WO2020063307A1 - Procédé de surveillance de dispositif photographique, système de tête de support et dispositif mobile - Google Patents

Procédé de surveillance de dispositif photographique, système de tête de support et dispositif mobile Download PDF

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Publication number
WO2020063307A1
WO2020063307A1 PCT/CN2019/104872 CN2019104872W WO2020063307A1 WO 2020063307 A1 WO2020063307 A1 WO 2020063307A1 CN 2019104872 W CN2019104872 W CN 2019104872W WO 2020063307 A1 WO2020063307 A1 WO 2020063307A1
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WO
WIPO (PCT)
Prior art keywords
picture frame
control command
photographing device
video
target image
Prior art date
Application number
PCT/CN2019/104872
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English (en)
Chinese (zh)
Inventor
张元元
郑庆伟
廖广军
李泽
Original Assignee
桂林智神信息技术股份有限公司
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Publication of WO2020063307A1 publication Critical patent/WO2020063307A1/fr

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
    • H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • 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

Definitions

  • the present invention relates to the field of photographic technology, and in particular, to a method for monitoring photographic equipment, a gimbal system, and a mobile device.
  • the pan / tilt system is usually used to assist photographic equipment (such as cameras, camcorders, etc.) for video recording and photo shooting.
  • the pan / tilt system includes a connection device for fixing the photography equipment and a power device connected to the connection device.
  • the movement of the three shafts and the connecting arm between the shafts can drive the connecting device to move, and then drive the photographic equipment fixed on the connecting device to move.
  • users can also place the gimbal system out of its visible range or touchable range for video recording or photo shooting.
  • a method for monitoring a photographing device wherein the photographing device is fixed to a gimbal system, and the method includes: receiving an encoded control command; Decode the encoded control command to obtain the control command; and perform an operation on the photographic device and / or an operation on the PTZ system according to the control command.
  • the operation of the photographing device includes: modifying a photographing parameter of the photographing device, and / or controlling a working state of the photographing device.
  • Controlling the working state of the photographing device includes: opening or closing the photographing device, taking a picture, starting a video recording, ending a video recording, and / or changing a working mode of the photographing device.
  • the operation of the pan / tilt head system includes: controlling a working state of the pan / tilt head system, and / or changing a posture of the photographing device by controlling a movement of a power device in the pan / tilt head system, wherein the The movement of the power unit in the gimbal system drives the photographic equipment to move.
  • Controlling the working state of the PTZ system includes: turning the PTZ system on or off, and / or changing the working mode of the PTZ system.
  • the above method further includes: receiving a video and / or picture collected by the photographing device; and transmitting the received video and / or picture.
  • Sending the received video includes: calculating the encapsulated size of the picture frame in the video; estimating the sending frequency according to the bandwidth of the connection used to send the video and the encapsulated size of the picture frame; The sending frequency collects picture frames in the video, encapsulates the captured picture frames, and sends the encapsulated picture frames, wherein the encapsulated picture frames include a sending time of the picture frames.
  • the above method further includes: acquiring relevant information of the photographing device, sending relevant information of the photographing device; and / or acquiring relevant information of the PTZ system, and sending relevant information of the PTZ system.
  • the related information of the photographing device includes: a working mode of the photographing device, a photographing parameter of the photographing device, and / or a power amount of the photographing device.
  • the related information of the PTZ system includes: a working mode of the PTZ system, and / or a power amount of the PTZ system.
  • the above method further includes: obtaining a model of the photographing device; finding a control protocol corresponding to the model according to the model of the photographing device; and when the decoded control command instructs to perform an operation on the photographing device, according to the The control command and the found control protocol perform operations on the photographing device.
  • performing operations on the photographing device according to the control command and the found control protocol includes: converting the control command according to the found control protocol, so that the control command obtained after the conversion is related to the photographing The devices are compatible; the control command obtained after the conversion is sent to the photographing device.
  • the above method further comprises: judging whether the control command conflicts with the working state of the PTZ system, discarding the control command if it conflicts; and / or judging whether the control command is consistent with the working state of the photographing device Collisions, if not, the control command is discarded.
  • performing an operation on the photographic device and / or an operation on the PTZ system according to the control command includes: merging a plurality of control commands over a period of time to obtain a combined control command; and The merged control command performs an operation on the photographing device and / or performs an operation on the pan / tilt system; wherein the effect obtained by performing the operation according to the merged control command is different from the period of time respectively Multiple control commands within the same operation.
  • the encoded control command is received via the first connection and the received video and / or picture is transmitted; and when the first connection is disconnected, the encoded control command is received via the second connection and the received control is transmitted. Videos and / or pictures.
  • the first connection is a WiFi connection
  • the second connection is a Bluetooth connection.
  • a pan / tilt head system in which a photographing device is fixed to the pan / tilt head system, and the pan / tilt head system includes: a control module for receiving a coded control command; The encoded control command is decoded to obtain the control command; and, according to the control command, an operation on the photographing device and / or an operation on the PTZ system are performed.
  • the above-mentioned pan / tilt system further includes: a picture transmission module for receiving videos and / or pictures collected by the photographing device; and transmitting the received videos and / or pictures.
