotation of the dome camera based on the physical coordinates of the target in the coordinate system where the dome camera is located, and if the dome camera rotates in the first plane along the first direction and the rotation angle of the dome camera in the first plane is a first angle, controlling the dome camera to rotate in the first plane along the second direction until the rotation angle is a second angle, and controlling the dome camera to shoot the target image.
Description
Technical Field
The application relates to the field of security monitoring and provides a gun-ball linkage snapshot method, device, equipment and medium.
Background
In security monitoring technical field, rifle ball linkage equipment plays very important effect. The gun-ball linkage equipment combines the gun camera and the ball camera, can monitor the panorama of the target area through the panorama camera in the gun camera, and tracks and captures the detail image of the target area through the adjustment multiplying power of the ball camera in the ball camera, thereby performing clearer monitoring on the target area.
The existing gun-ball linkage equipment comprises 2 digital signal processing (Digital Signal Processing, DSP) platforms, one DSP platform is used for reading data acquired by a panoramic camera, the other DSP platform is used for reading data acquired by the camera of the ball machine, and signal transmission is carried out between the two DSP platforms through sliding of a sliding ring, however, the sliding ring is easy to cause instability of signal transmission.
Disclosure of Invention
The embodiment of the application provides a gun-ball linkage snapshot method, device, equipment and medium, which are used for solving the problem of how to realize 360-degree panoramic tracking snapshot of a camera of a ball camera on the basis of using a cable.
In a first aspect, the present application provides a gun-ball linkage snapshot method, applied to a microcontroller of a panoramic module of a gun-ball linkage device, the panoramic module further includes a panoramic camera, the device further includes a ball camera of a ball machine module, the panoramic module and the ball machine module are connected by a cable, and the method includes:
Controlling the rotation of the dome camera based on the physical coordinates of the target in the coordinate system where the dome camera is located; the physical coordinates are obtained by converting the image coordinates of the target in a first image, wherein the first image is a panoramic image shot by the panoramic camera;
if the ball camera rotates along a first direction on a first plane and the rotation angle of the ball camera on the first plane is a first angle, controlling the ball camera to rotate along a second direction on the first plane until the rotation angle is a second angle; the second direction and the first direction are opposite to each other in the clockwise direction, the first angle is smaller than 360 degrees, and the difference value between the first angle and the 360 degrees is smaller than or equal to the field angle of the dome camera in the first plane;
and controlling the dome camera to shoot, and obtaining a second image of the target.
In this application embodiment, through the cable connection between panorama module and the ball machine module in the rifle ball linkage equipment that this application embodiment provided, the cable can improve the signal transmission quality between panorama module and the ball machine module, and the cost of cable is lower than the cost of sliding ring, can reduce rifle ball linkage equipment's hardware cost. And when the rotation angle of the ball camera reaches a first angle, the ball camera is controlled to rotate in the opposite direction, and the cable winding caused by the fact that the rotation angle of the ball camera exceeds 360 degrees can be avoided because the first angle is smaller than 360 degrees. And the difference value between the first angle and 360 degrees is smaller than or equal to the field angle of the ball camera in the first plane, so that the ball camera can acquire all areas under 360-degree rotation, and 360-degree panoramic tracking snapshot is realized under the condition of using a cable.
In a possible embodiment, the panorama module further includes a digital signal processing platform, controlling rotation of the dome camera based on physical coordinates of a target in a coordinate system in which the dome camera is located, including:
acquiring physical coordinates of a target sent by the digital signal processing platform under a coordinate system where the dome camera is located;
controlling the camera of the dome camera to rotate on the first plane based on the first coordinate value of the physical coordinate;
controlling the camera of the dome camera to rotate on a second plane based on a second coordinate value of the physical coordinate; wherein the first plane and the second plane are perpendicular to each other.
In the embodiment of the application, only one digital signal processing platform is adopted, and compared with gun-ball linkage equipment based on multiple platforms, the hardware cost of the gun-ball linkage equipment is reduced. And the microcontroller can accurately control the camera of the dome camera to rotate to a specified position according to the physical coordinates of the target, so that an image of the target is shot.
In one possible embodiment, controlling the rotation of the dome camera in the first plane along a second direction includes:
controlling the dome camera to rotate 180 degrees on the second plane;
And controlling the dome camera to rotate along the second direction on the first plane until the rotation angle is a second angle.
In this embodiment of the application, microcontroller is to control ball camera rotatory 180 degrees on the second plane, and the speed that ball camera rotated back to the second angle can be improved to the horizontal rotation of second direction on the first plane of again control ball camera.
In a possible embodiment, after controlling the dome camera to take a picture, the method further includes:
and taking the center point of the second image as the center, controlling the second image to rotate 180 degrees along the first direction, and obtaining the rotated second image.
In this embodiment of the application, after the ball camera rotates 180 degrees on the second plane, also rotate the second image, avoid because the image content upset that the rotation of ball camera on the second plane arouses, make things convenient for follow-up to the target continuously.
In one possible embodiment, controlling the rotation of the dome camera in a first plane includes:
controlling the dome camera to rotate on the first plane at a first speed;
If the rotation angle of the dome camera on the first plane is a third angle, the dome camera is controlled to continuously rotate on the first plane according to a second speed; wherein the third angle is smaller than the first angle and the second speed is smaller than the first speed.
