Binocular monitoring system and monitoring equipment

Abstract

The utility model discloses a binocular monitoring system and monitoring equipment. The binocular monitoring system comprises a first camera, a second camera and distance measuring equipment, the first camera and the second camera are arranged at an interval; the distance measuring equipment is arranged on the first camera and / or the second camera; the distance measuring device is used for measuring the distance between the first camera and the second camera. Distance measuring equipment is introduced into the binocular monitoring system, and the distance measuring equipment is arranged on a first camera and / or a second camera; therefore, more accurate baseline data can be dynamically provided for the binocular distance measurement system through the distance measurement equipment, so that the distance between the first camera and the second camera does not need to be fixed in the installation process of the binocular monitoring system, and the field arrangement flexibility of the equipment is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to monitoring technical field especially relates to a binocular monitoring system and monitoring device. BACKGROUND

[0002] In the field of computer vision and photogrammetry, the external parameter calibration of binocular camera system is a key step of three-dimensional reconstruction and measurement. Among them, the external parameter calibration includes the calibration of baseline, which refers to the physical distance between two cameras. The current traditional binocular camera external parameter calibration method mainly includes: a calibration object based method, a self-calibration method, and a motion based calibration method. The calibration object based method refers to using a specially designed calibration object, such as a checkerboard or a circular dot array. For example, Zhang's calibration method uses a planar checkerboard for calibration. The self-calibration method does not require a specially designed calibration object, but uses natural features in the scene to match multiple image sequences. The motion based calibration method achieves calibration by moving the camera system.

[0003] However, the baseline is currently set to a standard value at the factory, which cannot be dynamically adjusted according to the scene, resulting in limited use scenarios. INVENTION CONTENTS

[0004] The technical problem to be solved by the utility model is to provide a binocular monitoring system and monitoring device that can dynamically provide accurate baseline data for a binocular distance measurement system and improve the flexibility of on-site device arrangement.

[0005] To solve the above technical problems, the utility model adopts the following technical scheme:

[0006] A binocular monitoring system, comprising a first camera, a second camera, and a distance measurement device; the first camera and the second camera are arranged at intervals; the distance measurement device is arranged on the first camera and / or the second camera; and the distance measurement device is used to measure the distance between the first camera and the second camera.

[0007] Further, the distance measurement device comprises a laser range finder and a reflecting plate; the laser range finder is arranged on the first camera and is arranged towards the second camera; the reflecting plate is arranged on the second camera and is arranged towards the first camera; and the laser range finder is used to emit laser towards the reflecting plate and receive reflected light from the reflecting plate for distance measurement.

[0008] Further, the first camera is provided with three groups of laser range finders; the reflecting plate is provided with three reflecting points, and the three reflecting points are distributed in a triangular shape; and each laser range finder corresponds to one reflecting point.

[0009] Further, two levels are arranged on the first camera and the second camera respectively.

[0010] Further, the ranging device comprises a ranging camera, the ranging camera is arranged on the first camera or the second camera, and the ranging camera is used for measuring the distance between the first camera and the second camera.

[0011] In order to solve the above technical problems, another technical scheme adopted by the utility model is:

[0012] A monitoring device is applied to the binocular monitoring system and used as the first camera or the second camera, the monitoring device comprises a camera main body, two buckle assemblies are arranged on the top of the camera main body in a relative mode, a placing area is formed between the two buckle assemblies, a detachable fixing base is arranged in the placing area, and the fixing base is used for installing a laser range finder or a reflecting plate.

[0013] Further, a positioning column is arranged in the placing area, and a positioning piece matched with the positioning column is arranged on the fixing base.

[0014] Further, the buckle assembly comprises a base, a rotating shaft, a hook and an elastic piece, the hook comprises a hook end and a fixed end, the fixed end is connected with the rotating shaft, the rotating shaft is rotatably connected with the base, the back side of the hook end is connected with one end of the elastic piece, and the other end of the elastic piece is connected with the base.

[0015] Further, the buckle assembly further comprises a top rod, and the top rod abuts against the fixed end of the hook through the base.

[0016] Further, the top rod is rotatably connected with the base, and a rotating nut is arranged at the end of the top rod, away from the hook.