  • the image transmission module is configured to: calculate the encapsulated size of the picture frame in the video; estimate the sending frequency according to the bandwidth of the connection used to send the video and the encapsulated size of the picture frame; and The sending frequency collects picture frames in the video, encapsulates the captured picture frames, and sends the encapsulated picture frames, where the encapsulated picture frames include a sending time of the picture frames.
  • control module is further configured to: obtain relevant information of the photographing device, and send relevant information of the photographing device; and / or obtain relevant information of the PTZ system, and send the PTZ Information about the system.
  • the aforementioned PTZ system further includes: a storage module for storing a control protocol; the control module is further configured to: obtain a model of the photographing device; find a control protocol corresponding to the model according to the model of the photographing device; and When the decoded control command instructs to perform an operation on the photographing device, the operation on the photographing device is performed according to the control command and the found control protocol.
  • the control module is configured to: convert the control command according to the found control protocol, so that the control command obtained after the conversion is compatible with the photographing device; and send the control command obtained after the conversion. To the photographic equipment.
  • control module is further configured to: determine whether the control command conflicts with the working state of the PTZ system, and discard the control command if there is a conflict; and / or determine whether the control command Conflicts with the working state of the photographing device, and discards the control command if there is a conflict.
  • the control module is further configured to: combine a plurality of control commands in a period of time to obtain a combined control command; and perform an operation on the photographing device and / or perform an operation on the photography device according to the combined control command.
  • the operation of the PTZ system wherein the effect obtained by performing the operation according to the combined control command is the same as the effect obtained by performing the operation according to the multiple control commands respectively within the period of time.
  • the control module receives the encoded control command via a first connection, and the image transmission module sends the received video and / or picture via the first connection; when the first connection is disconnected When on, the control module receives the encoded control command via a second connection, and the image transmission module sends the received video and / or picture via the second connection.
  • a method for monitoring a photographing device wherein the photographing device is fixed to a pan / tilt head system, and the method includes: receiving a control command input by a user; and encoding the control command, And sending an encoded control command, wherein the control command is used to perform an operation on the photographing device and / or perform an operation on the PTZ system.
  • the above method further includes: receiving a video and / or picture collected by the photographing device; and displaying the received video and / or picture.
  • a video collected and processed by the photographing device is received, wherein the video is composed of an encapsulated picture frame; the received encapsulated picture frame is decapsulated to obtain a picture frame and the picture frame.
  • Sending time comparing the sending time of the picture frame with the sending time of the previously displayed picture frame, if the former is earlier than the latter, the picture frame is discarded, otherwise the picture frame is displayed.
  • the above method further includes: demultiplexing the received data including videos and / or pictures to obtain the videos and / or pictures.
  • the above method further includes: receiving related information of the photographing device, and displaying related information of the photographing device; and / or receiving related information of the PTZ system, and displaying related information of the photographing device.
  • a mobile device including: one or more switches for receiving a control command input by a user; a processing module for encoding the control command, and transmitting the encoded A control command, wherein the control command is used to perform an operation on a photographing device and / or an operation on a PTZ system.
  • the processing module is further configured to receive a video and / or picture collected by the photographing device; the mobile device further includes a display module for displaying the received video and / or picture.
  • the processing module is configured to: receive and process the video collected by the photographing device (11), where the video is composed of encapsulated picture frames; and for the received encapsulated picture frames Perform decapsulation to obtain the picture frame and the sending time of the picture frame; and compare the sending time of the picture frame with the sending time of the previously displayed picture frame, and if the former is earlier than the latter, discard the picture frame , Otherwise, the picture frame is displayed by the display module.
  • the processing module is further configured to demultiplex the received data including video and / or picture to obtain the video and / or picture.
  • the processing module is further configured to receive related information of the photographing device, and / or receive related information of the PTZ system; and the display module is further configured to display related information of the photographing device, And / or display related information of the PTZ system.
  • the display module is a touch screen
  • the one or more switches are virtual switches on the touch screen.
  • a method for monitoring a photographing device wherein the photographing device is fixed to a gimbal system, and the method includes:
  • Step 1) receiving a video and displaying the received video
  • Step 2) receiving a user-entered instruction to enter tracking shooting
  • Step 3) Obtain an area selected by the user on a frame of a picture in the displayed video
  • Step 4) extracting the features of the target image in the frame selection area, and obtaining the position of the target image in the picture frame;
  • Step 5 Calculate a position difference between the target image and the center of the picture frame, and determine a first control command according to the position difference, where the first control command is used to perform an operation on the PTZ system to make the target The image is close to the center of the picture frame;
  • Step 6 encode the first control command and send the encoded first control command, wherein the first control command is used to perform an operation on the PTZ system.
  • the above method also includes:
  • Step 7) Use the next picture frame in the displayed video as the current picture frame
  • Step 8) extracting the features of the current picture frame, matching the extracted features with the features of the target image to obtain the position of the target image in the current picture frame;
  • Step 9) Calculate the position difference of the target image between the current picture frame and the previous picture frame or calculate the position difference of the target image and the center of the picture frame in the current picture frame, and determine a second control command according to the position difference.
