Automatic pan / tilt device based on infrared sensor and use method thereof

Abstract

The present invention discloses an automatic pan-tilt device developed based on infrared sensors, including a pan-tilt: an infrared sensor, the infrared sensor is arranged on the peripheral side of the pan-tilt, the peripheral side of the pan-tilt and located outside the infrared sensor is fixedly connected to a light shield, the number of the infrared sensors is eight to twelve; the pan-tilt is internally provided with a sensor signal amplification module group, an MCU data processing and control module, a pan-tilt control module and a temperature sensor. The automatic pan-tilt device developed based on infrared sensors and the use method thereof, because the infrared sensor recognizes the human body based on the difference between the human body temperature and the surrounding environment temperature, and multiple infrared sensors are arranged in an array and divided into multiple areas for detection, and there is no requirement for the posture and behavior of the person, thereby greatly reducing misjudgment and improving the reliability of recognition.

Description

Technical Field

[0001] The present invention specifically relates to an automatic pan / tilt device developed based on an infrared sensor and a use method thereof. Background Art

[0002] The PTZ equipment currently on the market are basically manually controlled by remote control, and a small part are automatically controlled tracking PTZs, but they all have great limitations in use, as follows:

[0003] Automatic gimbal based on camera body / face recognition for tracking. This gimbal has two product modes

[0004] Develop an APP on the phone, use the phone's camera to perform face / body recognition, then calculate the person's position, and control the pan / tilt rotation accordingly. This kind of product occupies the phone's camera, so other apps on the phone cannot use the phone's camera, such as live broadcast software, etc., resulting in the product having no practical usage scenarios.

[0005] The second is to make a camera and an image processing system, install it on the gimbal, and perform face / body recognition operations through this camera. Due to the addition of a camera and an image processing system, this product will bring two biggest problems: one is high cost, and the other is high power consumption.

[0006] In addition, camera-based face / body recognition technology has significant limitations on human posture and movement. Face recognition requires the face to be facing forward; it cannot be recognized from the side or from the back; and body recognition cannot recognize more complex movements, such as dancing, Tai Chi, etc., which will result in a large number of misjudgments.

[0007] An automatic pan-tilt head based on infrared tube positioning and tracking. This product installs an infrared receiver on the pan-tilt head, and then a person carries an infrared transmitter. By continuously receiving signals from the infrared transmitter, the position of the human body is determined, thereby controlling the rotation of the pan-tilt head. The biggest drawback of this product is that the transmitter head must be facing the receiver head. If a person turns around, the transmitting end will change the transmitting angle as the person turns, causing the receiving end to be unable to receive the signal emitted by the transmitter. This cannot be used for relatively complex movements. Summary of the invention

[0008] The purpose of the present invention is to address the deficiencies in the prior art and provide an automatic pan-tilt device and a method of use based on an infrared sensor, so that the pan-tilt can automatically track the human body with high recognition and reliability.

[0009] In order to solve the above technical problems, the present invention provides an automatic pan-tilt device developed based on an infrared sensor, comprising a pan-tilt;

[0010] Infrared sensors, the infrared sensors are arranged on the peripheral side of the pan-tilt platform, the peripheral side of the pan-tilt platform and the external fixed connection light shield of the infrared sensor, the number of the infrared sensors is eight to twelve;

[0011] A sensor signal amplification module group, an MCU data processing and control module, a pan-tilt control module and a temperature sensor are arranged inside the pan-tilt; the output end of the infrared sensor is electrically connected to the input end of the sensor signal amplification module group, the output end of the sensor signal amplification module group is electrically connected to the input end of the MCU data processing and control module, the output end of the MCU data processing and control module is electrically connected to the input end of the pan-tilt control module, and the output end of the temperature sensor is electrically connected to the input end of the sensor signal amplification module group.

[0012] The light shield is a Fresnel lens.

[0013] It also includes a positioning installer, which includes a positioning ring and a mounting shaft. The surface of the mounting shaft is rotatably connected to two positioning bars, and a scale line is arranged on one side of the surface of the positioning ring.

[0014] By setting a positioning installer, the fixed position of the infrared sensor can be assisted in positioning, so that each infrared sensor can be quickly installed at the corresponding position.

