WO2015103835A1

WO2015103835A1 - Method and device for controlling azimuth of pan/tilt camera device

Info

Publication number: WO2015103835A1
Application number: PCT/CN2014/078295
Authority: WO
Inventors: 曾欣; 包明辉; 孙博
Original assignee: 中兴通讯股份有限公司
Priority date: 2014-01-07
Filing date: 2014-05-23
Publication date: 2015-07-16
Also published as: CN104767927A

Abstract

A method for controlling the azimuth of a pan/tilt camera device. The method comprises: acquiring, by a positioning sensor, a current position of a camera viewing angle; and if it is judged that the current position of the camera viewing angle is different from a designated position, then calculating a difference value between the current position of the camera viewing angle and the designated position, and controlling the rotation of a pan/tilt according to the difference value, so that the camera viewing angle is rotated to the designated position. Also provided is a device for controlling the azimuth of a pan/tilt camera device.

Description

Method and device for azimuth control of pan/tilt camera equipment

Technical field

The present invention relates to the field of azimuth control technology for a pan-tilt camera device, and more particularly to a method and device for azimuth control of a pan-tilt camera device. Background technique

The current PTZ camera controls the change of the angle of view of the camera by rotating the camera to the left, right, or up and down at a certain angle based on the current position. When the monitoring angle is turned to a specific orientation, manual operation is required. Complex operation. In addition, the related PTZ camera does not have the azimuth recognition function and cannot effectively memorize its own position information.

In practical applications, it is often encountered that the camera needs to be turned to a specific azimuth coordinate. In addition, the current PTZ camera is vulnerable to human or external damage and is unable to perform effective when monitoring suspicious targets. Track and return to the preset position. Summary of the invention

The technical problem to be solved by the embodiments of the present invention is to provide a method and apparatus for performing azimuth control of a pan-tilt camera device, which can automatically perform precise azimuth control of the pan-tilt camera's angle of view.

In order to solve the above technical problem, the following technical solution is adopted: The embodiment of the present invention provides a method for performing azimuth control on a pan-tilt camera device, including: acquiring a current position of a camera angle by using a positioning sensor;

If it is determined that the current position of the camera angle of view is different from the specified position, the difference between the current position of the camera angle of view and the designated position is calculated, and the pan/tilt rotation is controlled according to the difference, so that the camera angle of view is rotated to the designated position.

Optionally, the method may further include the following features:

The positioning sensor includes an azimuth angle sensor and a tilt sensor;

The step of obtaining the current position of the camera angle of view by the positioning sensor includes: The azimuth angle of the camera angle is measured by the azimuth angle sensor, and the tilt angle of the camera angle and the horizontal plane is measured by the tilt sensor. Optionally, the method may further include the following: the calculating the difference between the current position of the camera view and the specified position comprises: calculating a difference between a current azimuth of the camera view and the specified azimuth, and a camera angle of view The difference between the current inclination angle and the specified inclination angle;

The step of controlling the rotation of the gimbal according to the difference to rotate the camera angle of view to the designated position comprises:

According to the difference between the current azimuth angle of the camera angle and the specified azimuth angle, the pan/tilt is rotated clockwise or counterclockwise, and the pan head is rotated vertically or vertically according to the difference between the current tilt angle of the camera angle and the specified tilt angle. Optionally, before the step of determining whether the current position of the camera angle of view is the same as the specified position, the method may further include the following features:

Receiving configuration information carrying the specified location, parsing the configuration information, obtaining the specified location, and saving the specified location.

Optionally, the method may further include the following features:

The step of obtaining a current position of the camera angle by the positioning sensor comprises: acquiring a current position of the camera angle in real time by using the positioning sensor;

The step of determining whether the current position of the camera angle of view is the same as the specified position comprises: determining in real time whether the current position of the camera angle of view is the same as the specified position. The embodiment of the present invention further provides an apparatus for performing azimuth control on a pan-tilt camera device, including: a camera positioning module and a pan/tilt control module, wherein: the camera positioning module is configured to: obtain a current position of a camera perspective; The pan/tilt control module is configured to: if it is determined that the current position of the camera angle of view is different from the specified position, calculate a difference between the current position of the camera angle of view and the specified position, and control the pan-tilt rotation according to the difference to rotate the camera angle to the Specify the location. Optionally, the device may further include the following features:

The camera positioning module includes an azimuth angle sensor and a tilt sensor; wherein the azimuth angle sensor is configured to: measure an azimuth angle of the camera angle of view; the tilt sensor is configured to: measure a tilt angle of the camera angle of view and a horizontal plane.

