Intelligent monitoring equipment for spherical holder

Abstract

The invention relates to the technical field of image generation, image enhancement and the like, and provides a spherical holder intelligent monitoring device, the spherical holder intelligent monitoring device is provided with a base assembly, a ball frame assembly and a ball head assembly, the base assembly comprises a main control board and a horizontal driving motor, and the horizontal driving motor drives the ball frame assembly to rotate horizontally; the ball frame assembly comprises a vertical driving motor and an acceleration measurement module, and the vertical driving motor controls the rotation of the ball head assembly in the pitching direction; the acceleration measurement module detects linear acceleration data of the ball rack assembly and outputs a motion compensation signal; the ball head assembly comprises an imaging module and a gyroscope sensing module, and the imaging module collects image information of a target area to generate a target image; the gyroscope sensing module detects the real-time angular velocity of the ball head assembly; and the main control board performs attitude calculation and motion compensation according to the real-time angular velocity, the linear acceleration data and the motion compensation signal so as to control the motivator, reduce the influence of the external environment on imaging and enhance the definition of an imaging picture.

Description

Technical Field

[0001] The present invention relates to the technical fields of image generation, image enhancement and the like, and in particular to a spherical pan-tilt intelligent monitoring device. Background Art

[0002] At present, the imaging of PTZ monitoring equipment is often blurred due to wind speed and mechanical vibration, which affects the recognition accuracy. Moreover, PTZ monitoring equipment mostly uses a single visual detection method, which is easily affected by factors such as haze, light, and environmental interference, making it difficult to accurately identify the target. For example, when the environment changes (rain, snow, humidity, temperature difference), the optical performance of the PTZ monitoring equipment is easily affected, which reduces the monitoring effect. In addition, at long distances and in harsh environments, the stability of the PTZ monitoring equipment in tracking high-speed moving targets is low, which reduces the monitoring effect.

[0003] To sum up, the existing pan-tilt monitoring equipment has technical problems such as image jitter and instability, blurred imaging, inaccurate long-distance target detection, poor adaptability to environmental changes, inaccurate target tracking, and reduced monitoring effect. Summary of the invention

[0004] In view of the deficiencies in the above-mentioned prior art, the present invention provides a spherical pan-tilt intelligent monitoring device to reduce the impact of external vibration or wind on imaging, enhance the clarity of the imaging picture, enhance the adaptability to environmental changes, and improve the monitoring effect.

[0005] The spherical pan-tilt intelligent monitoring device provided by the present invention comprises: A base assembly is fixed on the monitoring installation base and is used to support the ball rack assembly. The base assembly includes a main control board and a horizontal drive motor. The horizontal drive motor drives the ball rack assembly to rotate horizontally according to a control signal from the main control board. The ball rack assembly comprises: a vertical drive motor for controlling the rotation of the ball head assembly in the pitch direction; an acceleration measurement module installed on the ball rack assembly for detecting the linear acceleration data of the ball rack assembly and outputting a motion compensation signal; The ball head assembly is installed on the top of the ball frame assembly, and includes: an imaging module for collecting image information of the target area to generate a target image; a gyroscope sensor module is arranged at the rotation axis of the ball head assembly and is used to detect the real-time angular velocity of the ball head assembly; Among them, the main control board performs attitude calculation and motion compensation according to the real-time angular velocity of the ball head assembly output by the gyroscope sensor module, the linear acceleration data output by the acceleration measurement module and the motion compensation signal, so as to control the horizontal and vertical drive motors and reduce the influence of external vibration or wind on imaging.

