Holder device and monitoring equipment

Abstract

The utility model relates to the technical field of intelligent monitoring, in particular to a holder device and monitoring equipment. The holder device comprises a base, a mounting seat, a pickup positioning assembly and a control assembly, the base is provided with a horizontal rotating assembly, and the horizontal rotating assembly is used for driving the base to horizontally rotate around the axis of the base; the mounting seat is provided with a shooting port and a pitching rotation assembly, the shooting port is used for the camera to acquire an image of a target, and the pitching rotation assembly is used for driving the mounting seat to perform pitching rotation; the pickup positioning assembly is arranged on the base and the mounting seat and is used for acquiring sound information of a target; the control assembly is used for controlling the horizontal rotating assembly and the pitching rotating assembly according to the sound information. According to the cradle head device provided by the utility model, the orientation of the camera can be continuously adjusted in the horizontal and vertical directions without manual intervention through the cooperative adjustment of the horizontal rotating assembly and the pitching rotating assembly in combination with the dynamic analysis of the control assembly on the orientation of the sound source, so that the dead-angle-free monitoring is realized.

Description

Technical Field

[0001] This utility model relates to the field of intelligent monitoring technology, and in particular to a pan-tilt device and monitoring equipment. Background Technology

[0002] With the development of intelligent security technology, home-use small pan-tilt units have widely adopted motion detection technology to monitor abnormal situations. Existing technologies primarily achieve monitoring functions in two ways: one is a manual pan-tilt control scheme based on user operation, where users remotely adjust the pan-tilt's direction via a mobile application, pointing the camera at suspicious areas for manual inspection; the other is a video motion detection scheme based on computer vision, using image processing algorithms to identify the movement trajectory of objects within the captured image, triggering the camera to automatically track and capture images.

[0003] However, manual control relies on human intervention and cannot proactively detect anomalies when unattended, and it also carries the risk of response delays in emergencies. While video motion detection technology has automatic recognition capabilities, its effective monitoring range is strictly limited to the camera's current view. It cannot effectively cover blind spots that are obstructed by obstacles or beyond the lens's turning limits. In a home environment, factors such as furniture placement and building structure can easily create multiple blind spots for sound and light perception, making it difficult for existing visual detection solutions to achieve full-space coverage for anomaly monitoring. Utility Model Content

[0004] The first aspect of this utility model provides a pan-tilt device to solve the defect of blind spots in the monitoring of existing pan-tilt devices. Through the coordinated adjustment of the horizontal rotation component and the pitch rotation component, combined with the dynamic analysis of the sound source location by the control component, automatic response can be achieved without manual intervention. The camera can continuously adjust its orientation in the horizontal and vertical directions, thereby achieving blind-spot-free monitoring in complex environments.

[0005] The second aspect of this utility model provides a monitoring device.

[0006] The gimbal device provided by this utility model includes:

[0007] The base is provided with a horizontal rotation component, which is used to drive the base to rotate horizontally around the axis of the base;

[0008] The mounting base is provided with a shooting port and a pitch rotation assembly. The shooting port is located on the front of the mounting base and is used by the camera to acquire images of the target. The mounting base is rotatably connected to the base through the pitch rotation assembly, which is used to drive the mounting base to pitch and rotate.

[0009] A sound pickup and positioning component is disposed on the base and the mounting bracket, and the sound pickup and positioning component is used to acquire the sound information of the target;

[0010] A control component is electrically connected to the horizontal rotation component, the pitch rotation component, and the sound pickup and positioning component, respectively. The control component is used to control the horizontal rotation component and the pitch rotation component according to the sound information.

[0011] According to the gimbal device provided by this utility model

[0012] The sound information includes first sound information and second sound information, and the sound pickup and positioning component includes:

[0013] A first microphone module is disposed on the front of the base and located below the shooting port. The first microphone module is used to acquire the first sound information.

[0014] The second microphone module is located on the front of the mounting base and above the shooting port. The second microphone module is used to acquire the second sound information.

[0015] The control component is electrically connected to the first microphone module and the second microphone module respectively, and the control component is used to control the pitch rotation component according to the first sound information and the second sound information.

[0016] According to the gimbal device provided by this utility model

[0017] The sound information also includes third sound information, and the sound pickup and positioning component also includes a third microphone module. The third microphone module is located on the front of the base, and the first microphone module is located on one side of the shooting port, and the third microphone module is located on the other side of the shooting port. The third microphone module is used to acquire the third sound information.

[0018] The control component is electrically connected to the third microphone module, and the control component is used to control the horizontal rotation component according to the first sound information and the third sound information; and / or, the control component is used to control the pitch rotation component according to the first sound information, the second sound information and the third sound information.

