CN105163031B - For compensating road monitoring camera anti-shake apparatus and the method that cantilever beam waves - Google Patents

Abstract

The invention relates to the technical fields of road safety and image processing, and in particular to a road monitoring camera anti-shake device and method for compensating the swing of a cantilever beam; A key device to realize the one-dimensional rotation of the surveillance camera with the direction of the plane determined by the vertical cantilever beam as the axis, and the two-dimensional translation in the plane determined by the cantilever beam; by setting the auxiliary camera and imaging the auxiliary target module, combined with trigonometric functions The principle is to make three-dimensional adjustments to the monitoring camera to ensure that the relative position of the monitoring camera to the auxiliary target remains unchanged, thereby compensating for the cantilever beam swing caused by vibration and airflow, reducing the change in the position and angle of the road monitoring camera, effectively suppressing image blur, and achieving clear imaging. It plays a role in promoting the realization of road network informatization and intelligence.

Description

Anti-shake device and method for road monitoring camera for compensating cantilever beam swing

technical field

The invention relates to the technical fields of road safety and image processing, in particular to a road monitoring camera anti-shake device and method for compensating the swing of a cantilever beam.

Background technique

The road monitoring system is a powerful guarantee for the informatization and intelligence of the road network. It can realize the judgment of traffic violations, traffic accidents, traffic jams and other emergencies at the first time, and then adjust the control parameters and formulate scheduling strategies. The two necessary conditions to realize the above functions are: clear imaging and real-time imaging.

At present, the road monitoring system mostly adopts the structure of installing the monitoring camera on the cantilever beam. The advantage of this structure is that the structure is simple, and the installation and maintenance costs are low, but the disadvantage is that the camera will swing randomly due to the influence of vibration and airflow. The image is blurred, so that the road monitoring system does not meet the clear imaging conditions, which is not conducive to the informatization and intelligence of the road network.

Contents of the invention

In view of the above problems, the present invention discloses a road surveillance camera anti-shake device and method for compensating the cantilever beam swing, the device and method can compensate the cantilever beam swing caused by vibration and airflow, and reduce the change of the position and angle of the road surveillance camera , effectively suppress image blurring, achieve clear imaging, and promote the realization of road network informatization and intelligence.

The purpose of the present invention is achieved like this:

Road surveillance camera anti-shake device for compensating cantilever beam swing, including camera three-dimensional adjustment module and auxiliary target module;

The camera three-dimensional adjustment module includes a monitoring camera vertically installed on the cantilever beam, a rotating shaft for adjusting the position and attitude of the monitoring camera, a first translation axis, a second translation axis, and an auxiliary camera; the direction of the rotation axis and the monitoring camera is Same, the first translation axis and the second translation axis are perpendicular to each other, and both are perpendicular to the rotation axis, a level is installed on the first translation axis; the auxiliary camera is aligned with the auxiliary target module;

The auxiliary target module includes a vertically arranged mounting plate, on which a first auxiliary target and a second auxiliary target are arranged up and down; the first auxiliary target and the second auxiliary target are within the field of view of the auxiliary camera;

When the cantilever beam does not sway, the first translation axis is in a horizontal state, the angle between the line connecting the first auxiliary target and the auxiliary camera and the vertical direction is α, and the connection line between the second auxiliary target and the auxiliary camera and the vertical direction are α. The angle between the directions is β.

In the aforementioned road surveillance camera anti-shake device for compensating the swing of the cantilever beam, the first auxiliary target and the second auxiliary target are infrared band LEDs, and the auxiliary camera is an infrared band CCD.

In the anti-shake device for road monitoring cameras for compensating the swing of the cantilever beam, both the first auxiliary target and the second auxiliary target radiate r-rays to the auxiliary camera, and the auxiliary camera is an r-ray receiver.