Optionally, the device may further include the following features:

The pan/tilt control module is configured to calculate a difference between a current position of the camera angle of view and a specified position by: calculating a difference between a current azimuth angle of the camera angle of view and a specified azimuth angle, and a difference between a current inclination angle of the camera angle of view and a specified inclination angle Value

The pan/tilt control module is configured to rotate the camera view to the specified position according to the difference control pan/tilt rotation according to the difference: controlling the pan/tilt clockwise according to the difference between the current azimuth angle of the camera view angle and the specified azimuth angle Turn counterclockwise to control the pan/tilt to rotate vertically or vertically downward according to the difference between the current tilt angle of the camera angle and the specified tilt angle.

Optionally, the device further includes a configuration module:

The configuration module is configured to: before the pan/tilt control module determines whether the current location of the camera view is the same as the specified location, receive configuration information that carries the specified location, parse the configuration information, obtain the specified location, and Save the specified location.

Optionally, the device may further include the following features:

The configuration module is configured to receive configuration information carrying the specified location by: wireless communication, or a human machine interface.

Optionally, the device may further include the following features:

The camera positioning module is configured to obtain a current position of the camera angle by using a positioning sensor by: acquiring a current position of the camera angle in real time by using the positioning sensor;

The pan/tilt control module is configured to determine whether the current position of the camera angle of view is the same as the specified position by: determining whether the current position of the camera angle of view is the same as the specified position in real time.

Compared with the related art, a method and a device for performing azimuth control on a pan-tilt camera device according to an embodiment of the present invention obtain a current position of a camera angle by using a positioning sensor, such as determining that a current position of a camera angle is different from a specified position, Controlling the rotation of the gimbal according to the difference between the two to rotate the camera angle of view to the specified position, thereby automatically performing the precise view of the perspective of the pan/tilt camera Bit control.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a flow chart showing a method for performing azimuth control of a pan/tilt camera device according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a pan-tilt camera device according to an embodiment of the present invention.

Preferred embodiment of the invention

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that, in the case of no conflict, the features in the embodiments and the embodiments in the present application may be arbitrarily combined with each other. As shown in FIG. 1 , an embodiment of the present invention provides a method for performing azimuth control on a pan-tilt camera device, where the method includes:

S10, obtaining a current position of a camera angle by using a positioning sensor;

S20. If it is determined that the current position of the camera angle of view is different from the specified position, calculate a difference between the two, and control the pan-tilt rotation according to the difference to rotate the camera angle of view to the designated position.

The method can also include the following features:

Among them, the position of the camera angle refers to the center position of the lens, which represents the center position of the camera angle of view.

Preferably, the positioning sensor comprises an azimuth angle sensor and a tilt sensor; wherein the azimuth angle of the camera angle is measured by the azimuth angle sensor; the tilt angle of the camera angle and the horizontal plane is measured by the tilt sensor; wherein the position of the camera angle includes the azimuth angle and Inclination; the specified position includes azimuth and inclination;

Example of azimuth angle: If the south direction is the starting point of the counting, count in the clockwise direction, the counting range is 0-360 degrees, 0 degree means positive south, 90 degrees means positive west, 180 degrees means true north, 270 degrees means positive east. Example of the tilting angle: With the horizontal plane as the reference plane, the measured object is off-horizontal from the horizontal plane. The degree ranges from 0 degrees to plus 90 (+90) degrees, and the angle of the measured object from the horizontal plane vertically downward is from 0 degrees to minus 90 (-90) degrees.

The step of calculating the difference between the current position of the camera angle of view and the specified position comprises: calculating a difference between a current azimuth angle of the camera angle of view and a specified azimuth angle, and a difference between a current inclination angle of the camera angle of view and the specified inclination angle.

In step S20, the step of controlling the pan-tilt rotation according to the difference to rotate the camera angle of view to the designated position comprises:

According to the azimuth difference between the two, the pan/tilt is rotated clockwise or counterclockwise, and the pan/tilt is controlled to rotate vertically or vertically downward according to the difference of the inclination angles of the two.

For example, assuming that the specified position is (α, Θ) and the position of the current camera angle of view is (β, φ), the difference between the two can be expressed as (β-α, φ-θ) or (α-β, θ- φ ) ; A way to control the rotation of the gimbal can be: If β-α>0, then control the pan/tilt rotation (β-α) degree, if β-α<0, then control the pan-tilt counterclockwise rotation I --α|degree. If φ-θ>0, then control the vertical rotation of the gimbal to rotate upward (Φ-Θ). If φ-θ<0, control the vertical rotation of the gimbal to rotate downward by |φ-θ|degree.

