CN114995524A - Camera cloud platform system that possesses initiative tracking function - Google Patents
Camera cloud platform system that possesses initiative tracking function Download PDFInfo
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- CN114995524A CN114995524A CN202210621838.7A CN202210621838A CN114995524A CN 114995524 A CN114995524 A CN 114995524A CN 202210621838 A CN202210621838 A CN 202210621838A CN 114995524 A CN114995524 A CN 114995524A
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Abstract
The invention provides a camera holder system with an active tracking function, which comprises a control module, an information acquisition device, a pitching adjusting mechanism, a rolling adjusting mechanism and a yawing adjusting mechanism, wherein the information acquisition device automatically identifies a moving target object in a camera view field, and the control module controls the pitching adjusting mechanism, the rolling adjusting mechanism and the yawing adjusting mechanism through driving to adjust the three-degree-of-freedom posture of the information acquisition device, so that the three-degree-of-freedom active visual function is realized, the target object is positioned in the central range of the view field, and the clear and continuous image of a camera picture is kept. The invention provides a camera holder system with an active tracking function, which has a compact structure, is convenient to assemble and disassemble, can realize the rapid and stable adjustment of the posture of a camera, and has a pitching adjustment range of-90 degrees, a yawing adjustment range of-180 degrees and a heeling adjustment range of-180 degrees.
Description
Technical Field
The invention belongs to the technical field of pan-tilt control, and particularly relates to a camera pan-tilt system with an active tracking function.
Background
In autonomous navigation fields such as ground robots, autonomous vehicles, unmanned aerial vehicles and the like, a moving target in an environment generally needs to be accurately identified. Due to the limited field of view of the camera, the posture of the camera needs to be adjusted in the process of acquiring the moving target image, so that the target object is located in the field of view. Most of existing holder systems only have a camera attitude stabilization control function and cannot automatically identify and actively adjust the camera attitude along with a moving target. Like the Steiner stabilizer, the camera posture can be adjusted only in a manual remote control mode, and the structure is complex and heavy. Part handheld cloud platform stabilizer is like: a pan-tilt control method, a controller and a pan-tilt authorized by patent CN 108521814B; a three-axis pan-tilt control device and a control method thereof granted by patent CN106802566B mainly provide a solution for how to improve the camera attitude control accuracy and reduce the body vibration generated by pan-tilt rotation, but still cannot realize the active tracking function of a moving target.
In summary, an image capturing device for a moving target is provided, which has functions of stably adjusting a camera pose and actively tracking the target, and is a problem to be solved urgently.
Disclosure of Invention
In order to overcome a series of defects in the prior art, an object of the present invention is to provide a camera pan-tilt system with an active tracking function, including a control module 101, an information acquisition device, a pitch adjustment mechanism, a roll adjustment mechanism and a yaw adjustment mechanism, wherein the information acquisition device automatically identifies a moving target object in a camera view field, and the control module 101 adjusts a three-degree-of-freedom posture of the information acquisition device by driving and controlling the pitch adjustment mechanism, the roll adjustment mechanism and the yaw adjustment mechanism, so as to implement an active visual function with three degrees of freedom, so that the target object is located in a central range of the view field, thereby keeping a camera image clear and continuous.
Preferably, the information acquisition device comprises a binocular camera, a camera fast-assembling support 201 and a camera fast-assembling support mounting rack 706, the pitch adjusting mechanism comprises a pitch driven shaft 307, a pitch shaft steering engine steering wheel 308, a pitch shaft steering engine 503, a pitch bearing seat 604, a deep groove ball bearing B605, an opening gasket B606, a pitch shaft steering engine support 707 and a pitch shaft support 708, wherein,
two ends of the camera fast-assembling support mounting frame 706 are respectively connected with the pitching driven shaft 307 and the camera fast-assembling support 201, and a binocular camera is mounted on the camera fast-assembling support 201;
the pitch axis steering engine 503 is mounted on the pitch axis steering engine rudder plate 308;
one side of the pitch axis steering engine steering wheel disc 308 is fixed on the pitch axis support 708, and the other side is fixed on the pitch axis steering engine support 707;
an output shaft of the pitching shaft steering engine 503 is fixedly connected with the camera fast-assembling support mounting frame 706 to serve as a pitching power output shaft;
a pitch bearing seat 604 and an opening washer B606 are arranged on the other side of the pitch shaft bracket 708, and a deep groove ball bearing B605 is arranged in the pitch bearing seat 604; the pitch driven shaft 307 is connected to the pitch shaft bracket 708 through a deep groove ball bearing as a driven shaft;
when pitch adjustment is carried out, the pitch shaft steering engine rudder disc 308 drives the camera quick-mounting support mounting frame 706 to rotate, so that the camera quick-mounting support 201 and the binocular camera are driven to rotate, and the pitch driven shaft 307 is driven to rotate through rotation of the binocular camera and the camera quick-mounting support mounting frame 706; due to the movement of the two sides of the camera, the two sides of the camera are stressed uniformly, and the pitching movement of the holder camera is realized.
