CN115235406A - A method and device for monitoring the angle deviation of a camera - Google Patents

Abstract

The present application is applicable to the field of computer technology, and provides a method and device for monitoring the angle offset of a camera. The method includes: acquiring first angle information corresponding to a first acceleration sensor; acquiring second angle information corresponding to a second acceleration sensor ; obtain the first difference between the first angle information and the second angle information; when the first difference is greater than the preset difference threshold, and the duration corresponding to the first difference is greater than the preset time threshold, determine the camera angle offset occurs. In the above method, the device directly obtains the angle information, which can avoid the lack of precision caused by the direct scaling of the three-axis acceleration data, and improve the accuracy of the judgment result. Moreover, the user's perception of the angle is obviously better than the perception of the acceleration. Clear, easy to manually correct the camera position.

Description

A method and device for monitoring the angle deviation of a camera

technical field

The present application belongs to the field of computer technology, and in particular, relates to a method and device for monitoring the angle shift of a camera.

Background technique

When the vehicle is running, the on-board camera installed on the vehicle will have an angle offset due to vehicle bumps or other reasons, which will cause the monitoring area of the on-board camera to change and lose the video of key areas. In the prior art, the monitoring of the angle shift of the camera is directly determined by acquiring the three-axis data of the acceleration sensor on the main board of the camera. However, if the actual angle of the current camera is directly judged only by the three-axis data of the acceleration sensor, there will be errors in the judgment result, and the efficiency of correcting the camera angle is very low.

SUMMARY OF THE INVENTION

The embodiments of the present application provide a method and device for monitoring the angle shift of a camera, which can solve the above problems.

In a first aspect, an embodiment of the present application provides a method for monitoring the angle offset of a camera, including:

Obtain the first angle information corresponding to the first acceleration sensor; the first acceleration sensor is the acceleration sensor of the camera; the first angle information is the direction between the direction of the first acceleration information corresponding to the first acceleration sensor and the horizontal plane. an included angle; the first acceleration information is triaxial acceleration information;

Obtain second angle information corresponding to the second acceleration sensor; the second acceleration sensor is an acceleration sensor of a network video recorder; the second angle information is the distance between the direction of the second acceleration information corresponding to the second acceleration sensor and the horizontal plane The included angle of ; the second acceleration information is triaxial acceleration information;

obtaining a first difference between the first angle information and the second angle information;

When the first difference value is greater than a preset difference value threshold, and the duration corresponding to the first difference value is greater than a preset time threshold value, it is determined that the camera angle is shifted.

Further, the obtaining the first angle information corresponding to the first acceleration sensor includes:

acquiring first acceleration information corresponding to the first acceleration sensor;

The first acceleration information is converted into first angle information according to a preset conversion strategy.

Further, converting the first acceleration information into first angle information according to a preset conversion strategy includes:

Calculate according to the first acceleration information and a preset calculation strategy to obtain a first angle-related parameter;

Converting the first angle-related parameter into third angle information; the third angle information is the angle between the direction corresponding to the first acceleration information and the direction corresponding to the resultant acceleration;

The first angle information is determined according to the third angle information.

Further, the obtaining the first angle information corresponding to the first acceleration sensor includes:

First angle information corresponding to the first acceleration sensor sent by the camera is received.

Further, the acquiring the second angle information corresponding to the second acceleration sensor includes:

acquiring second acceleration information corresponding to the second acceleration sensor;

The second acceleration information is converted into second angle information according to a preset conversion strategy.

Further, converting the second acceleration information into second angle information according to a preset conversion strategy includes:

Calculate according to the second acceleration information and a preset calculation strategy to obtain second angle-related parameters;

Converting the second angle-related parameter into fourth angle information; the fourth angle information is the angle between the direction corresponding to the second acceleration information and the direction corresponding to the resultant acceleration;

The second angle information is determined according to the fourth angle information.