[0019] According to the gimbal device provided by this utility model, the first microphone module and the third microphone module are symmetrically arranged along the shooting port.

[0020] According to the gimbal device provided by this utility model, the sound information further includes fourth sound information;

[0021] The sound pickup and positioning component further includes a fourth microphone module, which is disposed on the base and is used to acquire the fourth sound information;

[0022] The control component is electrically connected to the fourth microphone module, and the control component is used to determine the positive or negative position of the target relative to the shooting port based on the fourth sound information.

[0023] According to the gimbal device provided by this utility model, the fourth microphone module includes an omnidirectional microphone, which is disposed on the back of the base and is used to acquire the fourth sound information;

[0024] If the fourth sound information is greater than the first sound information, and / or if the fourth sound information is greater than the third sound information, the control component controls the horizontal rotation component to rotate toward the back of the base.

[0025] According to the gimbal device provided by this utility model, the fourth microphone module includes a unidirectional microphone, which is used to acquire the fourth sound information;

[0026] The unidirectional microphone is located on the back of the base. When the fourth sound information is greater than the first preset value, the control component controls the horizontal rotation component to rotate toward the back of the base.

[0027] According to the gimbal device provided by this utility model, the fourth microphone module includes a unidirectional microphone, which is used to acquire the fourth sound information;

[0028] The unidirectional microphone is located on the front of the base. When the fourth sound information is less than the second preset value, the control component controls the horizontal rotation component to rotate toward the back of the base.

[0029] The monitoring equipment provided by this utility model includes:

[0030] A camera is used to acquire images of a target;

[0031] In any of the preceding claims, the camera is mounted on the pan-tilt device, and the pan-tilt device is used to drive the camera to follow the target.

[0032] According to the monitoring equipment provided by this utility model, the camera is equipped with an image acquisition module, which is electrically connected to the control component. The image acquisition module is used to acquire images of the target, and the control component is used to control the horizontal rotation component and the pitch rotation component according to the image of the target.

[0033] The pan-tilt device provided by this utility model achieves all-around automatic tracking of the monitored target through the coordinated action of the horizontal rotation component and the pitch rotation component, combined with the linkage control of the sound pickup and positioning component and the control component. Specifically, the horizontal rotation component drives the base to rotate horizontally around its axis, expanding the horizontal coverage of the camera; the pitch rotation component drives the mounting base to pitch and swing in the vertical plane, expanding the vertical monitoring angle of the camera. Furthermore, the control component analyzes the direction of the sound source based on the target sound information collected by the sound pickup and positioning component, and coordinates the horizontal rotation component to adjust the horizontal orientation of the base, while simultaneously driving the pitch rotation component to adjust the pitch angle of the mounting base. When the pan-tilt device is used as a camera, the camera can continuously aim at the sound source position through the shooting port. In this process, through the real-time coordination of sound source positioning and mechanical steering, it can be ensured that the camera can cover three-dimensional blind spots that cannot be monitored by traditional fixed-view or single-degree-of-freedom rotation.

[0034] Existing manual control solutions are limited by the delay and instability of manual operation, while pure visual detection solutions are difficult to cover obstructed areas or vertical blind spots (such as high ceilings or low ground) due to the physical limitations of the camera's field of view. Compared with existing solutions that rely on manual operation or visual detection, the pan-tilt device provided by this utility model achieves automatic response without manual intervention by coordinating the horizontal rotation component and the pitch rotation component, combined with the dynamic analysis of the sound source's location by the control component. This allows the camera to continuously adjust its orientation in both horizontal and vertical directions, thereby achieving blind-spot-free monitoring in complex environments and effectively enhancing the automation level and practicality of home pan-tilt devices in abnormal detection scenarios. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a schematic diagram of the axial structure of the gimbal device provided in the embodiment of the present invention from a first-view perspective.

[0037] Figure 2 This is a schematic diagram of the axial structure of the gimbal device provided in this embodiment of the present invention from a second perspective.

[0038] Figure 3 This is a schematic diagram of the axial structure of the base provided in the embodiment of the present invention from a first perspective.

[0039] Figure 4This is a schematic diagram of the axial structure of the base provided in the embodiment of the present invention from a second perspective.

[0040] Figure 5 This is a schematic diagram of the axial structure of the mounting base provided in this embodiment of the utility model.

[0041] Figure 6 This is one of the schematic diagrams showing the fourth microphone module provided in this embodiment of the present invention in another location.

