Fill light method and device for camera equipment, electronic equipment and readable storage medium

Abstract

The present invention provides a fill light method, device, electronic device and readable storage medium for a camera device, relating to the field of camera technology. The camera device includes at least two lenses that can rotate relatively independently. The method includes: obtaining the focus distance of a current lens among the at least two lenses and the maximum fill light distance of a first fill light module corresponding to the current lens; when it is determined that the maximum fill light distance is less than the focus distance, controlling the first fill light module and second fill light modules corresponding to other lenses among the at least two lenses to fill light the current lens, thereby solving the technical problem of how to better fill light the lens in the prior art so that the lens can capture clear surveillance images.

Description

Technical Field

[0001] The present invention relates to the field of camera technology, and in particular to a fill light method and device for camera equipment, an electronic device, and a readable storage medium. Background Art

[0002] Multi-channel products are a development trend for cameras and related products. For example, Chinese utility model patent application number 201821922567.4 discloses a linked network camera, which specifically discloses a technical solution of setting a gun camera on each side of a ball camera. However, it only discloses the corresponding structure and does not elaborate on the technical solution for linked control.

[0003] In the existing technology, a reasonable number of fill lights are set based on the product specifications, maximum power consumption, and size of the camera equipment to increase the fill light distance so that the lens can capture clear surveillance images. However, since the fill light distance of the camera equipment is limited by the product specifications, maximum power consumption, and size of the camera equipment, long-distance fill light cannot be achieved.

[0004] Therefore, how to better fill light for the lens so that the lens can capture clear monitoring images is a technical problem that needs to be solved urgently by technical personnel in related fields. Summary of the Invention

[0005] The present invention provides a fill light method and device for a camera device, an electronic device and a readable storage medium, which are used to solve the technical problem in the prior art of how to better fill light for a lens so that the lens can capture clear monitoring images.

[0006] The present invention provides a fill light method for a camera device, wherein the camera device includes at least two lenses that can rotate relatively independently, and the method includes:

[0007] Obtaining a focus distance of a current lens among at least two lenses and a maximum fill light distance of a first fill light module corresponding to the current lens;

[0008] When it is determined that the maximum fill light distance is less than the focus distance, the first fill light module and second fill light modules corresponding to other lenses of the at least two lenses are controlled to perform fill light on the current lens.

[0009] According to a fill light method for a camera device provided by the present invention, controlling the first fill light module and the second fill light modules corresponding to the other lenses of the at least two lenses to perform fill light on the current lens includes:

[0010] Determining target fill light angles of the second fill light modules corresponding to the other lenses based on the field of view angle of the current lens;

[0011] Determining the priority order of the second fill light modules corresponding to each of the other lenses based on the target fill light angle;

[0012] determining a target fill light module from the second fill light modules corresponding to the other lenses based on the priority order and the current working status of the other lenses;

[0013] Controlling the first fill light module and the target fill light module to perform fill light on the current shot.

[0014] According to a fill light method for a camera device provided by the present invention, controlling the first fill light module and the target fill light module to perform fill light on the current lens includes:

[0015] Acquire a first distance between the current lens and a target monitoring position, and a lens spacing between a target lens corresponding to the target fill light module and the current lens;

[0016] Determining a second horizontal rotation angle of a second pan / tilt head corresponding to the target lens according to the first distance, the lens spacing, and a first horizontal rotation angle of a first pan / tilt head corresponding to the current lens;

[0017] Determining a second vertical rotation angle of a second pan / tilt head corresponding to the target lens based on a first vertical rotation angle of the first pan / tilt head;

[0018] controlling the first pan / tilt platform to rotate to a first fill light position based on the first horizontal rotation angle and the first vertical rotation angle, so that the first fill light module performs fill light on the current lens;

[0019] The second pan / tilt platform is controlled to rotate to a second fill light position based on the second horizontal rotation angle and the second vertical rotation angle, so that the target fill light module performs fill light on the current lens.

[0020] According to a fill light method for a camera device provided by the present invention, after controlling the second pan / tilt platform to rotate to a second fill light position based on the second horizontal rotation angle and the second vertical rotation angle, the method further includes:

[0021] Detecting whether the current fill light angle of the target fill light module is greater than the field of view angle of the current lens;

[0022] If it is determined that the current fill light angle is not greater than the field of view angle, adjusting the position of the second pan / tilt head until the current fill light angle is greater than the field of view angle;

[0023] Based on the current gimbal position of the second gimbal, the second fill light position is updated.

