Pan-tilt camera system based on auxiliary lens

Abstract

The utility model discloses a pan-tilt camera system based on an auxiliary lens, which comprises a pan-tilt, a camera arranged on the pan-tilt, at least one auxiliary lens and a main control assembly, and is characterized in that the pan-tilt is used for adjusting the steering angle of the camera and / or the auxiliary lens; the main control assembly is connected with the holder, the camera and the auxiliary lens and is used for driving the holder to adjust the steering angle of the camera and / or the auxiliary lens according to an external instruction and controlling the camera and the auxiliary lens to work so as to respectively shoot a main picture and a corresponding panoramic picture; and splicing and combining the panoramic pictures shot by the auxiliary lenses to obtain a spliced video stream, and inputting the spliced video stream, the main picture and the panoramic pictures into an algorithm model for processing according to the external instruction, and carrying out video stream mixing on the spliced video stream, the main picture and each panoramic picture to generate a corresponding video and outputting the video.

Description

Technical Field

[0001] The utility model relates to the technical field of cameras, and more specifically to a pan-tilt camera system based on an auxiliary lens. Background Art

[0002] In traditional pan-tilt cameras, since the camera is constantly adjusted as the angle of the pan-tilt changes, and at the same time its viewing angle also changes due to zooming (such as optical zoom or digital zoom, etc.), the content and range of the picture are constantly changing. For an image acquisition system, the captured output picture is constantly changing according to the user's needs, such as outputting a picture after zooming or cropping a region, or pictures at different positions. However, for a pan-tilt camera or pan-tilt camera equipped with multiple intelligent functions, the AI algorithms of its intelligent functions are also implemented based on the images of the camera. For example, common functions such as target tracking, switching shooting targets, human-computer interaction, scene analysis, and understanding of picture content, etc. These AI functions often require a large viewing angle range, which is often contradictory to the requirements of the captured output picture of the camera itself, making the AI algorithm analysis in the intelligent pan-tilt camera system mostly limited by the imaging requirements of the camera. Moreover, when outputting scene images in many cases, it is necessary to output close-up and wide-angle picture information simultaneously and perform picture switching. Although traditional PTZ cameras can zoom in on a target or scene through optical zoom or other zoom forms, they cannot output wide-angle picture information simultaneously. When outputting wide-angle information, there is no way to provide a high-quality close-up picture. Summary of the Utility Model

[0003] The technical problem to be solved by the utility model is to provide a pan-tilt camera system based on an auxiliary lens, so as to achieve the purpose of increasing the perception range of the pan-tilt camera system and making its intelligent functions not limited by the imaging requirements of the camera itself, and at the same time making the output video content more valuable.

[0004] To solve the above technical problem, the utility model provides a pan-tilt camera system based on an auxiliary lens, including a pan-tilt, a camera disposed on the pan-tilt, at least one auxiliary lens, and a main control component. Among them, the pan-tilt is used to adjust the steering angles of the camera and / or the auxiliary lens; the main control component is connected to the pan-tilt, the camera, and the auxiliary lens, and is used to drive the pan-tilt to adjust the steering angles of the camera and / or the auxiliary lens according to an external instruction, and at the same time control the camera and the auxiliary lens to work so as to respectively capture a main picture and corresponding panoramic pictures, splice and merge the panoramic pictures captured by each auxiliary lens to obtain a spliced video stream, and input the spliced video stream, the main picture captured by the camera, and the panoramic pictures captured by each auxiliary lens into an algorithm model for processing according to the external instruction, and at the same time perform video mixing on the spliced video stream, the main picture, and each panoramic picture to generate a corresponding video and output it.

