Spherical pan-tilt camera structure capable of being assembled with 4G antenna and provided with alarm lamp

Abstract

The invention belongs to the technical field of spherical pan-tilt cameras, and particularly relates to a spherical pan-tilt camera structure capable of being assembled with a 4G antenna and provided with an alarm lamp, which comprises a pan-tilt camera and a control system, the PTZ camera comprises a base, a first driving assembly, a first controller and a 4G antenna end are installed in the base, the first driving assembly is connected with a second driving assembly, and the second driving assembly is provided with a camera assembly and a second controller; the motor control unit periodically and alternately controls the first driving assembly and the second driving assembly based on a programmable logic chip, data transmission and signal transmission are completed between the camera control module and the camera data processing unit, and the camera control unit completes control over the camera assembly to work. And the camera data sending unit encrypts and sends acquired video data to the camera data processing unit based on a wireless transmission technology, and after digital processing, the video data is sent to a cloud terminal through a 4G antenna end. The shot video data is clearer.

Description

Technical Field

[0001] The invention belongs to the technical field of spherical pan-tilt cameras, and in particular relates to a spherical pan-tilt camera structure that can be equipped with a 4G antenna with an alarm light. Background Art

[0002] A spherical pan-tilt camera is a camera device that can be rotated, tilted and zoomed by remote control, and is widely used in security monitoring, video conferencing and other scenes. Its "spherical" design usually refers to the appearance of the camera in a spherical shell, with a built-in pan-tilt and sensor system, so that it can freely adjust the viewing angle in the horizontal and vertical directions, and can remotely zoom in or out the image. However, in actual use, the existing pan-tilt cameras can provide high-resolution real-time video streams, which means that they require a large amount of data storage and transmission bandwidth; if the camera continues to record video, the storage space may be quickly filled up, especially in high-definition video or 4K resolution, the storage and transmission requirements are even greater, and the existing pan-tilt camera, driven by a dual-motor pan-tilt, needs to transmit the video data shot by the camera through a conductive slip ring or even a fiber optic slip ring in order to ensure that the camera can rotate 360°, which causes noise to be generated during data transmission, causing data distortion. For this reason, the present invention proposes a spherical pan-tilt camera structure that can be equipped with a 4G antenna with an alarm light. Summary of the invention

[0003] The purpose of the present invention is to provide a spherical pan-tilt camera structure that can be equipped with a 4G antenna with an alarm light, which can enable the camera to work based on a stable driving pan-tilt, thereby capturing clearer and more accurate video data.

[0004] The technical solution adopted by the present invention is as follows:

[0005] A spherical pan-tilt camera structure that can be equipped with a 4G antenna with an alarm light, comprising a pan-tilt camera and a control system for controlling the pan-tilt camera;

[0006] The PTZ camera includes a base, a first driving component, a first controller and a 4G antenna terminal are installed inside the base, the first driving component is connected to a second driving component, and the second driving component is provided with a camera component and a second controller;

[0007] The control system includes a master control module running on the first controller and a camera control module running on the second controller;

[0008] The general control module includes a group of motor control units and a camera data processing unit. The camera control module includes a camera control unit and a camera data sending unit. The group of motor control units periodically and alternately controls the first drive component and the second drive component based on a programmable logic chip. The camera control module is communicated with the camera data processing unit to complete data transmission and signal transmission. The camera control unit receives the control signal to complete the control of the camera component. The camera data sending unit encrypts the video data obtained by the camera component based on wireless transmission technology and sends it to the camera data processing unit. The camera data processing unit obtains the encrypted video data, decrypts it, and digitally processes it, and then sends it to the cloud terminal through the 4G antenna end.

[0009] Preferably, the first driving assembly comprises a first stepper motor arranged inside the base, the output end of the first stepper motor is sleeved with a first conductive slip ring inner ring, the outside of the first conductive slip ring inner ring is movably connected with a first conductive slip ring outer ring, the end of the base is provided with a stable bridge, the middle of the stable bridge is installed with a first stable bearing, the end of the output end of the first stepper motor is connected to the first stable bearing inner ring, and the end edge of the first stable bearing inner ring is fixedly connected with a connecting ring.

[0010] Preferably, the second driving assembly includes a driving rod fixedly mounted on the lower end of the connecting ring, a second stepping motor is mounted on one lower end of the driving rod, a second conductive slip ring inner ring is sleeved on the output end of the second stepping motor, a second conductive slip ring outer ring is movably connected to the outside of the second conductive slip ring inner ring, an end of the output end of the second stepping motor is connected to the side of the second controller, a stable rotating shaft is connected to the other side of the second controller, a second stable bearing is provided on the other lower end of the driving rod, and the inner ring of the second stable bearing is connected to the end of the stable rotating shaft.