Preferably, the method further includes: receiving the configuration information that carries the specified location, parsing the configuration information, obtaining the specified location, and saving the specified location; wherein, the configuration information that carries the specified location may be received by: Communication, or human machine interface. That is, the user can transmit the configuration information carrying the specified location to the pan/tilt camera by means of wireless communication, or the user can directly operate on the human-machine interface of the pan-tilt camera to set the designated location.

Preferably, the current position of the camera angle is obtained in real time by the positioning sensor, and the current position of the camera angle is determined to be the same as the specified position in real time. If not, the difference between the two is calculated, and the pan/tilt is controlled according to the difference. The camera angle of view is rotated to the designated position. Therefore, even if the gimbal or other external factors cause the gimbal to go to another location, the camera can be controlled to return to the designated position (preset position) in the shortest time by the above processing. As shown in FIG. 2, an embodiment of the present invention provides a device for performing azimuth control on a pan/tilt camera device, including a camera positioning module 201 and a pan/tilt control module 202:

The camera positioning module 201 is configured to: obtain a current position of the camera angle of view; and the pan/tilt control module 202 is configured to: if the current position and the specified position of the camera angle are determined If the positions are different, the difference between the two is calculated, and the pan-tilt rotation is controlled according to the difference to rotate the camera angle of view to the designated position.

The device may also include the following features:

As shown in FIG. 2, the pan-tilt camera device includes: a camera 203, a cloud platform 204, a camera positioning module 201 connected to the camera, and a pan/tilt control module 202 connected to the cloud platform.

Preferably, the positioning sensor comprises an azimuth angle sensor and a tilt sensor; wherein the azimuth angle sensor is arranged to measure the azimuth angle of the camera angle of view; and the tilt angle sensor measures the tilt angle of the camera head angle and the horizontal plane.

Preferably, the pan/tilt control module 202 calculates the difference between the current position of the camera angle of view and the specified position by: calculating the difference between the current azimuth angle of the camera angle of view and the specified azimuth angle, and the current inclination angle of the camera angle of view and the specified inclination angle Difference

The pan/tilt control module 202 controls the pan-tilt rotation to rotate the camera angle to the specified position according to the difference: controlling the pan/tilt to rotate clockwise or counterclockwise according to the azimuth difference between the two, according to the two The difference in the inclination angle controls the pan/tilt to rotate vertically upwards or vertically downwards.

Preferably, the pan-tilt camera device further includes a configuration module connected to the pan-tilt control module: the configuration module is configured to receive configuration information carrying a specified location, parse the configuration information, and obtain the specified location, And save the specified location.

Preferably, the configuration module receives the configuration information carrying the specified location by: a wireless communication, or a human-machine interface.

Preferably, the camera positioning module 201 obtains the current position of the camera angle by: obtaining the current position of the camera angle in real time; the pan/tilt control module 202 determines whether the current position of the camera angle is the same as the specified position by: determining the camera angle in real time. Whether the current location is the same as the specified location. Therefore, even if the gimbal or other external factors cause the gimbal to go to other locations, the camera can be controlled to return to the designated position (preset position) in the shortest time by the above processing.

The method and device for performing azimuth control on a pan-tilt camera device are provided by the above embodiment. The current position of the camera angle is obtained by the positioning sensor. If it is determined that the current position of the camera angle is different from the specified position, the difference between the two is controlled according to the difference between the two. Rotation of the gimbal rotates the camera angle of view to the The specified position, the embodiment of the present invention can automatically perform precise azimuth control of the angle of view of the pan/tilt camera. In addition, even if the pan/tilt is turned to other locations due to human or external factors, the camera can be controlled to return to the designated position (preset position) in the shortest time. One of ordinary skill in the art will appreciate that all or a portion of the above steps may be performed by a program to instruct the associated hardware, such as a read only memory, a magnetic disk, or an optical disk. Optionally, all or part of the steps of the foregoing embodiments may also be implemented by using one or more integrated circuits. Accordingly, each module/unit in the foregoing embodiment may be implemented in the form of hardware, or may use software functions. The form of the module is implemented. The invention is not limited to any specific form of combination of hardware and software.

It is to be understood that the invention may be embodied in other forms and modifications without departing from the spirit and scope of the invention.

Industrial applicability

A method and a device for performing azimuth control on a pan-tilt camera device according to an embodiment of the present invention, obtain a current position of a camera angle by using a positioning sensor, and if it is determined that a current position of the camera angle is different from a specified position, according to the difference between the two The rotation of the pan/tilt is controlled to rotate the camera angle of view to the designated position, and the embodiment of the invention can automatically perform precise azimuth control of the angle of view of the pan/tilt camera. Therefore, it has strong industrial applicability.