[0006] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a spherical pan-tilt intelligent monitoring device, which comprises a base assembly, a ball rack assembly and a ball head assembly, wherein the base assembly is fixed on a monitoring mounting base and is used to support the ball rack assembly, wherein the base assembly comprises a main control board and a horizontal drive motor, wherein the horizontal drive motor drives the ball rack assembly to rotate horizontally according to a control signal of the main control board; the ball rack assembly comprises a vertical drive motor and an acceleration measurement module, wherein the vertical drive motor is used to control the rotation of the ball head assembly in a pitch direction; the acceleration measurement module is installed on the ball rack assembly, and is used to detect the linear acceleration data of the ball rack assembly and output a motion compensation signal; the ball head assembly is installed on the top of the ball rack assembly The invention relates to a monitoring device for monitoring a target area, comprising an imaging module and a gyroscope sensing module, wherein the imaging module is used to collect image information of a target area to generate a target image; the gyroscope sensing module is arranged at the rotation axis of the ball head assembly and is used to detect the real-time angular velocity of the ball head assembly; wherein the main control board performs attitude calculation and motion compensation according to the real-time angular velocity of the ball head assembly output by the gyroscope sensing module, the linear acceleration data output by the acceleration measurement module and the motion compensation signal, so as to control the horizontal and vertical drive motors, thereby reducing the influence of external vibration or wind force on imaging, enhancing the clarity of the imaging picture, enhancing the adaptability to environmental changes, and improving the monitoring effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their description are used to explain the present invention and do not constitute an improper limitation of the present invention. Some specific embodiments of the present invention will be described in detail in an exemplary and non-restrictive manner with reference to the drawings. The same reference numerals in the drawings indicate the same or similar components or parts. It should be understood by those skilled in the art that these drawings are not necessarily drawn to scale. In the drawings: Figure 1 This is a schematic diagram of a control system of a spherical pan-tilt intelligent monitoring device according to an embodiment of the present invention; Figure 2 This is a structural schematic diagram of a spherical pan-tilt intelligent monitoring device according to an embodiment of the present invention; Figure 3 It is another structural schematic diagram of the spherical pan-tilt intelligent monitoring device according to an embodiment of the present invention.

[0008] Description of reference numerals: 1. Base assembly; 2. Ball holder assembly; 3. Ball head assembly; 30. Thermal imaging camera; 31. Left long-range infrared fill light; 32. Right long-range infrared fill light; 33. Single-sided short-range infrared fill light; 34. Visible light camera; 35. Laser ranging module; 36. Zoom white light fill light. DETAILED DESCRIPTION

[0009] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only an embodiment of a part of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work should fall within the scope of protection of the present invention.

[0010] See also Figure 1-Figure 3 The embodiment of the present invention provides a spherical pan-tilt intelligent monitoring device, comprising: A base assembly is fixed on the monitoring installation base and is used to support the ball rack assembly. The base assembly includes a main control board and a horizontal drive motor. The horizontal drive motor drives the ball rack assembly to rotate horizontally according to a control signal from the main control board. The ball rack assembly comprises: a vertical drive motor for controlling the rotation of the ball head assembly in the pitch direction; an acceleration measurement module installed on the ball rack assembly for detecting the linear acceleration data of the ball rack assembly and outputting a motion compensation signal; The ball head assembly is installed on the top of the ball frame assembly, and includes: an imaging module for collecting image information of the target area to generate a target image; a gyroscope sensor module is arranged at the rotation axis of the ball head assembly and is used to detect the real-time angular velocity of the ball head assembly; Among them, the main control board performs attitude calculation and motion compensation according to the real-time angular velocity of the ball head assembly output by the gyroscope sensor module, the linear acceleration data output by the acceleration measurement module and the motion compensation signal, so as to control the horizontal and vertical drive motors and reduce the influence of external vibration or wind on imaging.

