CN103051884A - Omni-directional visual monitoring system combining rough and fine modes - Google Patents

Abstract

Translated fromChinese

本发明的目的在于提供一种粗精观察模式相结合的全方位视觉监视系统，包括全景视觉图像采集子系统、常规视角图像采集子系统、嵌入式图像采集处理及数据传输子系统，全景视觉图像采集子系统包括双曲面反射镜、成像镜头、全景相机，成像镜头安装在全景相机上，双曲面反射镜设置在成像镜头上方；常规视角图像采集子系统包括云台，云台安装工业相机，常规视角图像采集子系统固定在全景视觉图像采集子系统顶部，嵌入式图像采集处理及数据传输子系统分别连接全景视觉图像采集子系统和常规视角图像采集子系统，采集并输出全景相机和工业相机图像信息并对全景相机和工业相机发送控制命令。本发明既能进行大范围场景监视，同时也可对场景细节进行精确观察。

The purpose of the present invention is to provide a comprehensive visual surveillance system combining rough and fine observation modes, including a panoramic visual image acquisition subsystem, a conventional viewing angle image acquisition subsystem, an embedded image acquisition processing and data transmission subsystem, and a panoramic visual image acquisition subsystem. The acquisition subsystem includes a hyperboloid mirror, an imaging lens, and a panoramic camera. The imaging lens is installed on the panoramic camera, and the hyperboloid mirror is arranged above the imaging lens. The perspective image acquisition subsystem is fixed on the top of the panoramic vision image acquisition subsystem, and the embedded image acquisition processing and data transmission subsystems are respectively connected to the panoramic vision image acquisition subsystem and the conventional perspective image acquisition subsystem to collect and output panoramic camera and industrial camera images information and send control commands to panoramic cameras and industrial cameras. The invention can not only monitor the scene in a large range, but also accurately observe the details of the scene.

Description

Translated fromChinese

一种粗精观察模式相结合的全方位视觉监视系统An All-round Visual Surveillance System Combining Coarse and Fine Observation Modes

技术领域technical field

本发明涉及的是一种监控装置。The invention relates to a monitoring device.

背景技术Background technique

单摄像机由于受到监控范围的限制，显然满足不了对整个场景进行360度监控的要求，于是出现了多摄像机的使用，可以扩大监视的有效范围，但对于多摄像机跟踪系统而言，我们需要确定在每个时刻使用哪一个摄像机或哪一幅图像，多摄像机之间的选择和信息融合是一个难点。云台是一种全方位监控设备，依靠一个摄像头的360度旋转来监控整个场景，但是摄像头的监控视角毕竟有限，在某一时刻肯定存在监控死角，且其图像算法复杂，并没有达到真正意义上的全方位监控，而且其运行过程中存在设备的磨损，因此使用寿命较短。全方位视觉传感器为实时获取场景的全景图像提供了一种新的解决方案。基于全方位视觉传感器的摄像机有着非常突出的优点，其视野广(360度)，能把一个半球视野中的信息压缩成一幅图像，一幅图像的信息量更大，全景图像中的任何一点都对应于监视空间中的某一确定的点，因此空间位置标定算法简单，监控时不用瞄准目标，使得视觉信息的获取、检测和跟踪监视范围内的运动物体的算法更加简单，是一种快速、可靠的全景视觉信息采集手段，但全景图像在增加视场角的同时也导致图像对景物细节的分辨能力下降。Due to the limitation of the monitoring range, a single camera obviously cannot meet the requirements for 360-degree monitoring of the entire scene, so the use of multiple cameras appears to expand the effective range of monitoring, but for the multi-camera tracking system, we need to determine the Which camera or which image to use at each moment, the selection and information fusion between multiple cameras is a difficult point. The PTZ is a kind of all-round monitoring equipment, relying on the 360-degree rotation of a camera to monitor the entire scene, but the monitoring angle of the camera is limited after all, there must be a monitoring dead angle at a certain moment, and its image algorithm is complex, which does not achieve the real meaning All-round monitoring on the machine, and there is equipment wear and tear during its operation, so the service life is short. Omni-directional vision sensors provide a new solution for obtaining panoramic images of scenes in real time. The camera based on the omnidirectional visual sensor has very prominent advantages. It has a wide field of view (360 degrees), and can compress the information in a hemispheric field of view into an image. The amount of information in an image is larger, and any point in the panoramic image is Corresponds to a certain point in the monitoring space, so the spatial position calibration algorithm is simple, and there is no need to aim at the target during monitoring, which makes the algorithm for acquiring visual information, detecting and tracking moving objects within the monitoring range simpler, and is a fast, It is a reliable means of collecting panoramic visual information, but while the panoramic image increases the field of view, it also leads to a decrease in the ability of the image to distinguish the details of the scene.

