Intelligent anti-falling method for lens of monocular rotary camera

Abstract

The invention discloses a monocular rotary camera lens intelligent anti-drop method, which comprises the following steps: S1, an acceleration signal and a rotation angular velocity signal of an attitude sensor in a camera are acquired in real time, the acceleration signal comprises motion velocities detected by an accelerometer along an X axis, a Y axis and a Z axis, and the rotation angular velocity signal comprises motion velocities detected by an accelerometer along the X axis, the Y axis and the Z axis; the rotation angular velocity signal comprises angular velocities detected by a gyroscope and rotating around an X axis, a Y axis and a Z axis respectively; s2, calculating the attitude of the camera in real time according to the acquired signal, specifically, calculating a roll angle and a pitch angle; s3, according to the camera postures obtained in the step S1 and the step S2, whether the monocular rotary camera falls off or not is judged and detected, if the monocular rotary camera falls off, the step S1 is executed, and if not, the step S4 is executed; s4, stopping the real-time task of the camera, and starting a lens protection mechanism; non-free falling body falling is detected in real time, the motor is controlled to adjust the orientation of the lens, and the lens is prevented from being impacted and damaged.

Description

Technical Field

[0001] The present invention relates to the technical field of photographic equipment safety protection, and in particular to an intelligent anti-fall method for a monocular rotating camera lens. Background Art

[0002] When using a monocular rotating panoramic camera outdoors, sudden strong winds often cause the tripod to fall over. Once the lens hits the ground, it can be damaged. Repair costs are high, and lens replacements require a return to the factory, resulting in a long repair cycle. To address this issue, a smart drop protection method for monocular rotating camera lenses is urgently needed to prevent the lens from directly contacting the ground during a fall, thereby protecting the lens. Summary of the Invention

[0003] The purpose of this section is to summarize some aspects of the embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the abstract and title of this application to avoid obscuring the purpose of this section, the abstract and the title of the invention, and such simplifications or omissions should not be used to limit the scope of the present invention.

[0004] In view of the above-mentioned problems existing in the existing monocular rotating panoramic camera when working outdoors, the present invention is proposed.

[0005] To solve the above technical problems, the present invention provides the following technical solution: an intelligent anti-drop method for a monocular rotating camera lens, comprising the following steps: S1. Real-time acquisition of acceleration signals and rotational angular velocity signals from the attitude sensor in the camera. The acceleration signal includes the motion velocity a along the X, Y, and Z axes detected by the accelerometer. x 、a y and a z The rotational angular velocity signal includes the angular velocity ω detected by the gyroscope around the X, Y, and Z axes respectively. x 、ω y and ω z ; S2. Calculate the camera attitude in real time based on the acquired signal, specifically, calculate the roll angle and pitch angle θ ; S3. Determine whether the monocular rotating camera has fallen based on the camera posture obtained in steps S1 and S2. If the monocular rotating camera has fallen, return to step S1; otherwise, go to step S4. S4. Stop the camera real-time task and activate the lens protection mechanism so that when the camera falls to the ground, the lens of the monocular rotating camera faces upward; The center of gravity of the monocular rotating panoramic camera is on the rotation axis. The center of gravity is taken as the origin, the camera rotation axis is taken as the Z axis, a plane passing through the origin and perpendicular to the Z axis and an axis perpendicular to the camera body is taken as the X axis, and a Y axis perpendicular to the X axis is set on the plane passing through the origin and perpendicular to the Z axis.

[0006] As a preferred solution of the intelligent anti-fall method for a monocular rotating camera lens of the present invention, the specific steps of calculating the roll angle and the pitch angle are: S201, calculate the instantaneous attitude angle by integrating the angular velocity, ; Where Δt is the sampling time, 、 、 are the roll angle, pitch angle and yaw angle of the previous moment respectively, 、 、 The initial value is 0, and the instantaneous roll angle is calculated at every Δt interval. , instantaneous pitch angle and instantaneous yaw angle ; S202, accelerometer compensates for gravity direction, ; in, 、 θ acc They are the acceleration attitude compensation angle of the y-axis and the acceleration attitude compensation angle of the x-axis respectively; S203, complementary filtering fusion data, calculation and θ , ; α is the filter coefficient.