[0005] The beneficial technical effects of the present utility model are as follows: Compared with the prior art, in the pan-tilt camera system based on an auxiliary lens of the present utility model, a camera and at least one auxiliary lens are provided on the pan-tilt. The main control component can drive the pan-tilt to adjust the steering angles of the camera and the auxiliary lens according to an external instruction, and at the same time control the camera and the auxiliary lens to work so as to respectively capture a main picture and corresponding panoramic pictures, splice and merge the panoramic pictures captured by each auxiliary lens to obtain a spliced video stream, and input the spliced video stream, the main picture captured by the camera, and the panoramic pictures captured by each auxiliary lens into an algorithm model for processing according to the external instruction. At the same time, the spliced video stream, the main picture, and each panoramic picture are subjected to video mixing to generate a corresponding video and output. It can be seen that by setting the auxiliary lens, the present utility model can obtain a wider perspective perception range, thereby taking into account the accuracy of algorithm analysis of intelligent functions (such as target tracking, switching shooting targets, and human-computer interaction) in the pan-tilt camera system and the value of the output of the shooting picture. That is, the panoramic pictures captured by the set auxiliary lens, the spliced video stream after splicing the panoramic pictures captured by the auxiliary lens, and the main picture captured by the camera are used as the input of the intelligent function module, so that the algorithm analysis of the intelligent function module will not be affected by the change of the main lens (i.e., the camera) resulting in a reduced perception range or inability to perceive, and is not limited by the imaging requirements of the camera itself. At the same time, after the spliced video stream, the main picture, and each panoramic picture are mixed and output, the output video content is enriched. That is, at the time of close-up, additional scene perception content (panoramic pictures captured by the auxiliary lens) can also be provided outside the close-up picture (the main picture captured by the camera), etc., providing more valuable output content. Description of the Drawings

[0006] Figure 1 It is a schematic structural block diagram of the pan-tilt camera system based on an auxiliary lens of the present utility model.

[0007] Figure 2 It is a schematic physical diagram of the first embodiment of the pan-tilt camera system based on an auxiliary lens of the present utility model.

[0008] Figure 3 is Figure 2 A schematic diagram showing the connection between the auxiliary lens and the pan-tilt in the pan-tilt camera system based on the auxiliary lens shown.

[0009] Figure 4 It is a schematic diagram of the second embodiment of the pan-tilt camera system based on an auxiliary lens of the present utility model.

[0010] Figure 5 It is a schematic diagram of the third embodiment of the pan-tilt camera system based on an auxiliary lens of the present utility model.

[0011] Figure 6It is a schematic diagram of the fourth embodiment of the pan-tilt camera system based on an auxiliary lens of the present utility model.

[0012] Figure 7 It is a schematic diagram of the fifth embodiment of the pan-tilt camera system based on an auxiliary lens of the present utility model.

[0013] Figure 8 It is a schematic diagram of the sixth embodiment of the pan-tilt camera system based on an auxiliary lens of the present utility model.

[0014] Figure 9 It is a schematic diagram of the seventh embodiment of the pan-tilt camera system based on an auxiliary lens of the present utility model.

[0015] Figure 10 It is a schematic flow diagram of a specific embodiment of the control method for the pan-tilt camera system based on an auxiliary lens of the present utility model. Detailed implementation manners

[0016] To enable those of ordinary skill in the art to more clearly understand the purpose, technical solutions and advantages of the present utility model, the present utility model will be further described below in conjunction with the accompanying drawings and embodiments.

[0017] Refer to Figure 1 , Figure 1 is a schematic block diagram of the pan-tilt camera system 100 based on an auxiliary lens of the present utility model. In the embodiment shown in the accompanying drawings, the pan-tilt camera system 100 based on an auxiliary lens includes a pan-tilt 11, a camera 12 disposed on the pan-tilt 11, at least one auxiliary lens 14, and a main control component 13. In the present utility model, both the camera 12 and the auxiliary lens 14 are disposed on the pan-tilt 11. The pan-tilt 11 can be used to adjust the turning angles of the camera 12 and / or the auxiliary lens 14. In the present utility model, the pan-tilt 11 can be a single-axis pan-tilt, a double-axis pan-tilt or a three-axis pan-tilt. Specifically, in combination with Figure 2, the pan-tilt 11 includes a base 111, a pan-tilt control board 112, and a motion axis 113 connected to the base 111. The pan-tilt control board 112 and the main control component 13 can be arranged inside the base 111 or placed at other positions of the pan-tilt 11. The auxiliary lens 14 can be arranged on the motion axis 113 or on the base 111. When the auxiliary lens 14 is arranged on the motion axis 113, the camera 12 and the auxiliary lens 14 can be driven by the motion axis 113 to rotate to adjust the steering angle. When the auxiliary lens 14 is located on the base 111, the auxiliary lens 14 does not rotate. The main control component 13 is connected to the pan-tilt 11, the camera 12, and the auxiliary lens 14, and is used to drive the pan-tilt 11 to adjust the steering angle of the camera 12 and / or the auxiliary lens 14 according to an external instruction, and at the same time control the camera 12 and the auxiliary lens 14 to work to respectively capture a main picture and corresponding panoramic pictures, splice and merge the panoramic pictures captured by each auxiliary lens 14 to obtain a spliced video stream, and input the spliced video stream, the main picture captured by the camera 12, and the panoramic pictures captured by each auxiliary lens 14 into an algorithm model for processing according to the external instruction. At the same time, the spliced video stream, the main picture, and each panoramic picture are subjected to video mixing to generate a corresponding video and output. It can be seen that the present utility model expands the perception range by arranging the auxiliary lens 14 on the pan-tilt 11, optimizes the images input to the algorithm model of the intelligent function, so that the algorithm analysis of the intelligent function will not be affected by the change of the main lens (i.e., the camera 12) resulting in a reduction in the perception range or inability to perceive, which affects the analysis accuracy, is not limited by the imaging requirements of the camera itself, and at the same time, in addition to the main picture output, a wide-angle picture output is added, taking into account the accuracy of the algorithm analysis (such as target tracking, switching shooting targets, human-computer interaction) of the intelligent function algorithm model in the pan-tilt camera system 100 and the value of the shooting picture output.

