WO2015188768A1 - Device and method for controlling ptz camera to track object - Google Patents

Device and method for controlling ptz camera to track object Download PDF

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Publication number
WO2015188768A1
WO2015188768A1 PCT/CN2015/081267 CN2015081267W WO2015188768A1 WO 2015188768 A1 WO2015188768 A1 WO 2015188768A1 CN 2015081267 W CN2015081267 W CN 2015081267W WO 2015188768 A1 WO2015188768 A1 WO 2015188768A1
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Prior art keywords
infrared sensor
ptz camera
infrared
centerline
camera
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PCT/CN2015/081267
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English (en)
French (fr)
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Deshi QU
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Byd Company Limited
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Publication of WO2015188768A1 publication Critical patent/WO2015188768A1/en

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/69—Control of means for changing angle of the field of view, e.g. optical zoom objectives or electronic zooming

Definitions

  • Embodiments of the present disclosure generally relate to a PTZ (pan-tilt-zoom) camera, and more particularly, to a device for controlling a PTZ camera to track an object and a method for controlling a PTZ camera to track an object.
  • PTZ pan-tilt-zoom
  • a conventional PTZ camera has two built-in motors, one of the two motors controls the cradle head (camera holder) to rotate in a horizontal direction, and the other one of the two motors controls the cradle head to rotate in a vertical direction.
  • the cradle head generally has a rotation angle of 350°in the horizontal direction, and has the rotation angle of 45°, 35°, 75°and the like in the vertical direction, and the rotation angle in the horizontal direction and the vertical direction can be adjusted via limit switches.
  • the conventional PTZ cameras, global surveillance cameras and high-speed ball monitors only can rotate at the fixed speed in the fixed direction.
  • the global surveillance cameras and high-speed ball monitors can monitor 360°static scene, due to the limited camera angle, which is usually 120° ⁇ 180°, only 120° ⁇ 180°of the range directly in front of the lens can be monitored, and there is a monitor blind range of 180° ⁇ 240°behind the lens.
  • the blind range will always exist, and some screens will not be monitored.
  • the conventional PTZ cameras, global surveillance cameras and high-speed ball monitors have the following disadvantages: they can only rotate in the fixed direction at the fixed speed, which lacks flexibility, and cannot adjust a direction of the camera lens flexibly according to actual situations, and thus it cannot achieve the monitoring result in many occasions.
  • Embodiments of the present disclosure seek to solve at least one of the problems existing in the related art to at least some extent.
  • Embodiments of a first aspect of the present disclosure provide a device for controlling a PTZ camera to track an object
  • the PTZ camera includes a cradle head and a camera fixed on the cradle head
  • the device includes: a motor connected with the PTZ camera and configured to drive the PTZ camera to rotate in a forward direction or a reverse direction; an infrared sensor module including N infrared sensors located equidistantly in a circumferential direction of the PTZ camera, in which when an object is in a sensing range of any of the N infrared sensors, the infrared sensor generates an infrared sensing signal; and a control module connected with the motor and the infrared sensor module respectively, and configured to determine whether M continuous infrared sensors sense the object in a same direction according to infrared sensing signals, and if yes, to control the motor to rotate so as to drive the PTZ camera to track the object, in which N and M are positive integers and greater than 1, and N is
  • the control module determines whether M continuous infrared sensors sense the object in the same direction, and if yes, the control module controls the motor to rotate so as to drive the PTZ camera to track the object, thus controlling the rotating speed and the rotating direction of the motor intelligently based on actual situations, such that a single camera lens can monitor the screen over the full range of 360°and track quickly the object, and it is more practical and more efficient.
  • Embodiments of a second aspect of the present disclosure provide a method for controlling a PTZ camera to track an object, and the method includes: determining whether an object is in a sensing range of any of N infrared sensors, in which the N infrared sensors are located equidistantly in a circumferential direction of the PTZ camera; if yes, generating an infrared sensing signal by the infrared sensor; determining whether M continuous infrared sensors sense the object in a same direction according to infrared sensing signals, in which N and M are positive integers and greater than one, and N is greater than or equal to M; and if yes, controlling a rotating state of the motor so as to drive the PTZ camera to track the object.
