CN114554093A

CN114554093A - Image acquisition system and target tracking method

Info

Publication number: CN114554093A
Application number: CN202210179040.1A
Authority: CN
Inventors: 黄庆福; 顾燕菲; 刘元振
Original assignee: Chongqing Unisinsight Technology Co Ltd
Current assignee: Chongqing Unisinsight Technology Co Ltd
Priority date: 2022-02-25
Filing date: 2022-02-25
Publication date: 2022-05-27
Anticipated expiration: 2042-02-25
Also published as: CN114554093B

Abstract

The implementation provides an image acquisition system and a target tracking method applied to the field of security and protection. Based on the master-slave relationship, when the ring-shaped cameras in the plurality of image acquisition devices rotate, the spherical cameras are driven to synchronously rotate along with the ring-shaped cameras by the connecting structure between the ring-shaped cameras and the spherical cameras; the dome camera is a slave device of a ring camera. Because the dome camera synchronously rotates along with the ring-shaped camera, a corresponding tracking algorithm does not need to be designed for the dome camera when the first target object is tracked, and therefore, based on the image acquisition system, the implementation means for tracking the first target object can be simplified.

Description

Image acquisition system and target tracking method

Technical Field

The application relates to the field of security and protection, in particular to an image acquisition system and a target tracking method.

Background

With the increase of the security monitoring requirement, the image acquisition equipment with single function is difficult to adapt to the complex monitoring requirement, so that a method for linking various image acquisition equipment for shooting is provided to achieve the purpose of complementing the advantages of the image acquisition equipment.

Research finds that when multiple image acquisition devices are linked to track the same target object at present, the multiple image acquisition devices in the related art are independently electrically controlled, so that a corresponding tracking algorithm needs to be designed for each image acquisition device, and therefore, the implementation means is too complex when the multiple image acquisition devices are linked to track the same target object.

Disclosure of Invention

In order to overcome at least one of the deficiencies in the prior art, the present application provides an image acquisition system and a target tracking method, including:

in a first aspect, the present application provides an image acquisition system, where the image acquisition system includes a panoramic camera, a ring camera, and a dome camera, which are sequentially connected according to a preset master-slave relationship, where the ring camera is a slave device of the panoramic camera, and the dome camera is a slave device of the ring camera;

when the ring-shaped camera rotates, the connecting structure between the ring-shaped camera and the spherical camera drives the spherical camera to synchronously rotate along with the ring-shaped camera.

In a second aspect, the present application provides a target tracking method applied to the image acquisition system, the method including:

the ring-shaped camera receives tracking information of a first target object and tracks and shoots the first target object according to the tracking information, wherein when the ring-shaped camera tracks and shoots the first target object, the spherical camera is driven to synchronously rotate through a connecting structure between the ring-shaped camera and the spherical camera.

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

in the image acquisition system and the target tracking method provided by the embodiment, the system comprises a plurality of image acquisition devices, and the plurality of image acquisition devices are sequentially connected according to a preset master-slave relationship. Based on the master-slave relationship, when the ring-shaped cameras in the plurality of image acquisition devices rotate, the spherical cameras are driven to synchronously rotate along with the ring-shaped cameras by the connecting structure between the ring-shaped cameras and the spherical cameras; the dome camera is a slave device of a ring camera. Because the dome camera synchronously rotates along with the ring-shaped camera, a corresponding tracking algorithm does not need to be designed for the dome camera when the first target object is tracked, and therefore, based on the image acquisition system, the implementation means for tracking the first target object can be simplified.

Drawings

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

Fig. 1 is a schematic structural diagram of an image capturing apparatus provided in an embodiment of the present application;

fig. 2 is a schematic diagram of an image acquisition system provided in an embodiment of the present application;

fig. 3 is a schematic view of a connection structure of an image acquisition system according to an embodiment of the present application;

fig. 4 is a schematic block diagram of an image acquisition system according to an embodiment of the present application;

fig. 5 is a schematic flow chart of maintaining a cache queue by a panoramic camera according to an embodiment of the present application.

Icon: 120-a memory; 130-a processor; 140-a communication unit; 201-a panoramic camera; 202-ring camera; 203-dome camera; 204-a first slip ring; 205-second slip ring.