发明内容Contents of the invention

本发明的目的在于提供实现大范围场景监控、同时可对场景内可疑目标进行精确观察的一种粗精观察模式相结合的全方位视觉监视系统。The object of the present invention is to provide an all-round visual surveillance system that realizes large-scale scene monitoring and can accurately observe suspicious objects in the scene with a combination of coarse and fine observation modes.

本发明的目的是这样实现的：The purpose of the present invention is achieved like this:

本发明一种粗精观察模式相结合的全方位视觉监视系统，其特征是：包括全景视觉图像采集子系统、常规视角图像采集子系统、嵌入式图像采集处理及数据传输子系统，全景视觉图像采集子系统包括双曲面反射镜、成像镜头、全景相机，成像镜头安装在全景相机上，双曲面反射镜设置在成像镜头上方，使全景相机能够拍摄到水平方向360°、竖直方向不小于180°的范围；常规视角图像采集子系统包括云台，云台上安装工业相机，常规视角图像采集子系统固定在全景视觉图像采集子系统顶部，嵌入式图像采集处理及数据传输子系统分别连接全景视觉图像采集子系统和常规视角图像采集子系统，采集并输出全景相机和工业相机图像信息并对全景相机和工业相机发送控制命令。The present invention is an all-round visual monitoring system combining rough and fine observation modes, which is characterized in that it includes a panoramic visual image acquisition subsystem, a conventional viewing angle image acquisition subsystem, an embedded image acquisition processing and data transmission subsystem, and a panoramic visual image acquisition subsystem. The acquisition subsystem includes a hyperboloid mirror, an imaging lens, and a panoramic camera. The imaging lens is installed on the panoramic camera, and the hyperboloid mirror is set above the imaging lens, so that the panoramic camera can capture 360° in the horizontal direction and no less than 180° in the vertical direction. The range of °; the conventional angle of view image acquisition subsystem includes a pan-tilt, on which an industrial camera is installed, the conventional angle of view image acquisition subsystem is fixed on the top of the panoramic vision image acquisition subsystem, and the embedded image acquisition and processing and data transmission subsystems are respectively connected to the panorama The visual image acquisition subsystem and the conventional perspective image acquisition subsystem collect and output the image information of the panoramic camera and the industrial camera and send control commands to the panoramic camera and the industrial camera.

本发明还可以包括：The present invention may also include:

1、全景视觉图像采集子系统还包括防尘防水玻璃护罩，双曲面反射镜、成像镜头、全景相机均安装在防尘防水玻璃护罩里。1. The panoramic vision image acquisition subsystem also includes a dustproof and waterproof glass shield, in which the hyperboloid reflector, imaging lens, and panoramic camera are all installed in the dustproof and waterproof glass shield.

2、双曲面反射镜表面镀膜，其竖直方向视场可调节。2. The surface of the hyperboloid reflector is coated, and its field of view in the vertical direction can be adjusted.

本发明的优势在于：本发明既能进行大范围场景监视，同时也可对场景细节进行精确观察。The advantage of the present invention is that: the present invention can not only monitor a large-scale scene, but also accurately observe scene details.

