Temperature adjusting method and camera device

Abstract

The invention provides a temperature adjusting method and a camera device, and relates to the technical field of photography. The temperature adjusting method is applied to a controller in the camera device, and the camera device comprises an imaging sensor, the controller and a temperature modulation device. The controller is connected with the imaging sensor and the temperature modulation device; the temperature modulation device is attached to the non-sensing surface of the imaging sensor; the method comprises the following steps: determining a target temperature for shooting by an imaging sensor according to the brightness condition of a shot target object; determining temperature difference data according to the target temperature and the detection temperature of the imaging sensor in the detected period; according to the temperature difference data and an initial parameter of a controller, determining a control signal of an undetected period; and adjusting the temperature modulation power of the temperature modulation device based on the plurality of control signals. The temperature modulation process is controlled in real time according to the actual temperature and the needed temperature, the fogging situation caused by the too high temperature adjustment speed is reduced, and the quality of the shot image is effectively improved.

Description

Technical Field

[0001] The present application relates to the field of photographic technology, and in particular to a temperature adjustment method and a camera device. Background Art

[0002] In the field of photography, especially photography under low light conditions, such as astronomical photography, since the target is usually very dim, especially deep space targets such as nebulae, it is necessary to increase the camera gain and perform long exposure to shoot. However, long exposure will cause the thermal noise of the camera to become significant.

[0003] At present, in order to reduce the thermal noise of the camera, the camera is usually subjected to temperature modulation. For example, water cooling and other equipment are used to reduce the temperature of the camera when it is working. The imaging sensor of the camera is usually set in a closed cavity, for example, the imaging sensor is set in a structure such as a lens barrel. In actual use scenarios, due to the temperature difference between the inside and outside of the cavity, a pressure difference is generated, causing the external gas to enter the cavity due to the change in internal and external pressures to produce water vapor. Even if a desiccant is placed, due to the use time and water absorption rate of the desiccant, there is usually still a small amount of water vapor in the cavity. In the process of temperature modulation of the camera, if the imaging sensor cools down too slowly, the thermal noise of the camera will have an adverse effect on the quality of the collected image. If the imaging sensor cools down too quickly, the temperature of the imaging sensor will be lower than the dew point of the surrounding air in a short time. Due to the water vapor in the cavity, the protective window surface corresponding to the imaging sensor will produce fogging, affecting the normal shooting function of the camera, thereby adversely affecting the quality of the image. Summary of the invention

[0004] In view of this, an object of the embodiments of the present application is to provide a temperature adjustment method and a camera device to improve the problem in the prior art that fogging adversely affects image quality.

[0005] In order to solve the above problems, in a first aspect, an embodiment of the present application provides a temperature adjustment method, which is applied to a controller in a camera device, wherein the camera device includes an imaging sensor, the controller, and a temperature modulation device; wherein the controller is connected to the imaging sensor and the temperature modulation device; and the temperature modulation device is attached to a non-sensing surface of the imaging sensor;

[0006] The method comprises:

[0007] Determining a target temperature for photographing by the imaging sensor according to the brightness of the photographed target object;

[0008] Determining temperature difference data according to the target temperature and the detected temperature of the imaging sensor in a detected cycle;

[0009] Determining a control signal for an undetected period according to the temperature difference data and initial parameters of the controller;

[0010] Based on the multiple control signals, the temperature modulation power of the temperature modulation device is adjusted.

[0011] In the above implementation process, before shooting, the controller can determine the target temperature suitable for the camera to shoot according to the actual brightness of the target object to be shot, determine the temperature difference data between the target temperature and the detection temperature of the imaging sensor in the detected cycle by periodic segmented adjustment, and obtain the control signal for temperature regulation control of the subsequent undetected cycle in combination with the initial parameters of the controller, so as to adjust the temperature modulation power of the temperature modulation device in real time and dynamically through the control signals of multiple cycles. The temperature modulation process can be periodically controlled in real time according to the actual and required temperature, thereby reducing the noise of the imaging sensor and the fogging of the protective window surface corresponding to the imaging sensor caused by the excessively fast temperature regulation rate, and enabling the camera device to shoot at a stable working temperature, effectively improving the quality of the image obtained by shooting, and being suitable for a variety of application scenarios with different shooting targets to meet the various shooting needs of users.

[0012] Optionally, the cycle time of the detection cycle is set based on the transmission amount of the camera device, the detected cycle includes a historical detection cycle and a current detection cycle; the temperature difference data includes: the current cycle temperature difference, the cycle temperature change and the accumulated temperature difference;

[0013] Determining temperature difference data according to the target temperature and the detected temperature of the imaging sensor in a detected cycle includes:

[0014] Determine a current detection temperature of the imaging sensor in the current detection cycle detected by a temperature sensor provided on the imaging sensor, and a historical detection temperature of the imaging sensor in a previous historical detection cycle;

[0015] Determining a current cycle temperature difference of the current detection cycle according to the target temperature and the current detection temperature;

[0016] Determining the periodic temperature variation according to the current detected temperature and the historical detected temperature;

[0017] Determine a plurality of historical period temperature differences of the imaging sensor in the detected period;

[0018] Based on the temperature differences of a plurality of the historical periods, the accumulated temperature difference of the detected period is determined.

[0019] In the above implementation process, the cycle time of the detection cycle for periodic detection and adjustment can be set and adjusted according to the transmission volume of the camera device, so as to detect the temperature of the imaging sensor in real time without affecting the normal transmission of the camera device. The detected cycle can include the historical detection cycle that has been detected and adjusted and the cycle that is currently in the detection state. The corresponding temperature sensor can be set on the imaging sensor to periodically detect the temperature of the imaging sensor. The target temperature, the current detection temperature detected by the imaging sensor in the current detection cycle, and the historical detection temperature of the imaging sensor in the previous historical detection cycle can be obtained to determine the current cycle temperature difference representing the gap between the current actual temperature and the ideal temperature according to the target temperature and the current detection temperature. The periodic temperature change representing the temperature change between two adjacent cycles can also be determined according to the current detection temperature and the historical detection temperature. In addition, considering the overall temperature change in multiple cycles under the time dimension, the cumulative temperature difference representing the sum of the temperature differences of multiple detected cycles can also be determined according to the temperature differences of multiple historical cycles of the imaging sensor under multiple detected cycles. The current cycle temperature difference representing the temperature gap within the cycle, the cycle temperature change representing the temperature change of adjacent cycles, and the cumulative temperature difference representing the overall temperature change under multiple cycles can be used as corresponding temperature difference data, which effectively improves the effectiveness of the temperature difference data and improves the effectiveness of adjusting the temperature modulation power of the temperature modulation device based on the control signal generated by the temperature difference data, thereby improving the accuracy of temperature regulation of the imaging sensor.

[0020] Optionally, determining the control signal of the undetected period according to the temperature difference data and the initial parameters of the controller includes:

[0021] Adjust the set initial parameters according to the temperature difference data to obtain control parameters;

[0022] determining a control output based on the control parameter;

[0023] Determining a target temperature modulation power of the temperature modulation device in the next undetected period according to the control output;

[0024] Based on the target temperature modulation power, the control signal of the next undetected period is determined; wherein the control signal includes a pulse modulation signal.

[0025] In the above implementation process, when determining the control signal of the undetected cycle, the initial parameters set in the controller can be adjusted according to the temperature difference data to obtain the corresponding control parameters, thereby determining the control output of the controller based on the control parameters, and determining the target temperature modulation power corresponding to the temperature modulation device in the next undetected cycle according to the corresponding relationship between the control output and the temperature modulation power, so as to determine the corresponding pulse adjustment signal according to the target temperature modulation power as the control signal for adjusting the temperature modulation device from the current temperature modulation power to the target temperature modulation power in the next undetected cycle. The parameter value of the initial parameter can be adjusted according to the actual temperature difference data, and the power of the temperature modulation device in the next undetected cycle can be adjusted by the pulse modulation signal, which effectively improves the accuracy and efficiency of adjusting the power of the temperature modulation device.