[0042] Figure 7 This is the second schematic diagram of the fourth microphone module provided in this embodiment of the present invention being set in another location.

[0043] Figure label:

[0044] 100: Base; 110: Horizontal rotation component; 200: Mounting base; 210: Shooting port; 220: Pitch rotation component; 300: Sound pickup and positioning component; 310: First microphone module; 320: Second microphone module; 330: Third microphone module; 340: Fourth microphone module. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0046] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0047] In the embodiments of this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0048] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the embodiments of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0049] Figure 1 This is a schematic diagram of the axial structure of the gimbal device provided in this embodiment of the present invention from a first-view perspective; Figure 2 This is a schematic diagram of the axial structure of the gimbal device provided in this embodiment of the present invention from a second perspective. Figure 3 This is a schematic diagram of the axonal structure of the base provided in an embodiment of the present invention from a first perspective; Figure 4 This is a schematic diagram of the axial structure of the base provided in this embodiment of the present invention from a second perspective; Figure 5 This is a schematic diagram of the axial structure of the mounting base provided in this embodiment of the utility model.

[0050] See Figures 1 to 5 The first aspect of this utility model provides a gimbal device, which includes a base 100, a mounting base 200, a sound pickup and positioning component 300, and a control component (not shown in the figure). The base 100 is provided with a horizontal rotation component 110. The horizontal rotation component 110 can be an existing mechanical device with rotation function, such as a motor, which will not be described in detail here.

[0051] like Figure 1As shown, the motor is mounted on the base plate of the base 100, and the output shaft of the motor extends from the bottom of the base 100. When the motor rotates, the output shaft of the motor is fixed, and the motor body will drive the base 100 to rotate around the output shaft of the motor. The base 100 has a "U" shaped structure, specifically including a base plate and two side plates. The two side plates are arranged opposite each other on both sides of the base plate. Each side plate is provided with a mounting limit hole, which is used to set the mounting seat 200 and limit the rotation of the mounting seat 200.

[0052] Continue to refer to Figure 1 The mounting base 200 is a box-shaped structure with a hollow interior for housing additional structures such as cameras and circuit boards. The mounting base 200 also houses a pitch rotation assembly 220, which can be configured as a motor as described above. The motor's output shaft extends from one side of the mounting base 200 and rotatably engages with a mounting limit hole on one side plate of the base 100. Correspondingly, a limit support column is provided on the other side of the mounting base 200, extending from the other side and rotatably engaging with a mounting limit hole on the other side plate of the base 100. When the motor of the pitch rotation assembly 220 rotates, the motor body drives the mounting base 200 to rotate relative to the base 100 in the vertical plane, thereby achieving the pitch movement of the mounting base 200.

[0053] The mounting base 200 also has a shooting port 210 on its front side. When the camera is installed inside the mounting base 200, the camera lens can be installed in the shooting port 210. In this way, the camera lens can interact with the external ambient light from the shooting port 210, thereby realizing the acquisition of images of the target.

[0054] The sound pickup and positioning component 300 is located on the base 100 and the mounting base 200. The sound pickup and positioning component 300 is used to acquire the sound information of the target. The sound pickup and positioning component 300 can be selected from existing components such as microphones (MIC), piezoelectric sound sensors or capacitive sound sensors, and can be selected according to the actual situation.

[0055] The control component is electrically connected to the horizontal rotation component 110, the pitch rotation component 220, and the sound pickup and positioning component 300, respectively. After the sound pickup and positioning component 300 obtains the sound information of the target, it will transmit the sound information to the control component. After receiving it, the control component will analyze and process the sound information according to the internal preset working principle (such as the built-in algorithm), and then control the horizontal rotation component 110 to rotate and the pitch rotation component 220 to rotate.

[0056] See Figures 1 to 5It is understood that in the pan-tilt device provided in this embodiment of the present invention, the synergistic action of the horizontal rotation component 110 and the pitch rotation component 220, combined with the linkage control of the sound pickup and positioning component 300 and the control component, enables all-round automatic tracking of the monitored target. Specifically, the horizontal rotation component 110 drives the base 100 to rotate horizontally around its axis, expanding the horizontal coverage of the camera; the pitch rotation component 220 drives the mounting base 200 to pitch and swing in the vertical plane, expanding the vertical monitoring angle of the camera. Furthermore, the control component, based on the target sound information collected by the sound pickup and positioning component 300, synchronously analyzes the direction of the sound source and coordinates the horizontal rotation component 110 to adjust the horizontal orientation of the base 100, while simultaneously driving the pitch rotation component 220 to adjust the pitch angle of the mounting base 200. When the pan-tilt device is used as a camera, the camera can continuously aim at the sound source position through the shooting port 210. In this process, through the real-time coordination of sound source positioning and mechanical steering, it can be ensured that the camera can cover the three-dimensional blind spots that cannot be monitored by traditional fixed viewing angles or single-degree-of-freedom rotation.