[0017] The utility model discloses the beneficial effect lies in: through introducing ranging device in binocular monitoring system, and ranging device is arranged on the first camera and / or second camera, and ranging device can provide more accurate baseline data for binocular ranging system dynamically, so that the distance between the first camera and the second camera does not need to be fixed during the installation of binocular monitoring system, and the flexibility of equipment field arrangement is improved. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of the binocular monitoring system in the utility model embodiment;

[0019] Figure 2 It is a structural schematic diagram of the monitoring device in the utility model embodiment;

[0020] Figure 3 Structure schematic view of the fixing base and the buckle assembly of the monitoring device in the embodiment of the present application;

[0021] Figure 4 Structure schematic view of the fixing base of the monitoring device in the embodiment of the present application;

[0022] Figure 5 Structure perspective view of the buckle assembly of the monitoring device in the embodiment of the present application;

[0023] Figure 6 Structure schematic view of the buckle assembly of the monitoring device in the embodiment of the present application;

[0024] Figure 7 Structure schematic view of another binocular monitoring system in the embodiment of the present application;

[0025] Label explanation:

[0026] 1, first camera; 2, second camera; 3, laser range finder; 4, reflecting plate; 5, fixing base; 51, positioning piece;

[0027] 6, buckle assembly; 61, base; 62, rotating shaft; 63, hook; 64, top rod; 65, elastic piece;

[0028] 7, camera main body; 71, positioning column; 8, range camera; 9, level. DETAILED DESCRIPTION

[0029] In order to explain the technical content, the purpose and the effect of the present application in detail, the following will be described in combination with the embodiments and the drawings.

[0030] A binocular monitoring system, comprising a first camera, a second camera and a ranging device; the first camera and the second camera are arranged at intervals; the ranging device is arranged on the first camera and / or the second camera; the ranging device is used for measuring the distance between the first camera and the second camera.

[0031] From the above description, the beneficial effects of the present application are that by introducing the ranging device into the binocular monitoring system, and arranging the ranging device on the first camera and / or the second camera; the ranging device can provide more accurate baseline data for the binocular ranging system dynamically, so that the distance between the first camera and the second camera does not need to be fixed during the installation of the binocular monitoring system, and the flexibility of the device field arrangement is improved.

[0032] Further, the distance measuring device comprises a laser range finder and a reflecting plate; the laser range finder is arranged on the first camera and faces the second camera; the reflecting plate is arranged on the second camera and faces the first camera; the laser range finder is used to emit laser to the reflecting plate and receive reflected light of the reflecting plate for distance measurement.

[0033] As can be seen from the above description, by arranging the laser range finder on the first camera and the reflecting plate on the second camera, the distance between the first camera and the second camera is measured by emitting laser to the reflecting plate by the laser range finder and receiving reflected light of the reflecting plate, i.e. the actual data of the baseline is measured based on laser ranging, which can provide more accurate baseline data for the binocular distance measuring system dynamically, and the distance between the first camera and the second camera does not need to be fixed during installation of the binocular monitoring system, thereby improving the flexibility of on-site arrangement of the device.

[0034] Further, the first camera is provided with three groups of laser range finders; the reflecting plate is provided with three reflecting points, and the three reflecting points are distributed in a triangular shape; each laser range finder corresponds to one reflecting point.

[0035] As can be seen from the above description, by arranging three groups of laser range finders and reflecting plates in the binocular monitoring system and forming a triangular structure, it is more convenient for the binocular monitoring system to perform multi-point calibration, thereby improving the accuracy of baseline measurement.

[0036] Further, the first camera and the second camera are each provided with two levels; the two levels are arranged perpendicularly to each other.

[0037] As can be seen from the above description, by arranging the levels perpendicularly to each other on the first camera and the second camera, the arrangement state of the laser range finder and the reflecting plate can be observed more intuitively by the levels.

[0038] Further, the distance measuring device comprises a distance measuring camera; the distance measuring camera is arranged on the first camera or the second camera; the distance measuring camera is used to measure the distance between the first camera and the second camera.

[0039] As can be seen from the above description, by arranging the distance measuring camera on the first camera or the second camera, the distance between the first camera and the second camera is measured by the distance measuring camera, thereby providing baseline data for the binocular distance measuring system dynamically, and improving the flexibility of on-site arrangement of the device.

[0040] A monitoring device is applied to the binocular monitoring system and used as the first camera or the second camera; the monitoring device comprises a camera main body; two buckle assemblies are arranged on the top of the camera main body; a placing area is formed between the two buckle assemblies; a detachable fixing base is arranged in the placing area, and the fixing base is used for mounting a laser range finder or a reflecting plate.

[0041] As known from the above description, the buckle assemblies are arranged on the camera main body, so that the detachable connection between the monitoring device and the fixing base is realized through the buckle assemblies; when baseline measurement is needed, the laser range finder or the reflecting plate is mounted on the monitoring device by assembling the fixing base; and when the baseline measurement is completed, the fixing base can be detached.