  • the rotating speed and rotating direction of the motor can be controlled intelligently based on actual situations, such that a single camera lens can monitor the screen over the full range of 360°and track quickly the object, and it is more practical and more efficient.
  • Fig. 1 is a block diagram of a device for controlling a PTZ camera to track an object according to an embodiment of the present disclosure
  • Fig. 2 is a block diagram of a device for controlling a PTZ camera to track an object according to another embodiment of the present disclosure
  • Fig. 3 is a schematic diagram of a PTZ camera and N infrared sensors according to an embodiment of the present disclosure
  • Fig. 4 is a flow chart of a method for controlling a PTZ camera to track an object automatically according to an embodiment of the present disclosure
  • Fig. 5 is a flow chart of a method for controlling a PTZ camera to track an object automatically according to another embodiment of the present disclosure
  • Fig. 6 is a flow chart of a method for controlling a motor according to an embodiment of the present disclosure.
  • Fig. 7 is a flow chart of a method for controlling a motor according to another embodiment of the present disclosure.
  • a structure in which a first feature is “on” a second feature may include an embodiment in which the first feature directly contacts the second feature, and may also include an embodiment in which an additional feature is formed between the first feature and the second feature so that the first feature does not directly contact the second feature.
  • Fig. 1 is a block diagram of a device for controlling a PTZ camera to track an object according to an embodiment of the present disclosure.
  • the device includes a motor 30, an infrared sensor module 40 and a control module 50.
  • the PTZ camera 20 includes a cradle head 21 and a camera 22, and the camera 22 is fixed on the cradle head 21.
  • the motor 30 such as a stepper motor is connected with the PTZ camera 20, and is configured to drive the PTZ camera 20 to rotate in a forward direction or a reverse direction.
  • the infrared sensor module 40 includes N infrared sensors 41, and the N infrared sensors 41 are located equidistantly in a circumferential direction of the PTZ camera 20.
  • the infrared sensor 41 When an object is in a sensing range of any of the N infrared sensors 41, for example, when the object is in a predetermined range in front of the infrared sensor 41, the infrared sensor 41 generates an infrared sensing signal.
  • the control module 50 is connected with the motor 30 and the infrared sensor module 40 respectively, and is configured to determine whether M continuous infrared sensors 41 sense the object in a same direction according to the infrared sensing signals and to control the motor 30 to rotate so as to drive the PTZ camera 20 to track the object when M continuous infrared sensors 41 sense the object in the same direction.
  • N and M are positive integers and greater than one, and N is greater than or equal to M.
  • the infrared sensor 41 when the object moves to a centerline of the sensing range of the infrared sensor 41, the infrared sensor 41 generates the infrared sensing signal to be sent to the control module 50.
  • Fig. 2 is a block diagram of a device for controlling a PTZ camera to track an object according to another embodiment of the present disclosure.
  • the device further includes a clock module 60, the clock module 60 is connected with the control module 50, and is configured to generate a time signal when the object moves to a centerline of the sensing range of the infrared sensor 41 and to send the time signal to the control module 50.
  • control module 50 is further configured to obtain a mechanical angle between a first infrared sensor 41 and a Mth infrared sensor 41 and a movement time of the object moving from the centerline of the sensing range of the first infrared sensor to the centerline of the sensing range of the Mth infrared sensor 41 when the control module 50 determines that M continuous infrared sensors 41 sense the object in the same direction, and to calculate an average moving speed of the object according to the mechanical angle and the movement time.
  • Fig. 3 is a schematic diagram of a PTZ camera and N infrared sensors 41 according to an embodiment of the present disclosure.
  • the PTZ camera 20 further includes a shell 23, the shell 23 is connected with the motor 30, and the N infrared sensors 41 is equidistantly located in the circumferential direction of the shell 23.
  • the infrared sensor module 40 includes six infrared sensors 41, the mechanical angle between the adjacent infrared sensors 41 is 360°/6. In this case, if M is 3, the mechanical angle between the first infrared sensor 41 and the Mth infrared sensor 41 is 120°.