[0057] Existing manual control schemes are limited by the delay and instability of manual operation, while pure visual detection schemes are difficult to cover obstructed areas or vertical blind spots (such as high ceilings or low ground) due to the physical limitations of the camera's field of view. Compared with existing schemes that rely on manual operation or visual detection, the pan-tilt device provided in this embodiment of the utility model achieves automatic response without manual intervention by coordinating the horizontal rotation component 110 and the pitch rotation component 220, combined with the dynamic analysis of the sound source's orientation by the control component. This allows the camera to continuously adjust its orientation in both horizontal and vertical directions, thereby achieving blind-spot-free monitoring in complex environments and effectively enhancing the automation level and practicality of home pan-tilt devices in abnormal detection scenarios.

[0058] Continue reading Figure 1 , Figure 3 and Figure 5 In an optional embodiment of this utility model, the sound information includes first sound information and second sound information. Correspondingly, the sound pickup and positioning component 300 includes a first microphone module 310 and a second microphone module 320. The first microphone module 310 and the second microphone module 320 can be existing microphones or other components as described above. The first microphone module 310 is located on the front of the base 100 and below the shooting port 210. That is, when a camera is installed, the first microphone module 310 is located below the lens of the camera. The first microphone module 310 is used to acquire the first sound information.

[0059] The second microphone module 320 is located on the front of the mounting base 200 and above the shooting port 210. That is, when a camera is installed, the second microphone module 320 is located above the camera lens. The second microphone module 320 is used to acquire second sound information. The control component is electrically connected to the first microphone module 310 and the second microphone module 320 respectively. The control component is used to control the pitch rotation component 220 according to the first sound information and the second sound information. In this embodiment, preferably, the shooting port 210 needs to be set on the front surface of the mounting base 200 at a position perpendicular to the rotation axis of the pitch rotation component 220. If the shooting port 210 is set elsewhere, position compensation design needs to be performed within the working principle. Specifically, it can be adapted according to the actual situation.

[0060] In use, the first microphone module 310 and the second microphone module 320 respectively collect the first sound information and the second sound information of the target. After collecting the first sound information and the second sound information, the control component will compare the first sound information and the second sound information. Taking the first microphone module 310 and the second microphone module 320 symmetrically arranged on the upper and lower sides of the shooting port 210 as an example, when the first sound information is greater than the second sound information, the control component will control the pitch rotation component 220 to drive the mounting base 200 to rotate downward; when the first sound information is less than the second sound information, the control component will control the pitch rotation component 220 to drive the mounting base 200 to move upward.

[0061] It should be noted that when the distance between the first microphone module 310 and the second microphone module 320 and the shooting port 210 in the vertical direction is inconsistent, that is, when the two are not symmetrically set, or when the two are not on the same vertical line, the position compensation can be pre-designed in the working principle set inside the control component. The specific algorithm settings will not be elaborated here.

[0062] See Figure 1 , Figure 3 and Figure 5It is understood that in the gimbal device provided in this embodiment of the present invention, the vertical positioning of the sound source is accurately tracked by the vertical arrangement of the first microphone module 310 and the second microphone module 320, combined with the dynamic adjustment of the pitch rotation component 220 by the control component. During this process, the positional difference between the upper and lower microphone modules directly reflects the change in the height of the sound source. The control component dynamically adjusts the pitch angle by analyzing the strength relationship between the two sound signals in real time, ensuring that the shooting port 210 is always aligned with the height of the sound source. Compared to solutions with a single microphone or no vertically separated pickup points, this embodiment, through the synergistic effect of the vertically separated microphone modules and the control component, can achieve vertical sound source localization without relying on complex algorithms. This effectively covers the monitoring blind spots formed by the fixed pitch angle in traditional solutions, effectively improving the camera's capture efficiency and response accuracy for abnormal sound sources in the vertical space.

[0063] Continue reading Figure 1 and Figure 3 In an optional embodiment of this utility model, the sound information further includes third sound information, and the sound pickup and positioning component 300 further includes a third microphone module 330. The third microphone module 330 is disposed on the front of the base 100, and the first microphone module 310 is located on one side of the shooting port 210, and the third microphone module 330 is located on the other side of the shooting port 210. The third microphone module 330 is used to acquire the third sound information. Preferably, the first microphone module 310 and the third microphone module 330 are symmetrically arranged on both sides of the shooting port 210.