[0011] Preferably, the camera assembly includes a capture camera installed on the second controller, and an arc-shaped transparent glass piece is provided at the end of the capture camera, the center of the circle where the arc line of the cross-section of the arc-shaped transparent glass piece lies is on the center line of the stabilizing shaft, and the center line of the stabilizing shaft is aligned with the center line of the output end of the second stepper motor.

[0012] Preferably, a cover body is connected to the driving rod, the lower end of the cover body is an arc-shaped structure, a rotation groove is provided in the middle of the cover body, a circular through hole is opened on the side wall of the rotation groove, the stable rotating shaft and the output end of the second stepper motor pass through two circular through holes respectively, and rotate in the circular through holes, the camera assembly rotates inside the rotation groove, and an arc-shaped rubber scraper is provided on the cover body, the center of the circle where the cross-sectional arc of the arc-shaped rubber scraper is located is on the center line of the stable rotating shaft, when the acquisition camera rotates to the arc-shaped rubber scraper, the outer wall of the arc-shaped transparent glass sheet fits with the inner wall of the arc-shaped rubber scraper, and an alarm flashing light is installed on the outer wall of the arc-shaped rubber scraper.

[0013] Preferably, the first controller is connected to a main power line, the electrical signal output end of the first controller is connected to a first data line, two ends of the first data line are electrically connected to the first conductive slip ring outer ring and the first stepper motor respectively, the first conductive slip ring inner ring is electrically connected to a second data line, the second data line passes through the first stepper motor output end and the driving rod in sequence, two ends of the second data line are connected to the second conductive slip ring outer ring and the second stepper motor respectively, the second conductive slip ring inner ring is connected to a third power line, the third power line passes through the second stepper motor output end and is electrically connected to the second controller.

[0014] Preferably, the motor control unit includes a subdivided motor drive subunit and a self-locking subunit. The subdivided motor drive subunit and the self-locking subunit define and configure the flow of signals by using the programmable logic and timing control of the programmable logic chip, control the signal to flow between different paths, and select different input and output ports or channels.

[0015] Preferably, the subdivision motor driving subunit builds a subdivision driving model, and the subdivision driving model includes a current subdivision module, a PWM module, and an H-bridge driving module. By setting the subdivision parameters, the input current value, and the power supply voltage, the A and B two-phase currents are processed by the current subdivision module, and the output currents Ia and Ib are input into the PWM module, and compared with the returned actual current, and then a selection is made through a hysteresis comparator to realize the control of the four MOSFET tubes in the H-bridge circuit to achieve fine control of the winding current, and finally complete the control of the first stepper motor or the second stepper motor to run stably and with high precision;

[0016] The self-locking subunit uses a constant current driver to provide a stable current, and through the stable current, the position of the first stepper motor or the second stepper motor is kept stable. The stable current is the motor drive current fed back by the subdivision motor drive subunit; if the stepping current is too small, the stepper motor may lose self-locking, causing the rotor to shift; if the current is too large, it will consume more electrical energy, thereby enhancing the self-locking performance of the stepper motor.

[0017] Preferably, the camera control unit is used to control and adjust the shooting parameters of the acquisition camera, the shooting parameters include exposure, focus, white balance and frame rate, the camera data sending unit obtains the video data shot by the acquisition camera, the camera data sending unit and the camera data processing unit transmit data via WI-FI, and the camera data sending unit and the camera data processing unit encrypt or decrypt the transmitted video data via an asymmetric encryption algorithm;

[0018] The camera data processing unit processes the video data through the following steps: denoising, color filter array, color space and color correction, audio and video synchronization, and dynamic range compression. Finally, the digitally processed video data is sent to the cloud terminal through the 4G antenna end.

[0019] Preferably, the control system also includes an alarm module running inside the first controller, and the alarm module periodically captures a single image in the video data to determine whether noise occurs. If noise occurs, the acquisition camera is driven to rotate and bypass the arc-shaped rubber scraper. If noise still occurs, the alarm module drives the alarm flash light to flash and sends an early warning prompt to the cloud terminal through the 4G antenna end.

