CN115996305A - Camera and monitoring equipment - Google Patents

Abstract

The application provides a camera and monitoring equipment, can be applied to video monitoring technical field. The camera comprises a bracket, a panoramic shooting assembly and a cradle head shooting assembly, wherein the panoramic shooting assembly and the cradle head shooting assembly are arranged on the bracket; the panoramic camera assembly comprises at least two spliced cameras, and respective fields of view of the at least two spliced cameras are overlapped, so that imaging of the at least two spliced cameras is spliced into a panoramic image; the field-of-view blind areas of all the spliced cameras are formed with public field-of-view blind areas, the public field-of-view blind areas are contained in the field-of-view blind areas of any spliced camera, and the cradle head camera shooting assembly is positioned in the public field-of-view blind areas; the cradle head camera shooting assembly comprises a spherical camera, and the imaging of the spherical camera covers the panoramic image. The camera can realize non-blind area coverage of pan-tilt shooting and panoramic shooting.

Description

Camera and monitoring equipment

Technical Field

The application relates to the technical field of video monitoring, in particular to a camera and monitoring equipment.

Background

Video monitoring is currently widely applied to various industries, particularly in scenes such as large squares, traffic intersections, industrial parks and mountain forests, a camera of monitoring equipment is required to provide a 360-degree view field range, and meanwhile, a large-magnification zoom lens is required to capture details of a target due to a wider target distance range.

In conventional applications, multiple high angle camera combinations are typically used simultaneously to provide a 360 ° field of view to enable global monitoring. But the capturing of local details cannot be satisfied by means of a fixed-point camera, and a large zoom camera with a tripod head function needs to be matched. This conventional video monitoring scheme requires a plurality of cameras, there is no linkage between the cameras, installation, management and maintenance are difficult, and the images easily generate viewing angle blind areas. What is needed is a camera that can both present panoramic images and capture local detail, reducing installation and maintenance difficulties, and improving use experience.

Disclosure of Invention

The application provides a camera and supervisory equipment to realize that the cloud platform makes a video recording and panoramic camera's non-blind area covers.

In a first aspect, the present application provides a camera, the camera includes support, panorama subassembly and tripod head subassembly of making a video recording all install on the support, wherein, the tripod head subassembly of making a video recording can be relative support rotation. The panoramic camera assembly is responsible for obtaining panoramic images, the panoramic camera assembly specifically comprises at least two spliced cameras, respective fields of view of the at least two spliced cameras are partially overlapped, each spliced camera can obtain images in the fields of view of the at least two spliced cameras, the images are images of the spliced cameras, and finally the images of the at least two spliced cameras can be spliced into a panoramic image. In all the spliced cameras, the view field blind areas of all the spliced cameras can be partially overlapped, and the overlapped parts form a common view field blind area which is contained in the view field blind area of any spliced camera, namely, things in the common view field blind area cannot be captured by any spliced camera. The cradle head camera assembly is arranged in the blind area of the public view field, so that the cradle head camera assembly can not block the view field of any spliced camera, and can not be captured by any spliced camera. The cradle head camera assembly specifically comprises a spherical camera, and imaging of the spherical camera can cover the panoramic image, so that things in an imaging area corresponding to the panoramic image can be captured by the spherical camera.

Therefore, in the camera provided by the application, imaging of at least two spliced cameras can be spliced into a panoramic image, so that 360-degree panoramic shooting can be realized; the cradle head camera shooting assembly is located in a public view field blind area formed by the view field blind areas of the at least two splicing cameras, so that the panoramic camera shooting of the panoramic camera shooting assembly is not influenced, the imaging of the spherical camera of the cradle head camera shooting assembly can cover the panoramic image, and things in an imaging area corresponding to the panoramic image can be shot by the cradle head camera shooting assembly. Therefore, the camera provided by the application can realize the non-blind area coverage of the pan-tilt camera and the panoramic camera. It should be understood that, the non-blind area coverage herein refers to that in a defined monitoring area, the panoramic camera assembly does not block the field of view of the pan-tilt camera assembly, the pan-tilt camera assembly does not block the view of the panoramic camera assembly, and things in the monitoring area can be shot by the panoramic camera assembly and also can be shot by the pan-tilt camera assembly.