[0064] The control component is electrically connected to the third microphone module 330. The control component is used to control the horizontal rotation component 110 based on the first sound information and the third sound information. Specifically, the first microphone module 310 and the third microphone module 330 respectively collect the sound levels. After receiving the first sound information and the third sound information, the control component can compare the two. When the first sound information is greater than the third sound information, the control component controls the horizontal rotation component 110 to drive the mounting base 200 and the base 100 to rotate horizontally toward the side where the first microphone module 310 is located, until the levels of the first sound information and the third sound information are the same.

[0065] When the first sound information is less than the third sound information, the control component controls the horizontal rotation component 110 to drive the mounting base 200 and the base 100 to rotate horizontally toward one side of the third microphone module 330 until the first sound information and the third sound information are the same size.

[0066] Continue reading Figure 1 and Figure 3It is understood that in the gimbal device provided in this embodiment of the present invention, the first microphone module 310 and the third microphone module 330 are respectively located on both sides of the shooting port 210, correspondingly distributed in the horizontal direction, to collect the first sound information and the third sound information of the target, respectively. The control component determines the horizontal offset direction of the sound source relative to the central axis of the shooting port 210 by comparing the volume difference between the two, and drives the horizontal rotation component 110 to rotate the base 100 horizontally accordingly. During this process, the microphone modules directly reflect the horizontal offset of the sound source through the comparison of the strength of the sound signals, and the control component adjusts the horizontal orientation of the base 100 in real time according to this difference, so that the shooting port 210 is always aligned with the horizontal direction of the sound source.

[0067] Compared to existing solutions for video motion detection, this embodiment achieves horizontal sound source localization without relying on complex algorithms through the synergistic effect of horizontally symmetrical microphone modules and control components. This effectively covers the monitoring blind spots caused by limitations in horizontal rotation range or adjustment lag in traditional solutions, and effectively improves the camera's capture efficiency and response accuracy for abnormal sound sources in the horizontal space. In addition, when the first microphone module 310 and the third microphone module 330 are symmetrically arranged relative to the shooting port 210, this symmetrical design can simplify the algorithm inside the control components, eliminate the need for preset position compensation commands, and effectively reduce the design difficulty of the working principle.

[0068] When the first microphone module 310, the second microphone module 320, and the third microphone module 330 are set up simultaneously, the aforementioned dynamic adjustment of the pitch rotation component 220 can be controlled by combining and comparing the first sound information, the second sound information, and the third sound information. Specifically, the target to be photographed should be located at the center of the camera lens's field of view. At this time, the sound source emitted by the target may have a different propagation distance than the first microphone module 310, the second microphone module 320, and the third microphone module 330. Therefore, it is necessary to perform algorithmic compensation in advance for the inconsistent sound pickup caused by the inconsistent propagation distance, that is, to set a simulated volume compensation value so that the sound pickup level calculated by the algorithm after the first microphone module 310, the second microphone module 320, and the third microphone module 330 pick up the sound is consistent.

[0069] When the base 100 and the mounting base 200 rotate to the appropriate position in the horizontal dimension, the mounting base 200 rotates in the vertical dimension. When the volume calculated by compensation after actual sound pickup is inconsistent, vertical sound pickup positioning begins. It should be noted that because the installation positions or distances of cameras and microphone modules of different products are different, it is necessary to improve the compensation value according to the actual product design. The specific control principle can be adapted to the working principle of only setting the first microphone module 310 and the second microphone module 320 mentioned above, which will not be elaborated here.

[0070] Continue reading Figure 1 and Figure 3 In an optional embodiment of this utility model, the sound information further includes fourth sound information, and the sound pickup and positioning component 300 further includes a fourth microphone module 340. The fourth microphone module 340 is disposed on the base 100 and is used to acquire the fourth sound information. The control component is electrically connected to the fourth microphone module 340 and is used to determine the positive and negative positions of the target relative to the shooting port 210 based on the fourth sound information.

[0071] Specifically, after the fourth microphone module 340 picks up the fourth sound information, the algorithm inside the control component processes the fourth sound information and determines whether the target to be photographed is in front of or behind the shooting port 210. If it is behind, the control component will then control the horizontal rotation component 110 to rotate backward so that the target falls in front of the shooting port 210; if it is in front, horizontal and pitch control can be performed directly.