[0026] Optionally, the initial parameters include: an initial proportional coefficient, an initial integral coefficient and an initial differential coefficient; the control parameters include: a control proportional coefficient, a control integral coefficient and a control differential coefficient;

[0027] The step of adjusting the set initial parameters according to the temperature difference data to obtain control parameters includes:

[0028] Calculating the control proportional coefficient based on the current period temperature difference in the temperature difference data and the initial proportional coefficient;

[0029] Calculating the control integral coefficient based on the accumulated temperature difference in the temperature difference data and the initial integral coefficient;

[0030] The control differential coefficient is calculated based on the periodic temperature variation in the temperature difference data and the initial differential coefficient.

[0031] In the above implementation process, the current cycle temperature difference representing the temperature difference within the cycle and the initial proportional coefficient representing the linear relationship between the controller output and the error in the initial parameters can be used to calculate and obtain the adjusted control proportional coefficient. The adjusted control integral coefficient can be calculated based on the cumulative temperature difference representing the overall temperature change under multiple cycles and the initial integral coefficient for adjusting the cumulative amount of error in the controller in the initial parameters. The adjusted control differential coefficient can be calculated based on the cycle temperature change representing the temperature change of adjacent cycles and the initial differential coefficient for adjusting the error change rate in the controller in the initial parameters. Different types of parameters in the initial parameters can be adjusted separately according to various types of temperature difference data, so as to optimize the initial parameters of the controller from multiple angles such as the linear relationship of the error, the cumulative amount of the error, and the rate of change of the error, so as to obtain control parameters that meet the temperature adjustment requirements between the current detection temperature and the target temperature.

[0032] Optionally, determining the control output based on the control parameter includes:

[0033] Determining a temperature change rate of the current detection cycle according to the historical detection temperature, the current detection temperature and the cycle time;

[0034] If it is determined that the temperature change rate is greater than or equal to a preset temperature change threshold, determining the control output according to the control proportional coefficient and the control integral coefficient;

[0035] If it is determined that the temperature change rate is less than the temperature change threshold, the control output is determined according to the control proportional coefficient, the control integral coefficient and the control differential coefficient.

[0036] In the above implementation process, it is considered that there are two stages in the entire temperature adjustment process: the first stage with a faster temperature change and the second stage with a slower temperature change. Considering that the temperature value changes less in the temperature change process of the first stage, the protective window corresponding to the imaging sensor will basically not produce adverse conditions such as fogging. Therefore, in order to increase the temperature change speed of the first stage to improve the efficiency of the overall temperature adjustment process, the temperature change rate of the current cycle can be calculated according to the target temperature, the current detection temperature and the cycle time. When the temperature change rate is greater than or equal to the preset temperature change threshold, it indicates that the temperature changes faster and belongs to the first stage of the adjustment process. Considering that the control proportional coefficient has a greater impact on the temperature adjustment rate, and the control differential coefficient will inhibit the temperature adjustment rate, therefore, the control output can be directly determined according to the control proportional coefficient and the control integral coefficient. When the temperature change is less than the preset temperature change threshold, it indicates that the temperature changes slowly and belongs to the second stage of the adjustment process. The control output can be determined according to the control proportional coefficient, the control integral coefficient and the control differential coefficient to reduce the pseudo-steady state of the temperature near the target temperature, so that the imaging sensor can reach the required target temperature, and the accuracy of temperature adjustment is effectively improved.

[0037] Optionally, the initial parameters are determined by:

[0038] Determining multiple temperature adjustment rates of the imaging sensor and clarity conditions of the imaging sensor under multiple groups of test parameters;

[0039] Determining whether the clarity condition meets a preset clarity condition;

[0040] If it is determined that the clarity condition satisfies the clarity condition, the test parameter with the highest temperature adjustment rate is selected as the initial parameter.

[0041] In the above implementation process, considering the differences in the model types of each imaging sensor and the differences in the shooting scenes, before temperature adjustment, multiple sets of test parameters can be set in the controller for multiple tests to determine the temperature adjustment rate corresponding to the imaging sensor under the multiple sets of test parameters and the clarity of the imaging sensor under the corresponding temperature adjustment rate, and analyze the clarity to determine whether the clarity meets the preset clarity conditions, so as to determine whether there are adverse conditions such as fogging on the protective window corresponding to the imaging sensor. When it is determined that the clarity condition meets the clarity condition, it indicates that there is no fogging on the protective window, and the imaging sensor is working normally. In the multiple test results, the test parameters with the highest temperature adjustment rate that meet the clarity condition can be selected as the corresponding initial parameters. It can effectively balance the temperature adjustment rate and clarity of the imaging sensor, so as to perform temperature modulation on the imaging sensor at the fastest rate without generating adverse conditions such as fogging, and effectively optimize the speed and effect of temperature modulation.

[0042] Optionally, determining the target temperature for photographing by the imaging sensor according to the brightness of the photographed target object includes:

[0043] Determining the brightness of the target object according to the captured image or identity information of the target object;

[0044] Determining the exposure time of the imaging sensor according to the brightness condition;

[0045] Determining a noise condition of the imaging sensor according to the exposure time;

[0046] The target temperature for photographing by the imaging sensor is determined according to the noise condition.

[0047] In the above implementation process, brightness detection can be performed based on the captured image of the target object to determine the brightness of the target object. The target object's identity information can also be used to query the database to determine the brightness of the target object, so as to determine the exposure time required for the imaging sensor to shoot based on the brightness, and then determine the noise of the imaging sensor under this exposure condition based on the exposure time. In order to reduce the noise points of the image caused by the noise and improve the image quality, a target temperature with low noise suitable for the imaging sensor to shoot can be determined based on the noise. The target temperature suitable for shooting can be selected based on the actual brightness of the target object to reduce the adverse effects of noise caused by long-term exposure and other conditions on the image quality.

[0048] In a second aspect, an embodiment of the present application provides a camera device, the device comprising: an imaging sensor, a controller, and a temperature modulation device;

[0049] The controller is connected to the imaging sensor and the temperature modulation device; the temperature modulation device is arranged on the non-sensing surface of the imaging sensor;

[0050] The controller is used to determine the target temperature of the imaging sensor for shooting according to the brightness of the target object being shot; determine temperature difference data according to the target temperature and the detected temperature of the imaging sensor in the detected cycle; determine the control signal of the undetected cycle according to the temperature difference data and the initial parameters of the controller; and adjust the power of the temperature modulation device based on multiple control signals;

[0051] The temperature modulation device is used to adjust the temperature of the imaging sensor.

[0052] In the above implementation process, the controller determines the target temperature suitable for the camera to shoot according to the actual brightness of the target object to be shot, and determines the temperature difference data between the target temperature and the detection temperature of the imaging sensor in the detected cycle by periodic segmented adjustment. Combined with the initial parameters of the controller, a control signal for temperature regulation control of subsequent undetected cycles is obtained, so that the temperature modulation power of the temperature modulation device is adjusted in real time and dynamically through the control signals of multiple cycles. The temperature modulation device works according to the adjusted temperature modulation power to adjust the temperature of the imaging sensor, so that the imaging sensor can stably acquire images at the target temperature, effectively improving the quality of the acquired images.