附图说明Description of drawings

图1为本发明的结构示意图。Fig. 1 is a structural schematic diagram of the present invention.

具体实施方式Detailed ways

下面结合附图举例对本发明做更详细地描述：The present invention is described in more detail below in conjunction with accompanying drawing example:

结合图1，本发明装置包括全景视觉图像采集子系统，宽范围光学变焦的常规视角图像采集子系统和嵌入式图像采集处理及数据传输子系统5，宽范围光学变焦的常规视角图像采集子系统云台底座固定于全景视觉图像采集子系统顶部，嵌入式图像采集处理及数据传输子系统5封装在全景视觉图像采集子系统取景装置内。系统中的双曲面反射镜作为取景元件主要用来对周围物体成像，使相机能够拍摄到水平方向360°，竖直方向不小于180°范围内的物体，双曲面反射镜根据不同观察需求其竖直方向视场可调节，并采用镀膜技术，使其表面具有较高的表面反射率。防尘、防水玻璃护罩配合支柱用来支撑双曲面反射镜，玻璃护罩采用增透技术提高光线透过率，同时玻璃护罩起到对相机和反射镜的保护作用。防尘、防水玻璃护罩要求坚固，透光性好，表面平整度和光洁度好。In conjunction with Fig. 1, the device of the present invention includes a panoramic vision image acquisition subsystem, a wide-range optical zoom conventional viewing angle image acquisition subsystem and an embedded image acquisition processing and data transmission subsystem 5, a wide-range optical zoom conventional viewing angle image acquisition subsystem The pan-tilt base is fixed on the top of the panoramic vision image acquisition subsystem, and the embedded image acquisition processing and data transmission subsystem 5 is encapsulated in the viewfinder of the panoramic vision image acquisition subsystem. The hyperboloid reflector in the system is mainly used as a viewing element to image surrounding objects, so that the camera can capture objects within the range of 360° in the horizontal direction and no less than 180° in the vertical direction. The field of view in the vertical direction can be adjusted, and the coating technology is used to make the surface have a high surface reflectivity. The dust-proof and waterproof glass cover is used with the pillars to support the hyperboloid reflector. The glass cover adopts anti-reflection technology to improve the light transmittance, and the glass cover protects the camera and the reflector. Dustproof and waterproof glass shields require firmness, good light transmission, and good surface smoothness and finish.

全景视觉图像采集子系统由高分辨率科学级相机4，高性能镜头3和双曲面形反射镜2，防尘、防水玻璃护罩组成6，防尘、防水玻璃护罩配合支柱用来支撑双曲面反射镜，玻璃护罩采用增透技术提高光线透过率，同时玻璃护罩起到对相机和反射镜的保护作用。高分辨率科学级相机4采用千万像素级逐行扫描面阵CCD相机，相机采用Gige接口，通过调整镜头的焦距可以获得不同曲率的双曲线和不同的视场角。宽范围光学变焦的常规视角图像采集子系统主要由高清一体工业相机和中载变速云台1组成，相机输出视频格式为标准PAL制式的高变倍模拟相机，最高变倍倍数为220倍；云台满足海洋环境的三防要求，采取全天候环境设计，整体采用抗风结构设计，铝合金精铸外壳，采用隐蔽走线。具有360°无限位连续旋转，重复精度高，能够实现远程控制。嵌入式图像采集处理及数据传输子系统为嵌入式DSP视频系统电路板，整个系统分为5个部分：外部存储器扩展部分，视频输入输出部分，I2C总线，JTAG接口，百兆集成网卡接口，用于接收辨率科学级相机和云台相机采集的图像数据及发送云台及相机指控制令。The panoramic vision image acquisition subsystem consists of a high-resolution scientific camera 4, a high-performance lens 3, a hyperboloid mirror 2, and a dustproof and waterproof glass shield 6. The dustproof and waterproof glass shield cooperates with pillars to support the double The curved mirror and the glass cover adopt anti-reflection technology to improve the light transmittance, and the glass cover protects the camera and the reflector. The high-resolution scientific camera 4 adopts a 10 million-pixel progressive scan area array CCD camera, and the camera adopts a Gige interface. By adjusting the focal length of the lens, hyperbolas with different curvatures and different field angles can be obtained. Wide-range optical zoom conventional viewing angle image acquisition subsystem is mainly composed of a high-definition integrated industrial camera and a medium-load variable-speed pan-tilt 1. The camera output video format is a high-zoom analog camera with a standard PAL system, and the maximum zoom factor is 220 times; the cloud The platform meets the three-defense requirements of the marine environment, adopts an all-weather environment design, adopts a wind-resistant structure design as a whole, an aluminum alloy precision-cast shell, and uses concealed wiring. With 360° unlimited continuous rotation, high repeatability and remote control. The embedded image acquisition processing and data transmission subsystem is an embedded DSP video system circuit board. The whole system is divided into five parts: external memory expansion part, video input and output part, I2C bus, JTAG interface, 100M integrated network card interface, and It is used to receive image data collected by high-resolution scientific cameras and pan-tilt cameras and send command and control commands to pan-tilt and cameras.

