Tracking shooting method based on infrared thermal imaging system

Abstract

The invention discloses a tracking shooting method based on an infrared thermal imaging system, and relates to the technical field of infrared thermal imaging, and the method comprises the steps: S1, obtaining a visible light image and a thermal infrared image of the same shooting scene, determining whether a human body exists in the thermal infrared image through a control unit, and marking the determined human body as a pre-following target when the human body exists; s2, the control unit performs distance detection on the pre-following target according to the visible light image and the thermal infrared image, and after distance detection, the control unit controls a lens electric control focusing module to focus the pre-following target to obtain a clear image of the pre-following target; s3, determining whether a pre-following target is a set following target from the clear image obtained in the step S2; if yes, turning to step S4; if not, turning to step S5; s4, the control unit controls the lens electric control focusing module to keep focusing shooting of the set following target; s5, focusing to a set focal length, and continuing to operate the step S1; accurate tracking shooting can be carried out on a specified crowd or a specified target.

Description

Technical Field

[0001] The present invention relates to the field of infrared thermal imaging technology, and in particular to a tracking and shooting method based on an infrared thermal imaging system. Background Art

[0002] Infrared thermography is a technology used to visualize temperature distribution by capturing infrared radiation (heat) emitted by an object and converting it into a visible image.

[0003] At present, infrared thermal imaging systems can automatically identify the human body through thermal infrared images, and automatically focus and shoot after identification, but infrared thermal imaging can only obtain contour information and temperature information, and cannot track and shoot designated people or designated targets more accurately. Summary of the Invention

[0004] In order to overcome the above-mentioned shortcomings, the present invention aims to provide a technical solution that can solve the above-mentioned problems.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a tracking shooting method based on an infrared thermal imaging system, wherein the infrared thermal imaging system is equipped with a visible light sensor, a thermal infrared sensor, a lens electronically controlled focusing module, and a control unit, and the method comprises the following steps: S1. Obtain a visible light image and a thermal infrared image of the same shooting scene. The control unit confirms whether a human body is present in the thermal infrared image. If a human body is present, the control unit marks the confirmed human body as a pre-tracking target. S2. The control unit detects the distance of the pre-following target based on the visible light image and the thermal infrared image. After the distance detection, the control unit controls the electronically controlled focusing module of the lens to focus on the pre-following target to obtain a clear image of the pre-following target. S3, confirming whether the pre-following target is the set follow-up target from the clear image obtained in step S2; if so, go to step S4; if not, go to step S5; S4, the control unit controls the electronically controlled focus module of the lens to maintain focus on the set follow target for shooting; S5. Focus to the set focal length and continue to run step S1.

[0006] As a further solution of the present invention: in step S1, continuous frames of visible light images and continuous frames of thermal infrared images are continuously acquired; Confirm whether there is a human body in each frame of the thermal infrared image or confirm whether there is a human body every N frames.

[0007] As a further solution of the present invention: in step S1, when it is confirmed that no human body exists, the visible light image and the thermal infrared image of the same shooting scene are continuously acquired.

[0008] As a further solution of the present invention: in step S1, the step of confirming whether a human body exists is: performing human body recognition on the frame of thermal infrared image through a human body detection model.

[0009] As a further solution of the present invention: the infrared thermal imaging system is also equipped with a left and right electrically controlled steering mechanism and an up and down electrically controlled steering mechanism. The left and right electrically controlled steering mechanism is used to simultaneously drive the lens electrically controlled focusing module, the visible light sensor, and the thermal infrared sensor to turn left and right; the up and down electrically controlled steering mechanism is used to simultaneously drive the lens electrically controlled focusing module, the visible light sensor, and the thermal infrared sensor to turn up and down.

[0010] As a further solution of the present invention: in step S4, maintaining focus on the set tracking target includes: Maintain focus on the set tracking target and keep the image of the set tracking target in the specified area of the captured image within the steering adjustment range of the left and right electric steering mechanisms and the up and down electric steering mechanisms.

[0011] As a further solution of the present invention: in step S1, after confirming that the human body is marked as a pre-following target, a set of coordinate points corresponding to the edge of the pre-following target is obtained; In step S4 , the control unit maintains focus on shooting the set tracking target according to the frame-shaped target area formed by the coordinate point set in the width direction and the height direction of the image.

[0012] As a further solution of the present invention: in step S3, after confirming that the pre-following target is the set following target, a set of coordinate points corresponding to the edge of the set following target is obtained; In step S4 , the control unit maintains focus on shooting the set tracking target according to the frame-shaped target area formed by the coordinate point set in the width direction and the height direction of the image.

[0013] As a further solution of the present invention, the width of the frame-shaped target area is determined as follows: Determine that the coordinate points are concentrated on two coordinate points that are farthest apart in the width direction, and determine the width of the frame-shaped target area according to the difference in coordinate values of the two coordinate points in the width direction; As a further solution of the present invention: the height of the frame-shaped target area is determined as follows: Determine that the coordinate points are concentrated on two coordinate points that are farthest apart in the height direction, and determine the height of the frame-shaped target area according to the coordinate value difference of the two coordinate points in the height direction; The frame-shaped target area is formed so that each coordinate point of the coordinate point set is located within the frame-shaped target area.