  • the second control command is used to perform an operation on the pan / tilt system to bring the target image closer to the center of a picture frame;
  • Step 10 encode the second control command and send the encoded second control command, wherein the second control command is used to perform an operation on the PTZ system;
  • Step 11 If no instruction for exiting the tracking shooting input by the user is received, return to step 7).
  • step 11) includes:
  • step 7 If no user-entered instruction to quit tracking shooting is received, it is inferred whether the target image is outside the next picture frame according to the position of the target image in the historical picture frame, if it is inferred that it is outside the next picture frame , Then return to step 7), otherwise skip the next picture frame, use the picture frame after the next picture frame as the current picture frame and return to step 8).
  • inferring whether the target image is outside the next picture frame according to the position of the target image in the historical picture frame includes: calculating a displacement amount of the target image in the historical picture frame each time; The obtained displacement amount is averaged; based on the position of the target image in the current picture frame and the average value of the displacement amount, it is estimated whether the target image will be moved outside the picture frame in the next picture frame.
  • the above method further comprises: converting a picture frame in the received video into a picture frame in YUV format, and displaying the picture frame in YUV format.
  • Step 3) includes: converting the frame selection area into a grayscale image; performing a scaling operation on the grayscale image; and extracting features of the target image in the frame selection area after conversion and scaling, and obtaining the target image Position in the picture frame;
  • step 8) includes: converting the current picture frame into a grayscale image; performing a scaling operation on the grayscale image; and extracting the features of the picture frame after conversion and scaling, and extracting the extracted The features are matched with the features of the target image to obtain the position of the target image in the current picture frame.
  • features are extracted using SIFT algorithm and / or optical flow method.
  • a mobile device including: a processing module for receiving a video; extracting features of a target image in a frame selection area, and obtaining a position of the target image in a picture frame; calculation A position difference between the target image and the center of the picture frame, and a first control command is determined according to the position difference, wherein the first control command is used to perform an operation on the PTZ system to bring the target image close to the picture frame A center; and encoding the first control command and transmitting the encoded first control command, wherein the first control command is used to perform an operation on the PTZ system; a switch is used to receive an entry entered by a user An instruction for tracking shooting and an instruction for exiting tracking shooting; a display module for displaying the received video; and obtaining an area framed by the user on a picture frame in the displayed video.
  • the processing module is further configured to use the next picture frame in the video displayed by the display module as the current picture frame; extract features of the current picture frame, and compare the extracted features with those of the target image. Feature matching to obtain the position of the target image in the current picture frame; calculate the position difference of the target image between the current picture frame and the previous picture frame or calculate the target image and picture in the current picture frame.
  • the position difference of the frame center, and a second control command is determined according to the position difference, wherein the second control command is used to perform an operation on the PTZ system to bring the target image close to the center of the picture frame;
  • Two control commands are encoded, and an encoded second control command is sent, wherein the second control command is used to perform an operation on the PTZ system; the processing module repeats the above process until the switch receives user input Instructions for exiting a tracking shoot.
  • the processing module is further configured to infer whether the target image is located outside the next picture frame according to the position of the target image in the historical picture frame.
  • the processing module is further configured to convert a picture frame in the received video into a picture frame in YUV format; and the display module is used to display the picture frame in YUV format.
  • the processing module is further configured to convert the frame selection area into a grayscale image; perform a scaling operation on the grayscale image; and convert the current picture frame into a grayscale image; Perform zoom operation.
  • a method for monitoring a photographing device wherein the photographing device is fixed to a gimbal system, and the method includes:
  • Step b) acquiring a posture of the mobile device
  • Step c) determining a control command according to the posture of the mobile device, wherein the control command is used to perform an operation on the pan / tilt system to bring the photographing device to a posture consistent with the posture of the mobile device;
  • Step d) encode the control command and send the encoded control command, wherein the control command is used to perform an operation on the PTZ system.
  • the above method further includes: step e) if no instruction for exiting the somatosensory mode input by the user is received, return to step b).
  • a mobile device including: a switch for receiving a user input instruction for entering the body sensory mode and an instruction for exiting the body sensory mode; an attitude sensing module for acquiring the mobile device's An attitude; and a processing module, configured to determine a control command according to the attitude of the mobile device, wherein the control command is used to perform an operation on the pan / tilt system to bring the photographing device to the attitude of the mobile device Consistent attitude; and encoding the control command and transmitting the encoded control command, wherein the control command is used to perform an operation on the PTZ system.
  • the present invention has the following beneficial effects:
  • the photographing device When the photographing device is outside the user's visible range or outside the user's touchable range, the user can still know the video / picture captured by the photographing device in real time and control the photographing device to achieve the desired shooting Effect, which facilitates the user's shooting work.
  • the user can control the photographic device to track the target image, and can control the posture of the photographic device by controlling the posture of the mobile device, further improving the user experience.
  • FIG. 1 is a structural block diagram of a pan / tilt system according to an embodiment of the present invention
  • FIG. 2 is a perspective view of a pan / tilt system according to an embodiment of the present invention.
  • FIG. 3 is a top view of a mobile device according to an embodiment of the present invention.
  • FIG. 4 is a flowchart of a method for establishing a connection between a PTZ system and a mobile device according to an embodiment of the present invention
  • FIG. 5 is a structural block diagram of a mobile device according to an embodiment of the present invention.