[0011] It should be noted that, in this embodiment, the gyroscope sensor module in the ball head assembly is arranged at the rotation axis of the ball head assembly to detect the angular velocity of the ball head assembly in real time. The angular velocity directly reflects the rotation change of the ball head in space, especially when there is external vibration or wind interference, which will cause the ball head to produce rapid angle changes on a small time scale. The acceleration measurement module on the ball rack assembly is installed at a fixed position of the ball rack assembly, detects the linear acceleration of the ball rack assembly in real time, and outputs a motion compensation signal. This acceleration value combined with the angular velocity output by the gyroscope can be used to distinguish between disturbance acceleration caused by wind, mechanical vibration, etc. and normal acceleration caused by human control actions. When external interference (such as wind speed, jitter, etc.) occurs, the ball head assembly and the ball rack assembly will produce abnormal changes in angular velocity and linear acceleration. The main control board periodically collects three-axis angular velocity data from the gyroscope sensor module and linear acceleration data from the acceleration measurement module. The main control board fuses the above sensor data according to the built-in algorithm (such as Kalman filtering, complementary filtering, etc.) to calculate the actual current attitude change of the ball head assembly and the ball rack assembly. If vibration, jitter or other disturbance trends are detected, the corresponding motion compensation signal is generated. After completing the attitude solution, the main control board will output adjustment instructions to the horizontal drive motor (located in the base assembly) and the vertical drive motor (located in the ball rack assembly) to dynamically drive the ball rack and the ball head. By quickly fine-tuning the motor, it is possible to counter external disturbances in a very short time, and achieve dynamic compensation and stability of the gimbal attitude. Even in an environment with strong winds or mechanical vibrations, the ball head assembly can better maintain a stable orientation, making the video imaging clearer and smoother. It can be understood that since the main control board obtains angular velocity and acceleration data in real time and performs motion compensation, it can quickly control the gimbal to make reverse or pre-compensation actions, so that the ball head can remain relatively stable when disturbed by the outside world, thereby greatly reducing the jitter and blur of the video.

[0012] In some preferred embodiments, the ball head assembly is configured as a spherical cabin, and the spherical cabin includes two connecting ear sides for rotationally connecting with the ball frame assembly, a front face side for setting the imaging module, and a rear shell side for cooling the imaging module; the two connecting ear sides are two opposite spherical cabin sides on the spherical cabin, and the front face side and the rear shell side are two opposite spherical cabin sides on the spherical cabin. It should be noted that in this embodiment, by adopting the overall shape design of the spherical cabin, the ball head assembly has good support and rotation cooperation when docking with the ball frame assembly. The front face side directly faces the shooting area, the rear shell side reserves heat dissipation space, and the connecting ear side bears the mechanical connection of the rotating shaft. The imaging module is installed on the front face side, and the rear shell side is convenient for configuring a heat dissipation device in a local space, which is conducive to long-term stable operation. The left and right connecting ear sides are connected to the ball frame assembly, simplifying the mechanical structure and improving the assembly and debugging efficiency. The spherical shell is conducive to reducing wind resistance or reducing vibration coupling in certain directions.

[0013] In some preferred embodiments, the ball head assembly and the ball rack assembly are detachably mounted; when a ball head assembly with a different imaging module is required, the ball head assembly with the current imaging module is removed from the ball rack assembly, and a ball head assembly with a different imaging module is installed. It should be noted that a detachable connection structure (such as a quick buckle, thread or plug-in, etc.) is used between the ball head assembly and the ball rack assembly. When it is necessary to replace other types of imaging modules, it is only necessary to remove the original ball head assembly and replace it with a new one. In this embodiment, the ball head assembly (such as a single visible light, thermal imaging or composite sensor head) can be replaced without changing the ball rack and the base to meet a variety of monitoring scenarios. In addition, in this embodiment, only ball head assemblies with different functions need to be prepared without replacing the entire set of pan / tilt heads, which reduces maintenance costs and shortens system downtime.

[0014] In some preferred embodiments, after the ball head assembly is installed on the ball rack assembly, the ball rack assembly supports the ball head assembly so that the ball head assembly can rotate at a preset pitch angle in the vertical direction of the ball rack assembly. It should be noted that the ball head assembly is fixed to the top of the ball rack assembly by connecting the ear side, and the pitch angle control is achieved by the vertical drive motor of the ball rack assembly. After replacing the ball head assembly, accurate vertical rotation can still be achieved to ensure flexible and controllable monitoring viewing angle.