[0014] Compared with the existing technology, the beneficial effect of this technical solution is: through the combination of visible light images and thermal infrared images, it is possible to accurately confirm whether a human body appears, so that it can accurately cut in and focus on the shooting, and combine with the visible light image to form a more accurate judgment of the shooting target, so as to be able to accurately track and shoot the designated group of people or designated targets.

[0015] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 is a flow chart of the tracking shooting method of the present invention; Figure 2 The invention provides a circuit block diagram of an infrared thermal imaging system using the tracking and shooting method of the invention. DETAILED DESCRIPTION

[0018] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0019] See also Figure 1-2 , based on the tracking shooting method of the infrared thermal imaging system, the infrared thermal imaging system is equipped with a visible light sensor 2, a thermal infrared sensor 3, a lens electronic focus module 4, and a control unit 1. The visible light sensor 2, the thermal infrared sensor 3, and the lens electronic focus module 4 are all electrically connected to the control unit 1.

[0020] The tracking shooting method includes the following steps: S1. Acquire a visible light image and a thermal infrared image of the same shooting scene, and control unit 1 confirms whether a human body is present in the thermal infrared image. If a human body is present, the confirmed human body is marked as a pre-following target; S2. The control unit 1 detects the distance of the pre-following target based on the visible light image and the thermal infrared image. After the distance detection, the control unit 1 controls the lens electronically controlled focusing module 4 to focus on the pre-following target to obtain a clear image of the pre-following target. S3, confirming whether the pre-following target is the set follow-up target from the clear image obtained in step S2; if so, go to step S4; if not, go to step S5; S4, the control unit 1 controls the lens electronically controlled focus module 4 to maintain focus on the set follow target; S5. Focus to the set focal length and continue to run step S1.

[0021] In this embodiment, by combining visible light images and thermal infrared images, it is possible to accurately confirm whether a human body appears, so that the camera can accurately focus and shoot. In combination with the visible light image, a more accurate judgment of the shooting target can be formed, so that the specified group of people or specified targets can be accurately tracked and shot.

[0022] In some embodiments, in step S1 , continuous frames of visible light images and continuous frames of thermal infrared images are continuously acquired, and whether a human body exists is confirmed from each frame of the thermal infrared image or confirmed every N frames.

[0023] In some embodiments, in step S1 , when it is confirmed that no human body exists, the visible light image and the thermal infrared image of the same shooting scene continue to be acquired.

[0024] In some embodiments, in step S1 , the step of confirming whether a human body is present is to perform human body recognition on the thermal infrared image frame using a human body detection model. The human body detection model database may be stored in a storage unit 7 connected to the control unit 1 .

[0025] In some embodiments, the characteristic data for setting the follow target may be pre-recorded in the storage unit 7 .

[0026] In some embodiments, the infrared thermal imaging system is further configured with an information receiving module to receive characteristic data of a target to be followed, for example, by receiving updated characteristic data of a target to be followed via a network connection.

[0027] In some embodiments, the infrared thermal imaging system is also equipped with a left and right electrically controlled steering mechanism 6 and an up and down electrically controlled steering mechanism 5. The left and right electrically controlled steering mechanism 6 is used to simultaneously drive the lens electrically controlled focusing module 4, the visible light sensor 2, and the thermal infrared sensor 3 to turn left and right; the up and down electrically controlled steering mechanism 5 is used to simultaneously drive the lens electrically controlled focusing module 4, the visible light sensor 2, and the thermal infrared sensor 3 to turn up and down.

[0028] For example, the left-right electrically controlled steering mechanism 6 includes a mounting platform, on which are mounted left-right steering motors controlled by the control unit 1. The output shafts of the left-right steering motors are connected to a motor mounting bracket. The up-down electrically controlled steering mechanism 5 includes up-down steering motors mounted on the motor mounting bracket. The output shafts of the up-down steering motors are connected to a camera mounting bracket. The lens electronic focus module 4, visible light sensor 2, and thermal infrared sensor 3 are mounted on the camera mounting bracket. Both the left-right steering motors and the up-down steering motors are electrically connected and controlled by the control unit 1.

[0029] In some embodiments, the lens electronic focus module 4 is used to electronically adjust the axial distance of the imaging lens. For example, the motor screw assembly or voice coil motor is used to axially adjust the position of the eyepiece or objective lens in the lens assembly. The motor screw assembly or voice coil motor is controlled by the control unit 1.

[0030] In some embodiments, in step S4, maintaining focus on the set tracking target includes: The focus with the set tracking target is maintained, and the image of the set tracking target is kept in the specified area of the captured image within the steering adjustment range of the left and right electric steering mechanism 6 and the up and down electric steering mechanism 5.

[0031] In some embodiments, in step S1, after confirming that the human body is marked as a pre-following target, a set of coordinate points corresponding to the edge of the pre-following target is obtained; In step S4 , the control unit 1 maintains the focus on the set tracking target based on the frame-shaped target area formed by the coordinate point set in the width direction and the height direction of the image.