[0053] Optionally, the device further comprises: an elastic structure;

[0054] The elastic structure is fixedly disposed between the cooling surface of the temperature modulation device and the non-sensing surface of the imaging sensor.

[0055] In the above implementation process, considering that the extrusion situation will affect the normal operation of the temperature modulation device, a corresponding elastic structure can be fixedly arranged between the cooling surface of the temperature modulation device and the non-sensing surface of the imaging sensor to buffer the collision between the temperature modulation device and the imaging sensor, thereby reducing the extrusion situation of the temperature modulation device, so that the temperature modulation device can achieve a stable temperature modulation function.

[0056] Optionally, the device further comprises: a heat dissipation device;

[0057] The heat dissipation device is arranged opposite to the heating surface of the temperature modulation device;

[0058] The heat dissipation device is used to dissipate heat from the temperature modulation device;

[0059] The heat dissipation power of the heat dissipation device is positively correlated with the temperature modulation power of the temperature modulation device.

[0060] In the above implementation process, in order to effectively reduce the heat generated by the temperature modulation device during operation so that the temperature modulation device can achieve normal operation for a longer period of time, a corresponding heat dissipation device can also be provided in the camera device, and the heat dissipation device is arranged relative to the heating surface of the temperature modulation device to dissipate heat from the heating surface of the temperature modulation device. In addition, the heat dissipation power of the heat dissipation device can also change with the change of the temperature modulation power of the temperature modulation device, and the heat dissipation power is positively correlated with the temperature modulation power, so as to provide corresponding heat dissipation performance according to the actual heat generation of the temperature modulation device.

[0061] Optionally, the temperature modulation device comprises a multi-stage TEC device, and the order of magnitude of the TEC device is determined based on a regulation range requirement.

[0062] In the above implementation process, the temperature modulation device may include a multi-level TEC device. The order of magnitude of the TEC device can be selected based on the adjustment range requirements of the imaging sensor application scenario. It can perform temperature adjustment for a larger temperature difference range, and has higher temperature adjustment accuracy and higher heat dissipation capacity, meeting a variety of different temperature adjustment requirements and being suitable for a variety of different types of shooting scenes.

[0063] In summary, the embodiments of the present application provide a temperature adjustment method and a camera device, which can periodically control the temperature modulation process in real time according to the actual and required temperatures, thereby reducing the noise of the imaging sensor and the fogging of the protective window surface corresponding to the imaging sensor caused by the temperature adjustment rate being too fast, and enable the camera device to shoot at a stable operating temperature, effectively improving the quality of the captured images, and is suitable for application scenarios of various different shooting targets, meeting the various shooting needs of users. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0065] Figure 1 A schematic diagram of a temperature adjustment method provided in an embodiment of the present application;

[0066] Figure 2 A detailed flow chart of step S200 provided in an embodiment of the present application;

[0067] Figure 3 A detailed flowchart of step S300 provided in an embodiment of the present application;

[0068] Figure 4 A detailed flowchart of step S310 provided in an embodiment of the present application;

[0069] Figure 5 A detailed flow chart of step S320 provided in an embodiment of the present application;

[0070] Figure 6 A schematic diagram of another temperature adjustment method provided in an embodiment of the present application;

[0071] Figure 7 A detailed flowchart of step S100 provided in an embodiment of the present application;

[0072] Figure 8 A schematic structural diagram of a camera device provided in an embodiment of the present application.

[0073] Icons: 610 - imaging sensor; 620 - controller; 630 - temperature modulation device. DETAILED DESCRIPTION

[0074] The technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments of the embodiments of the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the embodiments of the present application.

[0075] In the prior art, in order to reduce the thermal noise of the camera, the camera is usually subjected to temperature modulation. For example, water cooling and other equipment are used to reduce the temperature of the camera when it is working. The imaging sensor of the camera is usually set in a closed cavity, for example, the imaging sensor is set in a structure such as a lens barrel. In actual use scenarios, due to the temperature difference between the inside and outside of the cavity, a pressure difference is generated, causing the external gas to enter the cavity due to the change in internal and external pressures to generate water vapor. Even if a desiccant is placed, due to the use time and water absorption rate of the desiccant, there is usually still a small amount of water vapor in the cavity. In the process of temperature modulation of the camera, if the imaging sensor cools down too slowly, the thermal noise of the camera will have an adverse effect on the quality of the collected image. If the imaging sensor cools down too quickly, the temperature of the imaging sensor will be lower than the dew point of the surrounding air in a short time. Due to the water vapor in the cavity, the protective window surface corresponding to the imaging sensor will produce fogging, which will affect the normal shooting function of the camera, thereby adversely affecting the quality of the image.

[0076] In order to solve the above problems, an embodiment of the present application provides a temperature adjustment method, which is applied to a controller. The controller can be set in a camera device, and the camera device includes an imaging sensor, a controller and a temperature modulation device; wherein the controller connects the imaging sensor and the temperature modulation device; the temperature modulation device is fitted on the non-sensing surface of the imaging sensor, so that the temperature modulation device can be controlled by the controller to adjust the temperature of the imaging sensor in real time.

[0077] See also Figure 1 , Figure 1 A schematic flow chart of a temperature adjustment method provided in an embodiment of the present application, the method may include steps S100-S400.

[0078] Step S100, determining a target temperature for photographing by an imaging sensor according to the brightness of the photographed target object.

[0079] The target objects to be photographed may include various types of objects, such as buildings, pedestrians, animals, vehicles, and various types of objects such as stars and nebulae in the astronomical field. In the field of astronomical photography, various different stars, nebulae, etc. have different brightness. In order to improve the quality of the image, for low-brightness target objects, the gain of the camera device is usually increased or a long exposure is performed, which causes the temperature of the imaging sensor to increase during operation. In order to reduce the thermal noise caused by the increase in the temperature of the imaging sensor, before shooting, the controller can determine the target temperature suitable for the camera to shoot according to the actual brightness of the target object to be shot, so that the imaging sensor can work stably for a long time under low noise.

[0080] Optionally, the corresponding target temperature can be directly determined according to the user's needs and selection information. For example, multiple temperature values ​​can be set for the user to choose, such as -5°C, -10°C, -15°C, -20°C, etc. The corresponding temperature value can be directly determined as the target temperature according to the user's selection.

[0081] Step S200, determining temperature difference data according to the target temperature and the temperature detected by the imaging sensor in the detected cycle.

[0082] Among them, in order to improve the real-time and feedback performance of temperature regulation, a periodic segmented adjustment method can be adopted to set multiple detection cycles for temperature regulation. Since there is a temperature difference between the target temperature and the detection temperature detected by the imaging sensor in the detection cycle, in order to adjust the temperature of the imaging sensor to the target temperature, the temperature difference data between the target temperature and the detection temperature can be determined first.

[0083] Optionally, the temperature difference data may include various types of data such as the temperature difference between the target temperature and the detected temperature and the temperature change rate.

[0084] Step S300, determining the control signal of the undetected period according to the temperature difference data and the initial parameters of the controller.

[0085] In order to control the subsequent undetected periods, the temperature difference data and the initial parameters of the controller may be combined to obtain a control signal for temperature regulation control of the subsequent undetected periods.

[0086] Optionally, the controller can be a corresponding PID (Proportional-Integral-Derivative) controller, and a corresponding FPGA (Field-Programmable Gate Array) circuit and a control circuit can be set in the controller. The FPGA circuit can determine the corresponding control signal according to the temperature difference data and the initial parameters. The control signal may include a PWM (Pulse Width Modulation) signal to adjust the working state of the temperature modulation device through the duty cycle of the PWM signal.

[0087] Step S400: adjusting the temperature modulation power of the temperature modulation device based on a plurality of control signals.

