Pan / tilt / zoom device and monitoring system

Abstract

The invention provides a holder device and a monitoring system, and relates to the technical field of monitoring equipment.The holder device comprises a gun camera module and a dome camera module arranged at the preset position of the gun camera module; according to the invention, the gun camera module and the ball camera module are combined to form the monitoring equipment of the multi-view gun and ball camera. In addition, the gun camera module and the dome camera module are respectively provided with a first main control unit and a second main control unit which are independent, so that each module can work independently, and the performance of each module is optimized. Moreover, data sharing can be realized through communication connection, when one device does not output pictures, picture output of other devices is not affected, and efficient cooperative work is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of monitoring equipment, and in particular to a pan / tilt device and a monitoring system. Background Art

[0002] With the development of economy and the progress of society, the existing monocular ball cameras can no longer meet people's daily needs, and network surveillance cameras have entered the era of multi-cameras. However, traditional gun ball cameras usually use a main control unit to process data from multiple image sensors. When one of the image sensors fails or does not work properly, the image output of the entire system will be affected, causing all image sensors to work abnormally, and ultimately making the device unable to produce images. In addition, existing gun ball cameras generally only support the single-channel alarm function of the ball camera, and the gun camera is limited to providing fixed real-time monitoring images, lacking the ability of intelligent linkage and multi-angle coverage. This design limits the flexibility and comprehensiveness of the monitoring system, especially when it is necessary to pay attention to multiple areas at the same time or respond to emergencies. Summary of the invention

[0003] In view of this, the object of the present invention is to provide a pan / tilt device and a monitoring system, which combines a gun camera module and a ball camera module, and each module can output images independently without affecting each other.

[0004] In the first aspect, an embodiment of the present invention provides a pan-tilt device, which includes a gun camera module and a ball camera module arranged at a preset position of the gun camera module; the gun camera module includes a first main control unit and a first image sensor connected to the first main control unit; the ball camera module includes a second main control unit and a second image sensor connected to the second main control unit; the first main control unit and the second main control unit are communicatively connected; wherein the gun camera module is used to obtain a first monitoring image through the first image sensor and send the first monitoring image to the first main control unit; the ball camera module is used to obtain a second monitoring image through the second image sensor and send the second monitoring image to the second main control unit; the second main control unit is also used to obtain the first monitoring image of the first main control unit, and generate a comprehensive monitoring image based on the first monitoring image and / or the second monitoring image.

[0005] In combination with the first aspect, an embodiment of the present invention provides a first implementation of the first aspect, wherein there are multiple first image sensors, and the fields of view of the multiple first image sensors are distributed at preset angles; wherein the first main control unit is also configured with multiple expansion interfaces, and the multiple first image sensors are connected to the first main control unit through the expansion interfaces.

[0006] In combination with the first aspect, an embodiment of the present invention provides a second implementation of the first aspect, wherein the ball camera module also includes a motor module and a pan-tilt head, the control end of the motor module is connected to the second main control unit; the driving end of the motor module is connected to the pan-tilt head, and the second image sensor is arranged on the pan-tilt head; the second main control unit is also used to respond to a preset position control signal and generate a control signal for the motor module based on the position control signal; the motor module is used to respond to the control signal and drive the pan-tilt head to rotate under the control of the control signal to adjust the monitoring field of view of the second image sensor.

[0007] In combination with the first aspect, an embodiment of the present invention provides a third implementation of the first aspect, wherein the first main control unit is also used to perform graphic recognition on the first monitoring image, and if it is recognized that the first monitoring image contains a preset target, the coordinate information of the preset target is extracted, and the coordinate information is sent to the second main control unit; the second main control unit is also used to perform graphic recognition on the second monitoring image, and if it is recognized that the second monitoring image contains a preset target, the coordinate information of the preset target is extracted; the second main control unit is also used to generate a control signal of the motor module based on the coordinate information of the preset target of the first monitoring image or the second monitoring image, so that the motor module drives the pan-tilt head to rotate based on the control signal, so as to adjust the monitoring field of view of the second image sensor to the position corresponding to the coordinate information.