Detailed Description

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

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the related art, a method for linking a plurality of image acquisition devices for shooting is provided to achieve the purpose of complementing advantages between the image acquisition devices. The plurality of image capturing devices of the present embodiment may include a panoramic camera, a ring camera, and a dome camera.

Panoramic camera: the system is used for monitoring a scene at 360-degree no dead angle, and meanwhile, intelligent services such as crowd situation feedback, people counting, vehicle counting, intelligent perimeter and the like in the scene can be realized, so that the monitoring requirement of a large scene is met.

A ring camera: the system has the function of a holder, can realize monitoring within the range of horizontal rotation of 360 degrees and vertical rotation of 0-30 degrees, and realizes structural snapshot of targets in the scene perimeter arrangement and defense arrangement areas, thereby meeting the monitoring requirements of medium and large scenes.

A dome camera: the system has the function of a holder, can realize monitoring in the range of horizontal rotation of 360 degrees and vertical rotation of limited angle of 0-30 degrees, and can realize structural snapshot attribute analysis of targets in the scene, thereby meeting the monitoring requirements of medium and small scenes.

Therefore, by combining the 3 kinds of image acquisition devices, the advantage complementation among the image acquisition devices can be realized, and the purpose of monitoring and shooting a large-sized scene, a medium-sized scene and a small-sized scene simultaneously is achieved. However, research finds that, when a plurality of image acquisition devices are linked to track the same target object, the plurality of image acquisition devices in the related art are independently electrically controlled, so that a coordination algorithm between cameras is complex.

For example, when the circular camera and the dome camera are assumed to simultaneously track a target object, a set of tracking algorithm needs to be designed for the circular camera and a set of tracking algorithm needs to be designed for the dome camera, so that the implementation means for tracking the target object is too complex. In addition, it should be noted that, in the following embodiments, the first target object and the second target object respectively represent different tracking objects.

In view of this, the present implementation provides an image capturing system. The system comprises a plurality of image acquisition devices, and the plurality of image acquisition devices are sequentially connected according to a preset master-slave relationship. Based on the master-slave relationship, when the ring-shaped cameras in the plurality of image acquisition devices rotate, the spherical cameras are driven to synchronously rotate along with the ring-shaped cameras by the connecting structure between the ring-shaped cameras and the spherical cameras; the dome camera is a slave device of a ring camera. Because the dome camera synchronously rotates along with the ring-shaped camera, a corresponding tracking algorithm does not need to be designed for the dome camera when the first target object is tracked, and therefore, based on the image acquisition system, the implementation means for tracking the first target object can be simplified.

The implementation also provides a structural schematic diagram related to any one of the image acquisition devices. As shown in fig. 1, the image capturing apparatus includes a memory 120, a processor 130, and a communication unit 140. The memory 120, the processor 130 and the communication unit 140 are electrically connected to each other directly or indirectly, so as to realize data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines.

The Memory 120 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like. The memory 120 is used for storing a program, and the processor 130 executes the program after receiving the execution instruction.

The communication unit 140 is used for transceiving data through a network. The Network may include a wired Network, a Wireless Network, a fiber optic Network, a telecommunications Network, an intranet, the internet, a Local Area Network (LAN), a Wide Area Network (WAN), a Wireless Local Area Network (WLAN), a Metropolitan Area Network (MAN), a Wide Area Network (WAN), a Public Switched Telephone Network (PSTN), a bluetooth Network, a ZigBee Network, or a Near Field Communication (NFC) Network, or the like, or any combination thereof. In some embodiments, the network may include one or more network access points. For example, the network may include wired or wireless network access points, such as base stations and/or network switching nodes, through which one or more components of the service request processing system may connect to the network to exchange data and/or information.

The processor 130 may be an integrated circuit chip having signal processing capabilities, and may include one or more processing cores (e.g., a single-core processor or a multi-core processor). Merely by way of example, the Processor may include a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), an Application Specific Instruction Set Processor (ASIP), a Graphics Processing Unit (GPU), a Physical Processing Unit (PPU), a Digital Signal Processor (DSP), a Field Programmable Gate Array (FPGA), a Programmable Logic Device (PLD), a controller, a microcontroller Unit, a Reduced Instruction Set computer (Reduced Instruction Set computer), a microprocessor, or the like, or any combination thereof.