[0015] An upper retaining ring and a lower retaining ring are respectively fixedly connected to the surface of the mounting shaft and located on the upper and lower sides of the positioning bar, and both sides of the lower retaining ring are fixedly connected to the inner wall of the positioning ring through a fixing rod.

[0016] The scale lines on the surface of the positioning ring can determine the angle between the two positioning bars.

[0017] A driving ring is sleeved on the surface of the mounting shaft and located on the upper side of the upper retaining ring. A positioning column is fixedly connected to one side of the top of the upper retaining ring. A positioning hole is opened at the bottom of the driving ring.

[0018] When two adjacent positioning holes are sleeved on the positioning column, the driving ring drives the connecting rod to rotate at an angle of fifteen degrees.

[0019] A connecting rod is fixedly connected to one side of the driving ring surface, a U-shaped limiting block is fixedly connected to one end of the connecting rod, and a first magnet is arranged at the bottom end of the mounting shaft.

[0020] The U-shaped limit block can be used to drive the location area where the infrared sensor is installed, and then the installation hole can be opened using tools.

[0021] A limiting groove is provided at the center of the top of the gimbal, and a second magnet is provided at the bottom of the inner wall of the limiting groove. When the positioning mounter is applied to the gimbal, the mounting shaft is inserted into the limiting groove at the top of the gimbal.

[0022] The first magnet cooperates with the second magnet to limit the positioning mounter through the adsorption force between them, so that it can be placed on the gimbal more stably for use.

[0023] A method for using an automatic pan-tilt device developed based on an infrared sensor includes the following methods: S1: initializing the device and obtaining the current temperature value within the scope of each infrared sensor 2;

[0024] S2: Obtain the ambient temperature and the temperature of each infrared sensor, compare the difference between the ambient temperature and the infrared sensor temperature, determine whether there is a difference, and determine the current working environment status of the gimbal.

[0025] S3: When the temperature of the infrared sensor is normal, obtain the temperature change state of each infrared sensor 2 to determine the location of the target human body;

[0026] S4: Send control instructions to the gimbal control module to control the gimbal to rotate, and finally align the middle position of the sensor array with the target human body.

[0027] Preferably, in S, when there is a temperature difference between the infrared sensor and the ambient temperature or when the infrared sensor is close to the human body temperature, the automatic human body tracking function is suspended and the manual mode is adopted.

[0028] Preferably, the method for determining the target human body position in S includes the following methods:

[0029] T1: Determine whether it is the first time that a human body appears and moves in the action area. If it is, if there is only one human body entering the range, it will be locked as the main target. If there are multiple human bodies, the one with the largest change intensity will be set as the main target;

[0030] T2: If it is not the first time that a human body appears in the action area, determine whether it is the movement behavior of the main target. If it is the main target, determine whether the main target movement signal is within the range of infrared sensors 4 and 5;

[0031] T3: When the main target is not in the range of infrared sensors No. 1, 2, 3 or No. 6, 7, 8, determine whether it is in the range of infrared sensors No. 1, 2, 3 or No. 6, 7, 8;

[0032] T4: When the main target appears in the range of infrared sensors No. 1, 2, and 3, a command is sent to the gimbal control module to control the gimbal to turn left. When the main target appears in the range of infrared sensors No. 6, 7, and 8, a command is sent to the gimbal control module to control the gimbal to turn right.

[0033] Compared with the related art, the automatic pan-tilt device and the use method based on infrared sensor provided by the present invention have the following beneficial effects:

[0034] The present invention provides an automatic pan-tilt device developed based on an infrared sensor and a method for using the device. Since the infrared sensor recognizes a human body based on the difference between the human body temperature and the surrounding environment temperature, and multiple infrared sensors are arranged in an array to perform detection in multiple areas, and there are no requirements for human posture and behavior, misjudgment is greatly reduced and the reliability of recognition is improved.

[0035] Infrared sensors, especially pyroelectric-based infrared sensors, are relatively low cost. Even if multiple sensors are needed to form an array, the cost will not increase much. Moreover, the MCU used to process the sensor data does not require too much computing power, so the cost is low.