A road monitoring camera anti-shake method for compensating the swing of the cantilever realized on the above-mentioned road monitoring camera anti-shake device for compensating the swing of the cantilever, comprising the following steps:

Step a, rotate the rotating shaft, and monitor with a spirit level, so that the first translation axis is at a horizontal position;

Step b. If:

Case 1, the angle between the line connecting the first auxiliary target and the auxiliary camera and the vertical direction is less than α, the monitoring camera moves outward along the first translational axis, or the monitoring camera moves downward along the second translational axis, or monitors The camera moves outwards along the first translational axis and downwards along the second translational axis at the same time, or the surveillance camera moves outwards along the first translational axis and downwards along the second translational axis alternately until the first auxiliary The angle between the line connecting the target and the auxiliary camera and the vertical direction is equal to α, and enter step c;

Case 2: The angle between the line connecting the first auxiliary target and the auxiliary camera and the vertical direction is greater than α, the monitoring camera moves inward along the first translational axis, or the monitoring camera moves upwards along the second translational axis, or monitors The camera simultaneously moves inward along the first translational axis and upwards along the second translational axis, or the monitoring camera alternately moves inwards along the first translational axis and upwards along the second translational axis until the first auxiliary The angle between the line connecting the target and the auxiliary camera and the vertical direction is equal to α, and enter step c;

Case 3: The angle between the line connecting the first auxiliary target and the auxiliary camera and the vertical direction is equal to α, and directly enters step c;

Step c, if:

Case 1, the angle between the line connecting the second auxiliary target and the auxiliary camera and the vertical direction is less than β, the monitoring camera simultaneously moves outward along the first translation axis and moves upward along the second translation axis, and the first translation axis The ratio of the moving speed of the moving axis to the second translation axis is tanα, until the angle between the line connecting the second auxiliary target and the auxiliary camera and the vertical direction is equal to β;

Case 2: The angle between the line connecting the second auxiliary target and the auxiliary camera and the vertical direction is greater than β, and the monitoring camera simultaneously moves inward along the first translation axis and moves downward along the second translation axis, and the first translation axis The ratio of the moving speed of the moving axis to the second translation axis is tanα, until the angle between the line connecting the second auxiliary target and the auxiliary camera and the vertical direction is equal to β;

Case 3: The included angle between the line connecting the second auxiliary target and the auxiliary camera and the vertical direction is equal to β, and the process ends.

A road monitoring camera anti-shake method for compensating the swing of the cantilever realized on the above-mentioned road monitoring camera anti-shake device for compensating the swing of the cantilever, comprising the following steps:

Step a, rotate the rotating shaft, and monitor with a spirit level, so that the first translation axis is at a horizontal position;

Step b. If:

Case 1, the angle between the line connecting the second auxiliary target and the auxiliary camera and the vertical direction is less than β, the monitoring camera moves outward along the first translational axis, or the monitoring camera moves downward along the second translational axis, or monitors The camera moves outwards along the first translational axis and downwards along the second translational axis at the same time, or the monitoring camera moves outwards along the first translational axis and downwards along the second translational axis alternately until the second auxiliary The angle between the line connecting the target and the auxiliary camera and the vertical direction is equal to β, and proceeds to step c;

Case 2: The angle between the line connecting the second auxiliary target and the auxiliary camera and the vertical direction is greater than β, the surveillance camera moves inward along the first translational axis, or the surveillance camera moves upwards along the second translational axis, or monitors The camera simultaneously moves inward along the first translational axis and upwards along the second translational axis, or the monitoring camera alternately moves inwards along the first translational axis and upwards along the second translational axis until the second auxiliary The angle between the line connecting the target and the auxiliary camera and the vertical direction is equal to β, and proceeds to step c;

Case 3: The angle between the line connecting the second auxiliary target and the auxiliary camera and the vertical direction is equal to β, and directly enters step c;

Step c, if:

Situation 1: The angle between the line connecting the first auxiliary target and the auxiliary camera and the vertical direction is less than α, and the monitoring camera simultaneously moves inward along the first translation axis and moves downward along the second translation axis, and the first translation axis The ratio of the motion speed of the moving axis to the second translation axis is tanβ, until the angle between the line connecting the first auxiliary target and the auxiliary camera and the vertical direction is equal to α;

Situation 2: The angle between the line connecting the first auxiliary target and the auxiliary camera and the vertical direction is greater than α, and the monitoring camera simultaneously moves outward along the first translation axis and moves upward along the second translation axis, and the first translation axis The ratio of the motion speed of the moving axis to the second translation axis is tanβ, until the angle between the line connecting the first auxiliary target and the auxiliary camera and the vertical direction is equal to α;

Case 3: The included angle between the line connecting the first auxiliary target and the auxiliary camera and the vertical direction is equal to α, and the process ends.

Beneficial effect:

The anti-shake device and method for a road monitoring camera used to compensate the swing of the cantilever beam in the present invention, by setting the rotating shaft, the first translational axis, and the second translational axis, realize that the direction of the plane determined by the vertical cantilever beam is used as the axis of the monitoring camera. Two-dimensional rotation and two-dimensional translation in the plane determined by the cantilever beam; the auxiliary target module is imaged by the auxiliary camera, and the trigonometric function principle is used to ensure that the relative position of the monitoring camera to the auxiliary target remains unchanged, thereby compensating for the cantilever beam caused by vibration and airflow Swing, reduce the change of the position and angle of the road surveillance camera, effectively suppress the blurring of the image, realize clear imaging, and promote the realization of road network informatization and intelligence.

In addition, if the first auxiliary target and the second auxiliary target are set on the pole of the cantilever beam, the swing of the cantilever beam will drive the movement of the first auxiliary target and the second auxiliary target, resulting in the first auxiliary target and the second auxiliary target serving as the basis for position judgment. The change of the position of the two auxiliary targets relative to the ground reduces the accuracy of the adjustment of the monitoring camera; and setting the first auxiliary target and the second auxiliary target on a vertically arranged mounting plate can ensure that the first auxiliary target and the second auxiliary target The position relative to the ground remains unchanged, improving the accuracy of surveillance camera adjustment.

Description of drawings

Figure 1 is a schematic diagram of the structure of the three-dimensional adjustment module of the camera.

Fig. 2 is a schematic diagram of the relative positions of the camera three-dimensional adjustment module and the auxiliary target module.

Fig. 3 is a flow chart of Embodiment 4 of the anti-shake method of a road monitoring camera for compensating the swing of a cantilever beam according to the present invention.

Fig. 4 is a flow chart of a fifth embodiment of the anti-shake method of a road monitoring camera for compensating the swing of a cantilever beam according to the present invention.

Among the figure: 11 surveillance cameras, 12 rotating shafts, 13 first translation axes, 131 spirit level, 14 second translation axes, 15 auxiliary cameras, 21 mounting plates, 22 first auxiliary targets, 23 second auxiliary targets.

Detailed ways

The specific embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings.

Specific embodiment one

This embodiment is an embodiment of an anti-shake device for a road monitoring camera for compensating the swing of a cantilever beam.

The road surveillance camera anti-shake device for compensating the swing of the cantilever beam in this embodiment includes a camera three-dimensional adjustment module and an auxiliary target module;

Described camera three-dimensional adjustment module as shown in Figure 1 (not including spirit level 131 and auxiliary camera 15), camera three-dimensional adjustment module comprises the monitoring camera 11 that is vertically installed on the cantilever beam, adjusts the rotating shaft 12 of monitoring camera 11 positions and attitude, the first A translation axis 13, a second translation axis 14, and an auxiliary camera 15; the rotating shaft 12 is in the same direction as the monitoring camera 11, and the first translation axis 13 and the second translation axis 14 are perpendicular to each other, and are all aligned with the rotating shaft 12 vertical, a level 131 is installed on the first translation axis 13; the auxiliary camera 15 is aimed at the auxiliary target module;