[0018] As Figure 2 and Figure 3 shown, Figure 2 and Figure 3Shows a physical schematic diagram of the first embodiment of the gimbal camera system 100 based on the auxiliary lens of the present utility model. In this embodiment, the number of the auxiliary lenses 14 is configured to be one, and the auxiliary lens 14 can be a wide-angle lens or a fish-eye lens. The gimbal 11 is a three-axis gimbal, and the movement axes 113 of the three-axis gimbal include the yaw axis (heading axis, responsible for horizontal rotation), the pitch axis (pitch axis, responsible for vertical rotation), and the roll axis (roll axis, responsible for the clockwise / counterclockwise rotation direction of the picture). In some other embodiments, the gimbal 11 can be a two-axis gimbal (the movement axis 113 includes the yaw axis and the pitch axis), or it can be a single-axis gimbal (the movement axis 113 includes the yaw axis). Specifically, in the embodiment shown in the drawings, the auxiliary lens 14 is disposed on the yaw axis rotation mechanism 1131 of the gimbal 11, and the included angle a in the figure is the field of view angle of the auxiliary lens 14. It can be understood that the yaw axis rotation mechanism 1131 represents the rotating component relative to the base 111, and the schematic diagram in the drawings uses a circle for schematic representation. Actually, its shape is related to the actual appearance of the product design, and only a reference schematic is made here. And in the shown embodiment, the number of the auxiliary lenses 14 is one. Then, in this embodiment, on the one hand, the main control component 13 inputs the main picture captured by the camera 12 and the panoramic picture captured by the auxiliary lens 14 into the algorithm model for processing. On the other hand, the main picture captured by the camera 12 and the panoramic picture captured by the auxiliary lens 14 are directly video-mixed to generate a corresponding video and output. Based on the above design, the auxiliary lens 14 is disposed on the yaw axis rotation mechanism 1131, and the perceived picture range only changes in the horizontal direction. When the angle position of the camera 12 (i.e., the main lens) changes, the viewing angle range of the auxiliary lens 14 remains unchanged in both the vertical and planar rotation directions, and a sufficiently large field of view angle range different from that of the camera 12 can be obtained.

[0019] Understandably, the main control component 13 can perform video mixing on the main picture captured by the camera 12 and the panoramic picture captured by the auxiliary lens 14 according to the corresponding positional relationship between the auxiliary lens 14 and the camera 12 and the picture position layout, so as to generate a corresponding video and output it. Specifically, according to the corresponding positional relationship between the auxiliary lens 14 and the camera 12 and the picture position layout, the pixels of the main picture and each panoramic picture at each moment are mixed and calculated into one pixel to perform operations such as picture switching, cropping, affine or perspective transformation, or superposition of multiple video sources, so as to generate a corresponding video. For example, the output video or image can simultaneously provide a close-up picture (the main picture captured by the camera 12) and a wide-angle picture (the scene perception content corresponding to the close-up picture, that is, the panoramic picture captured by the auxiliary lens 14). In this embodiment, the main control component 13 includes a main controller, and the main controller is electrically connected to the pan-tilt head 11, the camera 12, and the auxiliary lens 14, that is, the camera 12 and the auxiliary lens 14 share the main controller for processing. In some other embodiments, the main control component 13 may include a main controller and a sub-controller. The main controller is electrically connected to the camera 12, and the sub-controller is electrically connected to the auxiliary lens 14. The pan-tilt head 11 can be connected to either the main controller or the sub-controller. Specifically, the main controller can be a chip with image / video processing capabilities, including but not limited to chips such as x86, ARM, RISC V, GPU, NPU, and ISP that can be used to process images or videos. In this embodiment, the video stream of the auxiliary lens 14 can be processed using a separate sub-controller. The main controller can be used to drive the pan-tilt head 11 to adjust the steering angles of the camera 12 and the auxiliary lens 14 according to external instructions, and at the same time control the camera 12 to work to capture the main picture, while the sub-controller can be used to control the auxiliary lens 14 to work to capture the corresponding panoramic picture according to external instructions.