[0072] It is understood that in the monitoring device provided by this embodiment of the present invention, the automatic identification and tracking of the forward and reverse positions of the sound source is achieved by setting the fourth microphone module 340 and combining it with the direction adjustment of the horizontal rotation component 110 by the control component. In this process, this embodiment expands the functional range of the horizontal rotation component 110 while simplifying the structure through the detection of the fourth microphone module 340 and the linkage response of the control component, ensuring that the camera can automatically correct the forward and backward directional deviation, thereby achieving more comprehensive coverage of abnormal sound sources in three-dimensional space.

[0073] Figure 6 This is one of the schematic diagrams showing the fourth microphone module provided in this embodiment of the present invention in another location; Figure 7 This is the second schematic diagram of the fourth microphone module provided in this embodiment of the present invention being set in another location.

[0074] In an optional embodiment of this utility model, the fourth microphone module 340 includes an omnidirectional microphone. An omnidirectional microphone is a microphone that can pick up sound evenly from all directions. The specific structure and function of the omnidirectional microphone can be found in the prior art, and will not be described in detail here.

[0075] See Figure 6 and Figure 7An omnidirectional microphone is located on the back of the base 100 and is used to acquire fourth sound information. When the first microphone module 310 is provided, if the fourth sound information is greater than the first sound information, the control component can determine that the target is located on the back of the shooting port 210. When the third microphone module 330 is provided, if the fourth sound information is greater than the third sound information, the control component determines that the target is located on the back of the shooting port 210.

[0076] It is understood that in the monitoring device provided by this utility model embodiment, the automatic identification and correction of the front and rear directions of the sound source is achieved by comparing and judging the sound information with the back of the omnidirectional microphone. Specifically, the omnidirectional microphone is located on the back of the base 100 and is used to collect the fourth sound information of the target. The control component determines the position of the target relative to the shooting port 210 by comparing the difference in volume between the fourth sound information and the sound information collected by the first microphone module 310 or the third microphone module 330. In this process, the omnidirectional microphone, by equally picking up the characteristics of the sound source behind the camera, combined with the direct comparison logic of the sound intensity in the front and rear directions by the control component, can quickly identify the front and back positions of the sound source without relying on multi-microphone arrays or complex algorithms. This solves the problem of blind spots in monitoring caused by the inability of traditional pan-tilt units to detect sound sources behind the camera, ensuring that the camera can automatically adjust its horizontal orientation so that the shooting port 210 is always pointed in the direction of the sound source, thereby effectively improving the directional coverage capability of anomaly detection.

[0077] In an optional embodiment of this utility model, unlike the aforementioned embodiments, the fourth microphone module 340 includes a unidirectional microphone. The unidirectional microphone is used to acquire fourth sound information. The unidirectional microphone is a microphone specifically designed to receive sound from a specific direction. The specific structure and function of the unidirectional microphone can be found in the prior art, and will not be repeated here.

[0078] Scenario 1: The unidirectional microphone can be positioned on the front of the base 100, such as... Figure 1 and Figure 3 As shown, in this position, when the fourth sound information is less than the first preset value, the control component determines that the target is located on the back of the shooting port 210; it should be noted that the setting of the first preset value can be obtained according to the specific microphone selected and actual experiments, and the specific setting process can be referred to the existing technology adaptation settings.

[0079] Scenario 2: The unidirectional microphone can be placed on the back of the base 100, such as... Figure 7As shown, in this position, when the fourth sound information is greater than the second preset value, the control component determines that the target is located on the back of the shooting port 210; it should also be noted that the setting of the second preset value can be obtained according to the specific microphone selected and actual experiments, and the specific setting process can be referred to the existing technology adaptation settings.

[0080] It is understood that the monitoring device provided in this embodiment of the present invention achieves accurate identification and automatic correction of the front and rear directions of the sound source by flexibly setting a unidirectional microphone on the front or back, combined with the threshold judgment of the sound information by the control component. In this process, the directional sensitivity of the unidirectional microphone provides a physical basis for the front and rear orientation judgment. The control component can quickly trigger the turning action by directly comparing the preset threshold with the sound information without relying on the cooperation of multiple microphones. Compared with the omnidirectional microphone solution, this embodiment, through the positional adaptation of the unidirectional microphone and the logical cooperation of the preset threshold, simplifies the structure while enhancing the reliability of front and rear direction detection. It solves the problem of misjudgment caused by the fuzzy sound pickup direction or insufficient sensitivity in traditional solutions, ensuring that the camera can accurately identify and automatically track the sound source behind, thereby effectively improving the all-round coverage capability of anomaly detection.

