A sensing device rotation control device based on infrared detection array and a tracking sensing system

Abstract

The application discloses a kind of based on infrared detection array sensing device rotation control device and tracking sensing system.The application belongs to the field of automatic control.The device includes: infrared detection array, including at least three infrared detection sensors, each infrared detection sensor is used to obtain infrared signal, and infrared signal is converted into electrical signal;Signal processing component is used to generate the rotation control instruction of rotating component according to electrical signal;Rotating component is fixedly connected with sensing device, and is used to rotate sensing device based on rotation control instruction.This technical scheme, by infrared detection array, obtains infrared signal and is converted into electrical signal, by signal processing component, according to electrical signal, rotating component is rotated to sensing device, the sensing direction of sensing device can be quickly and accurately controlled, and it has good anti-background interference ability, improves the accuracy and scene adaptability of target tracking sensing.

Description

Technical Field

[0001] This application belongs to the field of automatic control technology, specifically relating to a rotating control device and tracking sensing system for sensing equipment based on an infrared detection array. Background Technology

[0002] In modern smart home environments, home security cameras play a crucial role. They can capture and record real-time activity within and around the home, providing users with an intuitive view of home security. Tracking capabilities allow these cameras to automatically track moving objects within the home, such as pets or people. This not only improves monitoring efficiency and reduces the risk of missing critical information, but also enables rapid location and provision of crucial evidence in emergencies.

[0003] Currently, the tracking function of home security cameras relies on computer vision technology. However, computer vision technology requires complex image processing and computation, resulting in high computational complexity and slow processing speed. This leads to high tracking latency in home security cameras, making it easy to lose track of the target. Furthermore, due to changes in the target itself and interference from the environmental background, misjudgments and tracking loss are highly likely, significantly reducing the accuracy and reliability of tracking. Therefore, how to reduce tracking latency and improve the tracking's anti-interference capability is a problem that urgently needs to be solved by those in the field. Utility Model Content

[0004] The purpose of this application is to provide a sensing device rotation control device and a tracking sensing system based on an infrared detection array. The aim is to quickly and accurately control the sensing direction of the sensing device, and to have good anti-background interference capability, thereby improving the accuracy of target tracking and sensing and scene adaptability.

[0005] In a first aspect, embodiments of this application provide a rotating control device for a sensing device based on an infrared detection array. The rotating control device is connected to the sensing device and is used to control the rotation of the sensing device. The rotating control device includes:

[0006] An infrared detection array includes at least three infrared detection sensors, each of which is used to acquire infrared signals and convert the infrared signals into electrical signals;

[0007] A signal processing unit, connected to the infrared detection array, is used to generate rotation control commands for the rotating component based on the electrical signal;

[0008] A rotating component, connected to the signal processing component and fixedly connected to the sensing device, is used to rotate the sensing device based on the rotation control command.

[0009] Secondly, embodiments of this application provide a tracking and sensing system, including a sensing device rotation control device based on an infrared detection array as described in the first aspect; the tracking and sensing system further includes:

[0010] A sensing device, connected to the infrared detection array-based sensing device rotation control device, is used to acquire sensing data when the sensing device is rotated by the infrared detection array-based sensing device rotation control device.

[0011] In this embodiment, the infrared detection array includes at least three infrared sensors, each used to acquire infrared signals and convert them into electrical signals. A signal processing unit, connected to the infrared detection array, generates rotation control commands for a rotating component based on the electrical signals. The rotating component, connected to the signal processing unit and fixedly connected to the sensing device, rotates the sensing device based on the rotation control commands. This infrared detection array-based sensing device rotation control device acquires infrared signals and converts them into electrical signals. The signal processing unit then controls the rotating component to rotate the sensing device based on these electrical signals. This allows for rapid and precise control of the sensing direction, and provides excellent resistance to background interference, improving the accuracy and scene adaptability of target tracking and sensing. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the structure of the sensing device rotation control device based on an infrared detection array provided in Embodiment 1 of this application;

[0013] Figure 2 This is a schematic diagram of the structure of the sensing device rotation control device based on infrared detection array provided in Embodiment 2 of this application;

[0014] Figure 3 This is a structural example diagram of the infrared detection array provided in Embodiment 2 of this application;

[0015] Figure 4 This is a structural example diagram of the infrared detection array provided in Embodiment 2 of this application;

[0016] Figure 5 This is a structural example diagram of the infrared detection array provided in Embodiment 2 of this application;

[0017] Figure 6 This is a structural example diagram of the infrared detection array provided in Embodiment 2 of this application;