Specifically, the cradle head camera shooting assembly comprises a rotating cradle head, the rotating cradle head is rotatably arranged on the bracket around a first rotation center, the rotating cradle head can rotate 360 degrees around the first rotation center, and the spherical camera is arranged on the rotating cradle head; when the rotary tripod head rotates around the first rotation center, the spherical camera is driven to rotate around the first rotation center, which is equivalent to that the field of view of the spherical camera can rotate around the first rotation center, so that the spherical camera can be driven to rotate by the tripod head to realize that the imaging of the spherical camera can cover a 360-degree area in the rotation process. In the structure, the field of view of the spherical camera needs to cover the bottom area of the spherical camera, so that the imaging of the field of view of the spherical camera can cover a panoramic image conveniently, and the non-blind area coverage of panoramic shooting and cradle head shooting is realized.

In addition, the spherical camera is rotatably mounted on the rotary holder around a second rotation center, which is perpendicular to the first rotation center. In this structure, the spherical camera can be rotated around the second rotation center so as to cover a range of 360 °, and the imaging area size of the field of view of the spherical camera may not be limited.

Possibly, above-mentioned two concatenation cameras are fixed in and rotate the cloud platform, and when the cloud platform was made a video recording the relative support of subassembly and is rotatory, panorama subassembly of making a video recording can keep relative position fixed relative to the cloud platform subassembly of making a video recording, guarantees that the cloud platform makes a video recording the subassembly and panorama subassembly of making a video recording mutually noninterfere. Any one of the spliced cameras can be any one of a fixed focus lens, a zoom lens and an integrated movement lens, and the angle of view and the type of each spliced camera are not limited.

In one possible implementation manner, the at least two spliced cameras comprise two first cameras, the two first cameras are symmetrically arranged relative to the cradle head camera assembly, respective fields of view of the two first cameras deviate, and the angle of view of each first camera is larger than 180 degrees.

In another possible implementation manner, the at least two spliced cameras comprise at least two second cameras and at least two third cameras; the fields of view of the at least two second cameras are overlapped, so that imaging of the at least two second cameras are spliced into a first image, the first image is provided with a hollowed-out area, the fields of view of the at least two third cameras are partially overlapped, so that imaging of the at least two third cameras is spliced into a second image, and the second image can cover the hollowed-out area of the first image; thus, the first image and the second image may be stitched into the panoramic image described above.

Specifically, the cross section of the field of view of each second camera perpendicular to the optical axis is rectangular, and the short side of the rectangle is parallel to the rotation direction of the cradle head camera assembly relative to the bracket. When the number of the second cameras is m, the angle of view of the first camera is at least 360 DEG/m along the extending direction of the short sides of the rectangle.

Possibly, all the spliced cameras can be arranged in the blind areas of the fields of view of the spherical cameras so as to ensure that any spliced camera does not block the fields of view of the spherical cameras.

In a second aspect, the present application provides a monitoring device, where the monitoring device may include a master controller and any one of the cameras in the above technical solutions, where the master controller is used as a control center to be respectively connected with each of the spliced cameras and the spherical cameras in a signal manner, so as to acquire an image of each of the spliced cameras and integrate, convert and splice the images into a panoramic image, and acquire a local detail image captured by the spherical cameras.

Drawings

FIGS. 1a and 1b are schematic views of a prior art camera;

fig. 2a and fig. 2b are schematic structural diagrams of a camera according to an embodiment of the present application;

fig. 3 is a view field distribution schematic diagram of a spliced camera in a camera according to an embodiment of the present application;

fig. 4 is a view field distribution schematic diagram of two spliced cameras in a camera according to an embodiment of the present application;

fig. 5 is a schematic structural distribution state diagram of a panoramic camera assembly and a pan-tilt camera assembly in a camera according to an embodiment of the present application;

fig. 6a is a schematic structural diagram of a camera according to an embodiment of the present application;

fig. 6b is a view field distribution schematic diagram of a spliced camera in a camera according to an embodiment of the present application;

fig. 7a is a schematic structural diagram of a camera according to an embodiment of the present application;

fig. 7b is a view field distribution schematic diagram of a second camera in the camera according to the embodiment of the present application;

fig. 7c is a schematic view of a panoramic image formed by a panoramic camera assembly in a camera according to an embodiment of the present application;

fig. 8 is a schematic structural diagram of a camera according to an embodiment of the present application;

fig. 9 is a view field distribution schematic diagram of a second camera in the camera according to the embodiment of the present application;

fig. 10a and fig. 10b are schematic views illustrating a state that a panoramic image formed by a panoramic camera assembly of a camera is projected on an imaging sphere according to an embodiment of the present application;

fig. 11 is a schematic structural diagram of a monitoring device according to an embodiment of the present application.