Based on the above related description, the following describes the image capturing system provided in this embodiment in detail. The image acquisition system comprises a plurality of image acquisition devices, and the image acquisition devices are sequentially connected according to a preset master-slave relationship.

When the ring-shaped camera in the plurality of image acquisition devices rotates, the connecting structure between the ring-shaped camera and the spherical camera drives the spherical camera to synchronously rotate along with the master device, wherein the spherical camera is a slave device of the ring-shaped camera.

It should be noted that the ring camera and the dome camera in this embodiment are any two adjacent image capturing devices in the image capturing system and satisfy the master-slave relationship.

Illustratively, the image capturing system shown in fig. 2 includes a plurality of image capturing devices, which are the panoramic camera 201, the ring camera 202, and the dome camera 203 in the above embodiments. Master-slave relationship between the three cameras as shown in fig. 2, the panoramic camera 201 is the ring camera 202 master, that is, for the panoramic camera, the ring camera 202 belongs to its slave. However, the ring camera 202 is the master of the dome camera, i.e. for ring imaging, the dome camera 203 is the slave.

Therefore, when the ring camera is rotated in the horizontal direction, the dome camera 203 is driven to rotate synchronously as a result of the connection between the ring camera and the dome camera. That is, when the ring camera tracks the first target object, the dome camera 203 can track the first target object synchronously along with the ring camera without separately designing a corresponding tracking algorithm. Therefore, based on the image acquisition system, the implementation means for tracking the first target object can be simplified.

In addition, the plurality of image capturing devices in this embodiment have different image capturing functions, and are collocated according to the fact that the monitoring scene of the master device is larger than that of the slave device, which means that the slave device is used to capture more detailed image information than the master device, which means that the slave device needs to rotate more flexibly and frequently than the master device, and therefore, in order to avoid the interference of the frequent rotation of the slave device with the master device, in this embodiment, when the dome camera rotates, the connection structure between the dome camera and the dome camera does not drive the dome camera to rotate along with the dome camera.

For example, when the dome camera 203 in fig. 2 is rotated, the ring camera 202 does not follow the rotation of the dome camera 203.

In order to achieve the rotating effect, a corresponding connecting structure can be designed, so that the plurality of image acquisition devices rotate around the same axis. In alternative embodiments, the connection structure may be a slip ring (also called slip ring), and the connection structure may be used in any electromechanical system that requires continuous rotation and needs to transmit power and signals from a fixed position to a rotating position, so as to improve system performance, simplify system structure, and avoid strain of a lead during rotation.

Illustratively, continuing to take the image capturing system shown in fig. 2 as an example, fig. 3 is a schematic diagram of a connection structure provided by the present embodiment for the system shown in fig. 2, in which the panoramic camera 201 is connected to the ring camera 202 through a first slip ring 204, and the ring camera 202 is connected to the dome camera 203 through a second slip ring 205.

Based on the schematic connection structure shown in fig. 3, this embodiment further provides a block schematic diagram of an image capturing system. As shown in fig. 4, the image acquisition system further includes a power supply module, a gateway module, and a network interface; the power supply module is used for performing functions on the panoramic camera 201, the ring camera 202 and the dome camera 203, and can output 12V, 5V, 3.3V and other direct current voltages according to requirements.

With continued reference to fig. 4, the panoramic camera 201 includes a panoramic DSP chip module, a panoramic fixed focus lens module, and an external interface module. The panoramic fixed-focus lens module comprises a focus lens and an image sensor and is used for finishing the acquisition of panoramic images and outputting the panoramic images to the panoramic DSP chip module. The external interface module is used for completing external interface functions, such as power output, alarm input and output, audio input and output, an RS485 interface, analog video output, an optical interface and the like.

The panoramic DSP chip module in this embodiment can receive an external command at the same time to control the ring camera 202 and the dome camera 203 to complete corresponding functions, and also can receive data transmitted by the ring camera 202 and the dome camera 203, for example, the data may include video data of the ring camera 202 and the dome camera 203, a reply of the external command, and status information of the work.

