CN208765699U - A kind of device with camera angle detection function - Google Patents
A kind of device with camera angle detection function Download PDFInfo
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- CN208765699U CN208765699U CN201821780335.XU CN201821780335U CN208765699U CN 208765699 U CN208765699 U CN 208765699U CN 201821780335 U CN201821780335 U CN 201821780335U CN 208765699 U CN208765699 U CN 208765699U
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Abstract
The utility model discloses a kind of device with camera angle detection function, described device do not depend on cradle head control mode restrict can real-time detection determine dynamic angle monitor camera.The video camera mainly includes sensor unit, data processing unit, communication unit and shell, the sensor unit is used to acquire the bearing data when video camera attitudes vibration for being equipped with described device, data processing unit is responsible for handling the collected data of sensor institute, obtains the real-time angular data when video camera attitudes vibration for being equipped with described device.Described device has a detection fast speed, the features such as detection accuracy is higher, can real-time monitoring video camera real-time angular, have a wide range of applications in dynamic target tracking monitoring and image recognition positioning field.
Description
Technical field
The utility model relates to a kind of device with camera angle detection function, which is related to sensing data and adopts
The fields such as collection and data processing.
Background technique
Monitor camera is the primary video equipment of safety defense monitoring system.With digital image processing techniques and pattern-recognition
The development of technology, the application range further expansion of monitor camera.Also more it is applied in coal mine underground monitoring video camera
The fields such as coal is exploited automatically, personnel and monitoring of tools position.Monitor camera is generally fixedly installed on holder, by holder control
System control transformation angle processed, to realize the Image Acquisition to different zones.Since holder uses open loop control mode, monitoring
Center can control cloud platform rotation, however can not obtain the real-time angular of monitor camera, even if having closed loop control using special
The holder of system, when video camera forces rotation manually by field personnel or changed angle by other external forces, in monitoring
The heart can not equally obtain the accurate real-time angular of monitor camera, due to can not accurately obtain the real-time angular of monitor camera,
Monitoring center just can not accurately determine the monitoring area of acquired image, therefore can not be by image pattern recognition to monitoring
Target is accurately positioned, and the development and application of monitoring technology are seriously restrict.In actual application process, overwhelming majority prison
It controls video camera and does not have self-view real-time detection function, therefore need a kind of auxiliary not restricted by cradle head control mode in a hurry
Device reaches the function of real-time detection monitor camera self-view.
Utility model content
The utility model aim is to provide a kind of device with camera angle detection function, have detection speed compared with
Fastly, the features such as detection accuracy is higher, and have the function of the transmission of camera angle data, in dynamic target tracking monitoring and image
Positioning field has a wide range of applications.Described device includes sensor unit, data processing unit, communication unit and outer
Shell；The sensor unit is used to acquire the bearing data when video camera attitudes vibration for being equipped with described device, sensor list
Member includes at least a three-axis gyroscope；The data processing unit is responsible for handling the collected data of gyroscope institute,
Obtain the real-time angular data when video camera attitudes vibration for being equipped with described device；Communication unit is responsible for data processing unit
The angle-data of output is uploaded to receiving device；When using described device, which need to be rigidly secured on video camera；It is described
Fixing means of the device on monitor camera includes that bayonet is fixed, screw is fixed or adhesive sticker is pasted and fixed.Before use device,
It needs to be calibrated under conditions of video camera is in static, calibration content includes:
A. the three-dimensional system of coordinate (Xs, Ys, Zs) of video camera body is determined；The method of determination includes, with three of three-axis gyroscope
Reference axis of the shaft as the three-dimensional system of coordinate of video camera body；
B. it determines and refers to three-dimensional system of coordinate (X, Y, Z)；The method of determination includes that setting Z axis faces upward perpendicular to ground, and X-axis is hung down
Metope directly is installed in the video camera, Y-axis is parallel to the video camera installation metope；
C. according to the three-dimensional system of coordinate of video camera body, determine that video camera body is flat in reference three-dimensional system of coordinate XOY, XOZ, YOZ
Initial offset angle on face.
1. described device further comprises: need to be determined according to video camera installation environment when described device is installed and used and refer to three
Tie up coordinate system, the reference as video camera pivot offset angle；It include that setting Z axis is vertical with reference to three-dimensional system of coordinate method of determination
It faces upward in ground, X-axis installs metope perpendicular to the video camera, and Y-axis is parallel to the video camera installation metope.