In this application embodiment, when the rotation angle of ball camera is close first angle, control ball camera speed reduction earlier, avoid ball camera's rotational speed too fast, microcontroller comes not to control ball camera to turn to, leads to ball camera's rotation angle to surpass first angle, surpasses 360 degrees even.
In a possible embodiment, controlling the dome camera to capture a second image of the target includes:
if the target in the second image is an incomplete target, reducing the multiplying power; or,
if the target in the second image is a complete target and the area occupation ratio of the complete target in the second image is smaller than the preset occupation ratio, the multiplying power is increased;
and controlling the dome camera to shoot by adopting the adjusted multiplying power to obtain an adjusted second image.
In the embodiment of the application, if the target in the second image is an incomplete target, the multiplying power is adjusted to be small, and if the area of the complete target in the second image is smaller, the multiplying power is adjusted to be large, so that the complete and clear target in the second image shot by the rotary camera can be ensured.
In one possible embodiment, the apparatus further comprises a heating mist elimination module, the method further comprising:
and if the internal temperature of the equipment is smaller than the preset temperature and/or the internal humidity of the equipment is larger than the preset humidity, controlling to start the heating defogging module to heat the windows of the panoramic camera and the dome camera.
In this embodiment, when rifle ball linkage equipment's inside temperature is lower and/or inside humidity is higher, control starts heating defogging module, heats defogging processing to the window of panoramic camera and ball camera, guarantees that the window of panoramic camera and ball camera does not have fog, can shoot clear image.
In a second aspect, a gun-ball linkage snapshot device is provided, the device is arranged in a microcontroller of a panoramic module of gun-ball linkage equipment, the panoramic module further comprises a panoramic camera, the equipment further comprises a ball camera of a ball machine module, the panoramic module is connected with the ball machine module through a cable, and the device comprises:
the control module is used for controlling the rotation of the dome camera based on the physical coordinates of the target under the coordinate system where the dome camera is located; the physical coordinates are obtained by converting the image coordinates of the target in a first image, wherein the first image is a panoramic image shot by the panoramic camera;
The control module is further configured to control the ball camera to rotate in a second direction on the first plane until the rotation angle is a second angle if the ball camera rotates in the first direction on the first plane and the rotation angle of the ball camera on the first plane is the first angle; the second direction and the first direction are opposite to each other in the clockwise direction, the first angle is smaller than 360 degrees, and the difference value between the first angle and the 360 degrees is smaller than or equal to the field angle of the dome camera in the first plane;
and the obtaining module is used for controlling the camera of the dome camera to shoot and obtaining a second image of the target.
In a possible embodiment, the panorama module further comprises a digital signal processing platform, and the control module is specifically configured to:
acquiring physical coordinates of a target sent by the digital signal processing platform under a coordinate system where the dome camera is located;
controlling the camera of the dome camera to rotate on the first plane based on the first coordinate value of the physical coordinate;
controlling the camera of the dome camera to rotate on a second plane based on a second coordinate value of the physical coordinate; wherein the first plane and the second plane are perpendicular to each other.
In a possible embodiment, the control module is specifically configured to:
controlling the dome camera to rotate 180 degrees on the second plane;
and controlling the dome camera to rotate along the second direction on the first plane until the rotation angle is a second angle.
In a possible embodiment, the obtaining module is further configured to: and taking the center point of the second image as the center, controlling the second image to rotate 180 degrees along the first direction, and obtaining the rotated second image.
In a possible embodiment, the control module is specifically configured to:
controlling the dome camera to rotate on the first plane at a first speed;
if the rotation angle of the dome camera on the first plane is a third angle, the dome camera is controlled to continuously rotate on the first plane according to a second speed; wherein the third angle is smaller than the first angle and the second speed is smaller than the first speed.
In a possible embodiment, the obtaining module is specifically configured to:
if the target in the second image is an incomplete target, reducing the multiplying power; or,
if the target in the second image is a complete target and the area occupation ratio of the complete target in the second image is smaller than the preset occupation ratio, the multiplying power is increased;
And controlling the dome camera to shoot by adopting the adjusted multiplying power to obtain an adjusted second image.
In one possible embodiment, the apparatus further comprises a heating defogging module, the control module further being for:
and if the internal temperature of the equipment is smaller than the preset temperature and/or the internal humidity of the equipment is larger than the preset humidity, controlling to start the heating defogging module to heat the windows of the panoramic camera and the dome camera.
In a third aspect, there is provided a gun-ball linkage apparatus comprising:
at least one processor, and
a memory communicatively coupled to the at least one processor;
wherein the memory stores instructions executable by the at least one processor, the at least one processor implementing the method of any one of the first aspects by executing the instructions stored by the memory.
In a fourth aspect, a computer readable storage medium storing computer instructions that, when run on a computer, cause the computer to perform the method of any of the first aspects.
Drawings
FIG. 1 is a schematic diagram of a prior art gun-ball linkage;
Fig. 2 is a first structural diagram of a gun-ball linkage device according to an embodiment of the present application;
fig. 3 is a flowchart of a gun-ball linkage snapshot method provided in an embodiment of the present application;
fig. 4 is a schematic rotation diagram of a camera of a dome camera according to an embodiment of the present application;
fig. 5 is a second rotation schematic diagram of a camera of a dome camera according to an embodiment of the present application;
FIG. 6 is a schematic diagram of a second image before and after rotation according to an embodiment of the present disclosure;
fig. 7 is a second structural diagram of a gun-ball linkage device according to an embodiment of the present application;
fig. 8 is a structural diagram of a gun-ball linkage snapshot device provided in an embodiment of the present application;
fig. 9 is a third structural diagram of a gun-ball linkage device according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure. Embodiments and features of embodiments in this application may be combined with each other arbitrarily without conflict. Also, while a logical order of illustration is depicted in the flowchart, in some cases the steps shown or described may be performed in a different order than presented.