Further, before determining that the camera angle is shifted when the first difference is greater than a preset difference threshold and the duration corresponding to the first difference is greater than a preset time threshold, the method further includes: :

acquiring first static angle information corresponding to the first acceleration sensor and second static angle information corresponding to the second acceleration sensor in a static state;

A difference between the first static angle information and the second static angle information is used as a preset difference threshold.

Further, after determining that the camera angle is shifted when the first difference value is greater than a preset difference value threshold and the duration corresponding to the first difference value is greater than a preset time threshold value, further comprising: :

The camera angle offset reminder information is generated; the camera angle offset reminder information includes the camera angle offset status information, the camera angle offset reason, and the camera angle offset correction prompt information.

In a second aspect, an embodiment of the present application provides a monitoring device for camera angle shift, including:

a first acquisition unit, configured to acquire first angle information corresponding to a first acceleration sensor; the first acceleration sensor is an acceleration sensor of a camera; the first angle information is first acceleration information corresponding to the first acceleration sensor The angle between the direction and the horizontal plane; the first acceleration information is triaxial acceleration information;

The second acquiring unit is configured to acquire the second angle information corresponding to the second acceleration sensor; the second acceleration sensor is the acceleration sensor of the network video recorder; the second angle information is the second acceleration corresponding to the second acceleration sensor The angle between the direction of the information and the horizontal plane; the second acceleration information is triaxial acceleration information;

a third acquiring unit, configured to acquire the first difference between the first angle information and the second angle information;

A first processing unit, configured to determine that the camera angle is shifted when the first difference is greater than a preset difference threshold and the duration corresponding to the first difference is greater than a preset time threshold.

Further, the first obtaining unit is specifically used for:

acquiring first acceleration information corresponding to the first acceleration sensor;

The first acceleration information is converted into first angle information according to a preset conversion strategy.

Further, the first obtaining unit is specifically used for:

Calculate according to the first acceleration information and a preset calculation strategy to obtain a first angle-related parameter;

Converting the first angle-related parameter into third angle information; the third angle information is the angle between the direction corresponding to the first acceleration information and the direction corresponding to the resultant acceleration;

The first angle information is determined according to the third angle information.

Further, the first obtaining unit is specifically used for:

First angle information corresponding to the first acceleration sensor sent by the camera is received.

Further, the second obtaining unit is specifically used for:

acquiring second acceleration information corresponding to the second acceleration sensor;

The second acceleration information is converted into second angle information according to a preset conversion strategy.

Further, the second obtaining unit is specifically used for:

Calculate according to the second acceleration information and a preset calculation strategy to obtain second angle-related parameters;

Converting the second angle-related parameter into fourth angle information; the fourth angle information is the angle between the direction corresponding to the second acceleration information and the direction corresponding to the resultant acceleration;

The second angle information is determined according to the fourth angle information.

Further, the monitoring device for the angle shift of the camera also includes:

a fourth acquisition unit, configured to acquire first static angle information corresponding to the first acceleration sensor and second static angle information corresponding to the second acceleration sensor in a static state;

The second processing unit is configured to use the difference between the first static angle information and the second static angle information as a preset difference threshold.

Further, the monitoring device for the angle shift of the camera also includes:

The third processing unit is configured to generate camera angle offset reminder information; the camera angle offset reminder information includes camera angle offset status information, camera angle offset reasons, and camera angle offset correction prompt information.

In a third aspect, an embodiment of the present application provides a camera angle shift monitoring device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing The computer program implements the method according to the first aspect above.

In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, implements the method described in the first aspect.