[0020] Further, in some embodiments, the pan-tilt camera system 100 based on the auxiliary lens may further include at least one pitch drive mechanism 15. The pitch drive mechanism 15 is connected to the main control component 13 and the auxiliary lens 14, and is used to adjust the pitch rotation angle of the auxiliary lens 14 according to an instruction from the main control component 13. In the present invention, the pitch drive mechanism 15 can be a motor. Based on the above design, adding the pitch drive mechanism 15 can adjust and control the pitch angle of the auxiliary lens 14 to further increase the perception range of the pitch angle of the auxiliary lens 14 and the shooting output picture range. In this embodiment, the number of the pitch drive mechanisms 15 corresponds to one, and one pitch drive mechanism 15 controls one auxiliary lens 14. If there are multiple auxiliary lenses 14, one pitch drive mechanism 15 can be used to control multiple auxiliary lenses 14, or each auxiliary lens 14 can be controlled by one pitch drive mechanism 15, which can be specifically set according to actual needs.

[0021] Refer to Figure 4 , Figure 4 , which is a schematic diagram of the second embodiment of the pan-tilt camera system 100 based on the auxiliary lens of the present utility model. The difference between this embodiment and the above first embodiment lies in the different number of auxiliary lenses 14. In this embodiment, the number of the auxiliary lenses 14 is configured to be two, and the two auxiliary lenses 14 are arranged around the yaw axis rotation mechanism 1131 of the pan-tilt 11, jointly constituting a perspective perception range greater than or equal to 180°. As Figure 4 shown, the perspective perception range jointly constituted by the two auxiliary lenses 14 is approximately 180° (the included angle a in the figure), that is, in this embodiment, by arranging two auxiliary lenses 14 with slightly smaller field of view angles, a perspective perception range of approximately 180° in the front is obtained through splicing. Then, in this embodiment, the main control component 13 splices and combines the panoramic images captured by the two auxiliary lenses 14 to obtain a spliced video stream. Understandably, if the main control component 13 includes a sub-controller, the two auxiliary lenses 14 can share one sub-controller. At this time, the sub-controller can be used to control the operation of the auxiliary lenses 14 according to external instructions to capture corresponding panoramic images, and can splice and combine the panoramic images captured by each of the auxiliary lenses 14 to obtain a spliced video stream; or, one auxiliary lens 14 uses a sub-controller alone. If multiple sub-controllers are used for processing, high-speed and low-latency video data interfaces (such as HDMI, MIPI, BT series (such as 656 / 1120 / 2020, etc. or similar interfaces)), relatively high-speed stream data interfaces (such as Ethernet, USB, WIFI, etc.), metadata interfaces (such as serial ports, SPI, I2C, CAN, etc. serial data buses), and general GPIO and other interfaces can be built between these sub-controllers for communication. Specifically, the two sub-controllers respectively control the operation of the two auxiliary lenses 14. The main controller can splice the two panoramic images according to the positional relationship of the two auxiliary lenses 14 to obtain a spliced video stream. Then, on the one hand, the spliced video stream, the main image captured by the camera 12, and the panoramic images captured by the two auxiliary lenses 14 are input into the algorithm model for processing. On the other hand, the spliced video stream, the main image captured by the camera 12, and the panoramic images captured by the two auxiliary lenses 14 are directly video mixed to generate a corresponding video and output. Understandably, according to the actual computing power of the chips of the main controller and the sub-controller, in some other embodiments, the processing of splicing and combining each panoramic image and video mixing the spliced video stream, the main image, and each panoramic image can also be performed in the sub-controller. Based on the above design, this embodiment uses two auxiliary lenses 14 with smaller field of view angles, so the distortion of the image can be very small, and the low-distortion advantage of the small field of view angle lens can be fully utilized to make the image more natural and real, and the performance advantage of the intelligent algorithm can be more fully exerted while maintaining high-quality video output.