Preferably, the roll adjustment mechanism comprises a roll axis steering engine steering wheel 304, a roll axis 305, a roll axis coupler 306, a roll axis conductive slip ring 402, a roll axis steering engine 502, a roll axis bearing block 601, an open washer a602, a deep groove ball bearing a603, a roll axis steering engine bracket 702, a roll axis conductive slip ring fixing frame 703, a roll axis bracket 704 and a bearing block 705, wherein,
the cross roller steering engine 502 is fixed on a cross roller steering engine bracket 702, the cross roller steering engine bracket 702 is fixed on the cross roller bracket 704 through bolts, and an output shaft of the cross roller steering engine 502 is fixedly connected on a cross roller 305 through a cross roller steering engine steering wheel 304; the deep groove ball bearing A603 is sleeved on the transverse rolling shaft 305, an opening gasket A602 is arranged on the deep groove ball bearing A603, a transverse rolling bearing seat 601 is arranged outside the deep groove ball bearing A603 for protection, and the transverse rolling bearing seat 601 is fixed on a transverse rolling shaft bracket 704 through bolts; a metal bearing block cushion block 705 is cushioned below the rolling bearing block 601 to prevent the force on the rolling bearing block 601 from directly acting on the rolling shaft support 704;
a transverse roller conductive slip ring fixing frame 703 is fixedly arranged on the transverse roller shaft bracket 704 and is used for supporting the transverse roller conductive slip ring 402;
a roll shaft coupler 306 is installed in front of the roll shaft 305 and is axially fixed by a screw to facilitate connection with the pitch shaft bracket 708;
when the tilting adjustment is performed, the steering wheel 304 of the roll shaft steering engine drives the roll shaft 305 to rotate, further drives the roll shaft coupler 306 connected with the roll shaft 305 to rotate, the roll shaft coupler 306 is connected with the pitch shaft bracket 708 through a bolt, the camera pan-tilt device is mounted on the pitch shaft bracket 708, the rotation of the roll shaft coupler 306 necessarily drives the pitch shaft bracket 708 to rotate, further drives the pan-tilt camera to move, and therefore the tilting adjustment of the pan-tilt camera is achieved.
Preferably, the yaw adjusting mechanism comprises a heading axis coupler 301, a heading axis 302, a heading axis steering engine steering wheel 303, a heading axis conductive slip ring 401, a heading axis steering engine 501 and a heading axis steering engine support 701, wherein,
the course shaft steering engine 501 is fixed on the course shaft steering engine support 701 through bolts, and the course shaft steering engine steering wheel 303 is connected with the course shaft 302 through bolts, so that the transmission of power is ensured;
the upper end of the course shaft 302 is provided with a course shaft coupler 301 and is axially fixed through a screw so as to be conveniently connected with a rolling shaft bracket 704;
when the device is used for adjusting the yaw direction, the heading shaft steering engine steering wheel 303 drives the heading shaft 302 to rotate, further drives the heading shaft coupler 301 connected with the heading shaft 302 to rotate, the heading shaft coupler 301 is connected with the roll shaft bracket 704 through bolts, further drives the roll shaft bracket 704 to move, further drives the pan-tilt camera to perform yaw movement, and accordingly achieves yaw adjustment of the pan-tilt camera.
Preferably, in order to facilitate winding of the conducting wires, a heading shaft conductive slip ring 401 is sleeved outside the steering shaft 302; the cross roller conductive slip ring 402 is sleeved in front of the cross roller 305, and the main function of the cross roller conductive slip ring 402 is to solve the problem of wire winding in the process of rotating the device by 360 degrees.
Preferably, the pitch axis steering engine 503, the roll axis steering engine 502 and the heading axis steering engine 501 are in signal connection with the control module 101, and the control module 101 controls the pitch axis steering engine 503, the roll axis steering engine 502 and/or the heading axis steering engine 501 to move, so as to change the posture of the pan-tilt camera.
Preferably, the pitch adjustment range is-90 degrees, the yaw adjustment range is-180 degrees, and the side-tipping adjustment range is-180 degrees.
Preferably, the camera pan-tilt system is provided with an expandable communication interface and a mechanical interface, supports a camera link interface camera, and is good in adaptability and expansibility.