The auxiliary target module includes a vertically arranged mounting plate 21, on which a first auxiliary target 22 and a second auxiliary target 23 are arranged up and down on the mounting plate 21; inside the venue;

When the cantilever beam does not swing, the first translation axis 13 is in a horizontal state, the angle between the line connecting the first auxiliary target 22 and the auxiliary camera 15 and the vertical direction is α, and the angle between the line between the second auxiliary target 23 and the auxiliary camera 15 is α. The angle between the line and the vertical direction is β. The schematic diagram of the relative positions of the camera three-dimensional adjustment module and the auxiliary target module is shown in Fig. 2 .

Specific embodiment two

This embodiment is an embodiment of an anti-shake device for a road monitoring camera for compensating the swing of a cantilever beam.

The road surveillance camera anti-shake device for compensating the swing of the cantilever beam in this embodiment, on the basis of the specific embodiment 1, further defines that the first auxiliary target 22 and the second auxiliary target 23 are all infrared band LEDs, and the auxiliary camera 15 is Infrared band CCD. The use of infrared band devices is to use the characteristics of strong anti-interference ability of infrared light to improve the effect of anti-shake.

Specific embodiment three

This embodiment is an embodiment of an anti-shake device for a road monitoring camera for compensating the swing of a cantilever beam.

The road surveillance camera anti-shake device for compensating the swing of the cantilever beam in this embodiment, on the basis of the specific embodiment 1, further defines that the first auxiliary target 22 and the second auxiliary target 23 both radiate r-rays to the auxiliary camera 15, assisting The camera 15 is an r-ray receiver. The use of r-rays utilizes the strong penetrating power of r-rays, so that the anti-shake device of the present invention can still be used when there are obstacles such as cars and pedestrians.

Specific embodiment four

This embodiment is an embodiment of an anti-shake method for a road monitoring camera for compensating the swing of a cantilever beam.

The flow chart of the anti-shake method for a road monitoring camera for compensating the swing of a cantilever beam in this embodiment is shown in FIG. 3 . The method includes the following steps:

Step a, rotate the rotating shaft 12, monitor with the level instrument 131, make the first translation axis 13 be in the horizontal position;

Step b. If:

Case 1, the angle between the line connecting the first auxiliary target 22 and the auxiliary camera 15 and the vertical direction is less than α, the monitoring camera 11 moves outward along the first translation axis 13, or the monitoring camera 11 moves outward along the second translation axis 14 downward movement, or the monitoring camera 11 moves outward along the first translation axis 13 and moves downward along the second translation axis 14 at the same time, or the monitoring camera 11 moves outward along the first translation axis 13 alternately along the second translation axis 13 The translation axis 14 moves downward until the angle between the line connecting the first auxiliary target 22 and the auxiliary camera 15 and the vertical direction is equal to α, and enters step c;

Case 2: The angle between the line connecting the first auxiliary target 22 and the auxiliary camera 15 and the vertical direction is greater than α, and the monitoring camera 11 moves inward along the first translation axis 13, or the monitoring camera 11 moves inward along the second translation axis 14 upward movement, or the monitoring camera 11 moves inward along the first translation axis 13 and moves upward along the second translation axis 14 at the same time, or the monitoring camera 11 alternately moves inward along the first translation axis 13 and along the second translation axis 13 The shaft 14 moves upward until the angle between the line connecting the first auxiliary target 22 and the auxiliary camera 15 and the vertical direction is equal to α, and enters step c;

Situation 3: The angle between the line connecting the first auxiliary target 22 and the auxiliary camera 15 and the vertical direction is equal to α, and directly proceeds to step c;

Step c, if:

Case 1, the angle between the line connecting the second auxiliary target 23 and the auxiliary camera 15 and the vertical direction is less than β, and the monitoring camera 11 moves outward along the first translation axis 13 and moves upward along the second translation axis 14 at the same time, And the ratio of the moving speed of the first translation axis 13 to the second translation axis 14 is tanα, until the angle between the line connecting the second auxiliary target 23 and the auxiliary camera 15 and the vertical direction is equal to β;

Situation 2: The angle between the line connecting the second auxiliary target 23 and the auxiliary camera 15 and the vertical direction is greater than β, and the monitoring camera 11 moves inward along the first translation axis 13 and moves downward along the second translation axis 14 at the same time , and the ratio of the moving speed of the first translation axis 13 to the second translation axis 14 is tanα, until the angle between the line connecting the second auxiliary target 23 and the auxiliary camera 15 and the vertical direction is equal to β;

Case 3: The angle between the line connecting the second auxiliary target 23 and the auxiliary camera 15 and the vertical direction is equal to β, and the process ends.

Specific embodiment five

This embodiment is an embodiment of an anti-shake method for a road monitoring camera for compensating the swing of a cantilever beam.

The flow chart of the method for anti-shake of a road monitoring camera for compensating the swing of the cantilever beam in this embodiment is shown in FIG. 4 . The method includes the following steps:

Step a, rotate the rotating shaft 12, monitor with the level instrument 131, make the first translation axis 13 be in the horizontal position;

Step b. If:

Case 1, the angle between the line connecting the second auxiliary target 23 and the auxiliary camera 15 and the vertical direction is less than β, and the monitoring camera 11 moves outward along the first translation axis 13, or the monitoring camera 11 moves outward along the second translation axis 14 downward movement, or the monitoring camera 11 moves outward along the first translation axis 13 and moves downward along the second translation axis 14 at the same time, or the monitoring camera 11 moves outward along the first translation axis 13 alternately along the second translation axis 13 The translation axis 14 moves downward until the angle between the line connecting the second auxiliary target 23 and the auxiliary camera 15 and the vertical direction is equal to β, and enters step c;

Case 2: The angle between the line connecting the second auxiliary target 23 and the auxiliary camera 15 and the vertical direction is greater than β, and the monitoring camera 11 moves inward along the first translation axis 13, or the monitoring camera 11 moves inward along the second translation axis 14 upward movement, or the monitoring camera 11 moves inward along the first translation axis 13 and moves upward along the second translation axis 14 at the same time, or the monitoring camera 11 alternately moves inward along the first translation axis 13 and along the second translation axis 13 The shaft 14 moves upward until the angle between the line connecting the second auxiliary target 23 and the auxiliary camera 15 and the vertical direction is equal to β, and enters step c;

Case three, the angle between the line connecting the second auxiliary target 23 and the auxiliary camera 15 and the vertical direction is equal to β, and directly enters step c;

Step c, if:

Case 1: The angle between the line connecting the first auxiliary target 22 and the auxiliary camera 15 and the vertical direction is less than α, and the monitoring camera 11 moves inward along the first translation axis 13 and moves downward along the second translation axis 14 at the same time , and the ratio of the moving speed of the first translation axis 13 to the second translation axis 14 is tanβ, until the angle between the line connecting the first auxiliary target 22 and the auxiliary camera 15 and the vertical direction is equal to α;

Case 2: the angle between the line connecting the first auxiliary target 22 and the auxiliary camera 15 and the vertical direction is greater than α, and the monitoring camera 11 moves outward along the first translation axis 13 and moves upward along the second translation axis 14 at the same time, And the ratio of the moving speed of the first translation axis 13 to the second translation axis 14 is tanβ, until the angle between the line connecting the first auxiliary target 22 and the auxiliary camera 15 and the vertical direction is equal to α;

Case 3: The angle between the line connecting the first auxiliary target 22 and the auxiliary camera 15 and the vertical direction is equal to α, and the process ends.

It should be noted that the outward movement in the present invention refers to the movement away from the cantilever beam vertical rod, and the inward movement refers to the movement toward the cantilever beam vertical rod.