[0008] In combination with the first aspect, an embodiment of the present invention provides a fourth implementation of the first aspect, wherein the second main control unit is also configured with a lamp bead interface, which is used to connect preset lamp beads; the second main control unit is also used to light up the preset lamp beads through the lamp bead interface when the coordinate information is obtained.

[0009] In combination with the first aspect, an embodiment of the present invention provides a fifth implementation of the first aspect, wherein the second main control unit is also configured with a communication interface, the communication interface is used to install a preset communication module to communicate with a preset terminal through the communication module; the second main control unit is also used to send the generated comprehensive monitoring image to the preset terminal through the communication module.

[0010] In combination with the first aspect, an embodiment of the present invention provides a sixth implementation of the first aspect, wherein the pan-tilt device also includes a voice module, and the voice module is connected to the first main control unit and / or the second main control unit; the voice module is used to collect sound signals of the first monitoring image and the second monitoring image, and transmit the sound signals to the first main control unit and / or the second main control unit; the second main control unit is also used to respond to the voice signal of the preset terminal through the communication module, and control the voice module to issue an audio broadcast according to the voice signal.

[0011] In combination with the first aspect, an embodiment of the present invention provides a seventh implementation of the first aspect, wherein the second main control unit is configured with a storage module; the storage module is used to store the first monitoring image and the second monitoring image, and the sound signals corresponding to the first monitoring image and the second monitoring image.

[0012] In combination with the first aspect, an embodiment of the present invention provides an eighth implementation of the first aspect, wherein the pan-tilt device also includes a reset circuit, which is connected to the second main control unit; the reset circuit is used to respond to a preset reset signal, and control the second main control unit and the first main control unit to be in an initialized state based on the reset signal.

[0013] In a second aspect, an embodiment of the present invention provides a monitoring system, which includes a PTZ device according to any one of the above embodiments.

[0014] The embodiments of the present invention bring the following beneficial effects: The embodiments of the present invention provide a pan / tilt device and a monitoring system, which combines a gun camera module and a ball camera module to form a multi-eye gun / ball camera monitoring device, which can monitor a fixed image of a location through the gun camera, and can also flexibly monitor the surrounding real-time dynamics through the ball camera supporting the pan / tilt function, thereby optimizing the shortcomings of a single ball camera during use. In addition, the embodiments of the present invention configure the gun camera module and the ball camera module with an independent first main control unit and a second main control unit, respectively, to ensure that each module can independently process its own image data, and when necessary, information exchange can be achieved through a communication connection. Even if a problem occurs in a module, it will not affect the normal operation of other modules, thereby improving the stability and reliability of the system.

[0015] In addition, in the embodiment of the present invention, the second main control unit is responsible for combining the first monitoring image from the first main control unit and the second monitoring image obtained by itself into a comprehensive monitoring image, which can not only provide more comprehensive visual information, but also enable the ball camera to forward the gun camera image as an intermediate node, thereby ensuring the diversity of image transmission paths.

[0016] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0017] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 A schematic structural diagram of a pan / tilt device provided by an embodiment of the present invention is shown;

[0020] Figure 2 A schematic structural diagram of another PTZ device provided by an embodiment of the present invention is shown;

[0021] Figure 3 A schematic diagram of the body structure of a pan / tilt device provided in an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described in combination with the embodiments below. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] The embodiment of the present invention provides a pan / tilt device and a monitoring system, which combines a gun camera module and a ball camera module, and each module can output images independently without affecting each other.

[0024] To facilitate understanding, a pan / tilt device provided in an embodiment of the present invention is first described. Figure 1 A schematic diagram of the structure of a pan / tilt device provided by an embodiment of the present invention is shown. Figure 1 As shown, the PTZ device includes a gun camera module and a ball camera module arranged at a preset position of the gun camera module. The gun camera module is used for wide-angle monitoring with a fixed viewing angle, and is suitable for static monitoring of large areas. The ball camera module supports the PTZ function and can flexibly adjust the viewing angle, which is suitable for real-time tracking and detail capture of dynamic scenes. The embodiment of the present invention combines the capabilities of wide-angle fixed-screen monitoring with flexible real-time dynamic monitoring. Not only can the gun camera be used to perform fixed-screen monitoring of wide-angle places, but also the ball camera's support for the PTZ function can be used to flexibly monitor the surrounding real-time dynamics, providing a more comprehensive monitoring solution.

