Light supplement lamp control method and device, camera and storage medium

Abstract

The invention discloses a light supplement lamp control method and device, a camera and a storage medium. The method is applied to a camera, the camera comprises at least two cameras and at least two light supplement lamps, the cameras and the light supplement lamps are in one-to-one correspondence, and when a first camera and a corresponding first light supplement lamp synchronously rotate to a preset first limiting area, in the synchronous rotation process of a second camera and a corresponding second light supplement lamp, the first camera and the second light supplement lamp are in one-to-one correspondence with the first camera and the second light supplement lamp. Monitoring position information of a second light supplementing lamp in real time; wherein the first camera is the camera which rotates first in the at least two cameras, and the second camera is the other camera; a second limiting area of a second light supplementing lamp is obtained; when it is determined that the second light supplementing lamp rotates to the boundary position of the second limiting area according to the position information, the second light supplementing lamp is controlled to keep still at the boundary position of the second limiting area, and the second camera is controlled to continue to rotate towards the second limiting area or keep still. According to the scheme, the problem of local overexposure caused by overlapping of the light supplementing areas is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of cameras, and in particular to a fill light control method, device, camera and storage medium. Background Art

[0002] In recent years, binocular cameras and multi-cameras have been used more and more widely. They have diverse application scenarios, strong adaptability, and are cheaper than two or more monocular cameras. Taking binocular cameras as an example, binocular cameras are equipped with two hemispherical domes, each of which has a lens and a fill light inside. They can be used for front and back monitoring in corridor environments, right-angle monitoring at corners and intersections, and can also be used for horizontal expansion of monitoring areas. Figure 1a A schematic diagram of a scene of front and rear monitoring by a binocular camera provided by the prior art; Figure 1b A schematic diagram of a scene for right-angle monitoring using a binocular camera provided by the prior art; Figure 1c A schematic diagram of a scene for horizontal monitoring by a binocular camera provided in the prior art.

[0003] However, when used as a horizontally expanded monitoring area, due to the overlapping field of view angles and the fill light angle being larger than the lens field of view angle, there is a possibility of overlap in the fill light area, resulting in local overexposure. Figure 2a The following is a schematic diagram of the overlapping effect of the fill light area of ​​a binocular camera provided by the prior art. Figure 2a As shown in the figure, when the monitoring areas of hemisphere A and hemisphere B are adjusted to be horizontally spliced, the field of view angles will generally overlap partially. Due to the overlap of the field of view angles, and the fill light angle of the fill light (such as the dotted area) needs to be larger than the field of view angle of the camera (solid area), within the field of view angles S1 and S1, due to the simultaneous fill light of the two fill lights of hemisphere A and hemisphere B, this area may be over-filled and overexposed. If the brightness of the fill light is lowered so that this area is not overexposed, it will cause insufficient fill light in other areas. Figure 2b Another schematic diagram of the overlapping effect of the fill light area of ​​a binocular camera provided by the prior art. Figure 2b As shown in the figure, even if the monitoring areas of hemisphere A and hemisphere B do not overlap, overexposure will occur because the fill light angle is larger than the field of view. Summary of the invention

[0004] The present invention provides a fill light control method, device, camera and storage medium to solve the technical problem of local overexposure caused by overlapping fill light areas of binocular cameras or multi-cameras.

[0005] According to one aspect of the present invention, a fill light control method is provided, which is applied to a camera, wherein the camera includes at least two cameras and at least two fill lights, and the cameras correspond to the fill lights one by one. The method includes:

[0006] When the first camera and the corresponding first fill light rotate synchronously to a preset first limit area, during the synchronous rotation of the second camera and the corresponding second fill light, the position information of the second fill light is monitored in real time; wherein the first camera is the camera that rotates first among the at least two cameras, and the second camera is the other camera among the at least two cameras except the first camera;

[0007] Obtain a second limiting area of ​​the second fill light; wherein, when the first fill light is at any position outside the first limiting area, the overlapping area of ​​the fill light of the first fill light and the second fill light is not overexposed; when the second fill light is at any position outside the second limiting area, the overlapping area of ​​the fill light of the second fill light and the first fill light is not overexposed; when it is determined according to the position information that the second fill light rotates to the boundary position of the second limiting area, the second fill light is controlled to remain stationary at the boundary position of the second limiting area, and the second camera is controlled to continue to rotate toward the second limiting area or remain stationary.

[0008] According to another aspect of the present invention, a fill light control device is provided, which is applied to a camera, wherein the camera includes at least two cameras and at least two fill lights, and the cameras correspond to the fill lights one by one. The device includes:

[0009] A position monitoring module, used for monitoring the position information of the second fill light in real time during the synchronous rotation of the second camera and the corresponding second fill light when the first camera and the corresponding first fill light rotate synchronously to a preset first limit area; wherein the first camera is the camera that rotates first among the at least two cameras, and the second camera is the other camera among the at least two cameras except the first camera;

[0010] a limit area acquisition module, used for acquiring a second limit area of ​​the second fill light; wherein, when the first fill light is at any position outside the first limit area, the fill light overlapping area of ​​the first fill light and the second fill light is not overexposed; when the second fill light is at any position outside the second limit area, the fill light overlapping area of ​​the second fill light and the first fill light is not overexposed;

[0011] A fill light control module is used to control the second fill light to remain stationary at the boundary position of the second limiting area when it is determined according to the position information that the second fill light rotates to the boundary position of the second limiting area, and to control the second camera to continue to rotate toward the second limiting area or remain stationary.

