CN208888273U - A kind of device with video camera geographic direction detection function - Google Patents
A kind of device with video camera geographic direction detection function Download PDFInfo
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- CN208888273U CN208888273U CN201821780854.6U CN201821780854U CN208888273U CN 208888273 U CN208888273 U CN 208888273U CN 201821780854 U CN201821780854 U CN 201821780854U CN 208888273 U CN208888273 U CN 208888273U
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Abstract
The utility model discloses a kind of device with video camera geographic direction detection function, described device can make monitor camera not depend on the restriction of cradle head control control mode, and real-time detection determines monitor camera dynamic direction.Described device mainly includes direction-determining unit, angle detection unit, data processing unit, communication unit and shell.Described device acquires the directional information of the video camera using the sensor of three kinds of different principles, with detection fast speed, the features such as detection accuracy is higher, can the real-time direction of real-time monitoring video camera, dynamic target tracking monitoring and image recognition positioning field have a wide range of applications.
Description
Technical field
The utility model relates to a kind of video cameras that function is determined with direction, and in particular to sensor data acquisition and number
According to fields such as 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 dynamic angle 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 dynamic direction of monitor camera, due to can not accurately obtain monitor camera dynamic angle and
Directional information in geographic coordinate system, monitoring center just can not accurately determine the monitoring area of acquired image, therefore can not
Monitoring objective is accurately positioned by image pattern recognition, seriously restricts the development and application of monitoring technology.It is real
In the application of border, most monitor cameras cannot facilitate acquisition directional information, therefore, be badly in need of one kind not by cradle head control mode
The auxiliary device of restriction achievees the purpose that determine monitor camera direction function in real time.
Utility model content
The utility model aim is to provide a kind of device with video camera geographic direction detection function, be added using three axis
Velocity sensor, three axis magnetometric sensors and three-axis gyroscope sensor acquire the directional information of the video camera, detect speed
Comparatively fast, detection accuracy is higher, has a wide range of applications in dynamic target tracking monitoring and image recognition positioning field.It is described
Video camera mainly includes direction-determining unit, angle detection unit, data processing unit, communication unit and shell, the direction
Determination unit is used to obtain the bearing data when video camera stationary state equipped with described device, including at least one three axis accelerates
Spend sensor and at least one three axis magnetometric sensor；The angle detection unit is used to obtain the video camera equipped with described device
Bearing data when attitudes vibration, including at least one three-axis gyroscope sensor；The data processing unit is responsible for direction
The data that determination unit and angle detection unit obtain are handled, and judgement is equipped with the video camera status of described device, are obtained
To bearing data of the video camera in geographic coordinate system；Communication unit is responsible for the bearing data for exporting data processing unit and is uploaded
To receiving device.Described device should be rigidly secured on video camera.
1. the device with video camera geographic direction detection function further comprises: described device is in monitor camera
On fixing means include that bayonet is fixed, screw is fixed or adhesive sticker is pasted and fixed.
2. the device with video camera geographic direction detection function further comprises: data processing unit calculates three axis
Acceleration transducer and the three collected data of axis magnetometric sensor obtain the video camera equipped with described device and remain static
When bearing data in geographic coordinate system.
3. the device with video camera geographic direction detection function further comprises: data processing unit passes through calculating
The collected data of angle detection unit three-axis gyroscope sensor, obtain the video camera moment equipped with described device relative to
The angle change in static direction, and be superimposed on the basis of static direction, obtain dynamic direction of the video camera in geographic coordinate system
Data.
4. the device with video camera geographic direction detection function further comprises: in the direction-determining unit
Three-axis gyroscope sensor in 3-axis acceleration sensor, three axis magnetometric sensors and angle detection unit, in the dress
In the shell set, three kinds of sensor x-axis directions are consistent with installation camera lens direction, and z-axis direction is each perpendicular to take the photograph
Camera is upward.If there are angle offsets for above-mentioned three kinds of sensors, degrees of offset should be detected before use, according to degrees of offset to final
As a result it compensates.
5. the device with video camera geographic direction detection function further comprises: communication unit is used for will be at data
The angle-data that reason unit obtains is uploaded to receiving device, and wire communication module or wireless communication module can be used, for wired
Network communication or wireless communication.
6. the device with video camera geographic direction detection function further comprises: the video camera further includes power supply
The auxiliary circuits such as circuit and related elements provide support for each unit equipment component.