[0036] The infrared sensor has low power consumption, and the MCU that processes the sensor data is also a low-power chip, so the overall power consumption is much lower than that based on camera technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A schematic structural diagram of a first embodiment of an automatic pan / tilt device and a method of using the automatic pan / tilt device developed based on an infrared sensor provided by the present invention;

[0038] Figure 2 for Figure 1 A top view of the whole shown;

[0039] Figure 3 It is a flowchart diagram of the present invention;

[0040] Figure 4 for Figure 1 The structural schematic diagram of the pan / tilt shown;

[0041] Figure 5 A schematic structural diagram of a second embodiment of an automatic pan / tilt device and a method of using the automatic pan / tilt device developed based on an infrared sensor provided by the present invention;

[0042] Figure 6 for Figure 1 A partial side view of the positioning mount shown;

[0043] Figure 7 for Figure 1 A top view of the driving ring shown;

[0044] Figure 8 for Figure 1 A side view of the upper retaining ring is shown;

[0045] Fig. 9 for Figure 1 A top view of the pan / tilt shown;

[0046] Fig.10 for Figure 1 The structural schematic diagram of the U-shaped limit block is shown.

[0047] Numbers in the figure: 1. pan / tilt, 2. infrared sensor, 3. positioning mounter, 31. positioning ring, 32. mounting shaft, 33. positioning bar, 34. scale line, 35. connecting rod, 36. U-shaped limit block, 37. lower retaining ring, 38. first magnet, 39. upper retaining ring, 310. driving ring, 311. positioning hole, 312. positioning column, 4. limit groove, 5. second magnet. DETAILED DESCRIPTION

[0048] The present invention will be further described below in conjunction with the accompanying drawings and implementation modes.

[0049] First embodiment

[0050] Please refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 ,in, Figure 1 A schematic structural diagram of a first embodiment of an automatic pan / tilt device and a method of using the automatic pan / tilt device developed based on an infrared sensor provided by the present invention; Figure 2 for Figure 1 A top view of the whole shown; Figure 3 It is a flowchart diagram of the present invention; Figure 4 for Figure 1 The structural schematic diagram of the pan-tilt is shown. The automatic pan-tilt device developed based on the infrared sensor comprises a pan-tilt 1;

[0051] Infrared sensors 2, the infrared sensors 2 are arranged on the peripheral side of the pan-tilt platform 1, and the peripheral side of the pan-tilt platform 1 and the outside of the infrared sensors 2 are fixedly connected to the light shielding cover, and the number of the infrared sensors 2 is eight to twelve;

[0052] The gimbal 1 is internally provided with a sensor signal amplification module group, an MCU data processing and control module, a gimbal control module and a temperature sensor. The output end of the infrared sensor 2 is electrically connected to the input end of the sensor signal amplification module group, the output end of the sensor signal amplification module group is electrically connected to the input end of the MCU data processing and control module, the output end of the MCU data processing and control module is electrically connected to the input end of the gimbal control module, and the output end of the temperature sensor is electrically connected to the input end of the sensor signal amplification module group.

[0053] The light shield is a Fresnel lens.

[0054] By setting a Fresnel lens hood, the horizontal range of the infrared sensor 2 can be reduced, such as to about 15 degrees. Figure 2 The angle of the active area is set to 120 degrees, and eight infrared sensors 2 are set, and the eight infrared sensors 2 correspond to eight detection areas;

[0055] The cloud platform control module includes a control motor disposed inside to drive the upper side of the cloud platform 1 to rotate to a corresponding angle.

[0056] A method for using an automatic pan-tilt device developed based on an infrared sensor includes the following methods: S1: initializing the device and obtaining the current temperature (voltage) value within the scope of each infrared sensor 2;

[0057] S2: Obtain the ambient temperature and the temperature of each infrared sensor 2, compare the difference between the ambient temperature and the temperature of the infrared sensor 2, determine whether there is a difference, and determine the current working environment status of the gimbal.

[0058] S3: When the temperature of the infrared sensor 2 is normal, obtain the temperature (voltage) change state of each infrared sensor 2 to determine the location of the target human body;

[0059] S4: Send a control command to the pan / tilt control module to control the pan / tilt 1 to rotate, and finally align the middle position of the sensor array with the target human body.