2. described device further comprises: the mounting means of described device includes the two of them of the three-axis gyroscope
The plane of shaft composition is parallel with the plane of camera lens, the third shaft of three-axis gyroscope and the axis of video camera casing
In parallel, using three shafts of three-axis gyroscope as the reference axis of the three-dimensional system of coordinate of video camera body.
3. described device further comprises: camera angle need to be adjusted when described device is installed and used, made according to three axis tops
The video camera body three-dimensional system of coordinate that three shafts of spiral shell instrument determine respectively is sat with the reference three-dimensional system of coordinate determined according to installation environment
Parameter direction is consistent, makes 0 degree of initial offset angle in three planes.
4. described device further comprises: described device includes that video camera body is referring to by the data that communication unit exports
Deviation angle in three-dimensional system of coordinate XOY, XOZ, YOZ plane.
5. described device further comprises: the angle-data that communication unit is used to obtain data processing unit, which is uploaded to, to be connect
Wire communication module or wireless communication module can be used in receiving unit, is used for wired network communication or wireless communication.
6. described device further comprises: the video camera further includes the auxiliary circuits such as power circuit and related elements, is
Each unit equipment component provides support.
Detailed description of the invention
Fig. 1 has the apparatus function structural schematic diagram of detection monitor camera angle function.
Fig. 2 is equipped with the three-dimensional system of coordinate specific embodiment schematic diagram of described device video camera.
Fig. 3 is equipped with the video camera and three-dimensional system of coordinate angle schematic diagram of described device.
Each axial schematic diagram of Fig. 4 three-axis gyroscope.
Fig. 5 has the device workflow of detection monitor camera angle function
Specific embodiment
In the device embodiment as shown in Figure 1 that there is detection monitor camera angle function, comprising:
1. sensor unit (101), the three-axis gyroscope sensor fast using reaction speed, detection accuracy is high, can be used
The MPU3050 three-axis gyroscope chip of InvenSense company production.The chip characteristics be motion sensing range it is wide, by 250 to
2000 °/sec, susceptibility is higher, and 1% susceptibility is calibrated to before factory, and signal collected is digital signal, collection result
Data processing unit (102) are transferred to by I2C serial communication mode, need measurement three-axis gyroscope sensor axially inclined before use
Shifting degree compensates final result according to degrees of offset.
2. data processing unit (102) passes through for handling the angular rate signal obtained by sensor unit (101)
Superposition obtains certain moment relative to three axially direction angles.The MSP430F147 monolithic of data processor selection TI company
Machine.16 risc architectures of the model have 32k Flash, 1kRAM；And there are 5 kinds of low-power consumption modes.Three-axis gyroscope sensing
SCL with the SDA pin of device can connect two standard I/O interfaces of MSP430F147 processor plus pull-up resistor, pass through processor
Control generates clock signal and realizes I2C serial data communication.Processor can also be realized by FPGA.
3. communication unit (103) uses wireless communication module, the angle-data for obtaining data processing unit (102)
It is uploaded to receiving device.WIFI module can be used and realize wireless communication, using ESP8266 chip, which is that performance is steady
Fixed, power consumption is lower, is communicated by serial ports with data processor realization, the angle-data that data processing unit is obtained, which is uploaded to, to be connect
Receiving unit.Data communication can also be realized using wired module.
4. auxiliary circuit (104), in addition to above-mentioned each unit equipment, device further includes the auxiliary circuits such as power circuit
And related elements, support is provided for each unit equipment component.
5. shell (105), shell need to be installed convenient for described device to monitor camera, and fixing means includes that bayonet is solid
Fixed, screw is fixed or adhesive sticker is pasted and fixed.It is such as used in underground coal mine, need to use and meet the explosion-proof outer of downhole anti-explosion standard
Shell.
In the device specific embodiment that there is detection monitor camera angle function, three-dimensional system of coordinate and deviation angle
Definition refers to Fig. 2, Fig. 3 and Fig. 4:
1. refer to Fig. 2, (201) are with reference to three-dimensional system of coordinate, and (202) are the three-dimensional system of coordinate of video camera body, in this example
It faces upward with reference to three-dimensional system of coordinate Z axis perpendicular to ground, X-axis is parallel to the video camera installation metope, and Y-axis is perpendicular to the camera shooting
It is outside that machine installs metope；Two coordinate system origin can not be overlapped.