[0081] The second aspect of this utility model provides a monitoring device, which includes a camera and a pan-tilt unit as described in any of the foregoing embodiments. The camera is located inside the mounting base 200 of the pan-tilt unit, and the camera lens is positioned facing the shooting port 210 of the mounting base 200. The camera is used to acquire images of a target, and the pan-tilt unit is used to drive the camera to move with the target. The specific movement method can be referred to the foregoing text, and will not be repeated here.

[0082] It is understood that the monitoring device provided in this embodiment has the pan-tilt device mentioned in any of the foregoing embodiments, and therefore the monitoring device provided in this embodiment also has the technical effects of the pan-tilt device mentioned in any of the foregoing embodiments. For specific technical effects, please refer to the above description.

[0083] In an optional embodiment of this utility model, the camera further includes an image acquisition module, which is electrically connected to the control component. The image acquisition module is used to acquire images of the target, and the control component is used to control the horizontal rotation component 110 and the pitch rotation component 220 according to the images of the target.

[0084] Specifically, after the image acquisition module acquires an image of the target, it can transmit the image to the control component. The control component will identify the image, establish a planar coordinate system with the center of the image, and control the horizontal rotation component 110 and the pitch rotation component 220 so that the target is located in the center of the image. During this process, the image acquisition module will continuously acquire images of the target. The image acquisition module can directly use the camera lens. The principle of image dynamic tracking by the image acquisition module and the control component can be found in existing technologies.

[0085] It is understood that the monitoring equipment provided in this embodiment of the present invention achieves dynamic tracking and precise positioning of target images through the coordinated control of the image acquisition module and the control components. During this process, the real-time feedback of image information and the mechanical rotation of the pan-tilt unit form a closed-loop control, enabling the camera to continuously track the dynamic changes of the target. Compared to a single control scheme that relies solely on sound positioning, this embodiment further enhances the accuracy of visual tracking based on sound source positioning through the linkage of image and mechanical rotation. This solves the problem of tracking interruption caused by the temporary disappearance of the sound source or environmental noise interference in traditional schemes, ensuring that the monitoring equipment can still stably lock onto the target in complex scenarios, thereby effectively improving the continuity and reliability of anomaly detection.

[0086] The following is an example of the use of the monitoring equipment provided in the embodiment of this utility model.

[0087] Initial stage: Any of the aforementioned microphone modules can be used. Taking the first microphone module 310 as an example, the first microphone module 310 continuously collects ambient noise. When the ambient noise exceeds the third preset value, the control component determines that a target has appeared in the environment and issues a control command to make the pan-tilt device and the various components of the camera work.

[0088] Forward and reverse positioning phase: The fourth microphone module 340 is activated. When the fourth microphone module 340 is an omnidirectional microphone, at least one of the first microphone module 310 and the third microphone module 330 needs to be activated. The control component receives the fourth sound information, as well as the first sound information or the third sound information. When the fourth sound information is greater than the first sound information or the third sound information, the control component determines that the target is located behind the camera lens and the shooting port 210. The control component controls the horizontal rotation component 110 to rotate so that the camera lens and the shooting port 210 face the side where the target is located. If the fourth sound information is less than or equal to one of the first sound information and the third sound information, the target is determined to be in front of the camera and the shooting port 210, and the horizontal rotation component 110 does not need to be controlled to operate. It should be noted that when both the first microphone module 310 and the third microphone module 330 are present, the fourth sound information needs to satisfy the condition that it is greater than both the first sound information and the third sound information.

[0089] When the fourth microphone module 340 is a unidirectional microphone, the determination can be made according to the aforementioned first preset value and second preset value. When it is determined that the target is behind the camera and the shooting port 210, the control component controls the horizontal rotation component 110 to rotate so that the camera lens and the shooting port 210 face the side where the target is located. If it is determined that the target is in front of the camera and the shooting port 210, it is not necessary to control the horizontal rotation component 110 to perform the operation.

[0090] Horizontal positioning phase: First sound information and third sound information are acquired by the first microphone module 310 and the third microphone module 330 respectively. When the first sound information is greater than the third sound information, the control component controls the horizontal rotation component 110 to move the pan-tilt device toward the side where the first microphone module 310 is located. When the first sound information is less than the third sound information, the control component controls the horizontal rotation component 110 to move the pan-tilt device toward the side where the third microphone module 330 is located. This continues until the first sound information and the third sound information are the same.

[0091] Vertical positioning phase: First sound information and second sound information are acquired by the first microphone module 310 and the second microphone module 320 respectively. When the first sound information is greater than the second sound information, the control component controls the pitch rotation component 220 to move the gimbal device toward the side where the first microphone module 310 is located; when the first sound information is less than the second sound information, the control component controls the pitch rotation component 220 to move the gimbal device toward the side where the second microphone module 320 is located; until the first sound information and the second sound information are the same. With both the second microphone module 320 and the third microphone module 330 simultaneously configured, the target can be placed in the center of the screen according to the control method described in the previous embodiment.