[0060] In S1, when the infrared sensor 2 has a temperature difference with the ambient temperature or is close to the human body temperature, the automatic human body tracking function is suspended and the manual mode is adopted.

[0061] The method for determining the target human body position in S3 includes the following:

[0062] T1: Determine whether it is the first time that a human body appears and moves in the action area. If it is, if there is only one human body entering the range, it will be locked as the main target. If there are multiple human bodies, the one with the largest change intensity will be set as the main target;

[0063] T2: If it is not the first time that a human body appears in the action area, determine whether it is the movement behavior of the main target. If it is the main target, determine whether the main target movement signal is within the range of infrared sensors 2 of No. 4 and No. 5;

[0064] T3: When the main target is not in the range of infrared sensors 2 of No. 4 and No. 5, determine whether it is in the range of infrared sensors 2 of No. 6, 7, 8 or No. 1, 2, 3;

[0065] T4: When the main target appears in the range of infrared sensors No. 1, 2, and 3, a command is sent to the pan / tilt control module to control pan / tilt 1 to turn left. When the main target appears in the range of infrared sensors No. 6, 7, and 8, a command is sent to the pan / tilt control module to control pan / tilt 1 to turn right.

[0066] During environmental detection, the light intensity is detected by photosensitive detection equipment, and the brightness of the use environment can be enhanced through lighting.

[0067] The working principle of the automatic pan / tilt device and the use method developed based on the infrared sensor 2 provided by the present invention is as follows:

[0068] By providing a light shield outside the infrared sensor 2 and locating the Fresnel lens, the horizontal range of the infrared sensor 2 is reduced, for example, to about 15 degrees.

[0069] Since one infrared sensor 2 can only determine an angle range, in order to be able to identify the human body position within a certain angle range (such as 120), at least 120° / 15°= 8 infrared sensors 2 are required. If redundant design is required to calculate a more accurate position, the number may need to be increased to 9-12, and each infrared sensor 2 corresponds to a different position angle.

[0070] The computing control center obtains the infrared sensor 2 area where the human body is located, performs corresponding angle calculation, and controls the pan / tilt 1 to rotate so that the pan / tilt 1 rotates to the target direction;

[0071] When the device is working, the device is initialized to obtain the current temperature (voltage) value within the scope of each infrared sensor 2;

[0072] The ambient temperature and the temperature of each infrared sensor 2 are obtained, and the difference between the ambient temperature and the temperature of the infrared sensor 2 is compared to determine whether there is a difference, and to determine the state of the current working environment of the pan / tilt platform 1 .

[0073] When the temperature of the infrared sensor is normal, the temperature (voltage) change state of each infrared sensor 2 is obtained to determine the location of the target human body;

[0074] Send control instructions to the pan-tilt control module to control the pan-tilt 1 to rotate, and finally align the middle position of the sensor array with the target human body.

[0075] When the infrared sensor 2 is different from the ambient temperature or is close to the human body temperature, the automatic human body tracking function is suspended and the manual mode is used.

[0076] When judging the target human body position:

[0077] Determine whether it is the first time that a human body appears and moves in the action area. If it is, if there is only one human body entering the range, it will be locked as the main target. If there are multiple human bodies, the one with the largest change intensity will be set as the main target;

[0078] If it is not the first time that a human body appears in the action area, it is determined whether it is the movement behavior of the main target. If it is the main target, it is determined whether the main target movement signal is within the range of infrared sensors 2 of No. 4 and No. 5;

[0079] When the main target is not in the range of infrared sensors 2 of No. 4 and No. 5, determine whether it is in the range of infrared sensors 2 of No. 6, 7, 8 or No. 1, 2, 3;

[0080] When the main target appears in the range of infrared sensors 1, 2, and 3, a command is sent to the pan / tilt control module to control pan / tilt 1 to turn left. When the main target appears in the range of infrared sensors 6, 7, and 8, a command is sent to the pan / tilt control module to control pan / tilt 1 to turn right S1. Initialize the device and obtain the current temperature (voltage) value within the scope of each infrared sensor 2.