Preferably, the working mode of the camera pan-tilt system comprises a target active tracking mode and a camera attitude stabilization control mode, and the camera attitude stabilization adjustment and target tracking control process comprises:
step S1, firstly, setting a working mode, and judging whether a target active tracking mode is required;
step S2, if active tracking is not performed, the system enters a camera pose stabilization control mode:
firstly, inputting a target attitude angle of a camera, measuring the acceleration and the angular acceleration of the camera through an IMU (inertial measurement Unit), and obtaining a current attitude angle through camera attitude calculation; adjusting the camera to reach a target attitude angle by controlling the steering engine;
step S3, if active tracking is performed, the system enters the target active tracking mode:
firstly, selecting a tracked target in a current frame image, and automatically identifying and extracting target characteristics by using a background difference algorithm;
tracking a moving target based on an adaptive Kalman filtering algorithm, and estimating the moving speed of the target in the width and height directions of an image;
further, predicting a camera target attitude angle according to the motion speed of the target relative to the camera;
and finally, adjusting the camera to reach the target attitude angle through the steering engine closed-loop control.
Compared with the prior art, the invention has the following beneficial effects:
1) the invention provides a camera holder system with an active tracking function, which has a compact structure, is convenient to assemble and disassemble, can realize the rapid and stable adjustment of the posture of a camera, and has a pitching adjustment range of-90 degrees, a yawing adjustment range of-180 degrees and a tilting adjustment range of-180 degrees;
2) the invention provides a camera holder system with an active tracking function, which can track a specified target object in a view field according to task requirements, and enable the target object to be positioned in the central range of the camera view field by adjusting the posture of a camera;
3) the invention provides a camera holder system with an active tracking function, which is provided with an extensible communication interface and a mechanical interface, supports a camera Link interface camera and has good system adaptability and expansibility.
Drawings
Fig. 1 is a schematic view of the overall assembly of the present invention.
Fig. 2 is a schematic view of a pitch adjustment mechanism of the present invention.
Fig. 3 is a schematic view of a roll adjustment mechanism of the present invention.
Fig. 4 is a schematic diagram of the yaw adjustment mechanism of the present invention.
Fig. 5 is a flowchart of camera pose stabilization adjustment and target tracking according to the present invention.
The reference numbers in the figures are:
101-a control module; 201-camera fast-assembling support;
301-course axis coupling; 302-heading axis;
303-course axis steering engine rudder wheel; 304-a steering engine rudder disc of a transverse rolling shaft;
305-a transverse roller; 306-a roll shaft coupling;
307-pitch follower shaft; 308-pitch axis steering engine rudder disc;
401-heading axis conductive slip ring; 402-a roll-on conductive slip ring;
501-course axis steering engine; 502-a transverse roller steering engine;
503-pitch axis steering engine; 601-rolling bearing seats;
602-split washer a; 603-deep groove ball bearing A;
604-pitch bearing blocks; 605-deep groove ball bearing B;
606-split washer B; 701-a heading axis steering engine bracket;
702-a transverse rolling shaft steering engine bracket; 703-a transverse rolling shaft conductive slip ring fixing frame;
704-a roller axle support; 705-bearing block;
706-camera quick mount bracket mounting; 707-pitch axis steering engine support;
708-pitch axis support.
Detailed Description
In order to make the implementation objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the embodiments of the present invention. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are only some, but not all embodiments of the invention.
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 invention.
The embodiments and the directional terms described below with reference to the drawings are exemplary and intended to be used in the explanation of the invention, and should not be construed as limiting the invention.
In one broad embodiment of the present invention, a camera pan-tilt system with active tracking function includes a control module 101, an information acquisition device, a pitch adjustment mechanism, a roll adjustment mechanism and a yaw adjustment mechanism, wherein the information acquisition device automatically identifies a moving target object in a field of view of the camera, and the control module 101 drives and controls the pitch adjustment mechanism, the roll adjustment mechanism and the yaw adjustment mechanism to adjust a three-degree-of-freedom posture of the information acquisition device, so as to realize an active visual function with three degrees of freedom, so that the target object is located in a central range of the field of view, thereby keeping a clear and continuous image of the camera.
Preferably, the information acquisition device comprises a binocular camera, a camera fast-assembling support 201 and a camera fast-assembling support mounting rack 706, the pitch adjusting mechanism comprises a pitch driven shaft 307, a pitch shaft steering engine steering wheel 308, a pitch shaft steering engine 503, a pitch bearing seat 604, a deep groove ball bearing B605, an opening gasket B606, a pitch shaft steering engine support 707 and a pitch shaft support 708, wherein,
two ends of the camera fast-assembling support mounting frame 706 are respectively connected with the pitching driven shaft 307 and the camera fast-assembling support 201, and a binocular camera is mounted on the camera fast-assembling support 201;
the pitch axis steering engine 503 is mounted on the pitch axis steering engine rudder plate 308;
one side of the pitch axis steering engine steering wheel disc 308 is fixed on the pitch axis support 708, and the other side is fixed on the pitch axis steering engine support 707;
an output shaft of the pitching shaft steering engine 503 is fixedly connected with the camera fast-assembling support mounting frame 706 to serve as a pitching power output shaft;
a pitch bearing seat 604 and an opening washer B606 are arranged on the other side of the pitch shaft bracket 708, and a deep groove ball bearing B605 is arranged in the pitch bearing seat 604; the pitch driven shaft 307 is connected to the pitch shaft bracket 708 through a deep groove ball bearing as a driven shaft;
when pitch adjustment is carried out, the pitch shaft steering engine rudder disk 308 drives the camera fast-mounting support mounting rack 706 to rotate, so that the camera fast-mounting support 201 and the binocular camera are driven to rotate, and the pitch driven shaft 307 is driven to rotate through rotation of the binocular camera and the camera fast-mounting support mounting rack 706; due to the movement of the two sides of the camera, the two sides of the camera are stressed uniformly, and the pitching movement of the holder camera is realized.
