CN114374783B - Calibration method, device, monitoring equipment and readable storage medium - Google Patents
Calibration method, device, monitoring equipment and readable storage medium Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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Abstract
The invention provides a calibration method, a device, monitoring equipment and a readable storage medium, wherein the method is applied to the monitoring equipment and comprises the following steps: responding to the zoom confirmation operation, and determining a target multiplying power and the last multiplying power before the zoom operation according to the number of teeth of the motor; determining a first multiplying power segmentation range matched with a target multiplying power and a second multiplying power segmentation range matched with the previous multiplying power in a plurality of multiplying power segmentation ranges which are determined in advance; determining target calibration parameters under target multiplying power according to the calibration parameters corresponding to the first multiplying power segmentation range and the second multiplying power segmentation range respectively; and controlling the cradle head to move according to the target calibration parameters. The invention can determine the magnification segmentation range of the target magnification, and further determine the calibration parameters under the target magnification according to the calibration parameters corresponding to the magnification segmentation range, thereby meeting the zoom requirements of most cradle head movements, reducing the production procedures of a production line, saving the tooling cost and reducing the production cost of equipment.
Description
Technical Field
The invention relates to the technical field of video monitoring, in particular to a calibration method, a device, monitoring equipment and a readable storage medium.
Background
Common supervisory equipment includes cloud platform and core two parts, and the cloud platform is used for controlling the pitch angle and the horizontal rotation angle of core, and the core can observe the scene of different distances through the mechanism of zooming.
In the manufacturing process of the movement, due to the existence of manufacturing tolerance, the optical axis of the actual movement and the center of the mechanism are deviated, the deviation is different under different multiplying power, and finally, the centers of the two images are not matched before and after zooming, so that the target in the image is deviated or incomplete.
In order to calibrate the offset, the related technology usually designs calibration parameters in a production link, and the calibration parameters are automatically calibrated on a production line, so that the production procedures of the production line are increased, and the tooling cost and the production cost of equipment are saved.
Disclosure of Invention
One of the purposes of the present invention is to provide a calibration method, apparatus, monitoring device and readable storage medium, which are used for solving the above technical problems, and the embodiments of the present invention can be implemented as follows:
in a first aspect, the present invention provides a calibration method applied to a monitoring device, where a movement and a cradle head are installed on the monitoring device, and a motor is installed in the movement, the method includes: responding to the zoom confirmation operation, and determining a target magnification and the last magnification before the zoom operation according to the number of teeth of the motor; determining a first multiplying power segmentation range matched with the target multiplying power and a second multiplying power segmentation range matched with the previous multiplying power in a plurality of multiplying power segmentation ranges which are determined in advance; the target multiplying power is located in the first multiplying power sectional range, and the last multiplying power is located in the second multiplying power sectional range; determining target calibration parameters under the target multiplying power according to the calibration parameters corresponding to the first multiplying power segmentation range and the second multiplying power segmentation range; and controlling the cradle head to move according to the target calibration parameters.
In a second aspect, the present invention provides a calibration device applied to a monitoring device, where a movement and a cradle head are installed on the monitoring device, and a motor is installed in the movement, where the calibration device includes: the determining module is used for responding to the zoom confirmation operation, and determining a target magnification and the last magnification before the zoom operation according to the number of teeth of the motor; the matching module is used for determining a first multiplying power segmentation range matched with the target multiplying power and a second multiplying power segmentation range matched with the previous multiplying power in a plurality of multiplying power segmentation ranges which are determined in advance; the target multiplying power is located in the first multiplying power sectional range, and the last multiplying power is located in the second multiplying power sectional range; the determining module is further configured to determine a target calibration parameter under the target magnification according to the calibration parameters corresponding to the first magnification segmentation range and the second magnification segmentation range; and the calibration module is used for controlling the cradle head to move according to the target calibration parameters.
In a third aspect, the invention provides a monitoring device comprising a processor and a memory, the memory storing a computer program executable by the processor, the processor being executable to implement the method of the first aspect.
In a fourth aspect, the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of the first aspect.
The invention provides a calibration method, a device, a monitoring device and a readable storage medium, wherein the method is applied to the monitoring device, the monitoring device is provided with a machine core and a cradle head, a motor is arranged in the machine core, and the method comprises the following steps: responding to the zoom confirmation operation, and determining a target magnification and the last magnification before the zoom operation according to the number of teeth of the motor; determining a first multiplying power segmentation range matched with the target multiplying power and a second multiplying power segmentation range matched with the previous multiplying power in a plurality of multiplying power segmentation ranges which are determined in advance; the target multiplying power is located in the first multiplying power sectional range, and the last multiplying power is located in the second multiplying power sectional range; determining target calibration parameters under the target multiplying power according to the calibration parameters corresponding to the first multiplying power segmentation range and the second multiplying power segmentation range; and controlling the cradle head to move according to the target calibration parameters. According to the calibration method provided by the embodiment of the invention, due to the fact that the multiple multiplying power segmentation ranges and the calibration parameters corresponding to each multiplying power segmentation range are determined in advance, after the target multiplying power is determined, the multiplying power segmentation range where the target multiplying power is located can be determined, and further the calibration parameters under the target multiplying power can be determined according to the calibration parameters corresponding to the multiplying power segmentation range, so that most of tripod head movement scaling requirements can be met.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a monitoring device according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a calibration method according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart of another calibration method provided by an embodiment of the present invention;
fig. 4 is a schematic flowchart of step S303 provided in the embodiment of the present invention;
FIG. 5 is a schematic flow chart of step S303-3 provided by an embodiment of the present invention;
fig. 6 is a functional block diagram of a calibration device according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of 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 some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present invention, it should be noted that, if the terms "upper", "lower", "inner", "outer", and the like indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, or the azimuth or the positional relationship in which the inventive product is conventionally put in use, it is merely for convenience of describing the present invention and simplifying the description, and it is not indicated or implied that the apparatus or element referred to must have a specific azimuth, be configured and operated in a specific azimuth, and thus it should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, if any, are used merely for distinguishing between descriptions and not for indicating or implying a relative importance.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
Common supervisory equipment includes cloud platform and core two parts, and the cloud platform is used for controlling the pitch angle and the horizontal rotation angle of core, and the core can observe the scene of different distances through the mechanism of zooming. In order to be suitable for different manufacturers, the used core multiplying power is generally different. For small scenes, a small-magnification movement can be used, and for far scenes, a large-magnification movement is required.