Detailed description of the invention
A kind of apparatus structure schematic diagram with video camera geographic direction detection function of Fig. 1
A kind of geographic coordinate system schematic diagram of Fig. 2
Fig. 3 is equipped with direction schematic diagram in the video camera geographic coordinate system of described device
Each axial schematic diagram of Fig. 4 sensor
A kind of device implementation process schematic diagram with video camera geographic direction detection function of Fig. 5
Specific embodiment
In the device embodiment as shown in Figure 1 with video camera geographic direction detection function, comprising:
1. direction-determining unit (101), fast using reaction speed, the high 3-axis acceleration sensor of detection accuracy and three axis
Magnetometric sensor.3-axis acceleration sensor choose LIS3DH chip, the chip characteristics be motion sensing range it is wide, susceptibility compared with
Height, signal collected are digital signal, and collection result is transferred to processor by I2C serial data communication.Three axis magnetic force pass
Sensor chooses HMC5883L chip, and the chip precision is higher, and strong antijamming capability, susceptibility is higher, and signal collected is number
Word signal, collection result are transferred to processor by I2C serial data communication.It needs to measure above-mentioned 3-axis acceleration sensing before use
The degrees of offset of device and the three axially opposing geographic coordinate systems of axis magnetometric sensor, mends final result according to degrees of offset
It repays.
2. angle detection unit (102), selection reaction speed is fast, and the high three-axis gyroscope sensor of detection accuracy can adopt
The MPU3050 three-axis gyroscope chip produced with InvenSense company.The chip characteristics are that motion sensing range is wide, by 250
To 2000 °/sec, susceptibility is higher, and 1% susceptibility is calibrated to before factory, and signal collected is digital signal, acquisition knot
Fruit is transferred to processor by I2C serial data communication.The above 3-axis acceleration sensor, three axis magnetometric sensors and three axis tops
Integrated chip can also be used in spiral shell instrument sensor, and such as MPU9250 chip, acquisition signal is digital signal, and collection result is gone here and there by I2C
Row data communication is to processor.The offset journey of the measurement axially opposing geographic coordinate system of three-axis gyroscope sensor is needed before use
Degree, compensates final result according to degrees of offset.
3. data processing unit (103), processor is for handling by direction-determining unit (101) and angle detection unit
(102) signal obtained is sat when by calculating the state and static and dynamic that judge the video camera in the video camera geography
Direction in mark system.The MSP430F147 single-chip microcontroller of processor selection TI company.16 risc architectures of the model have 32k
Flash, 1kRAM；And there are 5 kinds of low-power consumption modes.SCL with the SDA pin of three kinds of sensors can be connected plus pull-up resistor
Two standard I/O interfaces of MSP430F147 processor, pass through processor) it controls generation clock signal and realizes I2C serial number
According to communication.Processor can also be realized by FPGA.
4. communication unit (104) uses wireless communication module, the bearing data for obtaining data processing unit (103)
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.
5. auxiliary circuit (105), 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.
6. shell (106), 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 specific embodiment of the device with video camera geographic direction detection function, coordinate system and deviation angle are fixed
Justice refers to Fig. 2, Fig. 3 and Fig. 4:
1. refer to Fig. 2, establish refer to geographic coordinate system (201), setting Z axis just on face upward perpendicular to ground, X-axis level refers to
To direct north, Y-axis is horizontally directed to due west direction；It (202) is the three-dimensional system of coordinate of video camera body.Two coordinate system origin can not weigh
It closes.
2. referring to Fig. 3, (301) are video camera body in the deviation angle A1 of reference geographic coordinate system XOY plane, and (302) are
For video camera body in the deviation angle A2 of reference geographic coordinate system XOZ plane, (303) are video camera body in reference geographic coordinate system
The deviation angle A3 of YOZ plane.It can get the actual direction of video camera body according to deviation angle data.
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 3-axis acceleration sensor, three axis magnetometric sensors, three-axis gyroscope shaft, and three
Each axis of sensor should be overlapped as far as possible, need to carry out conversion compensation if not being overlapped.
4. data processor is according to three axis magnetometric sensors and 3-axis acceleration when the video camera remains static
The collected data A1 of sensorIt is quiet, A2It is quiet, A3It is quietAs video camera body in the inclined of reference geographic coordinate system XOY, XOZ, YOZ plane
Move angle A 1, the value of A2, A3.It can get the bearing data of video camera body according to deviation angle data.
5. data processor is according to the collected data of three-axis gyroscope, static when the video camera is in dynamic
A1 is obtained by superposition on the basis of stateIt is dynamic, A2It is dynamic,A3It is dynamicIt is flat in reference geographic coordinate system XOY, XOZ, YOZ as video camera body
The value of deviation angle A1, A2, the A3 in face.