  • FIG. 6 is a flowchart of a method for monitoring a photographing device according to an embodiment of the present invention.
  • FIG. 7 is a structural block diagram of a mobile device according to another embodiment of the present invention.
  • a pan / tilt head system is provided, and a photographing device is fixed on the pan / tilt head system.
  • the PTZ system 10 includes a control module 101, a video transmission module 102, a USB interface 103, a WiFi module 104, a power device 105, a connection device 106, and a handle (not shown).
  • the connection device 106 of the pan / tilt system 10 is used to fix the photographic equipment 11 and is connected to the power device 105 (see FIG. 2, which shows an embodiment of the connection relationship between the connection device 106 and the power device 105), specifically, as As shown in FIG. 2, the connecting device 106 is connected to a shaft 1051 in the power device 105.
  • the shaft 1051 drives the connecting device 106 to move, and then drives the photographic equipment 11 fixed on the connecting device 106 to move.
  • the image transmission module 102 and the control module 101 in the PTZ system 10 perform data communication with the photographing device 11 via the USB interface 103, and perform data communication with the mobile device 12 via the WiFi module 104.
  • the user can transmit the video or pictures captured by the photography device 11 in real time to the mobile device 12 through the PTZ system 10 for viewing on the mobile device 12; similarly, the user can receive the user on the mobile device 12 through the PTZ system 10
  • the control instruction input on the basis of the operation of the photographing device 11 or the PTZ system 10 is performed according to the control instruction.
  • the image transmission module 102 and the control module 101 in the PTZ system 10 are described in detail below with reference to FIG. 1:
  • the image transmission module 102 is connected to the photography device 11 via the USB interface 103, and is connected to the mobile device 12 via the WiFi module 104.
  • the image transmission module 102 is used to receive the video from the photography device 11 and captured by the photography device 11 in real time through the USB connection or A picture, and send the received video or picture to the mobile device 12 through a WiFi connection, which is displayed to the user by the mobile device 12.
  • control module 101 is also connected to the photographing device 11 via the USB interface 103 and is connected to the mobile device 12 via the WiFi module 104.
  • the control module 101 is configured to receive a control command from the mobile device 12 through a WiFi connection, and perform an operation on the photographing device 11 or an operation on the PTZ system 10 itself according to the control command.
  • the user inputs a control command through a display module of the mobile device 12 (such as a virtual button, a virtual wheel, a virtual toggle button, etc.) on the display module, and the control command is used to instruct the camera device 11 or the PTZ system 10 Operation;
  • the mobile device 12 encodes the control command according to a predetermined protocol, and sends the encoded data (referred to as encoded data) to the control module 101 in the PTZ system 10 through a WiFi connection.
  • FIG 3 shows an embodiment of a display module of the mobile device 12, wherein when the user presses the virtual button 11, that is, a control command for starting / ending recording of the photographing device 11 is input, the mobile device 12 will generate the format of Table 1 One piece of encoded data 07c02000360423 is sent to the control module 101 in the PTZ system 10.
  • c indicates that the encoded data contains the control command; the channel, address, index, and related parameters are related to the specific control command and indicate the operation the user desires to perform; the check CRC is used to perform error detection.
  • the control module 101 After receiving the encoded data, the control module 101 decodes the encoded data according to a predetermined protocol, thereby obtaining a control command, and performs a corresponding operation according to the control command. Among them, if the control command indicates to perform an operation on the photographing device 11, the control module 101 controls the photographing device 11 via the USB interface 103, including: modifying shooting parameters of the photographing device 11 (such as aperture, shutter time, ISO, etc.) Etc.), control the working state of the photographic device 11 (for example, turn on / off the photographic device 11, take a picture, start recording, end recording, change the operating mode of the photographic device 11, etc., such as P, A, S, M mode); if control The command indicates that the PTZ system 10 is operated, and the control module 101 (for example, via the main control module, which is used to control the power unit 105) controls the PTZ system 10, including: controlling the cloud Working state of the platform system 10 (for example, turning on or off the PTZ system, changing the working mode of the PTZ
  • the user can view the photographing device 11 on the mobile device 12.
  • the current shooting effect, and the ability to control the shooting device 11 and the PTZ system 10 through the mobile device 12 facilitates the user's shooting work.
  • the image transmission module 102 directly transmits (unprocessed) the video from the photographic device 11 to the mobile device 12 without operation, that is, each time a picture frame arrives, the video is transmitted.
  • Picture frames It should be understood that a video consists of picture frames).
  • the image transmission module 102 performs the following operations:
  • the image transmission module 102 collects one picture frame every y / x seconds, and sends the collected picture frame to the mobile device via the WiFi module 104 12.
  • the image transmission module 102 before transmitting the picture frame, the image transmission module 102 further encapsulates the sending time into the picture frame. Therefore, the mobile device 12 can obtain the sending time of the picture frame through decapsulation, and according to Send time to rearrange the received picture frames, or discard some picture frames, so as to better play to the user. It should be noted that if the image transmission module 102 sends an encapsulated picture frame, the transmission frequency needs to be calculated according to the size of the encapsulated picture frame and the bandwidth of the WiFi connection. In addition, each image frame received may be encapsulated when the image transmission module 12 receives the video, or only the image frames to be transmitted may be encapsulated before transmission.