[0022] Referring to Figure 5 , Figure 5 FIG. is a schematic diagram of the third embodiment of the gimbal camera system 100 based on the auxiliary lens of the present utility model. The difference between this embodiment and the above-mentioned second embodiment lies in the specific positions of the auxiliary lenses 14. In this embodiment, the number of the auxiliary lenses 14 is also configured to be two. The two auxiliary lenses 14 are arranged around the center of the yaw axis rotation mechanism 1131 of the gimbal 11 to obtain a 360° sensing view angle. Specifically, as shown in Figure 5 FIG., the two auxiliary lenses 14 are symmetrically arranged on the yaw axis rotation mechanism 1131, and the field of view angles partially overlap. The field of view angles of the two auxiliary lenses 14 together constitute a 360° view angle sensing range (the included angle a in the figure), increasing the sensing picture of the gimbal camera system 100, optimizing the image input to the intelligent function algorithm model, so that the algorithm analysis of the intelligent function module is not affected by the change of the main lens (i.e., the camera 12) and the sensing range is reduced or cannot be sensed, thus affecting the analysis accuracy. At the same time, the usability of the picture output is increased, providing the user with a variety of perspectives to generate a picture that better meets the user's needs, so as to better meet the customer's requirements for the output picture.

[0023] Referring to Figure 6 , Figure 6 FIG. is a schematic diagram of the fourth embodiment of the gimbal camera system 100 based on the auxiliary lens of the present utility model. The difference between this embodiment and the above-mentioned third embodiment lies in the number of the auxiliary lenses 14 and the specific positions of the auxiliary lenses 14. In this embodiment, the number of the auxiliary lenses 14 is configured to be four. The four auxiliary lenses 14 are arranged around the center of the yaw axis rotation mechanism 1131 of the gimbal 11 and are evenly spaced, together constituting a 360° view angle sensing range (the included angle a shown in Figure 6 FIG.). In this embodiment, the field of view angle of the auxiliary lens 14 is small. While obtaining a 360° view angle sensing range in the horizontal direction, the low distortion advantage of the small field of view angle lens can be fully utilized to make the picture more natural and real, which is beneficial to improving the analysis accuracy of the intelligent function algorithm model and the output value of the captured picture.

[0024] Referring to Figure 7 , Figure 7Schematic diagram of the fifth embodiment of the gimbal camera system 100 based on an auxiliary lens according to the present utility model. The difference between this embodiment and the above-mentioned first embodiment lies in the different position where the auxiliary lens 14 is disposed. In this embodiment, one of the auxiliary lenses 14 is configured on the base 111 of the gimbal 11. Even when the angular position of the camera 12 (i.e., the main lens) changes, the auxiliary lens 14 does not change accordingly, and a sufficiently large field of view range different from that of the camera 12 can still be obtained. In the arrangement mode of the auxiliary lens 14 in this embodiment, the perceived image of the auxiliary lens 14 will not rotate. Therefore, no matter how the camera 12 (i.e., the main lens) moves, the image perceived by the auxiliary lens 14 remains unchanged, which is applicable to applications where a wide-angle image or a panoramic image needs to remain unchanged. It can be understood that in some other embodiments, multiple auxiliary lenses 14 on the base 111 can also be configured, and the multiple auxiliary lenses 14 can be arranged around the base 111. For example, they can be configured as two or four respectively as in the second, third, and fourth embodiments, and the analysis accuracy of the intelligent function algorithm model and the output value of the captured image can also be improved simultaneously.