[0012] According to another aspect of the present invention, a camera is provided, the camera comprising at least two cameras and at least two fill lights, the cameras corresponding to the fill lights one by one, and the camera further comprising:

[0013] at least one processor; and

[0014] a memory communicatively connected to the at least one processor; wherein,

[0015] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the fill light control method described in any embodiment of the present invention.

[0016] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the fill light control method described in any embodiment of the present invention when executed.

[0017] The fill light control scheme of the embodiment of the present invention is applied to a camera, wherein the camera includes at least two cameras and at least two fill lights, and the cameras correspond to the fill lights one by one. The method includes: when a first camera and a corresponding first fill light rotate synchronously to a preset first limit area, during the process of synchronous rotation of a second camera and a corresponding second fill light, real-time monitoring of the position information of the second fill light; wherein the first camera is the camera that rotates first among the at least two cameras, and the second camera is the other camera among the at least two cameras except the first camera; obtaining a second limit area of ​​the second fill light; wherein when the first fill light is at any position outside the first limit area, the fill light overlapping area of ​​the first fill light and the second fill light is not overexposed; when the second fill light is at any position outside the second limit area, the fill light overlapping area of ​​the second fill light and the first fill light is not overexposed; when it is determined according to the position information that the second fill light rotates to the boundary position of the second limit area, controlling the second fill light to remain stationary at the boundary position of the second limit area, and controlling the second camera to continue to rotate toward the second limit area or remain stationary. The technical solution provided by the embodiment of the present invention effectively solves the technical problem of local overexposure caused by overlapping fill light areas of binocular cameras or multi-cameras without affecting other scene applications.

[0018] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1a It is a schematic diagram of a scene provided by a binocular camera for front and rear monitoring provided by the prior art;

[0021] Figure 1b It is a schematic diagram of a scene provided by the prior art for a binocular camera to perform right-angle monitoring;

[0022] Figure 1c It is a schematic diagram of a scene for horizontal monitoring by a binocular camera provided by the prior art;

[0023] Figure 2aThis is a schematic diagram of the effect of overlapping fill-in light areas of a binocular camera provided by the prior art;

[0024] Figure 2b This is a schematic diagram of the effect of overlapping fill-in light areas of another binocular camera provided by the prior art;

[0025] Figure 3 is a flow chart of a fill light control method provided according to the first embodiment of the present invention;

[0026] Figure 4 is a schematic diagram of the structure of a binocular camera provided by an embodiment of the present invention;

[0027] Figure 5 is a top view of the rotation position of a binocular camera provided by an embodiment of the present invention;

[0028] Figure 6 It is a schematic diagram of the effect of overlapping fill light areas of a binocular camera provided by an embodiment of the present invention;

[0029] Figure 7a It is a schematic diagram of the effect of overlapping fill light areas of a binocular camera provided by an embodiment of the present invention;

[0030] Figure 7b It is a schematic diagram of the effect of overlapping fill light areas of another binocular camera provided by an embodiment of the present invention;

[0031] Figure 8 is a structural schematic diagram of a fill light control device provided according to Embodiment 3 of the present invention;

[0032] Fig. 9 It is a structural schematic diagram of a camera that implements the fill light control method of an embodiment of the present invention. DETAILED DESCRIPTION

[0033] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only 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 should fall within the scope of protection of the present invention.

[0034] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0035] Embodiment 1

[0036] Figure 3 A flow chart of a fill light control method is provided for the first embodiment of the present invention. This embodiment is applicable to the case of controlling the fill light of a binocular camera or a multi-camera. The method is applied to a camera, wherein the camera includes at least two cameras and at least two fill lights. The cameras correspond to the fill lights one by one. The fill light control device can be implemented in the form of hardware and / or software. The fill light control device can be configured in the camera. Figure 3 As shown, the method includes:

[0037] S310. When the first camera and the corresponding first fill light rotate synchronously to a pre-set first limit area, during the synchronous rotation of the second camera and the corresponding second fill light, the position information of the second fill light is monitored in real time; wherein the first camera is the camera that rotates first among the at least two cameras, and the second camera is the other camera among the at least two cameras except the first camera.

[0038] Among them, the camera includes at least two cameras and at least two fill lights, and the cameras correspond to the fill lights one by one. It can be understood that the camera is a binocular camera or a multi-eye camera. For example, the camera can be a binocular hemispherical camera or a multi-eye hemispherical camera, or a binocular spherical camera or a multi-eye spherical camera. It should be noted that the embodiment of the present invention does not limit the shape of the camera. In the embodiment of the present invention, the camera and the fill light that have a corresponding relationship in the camera can rotate synchronously or rotate separately. When the camera and the fill light that have a corresponding relationship rotate synchronously, the relative position between the camera and the fill light is fixed. The following takes the camera as a binocular camera as an example to explain the technical solution provided by the embodiment of the present invention. Exemplary, Figure 4 A schematic diagram of the structure of a binocular camera provided in an embodiment of the present invention.