[0015] In some preferred embodiments, an imaging module configuration on the ball head assembly includes: a visible light camera for collecting high-resolution images in the visible light band is separately configured on the ball head assembly. In addition, an imaging module configuration on the ball head assembly includes: a thermal imaging camera for collecting thermal infrared images under preset complex meteorological conditions is separately configured on the ball head assembly. It should be noted that in ordinary monitoring environments, the use of high-resolution visible light can meet the needs of most daytime / lighting conditions. In addition, a thermal imaging camera is configured to rely on the infrared energy radiated by the target object itself to form an image in scenes where visible light is blocked, such as smoke, darkness, and strong haze.

[0016] In some preferred embodiments, an imaging module configuration on the ball head assembly includes: a visible light camera for collecting high-resolution images in the visible light band and a thermal imaging camera for collecting thermal infrared images under preset complex meteorological conditions are configured on the ball head assembly at the same time; the visible light camera and the thermal imaging camera are arranged on the ball head assembly at intervals. It should be noted that in this embodiment, two cameras of different bands are installed on the same ball head assembly: visible light + infrared imaging. Through the main control board, visible light and infrared images can be obtained at the same time to achieve multi-spectral information fusion or synchronous monitoring. The visible light camera provides high-resolution color images in scenes with good lighting; the thermal imaging camera can form images normally in scenes such as night and smoke. The two complement each other and can improve the all-weather capability of monitoring. Comprehensive comparison of visible light and thermal infrared information can reduce the impact of environmental interference on target detection.

[0017] In some preferred embodiments, the thermal imaging camera is provided with left and right long-distance infrared fill lights and a single-side short-distance infrared fill light; the left and right long-distance infrared fill lights are symmetrically distributed on both sides of the thermal imaging camera, and together with the single-side short-distance infrared fill light, form a U-shaped encirclement area, and the thermal imaging camera is located in the U-shaped encirclement area. Among them, the left and right long-distance infrared fill lights include a left long-distance infrared fill light and a right long-distance infrared fill light. It should be noted that, in response to the imaging requirements of the thermal imaging camera, infrared fill lights of different distances (long-distance lights are located on the left and right sides, and short-distance lights are on one side) are used to form a local "encircling" infrared radiation compensation layout. This layout helps to activate appropriate infrared fill lights according to the distance in actual monitoring, and improve the imaging contrast of the target in the infrared band. It can be understood that in this embodiment, the U-shaped layout can stabilize the light field, reduce blind spots, improve the recognizability of the thermal imaging picture, and have relatively uniform infrared irradiation within different distance ranges.