[0024] According to a fill light method for a camera device provided by the present invention, controlling the first fill light module and the target fill light module to perform fill light on the current lens includes:

[0025] Determining, based on current motion information of the monitored target, a first phase excitation sequence of a first pan / tilt head corresponding to the first fill light module and a second phase excitation sequence of a second pan / tilt head corresponding to the target fill light module;

[0026] Determining a first control signal frequency of the first pan-tilt head and a second control signal frequency of the second pan-tilt head based on current motion information of the monitored target;

[0027] controlling the first pan / tilt head to rotate to a third fill light position based on the first phase excitation sequence and the first control signal frequency, so that the first fill light module performs fill light on the current lens;

[0028] The second pan / tilt platform is controlled to rotate to a fourth fill light position based on the second phase excitation sequence and the second control signal frequency, so that the target fill light module performs fill light on the current lens.

[0029] According to a fill light method for a camera device provided by the present invention, determining a first phase excitation sequence of a first pan / tilt head corresponding to the first fill light module and a second phase excitation sequence of a second pan / tilt head corresponding to the target fill light module based on current motion information of a monitored target, comprising:

[0030] Determining a first pan-tilt direction of the first pan-tilt and a second pan-tilt direction corresponding to the second pan-tilt based on a current monitoring position of the monitoring target in the current motion information;

[0031] determining a first phase excitation sequence corresponding to the first pan-tilt platform based on a first pan-tilt platform direction of the first pan-tilt platform;

[0032] Based on a second pan-tilt direction corresponding to the second pan-tilt, a second phase excitation sequence corresponding to the second pan-tilt is determined.

[0033] According to a fill light method for a camera device provided by the present invention, determining a first control signal frequency of the first pan-tilt head and a second control signal frequency of the second pan-tilt head based on current motion information of the monitored target includes:

[0034] determining a first control signal frequency of the first pan / tilt head based on a current motion speed of the monitored target in the current motion information;

[0035] determining a first gimbal angular velocity of the first gimbal based on a first control signal frequency of the first gimbal;

[0036] determining a second gimbal angular velocity of the second gimbal based on the first gimbal angular velocity, a first step angle of the first gimbal, and a second step angle of the second gimbal;

[0037] A second control signal frequency of the second gimbal is determined based on a second gimbal angular velocity of the second gimbal.

[0038] The present invention also provides a fill light device for a camera device, comprising:

[0039] a data acquisition module, configured to acquire a focus distance of a current lens among at least two lenses and a maximum fill light distance of a first fill light module corresponding to the current lens;

[0040] The fill light control module is configured to control the first fill light module and second fill light modules corresponding to other lenses of the at least two lenses to perform fill light on the current lens when it is determined that the maximum fill light distance is less than the focus distance.

[0041] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the fill light method of any of the above-mentioned camera devices is implemented.

[0042] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the fill light method of the camera device as described above is implemented.

[0043] The fill light method, device, electronic device and readable storage medium of a camera device provided by the present invention, when determining that the maximum fill light distance of the first fill light module corresponding to the current lens is less than the focusing distance of the current lens, use the second fill light module corresponding to other lenses as an auxiliary fill light module, and fill light the current lens with the first fill light module corresponding to the current lens, so as to achieve the improvement of the final fill light distance of the camera device based on the superimposed fill light intensity of at least two fill light modules, so that the current lens can capture a clear monitoring image, and solve the technical problem of how to better fill light the lens in the prior art so that the lens can capture a clear monitoring image. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced one by one below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0045] Figure 1This is one of the flow charts of the fill light method for an imaging device provided by an embodiment of the present invention;

[0046] Figure 2 This is a second flow chart of the fill light method for an imaging device provided by an embodiment of the present invention;

[0047] Figure 3 This is a third flow chart of the fill light method for an imaging device provided by an embodiment of the present invention;

[0048] Figure 4 is a schematic diagram of a fill light direction determined based on a target monitoring position in an embodiment of the present invention;

[0049] Figure 5 This is a fourth flow chart of the fill light method for an imaging device provided by an embodiment of the present invention;

[0050] Figure 6 This is a fifth flow chart of the fill light method for an imaging device provided by an embodiment of the present invention;

[0051] Figure 7 This is a sixth flow chart of the fill light method for an imaging device provided by an embodiment of the present invention;

[0052] Figure 8 Schematic diagram of the corresponding relationship between the phase excitation sequence of the four-phase motor and the motor rotation direction in an embodiment of the present invention.

[0053] Figure 9 This is the seventh flow chart of the fill light method for an imaging device provided by an embodiment of the present invention;

[0054] Figure 10 2 is a schematic structural diagram of a fill light device for an imaging device provided by an embodiment of the present invention;

[0055] Figure 11 It is a structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0056] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0057] The following combination Figures 1-9 The present invention describes a method for filling light in an imaging device.

[0058] like Figure 1As shown, the present invention provides a fill light method for a camera device, wherein the camera device includes at least two lenses that can rotate relatively independently, and the method includes:

[0059] Step 101: Obtain a focus distance of a current lens among at least two lenses and a maximum fill light distance of a first fill light module corresponding to the current lens.