[0042] Further, a positioning column is arranged in the placing area; and a positioning piece matched with the positioning column is arranged on the fixing base.

[0043] As known from the above description, the positioning column is arranged on the monitoring device, and the positioning piece is arranged on the fixing base, so that the positioning installation of the fixing base is realized, and the stability of the fixing base is improved.

[0044] Further, the buckle assembly comprises a base, a rotating shaft, a hook and an elastic piece; the hook comprises a hook end and a fixed end; the fixed end is connected with the rotating shaft, and the rotating shaft is rotatably connected with the base; the back side of the hook end is connected with one end of the elastic piece, and the other end of the elastic piece is connected with the base.

[0045] As known from the above description, the buckle assembly is composed of the base, the rotating shaft, the hook and the elastic piece, so that when the fixing base is pressed into the placing area, the hooks of the two buckle assemblies are elastically snapped to the fixing base under the action of the elastic pieces, thereby realizing the fixation of the fixing base.

[0046] Further, the buckle assembly further comprises a top rod; and the top rod abuts against the fixed end of the hook through the base.

[0047] As known from the above description, the top rod is arranged, and one end of the top rod abuts against the fixed end of the hook, so that when the buckle assembly is in a free state, the top rod can abut against the fixed end of the hook to limit the rotation of the hook, thereby making the fixation of the fixing base more convenient.

[0048] Further, the top rod is rotatably connected with the base; and a rotating nut is arranged at the end of the top rod away from the hook.

[0049] From the above description, by setting the rotating nut, the rotating nut can be adjusted to form different degrees of limiting of the fixed end of the jack to the clamping hook, so that the clamping hook forms an angle more conducive to clamping with the fixed base.

[0050] Further, at least two cameras with different focal lengths are arranged on the camera body.

[0051] From the above description, by arranging multiple groups of cameras with different focal lengths on the camera body, the camera can select cameras with different focal lengths for shooting according to different shooting requirements, or combine cameras with different focal lengths for shooting.

[0052] The binocular monitoring system and the monitoring device can be applied to a binocular monitoring scene, can dynamically provide accurate baseline data, and improve the flexibility of device field arrangement, which will be described below through a specific embodiment.

[0053] Embodiment one

[0054] Please refer to Figure 1 A binocular monitoring system comprises a first camera 1 and a second camera 2; a laser range finder 3 is arranged on the first camera 1, and the laser range finder 3 is arranged towards the second camera 2; a reflecting plate 4 is arranged on the second camera 2, and the reflecting plate 4 is arranged towards the first camera 1; the laser range finder 3 is used for emitting laser towards the reflecting plate 4 and receiving reflected light of the reflecting plate 4 for ranging, that is, real baseline data can be obtained through the laser ranging principle. Meanwhile, two levels 9 are arranged on the first camera 1 and the second camera 2; the two levels 9 are arranged perpendicularly to each other, so that the arrangement state of the laser range finder 3 and the reflecting plate 4 can be more intuitively observed through the levels 9.

[0055] In a preferred embodiment, the first camera 1 is provided with three groups of laser range finders 3; the reflecting plate 4 is provided with three reflecting points, and the three reflecting points are distributed in a triangular shape; each laser range finder 3 corresponds to one reflecting point, so that the binocular monitoring system can be conveniently calibrated at multiple points, and the accuracy is improved.

[0056] The laser range finder 3 and the reflecting plate 4 in the embodiment are fixed on a fixed base 5, and the fixed base 5 is detachably fixed on a camera body 7 through a buckle assembly 6, and the specific structure is as follows:

[0057] Please refer to Figure 2 and Figure 3The monitoring device includes a camera body 7; the camera body 7 is provided with at least two cameras with different focal lengths; the top of the camera body 7 is provided with two oppositely arranged latching components 6; a placement area is formed between the two latching components 6; the placement area is provided with a detachable fixing base 5, the fixing base 5 is used to install a laser rangefinder 3 or a reflector 4.

[0058] In an optional embodiment, a positioning post 71 is provided within the placement area; a positioning element 51 that cooperates with the positioning post 71 is provided on the fixing base 5. For example... Figure 3 as well as Figure 4 As shown, three protruding positioning posts 71 are provided in the placement area; the bottom of the fixing base 5 is provided with positioning holes that cooperate with the positioning posts 71.