[0088] Among them, the controller can be connected to the temperature modulation device through a control circuit, and send the generated control signal to the temperature modulation device through the control circuit. The temperature modulation device can respond to multiple control signals to adjust the temperature modulation power of the temperature modulation device in real time and dynamically through multiple cycles of control signals.

[0089] Optionally, the control signal may include a target temperature modulation power corresponding to the target temperature, and the voltage of the temperature modulation device may be controlled by adjusting the duty cycle of the PWM, thereby adjusting the temperature modulation power of the temperature modulation device to control the temperature modulation signal from the current temperature modulation power to the target temperature modulation power, thereby changing the temperature of the imaging sensor from the current temperature to the target temperature.

[0090] It should be noted that considering the continuous heating of the imaging sensor under long-term operation, it can be repeated Figure 1 The multiple steps of steps S200-S400 in the illustrated embodiment enable the imaging sensor to operate at a constant temperature for a long time near the target temperature, further improving the stability during shooting, thereby improving the image quality captured by the imaging sensor.

[0091] exist Figure 1In the illustrated embodiment, the temperature modulation process can be periodically controlled in real time according to the actual and required temperatures, thereby reducing the noise of the imaging sensor and the fogging of the protective window surface corresponding to the imaging sensor caused by the excessively fast temperature adjustment rate, and enabling the camera device to shoot at a stable operating temperature, thereby effectively improving the quality of the captured images, being suitable for a variety of application scenarios with different shooting targets, and meeting the various shooting needs of users.

[0092] It should be noted that in order to improve the real-time performance of temperature detection, a corresponding detection period can be set based on the transmission volume of the camera device to perform periodic temperature detection so as to detect the temperature of the imaging sensor in real time without affecting the normal transmission of the camera device.

[0093] Optionally, the cycle time can be set and adjusted according to the transmission volume of the camera device. When the transmission volume of the camera device is large, the cycle time can be adaptively increased. When the transmission volume of the camera device is small, the cycle time can be adaptively reduced. For example, the cycle time range of the detection cycle can be set to 0.5s-2s, so as to improve the real-time performance of temperature detection while reducing the impact of temperature detection on data transmission of the camera device.

[0094] It should be noted that the detected cycles include historical detection cycles and current detection cycles, that is, historical detection cycles that have been detected and adjusted and cycles that are currently in the detection state. The temperature difference data includes: current cycle temperature difference, cycle temperature change and cumulative temperature difference; to respectively characterize the temperature changes under different circumstances.

[0095] Optionally, see Figure 2 , Figure 2 A detailed flow chart of step S200 is provided for an embodiment of the present application. Step S200 may include steps S210-S250.

[0096] Step S210 , determining a current detection temperature of the imaging sensor in a current detection cycle detected by a temperature sensor provided on the imaging sensor, and a historical detection temperature of the imaging sensor in a previous historical detection cycle.

[0097] A corresponding temperature sensor may be provided on the imaging sensor to detect the temperature of the imaging sensor and obtain the detected temperature of the imaging sensor in multiple detected cycles. The current detected temperature detected by the imaging sensor in the current detection cycle and the historical detected temperature of the imaging sensor in the previous historical detection cycle may be obtained from the temperature sensor.

[0098] For example, the temperature sensor can be attached to the imaging sensor to detect the temperature of the imaging sensor in real time when it is working. In addition, the temperature sensor is also electrically connected to the controller to periodically transmit the collected data to the controller for processing.

[0099] Optionally, in order to improve the effectiveness of the collected temperature, a temperature sensor with high precision and stability, such as a thermistor, a thermocouple or an integrated temperature sensor, can be used to provide a more accurate temperature reading. The signal processing circuit and algorithm in the controller can also be optimized. For example, filters and amplifiers can be used, or digital signal processing technology can be used to process the data signal transmitted by the temperature sensor to reduce the signal noise and distortion of the temperature and improve the accuracy of the temperature. During the operation of the temperature sensor, the temperature sensor can also be calibrated regularly to ensure that the error between its measured value and the true temperature value is small. The calibration process can include multi-point calibration at different temperatures to verify the linearity and accuracy of the temperature sensor. In addition, considering that the measurement results of the temperature sensor may be affected by environmental conditions such as humidity, air pressure and radiation, environmental compensation technology can be introduced to eliminate environmental influences and improve the accuracy of the temperature. For example, humidity sensors and air pressure sensors can be used to measure environmental factors, and the final temperature can be calculated by combining multiple data.

[0100] Step S220, determining the current cycle temperature difference of the current detection cycle according to the target temperature and the current detection temperature.

[0101] The temperature difference of the current cycle corresponding to the current detection cycle can be determined according to the target temperature and the current detection temperature. For example, the target temperature is recorded as T target , the current detected temperature is recorded as T current , the corresponding temperature difference of the current cycle can be e current =T target -T current The temperature difference of the current cycle can represent the gap between the actual temperature and the ideal temperature in the current cycle.

[0102] Step S230, determining the periodic temperature variation according to the current detected temperature and the historical detected temperature.

[0103] Considering that the regulating effect of each cycle on the temperature is different, the periodic temperature variation that characterizes the temperature variation between two adjacent cycles is determined according to the current detected temperature and the historical detected temperature.

[0104] For example, the periodic temperature variation can be determined based on the detection of two adjacent detection periods, and the historical detection temperature is recorded as T last , periodic temperature variation e derivative =T last -Tcurrent .

[0105] Step S240, determining temperature differences of multiple historical periods of the imaging sensor in the detected period.

[0106] Among them, considering the overall change of temperature in multiple cycles in the time dimension, it is also possible to obtain the temperature differences of multiple historical cycles of the imaging sensor in multiple detected cycles. Assuming that there are i detected cycles in total, the temperature differences of multiple historical cycles of the detected cycles can be recorded as e1, e2…e i .

[0107] Step S250, based on the temperature differences of multiple historical periods, determine the accumulated temperature difference of the detected period.

[0108] Among them, the temperature difference of multiple historical periods under multiple detected periods can be added together to accumulate the temperature difference. The cumulative temperature difference is the sum of the historical temperature differences of multiple detected cycles, which can characterize the overall temperature changes under multiple cycles.

[0109] exist Figure 2 In the illustrated embodiment, by calculating a variety of different temperature difference data, the effectiveness of the temperature difference data is effectively improved, so as to improve the effectiveness of adjusting the temperature modulation power of the temperature modulation device based on the control signal generated by the temperature difference data, thereby improving the accuracy of temperature regulation of the imaging sensor.

[0110] Optionally, see Figure 3 , Figure 3 A detailed flowchart of step S300 is provided for an embodiment of the present application. Step S300 may include steps S310-S340.

[0111] Step S310, adjusting the set initial parameters according to the temperature difference data to obtain control parameters.

[0112] When determining the control signal of the undetected period, the initial parameters set in the controller may be adjusted according to the temperature difference data to obtain corresponding control parameters.

[0113] Optionally, taking the controller as a PID controller as an example, the PID controller may include: P: a proportional control part, which directly responds to the current temperature difference. The core idea is that the larger the temperature difference, the larger the control action should be, so as to quickly reduce the temperature difference; I: an integral control part, which considers the accumulated temperature difference from the past to the present, and is mainly used to eliminate steady-state temperature differences and improve the stability and accuracy of temperature control. The historical accumulated temperature differences can be integrated to compensate for the persistent small temperature differences; D: a differential control part, which is based on the rate of change of the temperature difference (i.e., the derivative of the temperature difference), and is mainly used to predict the future trend of the temperature difference, so as to make a control response in advance, and reduce or eliminate overshoot and oscillation in the temperature control process. Therefore, the initial parameters may include an initial proportional coefficient, an initial integral coefficient, and an initial differential coefficient, i.e., the corresponding proportional gain K p0 , integral gain K i0 , differential gain K d0 , accordingly, the control parameters can include the control proportional coefficient, control integral coefficient and control differential coefficient after numerical adjustment of the initial parameters, which can be denoted as K p1 , K i1 , K d1 .