[0007] As a preferred solution of the intelligent anti-fall method for a monocular rotating camera lens of the present invention, the method for determining whether the camera has fallen is: A. or , is the acceleration due to gravity; B. Greater than the set first angle threshold or Greater than the set second angle threshold or ; C. Greater than the set first angular velocity threshold or Greater than the set second angular velocity threshold; If A, B, and C are met at the same time, the camera falls, otherwise, the camera does not fall.

[0008] As a preferred solution of the intelligent anti-drop method for a monocular rotating camera lens of the present invention, the lens protection mechanism includes the following steps: S401, calculate the rotation angle of the monocular rotating camera from the current posture to the target posture ,The target posture refers to the motor position when the camera lens is facing upwards under the current tilt posture of the camera; S402, based on the calculated camera rotation angle ,control the motor movement in real time to rotate the camera to the target posture so that the lens faces upward.

[0009] As a preferred solution of the intelligent anti-fall method for a monocular rotating camera lens of the present invention, the specific steps of calculating the rotation angle of the monocular rotating camera are: The rotation matrix corresponding to the rotation of the monocular rotating camera around the Z axis is: The acceleration of the monocular rotating camera after rotation is, If the camera reaches the target camera posture, that is, the lens is facing upward, then , ,Right now ; .

[0010] As a preferred solution of the intelligent anti-drop method for a monocular rotating camera lens of the present invention, wherein: based on the calculated rotation angle of the monocular rotating camera , the steps to control the motor action are, If it is greater than 0, it controls the direction of the motor and makes it rotate counterclockwise. If it is less than 0, the motor’s direction of movement is controlled to make the motor rotate clockwise.

[0011] Beneficial effects of the present invention: The present invention detects whether the camera has fallen by calculating the roll angle and yaw angle; combines the camera's posture information, and judges whether the camera has fallen in real time through three conditions, thereby improving the accuracy of fall detection; calculates the angle of the camera to rotate to the target posture through the current camera posture and the target posture , real-time control of motor rotation, through The positive or negative value selects the optimal rotation method for the camera from the current posture to the target posture, so that the lens faces upward when the camera falls, avoiding the lens from being damaged. It can be used to prevent rotating cameras from falling, especially for the protection of rotating cameras that are mounted. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. Those skilled in the art can also derive other drawings based on these drawings without inventive effort. Among them: Figure 1 It is a schematic diagram of the process of the present invention.

[0013] Figure 2 This is a structural diagram of a camera connected to a tripod (the connecting rod connecting the camera on the tripod is in a vertical position and has no tendency to tilt and fall).

[0014] Figure 3 This is a structural diagram when the center of gravity of the camera and tripod has exceeded the support range of the tripod. DETAILED DESCRIPTION

[0015] To make the above-mentioned objects, features, and advantages of the present invention more clearly understood, the following detailed description of the specific embodiments of the present invention is given in conjunction with the accompanying drawings. It is obvious that the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary persons in this field without creative work should fall within the scope of protection of the present invention.

[0016] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0017] Secondly, the term "one embodiment" or "embodiment" herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in various places throughout this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive of other embodiments.

[0018] The present invention is described in detail with reference to schematic diagrams. For ease of illustration, cross-sectional views of device structures may be partially enlarged and not to scale when describing embodiments of the present invention. Furthermore, the schematic diagrams are merely illustrative and should not limit the scope of the present invention. Furthermore, in actual production, the three-dimensional dimensions of length, width, and depth should be included.

[0019] In the description of the present invention, it should be noted that the terms "upper, lower, inner, and outer" and other references to orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first, second, or third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0020] In this disclosure, unless otherwise specified or limited, the terms "mounted," "connected," and "connected" should be interpreted broadly. For example, they may refer to fixed, removable, or integral connections. They may also refer to mechanical, electrical, or direct connections, indirect connections through an intermediary, or internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in this disclosure.

[0021] Example 1: Reference Figures 1 to 3 This is the first embodiment of the present invention, which provides an intelligent anti-drop method for a monocular rotating camera lens. By using this method, the lens of the camera can be directed upward when it falls, preventing the lens from coming into contact with the ground and being damaged.