Preferably, the roll adjustment mechanism comprises a roll axis steering engine steering wheel 304, a roll axis 305, a roll axis coupler 306, a roll axis conductive slip ring 402, a roll axis steering engine 502, a roll axis bearing block 601, an open washer a602, a deep groove ball bearing a603, a roll axis steering engine bracket 702, a roll axis conductive slip ring fixing frame 703, a roll axis bracket 704 and a bearing block 705, wherein,
the cross roller steering engine 502 is fixed on a cross roller steering engine bracket 702, the cross roller steering engine bracket 702 is fixed on the cross roller bracket 704 through bolts, and an output shaft of the cross roller steering engine 502 is fixedly connected on a cross roller 305 through a cross roller steering engine steering wheel 304; the deep groove ball bearing A603 is sleeved on the transverse rolling shaft 305, an opening gasket A602 is arranged on the deep groove ball bearing A603, a transverse rolling bearing seat 601 is arranged outside the deep groove ball bearing A603 for protection, and the transverse rolling bearing seat 601 is fixed on a transverse rolling shaft bracket 704 through bolts; a metal bearing seat cushion block 705 is padded below the rolling bearing seat 601 to prevent the force on the rolling bearing seat 601 from directly acting on the rolling bearing support 704;
a transverse roller conductive slip ring fixing frame 703 is fixedly arranged on the transverse roller shaft bracket 704 and is used for supporting the transverse roller conductive slip ring 402;
a roll shaft coupler 306 is installed in front of the roll shaft 305 and is axially fixed by a screw to facilitate connection with the pitch shaft bracket 708;
when the tilting adjustment is performed, the steering wheel 304 of the roll shaft steering engine drives the roll shaft 305 to rotate, further drives the roll shaft coupler 306 connected with the roll shaft 305 to rotate, the roll shaft coupler 306 is connected with the pitch shaft bracket 708 through a bolt, the camera pan-tilt device is mounted on the pitch shaft bracket 708, the rotation of the roll shaft coupler 306 necessarily drives the pitch shaft bracket 708 to rotate, further drives the pan-tilt camera to move, and therefore the tilting adjustment of the pan-tilt camera is achieved.
Preferably, the yaw adjusting mechanism comprises a heading axis coupler 301, a heading axis 302, a heading axis steering engine steering wheel 303, a heading axis conductive slip ring 401, a heading axis steering engine 501 and a heading axis steering engine support 701, wherein,
the course shaft steering engine 501 is fixed on the course shaft steering engine support 701 through bolts, and the course shaft steering engine steering wheel 303 is connected with the course shaft 302 through bolts, so that the transmission of power is ensured;
the upper end of the heading shaft 302 is provided with a heading shaft coupler 301 which is axially fixed through a screw and is convenient to be connected with a rolling shaft bracket 704;
when the device is used for adjusting the yaw direction, the heading shaft steering engine steering wheel 303 drives the heading shaft 302 to rotate, further drives the heading shaft coupler 301 connected with the heading shaft 302 to rotate, the heading shaft coupler 301 is connected with the rolling shaft support 704 through bolts, further drives the rolling shaft support 704 to move, further drives the pan-tilt camera to perform yaw movement, and accordingly achieves the yaw adjustment of the pan-tilt camera.
Preferably, in order to facilitate winding of the conducting wires, a heading shaft conductive slip ring 401 is sleeved outside the steering shaft 302; the cross roller conductive slip ring 402 is sleeved in front of the cross roller 305, and the main function of the cross roller conductive slip ring 402 is to solve the problem of wire winding in the process of rotating the device by 360 degrees.
Preferably, the pitch axis steering engine 503, the roll axis steering engine 502 and the heading axis steering engine 501 are in signal connection with the control module 101, and the control module 101 controls the pitch axis steering engine 503, the roll axis steering engine 502 and/or the heading axis steering engine 501 to move, so as to change the posture of the pan-tilt camera.