The terms first and second in the description and claims of the present application and in the above-described figures are used for distinguishing between different objects and not for describing a particular sequential order. Furthermore, the term "include" and any variations thereof is intended to cover non-exclusive protection. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.
In the embodiments of the present application, "a plurality" may mean at least two, for example, two, three or more, and the embodiments of the present application are not limited.
Before describing the target capturing method provided in the embodiments of the present application, for convenience of understanding, a structure of an existing gun-ball linkage device is first described.
Fig. 1 is a schematic structural diagram of a conventional gun-ball linkage device. The existing gun-ball linkage includes a panoramic module 101, a ball machine module 102, and a slip ring 103 connecting the panoramic module 101 and the ball machine module 102. The panorama module 101 comprises a first DSP platform 104, a panorama camera 105, a panorama light supplementing module 106, a Microcontroller (MCU) 107. The dome camera module 102 comprises a second DSP platform 108, a dome camera 109, a dome light supplementing module 110 and a zoom module 111.
The first DSP platform 104 may obtain data collected by the panoramic camera 105, control the panoramic light supplementing module 106 to supplement light to a shooting area of the panoramic camera 105, and send an instruction to the microcontroller 107. The second DSP platform 108 may control the camera light compensating module 110 to compensate light for the shooting area of the camera 109, and control the zoom module 111 to adjust the magnification of the camera 109.
However, in the existing gun-ball linkage device, signals are transmitted between the first DSP platform 104 and the second DSP platform 108 through the slip ring 103, so that the common slip ring 103 is not stable in signal transmission, and the cost of the slip ring 103 capable of ensuring the signal transmission quality is high. In view of this, the embodiment of the present application provides a gun-ball linkage, and a structure of the gun-ball linkage is described below.
Referring to fig. 2, a schematic structural diagram of a gun-ball linkage device according to an embodiment of the present application includes a panorama module 201, a dome camera module 202, and a cable 203 connecting the panorama module 201 and the dome camera module 202, where the cable 203 is a coaxial cable, a twisted pair cable, or the like. Wherein panoramic module 201 includes panoramic camera 204, DSP platform 205, and microcontroller 206, and spherical camera module 202 includes spherical camera 207. The functions of the respective modules are described below.
The panoramic camera 204 specifically includes a panoramic fixed-focus image Sensor (Sensor) for acquiring a panoramic image of a photographing area, and transmitting the acquired RAW data to the DSP platform 205. The dome camera 207 specifically includes a dome camera image Sensor (Sensor) for acquiring a detailed image of a partial area in the photographing area and transmitting the acquired RAW data to the DSP platform 205. The RAW data represents data in RAW format that is not compressed yet. The DSP platform 205 is configured to receive image data collected by the panoramic camera 204 and the dome camera 207, and send instructions to the microcontroller 206. The microcontroller 206 is configured to receive an instruction sent by the DSP platform 205, transmit a signal to the dome camera module 202 via the cable 203, and control the rotation of the dome camera 207.
Compared with the gun ball linkage equipment based on multiple DSP platforms, the gun ball linkage equipment provided by the embodiment of the application only adopts one DSP platform, so that the hardware design difficulty and the software design complexity are greatly reduced, and the product development cost and the hardware cost are indirectly reduced. And the panoramic module and the ball machine module are connected through a cable, so that compared with a slip ring in the existing gun-ball linkage equipment, the quality of data transmission can be remarkably improved, the cost of the cable is lower, and the hardware cost of the gun-ball linkage equipment can be further reduced.
Because the existing ball camera can rotate by 360 degrees, the cable is considered to be wound along with the 360-degree rotation of the ball camera, and the embodiment of the application provides a gun ball linkage snapshot method which can be executed by gun ball linkage equipment and can be realized by a microcontroller in the gun ball linkage equipment.
The following describes a gun-ball linkage device in connection with fig. 2, taking a gun-ball linkage snapshot method executed by a microcontroller of a panoramic module of the gun-ball linkage device as an example. Referring to fig. 3, a flowchart of a gun-ball linkage snapshot method is provided in an embodiment of the present application.
S301, controlling the rotation of the dome camera based on physical coordinates of the target under a coordinate system where the dome camera is located.
Specifically, after the Digital Signal Processing (DSP) platform obtains the physical coordinates of the target in the coordinate system where the dome camera is located, the physical coordinates are sent to the microcontroller. The physical coordinates of the target are obtained by converting the coordinates of the target in a first image, wherein the first image is a panoramic image shot by a panoramic camera. The DSP platform is described in detail below, with reference to how the DSP platform specifically obtains physical coordinates of the target.
S1.1, acquiring a panoramic image sent by the panoramic camera.
The panoramic camera acquires panoramic images within a 360-degree range in real time at a preset snapshot speed, such as 25 frames/second, through a panoramic fixed-focus image sensor. The panoramic camera can directly send all collected panoramic images to the DSP platform, and partial panoramic images can be extracted from all the panoramic images according to a certain interval sequence, for example, every 3 frames are extracted, and the extracted partial panoramic images are sent to the DSP platform, so that the DSP platform can obtain the panoramic images sent by the panoramic camera.