Detailed Description

Introduction to the application scenario of the present application: the video monitoring is to monitor a certain set area by using a camera, and the area is defined as a monitoring area. Generally, a panoramic camera is formed by a plurality of cameras to acquire a 360-degree panoramic image of the monitored area, and a spherical camera is used for capturing local details of the monitored area. Video surveillance is intended to achieve dead-angle free shooting of the set surveillance area, i.e. any non-occluded thing within the set surveillance area can be captured by the camera.

The terms may be referred to in the present application in conjunction with the above application scenario for explanation and understanding.

1) Field of view and field of view blind zone: for cameras, the field of view represents the area that can be taken by the camera, usually expressed in terms of angle, the larger the field of view. The blind area of the field of view refers to an area which cannot be shot by the camera. It should be appreciated that the camera includes a plurality of optical components that form an optical system, and that the optical parameters of each optical component and the spatial layout of each optical component can determine the field of view and the field of view blind area of the camera, so that the field of view and the field of view blind area are inherent properties of the camera itself, and the field of view is complementary to the field of view blind area and is not affected by the monitored area.

2) Panoramic image: panoramic image in the above-set monitoring area referred to in this application, the panoramic image is capable of representing things in the monitoring area, and is generally continuous without an interval.

3) Imaging: the imaging of the camera may be a two-dimensional image formed by the camera capturing things within its field of view.

4) Imaging region and imaging blind area: the imaging area refers to an area where the camera can shoot and obtain imaging, and the imaging blind area refers to an area where the camera cannot shoot and obtain imaging. It should be appreciated that imaging regions and imaging dead zones are spatial attributes for cameras imaging within a monitored range. The imaging region and the imaging blind region are complementary. When the camera is fixed, the field of view is consistent with the imaging area; when the camera is movable (including translational and rotational, e.g., a rotatable spherical camera), its field of view is smaller than the imaging area.

5) Depth of field: for cameras, it is possible to maintain a difference between the nearest and farthest distances where focus is clear.

As shown in fig. 1a or fig. 1b, in fig. 1a, the panoramic camera includes a plurality of large-angle cameras 02 disposed on an annular bracket 01, and the spherical camera 03 is mounted under the panoramic camera, and the spherical camera 03 can block the view field under the plurality of large-angle cameras 02, so that the view field of the plurality of large-angle cameras 02 cannot cover the area under the spherical camera 03, that is, an imaging blind area exists in the monitoring area of the plurality of large-angle cameras 02; a field of view blind area of the plurality of high angle cameras 02 (panoramic cameras) corresponds to an imaging blind area of the plurality of high angle cameras 02, and therefore, imaging of the plurality of high angle cameras 02 cannot form a complete panoramic image. In fig. 1b, the panoramic camera provides a panoramic image through the bottom lens 021 and the lateral lens 022, the spherical camera 03 is mounted above the panoramic camera, the spherical camera 03 can change the area covered by the field of view in a rotating manner, but the field of view of the spherical camera 03 can not always cover the bottom area of the spherical camera 03 due to the shielding of the panoramic camera, which is equivalent to the existence of an imaging blind area of the spherical camera 03. Therefore, in the prior art, the camera has imaging blind areas in the shooting process, and objects in the imaging blind areas are possibly not shot by the panoramic camera or shot by the spherical camera, so that the non-blind area coverage of panoramic shooting and cradle head shooting cannot be realized.

Based on this, the embodiment of the application provides a camera and a monitoring device to solve the above-mentioned problems. For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the present application will be described in further detail with reference to the accompanying drawings.

The terminology used in the following embodiments is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification and the appended claims, the singular forms "a," "an," "the," and "the" are intended to include, for example, "one or more" such forms of expression, unless the context clearly indicates to the contrary.

Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.

