Intelligent panoramic imaging device for target tracking

Abstract

The utility model relates to panoramic imaging field discloses an intelligent panoramic imaging device for target tracking, including circumferential coarse positioning mechanism, support support, turntable high accuracy imaging mechanism and the controller, image processor that are respectively arranged in the hollow area inside turntable high accuracy imaging mechanism, support support connects circumferential coarse positioning mechanism and turntable high accuracy imaging mechanism, circumferential coarse positioning mechanism includes cylindrical support and a plurality of camera that are set to cylindrical support outside surface along circumference and are electrically connected in image processor, circumferential coarse positioning mechanism, turntable high accuracy imaging mechanism and image processor all electric connection in controller, turntable high accuracy imaging mechanism includes spherical shell and sets up ranging module and dual spectrum image acquisition module respectively on spherical shell. The utility model provides an intelligent panoramic imaging device for target tracking, through step by step positioning, automatic focusing and dual spectrum image acquisition, has improved the efficiency of target tracking.

Description

Technical Field

[0001] This utility model relates to the field of panoramic imaging technology, and in particular to an intelligent panoramic imaging device for target tracking. Background Technology

[0002] With the rapid development of high-speed communication and artificial intelligence technologies, scene perception capabilities have evolved from traditional small-field-of-view, low-dimensional detection to large-scale, high-dimensional, and intelligent detection. Under this trend, panoramic imaging optical systems, with their significant advantages of ultra-wide field of view, compact size, and low power consumption, have become a key solution for breaking through the bottlenecks of existing perception technologies, and are widely used in cutting-edge fields such as autonomous driving, security monitoring, virtual reality, and drone navigation.

[0003] However, the parameters of existing panoramic imaging devices are preset by humans, making it difficult to adapt to the target tracking needs in different scenarios, resulting in low target tracking efficiency.

[0004] Therefore, how to design an intelligent panoramic imaging device for target tracking to improve the efficiency of target tracking has become a technical problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0005] This invention provides an intelligent panoramic imaging device for target tracking, which solves the technical problem that the parameters of existing panoramic imaging devices are preset by humans, making it difficult to adapt to the target tracking needs in different scenarios, resulting in low target tracking efficiency.

[0006] The intelligent panoramic imaging device includes a circumferential coarse positioning mechanism, a support bracket, a turntable high-precision imaging mechanism, and a controller and an image processor respectively disposed in the hollow area inside the turntable high-precision imaging mechanism. The circumferential coarse positioning mechanism is fixedly connected to the lower part of the support bracket, and the turntable high-precision imaging mechanism is rotatably connected to the upper part of the support bracket. The circumferential coarse positioning mechanism includes a cylindrical bracket and several cameras disposed circumferentially on the outer surface of the cylindrical bracket, and all the cameras are electrically connected to the image processor. The circumferential coarse positioning mechanism, the turntable high-precision imaging mechanism, and the image processor are all electrically connected to the controller. The turntable high-precision imaging mechanism includes a spherical shell and a ranging module and a dual-spectrum image acquisition module respectively disposed on the spherical shell. The ranging module includes a first ranging radar and a second ranging radar, and the dual-spectrum image acquisition module includes a visible light image acquisition component and a thermal imaging acquisition component.

[0007] As one preferred embodiment, the camera is a short-focal-length lens, and the visible light image acquisition component is a long-focal-length lens.

[0008] As one preferred embodiment, both the first focal length of the visible light image acquisition component and the second focal length of the thermal imaging acquisition component are adjustable.

[0009] As one preferred embodiment, the circumferential coarse positioning mechanism further includes a first base and a threaded connector; the threaded connector is fixedly connected to the upper surface of the cylindrical bracket; and the first base is fixedly connected to the lower surface of the cylindrical bracket.

[0010] As one preferred embodiment, the support includes a support component adapted to be connected to the high-precision imaging mechanism of the turntable and a second base rotatably connected to the lower part of the support component; the support component includes a base, a first support block and a second support block disposed opposite to each other on both sides of the base; the second base is fixedly connected to the upper surface of the cylindrical bracket.