[0060] The first fill light module includes multiple fill lights, including but not limited to wide-angle fill lights, telephoto fill lights, and mid-focus fill lights. The focus distance is determined based on the focal length of the current lens. The focus distance represents the distance between the current lens and the target monitoring position when in focus. The maximum fill light distance represents the maximum illumination distance that the first fill light module can reach.

[0061] Step 102 : When it is determined that the maximum fill light distance is less than the focus distance, control the first fill light module and the second fill light modules corresponding to the other lenses of the at least two lenses to perform fill light on the current lens.

[0062] The second fill light module includes a plurality of fill lights, and the types of the fill lights include but are not limited to wide-angle fill lights, telephoto fill lights and mid-focus fill lights.

[0063] In the above steps 101 to 102, when it is determined that the maximum fill light distance of the first fill light module corresponding to the current lens is less than the focusing distance of the current lens, the second fill light module corresponding to other lenses is used as an auxiliary fill light module, and the first fill light module corresponding to the current lens is used to fill light the current lens, so as to improve the final fill light distance of the camera device based on the superimposed fill light intensity of at least two fill light modules, so that the current lens can capture a clear surveillance image, thereby solving the technical problem in the prior art of how to better fill light the lens so that the lens can capture a clear surveillance image.

[0064] In one embodiment, the fill light method for a camera device provided by the present invention further includes step 103: when it is determined that the maximum fill light distance is greater than or equal to the focus distance, controlling the first fill light module to perform fill light on the current lens.

[0065] In one embodiment, Figure 2 As shown, the above step 102 includes steps 201 to 204, wherein:

[0066] Step 201 : determining target fill light angles of second fill light modules corresponding to other lenses based on the field of view angle of the current lens.

[0067] In one embodiment, the field of view angle of the current lens is determined based on the focal length of the current lens. For each other lens, a target fill light angle of the second fill light module corresponding to the other lens is determined based on the type and number of fill lights in the second fill light module corresponding to the other lens, so that the target fill light angle is greater than or equal to the field of view angle.

[0068] Step 202: Determine the priority order of the second fill light modules corresponding to the other lenses based on the target fill light angle.

[0069] In one embodiment, the degree of similarity between the target fill light angle and the field of view angle of each second fill light module is obtained, and the priority order of each second fill light module is determined based on the degree of similarity. The higher the degree of similarity, the higher the priority of the corresponding second fill light module. Parameters used to measure the degree of similarity between the target fill light angle and the field of view angle include, but are not limited to, the angular difference or ratio between the target fill light angle and the field of view angle.

[0070] For example, the angle difference between the target fill light angle and the field angle of each second fill light module is obtained, and the priority order of each second fill light module is determined based on the angle difference. The smaller the angle difference, the higher the priority of the corresponding second fill light module.

[0071] Step 203 : determining a target fill light module from the second fill light modules corresponding to the other lenses based on the priority order and the current working status of the other lenses.

[0072] In one embodiment, the current working state of each other lens is determined based on whether each other lens is currently performing other operations. If the other lens is currently performing other operations, the current working state of the other lens is determined to be a non-idle state; if the other lens is not currently performing other operations, the current working state of the other lens is determined to be an idle state.

[0073] Furthermore, at least one other lens with the highest priority is determined as the target lens from among the multiple other lenses whose current working state is the idle state, and the second fill light module corresponding to the target lens is determined as the target fill light module.

[0074] Step 204: Control the first fill light module and the target fill light module to perform fill light on the current shot.

[0075] In the above steps 201 to 204, the field of view of the current lens is determined based on the focal length of the current lens, and the target fill light angle of the second fill light module corresponding to each other lens is determined based on the field of view of the current lens, and based on the target fill light angle, the target fill light module is determined from the second fill light modules corresponding to each other lens, so as to reasonably identify the fill light range that needs to be compensated based on the focal length of the lens, and determine the appropriate target fill light module based on the fill light range to assist fill light for the current lens, thereby improving the fill light effect of the lens, and enabling the current lens to capture a clear surveillance image.

[0076] In one embodiment, Figure 3 As shown, the above step 204 includes steps 301 to 305, wherein:

[0077] Step 301 : Acquire a first distance between a current lens and a target monitoring position, and a lens spacing between a target lens corresponding to a target fill light module and the current lens.

[0078] Among them, the current lens can be expressed as A, the target monitoring position can be expressed as B, the first distance can be expressed as L, the lens spacing can be expressed as ab, and the target monitoring position can be expressed as D.

[0079] In one embodiment, a first distance between the current lens and the target monitoring position is determined based on the number of focus steps of the current lens.

[0080] For example, Table 1 is a table of the correspondence between the magnification, field of view, zoom steps, and focus steps of the current lens A. As shown in Table 1, based on the focus steps of the current lens A in the telephoto range, it can be roughly inferred that the first distance L=110 between the current lens A and the target monitoring position D at this time.