[0025] The gun camera module includes a first main control unit and a first image sensor connected to the first main control unit. The gun camera module is used to obtain a first monitoring image through the first image sensor and send the first monitoring image to the first main control unit. The ball camera module includes a second main control unit and a second image sensor connected to the second main control unit. The ball camera module is used to obtain a second monitoring image through the second image sensor and send the second monitoring image to the second main control unit. The first main control unit and the second main control unit are connected in communication. The second main control unit is also used to obtain the first monitoring image of the first main control unit, and to generate a comprehensive monitoring image based on the first monitoring image and / or the second monitoring image. In the embodiment of the present invention, each module is designed with an independent main control unit (the first main control unit and the second main control unit), which can optimize their respective working states and improve the response speed and stability of the overall system. The independent main control unit can dynamically adjust resource configuration according to actual needs to save energy and other resources. Data sharing between the two main control units through communication connection can not only ensure the timeliness and accuracy of information transmission, but also have high reliability. Even if a module has a problem, it will not affect the normal operation of other modules. In addition, since the embodiment of the present invention adopts a dual main control unit design, even if one of the main control units fails, the other can still continue to work, reducing the risk of the entire system shutting down and achieving the effect of fault isolation.

[0026] In summary, a pan / tilt device provided by an embodiment of the present invention combines a gun camera module and a ball camera module to form a multi-eye gun / ball camera monitoring device, which can monitor a fixed image of a location through a gun camera, and can also flexibly monitor the surrounding real-time dynamics through the ball camera supporting the pan / tilt function, thereby optimizing the shortcomings of a single ball camera during use. In addition, the present invention configures an independent first main control unit and a second main control unit for the gun camera module and the ball camera module, respectively, so that each module can work independently and optimize its own performance. Moreover, the present invention can realize data sharing through a communication connection. When one of the devices does not produce a picture, it will not affect the production of pictures of other devices, thereby ensuring efficient collaborative work.

[0027] Furthermore, based on the above embodiment, the embodiment of the present invention also provides another PTZ device, Figure 2 A schematic diagram of the structure of another PTZ device provided by an embodiment of the present invention is shown. Figure 2, there are multiple first image sensors, that is, the PTZ device can have multiple gun modules. The fields of view of multiple first image sensors are distributed at preset angles, and each image sensor can be fixed at a specific angle position through a precise mechanical structure, and the angle can be fine-tuned through mechanical adjustment. Based on this, dynamics in multiple directions can be captured simultaneously, covering different monitoring areas. In one embodiment, two gun modules can be designed based on the entire housing of the PTZ device, and the angle of the sensor field of view of the two gun modules can be determined based on the image monitoring requirements, or based on the range that the entire housing can accommodate. Correspondingly, Figure 3 The schematic diagram of the structure of a pan / tilt device provided by an embodiment of the present invention is shown. Figure 3 In the embodiment, the ball camera module is arranged below the gun camera module, and two gun cameras can be used to monitor the fixed picture in the wide-angle place, and cooperate with the ball camera module to support the pan / tilt function to flexibly monitor the surrounding real-time dynamics and realize multi-picture detection. In addition, the top of the gun camera module can be used as the display area of ​​the preset lamp beads to display the light signal of the pan / tilt device in this area. The embodiment of the present invention not only optimizes the shortcomings of a single ball camera during use, but also optimizes the situation that the binocular gun ball camera and the fixed place of the gun camera have a small field of view. In the open outdoor scene, compared with the ordinary ball camera, there is no need to frequently slide the pan / tilt to monitor the surrounding multi-picture scenes.