In the embodiment of the present application, the first angle information corresponding to the first acceleration sensor is obtained; the first acceleration sensor is the acceleration sensor of the camera; the first angle information is the difference between the direction of the first acceleration information corresponding to the first acceleration sensor and the horizontal plane obtain the second angle information corresponding to the second acceleration sensor; the second acceleration sensor is the acceleration sensor of the network video recorder; the second angle information is the direction between the direction of the second acceleration information corresponding to the second acceleration sensor and the horizontal plane Included angle; obtain the first difference between the first angle information and the second angle information; when the first difference is greater than the preset difference threshold, and the duration corresponding to the first difference is greater than the preset time threshold, determine The camera angle is offset. In the above method, the device directly obtains the angle information, which can avoid the lack of precision caused by the direct scaling of the three-axis acceleration data, and improve the accuracy of the judgment result. Moreover, the user's perception of the angle is obviously better than the perception of the acceleration. Clear, easy to manually correct the camera position.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only for the present application. In some embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

FIG. 1 is a schematic flowchart of a method for monitoring the angle shift of a camera provided by the first embodiment of the present application;

2 is a schematic diagram of a monitoring device for camera angle shift provided by a second embodiment of the present application;

FIG. 3 is a schematic diagram of a monitoring device for camera angle shift provided by a third embodiment of the present application.

Detailed ways

In the following description, for the purpose of illustration rather than limitation, specific details such as a specific system structure and technology are set forth in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It is to be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described feature, integer, step, operation, element and/or component, but does not exclude one or more other The presence or addition of features, integers, steps, operations, elements, components and/or sets thereof.

It will also be understood that, as used in this specification and the appended claims, the term "and/or" refers to and including any and all possible combinations of one or more of the associated listed items.

As used in the specification of this application and the appended claims, the term "if" may be contextually interpreted as "when" or "once" or "in response to determining" or "in response to detecting ". Similarly, the phrases "if it is determined" or "if the [described condition or event] is detected" may be interpreted, depending on the context, to mean "once it is determined" or "in response to the determination" or "once the [described condition or event] is detected. ]" or "in response to detection of the [described condition or event]".

In addition, in the description of the specification of the present application and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the description, and should not be construed as indicating or implying relative importance.

References in this specification to "one embodiment" or "some embodiments" and the like mean that a particular feature, structure or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in other embodiments," etc. in various places in this specification are not necessarily All refer to the same embodiment, but mean "one or more but not all embodiments" unless specifically emphasized otherwise. The terms "including", "including", "having" and their variants mean "including but not limited to" unless specifically emphasized otherwise.

Please refer to FIG. 1 . FIG. 1 is a schematic flowchart of a method for monitoring the angle shift of a camera provided by the first embodiment of the present application. In this embodiment, the execution subject of the method for monitoring camera angle offset is a device with a camera angle offset monitoring function, such as a desktop computer, a server, and the like. The monitoring method for camera angle shift as shown in Figure 1 may include:

S101: Acquire first angle information corresponding to a first acceleration sensor; the first acceleration sensor is an acceleration sensor of a camera; the first angle information is the difference between the direction of the first acceleration information corresponding to the first acceleration sensor and the horizontal plane angle between.

When the vehicle is running, the on-board camera installed on the vehicle will capture images of key areas. The camera has a built-in first acceleration sensor. The acceleration sensor can sense the change of the acceleration force. The acceleration force is the force acting on the object during the acceleration process. For example, various movement changes such as shaking, falling, rising, and falling can be accelerated. The sensor converts into an electrical signal. The device acquires first angle information corresponding to the first acceleration sensor. The first angle information is an angle between the direction of the first acceleration information corresponding to the first acceleration sensor and the horizontal plane. The first acceleration information is triaxial acceleration information.

In this embodiment, the device obtains the first angle information corresponding to the first acceleration sensor, the device can obtain the direction of the first acceleration information corresponding to the first acceleration sensor, and then obtains the angle between the direction of the first acceleration information and the horizontal plane , that is, the first angle information is obtained.

In one embodiment, the device acquires first acceleration information corresponding to the first acceleration sensor, and converts the first acceleration information into first angle information according to a preset conversion strategy. The first acceleration information is the original three-axis acceleration information directly obtained by the first acceleration sensor. A preset conversion strategy is stored in the device, and the preset conversion strategy is used to convert the original three-axis acceleration information into angle information. The device converts the original three-axis acceleration information into angle information according to the calculation method in the preset conversion strategy.