[0018] In some preferred embodiments, the ball head assembly also includes a laser ranging module and a zoom white light fill light for measuring the target distance; the laser ranging module and the zoom white light fill light are respectively arranged on both sides of the visible light camera; the main control board is also used to fuse the data of the visible light camera, the thermal imaging camera and the laser ranging module to reduce the impact of environmental interference on target recognition. It should be noted that in this embodiment, laser pulses or continuous waves are used to measure the distance of the target, and the ranging results are sent back to the main control board; the zoom white light fill light can provide lighting for the visible light camera at night or in low light conditions, and the light angle or intensity can be adjusted according to the zoom distance; superimposing the ranging information with the visible light / thermal imaging picture helps to more accurately determine the target position or achieve linkage tracking. Furthermore, when the main control board fuses the data of the visible light camera, the thermal imaging camera and the laser ranging module, it includes: collecting the visible light image data output by the visible light camera, the thermal infrared image data output by the thermal imaging camera and the target distance data output by the laser ranging module; performing synchronous time-scale or spatial correction on the collected visible light image data and thermal infrared image data to make preliminary corrections to the noise, distortion or brightness deviation in the image; registering and fusing the distance information in the target distance data output by the laser ranging module with the corrected visible light image data and thermal infrared image data, and performing differential processing on the pixel areas of the near and far targets according to the distance information and the preset environmental interference elimination strategy to highlight the target features and weaken the influence of background noise. It should be noted that the visible light camera can provide high-resolution and colorful images in normal lighting environments, but its effect will be significantly reduced in environments such as haze and backlight. The thermal imaging camera uses infrared radiation imaging, is not affected by the intensity of visible light, and can also capture the target outline in low visibility or night conditions, but its details and resolution are often lower than those of visible light images. The laser ranging module can provide distance information for each target (or corresponding pixel), which helps to distinguish targets of different depths or long and short distances in complex scenes, and combines environmental interference elimination strategies to reduce the impact of irrelevant clutter in the picture on recognition. In this embodiment, through multi-source information fusion (visible light + thermal infrared + distance data), better target recognition capabilities can still be obtained in haze, low light or background cluttered environments, further enhancing the detection accuracy and environmental adaptability of the gimbal equipment. Different sensors (visible light cameras, thermal imaging cameras, laser ranging) are often inconsistent in sampling frequency, image resolution, imaging field of view, etc. If synchronized time scales and spatial corrections are not performed, alignment errors or time dislocations will occur in the fused image.In this embodiment, by performing time-scale synchronization (unified frame rate, timestamp) and spatial coordinate mapping / camera internal and external parameter correction on the image and ranging data, the data of each sensor can correspond to the same real point in the same coordinate system or the same image plane, avoiding problems such as overlapping dislocation and inaccurate target positioning in later fusion. Based on the laser ranging data, it can be determined which part of the pixels (or image area) in the scene corresponds to the near target and which part corresponds to the distant background. Combining visible light and infrared intensity information, different filtering or enhancement strategies can be adopted for near and far targets (such as: enhancing near targets and suppressing irrelevant clutter in the distance). In environmental interference such as haze, the signal of distant targets is more easily attenuated. If it relies solely on visible light images, it may be difficult to identify. Combining distance and thermal imaging information can automatically improve the detection credibility of nearby targets or targets with obvious temperature differences. It is understandable that when performing registration and fusion, the visible light camera and thermal imaging camera can be calibrated with internal parameters to obtain their respective focal lengths, optical center coordinates, distortion coefficients, etc.; the rotation and translation matrices (R, T) between the visible light camera and the thermal infrared camera can be obtained by aligning the calibration plate or feature points, so as to achieve the correspondence of the pixels of the two in the same coordinate system; the relative position between the laser ranging module and the visible light camera or thermal imaging camera can be measured; in this way, the distance information can be mapped to the visible light or infrared image coordinate system. In the main control board, a unified timestamp can be given to the visible light frame, thermal infrared frame and laser ranging data to ensure that multi-source data is for the same moment or the same frame scene; the visible light image and infrared image are respectively distorted and corrected using internal and external parameters to project them to the ideal plane coordinates; if the laser ranging output is in the form of point cloud or depth data, it can also be mapped to the visible light or infrared image coordinate plane. According to the rotation R and translation T obtained by calibration, the thermal infrared image is mapped or interpolated to the visible light image coordinate system (or vice versa) to achieve the same physical point corresponding to the same pixel position in the two images. The fusion strategy can adopt pixel-level fusion: according to the pixel correspondence, the thermal infrared brightness value and the brightness / color value of the visible light are weighted synthesized or pseudo-colored; target-level fusion can be adopted: detect the target area in visible light and thermal infrared and perform cross-validation; if the laser ranging provides distance data, the position of the target in three-dimensional space can be further confirmed. The linkage with laser ranging data can be adopted: after binding the laser ranging data (distance information) to the corresponding pixel position, depth information (such as color map, distance overlay label, etc.) can be added to the fused image to accurately distinguish between distant and near targets.According to the laser ranging results, pixels can be divided into near areas of interest and far background areas; or multiple distance thresholds can be set according to actual applications (for example: short distance <50m, medium distance 50-200m, far distance >200m), and corresponding brightness enhancement, contrast adjustment or noise reduction algorithms can be used for different distance levels; if thermal infrared or visible light images show noise, haze whitening and other phenomena in distant areas, their weight can be reduced in combination with distance information; on the contrary, if obvious temperature features or high-brightness areas are detected nearby, they will be retained or enhanced to highlight the actual target.