  • the video or picture usually includes some parameter information (such as resolution, aperture, shutter time, etc.) of the photographing device 11 when collecting the video or picture. Therefore, the mobile device 12 can receive the video or picture from the received video or picture. These parameter information are extracted and displayed to the user together with the video or picture (see 16 in FIG. 3), so the user can know some current parameter information of the photographing device 11.
  • the control module 101 can obtain some current information about the photographing device 11 (for example, the working mode of the photographing device 11, the shooting parameters of the photographing device 11, the power of the photographing device 11, etc.) via the USB interface 103. And transmitted to the mobile device 12 via the WiFi module 104 for display to the user.
  • the method for acquiring the related information of the video device 11 includes: the control module 101 sends a request to the photo device 11 via the USB interface 103 and receives the related information returned by the photo device 11.
  • the control module 101 in addition to sending the current related information of the photography device 11 to the mobile device 12, the control module 101 can also obtain the current related information of the PTZ system 10 and send it to the mobile device 12 via the WiFi module 104 for display to the user
  • the current related information of the PTZ system 10 includes the current power of the PTZ system 10, the working mode of the PTZ system 10, and so on. The user can thereby obtain the current related information of the PTZ system 10 (see 4, 8 in FIG. 3). Wait). Display the current relevant information of the photography device 11 and the PTZ system 10 to the user.
  • the user can also know the current status of the photography device 11 and the PTZ system 10, so that they can issue correct control commands. This further facilitates the user's shooting work.
  • the control module 101 performs operations on the photographing device 11 according to a control command.
  • the PTZ system 10 further includes a storage module (not shown in FIG. 1), and the storage module stores a plurality of types of photographic equipment. Corresponding control protocol.
  • the control module 101 sends a model request to the photographing device 11 and obtains the model information of the photographing device 11.
  • the model information can be stored in the storage module.
  • control module 101 After the control module 101 receives the encoded data from the mobile device 12 and decodes it to obtain a control command; if the control command instructs the camera device to be operated, the control module 101 searches the storage module for model information of the current camera device 11 and A control protocol corresponding to the model information is acquired, and then the photographing device 11 is controlled according to the acquired control protocol and control command. Specifically, the control module 101 converts the control command according to the control protocol, so that the control command obtained after the conversion is compatible with the current photographing device 11, and then sends the converted control command to the photographing device 11. In this way, the PTZ system 10 can be compatible with a variety of photographic equipment, and has a wider application range.
  • control module 101 and the image transmission module 102 are both connected to the photographing device 11 through a USB connection, and both are connected to the mobile device 12 through a WiFi connection.
  • the time-division multiplexing technology can be used to multiplex the connection channels. At the mobile device 12, the received data needs to be demultiplexed first.
  • control module 101 can merge and filter the control commands, on the one hand, reducing the occupation of the connection channel (for example, the USB connection needs to be occupied when performing operations on the photography device 11), and on the other hand, You can discard some useless operations.
  • the control module 101 performs a merge operation on the control command within a period of time (for example, the control module 101 first receives a control command that sets ISO to 100, and then receives a user instruction that sets ISO to 200 within this period of time Then, the control module 101 combines these two control commands to set ISO to 200), and performs operations on the photographing device 11 or operations on the PTZ system 10 according to the combined control commands.
  • the merging operation requires that the effect obtained according to the merged control command is the same as the effect obtained according to the plurality of control commands in the period of time.
  • the control command may also conflict with the current working status of the photographic device 11 or the PTZ system 10, for example, the PTZ system 10 is in the lock mode and the user instructs to rotate the photographic device 11; the control module 101 can learn the photographic device 11 and the PTZ system 10
  • the current working state (such as the working mode)
  • the control module 101 can determine whether the control command (the operation to be performed on the PTZ system 10 or the photographing device 11) conflicts with the current state of the PTZ system 10 or the photographing device 11, and if there is a conflict
  • the control command is discarded, that is, the control command is filtered.
  • one or more connections can be added between the photography device 11 and the PTZ system 10, and one or more connections can be added between the PTZ system 10 and the mobile device 12, thereby reducing the USB connection channel and WiFi connection. Channel competition.
  • the camera 11 is connected to the control module 101 through one USB interface and the image transmission module 102 through another USB interface.
  • the PTZ system may further include a Bluetooth module. Referring to FIG. 4, after the PTZ system 10 is turned on, system resources of the PTZ system 10 are initialized, including initializing the Bluetooth module (and WiFi module), and simultaneously turning on the Bluetooth module (and WiFi module) of the mobile device 12 and the PTZ system.
  • the mobile device 12 checks the WiFi status of the PTZ system 10 through a Bluetooth connection (it should be understood that the Bluetooth connection also provides model information to assist users to connect to WiFi),
  • the WiFi is connected to the PTZ system 10 through a WiFi connection.
  • the WiFi connection is detected to be disconnected, the mobile device 12 uses the Bluetooth module to connect to the PTZ system 10 again.
  • the WiFi module 104 is used to connect the PTZ system 10 and the mobile device 12 again.