In an implementation manner, the device directly receives the first angle information corresponding to the first acceleration sensor sent by the camera. In this embodiment, the process of calculating the first angle information is not performed in the local device, but is calculated by the camera and sent to the device.

In one embodiment, the device can convert the original first acceleration information into the first angle information according to the following methods: the device performs calculation according to the first acceleration information and a preset calculation strategy to obtain the first angle related parameters; The relevant parameters are converted into third angle information; the third angle information is the angle between the direction corresponding to the first acceleration information and the direction corresponding to the resultant acceleration; the first angle information is determined according to the third angle information. The resultant acceleration is the final acceleration generated after the acceleration of gravity and the acceleration generated by the motion. It can be understood that, in the static state, the resultant acceleration is equal to the gravitational acceleration.

Specifically, the preset calculation strategy can be:

Wherein, X, Y, and Z are the first acceleration information, and a, b, and c are the first angle-related parameters.

The principle of the preset calculation strategy is as follows:

Using the Pythagorean theorem, confirm the algorithmic relationship between the first acceleration information and the resultant acceleration:

(ng) ² =X ² +Y ² +Z ² ;

Using trigonometric functions, confirm the algorithmic relationship between the first acceleration information and the resultant acceleration:

ng cos a = X;

ng cos b = y;

ng cos c = Z;

The calculation is derived by the above formula:

(ng) ² =X ² +Y ² +Z ² =(ng) ² (cosa) ² +Y ² +Z ² ;

(ng) ² -(ng) ² (cosa) ² =Y ² +Z ² ;

(ng) ² (sina) ² =Y ² +Z ² ;

get:

Similarly get:

When the device converts the first angle-related parameters into the third angle information, it can directly use the conversion relationship between the angle and the radian to calculate:

2π/a=360/θx

Similarly get:

Among them, θx, θy, and θz are third angle information.

Since the third angle information is the angle between the direction corresponding to the first acceleration information and the direction corresponding to the resultant acceleration, and the first angle information is the angle between the direction of the first acceleration information and the horizontal plane, according to the third When the angle information determines the first angle information, the following methods may be used:

θ'x=90-θx-θdiffx;

θ'y=90-θy-θdiffy;

θ'z=90-θz-θdiffz;

Wherein, θ'x, θ'y, and θ'z are the first angle information. θdiffx, θdiffy, and θdiffz are the angle errors. In the static state, because only the acceleration of gravity is applied, all the resultant accelerations are perpendicular to the horizontal plane. At this time, θdiffx, θdiffy, and θdiffz are 0. In the motion state, the resultant acceleration is also affected by the external acceleration. When θdiffx, θdiffy, and θdiffz are not 0; since the default network video recorder and camera are under the same force, when calculating the angle difference, the angle error can be cancelled.

S102: Acquire second angle information corresponding to the second acceleration sensor; the second acceleration sensor is an acceleration sensor of a network video recorder; the second angle information is the direction and the horizontal plane of the second acceleration information corresponding to the second acceleration sensor the angle between.

In the method of this embodiment, two acceleration sensors are provided, the second acceleration sensor is the acceleration sensor of the network video recorder, and the double acceleration sensor is used to monitor the angle offset of the camera, which further improves the monitoring accuracy.

Among them, the device can have a built-in network video recorder, and the network video recorder monitors its own motherboard acceleration sensor in real time, that is, the second acceleration sensor. The device acquires second angle information corresponding to the second acceleration sensor, where the second angle information is an angle between a direction of the second acceleration information corresponding to the second acceleration sensor and a horizontal plane. The second acceleration information is triaxial acceleration information.

In this embodiment, the device acquires the second angle information corresponding to the second acceleration sensor, the device may acquire the direction of the second acceleration information corresponding to the second acceleration sensor, and then acquires the angle between the direction of the second acceleration information and the horizontal plane , that is, the second angle information is obtained.