[0114] It should be noted that the calculation method of the proportional control part may include: P out =K p ×e(t), the calculation method of the integral control part can include: I out =K i ×∫e(t)dt, the calculation method of the differential control part can include:

[0115] Step S320: determining a control output based on the control parameter.

[0116] Among them, the control output of the controller can be determined based on the control parameters, and the control output can be Q pid =K p1 +K 11 +K d1 .

[0117] Step S330: determining the target temperature modulation power of the temperature modulation device in the next undetected period according to the control output.

[0118] Among them, the target temperature modulation power corresponding to the temperature modulation device can be determined according to the corresponding relationship between the control output and the temperature modulation power. The temperature modulation power of the previous historical detection cycle can be recorded as P Last , the target temperature modulation power of the current detection cycle can be recorded as P current , P current =P Last -Q pid, can adjust the temperature of the imaging sensor to the target temperature in multiple cycles, effectively reducing adverse conditions such as fogging on the surface of the protective window corresponding to the imaging sensor caused by too fast temperature adjustment, and can also keep the imaging sensor at a constant temperature near the target temperature, thereby improving the stability of the image acquisition process.

[0119] Step S340 , determining a control signal for a next undetected period based on the target temperature modulated power.

[0120] The corresponding pulse adjustment signal may be determined according to the target temperature modulation power, that is, the PWM signal is used as a control signal for adjusting the current temperature modulation power of the temperature modulation device to the target temperature modulation power.

[0121] It should be noted that the size of the target temperature modulation power is positively correlated with the duty cycle of the PWM. The higher the duty cycle of the PWM signal, the greater the temperature modulation power applied to the temperature modulation device.

[0122] exist Figure 3 In the illustrated embodiment, the parameter value of the initial parameter can be adjusted according to the actual temperature difference data, and the power of the temperature modulation device can be adjusted by the pulse modulation signal, thereby effectively improving the accuracy and efficiency of adjusting the power of the temperature modulation device.

[0123] Optionally, see Figure 4 , Figure 4 A detailed flowchart of step S310 is provided for an embodiment of the present application. Step S310 may include steps S311-S313.

[0124] Step S311, based on the current period temperature difference and the initial proportional coefficient in the temperature difference data, a control proportional coefficient is calculated.

[0125] Among them, the adjusted control proportional coefficient can be calculated based on the current cycle temperature difference representing the temperature difference within the cycle and the initial proportional coefficient representing the linear relationship between the controller output and the error in the initial parameters, and the control proportional coefficient K p1 =K p0 ×e current .

[0126] Step S312, calculating a control integral coefficient based on the accumulated temperature difference in the temperature difference data and the initial integral coefficient.

[0127] Among them, the adjusted control integral coefficient can be calculated based on the cumulative temperature difference that characterizes the overall temperature change under multiple cycles and the initial integral coefficient that adjusts the cumulative amount of error in the controller in the initial parameters, and the control integral coefficient K i1 =K i0 ×e integral.

[0128] Step S313, calculating the control differential coefficient based on the periodic temperature variation and the initial differential coefficient in the temperature difference data.

[0129] Among them, the adjusted control differential coefficient can be calculated based on the periodic temperature change that characterizes the temperature change of adjacent periods and the initial differential coefficient of the controller in the initial parameters for adjusting the error change rate, and the control differential coefficient K d1 =K d0 ×e derivative .

[0130] It should be noted that the execution order of S311 - S313 is not limited, and they can be executed simultaneously or in sequence according to actual conditions.

[0131] exist Figure 4 In the embodiment shown, different types of parameters in the initial parameters can be adjusted separately according to a variety of different types of temperature difference data, so as to optimize the initial parameters of the controller from multiple angles such as the linear relationship of the error, the cumulative amount of the error, and the rate of change of the error, so as to obtain control parameters that meet the temperature regulation requirements between the current detected temperature and the target temperature.

[0132] Optionally, see Figure 5 , Figure 5 A detailed flow chart of step S320 is provided for an embodiment of the present application. Step S320 may include steps S321-S323.

[0133] Step S321, determining the temperature change rate of the current detection cycle according to the historical detection temperature, the current detection temperature and the cycle time.

[0134] Among them, considering that there are two stages in the entire temperature adjustment process: the first stage with faster temperature changes and the second stage with slower temperature changes, considering that the temperature numerical change in the temperature change process in the first stage is small, there will be basically no adverse conditions such as fogging on the protective window corresponding to the imaging sensor. Therefore, in order to increase the temperature change speed in the first stage to improve the efficiency of the overall temperature adjustment process, the temperature change rate of the current cycle can be calculated based on the target temperature, the current detection temperature and the cycle time.

[0135] Optionally, the temperature change rate Where Δt is the cycle time of the detection cycle (in seconds), T current is the current detected temperature (in °C), T last is the historical detection temperature (in °C).

[0136] Step S322: If it is determined that the temperature change rate is greater than or equal to the preset temperature change threshold, the control output is determined according to the control proportional coefficient and the control integral coefficient.

[0137] The temperature change rate can be compared with a preset temperature change threshold, and the temperature change threshold can be set according to multiple test experiments and temperature regulation requirements. For example, the temperature change threshold can be set to 2-2.5, etc. When the temperature change rate is greater than or equal to the preset temperature change threshold, it indicates that the temperature changes quickly, which belongs to the first stage of the regulation process. Considering that the control proportional coefficient has a greater impact on the temperature regulation rate, and the control differential coefficient will inhibit the temperature regulation rate, the control output can be directly determined based on the control proportional coefficient and the control integral coefficient.

[0138] Step S323: If it is determined that the temperature change rate is less than the temperature change threshold, the control output is determined according to the control proportional coefficient, the control integral coefficient and the control differential coefficient.

[0139] Among them, when the temperature change is less than the preset temperature change threshold, it indicates that the temperature change is slow, which belongs to the second stage of the adjustment process. The control output can be determined according to the control proportional coefficient, control integral coefficient and control differential coefficient to reduce the pseudo-steady state situation where the temperature is near the target temperature, so that the imaging sensor can reach the required target temperature, effectively improving the accuracy of temperature regulation.

[0140] It should be noted that the pseudo-steady state in the temperature regulation process is a relatively stable intermediate state that the imaging sensor experiences before reaching a complete steady state (i.e., the target temperature). For example, when the target temperature of the imaging sensor is -10°C and the imaging sensor reaches -9°C, the imaging sensor itself will also generate heat when working. The cooling effect generated by the temperature modulation device may offset the heat generated by the imaging sensor, thereby stabilizing the imaging sensor at -9°C. In the pseudo-steady state, the accumulated temperature difference will continue to increase. Therefore, K d1 will also become larger, which can be achieved by controlling the differential coefficient, i.e., K d1 The temperature regulation rate is adjusted so that the imaging sensor can reach the target temperature, and combined with the control integral coefficient, the imaging sensor can stably operate at the target temperature.

[0141] exist Figure 5 In the illustrated embodiment, different types of parameters can be selected to determine corresponding control outputs according to the regulation requirements at different stages of the temperature regulation process, thereby further improving the efficiency of the overall temperature regulation process while reducing fogging.

[0142] Optionally, see Figure 6 , Figure 6This is a flow chart of another temperature adjustment method provided in an embodiment of the present application. The method may further include steps S510-S530.