[0081] Table 1 Correspondence between magnification, field of view, zoom steps and focus steps

[0082]

[0083] Step 302: Determine a second horizontal rotation angle of a second pan / tilt head corresponding to a target lens based on the first distance, the lens separation, and the first horizontal rotation angle of the first pan / tilt head corresponding to the current lens. The first horizontal rotation angle can be represented as α1, and the second horizontal rotation angle can be represented as β1. The target lens can be represented as B.

[0084] Step 303 : Determine a second vertical rotation angle of the second pan / tilt head corresponding to the target lens based on the first vertical rotation angle of the first pan / tilt head.

[0085] Specifically, the second vertical rotation angle of the second pan head is equal to the first vertical rotation angle of the first pan head. Therefore, based on the first vertical rotation angle of the first pan head, the second vertical rotation angle of the second pan head corresponding to the target lens can be obtained.

[0086] In one embodiment, based on the first horizontal rotation angle and the first vertical rotation angle of the first pan / tilt head, the first optical axis direction of the current lens A is determined, and based on the first optical axis direction, the approximate position of the target monitoring position is determined, so that Figure 4 The schematic diagram of the fill light direction is shown in FIG. 1 , wherein the first optical axis is directed toward Figure 4 AD direction in .

[0087] According to the first distance L, the lens spacing ab, and the first horizontal rotation angle α1 of the first pan / tilt head corresponding to the current lens A, the second horizontal rotation angle β1 of the second pan / tilt head corresponding to the target lens B is calculated, which can be expressed as the following formula (1):

[0088] tanβ1=(L*cos α1) / (ab-L*sin α1) (1)

[0089] Wherein, β1 represents the second horizontal rotation angle, L represents the first distance, α1 represents the first horizontal rotation angle, and ab represents the lens distance.

[0090] Based on the second horizontal rotation angle and the second vertical rotation angle of the second pan / tilt head, the second optical axis direction of the current lens B is determined, wherein the first optical axis direction is Figure 4 BD direction in.

[0091] Step 304 : Control the first pan / tilt platform to rotate to a first fill light position based on the first horizontal rotation angle and the first vertical rotation angle, so that the first fill light module performs fill light on the current lens.

[0092] In one embodiment, the first pan-tilt head is controlled to rotate to a first fill light position based on a first horizontal rotation angle and a first vertical rotation angle, and the position of the first pan-tilt head is adjusted so that the fill light target center of the first fill light module corresponds to the center of the target monitoring screen of the current lens, so as to improve the fill light effect of the current lens.

[0093] Step 305 : Control the second pan / tilt platform to rotate to a second fill light position based on the second horizontal rotation angle and the second vertical rotation angle, so that the target fill light module performs fill light on the current lens.

[0094] In one embodiment, the second pan-tilt head is controlled to rotate to a second fill light position based on a second horizontal rotation angle and a second vertical rotation angle, and the position of the second pan-tilt head is adjusted so that the fill light target center of the target fill light module corresponds to the center of the target monitoring screen of the current lens, so as to improve the fill light effect of the current lens.

[0095] In one embodiment, Figure 5 As shown, after the above step 305, the method further includes:

[0096] Step 401 : Detect whether the current fill light angle of the target fill light module is greater than the field of view angle of the current lens.

[0097] Step 402 : When it is determined that the current fill light angle is not greater than the field of view angle, adjust the position of the second gimbal until the current fill light angle is greater than the field of view angle.

[0098] Step 403: Update the second fill light position based on the current pan / tilt position of the second pan / tilt.

[0099] In the above steps 401 to 403, when it is detected that the current fill light angle of the target fill light module is not greater than the field of view angle of the current lens, the position of the second gimbal is adjusted until the current fill light angle is greater than the field of view angle, and the second fill light position is updated based on the current gimbal position of the second gimbal, so as to control the target fill light module to fill light the current lens according to the updated second fill light position, so as to further improve the fill light effect of the current lens.

[0100] In one embodiment, the brightness distribution data of the current monitoring screen captured by the current lens is obtained; the current pan-tilt position of the second pan-tilt is adjusted based on the brightness distribution data to drive the target fill light module to move to the new second fill light position to fill light the current lens, thereby further improving the fill light effect of the current lens.

[0101] For example, the current pan / tilt position of the second pan / tilt head may be adjusted according to the brightness distribution data of the edge position of the current monitoring picture to ensure that the current monitoring picture of the current lens is optimal.

[0102] In one embodiment, Figure 6 As shown, the above step 204 further includes steps 501 to 504, wherein:

[0103] Step 501 : Based on current motion information of a monitored target, determine a first phase excitation sequence of a first pan / tilt head corresponding to a first fill light module and a second phase excitation sequence of a second pan / tilt head corresponding to a target fill light module.