[0011] As one preferred embodiment, the high-precision imaging mechanism of the turntable is rotatably connected to the second base via a horizontal rotation axis, the rotation range of which is 0 to 360 degrees; the spherical shell is rotatably connected to the support component via a vertical rotation axis, the rotation range of which is 0 to 360 degrees.

[0012] As one preferred embodiment, the support further includes a first fastener and a second fastener; the first fastener connects the threaded connector and the second base; the second fastener connects the base, the first support block, and the second support block.

[0013] As one preferred embodiment, both the ranging module and the dual-spectral image acquisition module are embedded in the spherical shell.

[0014] As one preferred embodiment, the number of cameras is six, and the field of view of each camera is greater than or equal to 60 degrees.

[0015] As one preferred embodiment, the spherical shell is also provided with heat dissipation holes; the hollow area inside the turntable high-precision imaging mechanism is also provided with a heat dissipation module.

[0016] Compared to existing technologies, the technical solution provided by this utility model integrates a circumferential coarse positioning mechanism and a turntable high-precision imaging mechanism through a support bracket. First, cameras distributed circumferentially on the circumferential coarse positioning mechanism detect the approximate position range of the target object under a panoramic field of view and send this information to the turntable high-precision imaging mechanism. The ranging module within the turntable high-precision imaging mechanism then performs precise ranging on the target object, obtaining its accurate position information. This combination of coarse positioning and precise ranging improves the speed of target tracking. Finally, the accurate position information is sent to the dual-spectrum image acquisition module for processing the visible light image acquisition group of the dual-spectrum image acquisition module. The first focal length of the visible light image acquisition component and the second focal length of the thermal imaging acquisition component are automatically adjusted, which solves the problem that the visible light image acquisition component depends on ambient light and the thermal imaging acquisition component depends on the target's thermal radiation. This adapts to the target tracking needs of different distances and environments, and improves the flexibility and intelligence of the target tracking device. Then, the adjusted visible light image acquisition component and thermal imaging acquisition component are controlled to capture images of the area corresponding to the accurate position information, so as to obtain high-definition visible light images and thermal images of the target object. Through step-by-step positioning, automatic focusing and dual-spectral image acquisition, the efficiency of target tracking is comprehensively improved. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the intelligent panoramic imaging device in one embodiment of the present invention.

[0018] Figure 2 This is a schematic diagram of the circumferential coarse positioning mechanism in one embodiment of the present invention;

[0019] Figure 3 This is a schematic diagram of a support bracket in one embodiment of the present utility model;

[0020] Figure 4 This is a schematic diagram of the high-precision imaging mechanism of the turntable in one embodiment of the present invention;

[0021] Figure 5 This is a front view of an intelligent panoramic imaging device in one embodiment of the present invention;

[0022] Figure label:

[0023] 1. Circumferential coarse positioning mechanism; 101. Cylindrical bracket; 102. First base; 103. Threaded connector; 104. Camera; 2. Support bracket; 201. Second base; 2021. First fastener; 2022. Second fastener; 2030. Base; 2031. First support block; 2032. Second support block; 3. Turntable high-precision imaging mechanism; 301. Spherical shell; 3021. First ranging radar; 3022. Second ranging radar; 3031. Visible light image acquisition component; 3032. Thermal imaging acquisition component. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. The purpose of providing these embodiments is to make the disclosure of the present utility model more thorough and comprehensive. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] In the description of this application, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first," "second," "third," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0026] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components. The terms "vertical," "horizontal," "left," "right," "upper," "lower," and similar expressions used herein are for illustrative purposes only and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0027] In the description of this application, it should be noted that, unless otherwise defined, all technical and scientific terms used in this utility model have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this specification is for the purpose of describing specific embodiments only and is not intended to limit the utility model. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0028] An embodiment of this utility model provides an intelligent panoramic imaging device for target tracking, including a circumferential coarse positioning mechanism 1, a support 2, a turntable high-precision imaging mechanism 3, and a controller and an image processor respectively disposed in the hollow area inside the turntable high-precision imaging mechanism 3; the circumferential coarse positioning mechanism 1 is fixedly connected to the lower part of the support 2, and the turntable high-precision imaging mechanism 3 is rotatably connected to the upper part of the support 2.