Please refer to fig. 2a, the structure of a camera that this application provided, this camera include support 1, panorama subassembly 2 and tripod head subassembly 3 of making a video recording, panorama subassembly 2 and tripod head subassembly 3 all install on support 1, when using, support 1 is used for fixing in the position that can acquire the regional image of waiting to monitor, for tripod head subassembly 3 and panorama subassembly 2 of making a video recording provide and bear and support. The pan-tilt camera assembly 3 specifically includes a rotation pan-tilt 32 and a spherical camera 31, the spherical camera 31 is mounted on the rotation pan-tilt 32, and the rotation pan-tilt 32 is rotatably mounted on the support 1, that is, the rotation pan-tilt 32 can rotate relative to the support 1. The rotating shaft of the rotating tripod head 32 rotating relative to the bracket 1 is set as a first rotating center, when the rotating tripod head 32 rotates relative to the bracket 1 around the first rotating center, the spherical camera 31 can be driven to rotate around the first rotating center, which is equivalent to that the field of view of the spherical camera 31 can rotate around the first rotating center, namely, the spherical camera 31 can be driven to rotate by the rotating tripod head 32 so as to realize that the field of view of the spherical camera covers a 360-degree range. In some embodiments, as shown in fig. 2b, the panoramic camera assembly 2 further includes a panoramic base 22, all the spliced cameras 21 are mounted on the panoramic base 22, the panoramic base 22 may be fixed relative to the rotating pan-tilt 32, and at this time, the panoramic base 22 may be correspondingly rotatable relative to the stand 1; when the pan-tilt camera assembly 3 rotates around the first rotation center relative to the bracket 1, the panoramic camera assembly 2 can rotate along with the pan-tilt camera assembly 3. The structure can adjust the center position of the panoramic image to correspond to the imaging of the spherical camera 31 according to the requirement, and can also ensure that the panoramic camera assembly 2 and the cradle head camera assembly 3 are not interfered with each other.

The panoramic camera assembly 2 may specifically include at least two stitching cameras 21, for any stitching camera 21, as shown in fig. 3, the stitching camera 21 has a divergent field of view a, and the coverage area of the field of view a is larger and larger along the direction of the optical axis Q of the stitching camera 21, on a plane parallel to the optical axis Q, the field of view a of the stitching camera 21 is similar to a sector, the stitching camera 21 is located at the origin position of the sector, and things located in the range of the field of view a can be theoretically captured by the stitching camera 21. The other areas than the field of view a correspond to the field of view blind areas B of the splice camera 21, and things located in the field of view blind areas B cannot be theoretically captured by the splice camera 21. The stitching camera 21 may be specifically any one of a fixed focus lens, a zoom lens, and an integrated movement lens. When the number of the splice cameras 21 is at least two, the kinds of the respective splice cameras 21 do not need to be kept uniform.

For at least two spliced cameras 21, a certain distance exists between the setting positions of any two spliced cameras 21. By way of example, with two stitching cameras 21a, 21B shown in fig. 4, stitching camera 21a has a field of view A1 with a blind field of view B1; the spliced camera 21B has a field of view A2, and the blind area of the field of view is B2; the distance between the two spliced cameras 21a and 21b is h, so that the partial fields of view of the two spliced cameras 21a and 21b, which are close to the origin, are mutually independent. Along the optical axis direction, along with the divergence of the light, the field of view A1 of the stitching camera 21a and the field of view A2 of the stitching camera 21b may overlap partially, so that the imaging of the two stitching cameras 21a, 21b may be stitched into a panoramic image (illustrated by a shadow), and objects located in the imaging area corresponding to the panoramic image may be captured by the stitching camera 21a and/or the stitching camera 21b, that is, objects located in the imaging area corresponding to the panoramic image may be captured by either the stitching camera 21a, the stitching camera 21b, or both the stitching cameras 21a, 21 b; the blind field area B1 of the stitching camera 21a and the blind field area B2 of the stitching camera 21B are also partially overlapped, and the overlapping area of the blind field area B1 and the blind field area B2 is set as a common blind field area M, wherein the common blind field area M is included in the blind field area B1 of the stitching camera 21a and the blind field area B2 of the stitching camera 21B; things in the common field of view blind area M are not captured by the splice cameras 21a and the splice cameras 21b, and the things in the common field of view blind area M do not block and interfere with the image capturing operation of the two splice cameras 21a and 21 b.

Referring to fig. 4 and 5 together, the pan-tilt camera assembly 3 is disposed in the common field blind area M, that is, the pan-tilt camera assembly 3 is located in the field blind area of any one of the spliced cameras 21, so that the pan-tilt camera assembly 3 will not block the field of view of any one of the spliced cameras 21, and the existence of the pan-tilt camera assembly 3 will not affect the normal shooting of both spliced cameras 21a and 21 b; meanwhile, the field of view A1 of the stitching camera 21a and the field of view A2 of the stitching camera 21b may overlap partially, so that the imaging of the two stitching cameras 21a and 21b may be performed on the stitched panoramic image seamlessly, i.e. the panoramic image may realize non-blind coverage. The non-blind area coverage here means that within a defined monitoring range, the panoramic camera component 2 and the pan-tilt camera component 3 can not be mutually shielded or blocked, things in the monitoring area can be shot by the panoramic camera component 2 and also can be shot by the pan-tilt camera component 3, that is, no imaging blind area exists, that is, the non-blind area coverage of panoramic camera and pan-tilt camera is realized at the same time.