[0104] The current motion information includes the current monitoring position and current motion speed of the monitored target, with the current motion speed being a velocity vector. The first phase excitation sequence represents the order in which the current direction of the first pan-tilt motor in the first pan-tilt unit (PMU) is changed, thereby controlling the rotation direction of the first pan-tilt unit. The second phase excitation sequence represents the order in which the current direction of the second pan-tilt motor in the second pan-tilt unit (PMU) is changed, thereby controlling the rotation direction of the second pan-tilt unit (PMU) through the change in current direction.

[0105] Step 502 : Determine a first control signal frequency of the first pan-tilt head and a second control signal frequency of the second pan-tilt head based on current motion information of the monitored target.

[0106] The first control signal frequency represents the motor control signal frequency of the first pan-tilt motor in the first pan-tilt head, and the second control signal frequency represents the motor control signal frequency of the second pan-tilt motor in the second pan-tilt head.

[0107] Step 503 : Based on the first phase excitation sequence and the first control signal frequency, the first pan / tilt platform is controlled to rotate to a third fill light position, so that the first fill light module performs fill light on the current lens.

[0108] Step 504 : Based on the second phase excitation sequence and the second control signal frequency, the second pan / tilt platform is controlled to rotate to a fourth fill light position, so that the target fill light module performs fill light on the current lens.

[0109] In the above steps 501 to 504, the first phase excitation sequence and the first control signal frequency of the current first pan-tilt head and the second phase excitation sequence and the second control signal frequency of the second pan-tilt head are determined based on the current motion information of the monitored target, thereby controlling the first pan-tilt head to rotate to the third fill light position based on the first phase excitation sequence and the first control signal frequency, and controlling the second pan-tilt head to rotate to the fourth fill light position based on the second phase excitation sequence and the second control signal frequency to fill light the current lens, so as to realize real-time adjustment of the current fill light position of the first pan-tilt head and the second pan-tilt head based on the position change of the monitored target, thereby improving the fill light effect when capturing a moving monitored target, so that the current lens can capture a clear monitoring image. It can be seen that the fill light method of the camera device provided by the present invention can solve the technical problem of how to better fill light the lens in the prior art in both static monitoring scenarios and dynamic monitoring scenarios so that the lens can capture a clear monitoring image.

[0110] In one embodiment, Figure 7 As shown, the above step 501 includes steps 601 to 603, wherein:

[0111] Step 601 : determining a first pan-tilt direction of a first pan-tilt head and a second pan-tilt direction corresponding to a second pan-tilt head based on a current monitoring position of a monitoring target in current motion information.

[0112] Specifically, a first pan / tilt direction of the first pan / tilt head is determined based on a relative positional relationship between a current monitoring position of the monitoring target and a first lens position of the current lens. A second pan / tilt direction of the second pan / tilt head is determined based on a relative positional relationship between the current monitoring position of the monitoring target and a second lens position of the target lens.

[0113] like Figure 4 As shown, when the current monitoring position D of the monitored target is located between the current lens A and the target lens B, the first pan-tilt direction of the first pan-tilt is determined to be the right direction, and the second pan-tilt direction of the second pan-tilt is determined to be the left direction, that is, the first pan-tilt direction and the second pan-tilt direction are opposite.

[0114] By the same token, when the current monitoring position D of the monitored target is located to the right of the current lens A and the target lens B, it is determined that the first pan-tilt direction of the first pan-tilt and the second pan-tilt direction of the second pan-tilt are both to the right, that is, the first pan-tilt direction and the second pan-tilt direction are the same.

[0115] Similarly, when the current monitoring position D of the monitored target is located on the left side of the current lens A and the target lens B, it is determined that the first pan-tilt direction of the first pan-tilt head and the second pan-tilt direction of the second pan-tilt head are both on the left side, that is, the first pan-tilt direction and the second pan-tilt direction are the same.

[0116] Step 602 : Determine a first phase excitation sequence corresponding to the first pan-tilt platform based on a first pan-tilt platform direction.

[0117] Specifically, a first motor rotation direction of a first pan-tilt motor in the first pan-tilt is determined based on a first pan-tilt direction of the first pan-tilt, and a first phase excitation sequence of the first pan-tilt motor is determined based on the first motor rotation direction.

[0118] Furthermore, when the first motor rotates in a forward direction, the first phase excitation sequence is determined to be a CW (clockwise) phase excitation sequence. When the first motor rotates in a reverse direction, the first phase excitation sequence is determined to be a CCW (counter-clockwise) phase excitation sequence.

[0119] For example, Figure 8 It is a schematic diagram of the corresponding relationship between the phase excitation sequence of the four-phase motor and the motor direction. When the motor direction of the four-phase motor is forward, the current phase excitation sequence of the four-phase motor is the CW phase excitation sequence ( Figure 8In the order shown in ①), that is, STEP1-STEP2-STEP3-STEP4. When the motor direction of the four-phase motor is reverse, the current phase excitation sequence of the four-phase motor is the CCW phase excitation sequence ( Figure 8 The order shown in ② is STEP1-STEP4-STEP3-STEP2 or STEP4-STEP3-STEP2-STEP1.