Preferably, the pitch adjustment range is-90 degrees, the yaw adjustment range is-180 degrees, and the side-tipping adjustment range is-180 degrees.
Preferably, the camera pan-tilt system is provided with an expandable communication interface and a mechanical interface, supports a camera link interface camera, and is good in adaptability and expansibility.
Preferably, the working mode of the camera pan-tilt system includes a target active tracking mode and a camera attitude stable control mode, and the camera attitude stable adjustment and target tracking control process includes:
step S1, firstly, setting a working mode, and judging whether a target active tracking mode is required to be carried out or not;
step S2, if active tracking is not performed, the system enters a camera pose stabilization control mode:
firstly, inputting a target attitude angle of a camera, measuring the acceleration and angular acceleration of the camera through an IMU (inertial measurement Unit), and obtaining a current attitude angle through camera attitude calculation; adjusting the camera to reach a target attitude angle by controlling the steering engine;
step S3, if active tracking is performed, the system enters the target active tracking mode:
firstly, selecting a tracked target in a current frame image, and automatically identifying and extracting target characteristics by using a background difference algorithm;
tracking a moving target based on an adaptive Kalman filtering algorithm, and estimating the moving speed of the target in the width and height directions of an image;
further, predicting a camera target attitude angle according to the movement speed of the target relative to the camera;
and finally, adjusting the camera to reach the target attitude angle through the steering engine closed-loop control.
The present invention will be described in further detail below with reference to the accompanying drawings, which illustrate preferred embodiments of the present invention.
As shown in fig. 1, the tripod head apparatus for active visual target tracking based on three degrees of freedom according to the present invention includes a control module 101, an information collecting device, a pitch adjusting mechanism, a roll adjusting mechanism, and a yaw adjusting mechanism. The control module 101 is connected with a camera through an interface, the information acquisition device is connected with a pitch driven shaft 307 through a camera fast-assembling support mounting frame 706, the pitch adjusting mechanism is connected with a roll adjusting mechanism through a pitch shaft support 708, and the roll adjusting mechanism is connected with a yaw adjusting mechanism through a roll shaft support 704.
As shown in fig. 1 and 2, the information acquisition device is composed of a binocular camera, a camera quick-mounting bracket 201 and a camera quick-mounting bracket mounting rack 706. The camera quick-mounting support mounting rack 706 is fixedly connected to the pitching driven shaft 307 through bolts, the camera quick-mounting support 201 is mounted at the other end of the camera quick-mounting support, and a binocular camera is placed on the camera quick-mounting support 201; when information acquisition is carried out, the posture of the binocular camera is adjusted, so that a target which is not in the center of a visual field originally is positioned in the central range of the visual field of the camera, and clear and continuous images of a camera picture are kept.
As shown in fig. 1 and 2, the pitch adjustment mechanism comprises a pitch driven shaft 307, a pitch shaft steering engine steering wheel 308, a pitch shaft steering engine 503, a pitch bearing block 604, a deep groove ball bearing B605, an opening washer B606, a pitch shaft steering engine support 707 and a pitch shaft support 708. The pitch axis steering engine 503 is carried on the pitch axis steering engine steering wheel 308, one side of the pitch axis steering engine steering wheel 308 is fixed on the pitch axis support 708 through a bolt, and the other side of the pitch axis steering engine steering wheel is fixed on the pitch axis steering engine support 707 through a bolt; an output shaft of a pitch shaft steering engine 503 is in bolted connection with a camera quick-mounting support mounting frame 706 to serve as a pitch power output shaft, a pitch bearing seat 604 and an opening gasket B606 are mounted on the other side of a pitch shaft support 708, and a deep groove ball bearing B605 is mounted in the pitch bearing seat 604; the pitch follower shaft 307 is connected to the pitch shaft bracket 708 as a follower shaft by a deep groove ball bearing.
When the pan/tilt/zoom camera device is subjected to pitch adjustment, the pitch axis steering engine rudder disc 308 drives the camera quick-mounting support mounting frame 706 to rotate, so as to drive the camera quick-mounting support 201 and the binocular camera to rotate, the other side of the camera quick-mounting support mounting frame serves as a driven shaft, and the pitch driven shaft 307 is driven to rotate through the rotation of the binocular camera and the camera quick-mounting support mounting frame 706; due to the movement of the two sides, the two sides of the camera are stressed uniformly, and therefore the pitching movement of the holder camera device is achieved.