[0020] The technical effects achieved by the present invention are:

[0021] In the present invention, firstly, a first driving component and a second driving component are set to drive the camera component to move. At the same time, a group of motor control units of a master control module in a first controller alternately controls the stepper motors corresponding to the two driving components, so that the first driving component and the second driving component can more stably drive the camera component to move, thereby ensuring that the camera component can capture more accurate video images. Specifically, the camera can work based on a stable driving pan-tilt head, thereby capturing clearer and more accurate video data.

[0022] In the present invention, the camera control module on the second controller cooperates with the camera data processing unit of the master control module in the first controller, so that the data captured by the camera assembly is sent to the camera data processing unit of the master control module in a wireless manner, ensuring that the camera assembly can rotate 360 ​​degrees without transmitting the video data through the conductive slip ring in the prior art, thereby ensuring the accuracy of video data transmission and avoiding distortion of video data transmission.

[0023] In actual use of the present invention, the subdivision motor driving subunit first connects to the stepper motor of one of the driving components to drive the stepper motor of the current driving component to work, so that after the acquisition camera rotates to the specified position, the self-locking subunit obtains the stable current finally output by the subdivision motor driving subunit, and then the programmable logic chip defines the flow direction of the configuration signal through programmable logic and timing control, so that the signal transmission channel of the subdivision motor driving subunit connects to the stepper motor of another driving component, and at the same time, the signal transmission channel of the self-locking subunit connects to the stepper motor of the current driving component; then the self-locking subunit completes the control of the stepper motor of the current driving component to stably lock the current angle through the stable current, and at the same time, the subdivision motor driving subunit controls the stepper motor of the other driving component to work again through the new driving signal. In the actual working process, by controlling the stepper motors of the two groups of driving components to rotate or lock alternately, the acquisition camera captures the video data at the specified position, and finally by setting a group of motor control units to accurately drive the two stepper motors of the two groups of driving components, while ensuring clear and stable shooting, the cost of the spherical pan / tilt camera is reduced.

[0024] In the present invention, data is transmitted between the camera data sending unit and the camera data processing unit via WI-FI, thereby avoiding data distortion caused by wired transmission through a conductive slip ring, thereby ensuring the clarity of the video data. Since the camera data sending unit and the camera data processing unit encrypt or decrypt the transmitted video data through an asymmetric encryption algorithm, the security of video data transmission is ensured; in the present invention, when sending video data to the cloud terminal via the 4G antenna end, encryption processing is also performed, thereby ensuring the security of data transmission. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of a spherical pan-tilt camera structure that can be equipped with a 4G antenna and an alarm light according to the present invention;

[0026] Figure 2 It is a schematic diagram of the overall structure of another viewing angle of a spherical pan-tilt camera structure that can be equipped with a 4G antenna and an alarm light according to the present invention;

[0027] Figure 3It is a cross-sectional structural schematic diagram of a spherical pan-tilt camera structure that can be equipped with a 4G antenna with an alarm light according to the present invention;

[0028] Figure 4 The present invention Figure 3 The enlarged view of point A in the middle;

[0029] Figure 5 The present invention Figure 3 The enlarged view of point B in the middle;

[0030] Figure 6 It is a schematic diagram of the internal structure of a base and a cover body in a spherical pan-tilt camera structure that can be equipped with a 4G antenna with an alarm light according to the present invention;

[0031] Figure 7 It is a structural schematic diagram of another perspective of the base and the interior of the cover in a spherical pan-tilt camera structure that can be equipped with a 4G antenna with an alarm light according to the present invention;

[0032] Figure 8 It is a system block diagram of a control system in a spherical pan-tilt camera structure that can be equipped with a 4G antenna with an alarm light according to the present invention;

[0033] Fig. 9 The present invention discloses a system block diagram of a motor control unit in a spherical pan-tilt camera structure that can be equipped with a 4G antenna with an alarm light.

[0034] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0035] 1. Base; 2. First drive component; 3. First controller; 4. Second drive component; 5. Camera component; 6. Second controller; 7. 4G antenna terminal; 8. Curved rubber scraper; 9. Warning flashing light; 10. Main power line; 11. First data line; 12. Second data line; 13. Third power line; 201. First stepper motor; 202. First conductive slip ring inner ring; 203. First conductive slip ring outer ring; 204. Stable bridge; 205. First stable bearing; 206. Connecting ring; 301. Drive rod; 302. Second stepper motor; 303. Second conductive slip ring inner ring; 304. Second conductive slip ring outer ring; 305. Stable shaft; 306. Second stable bearing; 307. Cover; 501. Collection camera; 502. Curved transparent glass sheet. DETAILED DESCRIPTION

[0036] In order to make the purpose and advantages of the present invention more clearly understood, the present invention is specifically described below in conjunction with embodiments. It should be understood that the following text is only used to describe one or several specific embodiments of the present invention, and does not strictly limit the scope of protection of the specific claims of the present invention.