[0120] Step 603: Determine a second phase excitation sequence corresponding to the second pan-tilt platform based on a second pan-tilt platform direction corresponding to the second pan-tilt platform.

[0121] Specifically, a second motor rotation direction of a second pan-tilt motor in the second pan-tilt is determined based on a second pan-tilt direction of the second pan-tilt, and a second phase excitation sequence of the second pan-tilt motor is determined based on the second motor rotation direction.

[0122] Furthermore, when the second motor rotates in the forward direction, the second phase excitation sequence is determined to be a CW (clockwise) phase excitation sequence. When the second motor rotates in the reverse direction, the second phase excitation sequence is determined to be a CCW (counter-clockwise) phase excitation sequence.

[0123] In one embodiment, Figure 9 As shown, the above step 502 includes steps 701 to 704, wherein:

[0124] Step 701: Determine a first control signal frequency of a first gimbal based on a current motion speed of a monitored target in current motion information. Step 702: Determine a first gimbal angular velocity of the first gimbal based on the first control signal frequency of the first gimbal.

[0125] The first control signal frequency can be expressed as Fa. The first gimbal angular velocity can be expressed as Wa. Specifically, based on the first control signal frequency Fa and the first step angle Sa of the first gimbal, a first operating speed Va=Fa*Sa of the first gimbal is determined, and based on the first operating speed Va, a first gimbal angular velocity Wa=Va*180 / π of the first gimbal is determined.

[0126] Step 703 : Determine a second gimbal angular velocity of the second gimbal based on the first gimbal angular velocity, the first step angle of the first gimbal, and the second step angle of the second gimbal.

[0127] The first step angle can be expressed as Sa, the second step angle can be expressed as Sb, and the second gimbal angular velocity can be expressed as Wb.

[0128] In one embodiment, the second gimbal angular velocity of the second gimbal can be calculated using the following formula (2):

[0129] tan(β1+Wb*△t)=(L*cos(α1+Wa*△t)) / (ab-L*sin(α1+Wa*△t)) (2)

[0130] Wherein, β1 represents the second horizontal rotation angle of the second pan-tilt head, Wb represents the second pan-tilt angular velocity of the second pan-tilt head, △t represents the time interval, L represents the first distance between the current lens and the target monitoring position, α1 represents the first horizontal rotation angle of the first pan-tilt head, Wa represents the first pan-tilt angular velocity of the first pan-tilt head, and ab represents the lens spacing between the current lens and the target lens.

[0131] Step 704 : Determine a second control signal frequency of the second gimbal based on a second gimbal angular velocity of the second gimbal.

[0132] Specifically, based on the second gimbal angular velocity Wb of the second gimbal, the second operating speed Vb of the second gimbal is calculated using the formula Wb=Vb*180 / π. Based on the second operating speed Vb and the second step angle Sb of the second gimbal, the second control signal frequency Fb of the second gimbal is calculated using the formula Vb=Fb*Sb.

[0133] The fill light device of the camera device provided by the present invention is described below. The fill light device of the camera device described below and the fill light method of the camera device described above can be referred to each other.

[0134] like Figure 10 As shown, the present invention provides a fill light device for a camera device, wherein the camera device includes at least two lenses that can rotate relatively independently. The fill light device 100 for the camera device includes:

[0135] The data acquisition module 101 is configured to acquire a focus distance of a current lens among at least two lenses and a maximum fill light distance of a first fill light module corresponding to the current lens.

[0136] The fill light control module 102 is configured to control the first fill light module and second fill light modules corresponding to other lenses of the at least two lenses to perform fill light on the current lens when it is determined that the maximum fill light distance is less than the focus distance.

[0137] In one embodiment, the fill light control module 102 includes:

[0138] The fill light angle determination unit is used to determine the target fill light angle of the second fill light module corresponding to each other lens based on the field of view angle of the current lens.

[0139] The priority determination unit is used to determine the priority order of the second fill light modules corresponding to each other lens based on the target fill light angle.

[0140] The fill light module determining unit is configured to determine a target fill light module from the second fill light modules corresponding to the other lenses based on a priority order and a current working state of the other lenses.

[0141] The combined fill light control unit is used to control the first fill light module and the target fill light module to perform fill light on the current lens.

[0142] In one embodiment, the combined fill light control unit includes:

[0143] The distance data acquisition subunit is used to acquire a first distance between the current lens and the target monitoring position, and a lens spacing between the target lens corresponding to the target fill light module and the current lens.