Claims (5)

1. for compensating the road monitoring camera anti-shake apparatus that cantilever beam waves, it is characterised in that including the three-dimensional tune of camera Mould preparation block and auxiliary mark module；

The camera three-dimensional adjusting module includes the monitoring camera (11) being installed vertically on cantilever beam, adjusts monitoring camera Head (11) position and the rotating shaft (12) of posture, the first translation shaft (13), the second translation shaft (14), and auxiliary camera (15)； The rotating shaft (12) is identical with direction where monitoring camera (11), and the first translation shaft (13) is mutually hung down with the second translation shaft (14) Directly, it is and vertical with rotating shaft (12), level meter (131) is installed in the first translation shaft (13)；The auxiliary camera (15) It is directed at auxiliary mark module；

The auxiliary mark module includes the installing plate (21) being vertically arranged, the first auxiliary mesh setting up and down on installing plate (21) Mark (22) and the second auxiliary mark (23)；First auxiliary mark (22) and the second auxiliary mark (23) are in auxiliary camera (15) In visual field；

When cantilever beam does not wave, the first translation shaft (13) is horizontality, the first auxiliary mark (22) and second camera The head line of (15) and the angle of vertical direction are α, the line of the second auxiliary mark (23) and auxiliary camera (15) with vertically The angle in direction is β.

2. according to claim 1 be used to compensate the road monitoring camera anti-shake apparatus that cantilever beam waves, its feature exists In described the first auxiliary mark (22) and the second auxiliary mark (23) are infrared band LED, and auxiliary camera (15) is red Wave section CCD.

3. according to claim 1 be used to compensate the road monitoring camera anti-shake apparatus that cantilever beam waves, its feature exists In described the first auxiliary mark (22) and the second auxiliary mark (23) radiate r rays to auxiliary camera (15), and auxiliary is taken the photograph As head (15) is r ray receivers.

A kind of 4. use realized on the road monitoring camera anti-shake apparatus waved described in claim 1 for compensating cantilever beam In the road monitoring camera anti-fluttering method that compensation cantilever beam waves, it is characterised in that comprise the following steps：

Step a, rotating shaft (12), monitored using level meter (131), be horizontally situated the first translation shaft (13)；

If step b,：

The angle of situation one, the line of the first auxiliary mark (22) and auxiliary camera (15) and vertical direction is less than α, and monitoring is taken the photograph Picture head (11) moves out along the first translation shaft (13), or monitoring camera (11) moves downward along the second translation shaft (14), or Monitoring camera (11) while move out along the first translation shaft (13), moved downward along the second translation shaft (14), or monitoring is taken the photograph Picture head (11) is alternately moved out along the first translation shaft (13), moved downward along the second translation shaft (14), until the first auxiliary mesh Mark (22) and the line of auxiliary camera (15) and the angle of vertical direction are equal to α, into step c；

The angle of situation two, the line of the first auxiliary mark (22) and auxiliary camera (15) and vertical direction is more than α, and monitoring is taken the photograph Picture head (11) inwardly moves along the first translation shaft (13), or monitoring camera (11) moves upwards along the second translation shaft (14), or Monitoring camera (11) at the same along the first translation shaft (13) inwardly motion, along the second translation shaft (14) upwards move, or monitoring take the photograph Picture head (11) alternating is inwardly moved along the first translation shaft (13), along the second translation shaft (14) motion upwards, until the first auxiliary mesh Mark (22) and the line of auxiliary camera (15) and the angle of vertical direction are equal to α, into step c；

The angle of situation three, the line of the first auxiliary mark (22) and auxiliary camera (15) and vertical direction is equal to α, directly enters Enter step c；