[0018] Figure 7 This is a schematic diagram of the structure of the sensing device rotation control device based on an infrared detection array provided in Embodiment 3 of this application;

[0019] Figure 8 This is a schematic diagram of the tracking and sensing system provided in Embodiment 4 of this application. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this application clearer, specific embodiments of this application will be described in further detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely for explaining this application and not for limiting it. It should also be noted that, for ease of description, only the parts relevant to this application are shown in the drawings, not all of them. Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe operations (or steps) as sequential processes, many of these operations can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the operations can be rearranged. The process can be terminated when its operation is completed, but may also have additional steps not included in the drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0021] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0022] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0023] The following description, in conjunction with the accompanying drawings, details the infrared detection array-based sensing device rotation control apparatus and tracking sensing system provided in this application through specific embodiments and application scenarios.

[0024] Example 1

[0025] Figure 1 This is a schematic diagram of the rotating control device for a sensing device based on an infrared detection array provided in Embodiment 1 of this application. Figure 1As shown, the infrared detection array-based sensing device rotation control device includes:

[0026] The infrared detection array 110 includes at least three infrared detection sensors, each of which is used to acquire infrared signals and convert the infrared signals into electrical signals.

[0027] The signal processing unit 120 is connected to the infrared detection array and is used to generate rotation control commands for the rotating component based on the electrical signal.

[0028] The rotating component 130 is connected to the signal processing component and fixedly connected to the sensing device, and is used to rotate the sensing device based on the rotation control command.

[0029] First, this application applies to scenarios where sensing devices are used for tracking and perception. These sensing devices can be anything capable of detecting, identifying, and collecting information about the surrounding environment, and may include cameras, radar, and service robots. The information about the surrounding environment collected by the sensing devices is the sensing data; for example, a camera can capture images, radar can acquire radar signals, and a service robot can acquire the operational behavior of the object being served.

[0030] The infrared detection array 110 includes at least three infrared detection sensors, each of which is used to acquire infrared signals and convert the infrared signals into electrical signals.

[0031] An infrared detection sensor is a device that can detect infrared radiation and convert it into a measurable signal (such as an electrical signal). The infrared radiation is the infrared signal, also known as infrared rays, which is a type of electromagnetic radiation. Any object with a temperature above absolute zero will produce infrared radiation; the higher the temperature, the stronger the infrared energy radiated by the object.

[0032] An electrical signal is a signal that can represent the intensity of an infrared signal, that is, the intensity of infrared radiation. Infrared detection sensors can convert infrared signals of different intensities into electrical signals of different intensities, so that the signal processing unit can generate rotation control commands for rotating components based on the electrical signals of different intensities.

[0033] Depending on the type of infrared sensor, the electrical signal output by the infrared sensor will also be different. For example, pyroelectric infrared sensors utilize the pyroelectric effect of certain crystal materials. When infrared radiation irradiates these crystals, the crystal temperature changes, causing a change in its spontaneous polarization intensity, thereby generating charges on the crystal surface. The crystal is connected to a load resistor, and the charges form a current across the resistor, which in turn generates a voltage signal, realizing the conversion of infrared signals to electrical signals. Photoconductive infrared sensors use semiconductor materials with photoconductive effects. When infrared radiation irradiates this semiconductor material, the material absorbs photons, causing electrons in the valence band to jump to the conduction band, generating additional electron-hole pairs, thereby increasing the conductivity of the material. Under the action of an external power source, the current through this semiconductor material will change. By detecting this current change, an electrical signal can be obtained. Photovoltaic infrared sensors are based on the photovoltaic effect of semiconductors. When infrared radiation irradiates a PN junction composed of two different semiconductor materials, photons are absorbed and electron-hole pairs are generated. Under the action of the built-in electric field of the PN junction, electrons and holes move in opposite directions, thereby generating a potential difference across the PN junction, forming a current, and realizing the conversion of infrared signals to electrical signals.

[0034] In this solution, the type of infrared detection sensor and its detection sensitivity can be set according to the actual application environment, the target being tracked, and the tracking accuracy requirements.

[0035] The signal processing unit 120 is connected to the infrared detection array and is used to generate rotation control commands for the rotating component based on the electrical signal.

[0036] The signal processing unit can be a device with data processing capabilities, such as a chip or a microcontroller. The connection between the signal processing unit and the infrared detection array means that the signal processing unit can receive and analyze electrical signals from each infrared sensor in the infrared detection array.