[0028] In a specific implementation, the first main control unit of the embodiment of the present invention is also configured with multiple expansion interfaces, and multiple first image sensors are connected to the first main control unit through the expansion interfaces. In one embodiment, a first image sensor can be set on the main board of the first main control unit, and the other first image sensors are respectively set on the SENSOR board. In addition, an FFC connector is set on the first main control unit to connect the main board and the SENSOR board to achieve the data transmission function. In a specific implementation, the SENSOR board and the first main control unit can be connected through a soft flat cable, and the first main control unit can be connected to the second main control unit through a soft flat cable to achieve data transmission and realize the functions of a gun and a ball machine. Among them, at the beginning of the design, the SENSOR board and the first main control unit can be connected through a soft flat cable in series to reduce the probability of cable damage during use. Among them, a specific 10pin soft flat cable can be selected to connect the first main control unit and the second main control unit, and a specific 28pin soft flat cable can be used to connect the SENSOR board and the first main control unit. Based on this, the embodiment of the present invention can increase the number of physical channels and use independent data channels to transmit data in parallel, which can improve the data transmission rate and reliability. It can also increase the signal transmission stability and reduce the probability of screen distortion. High-speed data exchange can be achieved both in the display interface of mobile devices and in computers.

[0029] In one embodiment, the second main control unit of the ball camera module can use the MIPI interface, which can be used to process a large amount of image data, such as high-resolution video streams. MIPI supports two-way communication, allowing the main control unit and the image sensor to exchange commands and status information, thereby improving the flexibility and response speed of the system. The first main control unit of the gun camera module can use the DVP interface, which can be used to process data with medium and low resolutions and low frame rates. DVP can use independent clock lines and data lines to control the transmission of image frames through synchronization signals, thereby ensuring the accuracy and integrity of image data. Among them, the first main control unit and the second main control unit can use USB to set up a virtual IP, establish TCP to complete mutual communication, realize data transmission, and achieve the purpose that each image sensor can output images. The second main control unit can be used as a USB Host, providing a USB interface for connecting to the first main control unit. The first main control unit is configured as a USB Device mode and supports the USBEthernet Gadget function. The first main control unit and the second main control unit can be respectively configured with corresponding static IP addresses for the USB network interface (such as ethX) to ensure that the two are in the same subnet.

[0030] In the specific implementation, the embodiment of the present invention adopts a multi-channel code stream method to realize the output of the gun and ball, saving memory space, and the output of the gun and ball cameras is controlled by the corresponding main control respectively, and does not affect each other. When one of the image sensors does not output the image, it will not affect the other two. For example, the monitoring image of the ball camera module is used as the main code stream for high-quality video recording or real-time high-definition preview, which usually has a higher resolution and frame rate, suitable for local storage and remote viewing in a high-bandwidth network environment. The monitoring image of the gun module is used as a sub-code stream, with a lower resolution and frame rate to reduce the amount of data transmission. More types of sub-code streams can also be defined as needed. In one embodiment, when the pan-tilt device includes two gun modules, two 200W sensors can be selected, and correspondingly, the image sensor of the ball camera module can be a 400W sensor. It should be noted that the parameters of the image sensor can be determined according to the needs and are not limited here. It can also be matched with an adapted IR-Cut filter and lens to collect image data.

[0031] Furthermore, the ball camera module includes a motor module and a pan-tilt head, the control end of the motor module is connected to the second main control unit; the driving end of the motor module is connected to the pan-tilt head, and the second image sensor is arranged on the pan-tilt head; the second main control unit is also used to respond to a preset position control signal and generate a control signal for the motor module based on the position control signal; the motor module is used to respond to the control signal and drive the pan-tilt head to rotate under the control of the control signal to adjust the monitoring field of view of the second image sensor.