  • the object in the present disclosure may be objects or organisms capable of emitting infrared, such as humans, such that the infrared sensors 41 can sense the object by the infrared emitted from the object.
  • the control module 50 can receive the signal from the corresponding infrared sensor.
  • under normal conditions i.e.
  • the PTZ camera 20 works normally, that is, the PTZ camera 20 rotates in one direction.
  • the object when the object is in the sensing range of a certain infrared sensor outside the range of the camera lens 221, and the moving state of the object is similar to the moving sate of the camera lens 221 (that is, the moving direction of the object is the same as that of the camera lens 221, and the moving speed of the object is close to the moving speed of the camera lens 221) , the object will move through the sensing ranges of a plurality of sequential infrared sensors.
  • the control module 50 stores the infrared sensing signal of the first infrared sensor and the time signal of the clock module 60, but does not process the signals until the object moves into the sensing range of the Mth infrared sensor.
  • the Mth infrared sensor generates the infrared sensing signal and sends the infrared sensing signal to the control module 50, and then the control module 50 sends the control signal to the motor 30 so as to change the rotating state of the motor 30.
  • the control module 50 may include a storage unit 501, a calculating unit 502 and a control unit 503.
  • the storage unit 501 is configured to store the infrared sensing signals, the time signals, the rotation angle of the motor 30, the signals generated by the control module and so on.
  • the calculating unit 502 is connected with the storage unit 501.
  • the calculating unit 502 calculates a space angle from the camera lens 221 to each of the infrared sensors 41 by taking the facing direction of the camera lens 221 as the pointing direction, furthermore, the calculating unit 502 calculates the average moving speed of the object and the number of the infrared sensing signals, and sends the above calculating results to the storage unit 501.
  • the space angle from the camera lens 221 to each of the infrared sensors 41 can be used to determine whether the sensing range of the infrared sensor 41 is outside the range of the camera lens 221.
  • the control unit 503 is connected with the storage unit 501 and the calculating unit 502 respectively, and is configured to control the calculating unit 502 to calculate according to the signals stored in the storage unit 501, and to send the control signal according to the calculating results of the calculating unit 502 stored in the storage unit 501.
  • the control unit 503 sends the control signal to the motor 30 for changing the rotating state of the motor 30. That is, when the infrared sensing signal generated by the Mth infrared sensor is sent to the calculating unit 502, the control unit 503 sends the control signal to the motor 30 so as to change the rotating state of the motor 30.
  • the control module 50 may obtain a rotation direction from a camera lens to the (M+1) th infrared sensor according to a space angle between the camera lens 221 and the (M+1) th infrared sensor, and generate a first control signal for controlling the motor 30 to drive the PTZ camera 20 to rotate at a first predetermined speed in the rotation direction until the PTZ camera 20 reaches the centerline of the sensing range of the (M+1) th infrared sensor.
  • the space angle is obtained by taking the facing direction of the camera lens 221 as the pointing direction, if the space angle is less than or equal to 180°, the rotation direction is the facing direction, and if the space angle is greater than 180°, the rotation direction is opposite to the facing direction. For example, as shown in Fig. 3, if the (M+1) th infrared sensor is the infrared sensor at four o’clock, then the rotation direction is the clockwise direction; if the (M+1) th infrared sensor is the infrared sensor at six o’clock, then the rotation direction is the anti-clockwise direction.
  • the control module 50 may generate a second control signal according to the infrared sensing signal, so as to control the motor 30 to drive the PTZ camera 20 to rotate at the average moving speed of the object in the moving direction of the object, thus tracking the object.
  • the first predetermined speed is much larger than the average moving speed of the object.
  • the control module 50 controls the motor 30 to stop rotating, and the camera lens 221 of the PTZ camera 20 waits at the centerline of the sensing range of the (M+1) th infrared sensor.
  • the control module 50 When the object moves to the centerline of the sensing range of the (M+1) th infrared sensor 41, the (M+1) th infrared sensor 41 generates the infrared sensing signal, and after receiving the infrared sensing signal, the control module 50 generates the second control signal, and controls the motor 30 according to the second control signal to drive the PTZ camera 20 to rotate at the average moving speed of the object in the moving direction of the object so as to track the object.