[0143] Step S510, determining multiple temperature adjustment rates of the imaging sensor and the clarity of the imaging sensor under multiple groups of test parameters.

[0144] Among them, taking into account the differences in model types of each imaging sensor and the differences in shooting scenes, before temperature adjustment, for example, in the testing phase before being put into formal use, or in scenarios such as changing shooting scenes or replacing imaging sensor parts, multiple sets of test parameters can be set in the controller for multiple tests to determine the temperature adjustment rates corresponding to the imaging sensor under the multiple sets of test parameters, as well as the clarity of the imaging sensor under the corresponding temperature adjustment rates.

[0145] Optionally, different current temperatures and target temperatures may be set to set a variety of different temperature adjustment ranges to perform multiple tests on each set of test parameters to improve the validity of the test results.

[0146] Optionally, the temperature adjustment rate may be the ratio of the temperature difference between the current temperature and the target temperature to the time taken to adjust from the current temperature to the target temperature. The clarity of the imaging sensor may be determined in a variety of ways. For example, edge detection functions such as Sobel, Prewitt, and Canny edge detection algorithms may be used to determine the clarity of the image captured by the imaging sensor, or the variance of the grayscale values ​​in the image may be calculated, and the clarity of the image may be determined based on the size of the variance value. Alternatively, the clarity of the image may be measured using the SSIM algorithm from the perspective of brightness, contrast, and structural information, or the image may be Fourier transformed to analyze the frequency components of the image to determine the clarity of the image.

[0147] Step S520, determining whether the clarity condition meets a preset clarity condition.

[0148] The clarity condition may be analyzed to determine whether the clarity condition meets a preset clarity condition, thereby determining whether adverse conditions such as fogging exist on the surface of the protective window corresponding to the imaging sensor.

[0149] Optionally, corresponding clarity conditions can be preset according to different clarity calculation methods. For example, in a method of determining clarity based on the variance of grayscale values, the clarity condition can be set to a corresponding variance threshold, and the variance value in the clarity situation and the variance threshold can be compared. Since the size of the variance is positively correlated with the clarity of the image, a higher value can be set as the variance threshold. When the variance value is less than the variance threshold, it is determined that the clarity situation does not meet the clarity condition. When the variance value is greater than or equal to the variance threshold, it is determined that the clarity situation meets the clarity condition.

[0150] Optionally, during multiple tests, the imaging sensor can be adjusted to a corresponding focus position so that the imaging sensor can capture images in a focused state to reduce the adverse effects of defocus on the image. In the focused state, if it is determined that the clarity condition does not meet the clarity condition, it indicates that fogging may exist on the protective window surface corresponding to the imaging sensor, and the fogging has an adverse effect on the clarity of the image.

[0151] Step S530: If it is determined that the clarity condition meets the clarity condition, the test parameter with the highest temperature adjustment rate is selected as the initial parameter.

[0152] When it is determined that the clarity condition meets the clarity condition, it indicates that there is no fogging on the protective window and the imaging sensor works normally. Among multiple test results, the test parameters with the clarity condition meeting the clarity condition and the highest temperature adjustment rate can be selected as the corresponding initial parameters.

[0153] It should be noted that the test objectives include: allowing the imaging sensor to adjust from the current temperature to the target temperature as quickly as possible, and preventing fogging on the protective window during the temperature adjustment process. Considering the positive correlation between the proportional coefficient and the temperature adjustment rate, the range of the initial parameters obtained after the test can be set to: K p0 =0.15-0.25, K i0 =0.35-0.45, K d0 =0.55-0.65, for example, the initial parameters can be: K p0 =0.2, K i0 =0.4, K d0 =0.6.

[0154] exist Figure 6 In the illustrated embodiment, the temperature adjustment rate and clarity of the imaging sensor can be effectively balanced, so that the imaging sensor can be temperature modulated at the fastest rate without causing adverse conditions such as fogging, thereby effectively optimizing the speed and effect of temperature modulation.

[0155] Optionally, see Figure 7 , Figure 7 A detailed flowchart of step S100 is provided in an embodiment of the present application. Step S100 may include steps S110-S140.

[0156] Step S110, determining the brightness of the target object according to the captured image or identity information of the target object.

[0157] The brightness of the target object can be determined by performing brightness detection based on the captured image of the target object, and the brightness of the target object can also be determined by performing a query in a database based on the identity information of the target object.

[0158] Optionally, the imaging sensor can be controlled to shoot the target object first, so as to perform brightness detection based on the obtained captured image. The brightness detection method can include: calculating the average grayscale value of all pixels in the captured image, calculating the deviation of each pixel grayscale value from the average value, calculating the sum of the absolute values ​​of multiple deviations, dividing the sum of the absolute values ​​by the total number of pixels to obtain the average deviation reflecting the discrete degree of image brightness distribution, and then determining the brightness of the target object based on the comparison result of the average deviation and the average value. Alternatively, based on deep learning for brightness detection, a deep neural network (such as a convolutional neural network CNN) can be used to extract and classify the captured image to achieve brightness detection of the target object. The number of pixels of each grayscale value in the captured image can also be counted to obtain the grayscale histogram of the captured image, and then the distribution characteristics of the histogram can be analyzed to determine the brightness of the target object, or the captured image can be converted to the frequency domain for analysis, and the brightness of the target object can be indirectly judged by calculating the spectrum characteristics of the captured image.

[0159] Optionally, in some cases where the brightness is relatively stable, the corresponding brightness condition can be directly determined in a preset database based on the identity information of the target object, such as the number and name of the star, the name and location of the building, or the license plate of the vehicle.

[0160] Step S120, determining the exposure time of the imaging sensor according to the brightness condition.

[0161] Since the brightness of the target object is different, in order to improve the quality of the collected image, the exposure time required for the imaging sensor to shoot can be determined according to the brightness conditions.

[0162] For example, in a dark environment, a longer exposure time can be set. When the exposure time is extended, more light will enter the imaging sensor and be projected onto the photosensitive surface, thereby increasing the brightness of the target object in the image to compensate for the lack of light and make the image brighter. When there is sufficient light or when you need to capture fast-moving objects, you can set a shorter exposure time. When the exposure time is shortened, the amount of light entering the imaging sensor will decrease, resulting in a decrease in the brightness of the target in the image, which can reduce the adverse conditions of blur and ghosting in the image.

[0163] Step S130: determining the noise condition of the imaging sensor according to the exposure time.

[0164] Among them, the noise conditions of the imaging sensor under this exposure condition can be determined according to the exposure time. The noise conditions include the thermal noise of the imaging sensor, which is caused by the heat generated by the imaging sensor when it is working. The longer the exposure time, the longer the imaging sensor is powered on and works, and the more heat is generated. The intensity and amount of thermal noise will increase with the increase of exposure time.

[0165] Step S140: determining a target temperature for the imaging sensor to shoot according to the noise condition.

[0166] Among them, in order to reduce the noise points of the image caused by noise conditions and improve the image quality, a target temperature suitable for the imaging sensor to shoot and with low noise, such as -5°C or -10°C, can be determined according to the intensity and amount of thermal noise in the noise conditions, so as to reduce the heat generated by the imaging sensor when it is working through a lower target temperature, thereby reducing the noise of the imaging sensor.

[0167] exist Figure 7 In the illustrated embodiment, a suitable target temperature for shooting can be selected according to the actual brightness of the target object, so as to reduce the adverse effect of noise generated by long-time exposure and the like on the image quality.