In the manufacturing process of the movement, due to the influence of the manufacturing process and tolerance, when the movement is zooming, the center of the internal lens module and the center of the actual movement structure cannot be kept on the same straight line, so that an image problem is brought: before and after the movement is changed, the centers of the two images are not in one-to-one correspondence, and deviation can occur. Aiming at the small zoom machine core, as the focal section is short, a small amount of central deviation of front and rear images can occur in the zoom process from the short focal end to the long focal end; however, for a high-magnification movement, particularly a movement having a maximum focal length of more than 200mm, the influence of the tolerance is greater, the deviation in the center of the image is more than 5% at maximum, and the degree of deviation is greater as the maximum angle is greater.
It can be understood that due to the tolerance influence of the lens and the structural member, the positions of the lens in the corresponding movement are different under different multiplying powers, the corresponding optical axis deviation is also different under the multiplying powers, and in the zooming process from the short focal end to the long focal end, the optical axis deviation under different multiplying powers has randomness, and generally, under the influence of the tolerance consistency of manufacturing the same batch, the optical axis deviation of the lens of the movement in the same batch also has consistency. Finally, before zooming and after zooming, the centers of the two images are not matched, so that the target in the image is deviated or incomplete.
In order to calibrate the offset, the related technology usually designs calibration parameters in a production link, and the calibration parameters are automatically calibrated on a production line, so that the production procedures of the production line are increased, and the tooling cost and the production cost of equipment are saved.
In order to solve the above technical problems, an embodiment of the present invention firstly provides a monitoring device, please refer to fig. 1, and fig. 1 is a schematic structural diagram of the monitoring device provided by the embodiment of the present invention. The monitoring device 100 comprises a processor 1011, a memory 102, a bus 103, a cradle head 104, a movement 105. The processor 101, the memory 102, the cradle head 104 and the movement 105 are connected through the bus 103.
The processor 101 is configured to execute executable modules, such as computer programs, stored in the memory 102. The processor 101 may be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the calibration method provided in this embodiment may be implemented by an integrated logic circuit of hardware in the processor 101 or by instructions in the form of software.
The processor 101 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but also digital signal processors (Digital SignalProcessor, DSP for short), application specific integrated circuits (Application Specific Integrated Circuit, ASIC for short), field-programmable gate arrays (Field-Programmable Gate Array, FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
The cradle head 104 and the movement 105 are respectively connected with the processor 101 through the bus 103. The processor 101 may send a control signal to the pan-tilt head 104 to cause the pan-tilt head 104 to control the pitch angle and horizontal rotation angle of the movement 105. A motor may also be mounted in the movement 105. The current multiplying power and the last multiplying power before zooming can be determined by the number of teeth of the motor.
The memory 102 may comprise high-speed random access memory (RAM: random Access Memory) and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
The bus 103 may be a ISA (Industry Standard Architecture) bus, a PCI (PeripheralComponent Interconnect) bus, a EISA (Extended Industry Standard Architecture) bus, or the like. Only one double-headed arrow is shown in fig. 1, but not only one bus 103 or one type of bus 103.
In this embodiment, the memory 102 is configured to store a plurality of pan-tilt calibration parameters under different multiplying powers as basic parameters for manual calibration compensation. Because it is impossible to fully cover each multiplying power by manually setting different multiplying powers, the cradle head calibration parameters corresponding to the previously saved dividing ranges of different multiplying powers are used for predicting the position parameters to be adjusted of the integer multiplying power by combining the calibration parameters of the dividing ranges of the multiplying powers corresponding to the integer multiplying powers under each integer multiplying power through a linear algorithm, and the position parameters to be adjusted under each integer multiplying power are saved as an array queue to the memory 102.
The memory 102 is also used for storing a program, for example, a program corresponding to the calibration device provided in the present embodiment. The calibration apparatus provided in this embodiment includes at least one software function module that may be stored in the memory 102 in the form of software or firmware (firmware) or cured in an Operating System (OS) of the monitoring device 100. The processor 101, upon receiving the execution instruction, executes a program to implement the backhaul difference detection method.
It should be understood that the configuration shown in fig. 1 is merely a schematic structural diagram of a portion of the monitoring device 100, and that the monitoring device 100 may also include more or fewer components than shown in fig. 1, or have a different configuration than shown in fig. 1. The components shown in fig. 1 may be implemented in hardware, software, or a combination thereof.