[0029] For details, please see Figure 1 , Figure 1 The diagram shown is a schematic representation of the overall structure of an intelligent panoramic imaging device in one embodiment of the present invention. Figure 1 In the diagram, 1 is the circumferential coarse positioning mechanism, 2 is the support bracket, and 3 is the turntable high-precision imaging mechanism.

[0030] In one embodiment, the circumferential coarse positioning mechanism 1 includes a cylindrical bracket 101, a first base 102, a threaded connector 103, and a plurality of cameras 104 disposed circumferentially on the outer surface of the cylindrical bracket 101. The first base 102 is fixedly connected to the lower surface of the cylindrical bracket 101, and the threaded connector 103 is fixedly connected to the upper surface of the cylindrical bracket 101.

[0031] For details, please see Figure 2 , Figure 2 The diagram shown is a schematic representation of a circumferential coarse positioning mechanism in one embodiment of the present invention. Figure 2 In the diagram, 101 is a cylindrical support, 102 is the first base, 103 is a threaded connector, and 104 is a camera.

[0032] In one embodiment, the support 2 includes a second base 201, a first fastener 2021, a second fastener 2022, and a support member 203 rotatably connected to the second base 201, wherein the support member 203 is adapted to the turntable high-precision imaging mechanism 3.

[0033] In one embodiment, the support component includes a base 2030, a first support block 2031 and a second support block 2032 disposed opposite to each other on both sides of the base 2030, a second base 201 fixedly connected to the upper surface of the cylindrical bracket 101, a first fastener 2021 connecting the threaded connector 103 and the second base 201, and a second fastener 2022 connecting the base 2030, the first support block 2031 and the second support block 2032.

[0034] It should be noted that the circumferential coarse positioning mechanism 1 is fixedly connected to the underside of the support 2 by the first fastener 2021 and the second fastener 2022.

[0035] For details, please see Figure 3 , Figure 3 The diagram shown is a schematic representation of a support in one embodiment of the present invention. Figure 3 In the diagram, 201 is the second base, 2021 is the first fastener, 2022 is the second fastener, 2030 is the base, 2031 is the first support block, and 2032 is the second support block.

[0036] In one embodiment, the turntable high-precision imaging mechanism 3 includes a spherical housing 301 and a ranging module and a dual-spectrum image acquisition module respectively disposed on the spherical housing 301. The ranging module includes a first ranging radar 3021 and a second ranging radar 3022. The dual-spectrum image acquisition module includes a visible light image acquisition component 3031 and a thermal imaging acquisition component 3032.

[0037] For details, please see Figure 4 , Figure 4 The diagram shown is a schematic diagram of a high-precision imaging mechanism for a turntable in one embodiment of the present invention. Figure 4 In the diagram, 301 is a spherical shell, 3021 is the first ranging radar, 3022 is the second ranging radar, 3031 is a visible light image acquisition component, and 3032 is a thermal imaging acquisition component. For details, please refer to [link to documentation / reference]. Figure 5 , Figure 5 This is shown as a front view of an intelligent panoramic imaging device in one embodiment of the present invention. Figure 5 In the diagram, 3021 is the first ranging radar, 3022 is the second ranging radar, 3031 is the visible light image acquisition component, and 3032 is the thermal imaging acquisition component.

[0038] It should be noted that the visible light image acquisition component is used to capture visible light waves in nature for imaging and can generate color images; the thermal imaging acquisition component is used to capture infrared radiation and convert it into a visualized temperature distribution image.

[0039] In one embodiment, the visible light image acquisition component is model number Dahua DH-HF8251 E, and the thermal imaging acquisition component is model number FLIR A700.