[0039] In an embodiment of the present invention, when there is an overlapping area of ​​the field of view angles of the binocular camera or the multi-target camera, the fill light area will overlap because the fill light angle is larger than the field of view angle of the camera. Therefore, the distance between at least two cameras of the camera, the field of view angle of each camera and the fill light angle of each fill light are obtained, and the limit area of ​​each fill light is determined according to the distance between at least two cameras, the field of view angle of each camera and the fill light angle of each fill light. Among them, the limit area can be understood as an area where the fill light area overlaps and causes regional overexposure when each fill light is in the corresponding limit area at the same time. Exemplarily, Figure 5 A top view of the rotation position of a binocular camera provided by an embodiment of the present invention. Figure 5 As shown, when the camera in hemisphere A is in the position area corresponding to the inferior arc CD, and the camera in hemisphere B is in the position area corresponding to the inferior arc C'D', the fill light area of ​​the fill light in hemisphere A and the fill light area of ​​the fill light in hemisphere B may overlap, and the overlapping fill light area may cause overexposure when the camera in hemisphere A or the camera in hemisphere B monitors the picture.

[0040] Among them, the first limiting area is the limiting area corresponding to the first fill light in the camera. When the cameras and the corresponding fill lights of the camera rotate synchronously, there is a rotation order. In the embodiment of the present invention, the camera that rotates first is regarded as the first camera, the fill light corresponding to the first camera is regarded as the first fill light, the other cameras in the camera are regarded as the second camera, and the fill light corresponding to the second camera is regarded as the second fill light. It should be noted that the rotation order of the cameras is not fixed in different time periods. Therefore, the first camera and the corresponding first fill light, and the second camera and the corresponding second fill light are not fixed.

[0041] In the embodiment of the present invention, during the synchronous rotation of the first camera and the corresponding first fill light, the positions of the first camera and the corresponding first fill light are monitored in real time. When it is determined that the first fill light rotates to the pre-set first limit area (because the relative positions of the first camera and the first fill light are very close when the first camera and the first fill light rotate synchronously, it can also be understood that the first camera and the first fill light rotate synchronously to the pre-set first limit area), if the second camera and the corresponding fill light are also in the corresponding limit area, the fill light area may overlap, and the overlapping fill light area may be overexposed when the camera monitors the picture. When the first camera and the corresponding first fill light rotate synchronously to the non-limit area (the area other than the first limit area), no matter where the second camera and the corresponding second fill light are, the fill light area will not overlap, that is, the camera monitoring picture will not be overexposed. Therefore, when it is determined that the first camera and the corresponding first fill light rotate synchronously to the pre-set first limit area, during the synchronous rotation of the second camera, that is, the corresponding second fill light, the position information of the second fill light is monitored in real time to determine whether the monitoring image of the camera is likely to be overexposed based on the position information of the second fill light.

[0042] S320, obtaining a second limiting area of ​​the second fill light; wherein, when the first fill light is at any position outside the first limiting area, the overlapping area of ​​the fill light of the first fill light and the second fill light is not overexposed; when the second fill light is at any position outside the second limiting area, the overlapping area of ​​the fill light of the second fill light and the first fill light is not overexposed.

[0043] In the embodiment of the present invention, different fill lights in the camera correspond to different limiting areas, so a correspondence table between the fill lights of the camera and the limiting areas can be obtained, in which the limiting areas of each fill light of the camera are recorded. The limiting area of ​​the second fill light is searched according to the correspondence table between the fill lights and the limiting areas, and the limiting area of ​​the second fill light is used as the second limiting area.

[0044] Among them, when the first fill light is at any position outside the first limiting area, the fill light overlapping area between the first fill light and the second fill light will not be overexposed; when the second fill light is at any position outside the second limiting area, the fill light overlapping area between the second fill light and the first fill light will not be overexposed. It can be understood that when the first fill light is at any position outside the first limiting area, no matter where the second fill light is, there is no fill light overlapping area between the first fill light and the second fill light, or even if there is a fill light overlapping area between the first fill light and the second fill light, the fill light overlapping area will not be overexposed. When the second fill light is at any position outside the second limiting area, no matter where the first fill light is, there is no fill light overlapping area between the second fill light and the first fill light, or even if there is a fill light overlapping area between the second fill light and the first fill light, the fill light overlapping area will not be overexposed.