Referring to fig. 2, fig. 2 is a schematic flow chart of a calibration method provided by an embodiment of the present invention: the calibration method can be applied to the monitoring device 100 of fig. 1, and the implementation flow is as follows:
s301, in response to the zoom confirmation operation, determining a target magnification and the last magnification before the zoom operation according to the number of teeth of the motor.
In this embodiment, the user may manually operate the monitoring device to change the magnification according to the actual monitoring requirement, and determine that when the monitoring device needs to change the magnification to adapt to the actual monitoring scene, when the user determines that a certain magnification meets the monitoring requirement, the user may stop the magnification change operation, at this time, the monitoring device receives the magnification change confirmation operation, determines the target magnification and the last magnification before the magnification change according to the number of teeth of the motor in the movement, and may consider that the target magnification is even adapted to the magnification in the actual monitoring scene.
For example, continuing taking the monitoring device with the 40-magnification movement as an example, assuming that the user confirms that the magnification change is required in the monitoring direction at this time, and observes the remote target, and the movement needs to be changed to 20, the user can perform the magnification change operation on the monitoring device, and after confirming that the magnification change operation is finished, the monitoring device can determine that the target magnification is 20 according to the number of teeth of the motor, and the magnification is 10 before the magnification change.
S302, determining a first multiplying power segmentation range matched with a target multiplying power and a second multiplying power segmentation range matched with the previous multiplying power in a plurality of multiplying power segmentation ranges which are determined in advance.
The target multiplying power is located in the first multiplying power sectional range, and the last multiplying power is located in the second multiplying power sectional range.
In this embodiment, the user may select the required target segment number N according to his own requirement, and further may segment the whole multiplying power range of the movement, denoted as N 1 ～N n 。
For example, assuming that a certain monitoring device has a movement with a magnification of 40, if the magnification sectional range is to be dividedIn 5 segments, then each magnification segment range case is: n (N) 1 (1-8)、N 2 (8-16)、N 3 (16-24)、N 4 (24-32)、N 5 (32-40)。
It can be appreciated that after obtaining multiple magnification segment ranges, for each segment range, a base calibration parameter corresponding to each magnification segment range can be determined, and a base is provided for predicting the calibration parameter at each magnification by a linear algorithm.
For example, with continued reference to the above example, after the zoom operation by the user, the target magnification may be determined to be 20, and the last magnification is 10, and the target magnification and the last magnification may be respectively segmented from the above 5 magnifications, i.e., N 1 (1-8)、N 2 (8-16)、N 3 (16-24)、N 4 (24-32)、N 5 (32-40), it can be found that the first multiplying power segmentation limit is (16-24) and the second multiplying power segmentation limit is (8, 16).
S303, determining target calibration parameters under the target multiplying power according to the calibration parameters corresponding to the first multiplying power segmentation range and the second multiplying power segmentation range.
S304, controlling the cradle head to move according to the target calibration parameters.
In this embodiment, the calibration parameter of each magnification segment range may be expressed as P (Δα, Δβ, Δz), where Δα is a horizontal rotation angle, Δβ is a vertical rotation angle, and Δz is a magnification variable amount. For example, continuing with the example of a movement with 40 magnifications for a certain monitoring device, each of the magnifications described above may be P (2 °, -3 °, 7), P (1 °,3 °, 8), P (1 °, -1 °, 8), P (-4 °, -1 °, 8), P (4 °,5 °, 8).
In one possible implementation, for each magnification segmentation range, a magnification change operation may be performed, and images before and after the magnification change are compared, an image offset is manually determined by a user, a position of a pan-tilt is manually adjusted, and the adjusted position is compared with a position before adjustment to obtain relative offsets P (Δα, Δβ, Δz).
It can be understood that after the calibration parameters corresponding to each magnification segmentation range are obtained, the calibration parameters can be saved, so that the subsequent quick extraction is convenient to determine the calibration parameters under a certain target magnification.
For example, with continued reference to the above example, N may be extracted at this time 3 (16-24) corresponding calibration parameters P (1 °, -1 °, 8), (8, 16) corresponding calibration parameters P (1 °,3 °, 8), and determining from these two calibration parameters that the target calibration parameter at the target magnification 20 is assumed to be rotated horizontally by 1.25 °. The vertical rotation is 1.75 degrees, and then the horizontal rotation of the cradle head is required to be 1.25 degrees. Vertically rotated 1.75 deg. relative to each other to achieve calibration.
According to the calibration method provided by the embodiment of the invention, due to the fact that the multiple multiplying power segmentation ranges and the calibration parameters corresponding to each multiplying power segmentation range are determined in advance, after the target multiplying power is determined, the multiplying power segmentation range where the target multiplying power is located can be determined, and further the calibration parameters under the target multiplying power can be determined according to the calibration parameters corresponding to the multiplying power segmentation range, so that most of tripod head movement scaling requirements can be met.
Optionally, before executing step S301, a plurality of groups of multiplying power segmentation ranges corresponding to the monitoring device and calibration parameters corresponding to each multiplying power segmentation range may be predetermined, and the implementation flow may be refer to fig. 3, where fig. 3 is a schematic flow chart of another calibration method provided in an embodiment of the present invention:
step 1, segmenting the maximum multiplying power according to the number of target segments to obtain a plurality of multiplying power segmentation ranges consistent with the number of target segments.