Claims

claims

1. A method for azimuth control of PTZ camera equipment, including:

Obtain the current position of the camera's perspective through the positioning sensor; and

If it is determined that the current position of the camera's angle of view is different from the specified position, the difference between the current position of the camera's angle of view and the specified position is calculated, and the pan/tilt is controlled to rotate based on the difference to rotate the camera's angle of view to the specified position.

2. The method for azimuth control of pan/tilt camera equipment as claimed in claim 1, wherein: the positioning sensor includes an azimuth angle sensor and an inclination angle sensor;

The step of obtaining the current position of the camera angle of view through the positioning sensor includes:

The azimuth angle sensor is used to measure the azimuth angle of the camera's viewing angle, and the inclination sensor is used to measure the inclination angle between the camera's viewing angle and the horizontal plane.

3. The method for azimuth control of a pan-tilt camera device as claimed in claim 2, wherein the step of calculating the difference between the current position of the camera angle of view and the specified position includes:

Calculate the difference between the current azimuth angle of the camera's viewing angle and the specified azimuth angle, and the difference between the current inclination angle of the camera's viewing angle and the specified inclination angle;

The step of controlling the rotation of the pan/tilt based on the difference to rotate the camera angle of view to the designated position includes:

The pan/tilt is controlled to rotate clockwise or counterclockwise based on the difference between the current azimuth angle of the camera's visual angle and the specified azimuth angle. The pan/tilt is controlled to rotate vertically upward or vertically downward based on the difference between the current tilt angle of the camera's visual angle and the specified tilt angle.

4. The method for azimuth control of a PTZ camera device as claimed in claim 1, wherein before the step of determining whether the current position of the camera angle of view is the same as the specified position, it further includes: receiving configuration information carrying the specified position. , parse the configuration information, obtain the specified location, and save the specified location.

5. The method for azimuth control of PTZ camera equipment as claimed in claim 1, wherein: The step of obtaining the current position of the camera's view through the positioning sensor includes: obtaining the current position of the camera's view in real time through the positioning sensor; the step of judging whether the current position of the camera's view is the same as the specified position includes: judging in real time the current position of the camera's view and Whether the specified locations are the same.

6. A device for azimuth control of PTZ camera equipment, including: camera positioning module and PTZ control module, wherein:

The camera positioning module is set to: obtain the current position of the camera's angle of view; and the PTZ control module is set to: if it is determined that the current position of the camera's angle of view is different from the specified position, calculate the difference between the current position of the camera's angle of view and the specified position. , controlling the rotation of the pan/tilt according to the difference value, so that the camera angle of view is rotated to the specified position.

7. The device for azimuth control of pan-tilt camera equipment as claimed in claim 6, wherein: the camera positioning module includes an azimuth angle sensor and an inclination sensor; wherein the azimuth angle sensor is configured to: measure the azimuth of the camera's viewing angle. angle; the inclination sensor is configured to: measure the inclination angle between the camera's viewing angle and the horizontal plane.

8. The device for azimuth control of PTZ camera equipment as claimed in claim 7, wherein: the PTZ control module is configured to calculate the difference between the current position of the camera angle of view and the specified position in the following manner: Calculate the difference of the camera angle of view The difference between the current azimuth angle and the specified azimuth angle, and the difference between the current inclination angle of the camera's perspective and the specified inclination angle;

The PTZ control module is configured to control the PTZ rotation according to the difference in the following manner to rotate the camera angle of view to the designated position:

9. The device for azimuth control of PTZ camera equipment as claimed in claim 6, further comprising: Configuration module;

The configuration module is configured to: before the PTZ control module determines whether the current position of the camera angle of view is the same as the specified position, receive configuration information carrying the specified position, parse the configuration information, obtain the specified position, and Save the specified location.

10. The device for azimuth control of pan-tilt camera equipment as claimed in claim 9, wherein the configuration module is configured to receive configuration information carrying a designated position through: wireless communication or human-machine interface.

11. The device for azimuth control of pan-tilt camera equipment as claimed in claim 6, wherein: the camera positioning module is configured to obtain the current position of the camera angle of view through the positioning sensor in the following manner:

Obtain the current position of the camera's perspective in real time through the positioning sensor;

The PTZ control module is configured to determine whether the current position of the camera angle of view is the same as the specified position in the following way:

Determine in real time whether the current position of the camera's perspective is the same as the specified position.