[0037] like Figure 1-Figure 9 As shown, a spherical pan-tilt camera structure that can be equipped with a 4G antenna with an alarm light includes a pan-tilt camera and a control system for controlling the pan-tilt camera;

[0038] The PTZ camera comprises a base 1, a first driving component 2, a first controller 3 and a 4G antenna terminal 7 are installed inside the base 1, a second driving component 4 is connected to the first driving component 2, and a camera component 5 and a second controller 6 are arranged on the second driving component 4;

[0039] The control system includes a master control module running on the first controller 3 and a camera control module running on the second controller 6;

[0040] like Figure 8 As shown, the general control module includes a group of motor control units and a camera data processing unit. The camera control module includes a camera control unit and a camera data sending unit. A group of motor control units periodically and alternately controls the first drive component 2 and the second drive component 4 based on a programmable logic chip. The camera control module and the camera data processing unit are communicated and connected to complete data transmission and signal transmission. The camera control unit receives the control signal to complete the control of the camera component 5. The camera data sending unit encrypts the video data obtained by the camera component 5 based on wireless transmission technology and sends it to the camera data processing unit. The camera data processing unit obtains the encrypted video data and sends it to the cloud terminal through the 4G antenna terminal 7 after decryption and digital processing.

[0041] In the present invention, firstly, the camera assembly 5 is driven to move by setting a first drive component 2 and a second drive component 4. At the same time, a group of motor control units of the master control module in the first controller 3 alternately controls the stepper motors corresponding to the two drive components, so that the first drive component 2 and the second drive component 4 can drive the camera assembly 5 to move more stably, thereby ensuring that the camera assembly 5 can capture more accurate video images.

[0042] In the present invention, the camera control module on the second controller 6 cooperates with the camera data processing unit of the master control module in the first controller 3, so that the data captured by the camera assembly 5 is sent to the camera data processing unit of the master control module in a wireless manner, ensuring that the camera assembly 5 can rotate 360° without transmitting the video data through the conductive slip ring in the prior art, thereby ensuring the accuracy of video data transmission and avoiding distortion of video data transmission.

[0043] like Figure 1-Figure 7As shown, preferably, the first driving assembly 2 includes a first stepper motor 201 arranged inside the base 1, the output end of the first stepper motor 201 is sleeved with a first conductive slip ring inner ring 202, the first conductive slip ring inner ring 202 is movably connected to the first conductive slip ring outer ring 203 outside, a stable bridge 204 is provided at the end of the base 1, a first stable bearing 205 is installed in the middle of the stable bridge 204, the end of the output end of the first stepper motor 201 is connected to the inner ring of the first stable bearing 205, and a connecting ring 206 is fixedly connected to the edge of the end of the inner ring of the first stable bearing 205.

[0044] In actual use of the present invention, the output end of the first stepper motor 201 directly drives the inner ring of the first stable bearing 205 to rotate, and then drives the connecting ring 206 to rotate. By setting the stable bridge 204 and the first stable bearing 205, compared with directly using the motor output end and the connecting ring 206 in the prior art, the rotation of the connecting ring 206 is further made more stable, thereby making it more stable when driving the second drive component 4 to rotate horizontally.

[0045] like Figure 1-Figure 7 As shown, preferably, the second driving assembly 4 includes a driving rod 301 fixedly mounted on the lower end of the connecting ring 206, a second stepping motor 302 is mounted on one lower end of the driving rod 301, a second conductive slip ring inner ring 303 is sleeved on the output end of the second stepping motor 302, the second conductive slip ring inner ring 303 is externally movably connected with a second conductive slip ring outer ring 304, the end of the output end of the second stepping motor 302 is connected to the side of the second controller 6, the other side of the second controller 6 is connected to a stabilizing shaft 305, a second stabilizing bearing 306 is provided on the other lower end of the driving rod 301, and the inner ring of the second stabilizing bearing 306 is connected to the end of the stabilizing shaft 305.

[0046] like Figure 1-Figure 7 As shown, in actual use of the present invention, the connecting ring 206 directly drives the driving rod 301 to rotate, and realizes 360° rotation, or continuous rotation. The output end of the second step motor 302 directly drives the second controller 6 to rotate, and the second controller 6 drives the acquisition camera 501 to rotate in the vertical direction. By setting the second stable bearing 306 and the stable rotating shaft 305, the rotation of the acquisition camera 501 in the vertical direction is more stable.