And 2, aiming at each multiplying power segmentation range, controlling the movement to change the multiplying power from the minimum multiplying power of each multiplying power segmentation range to the maximum multiplying power of the multiplying power segmentation range.
In this embodiment, for each magnification segmentation range, the user may manually perform the zoom operation, so that the monitoring device controls the movement to change the magnification from the minimum magnification of each magnification segmentation range to the maximum magnification of the magnification segmentation range, and in the process of zooming, the monitoring device may convert the actual magnification into the number of teeth for rotation of the motor, and ensure that the movement changes the magnification to the specified magnification by controlling the number of teeth for rotation of the motor.
For example, for N as described above 1 (1-8) the zoom operation may be started from the magnification 1 until the zoom reaches the magnification 8, in which process N is determined 1 (1-8) corresponding calibration parameters.
It should be noted that, in order to ensure that the monitoring device after zooming can focus and obtain a clear image, in the process of controlling the movement to zoom from the minimum magnification of each magnification segmentation range to the maximum magnification of the magnification segmentation range, the following procedure may be further executed:
and when the movement is at the minimum magnification, responding to the focusing confirmation operation, and obtaining a first target image.
And when the movement is at the maximum magnification, responding to the focusing confirmation operation, and obtaining a second target image.
For example, for N as described above 1 (1-8) the magnification may be varied from magnification 1 until magnification 8, during which a first target image may be obtained by focusing at the location of magnification 1 and a second target image may be obtained by focusing at the location of magnification 8.
It can be understood that, the first target image and the second target image are images with the maximum image definition obtained after focusing operation, and the images with the maximum definition are compared to obtain offset before and after zooming, and the offset is used as a calibration parameter, so that accuracy and reliability are high.
Step 3, when the first center position corresponding to the first target image under the minimum multiplying power is determined to be coincident with the second center position corresponding to the second target image under the maximum multiplying power, recording the current horizontal rotation angle, the vertical rotation angle and the multiplying power variable;
It can be understood that when the center positions of the first target image and the second target image are overlapped, deviation of the shot images under the multiplying power can be avoided, and the quality of the images is ensured.
In one possible implementation manner, it may be determined whether a position confirmation operation instruction for the pan-tilt head is received; if a position confirmation operation instruction of a user for the cradle head is obtained, determining that a first center position corresponding to a first target image under the minimum multiplying power is overlapped with a second center position corresponding to a second target image under the maximum multiplying power.
That is, the user manually adjusts the position of the pan-tilt, and compares the adjusted position with the position before adjustment to obtain the relative offset P (Δα, Δβ, Δz), where Δα is the horizontal rotation relative angle, Δβ is the vertical rotation angle, and Δz is the magnification variation.
For example, for the N th k The optical axis calibration is carried out in the individual multiplying power segmentation range, and the cradle head is operated during the calibration, so that an image P after zooming k And a magnification-varying front image P k-1 Is considered to be P k-1 Is N k Image corresponding to minimum magnification of (P) k Is N k The image corresponding to the maximum magnification of (a) is recorded at this time with the relative shift amount P (Δα) k ，△β k ，△Z k ) Wherein Δα k Is the multiplying power N k Lower horizontal rotation relative angle, Δβ k Is the multiplying power N k Vertical rotation angle of DeltaZ k Is the multiplying power N k The following variable magnification.
Through the embodiment, in practical application, the image center before zooming is ensured to be continuously in the image center in the zooming process of the machine core when a user applies zooming in monitoring, obvious offset does not occur even under the condition of maximum magnification, the area focused by the user can be ensured to be amplified and also in the image center area, thus fine adjustment operation after zooming can be reduced, user experience is improved, and meanwhile, the monitoring effect is ensured.
And 4, determining the minimum multiplying power and the maximum multiplying power of each multiplying power segmentation range as the corresponding calibration parameters of each multiplying power segmentation range, wherein the horizontal rotation angle, the vertical rotation angle, the multiplying power variable, the first target image and the second target image are adopted.
It can be appreciated that for each magnification segment range N k PreservingRelative offset P (delta alpha) of pan/tilt k ，△β k ，△Z k ) At the same time, for the later examination, the image P before zooming can be saved k-1 The multiplying power Z before and after the zooming is changed.
For example, for the magnification segment range N 1 (1-8) corresponding calibration parameters include: the magnification Z before zooming was 1, the magnification Z' after zooming was 8, and the relative offset P (Δα) 1 ，△β 1 ，△Z 1 ) Etc.
It can be understood that, for any monitoring device, after executing the steps 1 to 4, the obtained calibration parameters may be stored in the memory of the monitoring device, so as to facilitate subsequent quick call.
In the actual setting process, the calibration parameters set by the core with small multiplying power can be less, the calibration parameters set by the core with high multiplying power can be more, and the more the set multiplying power calibration parameters are, the smaller the optical axis offset of the core of the ball machine in the actual multiplying power changing process is, and the smaller the image offset is in the image multiplying power changing process in the actual use, so that the user experience is improved in the monitoring use process, and meanwhile, the monitored image can be ensured not to deviate from the monitoring target.
It should be noted that, the execution of the steps 1 to 4 before the step S301 is merely an example, and is not a limitation on the execution sequence between the steps 1 to 4 and the step S301, in one possible implementation manner, the steps 1 to 4 may be executed in advance by a monitoring device to obtain and store each magnification segmentation range and the calibration parameters corresponding to each magnification segmentation range, and when a scene where a calibration request exists, the pre-stored calibration parameters corresponding to each magnification segmentation range and each magnification segmentation range may be called for calibration in an actual scene.