[0022] A method for intelligently preventing a monocular rotating camera lens from falling is provided. The monocular rotating camera is connected to a bracket. When implemented, the bracket is preferably a tripod. The method comprises the following steps: S1. Real-time acquisition of acceleration signals and rotational angular velocity signals from the attitude sensor in the camera. The acceleration signal includes the motion velocity a along the X, Y, and Z axes detected by the accelerometer. x 、a y and a z The rotational angular velocity signal includes the angular velocity ω detected by the gyroscope around the X, Y, and Z axes respectively. x 、ω y and ω z ; S2. Calculate the camera attitude in real time based on the acquired signal, specifically, calculate the roll angle and pitch angle θ ; S3. Determine whether the monocular rotating camera has fallen based on the camera posture obtained in steps S1 and S2. If the monocular rotating camera has fallen, return to step S1; otherwise, go to step S4. S4. Stop the camera real-time task and activate the lens protection mechanism so that when the camera falls to the ground, the lens of the monocular rotating camera faces upward; The center of gravity of the monocular rotating panoramic camera is on the rotation axis. With the center of gravity as the origin, the camera rotation axis as the Z axis, and the plane perpendicular to the origin and the Z axis and the axis perpendicular to the camera body as the X axis, a Y axis perpendicular to the X axis is set on the plane perpendicular to the origin and the Z axis (such as Figure 2 shown).

[0023] In step S2, the specific steps for calculating the roll angle and pitch angle are: S201, calculate the instantaneous attitude angle by integrating the angular velocity, ; Wherein, Δt is the sampling time. In this embodiment, Δt=5ms. 、 、 are the roll angle, pitch angle and yaw angle of the previous moment respectively, 、 、 The initial value is 0, and the instantaneous roll angle is calculated at every Δt interval. , instantaneous pitch angle and instantaneous yaw angle ; S202, accelerometer compensates for gravity direction, ; in, 、 θ acc They are the acceleration attitude compensation angle of the y-axis and the acceleration attitude compensation angle of the x-axis respectively; S203, complementary filtering fusion data, calculation and θ , ;α is the filter coefficient.

[0024] The method to determine whether the camera has fallen is: A. or , is the acceleration due to gravity; B. Greater than the set first angle threshold or Greater than the set second angle threshold or ; C. Greater than the set first angular velocity threshold or Greater than the set second angular velocity threshold; If A, B, and C are met at the same time, the camera falls, otherwise, the camera does not fall.

[0025] Among them, condition A is used to detect lateral impact, condition B determines whether the camera's center of gravity has exceeded the tripod support range, and condition C is used to detect whether the camera is rotating on a non-Z axis.

[0026] The lens protection mechanism includes the following steps, S401, calculate the rotation angle of the monocular rotating camera from the current posture to the target posture , specifically, The rotation matrix corresponding to the rotation of the monocular rotating camera around the Z axis is: ; The acceleration of the monocular rotating camera after rotation is, If the camera reaches the target camera posture, that is, the lens is facing upward, then , ,Right now ; ; The target attitude refers to the motor position when the camera lens is facing upwards in the current tilt attitude of the camera; S402, based on the calculated camera rotation angle ,control the motor movement in real time to rotate the camera to the target posture so that the lens faces upward.

[0027] Specifically, based on the calculated rotation angle of the monocular rotating camera , the steps to control the motor action are, If it is greater than 0, it controls the direction of the motor and makes it rotate counterclockwise. Less than 0, controls the direction of the motor to make it rotate clockwise; The above rotation direction is based on the camera being placed on the bracket and viewed from top to bottom.

[0028] Through this embodiment, it is possible to accurately detect the camera falling. During the falling process, the camera Rotate so that when it falls to the ground, the lens faces upwards and does not touch the ground, protecting the lens from being damaged.

[0029] Example 2: Reference Figure 2 and Figure 3 This embodiment provides an intelligent anti-drop method for a monocular rotating camera lens, which is the second embodiment of the present invention. The difference from the first embodiment is that in condition B, the normal use height of the tripod is 1.5m. After the camera is placed on the tripod, the center of gravity height on the tripod is 0.75m. The normal support range of the tripod is 0.13m. Arctan (0.13m / 1.5m) ≈ 10°. At this time, the center of gravity of the camera and tripod is on the tripod support line. See the attached figure. Figure 3 .