[0168] See also Figure 8 , Figure 8 A schematic structural diagram of a camera device provided in an embodiment of the present application, wherein the camera device may include: an imaging sensor 610, a controller 620, and a temperature modulation device 630;

[0169] The controller 620 is connected to the imaging sensor 610 and the temperature modulation device 630; the temperature modulation device 630 is disposed on the non-sensing surface of the imaging sensor 610;

[0170] The controller 620 is used to determine the target temperature of the imaging sensor 610 for shooting according to the brightness of the target object being shot; determine the temperature difference data according to the target temperature and the detected temperature of the imaging sensor 610 in the detected period; determine the control signal of the undetected period according to the temperature difference data and the initial parameters of the controller; and adjust the power of the temperature modulation device 630 based on multiple control signals;

[0171] The temperature modulation device 630 is used to adjust the temperature of the imaging sensor 610 .

[0172] Optionally, the controller 620 can be configured as various types of integrated circuit chips with signal processing capabilities. For example, the controller 620 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

[0173] It should be noted that the controller 620 can be disposed inside the camera device and electrically connected to the imaging sensor 610 and the temperature modulation device 630 through various types of buses or cables (such as Inter-Integrated Circuit, 2C bus and Flexible Printed Circuit, flexible circuit board cable), or can be disposed in a terminal device outside the camera device and communicated with the imaging sensor 610 and the temperature modulation device 630 through a network, Bluetooth, etc., to achieve corresponding control processing. The terminal device can be a server, a personal computer (PC), a tablet computer, a smart phone, a personal digital assistant (PDA), or other electronic device with logic computing functions. Figure 7 Only one feasible structure in which the controller 620 is disposed inside the camera device is shown, and the structure in which the controller 620 is disposed outside the camera device is not described in detail.

[0174] Optionally, the imaging sensor 610 can be configured as various types of CMOS (Complementary Metal-Oxide-Semiconductor) sensors, CCD (Charge-Coupled Device) and other devices that can convert optical signals into electrical signals to achieve corresponding imaging functions.

[0175] In an optional embodiment, the cycle time of the detection cycle is set based on the transmission volume of the camera device, the detected cycle includes the historical detection cycle and the current detection cycle; the temperature difference data includes: the current cycle temperature difference, the cycle temperature change and the accumulated temperature difference;

[0176] The controller 620 is specifically used to: determine the current detection temperature of the imaging sensor 610 in the current detection cycle detected by the temperature sensor set on the imaging sensor 610, and the historical detection temperature of the imaging sensor 610 in the previous historical detection cycle; determine the current cycle temperature difference of the current detection cycle according to the target temperature and the current detection temperature; determine the cycle temperature change according to the current detection temperature and the historical detection temperature; determine multiple historical cycle temperature differences of the imaging sensor 610 in the detected cycle; and determine the cumulative temperature difference of the detected cycle based on multiple historical cycle temperature differences.

[0177] In an optional embodiment, the controller 620 is specifically used to: adjust the set initial parameters according to the temperature difference data to obtain the control parameters; determine the control output based on the control parameters; determine the target temperature modulation power of the temperature modulation device 630 in the next undetected cycle according to the control output; determine the control signal of the next undetected cycle based on the target temperature modulation power; wherein the control signal includes a pulse modulation signal.

[0178] In an optional embodiment, the initial parameters include: an initial proportional coefficient, an initial integral coefficient and an initial differential coefficient; the control parameters include: a control proportional coefficient, a control integral coefficient and a control differential coefficient; the controller 620 is specifically used to: calculate the control proportional coefficient based on the current periodic temperature difference and the initial proportional coefficient in the temperature difference data; calculate the control integral coefficient based on the cumulative temperature difference and the initial integral coefficient in the temperature difference data; calculate the control differential coefficient based on the periodic temperature change and the initial differential coefficient in the temperature difference data.

[0179] In an optional embodiment, the controller 620 is specifically used to: determine the temperature change rate of the current detection cycle based on the historical detection temperature, the current detection temperature and the cycle time; if it is determined that the temperature change rate is greater than or equal to a preset temperature change threshold, determine the control output based on the control proportional coefficient and the control integral coefficient; if it is determined that the temperature change rate is less than the temperature change threshold, determine the control output based on the control proportional coefficient, the control integral coefficient and the control differential coefficient.

[0180] In an optional embodiment, the controller 620 is also used to: determine multiple temperature adjustment rates of the imaging sensor 610 and the clarity of the imaging sensor 610 under multiple sets of test parameters; determine whether the clarity condition meets a preset clarity condition; if it is determined that the clarity condition meets the clarity condition, select the test parameter with the highest temperature adjustment rate as the initial parameter.

[0181] In an optional embodiment, the controller 620 is specifically used to: determine the brightness of the target object based on the captured image or identity information of the target object; determine the exposure time of the imaging sensor 610 based on the brightness; determine the noise condition of the imaging sensor 610 based on the exposure time; and determine the target temperature for shooting by the imaging sensor 610 based on the noise condition.

[0182] Since the principle of solving the problem by the camera device in the embodiment of the present application is similar to that of the embodiment of the aforementioned temperature adjustment method, the implementation of the device in this embodiment can refer to the description in the embodiment of the above method, and the repeated parts will not be repeated.

[0183] Optionally, considering that the extrusion situation may affect the normal operation of the temperature modulation device 630, the camera device may further include: an elastic structure; the elastic structure is fixedly arranged between the cooling surface of the temperature modulation device 630 and the non-sensing surface of the imaging sensor 610. The corresponding elastic structure may be fixedly arranged between the cooling surface of the temperature modulation device 630 and the non-sensing surface of the imaging sensor 610 to buffer the collision between the temperature modulation device 630 and the imaging sensor 610, thereby reducing the extrusion situation of the temperature modulation device 630, so that the temperature modulation device 630 can achieve a stable temperature modulation function.

[0184] Optionally, considering that the temperature modulation device 630 needs to perform real-time temperature regulation on the imaging sensor 610, the elastic structure arranged between the temperature modulation device 630 and the imaging sensor 610 can be set as a corresponding cooling soft rubber pad, which can efficiently transfer temperature while buffering the collision between the temperature modulation device 630 and the imaging sensor 610, thereby further improving the efficiency of temperature regulation.

[0185] Optionally, in order to effectively reduce the heat generated by the temperature modulation device 630 when it is working, so that the temperature modulation device 630 can achieve normal operation for a longer period of time, the camera device may further include: a heat dissipation device; the heat dissipation device is arranged opposite to the heating surface of the temperature modulation device 630; the heat dissipation device is used to dissipate heat from the temperature modulation device 630; wherein the heat dissipation power of the heat dissipation device is positively correlated with the temperature modulation power of the temperature modulation device 630. The heat dissipation device is arranged opposite to the heating surface of the temperature modulation device 630 to dissipate heat from the heating surface of the temperature modulation device 630 that generates heat. In addition, the heat dissipation power of the heat dissipation device can also change with the change of the temperature modulation power of the temperature modulation device 630, and the heat dissipation power is positively correlated with the temperature modulation power, so as to provide corresponding heat dissipation performance according to the actual heat generation of the temperature modulation device 630.

[0186] For example, the heat dissipation surface of the temperature modulation device 630 can be bonded to the heat dissipation device by means of thermal conductive silicone grease or the like to improve the efficiency of heat transfer.

[0187] Optionally, the heat dissipation device may include a fan with multiple heat dissipation fins, a water-cooled radiator and other types of devices with heat dissipation function, and may also include fixings (such as screws, nuts, etc.) or brackets for fixing structures such as fans.