  • the present invention is not limited to the specific interfaces, connection methods, modules, coding protocols, etc. mentioned in the above embodiments.
  • the UART technology or other wired data transmission technology may be used to connect the photographing device 11 and the PTZ system 10, and the photographing device 11 and the PTZ system 10 may even be connected through wireless technology.
  • the mobile device 12 may also be connected to the PTZ system 10 through a wired connection method (such as a USB connection).
  • control module 101 and image transmission module 102 may be implemented on one chip, or may be implemented on multiple chips.
  • a method for monitoring photographing equipment is provided.
  • the photographing equipment is fixed to the gimbal system (a connection device fixed to the gimbal system), and the gimbal system includes a picture transmission module and a control module.
  • the method for monitoring photographic equipment includes:
  • Step 1 The video transmission module in the PTZ system receives the video or picture collected by the photography equipment and sent in real time;
  • Step 2 The image transmission module sends the received video or picture to the mobile device, and the mobile device displays it to the user;
  • Step 3 The control module in the PTZ system receives the encoded data sent by the user through the mobile device, and the encoded data is obtained by encoding the control command input by the user on the mobile device through the display module according to a predetermined encoding protocol;
  • Step 4 The control module decodes the received encoded data to obtain a control command; performs operations on the photographic equipment or performs operations on the PTZ system according to the control commands.
  • step 2 includes:
  • Step 21 The image transmission module calculates the encapsulated size of the picture frame in the received video
  • Step 22 The image transmission module estimates the transmission frequency according to the bandwidth of the connection used to send the video (such as the bandwidth of the WiFi connection) and the size of the encapsulated picture frame;
  • Step 23 Collect the picture frames in the video according to the sending frequency, encapsulate the collected picture frames, and send the encapsulated picture frames, where the encapsulated picture frames include the sending time of the picture frames.
  • the above method further includes:
  • the control module in the PTZ system obtains the current relevant information of the photographic equipment and the current relevant information of the PTZ system, and sends the acquired relevant information to the mobile device for display to the user.
  • the above method further includes:
  • the model of the photographic equipment is obtained by the control module of the PTZ system;
  • the control module searches the storage module of the PTZ system for the control protocol corresponding to the model
  • control command instructs to perform an operation on the photographing device
  • the operation on the photographing device is performed according to the found control protocol and the control command.
  • step 4 further includes:
  • step 4 further includes: determining by the control module of the PTZ system whether the control command conflicts with the working state of the PTZ system, and discarding the control command if the conflict occurs; and determining whether the control command is inconsistent with the The working status conflicts, and the control command is discarded if there is a conflict.
  • step 4 further includes: merging a plurality of control commands within a period of time by the control module of the PTZ system; and performing operations on the photographic equipment or performing operations on the PTZ system according to the combined control commands. Operation; wherein the effect obtained according to the combined control command is the same as the effect obtained according to multiple control commands during this period.
  • control module receives the code via a WiFi connection and the image transmission module sends the received video or picture via the WiFi connection; when the WiFi connection is disconnected, the control module receives the encoded data via the Bluetooth connection and the image transmission module The received video or picture is also sent via the Bluetooth module.
  • the mobile device 12 includes a display module 122 and a processing module 121.
  • the display module 122 is a touch screen. On the one hand, it can display videos, pictures, icons, and so on. User interaction switches such as keys, virtual wheels, and virtual toggle buttons.
  • the processing module 121 receives the video or picture from the PTZ system through a WiFi module (not shown), and sends it to the display module 122, which displays the video or picture from the PTZ system to the user.
  • the user can know the current shooting effect of the shooting device, and can change the shooting effect by performing some operations on the shooting device or the PTZ system.
  • the user can input his control command by pressing a user interaction switch provided on the display module 122.
  • the processing module 121 receives the control command, and encodes the control command with a predetermined encoding protocol to obtain encoded data. Then, the processing module 121 sends the encoded data to the PTZ system through the WiFi module.
  • the processing module 121 sends the picture frames in the received video to the display module 122 for display.
  • the received data may be encapsulated picture frames.
  • the processing module 121 decapsulates the received encapsulated picture frame to obtain the picture frame and the sending time of the picture frame; then compares the sending time of the picture frame with the previous one on the display module 122 The sending time of the displayed picture frame. If the former is earlier than the latter, the picture frame is discarded, otherwise the picture frame is sent to the display module 122 for display.
  • the processing module 121 of the mobile device 12 may also receive the current related information of the photographic device and the current related information of the PTZ system. After receiving the relevant information, the processing module 121 of the mobile device 12 sends the relevant information to the display module 122 for display, so that the user can know the current working status of the photographic equipment and the PTZ system, and can issue correct control. command.
  • the processing module 121 also needs to perform a demultiplexing operation when receiving the data.
  • the user interaction switch is provided by the display module 122. Those skilled in the art should understand that the user interaction switch may also be a virtual switch or a physical switch outside the display module 122.
  • the above-mentioned mobile device 12 can cooperate with a PTZ system to implement monitoring of a photographing device.