[0032] In the specific implementation, the motor module is composed of a horizontal motor and a vertical motor to realize the control of the pan-tilt, and at the same time cooperate with the drive processing logic to realize the algorithm functions such as pointing to see where, linkage tracking, human tracking, preset points, etc. In the specific implementation, the second main control unit is also configured with a communication interface, and the communication interface is used to install a preset communication module (such as a wifi module, a wired network, etc.) to communicate with the preset terminal through the communication module. The second main control unit is also used to send the generated comprehensive monitoring image to the preset terminal through the communication module. In an embodiment of the present invention, the communication interface can be designed only for the second main control unit, and the gun camera module and the ball camera module establish a tcp connection between the first main control unit and the second main control unit to realize communication forwarding and transmission. The communication module can support multiple network configuration methods (such as Bluetooth network configuration, WIFI broadcast packet network configuration, and code scanning network configuration) to improve network configuration efficiency, and together with the network transformer, that is, the wired network, is responsible for the interaction with the APP through the router. Among them, the pan-tilt machine device can be controlled by touch screen on the APP, or it can be controlled by mouse on the equipment tooling tool. The click coordinates on the screen are converted into the angle information of the gimbal, and then the position of the gimbal is adjusted using the controller to ensure timely response to user commands.

[0033] In one embodiment, the first main control unit is also used to perform graphic recognition on the first monitoring image. If the first monitoring image is identified to contain a preset target, the coordinate information of the preset target is extracted and the coordinate information is sent to the second main control unit; the second main control unit is also used to perform graphic recognition on the second monitoring image. If the second monitoring image is identified to contain a preset target, the coordinate information of the preset target is extracted; the second main control unit is also used to generate a control signal of the motor module based on the coordinate information of the preset target of the first monitoring image or the second monitoring image, so that the motor module drives the pan-tilt head to rotate based on the control signal, so as to adjust the monitoring field of view of the second image sensor to the position corresponding to the coordinate information. In one embodiment, the preset target can be used to indicate human figure detection on the screen, wherein a large amount of data can be collected, human body posture features can be extracted, and the feature information can be input into a classification or regression model to classify or regress different human images or videos, thereby determining the result of human figure detection.

[0034] In combination with the above, the embodiment of the present invention supports a linkage algorithm to link and track preset targets. In the embodiment of the present invention, the priority of the ball camera module is the highest. When the ball camera screen does not detect a human figure, and the gun camera screen detects a human figure, the gun camera sends the corresponding screen human figure coordinates to the ball camera, and the ball camera will turn to the corresponding position to track the person in the ball camera screen to achieve the human figure tracking function. When the gun camera sends the human figure coordinates to the ball camera, if there is also a human figure within the field of view of the ball camera module, the human figure detected by the ball camera module will be tracked preferentially. In one embodiment, the priority of the second image sensor of the ball camera module is greater than the priority of the first image sensor (i.e., gun camera module 1) connected to the first main control unit, and the priority of the first image sensor is greater than the priority of another first image sensor (such as gun camera module 2).

[0035] Furthermore, the PTZ module collects the images and provides them to the user's terminal device (such as a mobile phone). The user can use the mobile phone to click on the preview interface gun camera screen, and the ball camera module will rotate so that the clicked place is in the center of the screen, realizing the function of pointing and watching. In the specific implementation, multiple preset points can also be pre-defined and saved for the second main control unit, each point contains a specific horizontal and vertical angle. You can quickly switch to any preset point through a button or command line. For each preset point, the optimal path can be planned to reduce unnecessary rotation time.

[0036] Furthermore, the PTZ device also includes a voice module, which is connected to the first main control unit and / or the second main control unit; the voice module is used to collect the sound signals of the first monitoring image and the second monitoring image, and transmit the sound signals to the first main control unit and / or the second main control unit. The second main control unit is also used to respond to the voice signal of the preset terminal through the communication module, and control the voice module to issue an audio broadcast according to the voice signal. Among them, the voice module is composed of a microphone (Microphone, MIC for short) and a speaker (Speaker, SPK for short). The MIC is responsible for collecting the sound of the environment in which the device is located, and the SPK is responsible for playing the sound, which is used to support the sound interaction between the mobile phone and the device, realize remote real-time intercom, and audio broadcast when an alarm is detected. Among them, the appropriate interface type can be selected according to the connection method with the main control unit, such as I 2 S, SPI, UART, etc., to ensure low latency and high reliability transmission.