Optionally, the embodiment of the present invention further provides a possible implementation manner of determining the target calibration parameter under the target magnification according to the calibration parameters corresponding to the first magnification segmentation limit and the second magnification segmentation limit, please refer to fig. 4, and fig. 4 is a schematic flowchart of step S303 provided by the embodiment of the present invention:
s303-1, determining whether the first multiplying power segmentation limit is consistent with the second multiplying power segmentation limit.
For example, assume N C At N i-1 And N i Between N p At N j-1 And N j If j=i, it is stated that the first magnification sectional range is consistent with the second magnification sectional range, otherwise it may be determined that the first magnification sectional range is inconsistent with the second magnification sectional range.
In this embodiment, whether the first magnification segmentation range and the second magnification segmentation range are consistent or not may represent the target magnification N C And the last multiplying power N p The embodiment of the invention provides different implementation manners for determining the target calibration parameters aiming at the conditions of segmentation and non-segmentation, so as to ensure the accuracy of the target calibration parameters.
S303-2, if the first multiplying power segmentation limit is consistent with the second multiplying power segmentation limit, calculating a target calibration parameter according to the calibration parameter corresponding to the first multiplying power segmentation limit.
For example, assume N C At N i-1 And N i Between N p At N j-1 And N j In between, if j=i, then N can be read i Corresponding calibration parameters including the minimum multiplying power N of the first multiplying power range i-1 And maximum multiplying power N i Relative offset P (delta alpha) i ，△β i ，△Z i )。
In one possible implementation manner, one possible implementation manner of the step S303-2 is as follows:
step 1, determining a target horizontal rotation angle of a cradle head of the movement according to a horizontal rotation angle corresponding to a first multiplying power segmentation range, a maximum multiplying power and a minimum multiplying power of the first multiplying power segmentation range, a target multiplying power and a last multiplying power.
And 2, determining the vertical rotation angle of the cradle head according to the vertical rotation angle corresponding to the first multiplying power segmentation range, the maximum multiplying power and the minimum multiplying power of the first multiplying power segmentation range, the target multiplying power and the last multiplying power.
And step 3, determining the horizontal rotation angle and the vertical rotation angle of the cradle head as target calibration parameters.
Assume that: the maximum multiplying power and the minimum multiplying power of the first multiplying power segmentation limit are respectively N i-1 And N i The horizontal rotation angle is delta alpha i The vertical rotation angle is delta beta i Then the target horizontal rotation angle is: delta alpha C ＝△α i /(N i -N i-1 )*(N C -N p ) The method comprises the steps of carrying out a first treatment on the surface of the The target vertical rotation angle is: delta beta C ＝△β i /(N i -N i-1 )*(N C -N p )。
Note that N C And N p There is a magnitude relation between the values of the target horizontal rotation angle and the target vertical rotation angle obtained as described above, assuming Δα C And Deltabeta i Positive value, user determines that the cradle head needs to be adjusted according to the first direction, then when delta alpha C And Deltabeta i Negative values indicate that the cradle head needs to be adjusted according to a second direction opposite to the first direction, and specifically, the cradle head can be adjusted according to an actual scene, which is not limited herein.
S303-3, if the first multiplying power segmentation limit is inconsistent with the second multiplying power segmentation limit, calculating a target calibration parameter according to the calibration parameter, the target multiplying power and the last multiplying power which are respectively corresponding to the first multiplying power segmentation limit and the second multiplying power segmentation limit.
In the present embodiment, assume N C At N i-1 And N i Between N p At N j-1 And N j If j is not equal to i, it indicates that the first magnification segmentation limit is inconsistent with the second magnification segmentation limit, and in order to determine the target calibration parameter, in a possible implementation manner, the step S303-3 may be referred to as fig. 5, and fig. 5 is a schematic flowchart of step S303-3 provided by an embodiment of the present invention:
s303-3-1, determining a first offset between the last multiplying power and the second multiplying power segmentation range according to the calibration parameter corresponding to the second multiplying power segmentation range and the last multiplying power.
S303-3-2, determining a second offset between the first multiplying power segmentation range and the second multiplying power segmentation range according to the calibration parameters respectively corresponding to the first multiplying power segmentation range and the second multiplying power segmentation range.
S303-3-3, determining target calibration parameters according to the calibration parameters of the first multiplying power segmentation limit, the first offset, the second offset, the target multiplying power and the last multiplying power.
To facilitate understanding of the implementation flow, assume N C At N i-1 And N i Between N p At N j-1 And N j Between them, let j be<i is taken as an example, first read (N j-1 ，N j ) Corresponding relative offset P (Deltaalpha) j ，△β j ，△Z j )，(N i-1 ，N i ) Corresponding relative offset P (Deltaalpha) i ，△β i ，△Z i ) Further, calculating the first offset according to the following relation includes:
a first horizontal rotation angle delta alpha p ＝△α j /(N j -N j-1 )*(N j -N p ) The method comprises the steps of carrying out a first treatment on the surface of the The second vertical relative rotation angle is delta beta p ＝△β j /(N j -N j-1 )*(N j -N p )。
Further, according to the calibration parameters corresponding to the first magnification segmentation range and the second magnification segmentation range, a second offset is calculated, namely, the secondary magnification N j To multiplying power N i-1 The second offset is obtained as follows:
second horizontal rotation angle:
second vertical relative rotation angle: />
Obtaining the first offset and the second offset may include: target horizontal rotation angle: delta alpha C ＝△α p +△α+△α i /(N i -N i-1 )*(N C -N p ) The method comprises the steps of carrying out a first treatment on the surface of the Target vertical relative rotation angle: delta beta C ＝△β p +△β+△β i /(N i -N i-1 )*(N C -N p )。
It is to be noted that assume N C At N i-1 And N i Between N p At N j-1 And N j Between, when j>in the case of i, the implementation manner of determining the target calibration parameter is similar to the implementation manner described above, and will not be repeated here.