[0037] Rotation control commands can be readable commands used to control the rotation of a rotating component relative to a sensing device. One method for generating rotation control commands based on electrical signals is to determine the infrared radiation center within the detection range based on the electrical signals, define the direction of the infrared radiation center as the target rotation direction, and then generate rotation control commands for the rotating component based on that target rotation direction.

[0038] The rotating component 130 is connected to the signal processing component and fixedly connected to the sensing device, and is used to rotate the sensing device based on the rotation control command.

[0039] Rotating components can be devices used to rotate sensing equipment, such as motorized gimbals, servo motors, and rotary motors. The rotating component is fixedly connected to the sensing equipment, meaning that the rotating component, driven by its internal power, can cause the sensing equipment to rotate when its position or angle changes.

[0040] The method of rotating the sensing device based on rotation control commands can be used to rotate the sensing device to the target rotation direction. After rotating to the target rotation direction, the sensing device can accurately perceive the target object being tracked. For example, a camera can acquire an image of the target object, radar can acquire radar signals of the target object, and service robots can face the object being tracked to facilitate operation.

[0041] In this application example, an infrared detection array includes at least three infrared sensors, each used to acquire infrared signals and convert them into electrical signals. A signal processing unit, connected to the infrared detection array, is used to generate rotation control commands for a rotating component based on the electrical signals. The rotating component, connected to the signal processing unit and fixedly connected to the sensing device, is used to rotate the sensing device based on the rotation control commands. This technical solution, by acquiring infrared signals and converting them into electrical signals using an infrared detection array, and by controlling the rotation of the sensing device using a rotating component based on the electrical signals using a signal processing unit, allows for rapid and precise control of the sensing direction of the sensing device. It also possesses good anti-background interference capabilities, improving the accuracy and scene adaptability of target tracking and sensing.

[0042] Example 2

[0043] Figure 2 This is a schematic diagram of the rotating control device for a sensing device based on an infrared detection array provided in Embodiment 2 of this application. This solution makes a further improvement on the above embodiment, specifically: the detection directions of the at least three infrared detection sensors are different.

[0044] like Figure 2 As shown, the infrared detection array-based sensing device rotation control device includes:

[0045] Infrared detection array 210 includes at least three infrared detection sensors, each of which is used to acquire infrared signals and convert the infrared signals into electrical signals.

[0046] The signal processing unit 220, connected to the infrared detection array, is used to generate rotation control commands for the rotating component based on the electrical signal;

[0047] The rotating component 230 is connected to the signal processing component and fixedly connected to the sensing device, and is used to rotate the sensing device based on the rotation control command.

[0048] The at least three infrared detection sensors have different detection directions.

[0049] The detection direction of an infrared detection sensor can refer to the spatial direction in which the infrared radiation it can sense is directed. Figure 3 This is a structural example diagram of the infrared detection array provided in Embodiment 2 of this application. Figure 3 As shown, the solid black circle represents the infrared detection sensor, and the black arrow indicates the detection direction of the infrared detection sensor. The infrared detection array includes three infrared detection sensors, and the three infrared detection sensors have different detection directions.

[0050] Optionally, in this technical solution, the infrared detection array further includes:

[0051] A polygonal base is connected from a first base point to a second base point by at least three borders, and an infrared detection sensor is provided on each border, with the detection direction of each infrared detection sensor perpendicular to the border it is located on.

[0052] like Figure 3 As shown, the solid lines represent the borders of the polygonal base; the first and second base points are the starting and ending points of the connection between all the borders; each solid line has a solid black circle, indicating that each border has an infrared detection sensor; the black arrows indicate the detection direction of the infrared detection sensors, and the black arrows are perpendicular to the solid lines, indicating that the detection direction of each infrared detection sensor is perpendicular to the border it is located on.

[0053] In this technical solution, optionally, when the user's tracking task requires uniform tracking, the edges of the polygonal base are set to be of equal length, and each infrared detection sensor is set in the middle of its respective edge, so that the included angle between the detection directions of two adjacent infrared detection sensors is equal.

[0054] Tracking task requirements can refer to the requirements put forward by users for the rotation control device and tracking sensing system of the sensing equipment based on the actual application scenario. Uniform tracking can refer to the ability to detect, locate and track the target object in a relatively balanced manner during the target tracking process, with equal and balanced detection accuracy and sensitivity throughout the entire detection range.