As shown in fig. 1 and 3, the roll adjustment mechanism includes a roll axis steering engine steering wheel 304, a roll axis 305, a roll axis coupler 306, a roll axis conductive slip ring 402, a roll axis steering engine 502, a roll axis bearing block 601, an open washer a602, a deep groove ball bearing a603, a roll axis steering engine bracket 702, a roll axis conductive slip ring fixing frame 703, a roll axis bracket 704, and a bearing block 705. The cross roller steering engine 502 is fixed on a cross roller steering engine support 702, the cross roller steering engine support 702 is fixed on the cross roller support 704 through bolts, and a steering engine output shaft is fixedly connected on a cross roller 305 through a cross roller steering engine steering wheel 304; the deep groove ball bearing A603 is sleeved on the transverse rolling shaft 305, an opening gasket A602 is arranged on the deep groove ball bearing, a transverse rolling bearing seat 601 is arranged outside the bearing to protect the bearing, and the transverse rolling bearing seat 601 is fixed on a transverse rolling shaft support 704 through a bolt; a metal bearing block cushion block 705 is padded below the bearing block to prevent the force on the bearing block from directly acting on the upper surface of a cross rolling shaft bracket 704, a cross rolling shaft conductive slip ring 402 is sleeved outside the front of the cross rolling shaft 305, the main function of the cross rolling shaft conductive slip ring 402 is to solve the problem of wire winding in the process of rotating the equipment by 360 degrees, and a cross rolling shaft conductive slip ring fixing frame 703 is fixedly arranged on the cross rolling shaft bracket 704 and used for supporting the cross rolling shaft conductive slip ring 402; a roll shaft coupling 306 is mounted in front of the roll shaft 305 and is axially fixed by screws to facilitate connection to the pitch shaft bracket 708.
When the pan/tilt/camera device is adjusted to be tilted, the rudder plate 304 of the roll axis steering engine drives the roll axis 305 to rotate, further drives the roll axis coupler 306 connected with the roll axis 305 to rotate, the roll axis coupler 306 is connected with the pitch axis support 708 through a bolt, the camera pan/tilt device is mounted on the pitch axis support 708, the rotation of the roll axis coupler 306 drives the pitch axis support 708 to rotate, further drives the pan/tilt/camera device to move, and therefore the tilt/tilt adjustment of the pan/tilt/camera device is achieved.
The yaw adjusting mechanism comprises a heading shaft coupler 301, a heading shaft 302, a heading shaft steering engine steering wheel 303, a heading shaft conductive slip ring 401, a heading shaft steering engine 501 and a heading shaft steering engine support 701. The course shaft steering engine 501 is fixed on the course shaft steering engine support 701 through bolts, the course shaft steering engine steering wheel 303 is connected with the course shaft 302 through bolts, power transmission is guaranteed, a course shaft conductive slip ring 401 is sleeved outside the heading shaft 302, and the purpose of facilitating winding of wires is also facilitated; the upper end of the heading shaft 302 is provided with a heading shaft coupler 301 which is axially fixed by screws for facilitating the connection with the roll shaft bracket 704.
When the device is used for adjusting the yaw direction, the heading shaft steering engine steering wheel 303 drives the heading shaft 302 to rotate, further drives the heading shaft coupler 301 connected with the heading shaft 302 to rotate, the heading shaft coupler 301 is connected with the rolling shaft support 704 through bolts, further drives the rolling shaft support 704 to move, further drives the yaw movement of the holder camera device, and accordingly achieves the yaw adjustment of the holder camera device.
The pitching shaft steering engine 503, the rolling shaft steering engine 502 and the heading shaft steering engine 501 are in signal connection with the control module 101, and the control module 101 controls the steering engines to move through a driving controller, so that the posture of the pan-tilt camera device is changed, and the three-degree-of-freedom active visual function is realized.
Fig. 5 is a flowchart of the camera pose stabilization adjustment and target tracking according to the present invention. The control method can stably adjust the camera pan-tilt system, select whether to carry out target active tracking or not, and further adjust the posture of the camera pan-tilt to enable the target object to be located in the central range of the camera view field, thereby realizing the tracking function of the moving target.
As shown in fig. 5, the camera pose stabilization adjustment and target tracking control flow provided by the present invention is as follows:
1. firstly, setting a working mode and judging whether to carry out active target tracking.
2. If active tracking is not performed, the system enters a camera pose stabilization control mode. Firstly, inputting a target attitude angle of a camera, then measuring the acceleration and angular acceleration of the camera through an IMU (inertial measurement Unit), and obtaining the current attitude angle through camera attitude calculation. And adjusting the camera to reach the target attitude angle by controlling the steering engine.
3. And if active tracking is carried out, the system enters a target active tracking mode. Firstly, a tracked target is selected in a current frame image, and a background difference algorithm is used for automatically identifying and extracting target characteristics. And tracking the moving target based on the adaptive Kalman filtering algorithm, and estimating the moving speed of the target in the width and height directions of the image. Further, a camera target attitude angle is predicted from the speed of movement of the target relative to the camera. And finally, adjusting the camera to reach the target attitude angle through steering engine closed-loop control.