  • the object is at the centerline of the range of the camera lens 221, and the moving speed of the camera lens 221 is close to the moving speed of the object, and thus the camera lens 221 can track the object so as to achieve the purpose of catching the object behavior.
  • control module 50 when the control module 50 determines that M continuous infrared sensors sense the object in the same direction, the control module 50 may generate a third control signal according to the infrared sensing signal and control the motor 30 according to the third control signal so as to drive the PTZ camera 20 to rotate at a second predetermined speed in a direction opposite to the moving direction of the object until the centerline A of the camera lens 221 encounters the object.
  • the control module 50 may generate a second control signal according to the infrared sensing signal and control the motor 30 according to the second control signal so as to drive the PTZ camera 20 to rotate at the average moving speed of the object in the moving direction of the object.
  • the calculating unit 502 may be configured to calculate the space distance from the camera lens 221 to the object by taking the facing direction of the camera lens 221 as the pointing direction and to store the space direction into the storage unit 501.
  • the control module 50 controls the motor 30 to stop rotating in the reverse direction and generates the second control signal for controlling the motor 30 to drive the PTZ camera 20 to rotate at the average moving speed of the object in the moving direction of the object.
  • the object is at the centerline of the range of the camera lens 221, and the moving speed of the camera lens 221 is close to that of the object, and thus the camera lens 221 can track the object to monitor the behaviors of the object.
  • the moving speed of the object is suddenly changed to be not the same as the moving speed of the camera lens 221, then the object will leave the imaging range of the camera lens 221.
  • the control module 50 controls the PTZ camera 20 to repeat the above actions to track the object.
  • the camera lens 221 of the PTZ camera 20 will always track the object to let it not escape.
  • the device for controlling the PTZ camera 20 to track the object may further include an alarm module 70, and the alarm module 70 is configured to prompt an alarm according to an alarm signal generated by the control module 50 when the control module 50 determines that M continuous infrared sensors sense the object in the same direction.
  • the control module 50 when it detects that the object is avoiding the camera lens 221 deliberately, the control module 50 generates the alarm signal immediately and sends the alarm signal to the alarm module 70 to prompt the alarm.
  • it may determine that the object is avoiding the camera lens 221 deliberately when the sensing time interval between each two adjacent infrared sensors of the M continuous infrared sensors is the same as the time interval of the camera lens 221 passing through the adjacent infrared sensors 41.
  • M the greater the possibility of avoiding the camera lens is, the more sensitive the alarm module 70 is, but the more likely the object is avoiding the camera lens by chance, and the greater the false alarm rate is.
  • M the less sensitive the alarm module 70 is, and the smaller the false alarm rate is.
  • M may be three, and in this case, the possibility that the object passes through three infrared sensors at the rotating speed of the PTZ camera by chance is very low, and when M is 3, the alarm module 70 has a high sensitivity.
  • control module 50 may further include a command transceiver unit 504, the command transceiver unit 504 is connected with the control unit 503, the motor 30 and the alarm module 70 respectively, and is configured to receive the first control signal, the second control signal, the third control signal and the alarm signal, to change the rotating state of the motor 30 according to the first control signal, the second control signal and the third control signal so as to drive the PTC camera 20 to track the object, and to control the alarm module 70 to prompt the alarm according to the alarm signal.
  • the command transceiver unit 504 is connected with the control unit 503, the motor 30 and the alarm module 70 respectively, and is configured to receive the first control signal, the second control signal, the third control signal and the alarm signal, to change the rotating state of the motor 30 according to the first control signal, the second control signal and the third control signal so as to drive the PTC camera 20 to track the object, and to control the alarm module 70 to prompt the alarm according to the alarm signal.
  • the control module 50 determines whether M continuous infrared sensors sense the object in the same direction, and if yes, the control module 50 controls the motor 30 to rotate so as to drive the PTZ camera 20 to track the object and controls the alarm module 70 to prompt the alarm, thus controlling the rotating speed and rotating direction of the motor 30 intelligently based on actual situations, such that a single camera lens can monitor the screen over the full range of 360°and track quickly the object, and it is more practical and more efficient.