[0055] The fact that all borders of a polygonal base are of equal length can mean that all borders of the polygonal base are of equal length. Figure 4 This is a structural example diagram of the infrared detection array provided in Embodiment 2 of this application. Figure 4As shown, the polygonal base has five borders, and each border is provided with an infrared detection sensor, that is, the infrared detection array includes five infrared detection sensors; each infrared detection sensor is located in the middle of its border, the narrow-spaced dashed lines are the straight lines of the detection direction of the infrared detection sensor, and the included angle between two adjacent narrow-spaced dashed lines is the included angle between the detection directions of two adjacent infrared detection sensors, and the angles of each included angle are equal.

[0056] The advantage of this design is that each border of the polygonal base is of equal length, and each infrared detection sensor is placed in the middle of its respective border. This ensures that the angle between the detection directions of two adjacent infrared detection sensors is equal, enabling omnidirectional, blind-spot-free, and uniform target detection and tracking. Furthermore, the equal angle helps simplify the signal processing logic, enabling more accurate and rapid determination of the position and trajectory of the target object being tracked.

[0057] In this technical solution, optionally, when the user's tracking task requires tracking of key areas, the edges of the polygonal base are set to be non-equal length edges, so that the angle between the detection directions of two adjacent infrared detection sensors corresponds to the preset key detection area.

[0058] Key area tracking refers to areas that users require to be closely monitored due to their high importance or special significance, necessitating precise tracking of target objects entering these areas. Preset key detection areas are specific spatial ranges that need to be prioritized for detection and monitoring, pre-defined based on the user's tracking task requirements.

[0059] Figure 5 This is a structural example diagram of the infrared detection array provided in Embodiment 2 of this application. Figure 5 As shown, the polygonal base has five borders, and each border is equipped with an infrared detection sensor, meaning the infrared detection array includes five infrared detection sensors. The narrow-spaced dashed lines represent the straight lines along the detection directions of the infrared detection sensors, and the angle between two adjacent narrow-spaced dashed lines is the angle between the detection directions of two adjacent infrared detection sensors. The three borders on the right are shorter, resulting in a smaller angle between the detection directions of two adjacent infrared detection sensors within the right region of the detection range, meaning the preset key detection area is the right region of the detection range. The two borders on the left are longer, resulting in a larger angle between the detection directions of two adjacent infrared detection sensors within the left region of the detection range.

[0060] The advantage of this design is that the edges of the polygonal base are not of equal length, so that the angle between the detection directions of two adjacent infrared sensors corresponds to the preset key detection area. This allows infrared detection resources to be focused on the preset key detection area, significantly improving the detection accuracy and sensitivity of the area, thereby enhancing the performance of the key area tracking task.

[0061] In this technical solution, optionally, the included angle between the two bottom edges of the polygonal base is greater than or equal to the rotatable angle of the sensing device, so that the detection range of the infrared detection array covers the sensing range of the sensing device.

[0062] Figure 6 This is a structural example diagram of the infrared detection array provided in Embodiment 2 of this application. Figure 3 , Figure 4 , Figure 5 as well as Figure 6 As shown, the wide-spaced dashed lines represent the two base sides of the polygonal base. It can be seen that the two base sides of the polygonal base intersect with the detection directions of each infrared detection sensor.

[0063] The rotatable angle of a sensing device refers to the range of angles within which the sensing device can rotate around its center of rotation. The detection range of an infrared detection array refers to the spatial area in which the infrared detection array can detect infrared signals. The sensing range of a sensing device refers to the spatial area in which the sensing device can acquire sensing data.

[0064] When the included angle between the two base sides of the polygonal base is greater than or equal to the rotatable angle of the sensing device, it means that the sensing device can only rotate within the detection range of the infrared detection array, which is equivalent to the detection range of the infrared detection array covering the sensing range of the sensing device.

[0065] In this technical solution, optionally, the angle bisector of the included angle between the two base sides of the polygonal base and the angle bisector of the rotatable angle of the sensing device are located on the same straight line.

[0066] A ray drawn from the vertex of an angle that divides the angle into two identical angles is called the angle bisector. For example... Figure 3 , Figure 4 as well as Figure 6 As shown, the number of borders of these polygonal bases is odd and they are all of equal length. When each infrared detection sensor is set in the middle of its respective border, the detection direction of the infrared detection sensor set in the middle border and the angle bisector of the angle between the two bottom edges of the polygonal base are on the same straight line.

[0067] The advantage of this design is that the angle bisector of the included angle between the two base sides of the polygonal base and the angle bisector of the rotatable angle of the sensing device are on the same straight line. This allows the detection direction of the infrared detection array to correspond one-to-one with the rotation direction of the sensing device in spatial layout, saving the conversion from the detection direction of the infrared detection array to the rotation direction of the sensing device, and enabling rapid locking and stable tracking of the target object.