[0045] It can be understood that the first limiting area is the position area where the overlapping area of ​​the fill light of the first fill light and the second fill light may be overexposed when the second fill light reaches at least one position of the limiting area of ​​the second camera. That is, if the first fill light is in the first limiting area, when the second fill light reaches at least one position of the limiting area of ​​the second camera, the overlapping area of ​​the fill light of the first fill light and the second fill light will be overexposed. The second limiting area is the position area where the overlapping area of ​​the fill light of the second fill light and the first fill light may be overexposed when the first fill light reaches at least one position of the limiting area of ​​the first camera. That is, if the second fill light is in the second limiting area, when the first fill light reaches at least one position of the limiting area of ​​the first camera, the overlapping area of ​​the fill light of the first fill light and the second fill light will be overexposed. In order to avoid invalid rotation of the camera, the limiting area of ​​each camera can be set, such as Figure 5 As shown, the position area corresponding to the minor arc EF can be used as the limiting area of ​​the camera in hemisphere A, and the position area corresponding to the minor arc E'F' can be used as the limiting area of ​​the camera in hemisphere B. Therefore, the limiting area of ​​the fill light in hemisphere A is the position area where the overlapping area of ​​the fill light in hemisphere A and the fill light in hemisphere B may be overexposed when the fill light in hemisphere B reaches at least one position of the limiting area of ​​the camera in hemisphere B (the position area corresponding to the minor arc E'F'). Similarly, the limiting area of ​​the fill light in hemisphere B is the position area where the overlapping area of ​​the fill light in hemisphere A and the fill light in hemisphere B may be overexposed when the fill light in hemisphere A reaches at least one position of the limiting area of ​​the camera in hemisphere A (the position area corresponding to the minor arc EF).

[0046] It can be understood that the boundary position of the first limiting area is the critical position where the overlapping area of ​​the fill light of the first fill light and the second fill light is not overexposed when the second fill light reaches the limiting area of ​​the second camera. That is, if the first fill light continues to rotate toward the first limiting area through the boundary position of the first limiting area, if the second fill light reaches the limiting area of ​​the second camera, the overlapping area of ​​the fill light of the first fill light and the second fill light may be overexposed; and if the first fill light rotates away from the first limiting area through the boundary position of the first limiting area, even if the second fill light reaches the limiting area of ​​the second camera, the overlapping area of ​​the fill light of the first fill light and the second fill light will not be overexposed. The boundary position of the second limiting area is the critical position where the overlapping area of ​​the fill light of the first fill light and the second fill light is not overexposed when the first fill light reaches the limiting area of ​​the first camera. That is, if the second fill light continues to rotate toward the second limit area through the boundary position of the second limit area, if the first fill light reaches the limit area of ​​the first camera, the overlapped area of ​​the first fill light and the second fill light may be overexposed; and if the second fill light rotates away from the second limit area through the boundary position of the second limit area, even if the first fill light reaches the limit area of ​​the first camera, the overlapped area of ​​the first fill light and the second fill light will not be overexposed. Figure 5 As shown, the positions corresponding to E' and F' are respectively the boundary positions of the limiting area of ​​the fill light in hemisphere A, that is, when the fill light in hemisphere B reaches the limiting area of ​​the camera in hemisphere B, when the fill light in hemisphere A is at the position corresponding to E' or F', the area of ​​the fill light overlapping area of ​​the fill light in hemisphere A and the fill light in hemisphere B is just equal to the preset area threshold, or the fill light brightness corresponding to the fill light overlapping area is just equal to the preset fill light brightness threshold, which is the fill light brightness that ensures that the fill light overlapping area is just not overexposed. Similarly, the positions corresponding to E and F are respectively the boundary positions of the limiting area of ​​the fill light in hemisphere B, that is, when the fill light in hemisphere A reaches the limiting area of ​​the camera in hemisphere A, when the fill light in hemisphere B is at the position corresponding to E or F, the area of ​​the fill light overlapping area of ​​the fill light in hemisphere A and the fill light in hemisphere B is just equal to the preset area threshold, or the fill light brightness corresponding to the fill light overlapping area is just equal to the preset fill light brightness threshold, which is the fill light brightness that ensures that the fill light overlapping area is just not overexposed.

[0047] Optionally, obtaining a correspondence table between the fill light of the camera and the limit area includes: obtaining configuration information of the camera; wherein the configuration information includes the distance between the at least two cameras, the field of view of the at least two cameras and the fill light angle of the at least two fill lights; determining the limit areas of the at least two fill lights respectively according to the configuration information; generating a correspondence table between the fill light of the camera and the limit area according to the limit areas of the at least two fill lights. In an embodiment of the present invention, the relative position of each camera in the camera, the field of view of each camera and the fill light angle of each fill light all have an impact on the limit area of ​​each fill light. For example, the relative position of each camera in the camera and the field of view of each camera are fixed. The larger the fill light angle of each fill light, the larger the overlapping fill light area. In order to avoid overexposure of the surveillance image of the camera, the larger the limit area of ​​each fill light. Therefore, the distance between at least two cameras of the camera, the field of view angles of at least two cameras and the fill light angles of at least two fill lights are obtained, and the limit area of ​​each fill light is determined according to the above configuration information, so as to generate a corresponding relationship table between the fill lights of the camera and the limit areas. It should be noted that for a certain camera, its configuration information is fixed.

[0048] Optionally, the configuration information of the camera (the distance between at least two cameras, the field of view angles of at least two cameras, and the fill light angles of at least two fill lights) can also be directly obtained, and the second limiting area of ​​the second camera can be directly determined based on the configuration information.