  • Embodiments of the present disclosure also provide a method for controlling a PTZ camera to track an object.
  • Fig. 4 is a flow chart of a method for controlling a PTZ camera to track an object according to an embodiment of the present disclosure. As shown in Fig. 4, the method includes following steps.
  • step S1 it is determined whether an object is in a sensing range of any of N infrared sensors.
  • the N infrared sensors are located equidistantly in a circumferential direction of the PTZ camera.
  • N is a positive integer and greater than 1.
  • the infrared sensor generates an infrared sensing signal when the object is in the sensing range of the infrared sensor.
  • the infrared sensor when the object moves to a predetermined range in front of one of the N infrared sensors, for example, a centerline of the sensing range of the infrared sensor, the infrared sensor generates the infrared sensing signal.
  • step S3 it is determined whether M continuous infrared sensors sense the object in a same direction according to infrared sensing signal.
  • M is the positive integer and greater than 1, and M is smaller than or equal to N.
  • a rotating state of a motor is controlled so as to drive the PTZ camera to track the object when M continuous infrared sensors sense the object in the same direction.
  • Fig. 5 is a flow chart of a method for controlling a PTZ camera to track an object according to another embodiment of the present disclosure. As shown in Fig. 5, the method may further include the following step.
  • a time signal is generated when the object moves to a centerline of the sensing range of the infrared sensor.
  • a time signal may be generated when the object moves to a centerline of the sensing range of the infrared sensor.
  • the method may further include the following steps.
  • a mechanical angle between a first infrared sensor and a Mth infrared sensor is obtained and a movement time of the object moving from the centerline of the sensing range of the first infrared sensor to the centerline of the sensing range of the Mth infrared sensor is obtained according to time signals.
  • the mechanical angle between the adjacent infrared sensors is 360°/6.
  • M is 3
  • the mechanical angle between the first infrared sensor and the Mth infrared sensor is 120°.
  • an average moving speed of the object is calculated according to the mechanical angle and the movement time.
  • the object in the present disclosure may be objects or organisms capable of emitting infrared, such as humans, such that the infrared sensors can sense the object by the infrared emitting from the object.
  • the signal from the corresponding infrared sensor may be received.
  • the PTZ camera works normally, that is, the PTZ camera rotates in one direction.
  • the object when the object is in the sensing range of a certain infrared sensor outside the range of the camera lens, and the moving state of the object is similar to the moving state of the camera lens (that is, the moving direction of the object is the same as that of the camera lens, and the moving speed of the object is close to the moving speed of the camera lens) , the object will move through the sensing ranges of a plurality of sequential infrared sensors.
  • the first infrared sensor senses the object and generates the infrared sensor signal
  • the infrared sensing signal of the infrared sensor and the time signal are stored, but are not processed until the object moves into the sensing range of the Mth infrared sensor.
  • the Mth infrared sensor When the object moves into the sensing range of the Mth infrared sensor, the Mth infrared sensor generates the infrared sensing signal, and then the motor is controlled to change the rotating state.
  • Fig. 6 is a flow chart of a method for controlling a motor according to an embodiment of the present disclosure. As shown in Fig. 6, the method for controlling the motor includes following steps.
  • a rotation direction from the camera lens to the (M+1) th infrared sensor is obtained according to a space angle between the camera lens and the (M+1) th infrared sensor when it determines that M continuous infrared sensors sense the object in the same direction.
  • the space angle between the camera lens and the centerline of sensing range of the (M+1) th infrared sensor is obtained by taking the facing direction of the camera lens as the pointing direction. In this case, if the space angle is less than or equal to 180°, then the rotation direction is the facing direction of the camera lens, and if the space angle is greater than 180°, then the rotation direction is opposite to the facing direction of the camera lens.
  • a first control signal is generated according to the rotation direction.
  • the motor is controlled according to the first control signal so as to drive the PTZ camera to rotate at a first predetermined speed in the rotation direction, until the PTZ camera reaches the centerline of the sensing range of the (M+1) th infrared sensor.
  • a second control signal is generated when the object is at the centerline of the sensing range of the (M+1) th infrared sensor.