[0025] Refer to Figure 8 , Figure 8 Schematic diagram of the sixth embodiment of the gimbal camera system 100 based on an auxiliary lens according to the present utility model. The difference between this embodiment and the above-mentioned first embodiment lies in the different position where the auxiliary lens 14 is disposed. In this embodiment, one of the auxiliary lenses 14 is configured on one side of the lens in the camera 12 and close to the lens of the camera 12, and the viewing direction of the auxiliary lens 14 is configured to be the same as the viewing direction of the lens in the camera 12. In this embodiment, as Figure 8 shown, the field of view angle (the included angle a in the figure) of the auxiliary lens 14 is relatively larger than the field of view angle (the included angle b in the figure) of the camera. The auxiliary lens 14 and the camera 12 are arranged together and move with the camera 12, and the viewing directions are the same. When the camera 12 moves driven by the movement axis 113 in the gimbal 11, the image captured by the auxiliary lens 14 also changes accordingly. Video mixing can be performed according to the relative geometric relationship between the main image captured by the camera 12 and the panoramic image captured by the auxiliary lens 14, which can expand the sensing range of the gimbal camera system 100, that is, in addition to the output of the main image, a wide-angle image output is also added, taking into account the accuracy of the algorithm analysis (such as target tracking, switching shooting targets, human-computer interaction) of the intelligent function algorithm model in the gimbal camera system 100 and the value of the captured image output. Moreover, the auxiliary lens 14 and the camera 12 are placed together, which is convenient for the overall appearance design and can ensure the consistency of the appearance design as much as possible.

[0026] Refer to Figure 9 , Figure 9Schematic diagram of the seventh embodiment of the gimbal camera system 100 based on an auxiliary lens according to the present utility model. The difference between this embodiment and the above-mentioned sixth embodiment lies in the different number of auxiliary lenses 14 provided. In this embodiment, the number of the auxiliary lenses 14 is configured to be two. One auxiliary lens 14 is located on one side of the lens in the camera 12 and is close to the lens of the camera 12, and the viewing direction is the same as the viewing direction of the lens in the camera 12. The other auxiliary lens 14 is located on the side of the camera 12 away from the lens, specifically as Figure 9 shown. The field of view angles of the two auxiliary lenses 14 together constitute a viewing angle perception range of approximately 360°, enabling full-range perception, and further increasing the perception picture of the gimbal camera system 100.

[0027] As can be seen from the above, the gimbal camera system 100 based on an auxiliary lens according to the present utility model can obtain a relatively wide viewing angle perception range through the provided auxiliary lens 14, optimize the image input to the intelligent function algorithm model, so that the algorithm analysis of the intelligent function module is not affected by the change of the main lens (i.e., the camera 12) resulting in a reduction in the perception range or inability to perceive, which affects the analysis accuracy, and is not limited by the imaging requirements of the camera itself. At the same time, the output picture is enriched, that is, in addition to the main picture output, a wide-angle picture output is added, taking into account the accuracy of the algorithm analysis (such as target tracking, switching shooting targets, human-computer interaction) of the intelligent function algorithm model in the gimbal camera system 100 and the value of the shooting picture output, effectively solving the problem that the intelligent function AI algorithm analysis in current traditional cameras is limited by the imaging function of the camera main lens and the output picture cannot well meet the customer's needs.

[0028] Refer to Figure 10 , Figure 10 which is a schematic flowchart of the gimbal camera control method based on an auxiliary lens according to the present utility model. The gimbal camera control method based on an auxiliary lens can be applied to the gimbal camera system based on an auxiliary lens described in all the above embodiments. In the embodiment shown in the accompanying drawings, the gimbal camera control method based on an auxiliary lens includes:

[0029] S101. Obtain the steering angles of the camera and the auxiliary lens provided on the gimbal.

[0030] In the present utility model, the pan-tilt can be a single-axis pan-tilt, a dual-axis pan-tilt or a three-axis pan-tilt. Specifically, the pan-tilt includes a base, a pan-tilt control board, and a moving axis connected to the base and electrically connected to the pan-tilt control board. The number of auxiliary lenses can be at least one, and can be arranged on the camera, on the moving axis, or on the base of the pan-tilt, or on the moving axis (such as the yaw axis rotation mechanism) of the pan-tilt. When the auxiliary lens is arranged on the moving axis, the camera and the auxiliary lens can be driven by the moving axis to rotate, so as to realize the adjustment of the steering angle. When the auxiliary lens is located on the base, the auxiliary lens does not rotate.

[0031] S102. Drive the pan-tilt according to an external instruction to adjust the steering angles of the camera and / or the auxiliary lens, and at the same time control the camera and the auxiliary lens to work so as to respectively capture a main picture and corresponding panoramic pictures.

[0032] S103. Stitch and merge the panoramic pictures captured by each auxiliary lens to obtain a stitched video stream.

[0033] S104. Input the stitched video stream, the main picture captured by the camera, and the panoramic pictures captured by each auxiliary lens into an algorithm model for processing according to the external instruction.

[0034] S105. Perform video mixing on the stitched video stream, the main picture, and each panoramic picture according to the external instruction to generate a corresponding video and output it.