With reference to fig. 4, the ring camera 202 includes at least one small zoom lens module, a zoom control module, a hybrid light supplement module, and a pan-tilt rotation module. The small zoom movement lens module comprises a movement lens and an image sensor and is used for finishing the collection of a medium-sized scene image and outputting the medium-sized scene image to the annular DSP chip. The zooming control module is used for carrying out telescopic control on the small zooming movement so as to carry out zooming to a specified multiplying power for monitoring according to the actual scene requirement. Mix light filling module mainly includes that 4 white light filling lamps and 4 infrared light filling lamps constitute, and white light lamp pearl and infrared lamp pearl encapsulation are in a lamp pearl.

Wherein, white light filling lamp mainly uses to relatively nearer scene, for example low latitude installation scene, under the installation scene below 20 meters, white light lamp light filling is used to this kind of scene, can ensure that the full-color image of image is enough clear simultaneously. The infrared light supplement lamp is mainly used for a far scene, for example, in an installation scene of more than 20 meters, the infrared light supplement lamp is used for supplementing light for the scene, and although an image is black and white, the definition of the image can be ensured to reach the preset definition. The holder rotating module is used for controlling the horizontal rotation of the whole ring-shaped camera 202 and the rotation of a module consisting of the core lens module and the mixed light supplementing module in the vertical direction, so that the monitoring in the horizontal direction of 360 degrees and the monitoring in the vertical direction of 0-30 degrees are realized, wherein the horizontal direction is perpendicular to the vertical direction.

With continued reference to fig. 4, the dome camera 203 includes at least one large zoom lens module, a zoom control module, a laser infrared light supplement module, and a pan-tilt rotation module. The large zoom movement lens module comprises a movement lens and an image sensor and is used for finishing the collection of a medium-sized scene image and outputting the medium-sized scene image to the annular holder DSP chip. The zooming control module mainly completes the telescopic control of the large zooming machine core, so that the monitoring is carried out when the zooming is carried out to the specified multiplying power according to the actual scene requirement. The mixed light supplement module mainly comprises 8 laser infrared light supplement lamps, and the light supplement range can cover near, middle and far scenes.

Because the laser infrared light supplement lamp is adopted, the light supplement distance at a far distance is very far, and the farthest distance can reach 500 meters. The holder rotating module is used for completing the horizontal rotation of the whole spherical holder and the rotation of a module consisting of the machine core lens module and the laser infrared light supplementing module in the vertical direction, so that the monitoring of 360 degrees in the horizontal direction and the monitoring of-10 degrees to 90 degrees in the vertical direction are realized.

With continued reference to fig. 4, the gateway module is configured to complete network connection among the panoramic camera 201, the ring camera 202, and the dome camera 203, so that the panoramic camera 201, the ring camera 202, and the dome camera 203 can transmit data to each other and communicate with an external network.

As described in the foregoing embodiments, in the image capturing system, matching is performed according to the monitoring scene of the master device is larger than the monitoring scene of the slave device, that is, different image capturing devices are respectively focused on different shooting functions, so that each device has different device parameters. Continuing with the example of the image capturing system shown in fig. 2, the respective device parameters of the panoramic camera 201, the ring camera 202 and the dome camera 203 may be:

the panoramic camera 201: in a first aspect, the panoramic camera 201 may be composed of 8 fixed-focus lens portions, the lenses are arranged at equal intervals, and the vertical pitch angle is 45 °, so that the shooting direction of the lenses is inclined downward for monitoring from high altitude downward. In a second aspect, each lens may employ 2.8mm, 4mm, or 6mm focal segments; and according to the requirements of practical application scenes, 8 fixed-focus lenses can be selected from lenses of different styles. In the third aspect, each lens can adopt a large-aperture lens of F1.0, an image sensor in each lens adopts a 1/1.8' target surface, so that the condition of low illumination at night can be ensured, a collected clear color image can be still seen even under the condition of no light supplement, and because the large-aperture design is adopted, the panoramic view does not need the light supplement, and the structure and hardware related to the light supplement can be saved.