It should be appreciated that in some particularly demanding embodiments, it is also possible that the panoramic image covers the imaging of the spherical camera 31; ideally, the panoramic image may coincide with the imaging of the field of view of the spherical camera 31. The present embodiment presently discusses only a case where imaging by the spherical camera 31 can cover a panoramic image, but is not limited to this case. In this embodiment, the field of view of the spherical camera 31 is smaller, when the rotating pan-tilt head 32 rotates around the first rotation center relative to the support 1, the field of view of the spherical camera 31 also rotates around, and the plane perpendicular to the first rotation center is set to be the first plane, the field of view of the spherical camera 31 can cover 360 ° on the plane parallel to the first plane, and the field of view of the spherical camera 31 can also cover the area of the bottom of the pan-tilt head camera assembly, so when the spherical camera 31 rotates along with the rotating pan-tilt head 32, the spherical camera 31 can shoot the area of the bottom of the pan-tilt head camera assembly, so that the pan-tilt head camera assembly has no imaging blind area, that is, the pan-tilt head camera assembly can also realize non-blind area coverage.

In other embodiments, the spherical camera 31 may also rotate relative to the rotational head 32. The rotation axis of the spherical camera 31 with respect to the rotation stage 32 is set as a second rotation center, and the first rotation center is perpendicular to the second rotation center. The spherical camera 31 may be rotated around the second rotation center so as to achieve 360 ° coverage in parallel to the first plane, and the spherical camera 31 may be rotated around the second rotation center to photograph a bottom area of the spherical camera 31, and thus, a viewing angle of the spherical camera 31 may not be defined.

The spherical camera 31 can also rotate relative to the rotary head 32, which corresponds to tilting the spherical camera 31 relative to the bracket 1, setting a plane perpendicular to the second rotation center as a second plane, which corresponds to rotating the spherical camera 31 on the second plane so that the field of view of the spherical camera 31 can cover the bottom area of the spherical camera 31.

The imaging of the field of view of the spherical camera can cover the panoramic image, and finally the camera can realize non-blind area coverage of panoramic shooting and cradle head shooting at the same time. Of course, the panoramic image may also cover the imaging of the spherical camera, and both may also be consistent.

In addition, the two spliced cameras 21a and 21b can be both arranged in the blind area of the field of view of the spherical camera 31 of the pan-tilt camera assembly 3, so that the two spliced cameras 21a and 21b also cannot influence the local detail capture of the spherical camera 31, that is, any spliced camera 21 in the panoramic camera assembly 2 cannot block the field of view of the spherical camera 31 at any time, and therefore the pan-tilt camera can realize non-blind area coverage.

To the extent, when the number of the spliced cameras 21 is multiple (more than two), the view field blind areas of all spliced cameras 21 overlap each other to form a common view field blind area M, the common view field blind area M is included in the view field blind area of any spliced camera 21, things in the common view field blind area M cannot be captured by any spliced camera 21, and as long as the cradle head camera assembly 3 is arranged in the common view field blind area M, the cradle head camera assembly 3 will not be located in the view field of any spliced camera 21, that is, the cradle head camera assembly 3 will not block normal camera of any spliced camera 21. Moreover, the respective fields of view of the plurality of stitching cameras 21 are partially overlapped, so that imaging of the plurality of stitching cameras 21 can be stitched into a panoramic image, and panoramic shooting requirements are met. The imaging of the field of view of the spherical camera 31 is set to be capable of capturing a panoramic image, and the spherical camera 31 can capture local details of any position in a monitoring area, so that the imaging of the spherical camera 31 can cover the panoramic image, and the camera can realize non-blind area coverage of pan-tilt shooting and panoramic shooting simultaneously. In addition, a plurality of the spliced cameras 21 may be disposed in the blind area of the field of view of the spherical camera 31 so that any one spliced camera 21 does not affect the normal imaging of the spherical camera 31.