S1.2, detecting whether an object exists in the panoramic image.
Specifically, after receiving the panoramic image, the DSP platform may detect whether a target exists in the panoramic image of the current frame, where the target may be a person, a motor vehicle, a non-motor vehicle, or the like, and may determine whether the target exists in the panoramic image of the current frame through a pre-trained target detection model, for example. If no target exists in the current frame panoramic image, continuing to detect the next frame panoramic image. If the target exists in the current frame panoramic image, the current frame panoramic image is the first image, and the S1.3 is continuously executed, namely the image coordinates of the target in the first image are determined.
S1.3, determining the image coordinates of the target in the first image.
In order to facilitate determining the position of the target in the first image, the DSP platform establishes a planar rectangular coordinate system with a first preset point of the first image as a coordinate origin, where the first preset point may be a center point of the first image, or a point of four vertices of the first image, for example, a vertex of an upper left corner of the first image, or any point in the first image. The DSP platform may use the coordinates of the center point or any point of the target rectangular frame in the first image as the image coordinates of the target in the first image, where the target rectangular frame refers to a rectangular frame formed by the area where the target is located. For example, the vertex of the first image at the lower left corner is the origin (0, 0) of coordinates, and the image coordinates are P (x, y).
S1.4, converting the image coordinates into physical coordinates.
After the DSP platform obtains the image coordinates of the target, the image coordinates of the target can be converted into physical coordinates of the target under the coordinate system where the camera of the dome camera is located. For example, the DSP platform establishes a spherical coordinate system with the position of the camera of the dome camera as the origin of coordinates, and converts the image coordinates in the planar rectangular coordinate system into physical coordinates in the spherical coordinate system according to the conversion relationship between the planar rectangular coordinate system and the spherical coordinate system.
It should be noted that, after determining that there may be a plurality of targets in the first image, the DSP platform may sequentially determine, according to the sequence of detecting the plurality of targets, the target Identifiers (IDs) of the plurality of targets and the image coordinates corresponding to each target ID, and sequentially convert the image coordinates corresponding to each target ID into physical coordinates, where the target IDs are used to uniquely identify each target.
Further, after the microcontroller obtains the physical coordinates of the target, the dome camera may be controlled to rotate based on the physical coordinates.
Specifically, the physical coordinates include a first coordinate value and a second coordinate value, and the microcontroller can control the camera of the dome camera to rotate on a first plane based on the first coordinate value of the physical coordinates and control the camera of the dome camera to rotate on a second plane based on the second coordinate value of the physical coordinates. The first plane and the second plane are perpendicular to each other, for example, the first plane is a horizontal plane, the second plane is a vertical plane, or the first plane is a vertical plane, the second plane is a horizontal plane, the rotation angle of the dome camera in the horizontal plane is a horizontal rotation angle, and the rotation angle of the dome camera in the vertical plane is a vertical rotation angle. Specifically, for example, the image coordinates P (x, y) are converted into physical coordinates P (α, β), where α is a first coordinate value, that is, a rotation angle of the dome camera in a first plane, and β is a second coordinate value, that is, a rotation angle of the dome camera in a second plane.
S302, if the dome camera rotates along a first direction on a first plane, and the rotation angle of the dome camera on the first plane is a first angle, the dome camera is controlled to rotate along a second direction on the first plane until the rotation angle is a second angle.
Because the cable can not 360 degrees rotations, the ball camera in this application embodiment can not 360 degrees rotations, and when the rotation angle of ball camera on first plane reached the angle of predetermineeing, only can rotate in the opposite direction to avoid the cable to follow the cable winding or the damage that 360 degrees rotations of ball camera led to.
Specifically, if the ball camera rotates along the first direction on the first plane, and the rotation angle of the ball camera on the first plane is the first angle, the ball camera is controlled to rotate along the second direction on the first plane until the rotation angle of the ball camera on the first plane is the second angle.
The second direction and the first direction are opposite to each other in a clockwise direction, for example, the first direction is clockwise, the second direction is counterclockwise, or the first direction is counterclockwise, and the second direction is clockwise. The first angle is smaller than 360 degrees, and the difference between the first angle and 360 degrees is smaller than or equal to the field angle of the dome camera on the first plane. For example, the first plane is a horizontal plane, the field angle in the first plane is a horizontal field angle, if the horizontal field angle of the dome camera is 10 °, the difference between the first angle and 360 ° is less than or equal to 10 °, that is, the first angle is greater than or equal to 350 °, the first angle may specifically be 355 °, and the second angle may be 0 °.
For example, the second angle is 0 °, the first angle is 355 °, and the dome camera can only rotate horizontally clockwise or horizontally counterclockwise within an angle range of 0 ° to 355 °.
The microcontroller controls the rotation of the dome camera from the first angle to the second angle in two ways, as described below.
In the first mode, the microcontroller directly controls the camera of the ball camera to rotate along the second direction on the first plane until the rotation angle of the camera of the ball camera on the first plane is the second angle.
For example, when the dome camera is rotated horizontally in a clockwise direction to 355 °, the dome camera is directly controlled to be rotated horizontally from 355 ° back to 0 ° in a counterclockwise direction.