[0047] Preferably, the camera assembly 5 includes a collection camera 501 installed on the second controller 6, and an arc-shaped transparent glass piece 502 is provided at the end of the collection camera 501. The center of the circle where the arc line of the cross section of the arc-shaped transparent glass piece 502 lies is on the center line of the stabilizing shaft 305, and the center line of the stabilizing shaft 305 is aligned with the center line of the output end of the second stepper motor 302.

[0048] like Figure 1-Figure 7As shown, in the present invention, the arc-shaped transparent glass sheet 502 mainly serves to protect the lens of the acquisition camera 501 and prevent dust from accumulating on the lens of the acquisition camera 501.

[0049] Preferably, a cover body 307 is connected to the driving rod 301, and the lower end of the cover body 307 is an arc-shaped structure. A rotating groove is provided in the middle of the cover body 307, and a circular through hole is opened on the side wall of the rotating groove. The stabilizing shaft 305 and the output end of the second stepping motor 302 pass through the two circular through holes respectively and rotate in the circular through holes. The camera assembly 5 rotates inside the rotating groove. An arc-shaped rubber scraper 8 is provided on the cover body 307, and the center of the circle where the cross-sectional arc of the arc-shaped rubber scraper 8 lies is on the center line of the stabilizing shaft 305. When the acquisition camera 501 rotates to the arc-shaped rubber scraper 8, the outer wall of the arc-shaped transparent glass sheet 502 fits with the inner wall of the arc-shaped rubber scraper 8, and an alarm flashing light 9 is installed on the outer wall of the arc-shaped rubber scraper 8.

[0050] The cover 307 in the present invention mainly protects the first drive assembly 2 and the second drive assembly 4 from dust, thereby further protecting the first drive assembly 2 and the second drive assembly 4, so that the first drive assembly 2 and the second drive assembly 4 can stably drive the acquisition camera 501 to rotate.

[0051] like Figure 8 As shown, in the present invention, the control system also includes an alarm module running inside the first controller 3. The alarm module periodically intercepts a single image in the video data to see if noise appears. If so, the acquisition camera 501 is driven to rotate and bypass the curved rubber scraper 8. If noise still appears, the alarm module drives the alarm flash light 9 to flash, and sends an early warning prompt to the cloud terminal through the 4G antenna terminal 7. In the present invention, since the center of the circle where the cross-sectional arc of the curved transparent glass sheet 502 is located is on the center line of the stable shaft 305, and the center of the circle where the cross-sectional arc of the curved rubber scraper 8 is located is on the center line of the stable shaft 305, when the acquisition camera 501 rotates to the curved rubber scraper 8, the outer wall of the curved transparent glass sheet 502 fits with the inner wall of the curved rubber scraper 8, so that the curved rubber scraper 8 can be used to clean the dust and water stains on the outer wall of the curved transparent glass sheet 502, thereby ensuring that the acquisition camera 501 shoots clearer video data; by setting the alarm module, the spherical pan-tilt camera is guaranteed to operate safely and reliably.

[0052] Preferably, the first controller 3 is connected to a main power line 10, the electrical signal output end of the first controller 3 is connected to a first data line 11, the two ends of the first data line 11 are electrically connected to the first conductive slip ring outer ring 203 and the first stepper motor 201 respectively, the first conductive slip ring inner ring 202 is electrically connected to the second data line 12, the second data line 12 passes through the output end of the first stepper motor 201 and the driving rod 301 in sequence, the two ends of the second data line 12 are connected to the second conductive slip ring outer ring 304 and the second stepper motor 302 respectively, the second conductive slip ring inner ring 303 is connected to a third power line 13, the third power line 13 passes through the output end of the second stepper motor 302 and is electrically connected to the second controller 6.

[0053] In the present invention, Figure 3 As shown, the main power line 10 is used to supply power to the first controller 3, one end of the first data line 11 supplies power to the first stepper motor 201 and transmits a driving signal and feeds back the driving signal, the other end of the first data line 11 supplies power and bidirectionally transmits signals through the first conductive slip ring composed of the first conductive slip ring outer ring 203 and the first conductive slip ring inner ring 202, the second data line 12 receives the power supply and the transmitted signal of the first conductive slip ring, one end of the second data line 12 transmits the driving signal to the second stepper motor 302 and feeds back the signal, the other end of the second data line 12 directly supplies power to the second conductive slip ring outer ring 304, and supplies power to the second controller 6 through the second conductive slip ring inner ring 303 and the third power line 13, the second controller 6 supplies power to the acquisition camera 501, and receives the video data captured by the acquisition camera 501.