If step c,：

The angle of situation one, the line of the second auxiliary mark (23) and auxiliary camera (15) and vertical direction is less than β, and monitoring is taken the photograph Move out as head (11) while along the first translation shaft (13), moved upwards along the second translation shaft (14), and the first translation shaft (13) it is tan α with the ratio between the movement velocity of the second translation shaft (14), until the second auxiliary mark (23) and auxiliary camera (15) Line and the angle of vertical direction be equal to β；

The angle of situation two, the line of the second auxiliary mark (23) and auxiliary camera (15) and vertical direction is more than β, and monitoring is taken the photograph Inwardly move as head (11) while along the first translation shaft (13), moved downward along the second translation shaft (14), and the first translation shaft (13) it is tan α with the ratio between the movement velocity of the second translation shaft (14), until the second auxiliary mark (23) and auxiliary camera (15) Line and the angle of vertical direction be equal to β；

The angle of situation three, the line of the second auxiliary mark (23) and auxiliary camera (15) and vertical direction is equal to β, terminates；

The inwardly motion is to be moved close to auxiliary mark module direction, described to move out as away from auxiliary mark module direction Motion.

A kind of 5. use realized on the road monitoring camera anti-shake apparatus waved described in claim 1 for compensating cantilever beam In the road monitoring camera anti-fluttering method that compensation cantilever beam waves, it is characterised in that comprise the following steps：

Step a, rotating shaft (12), monitored using level meter (131), be horizontally situated the first translation shaft (13)；

If step b,：

The angle of situation one, the line of the second auxiliary mark (23) and auxiliary camera (15) and vertical direction is less than β, and monitoring is taken the photograph Picture head (11) moves out along the first translation shaft (13), or monitoring camera (11) moves downward along the second translation shaft (14), or Monitoring camera (11) while move out along the first translation shaft (13), moved downward along the second translation shaft (14), or monitoring is taken the photograph Picture head (11) is alternately moved out along the first translation shaft (13), moved downward along the second translation shaft (14), until the second auxiliary mesh Mark (23) and the line of auxiliary camera (15) and the angle of vertical direction are equal to β, into step c；

The angle of situation two, the line of the second auxiliary mark (23) and auxiliary camera (15) and vertical direction is more than β, and monitoring is taken the photograph Picture head (11) inwardly moves along the first translation shaft (13), or monitoring camera (11) moves upwards along the second translation shaft (14), or Monitoring camera (11) at the same along the first translation shaft (13) inwardly motion, along the second translation shaft (14) upwards move, or monitoring take the photograph Picture head (11) alternating is inwardly moved along the first translation shaft (13), along the second translation shaft (14) motion upwards, until the second auxiliary mesh Mark (23) and the line of auxiliary camera (15) and the angle of vertical direction are equal to β, into step c；

The angle of situation three, the line of the second auxiliary mark (23) and auxiliary camera (15) and vertical direction is equal to β, directly enters Enter step c；

If step c,：

The angle of situation one, the line of the first auxiliary mark (22) and auxiliary camera (15) and vertical direction is less than α, and monitoring is taken the photograph Inwardly move as head (11) while along the first translation shaft (13), moved downward along the second translation shaft (14), and the first translation shaft (13) it is tan β with the ratio between the movement velocity of the second translation shaft (14), until the first auxiliary mark (22) and auxiliary camera (15) Line and the angle of vertical direction be equal to α；

The angle of situation two, the line of the first auxiliary mark (22) and auxiliary camera (15) and vertical direction is more than α, and monitoring is taken the photograph Move out as head (11) while along the first translation shaft (13), moved upwards along the second translation shaft (14), and the first translation shaft (13) it is tan β with the ratio between the movement velocity of the second translation shaft (14), until the first auxiliary mark (22) and auxiliary camera (15) Line and the angle of vertical direction be equal to α；

The angle of situation three, the line of the first auxiliary mark (22) and auxiliary camera (15) and vertical direction is equal to α, terminates；

The inwardly motion is to be moved close to auxiliary mark module direction, described to move out as away from auxiliary mark module direction Motion.