Referring to fig. 4, in a first rotation schematic diagram of the dome camera provided in the embodiment of the present application, a small rectangular frame on a circle represents the dome camera, a region between dotted lines represents a horizontal view angle of the dome camera, 0 ° is a second angle, and 355 ° is a first angle. Fig. 4 (1) is a schematic view of the dome camera rotated to a first angle along a first direction, wherein the direction of the curved arrow indicates the first direction, i.e., clockwise. Fig. 4 (2) is a schematic view of the dome camera rotated to a second angle along a second direction, wherein the direction of the curved arrow indicates the second direction, i.e., the counterclockwise direction.
And in a second mode, the microcontroller controls the camera of the ball machine to rotate 180 degrees on the second plane, and controls the camera of the ball machine to continue rotating along the second direction on the first plane until the rotation angle of the camera of the ball machine on the first plane is a second angle.
For example, when the dome camera is rotated horizontally in a clockwise direction to 355 °, the dome camera is controlled to vertically flip 180 °, the horizontal rotation angle of the dome camera is 175 °, and then the dome camera is controlled to continue to rotate horizontally in a counterclockwise direction from 175 ° back to 0 °.
Referring to fig. 5, in a second rotation schematic diagram of the dome camera provided in the embodiment of the present application, a small rectangular frame on a circle represents the dome camera, a region between dotted lines represents a horizontal field angle of the dome camera, 355 ° is a first angle, and 0 ° is a second angle. Fig. 5 (1) is a schematic view of the dome camera rotated to a first angle along a first direction, wherein the curved arrow direction indicates the first direction, i.e., clockwise direction. Fig. 5 (2) is a schematic view of the camera head after rotating 180 degrees on the second plane, wherein the direction of the curved arrow indicates the second direction, i.e. the counterclockwise direction, indicating that the camera head will continue to rotate in the counterclockwise direction. Fig. 5 (3) is a schematic view of the dome camera rotated to a second angle along a second direction, wherein the direction of the curved arrow indicates the second direction, i.e., the counterclockwise direction.
According to the embodiment of the application, the camera of the ball camera is directly controlled to vertically overturn by 180 degrees, and then horizontally rotate, compared with the first mode, the speed is faster, and the camera of the ball camera is facilitated to quickly return to the second angle.
Further, after the dome camera is rotated to the second angle, the target may be continuously tracked along the first direction. For example, after the dome camera is horizontally rotated to 0 ° in the counterclockwise direction, the target can be continuously tracked by horizontally rotating in the clockwise direction.
In the second mode provided in this embodiment of the present application, since the dome camera rotates 180 degrees on the second plane, the captured image is inverted, so in this embodiment of the present application, the second image is controlled to rotate 180 degrees along the first direction with the center point of the second image as the center, so as to obtain the rotated second image, which is convenient for follow-up continuous tracking of the target.
Referring to fig. 6, a schematic diagram of a second image before and after rotation is provided in an embodiment of the present application, a rectangular frame represents the second image, and a trolley represents a target. Fig. 6 (1) is a schematic diagram of the second image before rotation, the trolley is on the right side of the center point of the second image, and fig. 6 (2) is a schematic diagram of the second image after rotation, the trolley is on the left side of the center point of the second image.
Considering that the rotation speed of the camera of the dome camera is too fast, when the first angle is reached, the camera of the dome camera may not be controlled to rotate in the opposite direction, so that the rotation angle of the camera of the dome camera exceeds the first angle and even exceeds 360 degrees. Therefore, in the embodiment of the application, when the rotation angle of the ball camera on the first plane approaches the first angle, the ball camera is controlled to reduce the rotation speed.
Specifically, when the microcontroller controls the ball camera to rotate on the first plane according to the first speed, if the rotation angle of the ball camera on the first plane is a third angle, the microcontroller controls the ball camera to continue to rotate on the first plane according to the second speed. Wherein the third angle is smaller than the first angle, e.g. the first angle is 355 °, and the third angle is 305 °. The second speed is less than the first speed, e.g., the second speed is half the value of the first speed, or the second speed is any value less than the first speed.
Fig. 7 is a schematic structural diagram of a gun-ball linkage device according to an embodiment of the present application. The gun-ball linkage device comprises a DSP platform 701, a panoramic camera 702, a dome camera 703 and a microcontroller 704, and specific functions of the DSP platform 701, the panoramic camera 702, the dome camera 703 and the microcontroller 704 are described in the foregoing, which is not repeated herein.
The gun-ball linkage shown in fig. 7 also includes a ball machine PTZ module 705 and a rotational limit module 706. A Pan/Tilt/Zoom (PTZ) module 705 is used to control the rotation of the dome camera 703 in the first plane and/or the second plane. The rotation limiting module 706 is configured to detect whether a rotation angle of the dome camera 703 on the first plane reaches a third angle and the first angle.
For example, the dome camera PTZ module 705 may control the horizontal rotation and/or vertical rotation of the dome camera 703, and when the dome camera 703 needs to rotate, the DSP platform 701 sends an instruction to the microcontroller 704, and after the microcontroller 704 receives the instruction, the dome camera PTZ module 705 is controlled, and a motion parameter after the rotation of the dome camera 703, such as a current position coordinate of the dome camera 703, is returned to the DSP platform 701, so that the DSP platform 701 determines whether the dome camera 703 rotates to a specified position.