[0032] For example, within the focusing range and the turning range, the frame-shaped target area is always kept as the center area of the image.

[0033] In some embodiments, in step S3, after confirming that the pre-following target is the set following target, a set of coordinate points corresponding to the edge of the set following target is obtained; In step S4 , the control unit 1 maintains the focus on the set tracking target based on the frame-shaped target area formed by the coordinate point set in the width direction and the height direction of the image.

[0034] For example, within the focusing range and the turning range, the frame-shaped target area is always kept in the center area of the captured image.

[0035] In some embodiments, in step S5 , focusing to a set focal length includes focusing to a maximum shooting range.

[0036] In some embodiments, the width of the frame-shaped target area is determined as follows: The coordinate points are determined to be concentrated on two coordinate points that are farthest apart in the width direction, and the width of the frame-shaped target area is determined according to the coordinate value difference between the two coordinate points in the width direction.

[0037] The height of the frame target area is determined as follows: The coordinate points are determined to be concentrated on two coordinate points that are farthest apart in the height direction, and the height of the frame-shaped target area is determined according to the coordinate value difference between the two coordinate points in the height direction.

[0038] The frame-shaped target area is formed so that each coordinate point of the coordinate point set is located within the frame-shaped target area, and the integrity of the target image is effectively guaranteed when tracking and shooting are possible.

[0039] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. A tracking shooting method based on an infrared thermal imaging system, wherein the infrared thermal imaging system is equipped with a visible light sensor, a thermal infrared sensor, a lens electronic focus module, and a control unit, and is characterized in that: The method comprises the following steps: S1. Obtain a visible light image and a thermal infrared image of the same shooting scene. The control unit confirms whether a human body is present in the thermal infrared image. If a human body is present, the control unit marks the confirmed human body as a pre-tracking target. S2. The control unit detects the distance of the pre-following target based on the visible light image and the thermal infrared image. After the distance detection, the control unit controls the electronically controlled focusing module of the lens to focus on the pre-following target to obtain a clear image of the pre-following target. S3, confirming whether the pre-following target is the set follow-up target from the clear image obtained in step S2; if so, go to step S4; if not, go to step S5; S4, the control unit controls the electronically controlled focus module of the lens to maintain focus on the set follow target for shooting; S5. Focus to the set focal length and continue to run step S1.

2. The tracking shooting method according to claim 1, characterized in that: In step S1, continuous frames of visible light images and continuous frames of thermal infrared images are continuously acquired; Confirm whether there is a human body in each frame of the thermal infrared image or confirm whether there is a human body every N frames.

3. The tracking shooting method according to claim 1, wherein: In step S1 , when it is confirmed that no human body exists, the visible light image and the thermal infrared image of the same shooting scene are continuously acquired.

4. The tracking shooting method according to claim 1, wherein: In step S1 , the step of confirming whether a human body exists is: performing human body recognition on the frame of thermal infrared image through a human body detection model.

5. The tracking shooting method according to claim 1, characterized in that: The infrared thermal imaging system is also equipped with left and right electronic steering mechanisms and up and down electronic steering mechanisms. The left and right electronic steering mechanisms are used to simultaneously drive the lens electronic focusing module, visible light sensor, and thermal infrared sensor to turn left and right; the up and down electronic steering mechanisms are used to simultaneously drive the lens electronic focusing module, visible light sensor, and thermal infrared sensor to turn up and down.

6. The tracking shooting method according to claim 5, characterized in that: In step S4, maintaining focus on the set tracking target includes: Maintain focus on the set tracking target and keep the image of the set tracking target in the specified area of the captured image within the steering adjustment range of the left and right electric steering mechanisms and the up and down electric steering mechanisms.

7. The tracking shooting method according to claim 6, characterized in that: In step S1, after confirming that the human body is marked as a pre-following target, a set of coordinate points corresponding to the edge of the pre-following target is obtained; In step S4 , the control unit maintains focus on shooting the set tracking target according to the frame-shaped target area formed by the coordinate point set in the width direction and the height direction of the image.

8. The tracking shooting method according to claim 6, characterized in that: In step S3, after confirming that the pre-following target is the set following target, a set of coordinate points corresponding to the edge of the set following target is obtained; In step S4 , the control unit maintains focus on shooting the set tracking target according to the frame-shaped target area formed by the coordinate point set in the width direction and the height direction of the image.

9. The tracking shooting method according to claim 7 or 8, characterized in that: The width of the frame target area is determined as follows: The coordinate points are determined to be concentrated on two coordinate points that are farthest apart in the width direction, and the width of the frame-shaped target area is determined according to the coordinate value difference between the two coordinate points in the width direction.

10. The tracking shooting method according to claim 9, characterized in that: The height of the frame target area is determined as follows: Determine that the coordinate points are concentrated on two coordinate points that are farthest apart in the height direction, and determine the height of the frame-shaped target area according to the coordinate value difference of the two coordinate points in the height direction; The frame-shaped target area is formed so that each coordinate point of the coordinate point set is located within the frame-shaped target area.

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