[0092] It should be noted that the technical solutions in the various embodiments of this utility model can be combined with each other, but the basis for such combination is that they can be implemented by those skilled in the art. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist, that is, it is not within the protection scope of this utility model.

[0093] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A gimbal device, characterized in that, include: The base (100) is provided with a horizontal rotation component (110), which is used to drive the base (100) to rotate horizontally around the axis of the base (100). The mounting base (200) is provided with a shooting port (210) and a pitch rotation assembly (220). The shooting port (210) is located on the front of the mounting base (200) and is used by the camera to acquire images of the target. The mounting base (200) is rotatably connected to the base (100) through the pitch rotation assembly (220) and is used to drive the mounting base (200) to pitch and rotate. A sound pickup and positioning component (300) is disposed on the base (100) and the mounting base (200), and the sound pickup and positioning component (300) is used to acquire the sound information of the target; The control component is electrically connected to the horizontal rotation component (110), the pitch rotation component (220), and the sound pickup and positioning component (300), respectively. The control component is used to control the horizontal rotation component (110) and the pitch rotation component (220) according to the sound information.

2. The gimbal device according to claim 1, characterized in that, The sound information includes first sound information and second sound information, and the sound pickup and positioning component (300) includes: The first microphone module (310) is disposed on the front of the base (100) and located below the shooting port (210). The first microphone module (310) is used to acquire the first sound information. The second microphone module (320) is disposed on the front of the mounting base (200) and located above the shooting port (210). The second microphone module (320) is used to acquire the second sound information. The control component is electrically connected to the first microphone module (310) and the second microphone module (320) respectively, and the control component is used to control the pitch rotation component (220) according to the first sound information and the second sound information.

3. The gimbal device according to claim 2, characterized in that, The sound information also includes third sound information. The sound pickup and positioning component (300) also includes a third microphone module (330). The third microphone module (330) is located on the front of the base (100), and the first microphone module (310) is located on one side of the shooting port (210). The third microphone module (330) is located on the other side of the shooting port (210). The third microphone module (330) is used to acquire the third sound information. The control component is electrically connected to the third microphone module (330), and the control component is used to control the horizontal rotation component (110) according to the first sound information and the third sound information; and / or, the control component is used to control the pitch rotation component (220) according to the first sound information, the second sound information and the third sound information.

4. The gimbal device according to claim 3, characterized in that, The first microphone module (310) and the third microphone module (330) are symmetrically arranged along the shooting port (210).

5. The gimbal device according to claim 3, characterized in that, The sound information also includes fourth sound information; The sound pickup and positioning component (300) further includes a fourth microphone module (340), which is disposed on the base (100) and is used to acquire the fourth sound information; The control component is electrically connected to the fourth microphone module (340), and the control component is used to determine the positive or negative position of the target relative to the shooting port (210) based on the fourth sound information.

6. The gimbal device according to claim 5, characterized in that, The fourth microphone module (340) includes an omnidirectional microphone, which is located on the back of the base (100) and is used to acquire the fourth sound information; When the fourth sound information is greater than the first sound information, and / or when the fourth sound information is greater than the third sound information, the control component controls the horizontal rotation component (110) to rotate toward the back of the base (100).

7. The gimbal device according to claim 5, characterized in that, The fourth microphone module (340) includes a unidirectional microphone, which is used to acquire the fourth sound information; The unidirectional microphone is located on the back of the base (100). When the fourth sound information is greater than the first preset value, the control component controls the horizontal rotation component (110) to rotate toward the back of the base (100).

8. The gimbal device according to claim 5, characterized in that, The fourth microphone module (340) includes a unidirectional microphone, which is used to acquire the fourth sound information; The unidirectional microphone is located on the front of the base (100). When the fourth sound information is less than the second preset value, the control component controls the horizontal rotation component (110) to rotate toward the back of the base (100).

9. A monitoring device, characterized in that, include: A camera is used to acquire images of a target; The pan-tilt device according to any one of claims 1 to 8, wherein the camera is mounted on the pan-tilt device, and the pan-tilt device is used to drive the camera to follow the target.

10. The monitoring device according to claim 9, characterized in that, The camera is equipped with an image acquisition module, which is electrically connected to the control component. The image acquisition module is used to acquire images of the target, and the control component is used to control the horizontal rotation component (110) and the pitch rotation component (220) according to the images of the target.

Images