[0037] Further, refer to Figure 2The second main control unit is also equipped with a storage module (such as a TF card), which is used to store the first monitoring image and the second monitoring image, as well as the sound signals corresponding to the first monitoring image and the second monitoring image. It supports the local video playback function, saves the real-time monitoring screen, and realizes data storage for easy playback at any time. It can be remotely monitored by mobile phone in real time, and the monitoring screen can be recorded in the cloud and TF card, and each channel of video data can be recorded at the same time.

[0038] Furthermore, the pan / tilt device also includes a reset circuit, which is connected to the second main control unit; the reset circuit is used to respond to a preset reset signal, and based on the reset signal, control the second main control unit and the first main control unit to be in an initialization state. Among them, an external mechanical button (K1) can be used to control the module to be in an initialization state. In addition, the power supply circuit of the embodiment of the present invention can be provided by a 12V voltage. Among them, a power supply interface can be designed only for the second main control unit, that is, the first main control unit of the gun module is not designed with an independent power supply interface, and the gun module and the ball camera module establish a TCP connection between the first main control unit and the second main control unit to achieve power supply. It can significantly reduce the number of power cables required, simplify the wiring structure inside the device, and reduce the complexity of installation. Moreover, it can also reduce potential failure points, improve the overall reliability of the system, help to achieve a more compact design, and reduce hardware costs.

[0039] Furthermore, the second main control unit is also configured with a lamp bead interface, which is used to connect preset lamp beads; the second main control unit is also used to light up the preset lamp beads through the lamp bead interface when the coordinate information is obtained. In one embodiment, multiple lamp bead interfaces can be set, one interface is externally connected to a dual-light lamp board, and the switching of the dual light is operated by the APP in the night vision mode to switch three state modes. Including infrared night vision mode: only infrared light is on in night vision; starlight full-color mode: only white light is on in night vision; dual-light warning mode: infrared light is on in night vision, and white light is on when a human figure is detected. After the subsequent human figure leaves, the white light goes out after the time set by the APP, and the infrared light continues to be on. Another interface is externally connected to a red and blue alarm light, which is used in conjunction with the human figure algorithm function. In the turned-on state, whether the first image sensor of the gun module or the second image sensor of the ball module detects a human figure, the red and blue lights flash alternately to achieve the function of the warning light. In summary, the embodiment of the present invention not only supports the single-channel alarm of the ball camera, but also allows the gun camera to participate in the alarm decision-making process, thereby improving the response speed and accuracy of the monitoring system. In addition, the embodiment of the present invention can support remote full-duplex intercom and warning alarm voice, support three-way video detection alarm, and can remotely and timely push alarm records to the mobile phone, which greatly improves the user's operating convenience and monitoring effect.

[0040] Furthermore, the first main control unit and the second main control unit of the embodiment of the present invention correspond to different programs respectively, wherein the program of the first main control unit of the embodiment of the present invention is not accessible to the external network. The gun program (that is, the program of the first main control unit) can be packaged in the ball machine program (that is, the program of the second main control unit) to form a two-in-one program, thereby realizing version update iteration. Based on this, the embodiment of the present invention can not only enable the gun module and the ball machine module to output images independently without affecting each other, but also reduce the workload of version iteration upgrade. In one embodiment, the gun program can be modified with a specific name and placed in the ball machine program, which can be decompressed by the device end during the upgrade, and then the corresponding program can be sent to the gun machine for upgrade.

[0041] Furthermore, based on the above-mentioned device embodiments, the embodiments of the present invention also provide a monitoring system, which includes the PTZ device of any of the above-mentioned embodiments. For example, the PTZ device can be set for monitoring systems of security monitoring, intelligent transportation, smart home, smart city, etc. The monitoring system provided by the embodiment of the present invention has the same technical features as the PTZ device provided by the above-mentioned embodiment, so it can also solve the same technical problems and achieve the same technical effects.