To facilitate an understanding of the above procedure, the following is explained with a specific example:
assuming that 40 times of movement is one at present, the movement multiplying power is segmented into 5 pieces, and the segmentation condition is N 1 (1-8)、N 2 (8-16)、N 3 (16-24)、N 4 (24-32)、N 5 (32-40), and the relative rotation angles of the corresponding multiplying power segments are P (2 degrees, -3 degrees, 7 degrees), P (1 degrees, 3 degrees, 8 degrees), P (1 degrees, -1 degrees, 8 degrees), P (-4 degrees, -1 degrees, 8 degrees) and P (4 degrees, 5 degrees, 8 degrees).
If the user determines that the zoom is needed in the monitoring direction to observe a distant target, the target multiplying power is 20, and the last multiplying power is 10; it can be seen that the target magnification 20 is in the first magnification segment range N 3 Between (16-24), its corresponding calibration parameters include P (1 °, -1 °, 8), the last magnification being within the second magnification segmentation limit N 2 (8-16), and its corresponding calibration parameters include P (1, 3, 8).
According to the above, it can be determined that the first magnification sectional range and the second magnification sectional range are not identical, then the target calibration parameter corresponding to the target magnification can be obtained in the following manner.
First according to N 2 And (8-16) corresponding to P (1 degree, 3 degree, 8) and the previous multiplying power 10, and calculating a first offset as follows: delta alpha p ＝1°/(16-8)*(16-10)＝0.75°；△β p ＝3°/(16-8)*(16-10)＝2.25°。
Second, according to N 3 (16-24) and N 2 (8-16) calculating a second offset, i.e., from the magnification N j To multiplying power N i-1 Obtain the firstTwo horizontal rotation angles:
second vertical relative rotation angle: />
The second offset is known as 0.
Finally, according to the first offset and the second offset and the calibration parameters P (1 degree, -1 degree, 8) corresponding to N3 (16-24), the target multiplying power 20 and the last multiplying power 10, the target horizontal rotation angle delta alpha is obtained C ＝△α p +1 °/(24-16) × (20-16) =1.25 °; the vertical rotation angle of the target is delta beta C ＝△β p + (-1 °)/(24-16) =1.75° (20-16) =1.25° and the final pan/tilt is rotated horizontally by 1.25 °. The vertical rotation is 1.75 degrees, and the calibration is realized.
In order to implement the steps in the foregoing embodiments to achieve the corresponding technical effects, the calibration method provided in the embodiment of the present invention may be implemented in a hardware device or in a software module, and when the calibration method is implemented in a software module, the embodiment of the present invention further provides a calibration device, please refer to fig. 6, fig. 6 is a functional block diagram of the calibration device provided in the embodiment of the present invention, and the calibration device 400 may include:
The determining module 410 is configured to determine, in response to the magnification-varying confirmation operation, a target magnification and a last magnification before the magnification-varying operation according to the number of teeth of the motor.
A matching module 420, configured to determine a first magnification segmentation range matching the target magnification and a second magnification segmentation range matching the previous magnification within a predetermined multiple magnification segmentation ranges; the target multiplying power is located in the first multiplying power sectional range, and the last multiplying power is located in the second multiplying power sectional range.
The determining module 410 is further configured to determine a target calibration parameter under the target magnification according to the calibration parameters corresponding to the first magnification segmentation limit and the second magnification segmentation limit.
The calibration module 430 is configured to control the pan-tilt to move according to the target calibration parameter.
It will be appreciated that the determination module 410, the matching module 420 and the calibration module 430 may cooperatively perform the steps in fig. 3 to achieve the corresponding technical effects.
In an optional embodiment, the calibration device 400 may further include a segmentation module, where the calibration module 430, the segmentation module, and the determination module 410 may cooperatively determine a plurality of multiplying power segmentation ranges and calibration parameters corresponding to the plurality of multiplying power segmentation ranges, that is, the segmentation module, configured to segment, according to the number of target segments, the maximum multiplying power to obtain a plurality of multiplying power segmentation ranges consistent with the number of target segments; a calibration module 430, configured to control, for each magnification segment range, the movement to change magnification from a minimum magnification of each magnification segment range to a maximum magnification of the magnification segment range; the determining module 410 is configured to record a current horizontal rotation angle, a current vertical rotation angle, and a current zoom magnification when determining that a first center position corresponding to a first target image under a minimum magnification coincides with a second center position corresponding to a second target image under a maximum magnification; wherein the first target image and the second target image have a maximum image sharpness; and determining the minimum multiplying power and the maximum multiplying power of each multiplying power segmentation range as the corresponding calibration parameters of each multiplying power segmentation range by the horizontal rotation angle, the vertical rotation angle, the variable multiplying power quantity, the first target image and the second target image.