[0049] Optionally, obtaining the second limiting area of ​​the second fill light includes: determining the current position of the first fill light in the first limiting area; and determining the second limiting area of ​​the second fill light according to the current position. The advantage of such a setting is that the limiting area of ​​the second fill light that matches the current position can be adaptively determined according to the current position of the first fill light.

[0050] It is understandable that at different time points, the first fill light is located at different positions in the first limiting area, so that the limiting area of ​​the second fill light where the fill light area of ​​the first fill light overlaps with the fill light area of ​​the second fill light is different. Therefore, in the embodiment of the present invention, the current position of the first fill light in the first limiting area is determined, that is, the specific position of the first fill light in the first limiting area is determined. According to the current position of the first fill light in the first limiting area, the second limiting area of ​​the second fill light is determined. Specifically, the position area of ​​all rotations of the second fill light is determined, and for each position point in the position area of ​​all rotations of the second fill light, it is determined whether there is an overlapping fill light area when the second fill light is at the current position point and the first fill light is at the current position of the first limiting area. If not, the current position point is used as the non-limiting area of ​​the second fill light. When there is an overlapping fill light area, it is further determined whether the overlapping fill light area will cause partial exposure of the surveillance image of the camera. If so, the position point is used as the limiting area, otherwise, the position point is used as the non-limiting area. The reason for this setting is that the middle of the fill light is brighter than the surrounding area, so if the overlapping fill light area between the first fill light and the second fill light is small enough, it will not cause overexposure of the camera's monitoring screen. Among them, it can be determined whether the overlapping fill light area will cause partial exposure of the camera's monitoring screen by judging whether the area of ​​the overlapping fill light area is less than the preset area threshold. For example, when the area of ​​the overlapping fill light area is less than the preset area threshold, it can be determined that the overlapping fill light area will not cause partial exposure of the camera's monitoring screen. Exemplary, Figure 6 A schematic diagram of the effect of overlapping fill light areas of a binocular camera provided by an embodiment of the present invention, such as Figure 6 As shown, although the fill-in area of ​​the fill-in light in hemisphere A overlaps with the fill-in area of ​​the fill-in light in hemisphere B, that is, Figure 6 However, since the overlapping fill-light area S3 is small, the binocular camera is not overexposed when monitoring the overlapping fill-light area S3 and the monitoring picture is clear.

[0051] Optionally, the current position includes a pitch angle and a horizontal rotation angle. When the camera is a spherical camera (binocular spherical camera or multi-eye spherical camera) or a hemispherical camera (binocular hemispherical camera or multi-eye hemispherical camera), the camera is at least biaxially rotatable. Taking the biaxial rotation of the camera as an example, the limiting area of ​​each fill light in the camera is not only related to the horizontal rotation angle of the fill light, but also to the longitudinal pitch angle of the fill light. For the same horizontal rotation angle, the longitudinal pitch angle is different, and the fill light overlap area is also different. Among them, the more parallel the longitudinal pitch angles of the two fill lights are, the larger the fill light overlap area is, and therefore, the larger the limiting area of ​​the fill light is. Conversely, the greater the difference between the longitudinal pitch angles of the two fill lights is, the smaller the fill light overlap area is, and therefore, the smaller the limiting area of ​​the fill light is. Figure 7a A schematic diagram of the effect of overlapping fill light areas of a binocular camera provided by an embodiment of the present invention, Figure 7b A schematic diagram of the effect of overlapping fill-in areas of another binocular camera provided by an embodiment of the present invention. Figure 7a and Figure 7b As shown, the fill light area of ​​each fill light can be regarded as a cone, and the top distance of the cone is the same. When the pitch angle of the fill light in hemisphere A is fixed, the pitch angle of the fill light in hemisphere B is consistent with the pitch angle of the fill light in hemisphere A, and the overlapping fill light area is the largest. As the pitch angle of the fill light in hemisphere B increases, the overlapping fill light area gradually becomes smaller. After the pitch angle of the fill light in hemisphere B reaches a certain angle, the two fill light areas have no intersection area. Therefore, the horizontal rotation angle and pitch angle of the first fill light in the first limit area are determined, and the second limit area of ​​the second fill light is determined according to the horizontal rotation angle and pitch angle of the first fill light. It can be understood that, under the premise that the horizontal rotation angle of the fill light is fixed, the limit area of ​​the fill light is affected by the pitch angle of the fill light, that is, when the horizontal rotation angle remains unchanged, the limit area of ​​the fill light changes with the change of the pitch angle of the fill light. Exemplarily, when the first fill light rotates horizontally to a pre-set first limiting area, the second fill light is triggered to limit. If the first fill light continues to rotate vertically, the limiting area of ​​the second fill light changes with the pitch angle of the first fill light. Therefore, the second limiting area of ​​the second fill light is determined based on the horizontal rotation angle and pitch angle of the first fill light.

[0052] S330. When it is determined according to the position information that the second fill light rotates to the boundary position of the second limiting area, the second fill light is controlled to remain stationary at the boundary position of the second limiting area, and the second camera is controlled to continue to rotate toward the second limiting area or remain stationary.