[0040] In one embodiment, the turntable high-precision imaging mechanism 3 is rotatably connected to the second base 201 via a horizontal rotation axis, the rotation range of the horizontal rotation axis being 0 degrees to 360 degrees; the spherical shell 301 is rotatably connected to the support component 203 via a vertical rotation axis, the rotation range of the vertical rotation axis being 0 degrees to 360 degrees.

[0041] It should be noted that the high-precision imaging mechanism 3 of the turntable is rotatably connected to the support 2, so that the high-precision imaging mechanism 3 of the turntable can rotate 360 ​​degrees in the horizontal direction. At the same time, the support component 203 clamps the spherical shell 301 through the first support block 2031 and the second support block 2032 on both sides of the base 2030, so that the spherical shell 301 can rotate 360 ​​degrees in the vertical direction, thereby realizing the dual-axis panoramic field of view coverage of the spherical shell 301.

[0042] In one embodiment, the spherical housing 301 is also provided with heat dissipation holes; the hollow area inside the turntable high-precision imaging mechanism 3 is also provided with a heat dissipation module.

[0043] It should be noted that, since the horizontal and vertical rotation axes generate heat during operation, a heat dissipation module and heat dissipation holes are used to effectively dissipate the heat generated during operation in order to prevent malfunctions of the intelligent panoramic imaging device and ensure the stability and reliability of the intelligent panoramic imaging device under long-term working conditions.

[0044] In one embodiment, the image processor is electrically connected to each camera 104 disposed on the outer side of the cylindrical bracket 101, and the image processor, the circumferential coarse positioning mechanism 1 and the turntable high-precision imaging mechanism 3 are all electrically connected to the controller.

[0045] It should be noted that telephoto lenses typically have a focal length greater than 50mm. They achieve background blur by using a large aperture and a long shooting distance to highlight the subject and magnify distant objects. Short focal length lenses, on the other hand, are photographic lenses with a shorter focal length, usually less than 50mm, and can capture a complete scene at a closer distance.

[0046] The camera 104, which is set on the outer surface of the cylindrical bracket 101 along the circumference, is a short focal length lens, which can capture images over a large range. The visible light image acquisition component 3031 is a long focal length lens, which can clearly capture distant details and make the subject stand out clearly. The first focal length of the visible light image acquisition component 3031 and the second focal length of the thermal imaging acquisition component 3032 can both be adjusted.

[0047] In one embodiment, the camera 104 has a focal length of 30 mm, and the visible light image acquisition component has a focal length range of 150 mm to 300 mm.

[0048] In one embodiment, the number of cameras 104 on the outer surface of the cylindrical bracket 101 is six, and the field of view of each camera 104 is greater than or equal to 60 degrees.

[0049] In one embodiment, both the ranging module and the dual-spectral image acquisition module are embedded in the surface of the spherical housing 301.

[0050] It should be noted that the visible light image acquisition component can provide high-resolution details such as color, texture, and shape, while the thermal imaging acquisition component captures temperature distribution through infrared radiation, is not limited by visible light conditions, and can detect concealed targets. Combining the visible light image acquisition component and the thermal imaging acquisition component to image the target can simultaneously acquire the target's appearance and thermodynamic characteristics. Through multimodal perception, the environmental adaptability and flexibility of the panoramic imaging device are improved, thereby ensuring the imaging effect of the panoramic imaging.

[0051] The working principle of the controller controlling the panoramic imaging device for panoramic imaging is as follows: The controller controls the image processor to perform target detection on the video captured by all cameras 104 in the circumferential coarse positioning mechanism 1, obtains the approximate position range of the target object, and sends the approximate position range to the turntable high-precision imaging mechanism 3; After the turntable high-precision imaging mechanism 3 detects the approximate position range, it controls the turntable high-precision imaging mechanism 3 to rotate until the ranging module is aligned with the area corresponding to the approximate position range, performs precise ranging on the target object, obtains the accurate position information of the target object, and sends the accurate position information to the dual-spectrum image acquisition module; Then, after the dual-spectrum image acquisition module receives the accurate position information, it adjusts the first focal length of the visible light image acquisition component 3031 and the second focal length of the thermal imaging acquisition component 3032 according to the accurate position information, and controls the adjusted visible light image acquisition component 3031 and thermal imaging acquisition component 3032 to capture images of the area corresponding to the accurate position information, thereby obtaining a high-definition visible light image and thermal image of the target object.