Based on the above technical principles, the present application provides a specific structure of a camera that may be implemented, as shown in fig. 6a, at least two spliced cameras 21 included in the panoramic camera assembly 2 may specifically be two first cameras 211, where the two first cameras 211 are symmetrically disposed about the pan-tilt camera assembly 3, and of course, a field of view of each first camera 211 diverges toward a direction away from the pan-tilt camera assembly 3 (illustrated by a hatched portion). As shown in fig. 6b, the field angle α of each first camera 211 is greater than 180 °, and the field blind area M of each first camera 211 corresponds to a cone structure, when the two first cameras 211 are arranged as shown in fig. 6a, the respective field blind areas M of the two first cameras 211 will be partially overlapped, and the overlapping area corresponds to the common field blind area M in fig. 6a, where the common field blind area M is included in the field blind area of any one first camera 211; the pan-tilt camera assembly 3 is arranged in the common view field blind area M, and the pan-tilt camera assembly 3 will not be located in the view field of any one of the first cameras 211, i.e. the pan-tilt camera assembly 3 will not block the view field of any one of the first cameras 211. At the same time, the imaging of the two first cameras 211 will be spliced into a panoramic image, which is sufficient for panoramic shooting. The imaging of the field of view of the spherical camera 31 can cover the panoramic image, so that the non-blind area coverage of the pan-tilt camera and the panoramic camera can be met. In addition, the two first cameras 211 may also be located in the blind area of the field of view of the spherical camera 31, so that any one of the spliced cameras 21 will not block the field of view of the spherical camera 31.

Referring to fig. 7a, as another possible specific structure of the camera, at least two spliced cameras 21 in the panoramic camera assembly 2 may specifically include at least two second cameras 212 and at least two third cameras 213, at least two second cameras 212 may be distributed around the pan-tilt camera assembly 3, and at least two third cameras 213 may be distributed around the pan-tilt camera assembly 3. The fields of view (shown shaded) of the at least two second cameras 212 and the fields of view (shown shaded) of the at least two third cameras 213 may overlap partially, eventually enabling the imaging of the at least second camera 212 and the imaging of the at least two third cameras 213 to be stitched into a panoramic image.

At least two second cameras 212 are illustratively provided: the imaging of all second cameras 212 may be stitched to form a first image (shown in phantom) having a hollowed-out area N defined to be located within the outermost edges of the first image, the hollowed-out area being isolated from the outermost edges of the first image. The hollow out does not belong to any imaging of the second camera 212, and an imaging area corresponding to the hollow out is equivalent to an imaging blind area of the second camera 212; as shown in fig. 7b, the fields of view of all the second cameras 212 are projected onto a plane to obtain a first field P1 (corresponding to the first image), where the first field P1 has a hollowed-out area N (corresponding to the hollowed-out of the first image).

At least two third cameras 213 are provided: all the imaging of the third cameras 213 may be spliced to form a second image, and the second image may cover the hollow of the first image, that is, the first image and the second image may be spliced to obtain a panoramic image. As shown in fig. 7c, the fields of view of all the third cameras 213 are projected onto the plane shown in fig. 7b to obtain a second field P2 (corresponding to the second image), and the second field P2 may cover the hollowed-out area N. Thus, the imaging of the at least two second cameras 212 and the at least two third cameras 213 can be stitched to each other to obtain a panoramic image. Each second camera 212 has a field of view blind area, each third camera 213 also has a field of view blind area, and a partial overlap is generated between the field of view blind areas of all the second cameras 212 and the field of view blind areas of all the third cameras 213, and the overlapping parts thereof can form a common field of view blind area M, where the common field of view blind area M is included in any one of the second cameras 212 and any one of the third cameras 213. The pan-tilt camera assembly 3 is arranged in the common view field blind area M, and the pan-tilt camera assembly 3 can not shade the view fields of any one of the second cameras 212 and any one of the third cameras 213, namely, the shooting of any one of the second cameras 212 and any one of the third cameras 213 can not be influenced. Of course, all of the second cameras 212 and the third cameras 213 may be located in the blind area of the field of view of the spherical camera 31 of the pan-tilt camera assembly 3, so as not to obstruct the field of view of the spherical camera 31, and thus all of the second cameras 212 and the third cameras 213 do not affect the local detail capture of the spherical camera 31.