The ring camera 202: in a first aspect, the ring camera 202 may be comprised of a small zoom lens. In a second aspect, the optical power may be between 3 and 6 times, covering a 2.8mm to 50mm focal length. In the third aspect, the lens can adopt an F1.3 diaphragm lens, and meanwhile, the image sensor adopts a 1/1.8' target surface, so that the low-light effect can be fully ensured. In the fourth aspect, the camera can adopt mixed supplementary lighting, and 4 infrared lamps and 4 white light lamps are respectively adopted for supplementary lighting. In the fifth aspect, the ring camera 202 can rotate horizontally by 360 degrees, the rotation rotates relative to the panoramic part, and meanwhile, the rotation module composed of the core lens and the light supplement module can rotate vertically by 0-30 degrees.

The dome camera 203: in a first aspect, the dome camera 203 may be comprised of a large zoom lens. In a second aspect, the optical power may be 30 times or more, covering a 5mm to 250mm focal length. In the third aspect, the lens adopts an F1.6 diaphragm lens, and the image sensor adopts a 1/1.8' target surface, so that the low-light effect can be fully ensured. In the fourth aspect, the light supplement mode adopts laser infrared light supplement, and specifically can include that 4 remote infrared lamps, 2 middle-distance infrared lamps and 2 near-distance infrared lamps carry out the light supplement. In the fifth aspect, the dome camera 203 can horizontally rotate by 360 degrees, the rotation is relative to the ring camera 202, and meanwhile, a rotating module composed of the camera lens of the movement and the light supplement module can rotate between-10 degrees and 90 degrees.

For the image acquisition system provided in the foregoing embodiment, the present embodiment further provides a target tracking method applied to the system, including:

the ring-shaped camera receives the tracking information of the first target object and tracks and shoots the first target object according to the tracking information, wherein when the ring-shaped camera tracks and shoots the first target object, the spherical camera is driven to synchronously rotate through a connecting structure between the ring-shaped camera and the spherical camera.

The first target object in this embodiment may be, but is not limited to, a target entering the monitoring area, a target mixing the wire, and a target leaving the monitoring area for a target monitoring area. The target can be detected through a related intelligent recognition algorithm.

Compared with a ring camera and a dome camera, the panoramic camera has the largest visual field sensing range and is used for detecting a first target object with abnormal behaviors in a global situation sensing mode, so that tracking information of the first target object is provided for the ring camera, the first target object is conveniently tracked, and therefore the panoramic camera can be kept still all the time during the tracking of the first target object.

Therefore, if the panoramic camera detects the first target object, the first spatial coordinates of the first target object in the field of view of the panoramic camera are transmitted to the ring camera.

The ring-shaped camera converts the first space coordinate into a second space coordinate in the visual field range of the ring-shaped camera, and the second space coordinate is used as tracking information; and then, realizing tracking shooting on the first target object according to the tracking information.

Of course, in another alternative embodiment, the panoramic camera may further convert the first control coordinate into a second spatial coordinate, and then send the second control coordinate as tracking information to the ring camera.

However, the present embodiment also considers the difference of the initial shooting angles between the ring camera and the dome camera, and therefore, before the dome camera and the ring camera rotate synchronously, the shooting direction of the dome camera needs to be adjusted to be consistent with the shooting direction of the ring camera, and therefore, the method further includes:

the spherical camera receives a tracking instruction sent by the panoramic camera; then, acquiring the difference of the shooting directions between the ring camera and the dome camera according to the tracking instruction; finally, according to the difference of shooting directions, the lens orientation of the dome camera is adjusted to be consistent with the lens orientation of the ring camera.

In an alternative embodiment, the dome camera obtains a horizontal relative deflection angle and a pitch relative deflection angle of a lens between the dome camera and the dome camera, and adjusts the lens orientation of the dome camera to be consistent with the lens orientation of the dome camera according to the horizontal relative deflection angle and the pitch relative deflection angle.

Illustratively, when the panoramic camera 201 in fig. 2 finds the first target object, the tracking information of the first target object is sent to the ring camera 202, and simultaneously, a tracking instruction is sent to the dome camera 203. The dome camera 203 obtains the current horizontal angle and the pitch angle of the ring camera 202 according to the tracking instruction; and comparing the angle with the current horizontal angle and the pitch angle of the camera, calculating the horizontal relative deflection angle and the pitch relative deflection angle between the two devices, and adjusting the orientation of the lens according to the horizontal relative deflection angle and the pitch relative deflection angle so as to keep the orientation of the lens consistent with that of the annular camera.