It should be noted that, the steps in the target tracking method provided by the present invention may be implemented by using corresponding modules, units, and the like in the target tracking system, and a person skilled in the art may refer to the technical solution of the system to implement the step flow of the method, and the embodiment in the system may be understood as a preferred example for implementing the method, and is not described herein again.
Finally, it should be pointed out that: the above examples are only for illustrating the technical solutions of the present invention, and are not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. A camera cloud platform system with an active tracking function comprises a control module (101), an information acquisition device, a pitching adjusting mechanism, a rolling adjusting mechanism and a yawing adjusting mechanism, and is characterized in that the information acquisition device automatically identifies a moving target object in a camera view field, and the control module (101) adjusts the three-degree-of-freedom posture of the information acquisition device by driving and controlling the pitching adjusting mechanism, the rolling adjusting mechanism and the yawing adjusting mechanism, so that the three-degree-of-freedom active visual function is realized, the target object is located in the central range of the view field, and the clear and continuous image of a camera picture is kept.
2. The camera pan-tilt system with the active tracking function according to claim 1, wherein the information acquisition device comprises a binocular camera, a camera fast-assembling support (201) and a camera fast-assembling support mounting rack (706), the pitch adjustment mechanism comprises a pitch driven shaft (307), a pitch shaft steering engine steering wheel (308), a pitch shaft steering engine (503), a pitch bearing seat (604), a deep groove ball bearing B (605), an opening washer B (606), a pitch shaft steering engine support (707) and a pitch shaft support (708), wherein,
two ends of the camera fast-assembly support mounting frame (706) are respectively connected with the pitching driven shaft (307) and the camera fast-assembly support (201), and the binocular camera is mounted on the camera fast-assembly support (201);
a pitch axis steering engine (503) is mounted on a pitch axis steering engine steering wheel (308);
one side of a pitch axis steering engine rudder disc (308) is fixed on a pitch axis bracket (708), and the other side is fixed on the pitch axis steering engine bracket (707);
an output shaft of the pitching shaft steering engine (503) is fixedly connected with the camera fast-assembling support mounting frame (706) to serve as a pitching power output shaft;
a pitch bearing seat (604) and an opening washer B (606) are arranged on the other side of the pitch shaft bracket (708), and a deep groove ball bearing B (605) is arranged in the pitch bearing seat (604); the pitch driven shaft (307) is connected to the pitch shaft bracket (708) through a deep groove ball bearing to be used as a driven shaft;
when pitch adjustment is carried out, the steering wheel and rudder disc (308) of the pitch shaft steering engine drives the camera quick-mounting support mounting frame (706) to rotate, so that the camera quick-mounting support (201) and the binocular camera are driven to rotate, and the pitch driven shaft (307) is driven to rotate through rotation of the binocular camera and the camera quick-mounting support mounting frame (706); due to the movement of the two sides of the camera, the two sides of the camera are uniformly stressed, and the pitching movement of the holder camera is realized.
3. The camera pan-tilt system with active tracking function according to claim 2, wherein the roll adjusting mechanism comprises a roll shaft steering engine steering wheel (304), a roll shaft (305), a roll shaft coupler (306), a roll shaft conductive slip ring (402), a roll shaft steering engine (502), a roll bearing seat (601), an open washer A (602), a deep groove ball bearing A (603), a roll shaft steering engine bracket (702), a roll shaft conductive slip ring fixing frame (703), a roll shaft bracket (704) and a bearing seat cushion block (705),
a transverse roller steering engine (502) is fixed on a transverse roller steering engine support (702), the transverse roller steering engine support (702) is fixed on a transverse roller support (704) through bolts, and an output shaft of the transverse roller steering engine (502) is fixedly connected to a transverse roller (305) through a transverse roller steering engine steering wheel (304); the deep groove ball bearing A (603) is sleeved on the transverse rolling shaft (305), an opening gasket A (602) is arranged on the deep groove ball bearing A (603), a transverse rolling bearing seat (601) is arranged outside the deep groove ball bearing A (603) for protection, and the transverse rolling bearing seat (601) is fixed on a transverse rolling shaft bracket (704) through a bolt; a bearing seat cushion block (705) is cushioned below the rolling bearing seat (601) to prevent the force on the rolling bearing seat (601) from directly acting on the rolling shaft support (704);
a transverse roller conductive slip ring fixing frame (703) is fixedly arranged on the transverse roller shaft bracket (704) and used for supporting the transverse roller conductive slip ring (402);
a roll shaft coupler (306) is arranged in front of the roll shaft (305) and is axially fixed through a screw so as to be conveniently connected with a pitch shaft bracket (708);
when the side-tipping adjustment is carried out, the steering wheel and rudder disc (304) of the roll shaft steering engine drives the roll shaft (305) to rotate, the roll shaft coupler (306) connected with the roll shaft (305) is further driven to rotate, the roll shaft coupler (306) is connected with the pitch shaft bracket (708) through a bolt, the camera tripod head device is arranged on the pitch shaft bracket (708), the rotation of the roll shaft coupler (306) drives the pitch shaft bracket (708) to rotate, the movement of the tripod head camera is further driven, and therefore the side-tipping adjustment of the tripod head camera is achieved.