本发明工作过程：Working process of the present invention:

首先高分辨率相机4采集场景内全景图像，采集到的数据经过图像处理单元转换成有效的图像数据交由嵌入式图像采集处理及数据传输子系统进行处理，若发现场景内有可疑目标，则根据全景图像计算出目标方位，角度，控制云台转向目标并对其进行精确观察，观察数据交由嵌入式图像采集处理及数据传输子系统进行处理，嵌入式图像采集处理及数据传输子系统负责高分辨率科学级相机和云台相机的图像数据采集，图像数据传输，设置高分辨率科学级相机参数及传输云台、相机控制命令。First, the high-resolution camera 4 collects panoramic images in the scene, and the collected data is converted into effective image data by the image processing unit and then processed by the embedded image collection and processing and data transmission subsystems. If suspicious objects are found in the scene, then Calculate the target position and angle according to the panoramic image, control the pan-tilt to turn to the target and observe it accurately, and the observation data will be processed by the embedded image acquisition processing and data transmission subsystem, and the embedded image acquisition processing and data transmission subsystem will be responsible Image data collection of high-resolution scientific cameras and PTZ cameras, image data transmission, setting of high-resolution scientific camera parameters and transmission of PTZ and camera control commands.

Claims (3)

1. omni-directional visual surveillance that thick smart observing pattern combines, it is characterized in that: comprise omni-directional image acquisition subsystem, conventional visual angle image acquisition subsystem, built-in image collection processing and transfer of data subsystem, the omni-directional image acquisition subsystem comprises hyperboloidal mirror, imaging lens, panorama camera, imaging lens is installed on the panorama camera, hyperboloidal mirror is arranged on imaging lens top, makes panorama camera can photograph 360 ° of horizontal directions, vertical direction is not less than 180 ° scope; Conventional visual angle image acquisition subsystem comprises The Cloud Terrace, mounting industrial camera on the The Cloud Terrace, conventional visual angle image acquisition subsystem is fixed on omni-directional image acquisition subsystem top, built-in image collection is processed and the transfer of data subsystem connects respectively omni-directional image acquisition subsystem and conventional visual angle image acquisition subsystem, gathers and exports panorama camera and industrial camera image information and panorama camera and industrial camera are sent control command.

2. the omni-directional visual surveillance that combines of a kind of thick smart observing pattern according to claim 1, it is characterized in that: the omni-directional image acquisition subsystem also comprises the dustproof and waterproof glass shield, and hyperboloidal mirror, imaging lens, panorama camera are installed in the dustproof and waterproof glass shield.

3. the omni-directional visual surveillance that combines of a kind of thick smart observing pattern according to claim 1 and 2, it is characterized in that: the hyperboloidal mirror surface coating, its vertical direction visual field can be regulated.