The device specific implementation step with video camera geographic direction detection function is as shown in Figure 5:
1. (501) data processor judges whether the video camera remains static, under static state then according to three
Axle acceleration sensor and the three collected data of axis magnetometric sensor, obtain video camera body reference geographic coordinate system XOY,
The deviation angle A1 of XOZ, YOZ planeIt is quiet, A2It is quiet, A3It is quietValue.Determine that the video camera for being equipped with described device is in nonstatic state
Method include, if in setting time t1Interior three-axis gyroscope three axial data variation amount Δ aX、ΔaY、ΔaZQuadratic sum
Arithmetic square root is greater than given threshold B1, i.e.,Or in setting time t2Interior three axis adds
Velocity sensor three axial data variation amount Δ bX、ΔbY、ΔbZThe arithmetic square root of quadratic sum is greater than given threshold B2, i.e.,Or in setting time t3Interior three axis magnetometric sensor three axial data variation amount Δs
cX、ΔcY、ΔcZThe arithmetic square root of quadratic sum is greater than given threshold B3, i.e.,Then
Determine that video camera is in nonstatic state；t1、t2、t3, B1, B2, B3 value by be manually set or measurement obtain.
2. (502) three-axis gyroscope sensor obtains the instantaneous angular velocity α when video camera dynamic in three axial directionsX,
αY,αZ。
3. (503) direction-determining unit and angle detection unit data by I2C bus transfer to data processing unit,
I2C is controlled by data processing unit.
4. (504) data processing unit is to αXIt is overlapped, A1It is dynamic=A1It is quiet+∫αXDt obtains video camera body in reference geography
The deviation angle A1 of coordinate system XOY planeIt is dynamic；To αYIt is overlapped, A2It is dynamic=A2It is quiet+∫αYDt obtains the camera shooting equipped with described device
Dynamic direction A2 of the machine for due west (Y-axis)It is dynamic.Data processing unit is to αZIt is overlapped, A3It is dynamic=A3It is quiet+∫αZDt is imaged
Deviation angle A3 of the body in reference geographic coordinate system YOZ planeIt is dynamic.The time zero of t is that the video camera is determined as dynamically
Moment.
5. (505) 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.
6. (506) communication unit angle-data is transferred to receiving device.
Claims (7)
1. a kind of device with video camera geographic direction detection function, it is characterised in that: device mainly includes that direction determines list
Member, angle detection unit, data processing unit, communication unit and shell；The direction-determining unit is for obtaining equipped with described
Bearing data when the video camera stationary state of device, including at least one 3-axis acceleration sensor and at least one three axis magnetic
Force snesor；The angle detection unit is used to obtain the bearing data when video camera attitudes vibration equipped with described device, packet
Include at least one three-axis gyroscope sensor；The data processing unit is responsible for obtaining direction-determining unit and angle detection unit
To data handled；Communication unit is responsible for the bearing data that data processing unit exports being uploaded to receiving device.
2. a kind of device with video camera geographic direction detection function as described in claim 1, it is characterised in that: the dress
Setting the fixing means on monitor camera includes that bayonet is fixed, screw is fixed or adhesive sticker is pasted and fixed.
3. a kind of device with video camera geographic direction detection function as described in claim 1, it is characterised in that: at data
It manages unit and calculates 3-axis acceleration sensor and the three collected data of axis magnetometric sensor.
4. a kind of device with video camera geographic direction detection function as described in claim 1, it is characterised in that: at data
Unit is managed by calculating the collected data of angle detection unit three-axis gyroscope sensor.
5. a kind of device with video camera geographic direction detection function as described in claim 1, it is characterised in that: the side
3-axis acceleration sensor, three axis magnetometric sensors into determination unit and the three-axis gyroscope sensing in angle detection unit
Device, in the shell of described device；The 3-axis acceleration sensor, three axis magnetometric sensors and three-axis gyroscope sensor
X-axis direction is consistent with installation camera lens direction, and it is upward that z-axis direction is each perpendicular to video camera.
6. a kind of device with video camera geographic direction detection function as described in claim 1, it is characterised in that: communication unit
Angle-data of the member for obtaining data processing unit is uploaded to receiving device, using wire communication module or radio communication mold
Block is used for wired network communication or wireless communication.
7. a kind of device with video camera geographic direction detection function as described in claim 1, it is characterised in that: described to take the photograph
Camera further includes the auxiliary circuits such as power circuit and related elements, provides support for each unit equipment component.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821780854.6U CN208888273U (en) | 2018-10-31 | 2018-10-31 | A kind of device with video camera geographic direction detection function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821780854.6U CN208888273U (en) | 2018-10-31 | 2018-10-31 | A kind of device with video camera geographic direction detection function |
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| Publication Number | Publication Date |
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| CN208888273U true CN208888273U (en) | 2019-05-21 |
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| CN201821780854.6U Active CN208888273U (en) | 2018-10-31 | 2018-10-31 | A kind of device with video camera geographic direction detection function |
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