In one embodiment, the device acquires second acceleration information corresponding to the second acceleration sensor, and converts the second acceleration information into second angle information according to a preset conversion strategy. The second acceleration information is the original triaxial acceleration information directly obtained by the second acceleration sensor. A preset conversion strategy is stored in the device, and the preset conversion strategy is used to convert the original three-axis acceleration information into angle information. The device converts the original three-axis acceleration information into angle information according to the calculation method in the preset conversion strategy.

In one embodiment, the device may convert the original second acceleration information into the second angle information according to the following methods: perform calculation according to the second acceleration information and a preset calculation strategy to obtain second angle-related parameters; The second angle-related parameter is converted into fourth angle information; the fourth angle information is the angle between the direction corresponding to the second acceleration information and the direction corresponding to the resultant acceleration; the second angle information is determined according to the fourth angle information. angle information. For the specific conversion method here, reference may be made to the specific description of converting the first acceleration information into the first angle information above, which will not be repeated here.

S103: Acquire a first difference between the first angle information and the second angle information.

After acquiring the first angle information and the second angle information, the device calculates a first difference between the first angle information and the second angle information. The first difference is used to determine whether the camera angle is shifted.

S104: When the first difference value is greater than a preset difference value threshold, and the duration corresponding to the first difference value is greater than a preset time threshold value, determine that the camera angle is shifted.

A preset difference threshold is stored in the device, wherein the preset difference threshold is used to determine whether the camera angle is shifted. The device needs to obtain the duration corresponding to the first difference, and when the first difference is greater than the preset difference threshold and the duration corresponding to the first difference is greater than the preset time threshold, it is determined that the camera angle is shifted.

That is to say, when the first difference is less than or equal to the preset difference threshold, it is determined that the camera angle is not shifted; when the first difference is greater than the preset difference threshold, and the duration corresponding to the first difference is less than or predetermined When the time threshold is set, it is determined that the camera angle is not shifted.

The preset difference threshold is determined according to parameters in a stationary state of the vehicle. Specifically, the method for setting the preset difference threshold may be:

The device obtains the first static angle information corresponding to the first acceleration sensor and the second static angle information corresponding to the second acceleration sensor in a static state; the difference between the first static angle information and the second static angle information is used as a preset Difference threshold. The method for acquiring the first static angle information and the second static angle information may refer to the relevant descriptions in S101 and S102, which will not be repeated here.

After determining the camera angle offset, the device can also generate camera angle offset reminder information, which is used to remind the user, so that the user can understand the current offset situation, so as to make adjustments and provide effective help to the user. The camera angle offset reminder information may include camera angle offset status information, camera angle offset reasons, camera angle offset correction prompt information, and the like. The camera angle offset status information can inform the user that the camera angle has been offset, and the reasons for the camera angle offset can include vehicle bumps or camera failure, etc., and the camera angle offset correction prompt information can inform the user how to adjust the camera.

In the embodiment of the present application, the first angle information corresponding to the first acceleration sensor is obtained; the first acceleration sensor is the acceleration sensor of the camera; the first angle information is the difference between the direction of the first acceleration information corresponding to the first acceleration sensor and the horizontal plane obtain the second angle information corresponding to the second acceleration sensor; the second acceleration sensor is the acceleration sensor of the network video recorder; the second angle information is the direction between the direction of the second acceleration information corresponding to the second acceleration sensor and the horizontal plane Included angle; obtain the first difference between the first angle information and the second angle information; when the first difference is greater than the preset difference threshold, and the duration corresponding to the first difference is greater than the preset time threshold, determine The camera angle is offset. In the above method, the device directly obtains the angle information, which can avoid the lack of precision caused by the direct scaling of the three-axis acceleration data, and improve the accuracy of the judgment result. Moreover, the user's perception of the angle is obviously better than the perception of the acceleration. Clear, easy to manually correct the camera position.