In an alternative embodiment, the calibration device 400 may further include an obtaining module, configured to obtain the first target image in response to a focus confirmation operation when the movement is at a minimum magnification; and when the movement is at the maximum magnification, responding to the focusing confirmation operation, and obtaining a second target image.
In an alternative embodiment, the determining module 410 is further configured to determine whether a position confirmation operation instruction for the pan-tilt is received; if a position confirmation operation instruction of a user for the cradle head is obtained, determining that a first center position corresponding to a first target image under the minimum multiplying power is overlapped with a second center position corresponding to a second target image under the maximum multiplying power.
In an alternative embodiment, the determining module 410 is specifically configured to: determining whether the first multiplying power segmentation range is consistent with the second multiplying power segmentation range; if the first multiplying power segmentation range is consistent with the second multiplying power segmentation range, calculating a target calibration parameter according to the calibration parameter corresponding to the first multiplying power segmentation range, the target multiplying power and the last multiplying power. If the first multiplying power segmentation range is inconsistent with the second multiplying power segmentation range, calculating a target calibration parameter according to the calibration parameter, the target multiplying power and the last multiplying power which respectively correspond to the first multiplying power segmentation range and the second multiplying power segmentation range.
In an alternative embodiment, the determining module 410 is specifically configured to: determining a target horizontal rotation angle of a cradle head of the movement according to the horizontal rotation angle, the maximum multiplying power, the minimum multiplying power, the target multiplying power and the last multiplying power corresponding to the first multiplying power segmentation range; determining a target vertical rotation angle of the cradle head according to the vertical rotation angle, the maximum multiplying power, the minimum multiplying power, the target multiplying power and the last multiplying power corresponding to the first multiplying power segmentation range; and determining the target horizontal rotation angle and the target vertical rotation angle of the cradle head as target calibration parameters.
In an alternative embodiment, the determining module 410 is specifically configured to: determining a first offset between the last multiplying power and the second multiplying power segmentation range according to the calibration parameter corresponding to the second multiplying power segmentation range and the last multiplying power; determining a second offset between the first multiplying power segmentation range and the second multiplying power segmentation range according to the calibration parameters respectively corresponding to the first multiplying power segmentation range and the second multiplying power segmentation range; and determining a target calibration parameter according to the calibration parameter of the first multiplying power segmentation range, the first offset, the second offset, the target multiplying power and the last multiplying power.
The embodiment of the present invention also provides a readable storage medium having stored thereon a computer program which, when executed by a processor, implements a calibration method according to any of the preceding embodiments. The computer readable storage medium may be, but is not limited to, a usb disk, a removable hard disk, ROM, RAM, PROM, EPROM, EEPROM, a magnetic disk, or an optical disk, etc. various media capable of storing program codes.
The present invention is not limited to the above embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (6)
1. A calibration method, characterized in that it is applied to a monitoring device, the monitoring device is provided with a movement and a cradle head, a motor is installed in the movement, the method comprises:
segmenting the maximum multiplying power according to the number of target segments to obtain a plurality of multiplying power segmentation ranges consistent with the number of target segments; controlling the movement to change the magnification from the minimum magnification of each magnification segmentation range to the maximum magnification of the magnification segmentation range aiming at each magnification segmentation range; when the first central position corresponding to the first target image under the minimum multiplying power is determined to be coincident with the second central position corresponding to the second target image under the maximum multiplying power, recording the current horizontal rotation angle, the vertical rotation angle and the multiplying power variable; wherein the first target image and the second target image have a maximum image sharpness; determining the horizontal rotation angle, the vertical rotation angle, the zoom magnification amount, the first target image, the second target image, the minimum magnification and the maximum magnification of each magnification segmentation range as calibration parameters corresponding to each magnification segmentation range;
Responding to the zoom confirmation operation, and determining a target magnification and the last magnification before the zoom operation according to the number of teeth of the motor;
determining a first multiplying power segmentation range matched with the target multiplying power and a second multiplying power segmentation range matched with the previous multiplying power in a plurality of multiplying power segmentation ranges which are determined in advance; the target multiplying power is located in the first multiplying power sectional range, and the last multiplying power is located in the second multiplying power sectional range;
determining target calibration parameters under the target multiplying power according to the calibration parameters corresponding to the first multiplying power segmentation range and the second multiplying power segmentation range;
controlling the cradle head to move according to the target calibration parameters;
determining a target calibration parameter under the target multiplying power according to the calibration parameters corresponding to the first multiplying power segmentation range and the second multiplying power segmentation range, wherein the method comprises the following steps:
determining whether the first multiplying power segmentation range is consistent with the second multiplying power segmentation range;
if the first multiplying power segmentation range is consistent with the second multiplying power segmentation range, calculating the target calibration parameter according to the calibration parameter, the target multiplying power and the last multiplying power corresponding to the first multiplying power segmentation range, wherein the calculating comprises the following steps: determining a target horizontal rotation angle of a cradle head of the movement according to the horizontal rotation angle, the maximum multiplying power, the minimum multiplying power, the target multiplying power and the last multiplying power corresponding to the first multiplying power segmentation range; determining a target vertical rotation angle of the holder according to the vertical rotation angle, the maximum multiplying power, the minimum multiplying power, the target multiplying power and the last multiplying power corresponding to the first multiplying power segmentation range; determining the target horizontal rotation angle and the target vertical rotation angle of the cradle head as the target calibration parameters;
If the first multiplying power segmentation range is inconsistent with the second multiplying power segmentation range, calculating the target calibration parameter according to the calibration parameter, the target multiplying power and the last multiplying power which are respectively corresponding to the first multiplying power segmentation range and the second multiplying power segmentation range, wherein the calculating comprises the following steps: determining a first offset between the last multiplying power and the second multiplying power segmentation range according to the calibration parameter corresponding to the second multiplying power segmentation range and the last multiplying power;
determining a second offset between the first multiplying power segmentation range and the second multiplying power segmentation range according to the calibration parameters respectively corresponding to the first multiplying power segmentation range and the second multiplying power segmentation range; and determining the target calibration parameter according to the calibration parameter of the first multiplying power segmentation range, the first offset, the second offset, the target multiplying power and the last multiplying power.