It should be understood that the second camera 212 and the third camera 213 in this embodiment are divided by their respective functions, and the distribution manner of the second camera 212 and the third camera 213 is not limited. Illustratively, as shown in fig. 8, the second cameras 212 are provided with 8, 8 second cameras 212 are uniformly distributed around the pan-tilt camera assembly 3, and the field of view of each second camera 212 diverges in a direction away from the pan-tilt camera assembly 3; the number of the third cameras 213 is 2, the 2 third cameras 213 are symmetrically distributed about the spherical camera assembly 3, and the field of view of each third camera 213 diverges in a direction away from the pan-tilt camera assembly 3; here, in order to clearly show the relative positional relationship between the panoramic camera module 2 and the pan/tilt camera module 3, the structure of the stand 1 is omitted.

As shown in fig. 9, for any one of the second cameras 212, if the cross section of the field of view of each second camera 212 perpendicular to the optical axis is rectangular in the optical axis direction, each second camera 212 has a first angle of view in a first direction X (corresponding to the extending direction of the short side of the rectangle) corresponding to the direction parallel to the rotation of the spherical camera 3 relative to the bracket 1, and a second angle of view in a second direction Y (corresponding to the extending direction of the long side of the rectangle). The imaging along the at least two second cameras 212 may be stitched into a first image P1 as shown in fig. 7 b. Since the imaging of at least two second cameras 212 needs to achieve 360 ° coverage in parallel to the first plane, so that the first image can be stitched, the second field angle of the second cameras 212 needs to be determined according to the number of second cameras 212 along the first direction X. When the number of the second cameras 212 is m, the first angle of view of the second cameras 212 is at least 360 °/m along the first direction X. In the present embodiment, the number of the second cameras 212 is 8, and along the first direction X, the first angle of view of the second cameras 212 is at least 45 °; in some embodiments, the angular range of the first field angle of the second camera 212 along the first direction X may be set to 45 ° -55 °.

Projecting the fields of view of all the second cameras 212 and the fields of view of the third cameras 213 onto a virtual imaging sphere, wherein the top view of the imaging sphere is shown in fig. 10a and the left view (or right view) of fig. 10b, and the projections of the fields of view of the 8 second cameras 212 can be spliced into a first projection Q1 (corresponding to the first image), and the first projection Q1 has a second hollowed-out area (corresponding to the hollowed-out of the first image, not shown here); the projections of the fields of view of the two third cameras 213 can be spliced into a second projection Q2 (corresponding to the second image), and the second projection Q2 covers the hollowed-out area of the first projection Q1, which is equivalent to splicing the first image P1 and the second image P2 into a panoramic image.

For at least two spliced cameras 21, the fields of view of any two adjacent spliced cameras 21 are partially overlapped, the overlapped part is equivalent to correspondingly generating two identical images, only one of the images is needed, and the other image is useless and is equivalent to being wasted; that is, the fewer the overlapping portions between the fields of view of any two adjacent spliced cameras 21, the higher the utilization ratio of the image. Under ideal conditions, the fields of view of any two adjacent spliced cameras 21 are partially overlapped, so that the imaging of each spliced camera 21 can be spliced into a panoramic image, and the area where the fields of view of any two adjacent spliced cameras 21 are partially overlapped is smaller. Therefore, the overlapping portions of the fields of view of any two adjacent spliced cameras 21 can be reduced as much as possible by selecting the combination of spliced cameras 21 with different angles of view, so that the overlapping regions can be fully utilized, and the utilization rate of the images can be improved.

In summary, in the camera provided in the embodiments of the present application, the panoramic camera assembly 2 is formed by at least two stitching cameras 21, and the imaging of each stitching camera 21 is stitched to obtain a panoramic image. The pan-tilt camera assembly 3 is arranged in a public view field blind area M formed by the view field blind areas of at least two splicing cameras 21, and can acquire imaging of local details in an imaging area corresponding to a panoramic image under the condition of not interfering the panoramic camera assembly 2, so that non-blind area coverage of the panoramic camera assembly 2 and the pan-tilt camera assembly 3 is realized simultaneously.

In this embodiment, the panoramic camera assembly 2 obtains a panoramic image through at least two stitching cameras 21, and the specific method thereof includes the following steps:

acquiring the relative position relation of all spliced cameras 21 by a calibration method; specifically, each spliced camera 21 is calibrated, and the relative distance between the feature and the spliced cameras 21 can be judged by using the imaging of the calibrated spliced cameras 21 and then by feature matching and coordinate transformation, so that the relative position relationship of all spliced cameras 21 is obtained.