4. The camera pan-tilt system with active tracking function according to claim 3, wherein the yaw adjusting mechanism comprises a course shaft coupler (301), a course shaft (302), a course shaft steering engine steering wheel (303), a course shaft conductive slip ring (401), a course shaft steering engine (501) and a course shaft steering engine support (701),
a course shaft steering engine (501) is fixed on a course shaft steering engine support (701) through a bolt, and a course shaft steering engine steering wheel (303) is connected with a course shaft (302) through a bolt, so that the transmission of power is ensured;
the upper end of the heading shaft (302) is provided with a heading shaft coupler (301) and is axially fixed through a screw so as to be conveniently connected with the rolling shaft bracket (704);
when the device is used for adjusting the yaw direction, the heading shaft steering engine steering wheel (303) drives the heading shaft (302) to rotate, the heading shaft coupler (301) is further driven to rotate, the heading shaft coupler (301) is connected with the rolling shaft bracket (704) through bolts, the rolling shaft bracket (704) is further driven to move, the yaw movement of the holder camera is further driven, and therefore the yaw adjustment of the holder camera is achieved.
5. The camera pan-tilt system with active tracking function according to claim 4, wherein, in order to facilitate the winding of the conducting wire, a heading shaft conductive slip ring (401) is sleeved outside the heading shaft (302); the transverse roller conductive slip ring (402) is sleeved in front of the transverse roller (305), and the transverse roller conductive slip ring (402) mainly plays a role in solving the problem of wire winding in the process of rotating the equipment for 360 degrees.
6. The camera pan-tilt system with the active tracking function according to claim 4, wherein the pitch axis steering engine (503), the roll axis steering engine (502) and the heading axis steering engine (501) are in signal connection with the control module (101), and the control module (101) changes the attitude of the pan-tilt camera by controlling the motion of the pitch axis steering engine (503), the roll axis steering engine (502) and/or the heading axis steering engine (501).
7. The camera tripod head system with active tracking function according to any one of claims 1 to 6, wherein the adjustment range of the pitching adjustment mechanism is from-90 ° to 90 °, the adjustment range of the yawing adjustment mechanism is from-180 ° to 180 °, and the adjustment range of the tilting adjustment mechanism is from-180 ° to 180 °.
8. The camera tripod head system with active tracking function of any one of claims 1 to 6, wherein the camera tripod head system has an expandable communication interface and a mechanical interface, supports a camera link interface camera, and has good adaptability and expansibility.
9. The camera pan-tilt system with active tracking function according to any one of claims 1 to 6, wherein the working modes of the camera pan-tilt system include a target active tracking mode and a camera attitude stabilization control mode, and the camera attitude stabilization adjustment and target tracking control process comprises:
step S1, firstly, setting a working mode, and judging whether a target active tracking mode is required;
step S2, if active tracking is not performed, the system enters a camera pose stabilization control mode:
firstly, inputting a target attitude angle of a camera, measuring the acceleration and the angular acceleration of the camera through lMU, and obtaining a current attitude angle through camera attitude calculation; adjusting the camera to reach a target attitude angle by controlling a pitch axis steering engine (503), a roll axis steering engine (502) and/or a course axis steering engine (501);
step S3, if active tracking is performed, the system enters the target active tracking mode:
firstly, selecting a tracked target in a current frame image, and automatically identifying and extracting target characteristics by using a background difference algorithm;
tracking a moving target based on an adaptive Kalman filtering algorithm, and estimating the moving speed of the target in the width and height directions of an image;
further, predicting a camera target attitude angle according to the motion speed of the target relative to the camera;
and finally, adjusting the camera to reach the target attitude angle through the steering engine closed-loop control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210621838.7A CN114995524A (en) | 2022-06-02 | 2022-06-02 | Camera cloud platform system that possesses initiative tracking function |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210621838.7A CN114995524A (en) | 2022-06-02 | 2022-06-02 | Camera cloud platform system that possesses initiative tracking function |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116630374A (en) * | 2023-07-24 | 2023-08-22 | 贵州翰凯斯智能技术有限公司 | Visual tracking method, device, storage medium and equipment for target object |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116630374A (en) * | 2023-07-24 | 2023-08-22 | 贵州翰凯斯智能技术有限公司 | Visual tracking method, device, storage medium and equipment for target object |
| CN116630374B (en) * | 2023-07-24 | 2023-09-19 | 贵州翰凯斯智能技术有限公司 | Visual tracking method, device, storage medium and equipment for target object |
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