In this embodiment, before the panoramic camera sends the tracking information to the ring camera, the first target object currently being tracked by the ring camera is prevented from being interrupted. The panoramic camera acquires the state information of the annular camera; and if the state information indicates that the ring camera is in a tracking state, the panoramic camera tracks the first target object, and sends the first space coordinate to the ring camera after the ring camera is in an idle state.

Since the respective monitoring scenes of the panoramic camera, the ring camera and the dome camera in the embodiment are a global scene, a medium scene and a small scene in sequence, and each scene respectively comprises the following characteristics:

global scene: the method is used for monitoring a scene at 360-degree dead angle, and meanwhile, intelligent services such as crowd situation feedback, people counting, vehicle counting, intelligent perimeter and the like in the scene can be realized.

A middle scene: the method can be used for carrying out structured snapshot on targets in the scene perimeter defense deployment and defense deployment area to obtain the surrounding environment situation of the targets so as to analyze abnormal events in the monitoring video during playback.

Small scene: detailed information of the first target object, such as a very sharp detail image, may be obtained. For example, for a person, there is a clear human face and a human body, and for a motor vehicle, there is a clear vehicle body and license plate information, and meanwhile there is a structured attribute analysis, so as to facilitate the information retrieval afterwards.

Therefore, the panoramic camera 201 in fig. 2 analyzes and outputs a first spatial coordinate of a first target object in a panoramic image for instructing the ring camera 202 and the dome camera 203 to perform synchronous tracking and capturing on the first target object generating an abnormal event in panoramic monitoring.

The ring camera 202 rotates by corresponding angles along the horizontal and vertical directions according to the second space coordinate of the first target object in the shooting range, and zooms the movement to a corresponding magnification according to the size of the first target object, so as to track and capture the first target object.

When the ring camera 202 is rotated to the right position, the dome camera 203 calculates a horizontal relative deflection angle and a pitching relative deflection angle between the dome camera 203 and the ring camera 202, adjusts the lens to be consistent with the shooting direction of the ring camera 202 according to the horizontal relative deflection angle and the pitching relative deflection angle, and then, the dome camera 203 performs more detailed tracking and snapshot analysis on the first target object by adopting a larger magnification.

Therefore, through mutual cooperation of the three image acquisition devices, the first target object is subjected to all-around tracking shooting.

In another embodiment, the ring camera and the spherical camera in the image capturing system can be used for tracking and shooting different target objects, so that a user can select one of the two tracking and shooting modes according to monitoring needs. The ring camera and the dome camera can also be used for tracking and shooting different target objects respectively, and are limited in that the connection structure between the ring camera and the dome camera can drive the dome camera to synchronously rotate, so that when different target objects are tracked respectively, the dome camera needs to compensate for the synchronous rotation generated by the ring camera.

The spherical camera receives tracking information of a second target object, then the camera obtains compensation information aiming at the rotation information according to the rotation information of the annular camera, and finally, tracking shooting is carried out on the second target object according to the compensation information and the tracking information.

Wherein the compensation information is used to eliminate synchronous rotation brought by the connection structure. For example, it is assumed that the rotation information of the ring camera is based on the horizontal plane to track the first target object at an angular velocity of 15 °/s in the clockwise direction, which means that the dome camera is driven by the ring camera to rotate at an angular velocity of 15 °/s in the clockwise direction.

Therefore, when the dome camera receives the tracking information of the second target object, the second target object needs to be tracked and shot in combination with the rotation information of the ring camera. That is, the control information output by the dome camera for the user to track the second target object needs to include two parts, one part is used for offsetting the synchronous rotation generated by the ring camera, and the other part is used for actually tracking the second target object, so that the second target object is always kept at the preset position of the shot image. For example, the preset position may be located at the center of the captured image.

In order to avoid tracking one target object for a long time and missing other objects requiring tracking shooting, as shown in fig. 5, the present embodiment is further provided with a buffer queue for buffering a plurality of target objects and a tracking restriction condition set for each target object.