  • the (M+1) th infrared sensor When the object is at the centerline of the sensing range of the (M+1) th infrared sensor, the (M+1) th infrared sensor generates the infrared sensing signal, and then the second control signal is generated according to the infrared sensing signal.
  • the motor is controlled according to the second control signal so as to drive the PTZ camera to rotate at the average moving speed of the object in the moving direction of the object.
  • the first predetermined speed is much larger than the average moving speed of the object.
  • the motor is controlled to stop rotating, and the camera lens of the PTZ camera waits at the centerline of the sensing range of the (M+1) th infrared sensor.
  • the (M+1) th infrared sensor When the object moves to the centerline of the sensing range of the (M+1) th infrared sensor, the (M+1) th infrared sensor generates the infrared sensing signal, and then the second control signal is generated according to the infrared sensing signal and the motor controlled according to the second control signal so as to drive the PTZ camera to rotate at the average moving speed of the object in the moving direction of the object, thus tracking the object.
  • the object is at the centerline of the range of the camera lens, and the moving speed of the camera lens is close to the moving speed of the object, and thus the camera lens can track the object so as to achieve the purpose of catching the object behavior.
  • Fig. 7 is a flow chart of a method for controlling a motor according to another embodiment of the present disclosure. As shown in Fig. 7, the method includes following steps.
  • a third control signal is generated when it determines that M continuous infrared sensors sense the object in the same direction.
  • the third control signal is generated according to the infrared sensing signal.
  • the motor is controlled according to the third control signal so as to drive the PTZ camera to rotate at a second predetermined speed in a direction opposite to the moving direction of the object until the centerline of the range of the camera lens encounters the object.
  • a second control signal is generated when the object is at the centerline of the sensing range of the (M+1) th infrared sensor.
  • the (M+1) th infrared sensor When the object is at the centerline of the sensing range of the (M+1) th infrared sensor, the (M+1) th infrared sensor generates the infrared sensing signal, and then the second control signal is generated according to the infrared sensing signal.
  • the motor is controlled to drive the PTZ camera to rotate at the average moving speed of the object in the moving direction of the object.
  • the (M+1) th infrared sensor when the object moves to the centerline of the sensing range of the (M+1) th infrared sensor, the (M+1) th infrared sensor generates the infrared sensing signal, and then the second control signal is generated according to the infrared sensor signal, and the motor is controlled according to the second signal so as to drive the PTZ camera to rotate at the average moving speed of the object in the moving direction of the object, thus tracking the object.
  • the object is at the centerline of the range of the camera lens, and the moving speed of the camera lens is close to the moving speed of the object, and thus the camera lens can track the object so as to achieve the purpose of catching the object behavior.
  • the object will leave the imaging range of the camera lens, and the above steps will be repeated when M continuous infrared sensors sense the object in the same direction again.
  • the camera lens of the PTZ camera will always track the object to let it not escape.
  • the method for controlling the PTZ camera to track the object may further include following steps.
  • an alarm signal is generated when it determines that M continuous infrared sensors sense the object in the same direction.
  • step S9 an alarm is prompted according to the alarm signal.
  • the alarm signal may be generated immediately and the alarm may be prompted according to the alarm signal.
  • the sensing time interval between each two adjacent infrared sensors of the M infrared sensors is the same as the time interval of the camera lens passing the adjacent infrared sensors, it detects that the object is avoiding the camera lens deliberately.
  • M the greater the possibility of avoiding the camera lens is, the greater the sensitivity is, but the more likely the object is avoiding the camera lens by chance, and the greater the false alarm rate is.
  • M may be three, and in this case, the possibility that the object moves through three infrared sensors at the rotating speed of the PTZ camera by chance is very low, and when M is 3, the sensitivity is relatively high.
  • the rotating speed and rotating direction of the motor may be controlled intelligently based on actual situations, such that a single camera lens can monitor the screen over the full range of 360°and track quickly the object, and it is more practical and more efficient.

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PCT/CN2015/081267 2014-06-13 2015-06-11 Device and method for controlling ptz camera to track object WO2015188768A1 (en)

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