[0188] It should be noted that the heat dissipation device is also connected to the controller 620. The controller 620 can adjust the heat dissipation power of the radiator accordingly according to the target temperature modulation power of the temperature modulation device 630. For example, when the target temperature modulation power is high, the heat dissipation power can also be increased to achieve higher heat dissipation performance and dissipate the heat generated by the temperature modulation device 630 in time.

[0189] It should be noted that the temperature modulation device 630 may include a multi-level TEC device, for example, a 2-level TEC device or a TEC device of a higher order of magnitude. The working principle of the multi-level TEC device is based on the Peltier effect. By placing a pair of units of a P-type semiconductor and an N-type semiconductor in the circuit, an electron-hole pair will be generated at one end when the power is turned on, the internal energy will be reduced, the temperature will be reduced, and a cold end will be formed; the other end will increase the internal energy and the temperature will rise due to the recombination of the electron-hole pairs, forming a hot end. The temperature difference between hot and cold generated by a single pair of PN units is limited, but the multi-level TEC device is connected in series and parallel by multiple pairs of PN units in the circuit, and then packaged into a device using a ceramic plate up and down, so that one end is a cold surface and the other end is a hot surface, thereby achieving more efficient heat transfer. A TEC device of a suitable order of magnitude can be selected according to the volume requirements, weight requirements, internal space size and cost requirements of the camera device, etc., and can be used for temperature regulation in a larger temperature difference range, and has a higher temperature regulation accuracy and a higher heat dissipation capacity, meeting a variety of different temperature regulation requirements, and is suitable for a variety of different types of shooting scenes.

[0190] Optionally, the order of magnitude of the TEC device can be selected based on the adjustment range requirement of the imaging sensor 610 application scenario. The adjustment range requirement can be determined based on the actual temperature range during shooting, combined with the ideal temperature range required during shooting. For example, when the shooting location is in the tropics and the shooting time is at night, the actual temperature range during shooting is 20 to 30°C, and the ideal temperature range required during shooting is -5 to -10°C. Therefore, the adjustment range requirement is a temperature difference of 25 to 40°C, and a 2-level TEC device can be set for temperature adjustment.

[0191] An embodiment of the present application also provides a computer program product, which includes a computer program / instructions. When the computer program / instructions are executed by a processor, the steps in the temperature adjustment method are implemented.

[0192] In several embodiments provided in the present application, it should be understood that the disclosed device can also be implemented in other ways. The device embodiments described above are merely schematic, for example, the block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices according to the multiple embodiments of the present application. In this regard, each box in the block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram, and the combination of the block diagrams, can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0193] In addition, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0194] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0195] The above description is only an embodiment of the present application and is not intended to limit the scope of protection of the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0196] The above description is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application.

[0197] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

Claims

1. A temperature adjustment method, characterized in that: The method is applied to a controller in a camera device, wherein the camera device includes an imaging sensor, the controller and a temperature modulation device; wherein the controller is connected to the imaging sensor and the temperature modulation device; and the temperature modulation device is attached to a non-sensing surface of the imaging sensor; The method comprises: Determining a target temperature for photographing by the imaging sensor according to the brightness of the photographed target object; Determining temperature difference data according to the target temperature and the detected temperature of the imaging sensor in a detected cycle; Determining a control signal for an undetected period according to the temperature difference data and initial parameters of the controller; Based on the multiple control signals, the temperature modulation power of the temperature modulation device is adjusted.

2. The method according to claim 1, characterized in that: in, The cycle time of the detection cycle is set based on the transmission volume of the camera device, and the detected cycle includes a historical detection cycle and a current detection cycle; the temperature difference data includes: the current cycle temperature difference, the cycle temperature change and the accumulated temperature difference; Determining temperature difference data according to the target temperature and the detected temperature of the imaging sensor in a detected cycle includes: Determine a current detection temperature of the imaging sensor in the current detection cycle detected by a temperature sensor provided on the imaging sensor, and a historical detection temperature of the imaging sensor in a previous historical detection cycle; Determining a current cycle temperature difference of the current detection cycle according to the target temperature and the current detection temperature; Determining the periodic temperature variation according to the current detected temperature and the historical detected temperature; Determine a plurality of historical period temperature differences of the imaging sensor in the detected period; Based on the temperature differences of a plurality of the historical periods, the accumulated temperature difference of the detected period is determined.

3. The method according to claim 2, characterized in that The step of determining the control signal of the undetected period according to the temperature difference data and the initial parameters of the controller comprises: Adjust the set initial parameters according to the temperature difference data to obtain control parameters; determining a control output based on the control parameter; Determining a target temperature modulation power of the temperature modulation device in the next undetected period according to the control output; Based on the target temperature modulation power, the control signal of the next undetected period is determined; wherein the control signal includes a pulse modulation signal.

4. The method according to claim 3, characterized in that in, The initial parameters include: initial proportional coefficient, initial integral coefficient and initial differential coefficient; the control parameters include: control proportional coefficient, control integral coefficient and control differential coefficient; The step of adjusting the set initial parameters according to the temperature difference data to obtain control parameters includes: Calculating the control proportional coefficient based on the current period temperature difference in the temperature difference data and the initial proportional coefficient; Calculating the control integral coefficient based on the accumulated temperature difference in the temperature difference data and the initial integral coefficient; The control differential coefficient is calculated based on the periodic temperature variation in the temperature difference data and the initial differential coefficient.

5. The method according to claim 4, characterized in that The determining of the control output based on the control parameter comprises: Determining a temperature change rate of the current detection cycle according to the historical detection temperature, the current detection temperature and the cycle time; If it is determined that the temperature change rate is greater than or equal to a preset temperature change threshold, determining the control output according to the control proportional coefficient and the control integral coefficient; If it is determined that the temperature change rate is less than the temperature change threshold, the control output is determined according to the control proportional coefficient, the control integral coefficient and the control differential coefficient.

6. The method according to any one of claims 1 to 5, characterized in that in, The initial parameters are determined by: Determining multiple temperature adjustment rates of the imaging sensor and clarity conditions of the imaging sensor under multiple groups of test parameters; Determining whether the clarity condition meets a preset clarity condition; If it is determined that the clarity condition satisfies the clarity condition, the test parameter with the highest temperature adjustment rate is selected as the initial parameter.

7. The method according to any one of claims 1 to 5, characterized in that in, Determining the target temperature of the imaging sensor for photographing according to the brightness of the photographed target object includes: Determining the brightness of the target object according to the captured image or identity information of the target object; Determining the exposure time of the imaging sensor according to the brightness condition; Determining a noise condition of the imaging sensor according to the exposure time; The target temperature for photographing by the imaging sensor is determined according to the noise condition.

8. A camera device, characterized in that: The device comprises: an imaging sensor, a controller and a temperature modulation device; The controller is connected to the imaging sensor and the temperature modulation device; the temperature modulation device is arranged on the non-sensing surface of the imaging sensor; The controller is used to determine the target temperature of the imaging sensor for shooting according to the brightness of the target object being shot; determine temperature difference data according to the target temperature and the detected temperature of the imaging sensor in the detected cycle; determine the control signal of the undetected cycle according to the temperature difference data and the initial parameters of the controller; and adjust the power of the temperature modulation device based on multiple control signals; The temperature modulation device is used to adjust the temperature of the imaging sensor.

9. The device according to claim 8, characterized in that The device further comprises: a heat dissipation device; The heat dissipation device is arranged opposite to the heating surface of the temperature modulation device; The heat dissipation device is used to dissipate heat from the temperature modulation device; The heat dissipation power of the heat dissipation device is positively correlated with the temperature modulation power of the temperature modulation device.

10. The device according to claim 8, characterized in that in, The temperature modulation device includes a multi-stage TEC device, and the order of the TEC device is determined based on the regulation range requirement.

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