[0035] In this embodiment, the external instruction can be target tracking and output of close-up and panoramic pictures during a stage performance. The auxiliary lens provided in the present utility model can improve the perception ability of the pan-tilt camera system for the surrounding environment, so that the intelligent function algorithm analysis is not limited by the imaging ability of the camera (i.e., the main lens). At the same time, it can also supplement the corresponding scene pictures on the basis of the close-up shooting of the camera, providing users with diverse perspectives to generate pictures that better meet the user's needs.

[0036] It should be noted that those skilled in the art can clearly understand that the specific implementation process of the above pan-tilt camera control method based on the auxiliary lens can refer to the corresponding description in the foregoing system embodiment. For the convenience and conciseness of description, it will not be repeated here.

[0037] The above are only the preferred embodiments of the present utility model, and do not impose any form of limitation on the present utility model. Those skilled in the art can make various equivalent changes and improvements on the basis of the above embodiments. Any equivalent changes or modifications made within the scope of the claims shall fall within the protection scope of the present utility model.

Claims

1. A pan-tilt camera system based on an auxiliary lens, characterized in that It includes a pan head, a camera arranged on the pan head, at least one auxiliary lens and a main control component, wherein: The pan / tilt is used to adjust the steering angle of the camera and / or the auxiliary lens; The main control component is connected to the pan-tilt head, camera and auxiliary lens, and is used to drive the pan-tilt head to adjust the steering angle of the camera and / or auxiliary lens according to external instructions, and control the camera and auxiliary lens to respectively capture the main picture and the corresponding panoramic picture, and stitch the panoramic pictures captured by each auxiliary lens to obtain a stitched video stream, and input the stitched video stream and the main picture captured by the camera and the panoramic pictures captured by each auxiliary lens into the algorithm model for processing according to the external instructions, and at the same time, the stitched video stream, the main picture and each panoramic picture are mixed to generate the corresponding video and output it.

2. The pan-tilt camera system based on an auxiliary lens according to claim 1, wherein The auxiliary lens is a wide-angle lens or a fisheye lens, and the auxiliary lens is configured on the yaw axis rotation mechanism of the gimbal.

3. The pan-tilt camera system based on an auxiliary lens according to claim 2, wherein, The number of the auxiliary lens is configured to be one, and the auxiliary lens is arranged on the yaw axis rotation mechanism of the gimbal; Alternatively, the number of the auxiliary lenses is configured to be multiple, and the multiple auxiliary lenses are arranged around the yaw-axis rotation mechanism of the gimbal.

4. The pan-tilt camera system based on an auxiliary lens according to claim 1, wherein The auxiliary lens is a wide-angle lens or a fisheye lens, and the auxiliary lens is configured on the base of the pan / tilt head.

5. The pan-tilt camera system based on an auxiliary lens as claimed in claim 4, wherein, The number of the auxiliary lens is configured to be one, and the auxiliary lens is arranged on the base of the pan / tilt head; Alternatively, the number of the auxiliary lenses is configured to be multiple, and the multiple auxiliary lenses are arranged around the base.

6. The gimbal camera system based on an auxiliary lens according to claim 2 or 4, wherein The auxiliary lens-based gimbal camera system also includes at least one pitch drive mechanism, which is connected to the main control component and the auxiliary lens and is used to adjust the pitch rotation angle of the auxiliary lens according to instructions from the main control component.

7. The pan-tilt camera system based on an auxiliary lens according to claim 1, wherein The auxiliary lens is a wide-angle lens or a fisheye lens. The number of the auxiliary lens is configured to be one and is located on one side of the lens in the camera. The viewing angle direction of the auxiliary lens is configured to be the same as the viewing angle direction of the lens in the camera.

8. The pan-tilt camera system based on an auxiliary lens according to claim 1, wherein The number of the auxiliary lenses is two, one of which is located on one side of the lens in the camera and has the same viewing angle as the lens in the camera, and the other auxiliary lens is located on one side of the camera away from the lens.

9. The pan-tilt camera system based on an auxiliary lens according to claim 1, wherein The main control component includes a main controller, which is electrically connected to the pan-tilt head, camera and auxiliary lens; or, the main control component includes a main controller and at least one sub-controller, the main controller is electrically connected to the camera and / or pan-tilt head, and the sub-controller is electrically connected to the auxiliary lens and / or pan-tilt head.

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