[0068] The advantage of this design is that the included angle between the two bottom edges of the polygonal base is greater than or equal to the rotatable angle of the sensing device. This ensures that the detection range of the infrared detection array covers the sensing range of the sensing device, guaranteeing that the infrared detection array can detect the target object entering the sensing range of the sensing device during target tracking. This avoids situations where the target object has entered the sensing range of the sensing device but has not been detected by the infrared detection array in time, thus improving the timeliness and accuracy of target tracking.

[0069] Optionally, in this technical solution, the surface of the polygonal base is coated with an infrared absorbing coating.

[0070] Infrared absorbing coatings are a special type of coating material. The molecules in an infrared absorbing coating have specific vibrational modes in the infrared band. When infrared radiation irradiates the coating, the vibrational energy of the coating material molecules couples with the energy of the infrared radiation, causing the energy of the infrared radiation to be absorbed by the coating molecules.

[0071] The advantage of this design is that if the surface of the polygonal base does not have an infrared absorbing coating, it may reflect infrared signals. These reflected infrared signals may interfere with the infrared detection sensor's reception and judgment of the target's infrared signals. Applying an infrared absorbing coating greatly reduces the reflection of infrared radiation by the polygonal base, thereby reducing interference and improving the accuracy of infrared detection.

[0072] The advantage of this design is that by connecting the first base point to the second base point through at least three borders, and by setting an infrared detection sensor on each border, with the detection direction of each infrared detection sensor perpendicular to the border it is on, the object can be detected and tracked in all directions with precision, providing a reliable basis for the accurate rotation tracking of the sensing device.

[0073] The advantage of this configuration is that the infrared sensors in the infrared detection array have different detection directions, allowing for infrared signal detection of the surrounding space from multiple angles. This effectively expands the overall detection range, avoids blind spots, and the differences in electrical signals output by the infrared sensors with different detection directions provide richer information to the signal processing components, enabling them to more accurately determine the position of the target object.

[0074] Example 3

[0075] Figure 7 This is a schematic diagram of the rotating control device for a sensing device based on an infrared detection array provided in Embodiment 3 of this application. This solution makes further improvements based on the above embodiments, specifically: the sensing device includes a camera; correspondingly, the signal processing component is further configured to: determine the infrared radiation center within the detection range based on the electrical signal; and, when at least two infrared radiation centers exist within the detection range of the infrared detection array, generate a focal length adjustment control command for the camera, so that the camera's image includes the tracking target corresponding to the at least two infrared radiation centers.

[0076] like Figure 7 As shown, the infrared detection array-based sensing device rotation control device includes:

[0077] The infrared detection array 710 includes at least three infrared detection sensors, each of which is used to acquire infrared signals and convert the infrared signals into electrical signals.

[0078] The signal processing unit 720, connected to the infrared detection array, is used to generate rotation control commands for the rotating component based on the electrical signal;

[0079] The rotating component 730 is connected to the signal processing component and fixedly connected to the sensing device, and is used to rotate the sensing device based on the rotation control command.

[0080] The signal processing unit 720 is further configured to:

[0081] The infrared radiation center within the detection range is determined based on the electrical signal;

[0082] When there are at least two infrared radiation centers within the detection range of the infrared detection array, a focus adjustment control command for the camera is generated so that the camera's image includes the tracking target corresponding to the at least two infrared radiation centers.

[0083] A camera is a device that can capture optical images and convert them into electrical or digital signals. It is widely used in many fields such as security monitoring, photography and videography, video calls, and intelligent recognition.

[0084] The infrared radiation center can refer to a virtual direction calculated based on the electrical signals output by multiple infrared sensors within the detection range of an infrared detection array. This direction represents the location where infrared radiation energy is relatively concentrated.

[0085] Focal length adjustment control commands are readable instructions used to control a camera to adjust its focal length. Focal length refers to the distance from the optical center of the lens to the imaging plane of the image sensor; adjusting the focal length changes the camera's angle of view and the size of the image.

[0086] One method for generating camera focal length adjustment control commands is to determine the maximum interval between each infrared radiation center, determine the target focal length of the camera based on the maximum interval and a pre-built correlation between the interval and the focal length, and then generate camera focal length adjustment control commands based on the target focal length.