Based on the relative positional relationship, the conversion of the imaging of each of the splice cameras 21 and the edge mixing splicing are completed;

acquiring a depth information map of a live-action through imaging shot by a plurality of spliced cameras 21;

substituting the depth information map into a splicing process;

and compensating splicing errors caused by parallax in the splicing algorithm.

In the method, the depth information map is led out, imaging of at least two splicing cameras 21 can be accurately spliced to obtain a high-quality panoramic image, and parallax problems in the panoramic image can be optimized.

Based on the camera, the embodiment of the application also provides monitoring equipment which can be applied to public places such as squares and markets for video monitoring. Specifically, the monitoring device may include a main controller 4 and the above-mentioned camera, where the main controller 4 is used to control the panoramic camera assembly 2 and the pan-tilt camera assembly 3 in the camera, so, as shown in fig. 11, the main controller 4 is in signal connection with each of the stitching cameras 21 to control the stitching cameras 21 to work, and simultaneously obtain the image of each of the stitching cameras 21; the master controller 4 is also in signal connection with the spherical camera 31 to control the movement of the spherical camera 31 and simultaneously acquire imaging of the spherical camera 31; the main controller 4 may be further connected to the rotating pan-tilt 32 by a signal to control the rotating pan-tilt 32 to rotate relative to the bracket 1, so as to drive the spherical camera 31 to rotate relative to the bracket 1. At least three stitched cameras 21 are illustrated in fig. 11.

The foregoing is merely specific 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 think about changes or substitutions within the technical scope of the present application, and the changes or substitutions are intended to be covered by 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 (11)

1. A video camera, comprising: the panoramic camera shooting device comprises a bracket, a panoramic camera shooting assembly and a cradle head camera shooting assembly, wherein the panoramic camera shooting assembly and the cradle head camera shooting assembly are arranged on the bracket;

the panoramic camera assembly comprises at least two spliced cameras, and respective fields of view of the at least two spliced cameras are overlapped, so that imaging of the at least two spliced cameras is spliced into a panoramic image; the field-of-view blind areas of all the spliced cameras are formed with public field-of-view blind areas, the public field-of-view blind areas are contained in the field-of-view blind areas of any spliced camera, and the cradle head camera assembly is positioned in the public field-of-view blind areas;

the cradle head camera assembly comprises a spherical camera, and imaging of the spherical camera covers the panoramic image.

2. The camera of claim 1, wherein the at least two stitched cameras comprise two first cameras, the two first cameras are symmetrically disposed about the pan-tilt camera assembly, and the field angle of each first camera is greater than 180 °.

3. The camera of claim 1, wherein the at least two stitched cameras comprise at least two second cameras and at least two third cameras;

the view fields of the at least two second cameras are overlapped, so that imaging of the at least two second cameras is seamlessly spliced into a first image, and the first image is hollowed out;

the fields of view of the at least two third cameras are overlapped, so that imaging of the at least two third cameras is seamlessly spliced into a second image, and the second image covers the hollowed-out part of the first image;

the first image and the second image are spliced into the panoramic image.

4. A camera according to claim 3, wherein the cross-section of the field of view of each of the second cameras perpendicular to the optical axis is rectangular, the shorter side of the rectangle being parallel to the direction of rotation of the pan-tilt camera assembly relative to the support.

5. The camera according to claim 4, wherein the number of the second cameras is m, and the angle of view of the first camera is at least 360 °/m along the extending direction of the short sides of the rectangle.

6. The camera of any of claims 1-5, wherein the pan-tilt camera assembly comprises a swivel pan-tilt rotatably mounted to the bracket about a first center of rotation, the spherical camera being mounted to the swivel pan-tilt.

7. The camera of any one of claims 1-6, wherein the spherical camera is rotatably mounted to the rotational head about a second center of rotation that is perpendicular to the first center of rotation.

8. The camera of claim 6 or 7, wherein the at least two cameras are fixed to the rotating pan-tilt.

9. The camera according to any one of claims 1 to 8, wherein any one of the stitched camera is any one of a fixed focus lens, a zoom lens, and an integrated deck lens.

10. The camera of any one of claims 1-9, wherein the at least two stitched cameras are located within a field of view blind zone of the spherical camera.

11. A monitoring device comprising a master controller and a camera as claimed in any one of claims 1 to 10, said master controller being in signal connection with each of said stitched cameras and said spherical cameras, respectively.

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