[0019] In some further preferred embodiments, when the main control board performs attitude calculation and motion compensation, it includes: the main control board performs attitude estimation, disturbance modeling and servo control compensation based on the real-time angular velocity of the ball head assembly output by the gyroscope sensor module, the linear acceleration data of the ball rack assembly output by the acceleration measurement module and the motion compensation signal, so as to dynamically adjust the control instructions of the horizontal drive motor and the vertical drive motor to achieve attitude stability control of the ball head assembly. It should be noted that the gyroscope sensor module on the ball head assembly mainly outputs angular velocity information, reflecting the rotation and slight vibration of the ball head itself; the acceleration measurement module on the ball rack assembly mainly outputs linear acceleration information, reflecting the overall acceleration of the ball rack under the conditions of wind, vibration or the movement of the gimbal itself. The main control board combines these two types of sensor data (angular velocity + linear acceleration), which helps to more comprehensively understand the current true attitude of the gimbal, external disturbances and inertial motion that may be generated by the system. In addition, the gyroscope output is integrated to obtain the attitude change of the ball head, but there is a problem of cumulative drift; the acceleration data is analyzed to detect the direction of gravity or external vibration, and the error caused by the pure angular velocity integration can be corrected. Factors such as wind, mechanical vibration, and high-speed moving targets can cause large disturbances to the gimbal; through disturbance modeling, the law and trend of external jitter can be identified or predicted in advance; servo control compensation feeds back or feeds forward this disturbance information to the motor control link, so that the horizontal drive motor and the vertical drive motor can quickly offset the interference and keep the gimbal stable. It can be understood that in this embodiment, attitude estimation, disturbance modeling, and servo control compensation are a closed-loop collaborative process: first estimate, then model, and finally compensate and output to the motor. Doing so can make full use of sensor data at the hardware level, realize the analysis and suppression of disturbances at the software level, and ensure the overall stability and accuracy of the gimbal system.

[0020] In some further preferred embodiments, when the main control board performs attitude estimation, it includes: obtaining the three-axis angular velocity data of the ball head assembly output by the gyroscope sensor module in real time; integrating the three-axis angular velocity data to obtain the attitude angle change information of the ball head assembly; fusing the attitude angle change information with the preset initialization attitude reference value to form a basic attitude estimation value for describing the current attitude state of the ball head assembly. It should be noted that the attitude of the ball head assembly may undergo rotational changes at any time during actual movement, and the gyroscope can directly measure the angular velocity signals of these rotational changes. By reading the three-axis angular velocity in real time, the rotation dynamics of the ball head assembly in the three spatial axes can be obtained. Generally, the integral of the angular velocity (accumulated over time) can obtain the relative attitude change (such as Euler angle, quaternion, etc.), which is the basic method of attitude solution. If the angular velocity is not integrated, the specific attitude change of the ball head assembly in a given time period cannot be known. However, purely integrating the angular velocity can only obtain the relative rotation amount, which often has cumulative errors. Combining this relative change with the preset initialization attitude (such as the attitude reference when the device is turned on or zero-position calibration), the absolute attitude of the ball head assembly in the global coordinate system can be determined, and the drift can be suppressed or corrected to a certain extent. Once the above basic attitude estimation value is established, it can be used as the reference of the current attitude state to be input into the subsequent disturbance modeling link and servo control compensation algorithm, thereby completing the dynamic stabilization and control of the gimbal.