[0054] It should be noted that the first conductive slip ring adopts an optical fiber conductive slip ring, which is not only used to transmit electrical energy, but also used to transmit the drive signal of the second stepper motor 302 and feedback the operation signal of the second stepper motor 302. The second conductive slip ring adopts an ordinary conductive slip ring for power supply, which only cooperates with the third power line 13 to supply power to the second controller 6 and the acquisition camera 501.

[0055] By providing the first conductive slip ring and the second conductive slip ring, the acquisition camera 501 can be rotated 360 degrees horizontally while ensuring the product cost, thereby ensuring that the video captured by the acquisition camera 501 is clearer.

[0056] like Fig. 9 As shown, preferably, the motor control unit includes a subdivided motor drive subunit and a self-locking subunit. The subdivided motor drive subunit and the self-locking subunit define and configure the flow of signals by using the programmable logic and timing control of the programmable logic chip, control the signal to flow between different paths, and select different input and output ports or channels.

[0057] like Fig. 9As shown, preferably, the subdivision motor driving subunit builds a subdivision driving model, and the subdivision driving model includes a current subdivision module, a PWM module, and an H-bridge driving module. By setting the subdivision parameters, the input current value, and the power supply voltage, the A and B two-phase currents are processed by the current subdivision module, and the output currents Ia and Ib are input into the PWM module, and compared with the actual current returned, and then a selection is made through the hysteresis comparator to realize the control of the four MOSFET tubes in the H-bridge circuit to achieve fine control of the winding current, and finally complete the control of the first stepper motor 201 or the second stepper motor 302 to run stably and with high precision;

[0058] The self-locking subunit uses a constant current driver to provide a stable current, and through the stable current, the position of the first stepper motor 201 or the second stepper motor 302 is kept stable. The stable current is the motor drive current fed back by the subdivided motor drive subunit; if the stepping current is too small, the stepper motor may lose self-locking, causing the rotor to shift; if the current is too large, it will consume more electricity, thereby enhancing the self-locking performance of the stepper motor.

[0059] In the present invention, the PWM module is a pulse modulation module. By building a subdivided drive model, the rotation wave speed of the stepper motor is reduced, the oscillation is significantly improved, the position response is more precise, the designated position is reached more accurately, and the error is controlled within 0.02 degrees.

[0060] like Fig. 9 As shown, in actual use of the present invention, the subdivision motor driving subunit first connects to the stepper motor of one of the driving components to drive the stepper motor of the current driving component to work, so that after the acquisition camera 501 rotates to the specified position, the self-locking subunit obtains the stable current finally output by the subdivision motor driving subunit, and then the programmable logic chip defines the flow direction of the configuration signal through programmable logic and timing control, so that the signal transmission channel of the subdivision motor driving subunit connects to the stepper motor of another driving component, and at the same time, the signal transmission channel of the self-locking subunit connects to the stepper motor of the current driving component; then the self-locking subunit completes the control of the stepper motor of the current driving component to stably lock the current angle through the stable current, and at the same time, the subdivision motor driving subunit controls the stepper motor of the other driving component to work again through the new driving signal, and then in the actual working process, by controlling the stepper motors of the two groups of driving components to rotate or lock alternately, the acquisition camera 501 captures the video data at the specified position.

[0061] In the present invention, in a programmable logic chip FPGA, signal routing control is implemented by programming using Verilog or VHDL, and the control method includes using a multiplexer, a lookup table, timing control, and flexible configuration of I / O ports. Through programming, it is precisely controlled how the signal is transmitted between different inputs and outputs, or different signal paths are selected according to external conditions; and finally, by setting a set of motor control units to precisely drive two stepping motors of two sets of drive components, the cost of the spherical pan-tilt camera is reduced.

[0062] Preferably, the camera control unit is used to control and adjust the shooting parameters of the acquisition camera 501, the shooting parameters include exposure, focus, white balance and frame rate, the camera data sending unit obtains the video data shot by the acquisition camera 501, the camera data sending unit and the camera data processing unit transmit data via WI-FI, and the camera data sending unit and the camera data processing unit encrypt or decrypt the transmitted video data via an asymmetric encryption algorithm;

[0063] In the present invention, the camera data transmission unit and the camera data processing unit transmit data via WI-FI, avoiding data distortion caused by wired transmission through a conductive slip ring, thereby ensuring the clarity of the video data. Since the camera data transmission unit and the camera data processing unit encrypt or decrypt the transmitted video data through an asymmetric encryption algorithm, the security of video data transmission is ensured. In the present invention, when sending video data to the cloud terminal through the 4G antenna terminal 7, encryption processing is also performed to ensure the security of data transmission.