[0081] Compared with the related art, the automatic pan-tilt device and the use method based on infrared sensor provided by the present invention have the following beneficial effects:

[0082] Since the infrared sensor 2 recognizes the human body based on the difference between the human body temperature and the surrounding environment temperature, and multiple infrared sensors 2 are arranged in an array to detect in multiple areas, and there are no requirements for human posture and behavior, misjudgment is greatly reduced and the reliability of recognition is improved.

[0083] The infrared sensor 2, especially the pyroelectric infrared sensor 2, is relatively low in cost. Even if a plurality of infrared sensors are needed to form an array, the cost will not increase much. Moreover, the MCU used to process the sensor data does not require too high computing power, so the cost is low.

[0084] The infrared sensor 2 has low power consumption, and the MCU that processes the sensor data is also a low-power chip, so the overall power consumption is much lower than that based on camera technology.

[0085] Please refer to Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 and Fig.10 Based on the method for using the automatic pan-tilt device based on the infrared sensor provided in the first embodiment of the present application, the second embodiment of the present application proposes another method for using the automatic pan-tilt device based on the infrared sensor. The second embodiment is only a preferred method of the first embodiment, and the implementation of the second embodiment will not affect the independent implementation of the first embodiment.

[0086] Specifically, the difference between the method for using the automatic pan-tilt device developed based on the infrared sensor provided in the second embodiment of the present application is that the method for using the automatic pan-tilt device developed based on the infrared sensor also includes a positioning installer 3, the positioning installer 3 includes a positioning ring 31 and a mounting shaft 32, the surface of the mounting shaft 32 is rotatably connected to two positioning bars 33, and a scale line is set on one side of the surface of the positioning ring 31.

[0087] The scale lines can be marked with angle values. Two positioning strips 33 are sleeved on the surface of the mounting shaft 32 through a sleeve ring, and a rubber ring is bonded to the inner surface of the sleeve ring to increase the friction with the surface of the mounting shaft 32 so that the positioning strips 33 can be stabilized in one position after rotation.

[0088] An upper retaining ring 39 and a lower retaining ring 37 are fixedly connected to the surface of the mounting shaft 32 and located on the upper and lower sides of the positioning bar 33 , respectively. Both sides of the lower retaining ring 37 are fixedly connected to the inner wall of the positioning ring 31 via fixing rods.

[0089] A driving ring 310 is sleeved on the surface of the mounting shaft 32 and located on the upper side of the upper retaining ring 39 . A positioning column is fixedly connected to one side of the top of the upper retaining ring 39 . A positioning hole 311 is opened at the bottom of the driving ring 310 .

[0090] The number of the positioning holes 311 is 12, and the angle between two adjacent positioning holes 311 and the center of the driving ring 310 is 15 degrees.

[0091] A connecting rod 35 is fixedly connected to one side of the surface of the driving ring 310 , a U-shaped limiting block 36 is fixedly connected to one end of the connecting rod 35 , and a first magnet 38 is disposed at the bottom end of the mounting shaft 32 .

[0092] A limiting groove 4 is opened at the center of the top of the gimbal 1 , and a second magnet 5 is arranged at the bottom of the inner wall of the limiting groove 4 . When the positioning mounter 3 is applied to the gimbal 1 , the mounting shaft 32 is inserted into the limiting groove 4 at the top of the gimbal 1 .

[0093] The bottom of the first magnet 38 and the top of the second magnet 5 are of opposite polarity;

[0094] When a mounting hole is correspondingly opened on the outer side of the mounting portion at the top of the gimbal 1, the bottom end of the mounting shaft 32 is correspondingly inserted into the limiting groove 4 at the top of the gimbal 1, and the first magnet 38 and the second magnet 5 are correspondingly sucked and fixed, and then the two positioning bars 33 are correspondingly adjusted to an angle of 120 degrees between them;

[0095] Then push the driving ring 310 upwards to move the positioning hole 311 out of the positioning post 3112, so that one side of the positioning bar 33 of the connecting rod 35 moves 15 degrees. At this time, the positioning post 312 corresponds to the positioning hole 311, and then the positioning hole is set on the positioning post 312;

[0096] At this time, the corresponding area inside the U-shaped limit block 36 is the installation position of the infrared sensor 2. The corresponding holes are punched using tools, and then the angle of the connecting rod 35 is adjusted in the same way, and then holes are punched again. 12 holes are opened in sequence, and the holes are opened in a row. Scale lines are set on the U-shaped block, and the holes punched corresponding to the scale lines are a row. The operation is simple and it is convenient to determine the installation position of the infrared sensor 2.