[0053] In an embodiment of the present invention, when it is determined that the second fill light is currently rotating to the boundary position of the second limit area according to the position information of the second fill light monitored in real time, it means that if the second fill light continues to rotate toward the second limit area, the fill light areas of the first fill light and the second fill light will overlap, and when the camera monitors the overlapping fill light area, overexposure will occur. Therefore, when it is determined that the second fill light rotates to the boundary position of the second limit area, the second fill light is controlled to remain stationary at the boundary position of the second limit area, and the second camera can continue to rotate toward the second limit area according to business needs, or it can remain stationary at the boundary position of the second limit area like the second fill light. It should be noted that when the second fill light remains stationary at the boundary position of the second limit area, and the second camera continues to rotate toward the second limit area, the second camera can use the first fill light to fill light the corresponding monitoring area, so the monitoring brightness of the corresponding monitoring area by the second camera can also be effectively guaranteed.

[0054] For example, Figure 5 As shown, the camera and fill-in light in hemisphere A rotate synchronously first, and the camera and fill-in light in hemisphere B rotate later. When the camera and fill-in light in hemisphere A rotate synchronously clockwise to the C position in the first limit area (the position area corresponding to the inferior arc CD), the position information of the camera and fill-in light in hemisphere B is monitored in real time. When it is determined that the camera and fill-in light in hemisphere B rotate synchronously to the boundary position C' of the second limit area (the position area corresponding to the inferior arc C'D'), the fill-in light in hemisphere B is controlled to remain stationary at the C' position, and the camera in hemisphere B can continue to rotate in the position area corresponding to the inferior arc C'D'. For another example, when the camera and fill-in light in hemisphere A rotate synchronously counterclockwise to the D position, the position information of the camera and fill-in light in hemisphere B is monitored in real time. When it is determined that the camera and fill-in light in hemisphere B rotate synchronously to the D' position, the fill-in light in hemisphere B is controlled to remain stationary at the D' position, and the camera in hemisphere B can continue to rotate in the position area corresponding to the inferior arc C'D'. Similarly, when the camera and fill light in hemisphere B rotate synchronously first, the camera and fill light in hemisphere A rotate later. The control principle is similar and will not be repeated here.

[0055] The fill light control method of the embodiment of the present invention is applied to a camera, wherein the camera includes at least two cameras and at least two fill lights, and the cameras correspond to the fill lights one by one. The method includes: when a first camera and a corresponding first fill light rotate synchronously to a preset first limit area, during the process of synchronous rotation of a second camera and a corresponding second fill light, real-time monitoring of the position information of the second fill light; wherein the first camera is the camera that rotates first among the at least two cameras, and the second camera is the other camera among the at least two cameras except the first camera; obtaining a second limit area of ​​the second fill light; wherein when the first fill light is at any position outside the first limit area, the fill light overlapping area of ​​the first fill light and the second fill light is not overexposed; when the second fill light is at any position outside the second limit area, the fill light overlapping area of ​​the second fill light and the first fill light is not overexposed; when it is determined according to the position information that the second fill light rotates to the boundary position of the second limit area, controlling the second fill light to remain stationary at the boundary position of the second limit area, and controlling the second camera to continue to rotate toward the second limit area or remain stationary. The technical solution provided by the embodiment of the present invention effectively solves the technical problem of local overexposure caused by overlapping fill light areas of binocular cameras or multi-cameras without affecting other scene applications.

[0056] In some embodiments, the second limiting area includes a third limiting area of ​​the second camera; controlling the second camera to continue to rotate toward the second limiting area includes: controlling the second camera to continue to rotate toward the second limiting area, and when determining that the second camera has rotated to the boundary position of the third limiting area, controlling the second camera to continue to rotate in a direction away from the third limiting area or to remain stationary at the boundary position of the third limiting area. Optionally, in the process of the second camera continuing to rotate in a direction away from the third limiting area, it also includes: before the second camera rotates to the boundary position of the second limiting area, controlling the second fill light to continue to remain stationary at the boundary position of the second limiting area, until the second camera rotates to the boundary position of the second limiting area, controlling the second camera and the second fill light to rotate synchronously.

[0057] like Figure 5As shown, when the camera in hemisphere A rotates to the position area corresponding to the minor arc EF, the field of view of the camera in hemisphere A will be greatly blocked by hemisphere B. Therefore, the monitoring of the position area corresponding to the minor arc EF by the camera in hemisphere A is not very meaningful. In order to avoid the invalid rotation of the camera, the position area corresponding to the minor arc EF can be used as the limit area of ​​the camera in hemisphere A. Similarly, the position area corresponding to the minor arc E'F' is used as the limit area of ​​the camera in hemisphere B. In extreme cases, E and F can be overlapped as a point, that is, the position E / F point. Similarly, E' and F' can also be overlapped as a point, that is, the position E' / F' point. It should be noted that the limit area of ​​each camera in the camera can be determined according to the distance between at least two cameras in the camera and the field of view of at least two cameras. Since the fill light angle of the fill light is larger than the field of view angle of the camera, the limit area of ​​the camera is smaller than the limit area of ​​the corresponding fill light, and the limit area of ​​the fill light includes the limit area of ​​the camera.