The rotation limit module 706 may detect whether the horizontal rotation angle of the dome camera 703 approaches a limit value, and whether the horizontal rotation angle of the dome camera 703 reaches the limit value. When the dome camera 703 rotates horizontally in the clockwise direction to the limit value, the rotation limit module 706 limits the dome camera 703 from rotating horizontally in the clockwise direction, and the dome camera 703 can only rotate horizontally in the counterclockwise direction.
S303, controlling the camera of the dome camera to shoot, and obtaining a second image of the target.
Specifically, after the microcontroller controls the camera of the dome camera to rotate to the physical coordinates, the camera of the dome camera can be controlled to shoot, and a second image of the target is obtained. The camera of the dome camera is provided with a zoom image sensor of the dome camera, the multiplying power can be adjusted according to the specific condition of the target in the second image, and the complete and clear target can be ensured to be captured.
Considering that the target contour may exceed the shot area of the dome camera, the dome camera is caused to snap to an incomplete target, such as to the lower half of a person. Therefore, after the second image of the target is obtained in the embodiment of the present application, whether the target in the second image is a complete target may be detected first, so as to ensure that the complete target can be captured.
Specifically, if the target in the second image is an incomplete target, the multiplying power is reduced, the camera of the dome camera is controlled to shoot by adopting the adjusted multiplying power, the adjusted second image is obtained, and the target in the adjusted second image is ensured to be the complete target.
Considering that the target is far away from the dome camera, the area ratio of the target in the second image is too small, which is unfavorable for viewing the details of the target. Therefore, after determining that the target in the second image is a complete target in the embodiment of the application, the area ratio of the complete target in the second image can be detected, so that a clear target can be captured.
Specifically, if the target in the second image is a complete target and the area ratio of the complete target in the second image is smaller than the preset ratio, the magnification is adjusted, the camera of the dome camera is controlled to take a picture by adopting the adjusted magnification, the adjusted second image is obtained, the target in the adjusted second image is ensured to be the complete target, and the area ratio of the complete target in the adjusted second image is larger than or equal to the preset ratio, and the preset ratio is, for example, 30%.
With continued reference to fig. 7, the gun-ball linkage device further includes a zoom control module 707 of the ball machine, and if a detail is required to be checked with a high magnification or a large scene is required to be checked with a low magnification, an instruction can be sent to the zoom control module 707 of the ball machine through the DSP platform 701 to adjust the magnification, and meanwhile, the module has a focusing function, and can automatically complete focusing operation after zooming is completed.
Considering that when the ambient temperature is too low, the internal temperature of the device may be too low, which results in unstable operation of the device and even unable to start, and in addition, when the ambient temperature changes severely, or the internal humidity of the device is large, the window (i.e. glass lens) of the camera is easy to form water mist. Therefore, in this application embodiment, rifle ball linkage equipment still includes heating defogging module, if rifle ball linkage equipment's inside temperature and/or inside humidity satisfy the condition of predetermineeing, then control start heating defogging module.
The preset conditions are various, and are described below.
First, the internal temperature of the device is less than a preset temperature.
The microcontroller can acquire the internal temperature of the gun-ball linkage equipment in real time, for example, a temperature sensor is arranged in the gun-ball linkage equipment, the detected internal temperature is sent to the microcontroller, and the preset temperature is the minimum temperature which is preset and can ensure the normal operation of the equipment. And the microcontroller judges the internal temperature and the preset temperature, and if the internal temperature is smaller than the preset temperature, the heating defogging module is controlled to be started to heat the windows of the panoramic camera and the dome camera.
Second, the internal humidity of the device is greater than the preset humidity.
The microcontroller can acquire the internal humidity of the gun ball linkage equipment in real time, for example, a humidity sensor is arranged in the gun ball linkage equipment, the detected internal humidity is sent to the microcontroller, and the preset humidity is the minimum humidity for window fogging which is preset. The microcontroller judges the internal humidity and the preset humidity, if the internal humidity is greater than the preset humidity, the heating defogging module is controlled to be started, and the windows of the panoramic camera and the dome camera are heated.
Third, the internal temperature of the device is less than a preset temperature and the internal humidity of the device is greater than a preset humidity.
The microcontroller can acquire the internal temperature and the internal humidity of the gun-ball linkage device in real time, for example, a temperature sensor and a humidity sensor are arranged in the gun-ball linkage device, and the detected internal temperature and the detected internal humidity are respectively sent to the microcontroller. The microcontroller judges the internal temperature and the preset temperature, judges the internal humidity and the preset humidity, and controls the heating defogging module to start to heat the windows of the panoramic camera and the dome camera if the internal temperature is smaller than the preset temperature and the internal humidity is larger than the preset humidity.
With continued reference to fig. 7, the gun-ball linkage device further includes a temperature and humidity detection module 708 and a heating defogging module 709, where the temperature and humidity detection module 708 is configured to detect an internal temperature and an internal humidity of the gun-ball linkage device in real time, and for example, the temperature and humidity detection module 708 includes a temperature sensor and a humidity sensor. The heating defogging module 709 is used for heating the windows of the panoramic camera 702 and the dome camera 703, for example, a heating film is stuck on the inner layer of the window of the camera, and the heating film can generate heat after being electrified, so that the temperature of the window is increased, and the defogging effect is achieved.
When the ambient light is dark, the image shot by the camera is not clear. Therefore in this application embodiment, rifle ball linkage equipment still includes panorama light filling module and ball machine light filling module, and microcontroller can control panorama light filling module respectively and carry out the light filling to the region of making a video recording of panorama camera to and control ball machine light filling module carries out the light filling to the region of making a video recording of ball machine camera, and the light filling is not limited to white light, infrared and laser etc..