  • a method for monitoring a photographing device including:
  • Step 1 The processing module of the mobile device receives the video or picture from the PTZ system, and the video or picture is collected by the photographing device in real time;
  • Step 2 The display module of the mobile device displays the received video or picture
  • Step 3 The display module receives a control command input by a user by pressing a virtual switch on the display module;
  • Step 4 The control module encodes the control command according to a predetermined encoding protocol, and sends the encoded data.
  • step 1 includes:
  • Step 11 The processing module of the mobile device receives a video from the PTZ system, wherein the video is composed of encapsulated picture frames;
  • Step 12 The processing module decapsulates the received encapsulated picture frame to obtain a picture frame and a sending time of the picture frame;
  • Step 13 Compare the sending time of the picture frame with the sending time of the previous picture frame displayed on the display module. If the former is earlier than the latter, discard the picture frame, otherwise send the picture frame to the display module for display .
  • the method further includes: receiving, by the processing module, related information of the photographing device and the PTZ system, and sending the related information to the display module, which is displayed to the user by the display module.
  • the processing module of the mobile device also demultiplexes the received data after receiving the data.
  • a mobile device adapted to the above-mentioned PTZ system and capable of monitoring a photographing device is also provided, so that a user can implement tracking shooting through the mobile device.
  • the mobile device includes a processing module and a display module, wherein the display module is a touch screen, and the display module provides a switch for entering / exiting tracking shooting.
  • the processing module receives the video or picture from the PTZ system and sends it to the display module for display.
  • the display module receives an instruction from the user (by pressing the switch for entering / exiting the tracking shooting) to enter the tracking shooting, it obtains the area selected by the user on a picture frame displayed by the display module, and the display module selects the selected area Send to processing module.
  • the processing module extracts the SIFT features of the target image in the frame selection area, and calculates the position of the target image in the picture frame. After acquiring the position of the target image in the picture frame, the processing module also calculates the position difference between the target image and the center of the picture frame.
  • the processing module determines a control command based on the position difference.
  • the control module of the PTZ system can operate the PTZ system according to the control command so that the target image approaches the center of the picture frame.
  • the processing module encodes the control command using a predetermined encoding rule, and sends the encoded data to the PTZ system.
  • the processing module Before receiving the instruction from the user (by pressing the switch to enter / exit the tracking shooting) to exit the tracking shooting, the processing module sequentially performs SIFT feature extraction on each picture frame to be displayed after the user selects the picture frame selected by the user.
  • the features of the picture frame are matched with the features of the target image to obtain the position of the target image in the picture frame.
  • the processing module also calculates a position difference of the target image between the picture frame and a previously displayed picture frame or calculates a position difference between the target image and a picture frame center in the picture frame, and determines a control command according to the position difference, where the control The command is used to perform operations on the PTZ system to bring the target image closer to the center of the picture frame.
  • the control command is used to control the PTZ system to drive the photographic equipment to the left, so that the target image approaches the center of the picture frame.
  • the user before receiving an instruction from the user to exit the tracking shooting, the user can infer whether the target image is located in the next one based on the position of the target image in the historical picture frame. Outside the picture frame, if the speculative result indicates that it is not located outside the next picture frame, the next picture frame can be skipped, and feature extraction, matching, and other operations are performed on the picture frame after the next picture frame to generate a control command.
  • inferring whether the target image is located outside the next picture frame includes: calculating the displacement amount of the target image each time in the historical picture frame (that is, the displacement amount of the target image between adjacent picture frames); and taking the obtained displacement amount An average value, and according to the position and the average value of the displacement amount of the target image in the current picture frame, it is estimated whether the target image will move beyond the picture frame in the next picture frame. For example, if in the current picture frame, the target image is 0.5 cm from the right edge of the picture frame, and in historical picture frames, the target image is moved by 0.6 cm each time, it is speculated that the target image will move to the picture frame in the next picture frame Outside. It should be understood that other methods of guessing are also applicable.
  • the picture frame before the picture frame is displayed by the display module, the picture frame may be converted to a YUV format, so as to reduce the calculation amount of feature extraction and ensure the playback effect; in addition, before extracting features, the picture frame may be converted into Grayscale image, and scale it to further reduce the amount of calculation for feature extraction.
  • an optical flow method may also be used, or a method combining SIFT and optical flow methods may be used.
  • a method for monitoring a photographing device includes:
  • Step 1 The processing module of the mobile device receives the video from the PTZ system, and displays the received video on the display module;
  • Step 2 The switch provided by the display module receives a user-entered instruction to follow the shooting;
  • Step 3 The display module obtains an area framed by the user on a picture frame in the displayed video, and sends the area to the processing module;
  • Step 4 The processing module extracts the features of the target image in the frame selection area, and obtains the position of the target image in the picture frame;
  • Step 5 The processing module calculates a position difference between the target image and the center of the picture frame, and determines a control command according to the position difference, wherein the control command is used to perform an operation on the PTZ system to bring the target image closer to the center of the picture frame;
  • Step 6 The processing module controls the command to encode according to a predetermined encoding protocol, and sends the encoded data to the PTZ system;
  • Step 7 The processing module uses the next picture frame in the displayed video as the current picture frame;
  • Step 8 The processing module extracts the features of the current picture frame, matches the extracted features with the features of the target image, and obtains the position of the target image in the current picture frame;
  • Step 9 The processing module calculates the position difference of the target image between the current picture frame and the previous picture frame or calculates the position difference of the target image and the center of the picture frame in the current picture frame, and determines a control command according to the position difference, where the control command Used to perform operations on the PTZ system to bring the target image closer to the center of the picture frame;
  • Step 10 The control module encodes the control command and sends the encoded data to the PTZ system;
  • Step 11 If the display module does not receive an end instruction (that is, an instruction to exit the follow-up shooting input by the user), return to step 7.