[0042] Further, in the description of the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of each embodiment of the present invention. In the description of the present invention, it should be noted that the terms: center, top, bottom, left, right, vertical, horizontal, inside, outside, etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0043] Finally, it should be noted that the above embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above embodiments, those skilled in the art should understand that any person skilled in the art can still modify the technical solutions recorded in the above embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A pan / tilt device, characterized in that: The PTZ device includes a gun camera module and a ball camera module arranged at a preset position of the gun camera module; The gun module includes a first main control unit and a first image sensor connected to the first main control unit; The ball camera module includes a second main control unit and a second image sensor connected to the second main control unit; the first main control unit and the second main control unit are in communication connection; The gun module is used to obtain a first monitoring image through the first image sensor and send the first monitoring image to the first main control unit; The ball camera module is used to obtain a second monitoring image through the second image sensor, and send the second monitoring image to the second main control unit; The second main control unit is further used to obtain the first monitoring image of the first main control unit, and generate a comprehensive monitoring image based on the first monitoring image and / or the second monitoring image.

2. The PTZ device according to claim 1, characterized in that: There are multiple first image sensors, and the fields of view of the multiple first image sensors are distributed at preset angles; The first main control unit is further configured with a plurality of expansion interfaces, and a plurality of the first image sensors are connected to the first main control unit through the expansion interfaces.

3. The PTZ device according to claim 1, characterized in that: The ball camera module also includes a motor module and a pan-tilt platform, wherein the control end of the motor module is connected to the second main control unit; the driving end of the motor module is connected to the pan-tilt platform, and the second image sensor is arranged on the pan-tilt platform; The second main control unit is further used to respond to a preset position control signal and generate a control signal for the motor module based on the position control signal; The motor module is used to respond to the control signal and drive the pan / tilt head to rotate under the control of the control signal to adjust the monitoring field of view of the second image sensor.

4. The PTZ device according to claim 3, characterized in that: The first main control unit is further configured to perform graphic recognition on the first monitoring image, and if a preset target is identified in the first monitoring image, extract coordinate information of the preset target, and send the coordinate information to the second main control unit; The second main control unit is further used to perform graphic recognition on the second monitoring image, and if it is recognized that the second monitoring image contains a preset target, extract the coordinate information of the preset target; The second main control unit is also used to generate a control signal for the motor module based on the coordinate information of the preset target of the first monitoring image or the second monitoring image, so that the motor module drives the pan-tilt head to rotate based on the control signal to adjust the monitoring field of view of the second image sensor to the position corresponding to the coordinate information.

5. The PTZ device according to claim 4, characterized in that: The second main control unit is also configured with a lamp bead interface, and the lamp bead interface is used to connect a preset lamp bead; The second main control unit is also used to light up the preset lamp beads through the lamp bead interface when the coordinate information is acquired.

6. The PTZ device according to claim 1, characterized in that: The second main control unit is also configured with a communication interface, and the communication interface is used to install a preset communication module to communicate with a preset terminal through the communication module; The second main control unit is further configured to send the generated comprehensive monitoring image to the preset terminal through the communication module.

7. The PTZ device according to claim 6, characterized in that: The PTZ device further includes a voice module, which is connected to the first main control unit and / or the second main control unit; the voice module is used to collect sound signals of the first monitoring image and the second monitoring image, and transmit the sound signals to the first main control unit and / or the second main control unit; The second main control unit is also used to respond to the voice signal of the preset terminal through the communication module, and control the voice module to issue an audio broadcast according to the voice signal.

8. The PTZ device according to claim 7, characterized in that: The second main control unit is configured with a storage module; the storage module is used to store the first monitoring image and the second monitoring image, and the sound signals corresponding to the first monitoring image and the second monitoring image.

9. The PTZ device according to claim 1, characterized in that: The PTZ device further includes a reset circuit, and the reset circuit is connected to the second main control unit; The reset circuit is used to respond to a preset reset signal, and control the second main control unit and the first main control unit to be in an initialization state based on the reset signal.

10. A monitoring system, characterized in that: The monitoring system includes the PTZ device described in any one of claims 1-9.

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