With continued reference to fig. 7, the gun-ball linkage device further includes 2 light supplementing modules, namely a panoramic light supplementing module 710 and a dome camera light supplementing module 711, where the panoramic light supplementing module 710 is used for supplementing light to a shooting area of the panoramic camera 702, and the dome camera light supplementing module 711 is used for supplementing light to a shooting area of the dome camera 703.
In one possible embodiment, referring to fig. 7, the gun-ball linkage further includes a power module 712. The power supply module 712 is configured to convert an external power input into power for use in the device, and supply power to the DSP platform 701, the microcontroller 704, the two light supplementing modules, the heating defogging module 709, the ball machine PTZ module 705, the rotation limiting module 706, and the like, so as to ensure stable power supply of each module in the device and ensure that the modules can operate normally.
Based on the same inventive concept, the application provides a gun-ball linkage snapshot device, the device is equivalent to be arranged in a microcontroller of a panoramic module of the gun-ball linkage equipment discussed above, the panoramic module further comprises a panoramic camera, the gun-ball linkage equipment further comprises a ball camera of a ball machine module, the panoramic module and the ball machine module are connected through a cable, please refer to fig. 8, the device comprises:
the control module 801 is configured to control rotation of the dome camera based on physical coordinates of the target in a coordinate system where the dome camera is located; the physical coordinates are obtained by converting the image coordinates of the target in a first image, wherein the first image is a panoramic image shot by a panoramic camera;
the control module 801 is further configured to, if the ball camera rotates in the first plane along the first direction and the rotation angle of the ball camera in the first plane is a first angle, control the ball camera to rotate in the first plane along the second direction until the rotation angle is a second angle; the second direction and the first direction are opposite to each other in the clockwise direction, the first angle is smaller than 360 degrees, and the difference value between the first angle and the 360 degrees is smaller than or equal to the field angle of the camera of the dome camera in the first plane;
An obtaining module 802, configured to control the camera of the dome camera to capture a second image of the target.
In a possible embodiment, the panorama module further comprises a digital signal processing platform, and the control module 801 is specifically configured to:
acquiring physical coordinates of a target sent by a digital signal processing platform under a coordinate system where a camera of the dome camera is located;
controlling the camera of the dome camera to rotate on a first plane based on a first coordinate value of the physical coordinate;
controlling the camera of the dome camera to rotate on a second plane based on a second coordinate value of the physical coordinate; wherein the first plane and the second plane are perpendicular to each other.
In one possible embodiment, the control module 801 is specifically configured to:
controlling the camera of the dome camera to rotate 180 degrees on the second plane;
and controlling the camera of the dome camera to rotate along the second direction on the first plane until the rotation angle is the second angle.
In one possible embodiment, the obtaining module 802 is further configured to: and taking the center point of the second image as the center, controlling the second image to rotate 180 degrees along the first direction, and obtaining the rotated second image.
In one possible embodiment, the control module 801 is specifically configured to:
controlling the camera of the dome camera to rotate on a first plane according to a first speed;
If the rotation angle of the dome camera on the first plane is a third angle, the dome camera is controlled to continuously rotate on the first plane according to the second speed; wherein the third angle is smaller than the first angle and the second speed is smaller than the first speed.
In one possible embodiment, the obtaining module 802 is specifically configured to:
if the target in the second image is an incomplete target, reducing the multiplying power; or,
if the target in the second image is a complete target and the area occupation ratio of the complete target in the second image is smaller than the preset occupation ratio, the multiplying power is increased;
and controlling the camera of the dome camera to shoot by adopting the adjusted multiplying power, and obtaining an adjusted second image.
In one possible embodiment, the apparatus further comprises a heating defogging module, the control module 801 further being configured to:
if the internal temperature of the equipment is smaller than the preset temperature and/or the internal humidity of the equipment is larger than the preset humidity, the heating defogging module is controlled to be started, and the windows of the panoramic camera and the dome camera are heated.
As an embodiment, the gun-ball linkage snapshot device discussed in fig. 8 may implement any of the gun-ball linkage snapshot methods discussed above, and will not be described herein.
Based on the same inventive concept, the embodiment of the present application provides a gun-ball linkage device, which is equivalent to the gun-ball linkage device discussed above, referring to fig. 9, and includes:
at least one processor 901, an
A memory 902 communicatively coupled to the at least one processor 901;
wherein the memory 902 stores instructions executable by the at least one processor 901, the at least one processor 901 implementing the security method as previously discussed by executing the instructions stored by the memory 902.
The processor 901 may be a central processing unit (central processing unit, CPU), or may be a digital processing unit, or may be a combination of one or more of image processors, etc. The memory 902 may be a volatile memory (RAM), such as a random-access memory (RAM); the memory 902 may also be a non-volatile memory (non-volatile memory), such as a read-only memory, a flash memory (flash memory), a Hard Disk Drive (HDD) or a Solid State Drive (SSD), or the memory 902 may be any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited thereto. The memory 902 may be a combination of the above.
As an embodiment, the processor 901 in fig. 9 may implement the gun-ball linkage snapshot method discussed above, and the processor 901 may also implement the function of the gun-ball linkage snapshot device discussed above in fig. 8.