  • an end instruction that is, an instruction to exit the follow-up shooting input by the user
  • step 11 includes: if the display module does not receive an end instruction, the processing module infers whether the target image is outside the next picture frame according to the position of the target image in the historical picture frame, and if it is inferred that Outside the next picture frame, return to step 7; otherwise, skip the next picture frame, use the picture frame after the next picture frame as the current picture frame, and return to step 8.
  • a mobile device adapted to the above-mentioned PTZ system and capable of monitoring a photographing device is also provided, so that a user can control the PTZ system to change the posture of the photographing device by changing the posture of the mobile device.
  • the mobile device 12 ′ includes a processing module 121, a display module 122, and a gesture sensing module 123.
  • the display module 122 is a touch screen, and the display module 122 provides a switch for entering / exiting the somatosensory mode.
  • the processing module 121 receives the video or picture from the PTZ system and sends it to the display module 122 for display.
  • the gesture sensing module 123 obtains the current posture of the mobile device 12 'and sends the acquired gesture information to A processing module 121
  • the processing module 121 determines a control command according to the attitude of the mobile device 12, wherein the control command is used to perform an operation on the PTZ system to bring the photographing device to a posture consistent with the attitude of the mobile device, and then the processing module 121 encodes the control command, and sends the encoded data to the PTZ system.
  • the gesture sensing module 123 continuously acquires the current posture of the mobile device 12 'and sends the gesture information to Processing module 121.
  • the attitude sensing module 123 detects that the current displacement of the mobile device 12 'in a certain direction exceeds a predetermined threshold, the current attitude information of the mobile device 12' is sent to the processing module.
  • the display module 122 When the display module 122 receives an instruction from the user (by pressing a switch to enter / exit the body sensing mode) about exiting the body sensing mode, the display module 122 notifies the gesture sensing module 123 to stop sensing the gesture of the mobile device 12 '.
  • a method for monitoring a photographing device including:
  • Step 1 The processing module of the mobile device receives the video or audio from the PTZ system, and displays the received video or audio on the display module;
  • Step 2 The switch provided by the display module receives an instruction from the user to enter the somatosensory mode
  • Step 3 Acquire the current posture of the mobile device by the posture sensing module of the mobile device;
  • Step 4 The mobile device processing module determines a control command according to the current posture of the mobile device.
  • the control command causes the control module of the PTZ system to perform operations on the PTZ system, so that the photographic device can achieve a posture consistent with the current posture of the mobile device ;
  • Step 5 Encode the control command according to a predetermined rule to obtain encoded data
  • Step 6 Send the encoded data to the control module in the PTZ system.
  • Step 7 If the display module does not receive an end instruction (that is, an instruction to exit the somatosensory mode input by the user), return to step 3.
  • an end instruction that is, an instruction to exit the somatosensory mode input by the user
  • the above method can be implemented by hardware, software, firmware, middleware, pseudo code, hardware description language, or any combination thereof.
  • the program code or code segments used to perform a task may be stored in a machine or computer-readable medium, such as a storage medium, such as a non-transitory storage medium, a processing unit This task can be performed.
  • the program storage medium may be any non-transitory storage medium, such as magnetic (e.g., a floppy disk or hard disk) or optical (e.g., a compact disk read-only memory or "CD ROM"), and may be read-only or randomly accessed.
  • the transmission medium may be a twisted pair, coaxial cable, optical fiber, or some other suitable transmission medium known in the art. Example embodiments are not limited by these aspects of any given implementation.

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  • Engineering & Computer Science (AREA)
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  • Signal Processing (AREA)
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  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
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Abstract

La présente invention concerne un procédé de surveillance d'un dispositif photographique, un système de tête de support et un dispositif mobile, le dispositif photographique étant fixé sur le système de tête de support, et le procédé de surveillance d'un dispositif photographique consistant : à recevoir une instruction de commande codée ; à décoder l'instruction de commande codée afin d'obtenir l'instruction de commande ; et à exécuter une manœuvre destinée au dispositif photographique et/ou à exécuter une manœuvre destinée au système de tête de support conformément à l'instruction de commande. La présente invention permet à un utilisateur d'acquérir une vidéo/image captée par le dispositif photographique et de commander le dispositif photographique lorsque le dispositif photographique est situé hors de la plage visible de l'utilisateur ou situé hors de la plage tactile de l'utilisateur, afin de répondre à un effet de capture attendu dudit dispositif, ce qui facilite une manœuvre de capture d'image de l'utilisateur et améliore l'expérience utilisateur.
PCT/CN2019/104872 2018-09-29 2019-09-09 Procédé de surveillance de dispositif photographique, système de tête de support et dispositif mobile WO2020063307A1 (fr)

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