[0144] The first rotation determination subunit is used to determine the second horizontal rotation angle of the second pan / tilt head corresponding to the target lens according to the first distance, the lens spacing, and the first horizontal rotation angle of the first pan / tilt head corresponding to the current lens.

[0145] The second rotation determination subunit is used to determine a second vertical rotation angle of the second pan / tilt head corresponding to the target lens based on the first vertical rotation angle of the first pan / tilt head.

[0146] The first fill light control subunit is used to control the first pan / tilt platform to rotate to a first fill light position based on the first horizontal rotation angle and the first vertical rotation angle, so that the first fill light module fills light for the current lens.

[0147] The second fill light control subunit is used to control the second pan / tilt head to rotate to a second fill light position based on the second horizontal rotation angle and the second vertical rotation angle, so that the target fill light module fills light for the current lens.

[0148] In one embodiment, the combined fill light control unit also includes a fill light position updating subunit, which is used to detect whether the current fill light angle of the target fill light module is greater than the field of view angle of the current lens; when it is determined that the current fill light angle is not greater than the field of view angle, adjust the position of the second gimbal until the current fill light angle is greater than the field of view angle; and update the second fill light position based on the current gimbal position of the second gimbal.

[0149] In one embodiment, the combined fill light control unit further includes:

[0150] The phase excitation determination subunit is used to determine the first phase excitation sequence of the first pan / tilt head corresponding to the first fill light module and the second phase excitation sequence of the second pan / tilt head corresponding to the target fill light module based on the current motion information of the monitored target.

[0151] The signal frequency determination subunit is used to determine the first control signal frequency of the first pan-tilt head and the second control signal frequency of the second pan-tilt head based on the current motion information of the monitored target.

[0152] The third fill light control subunit is used to control the first pan / tilt head to rotate to a third fill light position based on the first phase excitation sequence and the first control signal frequency, so that the first fill light module fills light for the current lens.

[0153] The fourth fill light control subunit is used to control the second pan / tilt head to rotate to a fourth fill light position based on the second phase excitation sequence and the second control signal frequency, so that the target fill light module fills light for the current lens.

[0154] In one embodiment, the phase excitation determination subunit is also used to determine the first pan-tilt direction of the first pan-tilt and the second pan-tilt direction corresponding to the second pan-tilt based on the current monitoring position of the monitored target in the current motion information; determine the first phase excitation sequence corresponding to the first pan-tilt based on the first pan-tilt direction of the first pan-tilt; and determine the second phase excitation sequence corresponding to the second pan-tilt based on the second pan-tilt direction corresponding to the second pan-tilt.

[0155] In one embodiment, the signal frequency determination subunit is also used to determine the first control signal frequency of the first gimbal based on the current motion speed of the monitored target in the current motion information; determine the first gimbal angular velocity of the first gimbal based on the first control signal frequency of the first gimbal; determine the second gimbal angular velocity of the second gimbal based on the first gimbal angular velocity, the first step angle of the first gimbal and the second step angle of the second gimbal; and determine the second control signal frequency of the second gimbal based on the second gimbal angular velocity of the second gimbal.

[0156] Figure 11 An example of a physical structure diagram of an electronic device is shown below. Figure 11 As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830, and a communication bus 840, wherein the processor 810, the communication interface 820, and the memory 830 communicate with each other via the communication bus 840. The processor 810 may call the logic instructions in the memory 830 to execute the fill light method of the camera device provided by the above methods, which includes: obtaining the focus distance of the current lens of the at least two lenses and the maximum fill light distance of the first fill light module corresponding to the current lens; if it is determined that the maximum fill light distance is less than the focus distance, controlling the first fill light module and the second fill light modules corresponding to the other lenses of the at least two lenses to fill light the current lens.

[0157] In addition, the logic instructions in the above-mentioned memory 830 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this 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. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc. Various media that can store program codes.

[0158] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, it is implemented to execute the fill light method of the camera device provided by the above-mentioned methods, the method including: obtaining the focus distance of the current lens among the at least two lenses and the maximum fill light distance of the first fill light module corresponding to the current lens; when it is determined that the maximum fill light distance is less than the focus distance, controlling the first fill light module and the second fill light modules corresponding to the other lenses among the at least two lenses to perform fill light on the current lens.

[0159] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units. That is, they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0160] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus the necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods of each embodiment or certain parts of the embodiment.

[0161] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A fill light method for a camera device, characterized in that: The camera device includes at least two lenses that can rotate relatively independently, and the method includes: Obtaining a focus distance of a current lens among at least two lenses and a maximum fill light distance of a first fill light module corresponding to the current lens; If it is determined that the maximum fill light distance is less than the focus distance, determining a target fill light angle of the second fill light module corresponding to the other lens based on the type and number of fill lights in the second fill light module corresponding to the other lens; Determining a priority order of the second fill light modules corresponding to each of the other lenses based on a degree of similarity between the target fill light angle and the field of view angle of the current lens; determining a target fill light module from the second fill light modules corresponding to the other lenses based on the priority order and the current working status of the other lenses; Controlling the first fill light module and the target fill light module to perform fill light on the current shot.