Based on the same inventive concept, embodiments of the present application provide a computer-readable storage medium storing computer instructions that, when run on a computer, cause the computer to perform a gun-ball linkage snapshot method as previously discussed.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present application without departing from the spirit or scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims and the equivalents thereof, the present application is intended to cover such modifications and variations.
Claims (10)
1. The utility model provides a rifle ball linkage snapshot method which characterized in that is applied to among the microcontroller of the panorama module of rifle ball linkage equipment, panorama module still includes panorama camera and digital signal processing platform, equipment still includes the ball machine camera of ball machine module, panorama module with ball machine module passes through the cable connection, the equipment only contains a digital signal processing platform in panorama module, the method includes:
acquiring physical coordinates of a target under a coordinate system where the dome camera is located, which are sent by the digital signal processing platform, and controlling the dome camera to rotate based on the physical coordinates of the target under the coordinate system where the dome camera is located; the physical coordinates are obtained by converting the image coordinates of the target in a first image, wherein the first image is a panoramic image shot by the panoramic camera;
if the ball camera rotates along a first direction on a first plane and the rotation angle of the ball camera on the first plane is a first angle, controlling the ball camera to rotate along a second direction on the first plane until the rotation angle is a second angle; the second direction and the first direction are opposite to each other in the clockwise direction, the first angle is smaller than 360 degrees, and the difference value between the first angle and the 360 degrees is smaller than or equal to the field angle of the dome camera on the first plane;
And controlling the dome camera to shoot, and obtaining a second image of the target.
2. The method of claim 1, wherein the panoramic module further comprises a digital signal processing platform that controls rotation of the dome camera based on physical coordinates of a target in a coordinate system in which the dome camera is located, comprising:
acquiring physical coordinates of a target sent by the digital signal processing platform under a coordinate system where the dome camera is located;
controlling the camera of the dome camera to rotate on the first plane based on the first coordinate value of the physical coordinate;
controlling the camera of the dome camera to rotate on a second plane based on a second coordinate value of the physical coordinate; wherein the first plane and the second plane are perpendicular to each other.
3. The method of claim 1, wherein controlling rotation of the dome camera in the first plane along a second direction comprises:
controlling the dome camera to rotate 180 degrees on a second plane;
and controlling the dome camera to rotate along the second direction on the first plane until the rotation angle is a second angle.
4. The method of claim 3, wherein after controlling the dome camera to capture a second image of the target, the method further comprises:
And taking the center point of the second image as the center, controlling the second image to rotate 180 degrees along the first direction, and obtaining the rotated second image.
5. The method of claim 1, wherein controlling rotation of the dome camera in a first plane comprises:
controlling the dome camera to rotate on the first plane at a first speed;
if the rotation angle of the dome camera on the first plane is a third angle, the dome camera is controlled to continuously rotate on the first plane according to a second speed; wherein the third angle is smaller than the first angle and the second speed is smaller than the first speed.
6. The method of any of claims 1-5, wherein controlling the dome camera to capture a second image of the target comprises:
if the target in the second image is an incomplete target, reducing the multiplying power; or,
if the target in the second image is a complete target and the area occupation ratio of the complete target in the second image is smaller than the preset occupation ratio, the multiplying power is increased;
and controlling the dome camera to shoot by adopting the adjusted multiplying power to obtain an adjusted second image.
7. The method of any of claims 1-5, wherein the apparatus further comprises a heating mist elimination module, the method further comprising:
and if the internal temperature of the equipment is smaller than the preset temperature and/or the internal humidity of the equipment is larger than the preset humidity, controlling to start the heating defogging module to heat the windows of the panoramic camera and the dome camera.
8. The utility model provides a rifle ball linkage snapshot device, its characterized in that, the device sets up in the microcontroller of rifle ball linkage equipment's panorama module, panorama module still includes panorama camera and digital signal processing platform, equipment still includes the ball machine camera of ball machine module, panorama module with ball machine module passes through the cable to be connected, equipment only contains a digital signal processing platform in panorama module, the device includes:
the control module is used for acquiring physical coordinates of the target under the coordinate system where the dome camera is located, sent by the digital signal processing platform, and controlling the dome camera to rotate based on the physical coordinates of the target under the coordinate system where the dome camera is located; the physical coordinates are obtained by converting the image coordinates of the target in a first image, wherein the first image is a panoramic image shot by the panoramic camera;
The control module is further configured to control the ball camera to rotate in a second direction on the first plane until the rotation angle is a second angle if the ball camera rotates in the first direction on the first plane and the rotation angle of the ball camera on the first plane is the first angle; the second direction and the first direction are opposite to each other in the clockwise direction, the first angle is smaller than 360 degrees, and the difference value between the first angle and the 360 degrees is smaller than or equal to the field angle of the dome camera on the first plane;
and the obtaining module is used for controlling the camera of the dome camera to shoot and obtaining a second image of the target.
9. A gun-ball linkage apparatus, comprising:
at least one processor, and
a memory communicatively coupled to the at least one processor;
wherein the memory stores instructions executable by the at least one processor, the at least one processor implementing the method of any of claims 1-7 by executing the memory stored instructions.
10. A computer readable storage medium storing computer instructions which, when run on a computer, cause the computer to perform the method of any one of claims 1-7.
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| CN115942119B (en) * | 2022-08-12 | 2023-11-21 | 北京小米移动软件有限公司 | Linkage monitoring method and device, electronic equipment and readable storage medium |
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