2. referring to Fig. 3, Two coordinate system origin is overlapped in figure, in order to illustrate deviation angle.(301) exist for video camera body
The initial offset angle of XOY plane, (302) are initial offset angle of the video camera body in XOZ plane, and (303) are video camera body
In the initial offset angle of YOZ plane.When specific installation is implemented, Ying Jinliang makes video camera body three-dimensional system of coordinate and sits with reference to three-dimensional
Each change in coordinate axis direction for marking system is consistent, makes 0 degree of initial offset angle in three planes.
3. referring to Fig. 4, (401) are three-axis gyroscope chip, and shaft is respectively Xt, Yt, Zt, when it is implemented, video camera
Body three-dimensional system of coordinate should be determined with reference to three-axis gyroscope shaft.
The device specific implementation step for having detection monitor camera angle function is as shown in Figure 5:
1. (501) sensor unit obtains the instantaneous angular velocity α in three axial directionsX、αY、αZ.
2. (502) sensor unit data are by I2C bus transfer to data processing unit, I2C is by data processing unit
Control.
3. (503) data processing unit is to all α since updating initial offset angle A 1, A2, A3X,αY, αZData into
Row superposition processing, video camera body are A1+ ∫ a in the deviation angle of XOY planeZdt；Deviation angle of the video camera body in XOZ plane
For A2+ ∫ aYdt；Video camera body is A3+ ∫ a in the deviation angle of YOZ planeXdt；In formula, since updating initial offset angle
Accumulated time.
4. (504) angle-data that data processing unit obtains is transferred to communication unit by UART serial ports, UART is by counting
It is controlled according to processing unit.
5. (505) communication unit angle-data is transferred to receiving device.
Claims (8)
1. a kind of device with camera angle detection function, it is characterised in that: described device includes sensor unit, data
Processing unit, communication unit and shell；The sensor unit is for acquiring the video camera attitudes vibration for being equipped with described device
When bearing data, sensor unit include at least a three-axis gyroscope；The data processing unit is responsible for gyroscope institute
Collected data are handled, and the real-time angular data when video camera attitudes vibration for being equipped with described device are obtained；Communication
Unit is responsible for the angle-data that data processing unit exports being uploaded to receiving device；It, need to be by the device when using described device
It is rigidly secured on video camera.
2. device as described in claim 1, it is characterised in that: fixing means of the described device on monitor camera includes card
Mouth is fixed, screw is fixed or adhesive sticker is pasted and fixed.
3. device as described in claim 1, it is characterised in that: need to be according to video camera installation environment when described device is installed and used
It determines and refers to three-dimensional system of coordinate, the reference as video camera pivot offset angle；Include with reference to three-dimensional system of coordinate method of determination, if
Determine Z axis to face upward perpendicular to ground, X-axis installs metope perpendicular to the video camera, and Y-axis is parallel to the video camera installation metope.
4. device as described in claim 1, it is characterised in that: the mounting means of described device includes the three-axis gyroscope
Two of them shaft composition plane it is parallel with the plane of camera lens, the third shaft and video camera of three-axis gyroscope
The centerline axis parallel of casing, using three shafts of three-axis gyroscope as the reference axis of the three-dimensional system of coordinate of video camera body.
5. device as described in claim 1, it is characterised in that: camera angle need to be adjusted when described device is installed and used, made
The video camera body three-dimensional system of coordinate determined according to the three of three-axis gyroscope shafts and the reference determined according to installation environment are three-dimensional
Each change in coordinate axis direction of coordinate system is consistent, makes 0 degree of initial offset angle in three planes.
6. device as described in claim 1, it is characterised in that: described device includes video camera by communication unit output data
Deviation angle of the body in reference three-dimensional system of coordinate XOY, XOZ, YOZ plane.
7. device as described in claim 1, it is characterised in that: communication unit is used for the angle number for obtaining data processing unit
According to receiving device is uploaded to, wire communication module or wireless communication module can be used, be used for wired network communication or wireless network
Communication.
8. device as described in claim 1, it is characterised in that: the video camera further includes the auxiliary circuits such as power circuit and phase
Element is closed, provides support for each unit equipment component.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821780335.XU CN208765699U (en) | 2018-10-31 | 2018-10-31 | A kind of device with camera angle detection function |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821780335.XU CN208765699U (en) | 2018-10-31 | 2018-10-31 | A kind of device with camera angle detection function |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109059843A (en) * | 2018-10-31 | 2018-12-21 | 中国矿业大学(北京) | A kind of device with camera angle detection function |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109059843A (en) * | 2018-10-31 | 2018-12-21 | 中国矿业大学(北京) | A kind of device with camera angle detection function |
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