The panoramic camera is used for detecting and outputting coordinates of a plurality of target objects and recording the corresponding relation between the identification of the target objects and the space coordinates to the cache queue. The target objects are arranged in the buffer queue according to the sequence of the target objects appearing in the panoramic image.

The panoramic camera is also used for detecting whether the ring-shaped camera is in an idle state or not;

if the ring camera is in an idle state, the panoramic camera takes the target object which is firstly added into the cache queue as a first target object, then determines a second space coordinate according to the space coordinate corresponding to the first target object, and sends the second space coordinate to the ring camera; and finally, removing the first target object from the cache queue to update the cache queue.

If the ring-shaped camera is not in the idle state, the panoramic camera judges whether the dome camera is in the idle state or not.

If the dome camera is in an idle state, the panoramic camera takes the target object which is firstly added into the cache queue as a second target object, then determines a second space coordinate according to the space coordinate corresponding to the second target object, and sends the second space coordinate to the ring camera; finally, the second target object is removed from the buffer queue to update the buffer queue.

As shown in fig. 5, whether the ring camera 202 or the dome camera is in an idle state, the panoramic camera 201 will continuously track each target object in the buffer queue, and remove from the buffer queue the target object whose tracked duration exceeds the duration threshold (for example, the duration threshold may be 10s) or the target object that disappears from the field of view of the panoramic camera 201, so as to update the buffer queue.

It should be noted that the terms "first," "second," "third," and the like are used merely to distinguish one description from another, and are not intended to indicate or imply relative importance. Furthermore, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

It should also be noted that, unless expressly stated or limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may for example be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

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

Claims

1. An image acquisition system is characterized by comprising a panoramic camera, a ring-shaped camera and a dome camera which are sequentially connected according to a preset master-slave relationship, wherein the ring-shaped camera is a slave device of the panoramic camera, and the dome camera is a slave device of the ring-shaped camera;

2. The image capturing system of claim 1, wherein the connection structure between the ring camera and the dome camera does not drive the ring camera to rotate with the dome camera when the dome camera rotates.

3. The image acquisition system according to any of claims 1-2, wherein the connection structure is a slip ring.

4. The image capturing system of claim 1, wherein the ring camera and the dome camera rotate about the same axis.

5. An object tracking method applied to the image acquisition system according to any one of claims 1 to 4, the method comprising:

6. The target tracking method of claim 5, wherein the tracking information of the first target object is received from the panoramic camera, the method further comprising:

if the panoramic camera detects the first target object, converting a first space coordinate of the first target object in the field of view of the panoramic camera into a second space coordinate in the field of view of the ring-shaped camera;

and sending the second space coordinate as the tracking information to the ring-shaped camera.

7. The method for tracking an object according to claim 6, wherein the sending the second spatial coordinates as the tracking information to the ring camera includes:

the panoramic camera acquires the state information of the annular camera;

if the state information indicates that the ring camera is in a tracking state, the panoramic camera tracks the first target object until the ring camera is in an idle state, and then sends the first space coordinate of the first target object to the ring camera.

8. The target tracking method of claim 6, further comprising:

the spherical camera receives a tracking instruction sent by the panoramic camera; acquiring the difference of the shooting directions between the annular camera and the spherical camera according to the tracking instruction; and adjusting the lens orientation of the dome camera to be consistent with the lens orientation of the ring camera according to the difference of the shooting directions.

9. The object tracking method of claim 8, wherein the adjusting the lens orientation of the dome camera to be consistent with the lens orientation of the ring camera according to the difference in the shooting direction comprises:

the spherical camera obtains a horizontal relative deflection angle and a pitching relative deflection angle of a lens between the spherical camera and the annular camera, and the orientation of the lens of the spherical camera is adjusted to be consistent with the orientation of the lens of the annular camera according to the horizontal relative deflection angle and the pitching relative deflection angle.

10. The target tracking method of claim 5, further comprising:

the dome camera receives tracking information of a second target object;

the spherical camera obtains compensation information aiming at the rotation information according to the rotation information of the annular camera, wherein the compensation information is used for eliminating synchronous rotation brought by the connecting structure;

and tracking and shooting the second target object according to the compensation information and the tracking information.