[0030] The first angle threshold and the second angle threshold are both preferably 10°, and the first angular velocity threshold and the second angular velocity threshold are both preferably 1 rad / s.

[0031] The camera free falls from a height of 1.5m for 0.55 seconds, so the motor rotation time is controlled within 0.5 seconds to ensure that the camera reaches the target posture in time during the fall; the maximum rotation angle of the camera controlled by the motor is 180 degrees; the motor rotation speed is 180 / 0.5=360° / s=2π rad / s, and the motor control time is Second.

[0032] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. An intelligent drop-proof method for a monocular rotating camera lens, wherein the monocular rotating camera is connected to a bracket, and wherein: include, S1. Real-time acquisition of acceleration signals and rotational angular velocity signals from the attitude sensor in the camera. The acceleration signal includes the motion velocity a along the X, Y, and Z axes detected by the accelerometer. x 、a y and a z The rotational angular velocity signal includes the angular velocity ω detected by the gyroscope around the X, Y, and Z axes respectively. x 、ω y and ω z ; S2. Calculate the camera attitude in real time based on the acquired signal, specifically, calculate the roll angle and pitch angle θ ; S3. Determine whether the monocular rotating camera has fallen based on the camera posture obtained in steps S1 and S2. If the monocular rotating camera has fallen, return to step S1; otherwise, go to step S4. S4. Stop the camera real-time task and activate the lens protection mechanism so that when the camera falls to the ground, the lens of the monocular rotating camera faces upward; The center of gravity of the monocular rotating panoramic camera is on the rotation axis. The center of gravity is taken as the origin, the camera rotation axis is taken as the Z axis, a plane passing through the origin and perpendicular to the Z axis and an axis perpendicular to the camera body is taken as the X axis, and a Y axis perpendicular to the X axis is set on the plane passing through the origin and perpendicular to the Z axis.

2. The intelligent anti-drop method for a monocular rotating camera lens according to claim 1, characterized in that: The specific steps for calculating the roll angle and pitch angle are: S201, calculate the instantaneous attitude angle by integrating the angular velocity, ; Where Δt is the sampling time, 、 、 are the roll angle, pitch angle and yaw angle of the previous moment respectively, 、 、 The initial value is 0, and the instantaneous roll angle is calculated at every Δt interval. , instantaneous pitch angle and instantaneous yaw angle ; S202, accelerometer compensates for gravity direction, ; in, 、 θ acc They are the acceleration attitude compensation angle of the y-axis and the acceleration attitude compensation angle of the x-axis respectively; S203, complementary filtering fusion data, calculation and θ , ;α is the filter coefficient.

3. The intelligent anti-drop method for a monocular rotating camera lens according to claim 2, characterized in that: The method to determine whether the camera has fallen is: A. or , is the acceleration due to gravity; B. Greater than the set first angle threshold or Greater than the set second angle threshold or ; C. Greater than the set first angular velocity threshold or Greater than the set second angular velocity threshold; If A, B, and C are met at the same time, the camera falls, otherwise, the camera does not fall.

4. The intelligent anti-drop method for a monocular rotating camera lens according to claim 3, characterized in that: The lens protection mechanism includes the following steps, S401, calculate the rotation angle of the monocular rotating camera from the current posture to the target posture ,The target posture refers to the motor position when the camera lens is facing upwards under the current tilt posture of the camera; S402, based on the calculated camera rotation angle ,control the motor movement in real time to rotate the camera to the target posture so that the lens faces upward.

5. The intelligent anti-drop method for a monocular rotating camera lens according to claim 4, characterized in that: The specific steps for calculating the rotation angle of a monocular rotating camera are: The rotation matrix corresponding to the rotation of the monocular rotating camera around the Z axis is: The acceleration of the monocular rotating camera after rotation is, If the camera reaches the target camera posture, that is, the lens is facing upward, then , ,Right now ； 。 6. The intelligent anti-drop method for a monocular rotating camera lens according to claim 5, characterized in that: Based on the calculated rotation angle of the monocular rotating camera , the steps to control the motor action are, If it is greater than 0, it controls the direction of the motor and makes it rotate counterclockwise. If it is less than 0, the motor’s direction of movement is controlled to make the motor rotate clockwise.

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