2. The calibration method according to claim 1, wherein in controlling the movement to change magnification from a minimum magnification of each of the magnification-dividing ranges to a maximum magnification of the magnification-dividing ranges, the method further comprises:
When the movement is positioned at the minimum multiplying power, responding to focusing confirmation operation, and obtaining the first target image;
and when the movement is positioned at the maximum multiplying power, responding to the focusing confirmation operation, and obtaining the second target image.
3. The method of calibrating according to claim 1, wherein before recording the current horizontal rotation angle, vertical rotation angle, and variable magnification amount when determining that the first center position corresponding to the first target image at the minimum magnification coincides with the second center position corresponding to the second target image at the maximum magnification, the method further comprises:
determining whether a position confirmation operation instruction aiming at the cradle head is received or not;
and if the position confirmation operation instruction aiming at the cradle head is obtained, determining that a first center position corresponding to the first target image under the minimum multiplying power is overlapped with a second center position corresponding to the second target image under the maximum multiplying power.
4. The calibrating device is characterized by being applied to monitoring equipment, wherein the monitoring equipment is provided with a machine core and a cradle head, and a motor is arranged in the machine core; comprising the following steps:
the segmentation module is used for segmenting the maximum multiplying power according to the number of target segments to obtain a plurality of multiplying power segmentation ranges consistent with the number of target segments; the calibration module is used for controlling the movement to change the magnification from the minimum magnification of each magnification segmentation range to the maximum magnification of the magnification segmentation range for each magnification segmentation range; the determining module is used for recording the current horizontal rotation angle, the current vertical rotation angle and the current zoom magnification when determining that the first center position corresponding to the first target image under the minimum magnification is coincident with the second center position corresponding to the second target image under the maximum magnification; wherein the first target image and the second target image have a maximum image sharpness; determining a horizontal rotation angle, a vertical rotation angle, a variable magnification amount, a first target image and a second target image, and determining the minimum magnification and the maximum magnification of each magnification segmentation range as calibration parameters corresponding to each magnification segmentation range;
The determining module is used for responding to the zoom confirming operation, and determining a target multiplying power and the last multiplying power before the zoom operation according to the number of teeth of the motor;
the matching module is used for determining a first multiplying power segmentation range matched with the target multiplying power and a second multiplying power segmentation range matched with the previous multiplying power in a plurality of multiplying power segmentation ranges which are determined in advance; the target multiplying power is located in the first multiplying power sectional range, and the last multiplying power is located in the second multiplying power sectional range;
the determining module is further configured to determine a target calibration parameter under the target magnification according to the calibration parameters corresponding to the first magnification segmentation range and the second magnification segmentation range;
the calibration module is used for controlling the cradle head to move according to the target calibration parameters;
the determining module is specifically configured to:
determining whether the first multiplying power segmentation range is consistent with the second multiplying power segmentation range;
if the first multiplying power segmentation range is consistent with the second multiplying power segmentation range, calculating the target calibration parameter according to the calibration parameter, the target multiplying power and the last multiplying power corresponding to the first multiplying power segmentation range, wherein the calculating comprises the following steps: determining a target horizontal rotation angle of a cradle head of the movement according to the horizontal rotation angle, the maximum multiplying power, the minimum multiplying power, the target multiplying power and the last multiplying power corresponding to the first multiplying power segmentation range; determining a target vertical rotation angle of the holder according to the vertical rotation angle, the maximum multiplying power, the minimum multiplying power, the target multiplying power and the last multiplying power corresponding to the first multiplying power segmentation range; determining the target horizontal rotation angle and the target vertical rotation angle of the cradle head as the target calibration parameters;
If the first multiplying power segmentation range is inconsistent with the second multiplying power segmentation range, calculating the target calibration parameter according to the calibration parameter, the target multiplying power and the last multiplying power which are respectively corresponding to the first multiplying power segmentation range and the second multiplying power segmentation range, wherein the calculating comprises the following steps: determining a first offset between the last multiplying power and the second multiplying power segmentation range according to the calibration parameter corresponding to the second multiplying power segmentation range and the last multiplying power; determining a second offset between the first multiplying power segmentation range and the second multiplying power segmentation range according to the calibration parameters respectively corresponding to the first multiplying power segmentation range and the second multiplying power segmentation range; and determining the target calibration parameter according to the calibration parameter of the first multiplying power segmentation range, the first offset, the second offset, the target multiplying power and the last multiplying power.
5. A monitoring device comprising at least a processor and a memory, the memory storing a computer program executable by the processor, the processor being executable to implement the method of any one of claims 1-3.
6. A readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, implements the method according to any of claims 1-3.
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