2. The fill light method of the camera device according to claim 1, characterized in that: The controlling the first fill light module and the target fill light module to perform fill light on the current shot includes: Acquire a first distance between the current lens and a target monitoring position, and a lens spacing between a target lens corresponding to the target fill light module and the current lens; Determining a second horizontal rotation angle of a second pan / tilt head corresponding to the target lens according to the first distance, the lens spacing, and a first horizontal rotation angle of a first pan / tilt head corresponding to the current lens; Determining a second vertical rotation angle of a second pan / tilt head corresponding to the target lens based on a first vertical rotation angle of the first pan / tilt head; controlling the first pan / tilt platform to rotate to a first fill light position based on the first horizontal rotation angle and the first vertical rotation angle, so that the first fill light module performs fill light on the current lens; The second pan / tilt platform is controlled to rotate to a second fill light position based on the second horizontal rotation angle and the second vertical rotation angle, so that the target fill light module performs fill light on the current lens.

3. The fill light method of the camera device according to claim 2, characterized in that: After controlling the second pan / tilt platform to rotate to a second fill light position based on the second horizontal rotation angle and the second vertical rotation angle, the method further includes: Detecting whether the current fill light angle of the target fill light module is greater than the field of view angle of the current lens; If it is determined that the current fill light angle is not greater than the field of view angle, adjusting the position of the second pan / tilt head until the current fill light angle is greater than the field of view angle; Based on the current gimbal position of the second gimbal, the second fill light position is updated.

4. The fill light method for an imaging device according to any one of claims 1 to 3, characterized in that: The controlling the first fill light module and the target fill light module to perform fill light on the current shot includes: Determining, based on current motion information of the monitored target, a first phase excitation sequence of a first pan / tilt head corresponding to the first fill light module and a second phase excitation sequence of a second pan / tilt head corresponding to the target fill light module; Determining a first control signal frequency of the first pan-tilt head and a second control signal frequency of the second pan-tilt head based on current motion information of the monitored target; controlling the first pan / tilt head to rotate to a third fill light position based on the first phase excitation sequence and the first control signal frequency, so that the first fill light module performs fill light on the current lens; The second pan / tilt platform is controlled to rotate to a fourth fill light position based on the second phase excitation sequence and the second control signal frequency, so that the target fill light module performs fill light on the current lens.

5. The fill light method of the camera device according to claim 4, characterized in that: The determining, based on current motion information of the monitored target, a first phase excitation sequence of the first pan / tilt head corresponding to the first fill light module and a second phase excitation sequence of the second pan / tilt head corresponding to the target fill light module includes: Determining a first pan-tilt direction of the first pan-tilt and a second pan-tilt direction corresponding to the second pan-tilt based on a current monitoring position of the monitoring target in the current motion information; determining a first phase excitation sequence corresponding to the first pan-tilt platform based on a first pan-tilt platform direction of the first pan-tilt platform; Based on a second pan-tilt direction corresponding to the second pan-tilt, a second phase excitation sequence corresponding to the second pan-tilt is determined.

6. The fill light method of the camera device according to claim 4, characterized in that: The determining, based on the current motion information of the monitored target, a first control signal frequency of the first pan-tilt head and a second control signal frequency of the second pan-tilt head, includes: determining a first control signal frequency of the first pan / tilt head based on a current motion speed of the monitored target in the current motion information; determining a first gimbal angular velocity of the first gimbal based on a first control signal frequency of the first gimbal; determining a second gimbal angular velocity of the second gimbal based on the first gimbal angular velocity, a first step angle of the first gimbal, and a second step angle of the second gimbal; A second control signal frequency of the second gimbal is determined based on a second gimbal angular velocity of the second gimbal.

7. A fill light device for a camera device, characterized in that: include: a data acquisition module, configured to acquire a focus distance of a current lens among at least two lenses and a maximum fill light distance of a first fill light module corresponding to the current lens; a fill light control module, configured to determine, when it is determined that the maximum fill light distance is less than the focus distance, a target fill light angle of the second fill light module corresponding to the other lens based on the type and number of fill lights in the second fill light module corresponding to the other lens; a fill light angle determination unit, configured to determine a priority order of the second fill light modules corresponding to each of the other lenses based on a degree of similarity between the target fill light angle and the field of view angle of the current lens; a priority determination unit, configured to determine a target fill light module from the second fill light modules corresponding to the other lenses based on the priority order and the current working status of the other lenses; The fill light module determining unit is configured to control the first fill light module and the target fill light module to perform fill light on the current shot.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the fill light method for the camera device according to any one of claims 1 to 6 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the fill light method for an imaging device according to any one of claims 1 to 6 is implemented.

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