[0059] The latching assembly 6 is detachably connected to the camera body 7; the specific structure of the latching assembly 6 includes: (Please refer to...) Figure 5 as well as Figure 6 The latching assembly 6 includes a base 61, a rotating shaft 62, a hook 63, a push rod 64, and an elastic element 65; the hook 63 includes a hook end and a fixed end; the fixed end is connected to the rotating shaft 62, and the rotating shaft 62 is rotatably connected to the base 61, that is, the hook 63 is rotatably connected to the base 61 through the rotating shaft 62; the back side of the hook end is connected to one end of the elastic element 65, and the other end of the elastic element 65 is connected to the base 61; Figure 6 As shown, the base 61 has a boss, and the boss and the side wall of the hook 63 are provided with receiving grooves. The two ends of the elastic member 65 are inserted into the receiving grooves. The push rod 64 passes through the base 61 and abuts against the fixed end of the hook 63. At the same time, the push rod 64 is rotatably connected to the base 61. A rotating nut is provided at the end of the push rod 64 away from the hook 63. That is, by adjusting the rotation of the rotating nut, the push rod 64 can limit the fixed end of the hook 63 to different degrees, thereby adjusting the tilt of the hook 63 and the strength of the fastening state.

[0060] The fixing principle between the buckle assembly 6 and the fixing base 5 is as follows: during assembly, the positioning hole of the fixing base 5 is aligned with the positioning post 71 on the camera body 7 and pressed down to achieve alignment and positioning. Then, the fixing base 5 is pressed down and squeezed between the buckle assemblies 6 on both sides. Subsequently, the hook 63 of the buckle assembly 6 springs back and locks the fixing base 5 to complete the fixing.

[0061] Please refer to Figure 7In another optional embodiment, by setting a distance measuring camera 8 on the first camera 1 or the second camera 2 in the binocular monitoring system, the distance between the first camera 1 and the second camera 2 is measured by the distance measuring camera 8. Figure 7 As shown in the figure, the distance measuring camera 8 is erected on the camera device side wall for measuring the baseline.

[0062] The above is only the embodiment of the present application, and does not limit the patent range of the present application, and any equivalent transformation, direct or indirect application in the related technical field by using the content of the present application specification and drawings is also included in the patent protection range of the present application.

Claims

1. A binocular monitoring system, characterized in that, The monitoring device comprises a first camera, a second camera and a ranging device; The first camera is spaced apart from the second camera; The ranging device is arranged on the first camera and / or the second camera; The ranging device is used to measure the distance between the first camera and the second camera.

2. The binocular monitoring system of claim 1, wherein, The ranging device comprises a laser range finder and a reflecting plate; The laser range finder is arranged on the first camera and faces the second camera; The reflecting plate is arranged on the second camera and faces the first camera; The laser range finder is used to emit laser to the reflecting plate and receive the reflected light of the reflecting plate for ranging.

3. The binocular monitoring system of claim 2, wherein, The first camera is provided with three groups of laser range finders; The reflecting plate is provided with three reflecting points, and the three reflecting points are distributed in a triangular shape; Each laser range finder corresponds to one reflecting point.

4. The binocular monitoring system according to claim 2 or 3, characterized in that The first camera and the second camera are arranged perpendicular to each other.

5. The binocular monitoring system of claim 1, wherein, The ranging device comprises a ranging camera; The ranging camera is arranged on the first camera or the second camera; The ranging camera is used to measure the distance between the first camera and the second camera.

6. A monitoring device, characterized by The ranging camera is applied to the binocular monitoring system of any one of claims 1-4 and used as the first camera or the second camera; The monitoring device comprises a camera body; The top of the camera body is provided with two oppositely arranged buckle assemblies; A placement area is formed between the two buckle assemblies; The placement area is provided with a detachable fixing base, and the fixing base is used to install a laser range finder or a reflecting plate.

7. A monitoring device according to claim 6, characterized in that The placement area is provided with a positioning column; The fixing base is provided with a positioning member matched with the positioning column.

8. The monitoring device of claim 6, wherein, The buckle assembly comprises a base, a rotating shaft, a hook and an elastic member; The hook comprises a hook end and a fixed end; The fixed end is connected with the rotating shaft, and the rotating shaft is rotatably connected with the base; The back side of the hook end is connected with one end of the elastic member, and the other end of the elastic member is connected with the base.

9. A monitoring device according to claim 8, characterized in that The buckle assembly further comprises a top rod; The top rod penetrates through the base and abuts against the fixed end of the hook.

10. The monitoring device of claim 9, wherein, The top rod is rotatably connected with the base; One end of the top rod away from the hook is provided with a rotating nut.

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