[0064] The camera data processing unit processes the video data through the following processes: denoising, color filter array, color space and color correction, audio and video synchronization, and dynamic range compression. Finally, the digitally processed video data is sent to the cloud terminal through the 4G antenna terminal 7.

[0065] In the present invention, denoising: the original signal generated by the image sensor may contain noise, especially in low light conditions; the denoising algorithm will remove these noises in subsequent processing to improve the image clarity;

[0066] Color filter array: Most CMOS sensors use a Bayer color filter array, such as RGGB, where each pixel captures only one of the three colors: red, green, or blue. To generate a full color image, the camera uses a demosaicing algorithm to interpolate the data and restore the RGB value of each pixel.

[0067] Color space and color correction. After the camera captures the video, the video signal enters the color space and color correction stage to ensure color accuracy; audio synchronization and processing

[0068] Dynamic range compression: The image sensor may capture a huge difference between bright light and dark shadows in the scene. The dynamic range compression algorithm can compress the areas that are too bright or too dark without losing details, ensuring that the entire picture is more balanced.

[0069] The above is only a preferred embodiment of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principles of the present invention, and these improvements and modifications should also be considered as the protection scope of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention shall be implemented according to the conventional means in the art unless otherwise specified and limited.

Claims

1. A spherical pan-tilt camera structure that can be equipped with a 4G antenna and an alarm light, characterized in that: It includes a pan-tilt camera and a control system for controlling the pan-tilt camera; The pan-tilt camera comprises a base (1), a first driving component (2), a first controller (3) and a 4G antenna end (7) are installed inside the base (1), a second driving component (4) is connected to the first driving component (2), and a camera component (5) and a second controller (6) are arranged on the second driving component (4); The control system comprises a master control module running on the first controller (3) and a camera control module running on the second controller (6); The master control module comprises a group of motor control units and a camera data processing unit, the camera control module comprises a camera control unit and a camera data sending unit, the group of motor control units periodically and alternately controls the first drive component (2) and the second drive component (4) based on a programmable logic chip, the camera control module and the camera data processing unit are connected in communication to complete data transmission and signal transmission, the camera control unit receives a control signal to complete the control of the camera component (5), the camera data sending unit encrypts the video data acquired by the camera component (5) based on wireless transmission technology and sends it to the camera data processing unit, the camera data processing unit acquires the encrypted video data, decrypts it, performs digital processing, and then sends it to the cloud terminal through the 4G antenna end (7).

2. According to claim 1, a spherical pan-tilt camera structure that can be equipped with a 4G antenna and an alarm light is characterized in that: The first drive assembly (2) comprises a first stepper motor (201) arranged inside the base (1); the output end of the first stepper motor (201) is sleeved with a first conductive slip ring inner ring (202); the first conductive slip ring inner ring (202) is externally movably connected to a first conductive slip ring outer ring (203); a stabilizing bridge (204) is provided at the end of the base (1); a first stabilizing bearing (205) is installed in the middle of the stabilizing bridge (204); the end of the output end of the first stepper motor (201) is connected to the inner ring of the first stabilizing bearing (205); and a connecting ring (206) is fixedly connected to the edge of the end of the inner ring of the first stabilizing bearing (205).

3. According to claim 2, a spherical pan-tilt camera structure that can be equipped with a 4G antenna and an alarm light is characterized in that: The second driving assembly (4) comprises a driving rod (301) fixedly mounted on the lower end of the connecting ring (206); a second stepping motor (302) is mounted on one lower end of the driving rod (301); a second conductive slip ring inner ring (303) is sleeved on the output end of the second stepping motor (302); the second conductive slip ring inner ring (303) is externally movably connected to a second conductive slip ring outer ring (304); an end of the output end of the second stepping motor (302) is connected to a side of the second controller (6); a stabilizing shaft (305) is connected to the other side of the second controller (6); a second stabilizing bearing (306) is disposed on the other lower end of the driving rod (301); an inner ring of the second stabilizing bearing (306) is connected to an end of the stabilizing shaft (305).