[0087] The advantage of this scheme is that, by generating a focus adjustment control command for the camera when there are at least two infrared radiation centers within the detection range of the infrared detection array, the camera's image can include the tracking targets corresponding to at least two infrared radiation centers. This ensures that multiple target tracking objects can be fully captured, meeting the needs of multi-target tracking in complex scenarios.

[0088] Example 4

[0089] Figure 8 This is a schematic diagram of the tracking and sensing system provided in Embodiment 4 of this application. Figure 8 As shown, a tracking and sensing system 800 includes the infrared detection array-based sensing device rotation control device 801 described in the above embodiments; the tracking and sensing system 800 further includes:

[0090] The sensing device 802 is connected to the sensing device rotation control device 801 based on the infrared detection array, and is used to acquire sensing data when the sensing device 802 is rotated by the sensing device rotation control device 801 based on the infrared detection array.

[0091] The aforementioned tracking and sensing system acquires infrared signals through an infrared detection array and converts them into electrical signals. The signal processing component controls the rotating component to rotate the sensing device based on the electrical signals. This allows for rapid and precise control of the sensing direction of the sensing device and provides excellent resistance to background interference, thereby improving the accuracy and scene adaptability of target tracking and sensing.

[0092] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0093] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0094] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

[0095] The above description is merely a preferred embodiment and the technical principles employed in this application. This application is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions that can be made by those skilled in the art will not depart from the scope of protection of this application. Therefore, although this application has been described in detail through the above embodiments, this application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of this application, the scope of which is determined by the scope of the claims.

Claims

1. A rotation control device for a sensing device based on an infrared detection array, characterized in that, The infrared detection array-based sensing device rotation control device is connected to the sensing device and is used to control the rotation of the sensing device; the infrared detection array-based sensing device rotation control device includes: An infrared detection array includes at least three infrared detection sensors, each of which is used to acquire infrared signals and convert the infrared signals into electrical signals; A signal processing unit, connected to the infrared detection array, is used to generate rotation control commands for the rotating component based on the electrical signal; A rotating component, connected to the signal processing component and fixedly connected to the sensing device, is used to rotate the sensing device based on the rotation control command.

2. The rotating control device for sensing equipment based on an infrared detection array according to claim 1, characterized in that, The at least three infrared detection sensors have different detection directions.

3. The rotating control device for a sensing device based on an infrared detection array according to claim 2, characterized in that, The infrared detection array also includes: A polygonal base is connected from a first base point to a second base point by at least three borders, and an infrared detection sensor is provided on each border, with the detection direction of each infrared detection sensor perpendicular to the border it is located on.

4. The rotating control device for a sensing device based on an infrared detection array according to claim 3, characterized in that, When the user's tracking task requires uniform tracking, the edges of the polygonal base are set to be of equal length, and each infrared sensor is set in the middle of its edge so that the angle between the detection directions of two adjacent infrared sensors is equal.

5. The rotating control device for a sensing device based on an infrared detection array according to claim 3, characterized in that, When the user's tracking task requires tracking of key areas, the edges of the polygonal base are set to be non-equal length edges so that the angle between the detection directions of two adjacent infrared sensors corresponds to the preset key detection area.

6. The rotating control device for a sensing device based on an infrared detection array according to claim 3, characterized in that, The included angle between the two base sides of the polygonal base is greater than or equal to the rotatable angle of the sensing device, so that the detection range of the infrared detection array covers the sensing range of the sensing device.

7. The rotating control device for a sensing device based on an infrared detection array according to claim 6, characterized in that, The angle bisector of the angle between the two base sides of the polygonal base and the angle bisector of the rotatable angle of the sensing device lie on the same straight line.

8. The rotating control device for a sensing device based on an infrared detection array according to claim 3, characterized in that, The surface of the polygonal base is coated with an infrared absorbing coating.

9. The rotating control device for a sensing device based on an infrared detection array according to claim 1, characterized in that, The sensing device includes a camera; Accordingly, the signal processing unit is also used for: The infrared radiation center within the detection range is determined based on the electrical signal; When there are at least two infrared radiation centers within the detection range of the infrared detection array, a focal length adjustment control command for the camera is generated so that the camera's image includes the tracking target corresponding to the at least two infrared radiation centers.

10. A tracking and sensing system, characterized in that, Includes a sensing device rotation control device based on an infrared detection array as described in any one of claims 1-9; The tracking and sensing system also includes: A sensing device, connected to the infrared detection array-based sensing device rotation control device, is used to acquire sensing data when the sensing device is rotated by the infrared detection array-based sensing device rotation control device.

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