[0021] In some further preferred embodiments, after the three-axis angular velocity data is integrated and calculated, it includes: receiving the three-axis linear acceleration data output by the acceleration measurement module, and performing coordinate system conversion and low-pass filtering on it to eliminate short-term high-frequency vibration interference; using the motion compensation signal as the structured modeling result of the three-axis linear acceleration data, and jointly analyzing it with the filtered three-axis linear acceleration data to extract the attitude drift correction factor; based on the attitude drift correction factor, the basic attitude estimation value is offset corrected. It should be noted that the three-axis angular velocity data of the gyroscope can be integrated to obtain the relative attitude change. However, pure gyroscope integration will inevitably produce zero bias error and cumulative drift, resulting in gradual inaccuracy of attitude estimation under long-term or complex motion conditions. In the three-axis linear acceleration output by the acceleration measurement module, if it is filtered and high-frequency interference is eliminated, the remaining main component contains gravity acceleration direction information, thereby providing a reference signal that can be used for attitude correction. By jointly analyzing the gyroscope integration result and the acceleration direction information, the accumulated drift can be identified and corrected in real time. In the actual gimbal working environment, there are irregular jitters or vibrations (wind, mechanical vibration, high-speed motion, etc.), and these high-frequency components will be mixed into the acceleration signal and generate noise. Coordinate system conversion and low-pass filtering can be used to separate and filter short-term, high-frequency vibration interference, and extract low-frequency components (such as gravity components or slowly changing accelerations) that are useful for attitude correction. The motion compensation signal comes from the recognition of external disturbances or specific motion models, and can reflect the characteristic laws of the current motion or vibration. Joint analysis with the filtered acceleration data can more accurately distinguish between the real attitude change and the instantaneous acceleration caused by external disturbances, thereby obtaining a more accurate attitude drift correction factor. Finally, the extracted attitude drift correction factor is used to correct the basic attitude estimate previously obtained by gyroscope integration, and the accumulated offset is corrected to a reasonable range, ensuring that the gimbal attitude estimation remains high-precision for a long time.

[0022] In some further preferred embodiments, when the main control board performs disturbance modeling and servo control compensation, it includes: based on the corrected basic attitude estimation value and the motion compensation signal, analyzing the current motion state of the ball frame assembly, identifying its disturbance trend and the dominant characteristic frequency of high-frequency disturbance; constructing a dynamic disturbance compensation function according to the disturbance trend and the dominant characteristic frequency as a feedforward control item of the servo control system, which is used to pre-offset the influence of external disturbance before the motor executes control; fusing the dynamic disturbance compensation function with the corrected basic attitude estimation value to generate a fusion control amount containing attitude information and disturbance prediction; according to the fusion control amount, dynamically adjusting the control instructions output to the horizontal drive motor and the vertical drive motor to achieve attitude stability control of the ball head assembly. It should be noted that after obtaining a more accurate and stable basic attitude estimation value, it is still necessary to consider the complex interference in environments such as wind, mechanical vibration or high-speed motion, especially periodic or high-frequency disturbances. In this embodiment, by identifying the dominant characteristic frequency of the disturbance, the gimbal can perform pre-compensation before the interference has a significant impact on the picture, reducing image jitter or blur. Traditional feedback control can only correct deviations after the fact, while feedforward control can offset external disturbances in advance, reduce overshoot or oscillation, and improve the gimbal's tracking accuracy of the target. Whether it is a sudden change in wind force or a change in mechanical vibration frequency, by analyzing the disturbance trend and dynamically updating the compensation function, the gimbal can maintain a relatively stable posture in various environments to ensure video clarity. The corrected basic attitude estimate is combined with the dynamic disturbance compensation function to generate a more comprehensive control quantity, allowing the gimbal to simultaneously consider the current attitude error and the upcoming disturbance, and make the best adjustment in the motor action.