[0058] In the embodiment of the present invention, the second limiting area of ​​the second fill light includes the third limiting area of ​​the second camera. When it is determined that the second fill light rotates to the boundary position of the second limiting area, the second fill light is controlled to remain stationary at the boundary position of the second limiting area, and the second camera can be controlled to continue to rotate toward the second limiting area. When it is determined that the second camera rotates to the boundary position of the third limiting area, the second camera is controlled to continue to rotate in a direction away from the third limiting area or remain stationary at the boundary position of the third limiting area. It can be understood that the boundary position of the third limiting area is the limit position of the rotation of the second camera, that is, when the second camera rotates to the boundary position of the third limiting area, it is impossible to continue to rotate into the third limiting area, and can only continue to rotate in a direction away from the third limiting area or remain stationary at the boundary position of the third limiting area. For example, when the camera and fill light in hemisphere A rotate synchronously clockwise to position C, and the camera and fill light in hemisphere B rotate synchronously counterclockwise to position C', the fill light in hemisphere B remains stationary at position C', and the camera in hemisphere B can continue to rotate counterclockwise to position E' in the position area corresponding to the minor arc C'D'. When the camera in hemisphere B reaches position E', it starts to rotate clockwise from position E' to position C' or remains stationary at position E'. When the camera in hemisphere B rotates to position C', the fill light and camera in hemisphere B continue to rotate synchronously in the position area corresponding to the major arc C'D'.

[0059] As another example, when the camera and fill light in hemisphere A rotate synchronously counterclockwise to position D, and the camera and fill light in hemisphere B rotate synchronously clockwise to position D', the fill light in hemisphere B is controlled to remain stationary at position D', and the camera in hemisphere B can continue to rotate clockwise to position F' in the position area corresponding to the inferior arc C'D'. When the camera in hemisphere B reaches position F', it starts to rotate counterclockwise from position F' to position D' or remains stationary at position F'. When the camera in hemisphere B rotates to position D', the fill light and camera in hemisphere B continue to rotate synchronously in the position area corresponding to the superior arc C'D'.

[0060] Embodiment 2

[0061] Figure 8 This is a schematic diagram of the structure of a fill light control device provided by Embodiment 2 of the present invention. Figure 8 As shown, the device is applied to a camera, wherein the camera includes at least two cameras and at least two fill lights, and the cameras correspond to the fill lights one by one. The device includes:

[0062] The position monitoring module 810 is used to monitor the position information of the second fill light in real time during the synchronous rotation of the second camera and the corresponding second fill light when the first camera and the corresponding first fill light rotate synchronously to a preset first limit area; wherein the first camera is the camera that rotates first among the at least two cameras, and the second camera is the other camera among the at least two cameras except the first camera;

[0063] The limited area acquisition module 820 is used to acquire the second limited area of ​​the second fill light; wherein, when the first fill light is at any position outside the first limited area, the fill light overlapping area of ​​the first fill light and the second fill light is not overexposed; when the second fill light is at any position outside the second limited area, the fill light overlapping area of ​​the second fill light and the first fill light is not overexposed;

[0064] The fill light control module 830 is used to control the second fill light to remain stationary at the boundary position of the second limiting area when it is determined according to the position information that the second fill light rotates to the boundary position of the second limiting area, and to control the second camera to continue to rotate toward the second limiting area or remain stationary.

[0065] Optionally, the limit area acquisition module is used to:

[0066] Determining a current position of the first fill light within the first limiting area;

[0067] A second limiting area of ​​the second fill light is determined according to the current position.

[0068] Optionally, the current position includes a pitch angle and a horizontal rotation angle.

[0069] Optionally, the limit area acquisition module includes:

[0070] A correspondence table acquisition unit, used to acquire a correspondence table between the fill light of the camera and the limit area;

[0071] A limiting area determining unit is used to determine a second limiting area of ​​the second fill light according to the corresponding relationship table.

[0072] Optionally, the correspondence table acquiring unit is used to:

[0073] Acquire configuration information of the camera; wherein the configuration information includes the distance between the at least two cameras, the field of view angles of the at least two cameras, and the fill light angles of the at least two fill lights;

[0074] According to the configuration information, respectively determine the limiting areas of the at least two fill lights;

[0075] A correspondence table between the fill lights of the camera and the limit areas is generated according to the limit areas of the at least two fill lights.

[0076] Optionally, the second limiting area includes a third limiting area of ​​the second camera;

[0077] The fill light control module is used for:

[0078] Control the second camera to continue rotating toward the second limiting area, and when it is determined that the second camera has rotated to the boundary position of the third limiting area, control the second camera to continue rotating away from the third limiting area or remain stationary at the boundary position of the third limiting area.

[0079] Optionally, the device further comprises:

[0080] A synchronization control module is used to control the second fill light to continue to remain stationary at the boundary position of the second limiting area before the second camera rotates to the boundary position of the second limiting area as the second camera continues to rotate away from the third limiting area, and to control the second camera and the second fill light to rotate synchronously until the second camera rotates to the boundary position of the second limiting area.