[0097] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An automatic pan-tilt device developed based on infrared sensor, characterized in that , including PTZ; Infrared sensors, the infrared sensors are arranged on the peripheral side of the pan-tilt platform, the peripheral side of the pan-tilt platform and the external fixed connection light shield of the infrared sensor, the number of the infrared sensors is eight to twelve; The pan-tilt system is internally provided with a sensor signal amplification module group, an MCU data processing and control module, a pan-tilt control module and a temperature sensor, the output end of the infrared sensor is electrically connected to the input end of the sensor signal amplification module group, the output end of the sensor signal amplification module group is electrically connected to the input end of the MCU data processing and control module, the output end of the MCU data processing and control module is electrically connected to the input end of the pan-tilt control module, and the output end of the temperature sensor is electrically connected to the input end of the sensor signal amplification module group; A positioning installer, the positioning installer comprises a positioning ring and a mounting shaft, the surface of the mounting shaft is rotatably connected to two positioning bars, and a scale line is arranged on one side of the surface of the positioning ring; An upper retaining ring and a lower retaining ring are respectively fixedly connected on the surface of the mounting shaft and located on the upper and lower sides of the positioning strip, and both sides of the lower retaining ring are fixedly connected to the inner wall of the positioning ring through a fixing rod; A driving ring is sleeved on the surface of the mounting shaft and located on the upper side of the upper retaining ring, a positioning column is fixedly connected to one side of the top of the upper retaining ring, and a positioning hole is opened at the bottom of the driving ring; A connecting rod is fixedly connected to one side of the driving ring surface, a U-shaped limit block is fixedly connected to one end of the connecting rod, and a first magnet is arranged at the bottom end of the mounting shaft; A limiting groove is provided at the center of the top of the gimbal, and a second magnet is provided at the bottom of the inner wall of the limiting groove. When the positioning mounter is applied to the gimbal, the mounting shaft is inserted into the limiting groove at the top of the gimbal; The method for using the automatic pan-tilt device developed based on the infrared sensor includes the following steps: S1: initializing the device to obtain the current temperature value within the scope of each infrared sensor; S2: Obtain the ambient temperature and the temperature of each infrared sensor, compare the difference between the ambient temperature and the infrared sensor temperature, determine whether there is a difference, and determine the current working environment status of the gimbal; S3: When the temperature of the infrared sensor is normal, obtain the temperature change state of each infrared sensor to determine the location of the target human body; S4: Send control instructions to the gimbal control module to control the gimbal to rotate, and finally align the middle position of the sensor array with the target human body.

2. The automatic pan / tilt device based on infrared sensor as claimed in claim 1, characterized in that: The light shield is a Fresnel lens.

3. The automatic pan / tilt device based on infrared sensor as claimed in claim 1, characterized in that: In S1, when the infrared sensor has a temperature difference with the ambient temperature or is close to the human body temperature, the automatic human body tracking function is suspended and the manual mode is adopted.

4. The automatic pan / tilt device based on infrared sensor as claimed in claim 1, characterized in that: The method for determining the target human body position in S3 includes the following: Wherein, the number of the infrared sensors is eight; T1: Determine whether it is the first time that a human body appears and moves in the action area. If it is, if there is only one human body entering the range, it will be locked as the main target. If there are multiple human bodies, the one with the largest change intensity will be set as the main target; T2: If it is not the first time that a human body appears in the action area, determine whether it is the movement behavior of the main target. If it is the main target, determine whether the main target movement signal is within the range of infrared sensors 4 and 5; T3: When the main target is not in the range of infrared sensors No. 4 and No. 5, determine whether it is in the range of infrared sensors No. 6, 7, 8 or No. 1, 2, 3; T4: When the main target appears in the range of infrared sensors No. 1, 2, and 3, a command is sent to the gimbal control module to control the gimbal to turn left. When the main target appears in the range of infrared sensors No. 6, 7, and 8, a command is sent to the gimbal control module to control the gimbal to turn right.

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