Claims

1. A spherical pan-tilt intelligent monitoring device, characterized in that: include: A base assembly is fixed on the monitoring installation base and is used to support the ball rack assembly. The base assembly includes a main control board and a horizontal drive motor. The horizontal drive motor drives the ball rack assembly to rotate horizontally according to a control signal from the main control board. The ball rack assembly comprises: a vertical drive motor for controlling the rotation of the ball head assembly in the pitch direction; an acceleration measurement module installed on the ball rack assembly for detecting the linear acceleration data of the ball rack assembly and outputting a motion compensation signal; The ball head assembly is installed on the top of the ball frame assembly, and includes: an imaging module for collecting image information of the target area to generate a target image; a gyroscope sensor module is arranged at the rotation axis of the ball head assembly and is used to detect the real-time angular velocity of the ball head assembly; Among them, the main control board performs attitude calculation and motion compensation according to the real-time angular velocity of the ball head assembly output by the gyroscope sensor module, the linear acceleration data output by the acceleration measurement module and the motion compensation signal, so as to control the horizontal and vertical drive motors and reduce the influence of external vibration or wind on imaging.

2. The spherical pan-tilt intelligent monitoring device according to claim 1, characterized in that: The ball head assembly is configured as a spherical cabin, which includes two connecting ear sides for rotatably connecting to the ball bracket assembly, a front face side for setting the imaging module, and a rear shell side for dissipating heat from the imaging module; the two connecting ear sides are two opposite spherical cabin sides on the spherical cabin, and the front face side and the rear shell side are two opposite spherical cabin sides on the spherical cabin.

3. The spherical pan-tilt intelligent monitoring device according to claim 1, characterized in that: The ball head assembly and the ball rack assembly are detachably mounted; when a ball head assembly with a different imaging module is required, the ball head assembly with the current imaging module is removed from the ball rack assembly, and a ball head assembly with the required different imaging module is installed.

4. The spherical pan-tilt intelligent monitoring device according to claim 3, characterized in that: After the ball head assembly is mounted on the ball bracket assembly, the ball bracket assembly supports the ball head assembly so that the ball head assembly can perform a rotational movement at a preset pitch angle in the vertical direction of the ball bracket assembly.

5. The spherical pan-tilt intelligent monitoring device according to claim 3, characterized in that: An imaging module configuration on the ball head assembly includes: a visible light camera for collecting high-resolution images in the visible light band is separately configured on the ball head assembly.

6. The spherical pan-tilt intelligent monitoring device according to claim 3, characterized in that: An imaging module configuration on the ball head assembly includes: a thermal imaging camera configured separately on the ball head assembly for collecting thermal infrared images under preset complex meteorological conditions.

7. The spherical pan-tilt intelligent monitoring device according to claim 3, characterized in that: An imaging module configuration on the ball head assembly includes: a visible light camera for collecting high-resolution images in the visible light band and a thermal imaging camera for collecting thermal infrared images under preset complex meteorological conditions are configured on the ball head assembly at the same time; the visible light camera and the thermal imaging camera are arranged on the ball head assembly at intervals.

8. The spherical pan-tilt intelligent monitoring device according to claim 7, characterized in that: The thermal imaging camera is provided with left and right long-range infrared fill lights and a single-sided short-range infrared fill light around it; the left and right long-range infrared fill lights are symmetrically distributed on both sides of the thermal imaging camera, and together with the single-sided short-range infrared fill light form a U-shaped encirclement area, and the thermal imaging camera is located in the U-shaped encirclement area.

9. The spherical pan-tilt intelligent monitoring device according to claim 7, characterized in that: The ball head assembly also includes a laser ranging module and a zoom white light fill light for measuring the target distance; the laser ranging module and the zoom white light fill light are respectively arranged on both sides of the visible light camera; the main control board is also used to fuse the data of the visible light camera, the thermal imaging camera and the laser ranging module to reduce the impact of environmental interference on target recognition.

10. The spherical pan-tilt intelligent monitoring device according to claim 9, characterized in that: When the main control board performs attitude calculation and motion compensation, it includes: the main control board performs attitude estimation, disturbance modeling and servo control compensation based on the real-time angular velocity of the ball head assembly output by the gyroscope sensor module, the linear acceleration data of the ball rack assembly output by the acceleration measurement module and the motion compensation signal, so as to dynamically adjust the control instructions of the horizontal drive motor and the vertical drive motor to achieve attitude stability control of the ball head assembly.

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