[0081] The fill light control device provided in the embodiment of the present invention can execute the fill light control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0082] Embodiment 3

[0083] Fig. 9 A schematic diagram of a camera 10 that can be used to implement an embodiment of the present invention is shown. The camera is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The camera can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0084] like Fig. 9 As shown, the camera 10 has at least two cameras and at least two fill lights (not shown in the figure), and the cameras correspond to the fill lights one by one. The camera 10 also includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the camera 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0085] A number of components in the camera 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the camera 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0086] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the fill light control method.

[0087] In some embodiments, the fill light control method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the camera 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the fill light control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the fill light control method in any other appropriate manner (e.g., by means of firmware).

[0088] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0089] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0090] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0091] To provide interaction with a user, the systems and techniques described herein can be implemented on a camera having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the camera. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0092] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0093] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0094] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0095] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A fill light control method, characterized in that: Applied to a camera, wherein the camera includes at least two cameras and at least two fill lights, and the cameras correspond to the fill lights one by one. The method includes: When the first camera and the corresponding first fill light rotate synchronously to a preset first limit area, during the synchronous rotation of the second camera and the corresponding second fill light, the position information of the second fill light is monitored in real time; wherein the first camera is the camera that rotates first among the at least two cameras, and the second camera is the other camera among the at least two cameras except the first camera; Acquire a second limiting area of ​​the second fill light; wherein, when the first fill light is at any position outside the first limiting area, the fill light overlapping area of ​​the first fill light and the second fill light is not overexposed; when the second fill light is at any position outside the second limiting area, the fill light overlapping area of ​​the second fill light and the first fill light is not overexposed; When it is determined according to the position information that the second fill light rotates to the boundary position of the second limiting area, the second fill light is controlled to remain stationary at the boundary position of the second limiting area, and the second camera is controlled to continue to rotate toward the second limiting area or remain stationary.

2. The method according to claim 1, characterized in that Obtaining the second limiting area of ​​the second fill light includes: Determining a current position of the first fill light within the first limiting area; A second limiting area of ​​the second fill light is determined according to the current position.

3. The method according to claim 2, characterized in that The current position includes a pitch angle and a horizontal rotation angle.

4. The method according to claim 1, characterized in that: Obtaining the second limiting area of ​​the second fill light includes: Obtaining a correspondence table between the fill light of the camera and the limit area; A second limiting area of ​​the second fill light is determined according to the corresponding relationship table.

5. The method according to claim 4, characterized in that Obtaining a correspondence table between the fill light of the camera and the limit area, including: Acquire configuration information of the camera; wherein the configuration information includes the distance between the at least two cameras, the field of view angles of the at least two cameras, and the fill light angles of the at least two fill lights; According to the configuration information, respectively determine the limiting areas of the at least two fill lights; A correspondence table between the fill lights of the camera and the limit areas is generated according to the limit areas of the at least two fill lights.

6. The method according to claim 1, characterized in that A third limiting area including the second camera in the second limiting area; Controlling the second camera to continue to rotate toward the second limit area includes: Control the second camera to continue rotating toward the second limiting area, and when it is determined that the second camera has rotated to the boundary position of the third limiting area, control the second camera to continue rotating away from the third limiting area or remain stationary at the boundary position of the third limiting area.

7. The method according to claim 6, characterized in that In the process that the second camera continues to rotate in a direction away from the third limiting area, the method further includes: Before the second camera rotates to the boundary position of the second limiting area, the second fill light is controlled to remain stationary at the boundary position of the second limiting area. Until the second camera rotates to the boundary position of the second limiting area, the second camera and the second fill light are controlled to rotate synchronously.

8. A fill light control device, characterized in that: Applied to a camera, wherein the camera includes at least two cameras and at least two fill lights, the cameras correspond to the fill lights one by one, and the device includes: A position monitoring module, used for monitoring the position information of the second fill light in real time during the synchronous rotation of the second camera and the corresponding second fill light when the first camera and the corresponding first fill light rotate synchronously to a preset first limit area; wherein the first camera is the camera that rotates first among the at least two cameras, and the second camera is the other camera among the at least two cameras except the first camera; a limit area acquisition module, used for acquiring a second limit area of ​​the second fill light; when the first fill light is at any position outside the first limit area, the fill light overlapping area of ​​the first fill light and the second fill light is not overexposed; when the second fill light is at any position outside the second limit area, the fill light overlapping area of ​​the second fill light and the first fill light is not overexposed; A fill light control module is used to control the second fill light to remain stationary at the boundary position of the second limiting area when it is determined according to the position information that the second fill light rotates to the boundary position of the second limiting area, and to control the second camera to continue to rotate toward the second limiting area or remain stationary.

9. A camera, characterized in that: The camera includes at least two cameras and at least two fill lights, and the cameras correspond to the fill lights one by one. The camera also includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the fill light control method described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the fill light control method according to any one of claims 1 to 7 when executed.

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