4. According to claim 3, a spherical pan-tilt camera structure that can be equipped with a 4G antenna and an alarm light is characterized in that: The camera assembly (5) comprises a collection camera (501) mounted on the second controller (6), the end of the collection camera (501) being provided with an arc-shaped transparent glass sheet (502), the center of the circle where the cross-sectional arc line of the arc-shaped transparent glass sheet (502) lies is on the center line of the stabilizing shaft (305).

5. According to claim 4, a spherical pan-tilt camera structure that can be equipped with a 4G antenna and an alarm light is characterized in that: The driving rod (301) is connected to a cover body (307), the lower end of the cover body (307) is in an arc-shaped structure, a rotation groove is provided in the middle of the cover body (307), the camera assembly (5) rotates inside the rotation groove, and an arc-shaped rubber scraper (8) is provided on the cover body (307), the center of the circle where the cross-sectional arc of the arc-shaped rubber scraper (8) is located is on the center line of the stable rotating shaft (305), when the acquisition camera (501) rotates to the arc-shaped rubber scraper (8), the outer wall of the arc-shaped transparent glass sheet (502) is in contact with the inner wall of the arc-shaped rubber scraper (8), and an alarm flashing light (9) is installed on the outer wall of the arc-shaped rubber scraper (8).

6. According to claim 5, a spherical pan-tilt camera structure that can be equipped with a 4G antenna and an alarm light is characterized in that: The first controller (3) is connected to a main power line (10); the electrical signal output end of the first controller (3) is connected to a first data line (11); two ends of the first data line (11) are electrically connected to the first conductive slip ring outer ring (203) and the first stepper motor (201) respectively; the first conductive slip ring inner ring (202) is electrically connected to a second data line (12); the second data line (12) passes through the output end of the first stepper motor (201) and the driving rod (301) in sequence; two ends of the second data line (12) are respectively connected to the second conductive slip ring outer ring (304) and the second stepper motor (302); the second conductive slip ring inner ring (303) is connected to a third power line (13); the third power line (13) passes through the output end of the second stepper motor (302) and is electrically connected to the second controller (6).

7. According to claim 6, a spherical pan-tilt camera structure that can be equipped with a 4G antenna and an alarm light is characterized in that: The motor control unit includes a subdivided motor drive subunit and a self-locking subunit. The subdivided motor drive subunit and the self-locking subunit define and configure the flow of signals by using the programmable logic and timing control of the programmable logic chip, control the signal to flow between different paths, and select different input and output ports or channels.

8. According to claim 7, a spherical pan-tilt camera structure that can be equipped with a 4G antenna and an alarm light is characterized in that: The subdivision motor driving subunit builds a subdivision driving model, and the subdivision driving model includes a current subdivision module, a PWM module, and an H-bridge driving module. By setting subdivision parameters, input current values, and power supply voltage, the A and B two-phase currents are processed by the current subdivision module, and the output currents Ia and Ib are input into the PWM module, and compared with the returned actual currents. A selection is then made through a hysteresis comparator, and the control of the four MOSFET tubes in the H-bridge circuit is realized to achieve fine control of the winding current, and finally the control of the operation of the first stepper motor (201) or the second stepper motor (302) is completed; The self-locking subunit uses a constant current driver to provide a stable current, and through the stable current, the position of the first stepper motor (201) or the second stepper motor (302) is kept stable, and the stable current is the motor driving current fed back by the subdivided motor driving subunit.

9. The spherical pan-tilt camera structure capable of being equipped with a 4G antenna and an alarm light according to claim 8, characterized in that: The camera control unit is used to control and adjust the shooting parameters of the acquisition camera (501), the shooting parameters including exposure, focus, white balance and frame rate, the camera data sending unit obtains the video data shot by the acquisition camera (501), the camera data sending unit and the camera data processing unit transmit data via WI-FI, and the camera data sending unit and the camera data processing unit encrypt or decrypt the transmitted video data via an asymmetric encryption algorithm; The camera data processing unit processes the video data through the following steps: denoising, color filter array, color space and color correction, audio and video synchronization, and dynamic range compression. Finally, the digitally processed video data is sent to the cloud terminal through the 4G antenna terminal (7).

10. The spherical pan-tilt camera structure capable of being equipped with a 4G antenna and an alarm light according to claim 5, characterized in that: The control system further comprises an alarm module running inside the first controller (3), wherein the alarm module periodically captures a single image in the video data to detect whether noise occurs. If noise occurs, the alarm module drives the acquisition camera (501) to rotate and bypass the arc-shaped rubber scraper (8). If noise still occurs, the alarm module drives the alarm flash light (9) to flash and sends an early warning prompt to the cloud terminal via the 4G antenna terminal (7).

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