[0052] This utility model provides an intelligent panoramic imaging device for target tracking. By combining a circumferential coarse positioning mechanism and a turntable high-precision imaging mechanism, it integrates circumferential camera coarse positioning, radar precise ranging and focusing, and dual-spectral image acquisition technology. It has an automatic focusing function and simultaneously meets the needs of large-area monitoring under panoramic field of view and the function of capturing local details, thus realizing rapid positioning and high-precision imaging of target objects.

[0053] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of this utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. An intelligent panoramic imaging device for target tracking, characterized in that, The device includes a circumferential coarse positioning mechanism, a support bracket, a turntable high-precision imaging mechanism, and a controller and an image processor respectively located in the hollow area inside the turntable high-precision imaging mechanism. The circumferential coarse positioning mechanism is fixedly connected to the lower part of the support, and the turntable high-precision imaging mechanism is rotatably connected to the upper part of the support. The circumferential coarse positioning mechanism includes a cylindrical support and several cameras arranged circumferentially on the outer surface of the cylindrical support. All the cameras are electrically connected to the image processor. The circumferential coarse positioning mechanism, the turntable high-precision imaging mechanism, and the image processor are all electrically connected to the controller. The high-precision imaging mechanism of the turntable includes a spherical shell and a ranging module and a dual-spectrum image acquisition module respectively disposed on the spherical shell. The ranging module includes a first ranging radar and a second ranging radar, and the dual-spectrum image acquisition module includes a visible light image acquisition component and a thermal imaging acquisition component.

2. The intelligent panoramic imaging device for target tracking according to claim 1, characterized in that, The camera has a short focal length lens, and the visible light image acquisition component has a long focal length lens.

3. The intelligent panoramic imaging device for target tracking according to claim 1, characterized in that, Both the first focal length of the visible light image acquisition component and the second focal length of the thermal imaging acquisition component are adjustable.

4. The intelligent panoramic imaging device for target tracking according to claim 1, characterized in that, The circumferential coarse positioning mechanism also includes a first base and a threaded connector; The threaded connector is fixedly connected to the upper surface of the cylindrical bracket; The first base is fixedly connected to the lower surface of the cylindrical bracket.

5. The intelligent panoramic imaging device for target tracking according to claim 4, characterized in that, The support includes a support component adapted to be connected to the high-precision imaging mechanism of the turntable and a second base rotatably connected to the support component below it; The support component includes a base, a first support block and a second support block disposed opposite to each other on both sides of the base; The second base is fixedly connected to the upper surface of the cylindrical bracket.

6. The intelligent panoramic imaging device for target tracking according to claim 5, characterized in that, The high-precision imaging mechanism of the turntable is rotatably connected to the second base via a horizontal rotating shaft, and the rotation range of the horizontal rotating shaft is from 0 degrees to 360 degrees. The spherical shell is rotatably connected to the supporting component via a vertical rotation axis, the vertical rotation axis having a rotation range of 0 degrees to 360 degrees.

7. The intelligent panoramic imaging device for target tracking according to claim 5, characterized in that, The support also includes a first fastener and a second fastener. The first fastener connects the threaded connector and the second base; The second fastener connects the base, the first support block, and the second support block.

8. The intelligent panoramic imaging device for target tracking according to claim 1, characterized in that, Both the ranging module and the dual-spectral image acquisition module are embedded in the spherical shell.

9. The intelligent panoramic imaging device for target tracking according to claim 1, characterized in that, The number of cameras is six, and the field of view of each camera is greater than or equal to 60 degrees.

10. The intelligent panoramic imaging device for target tracking according to claim 1, characterized in that, The spherical shell is also provided with heat dissipation holes; The hollow area inside the high-precision imaging mechanism of the turntable is also equipped with a heat dissipation module.

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