It should be understood that the size of the sequence numbers of the steps in the above embodiments does not mean the sequence of execution, and the execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

Please refer to FIG. 2. FIG. 2 is a schematic diagram of a monitoring device for camera angle shift provided by a second embodiment of the present application. The included units are used to execute the steps in the embodiment corresponding to FIG. 1 . For details, please refer to the relevant description in the embodiment corresponding to FIG. 1 . For convenience of explanation, only the parts related to this embodiment are shown. Referring to FIG. 2 , the monitoring device 2 for camera angle shift includes:

The first obtaining unit 210 is configured to obtain first angle information corresponding to a first acceleration sensor; the first acceleration sensor is an acceleration sensor of a camera; the first angle information is a first acceleration corresponding to the first acceleration sensor the angle between the direction of the information and the horizontal plane; the first acceleration information is triaxial acceleration information;

The second acquiring unit 220 is configured to acquire second angle information corresponding to the second acceleration sensor; the second acceleration sensor is an acceleration sensor of a network video recorder; the second angle information is the second angle information corresponding to the second acceleration sensor the angle between the direction of the acceleration information and the horizontal plane; the second acceleration information is triaxial acceleration information;

a third obtaining unit 230, configured to obtain a first difference between the first angle information and the second angle information;

The first processing unit 240 is configured to determine that the camera angle is shifted when the first difference is greater than a preset difference threshold and the duration corresponding to the first difference is greater than a preset time threshold.

Further, the first obtaining unit 210 is specifically used for:

acquiring first acceleration information corresponding to the first acceleration sensor;

The first acceleration information is converted into first angle information according to a preset conversion strategy.

Further, the first obtaining unit 210 is specifically used for:

Calculate according to the first acceleration information and a preset calculation strategy to obtain a first angle-related parameter;

Converting the first angle-related parameter into third angle information; the third angle information is the angle between the direction corresponding to the first acceleration information and the direction corresponding to the resultant acceleration;

The first angle information is determined according to the third angle information.

Further, the first obtaining unit 210 is specifically used for:

First angle information corresponding to the first acceleration sensor sent by the camera is received.

Further, the second obtaining unit 220 is specifically used for:

acquiring second acceleration information corresponding to the second acceleration sensor;

The second acceleration information is converted into second angle information according to a preset conversion strategy.

Further, the second obtaining unit 220 is specifically used for:

Calculate according to the second acceleration information and a preset calculation strategy to obtain second angle-related parameters;

Converting the second angle-related parameter into fourth angle information; the fourth angle information is the angle between the direction corresponding to the second acceleration information and the direction corresponding to the resultant acceleration;

The second angle information is determined according to the fourth angle information.

Further, the monitoring device 2 for the angle deviation of the camera also includes:

a fourth acquisition unit, configured to acquire first static angle information corresponding to the first acceleration sensor and second static angle information corresponding to the second acceleration sensor in a static state;

The second processing unit is configured to use the difference between the first static angle information and the second static angle information as a preset difference threshold.

Further, the monitoring device 2 for the angle deviation of the camera also includes:

The third processing unit is configured to generate camera angle offset reminder information; the camera angle offset reminder information includes camera angle offset status information, camera angle offset reasons, and camera angle offset correction prompt information.

FIG. 3 is a schematic diagram of a monitoring device for camera angle shift provided by a third embodiment of the present application. As shown in FIG. 3 , the monitoring device 3 for camera angle shift in this embodiment includes: a processor 30 , a memory 31 , and a computer program 32 stored in the memory 31 and executable on the processor 30 , for example Monitoring procedure for camera angle shift. When the processor 30 executes the computer program 32, the steps in the above embodiments of the method for monitoring the angle offset of the cameras are implemented, for example, steps 101 to 106 shown in FIG. 2 . Alternatively, when the processor 30 executes the computer program 32, the functions of the modules/units in each of the foregoing apparatus embodiments, such as the functions of the modules 310 to 360 shown in FIG. 3, are implemented.

Exemplarily, the computer program 32 can be divided into one or more modules/units, and the one or more modules/units are stored in the memory 31 and executed by the processor 30 to complete the this application. The one or more modules/units may be a series of computer program instruction segments capable of accomplishing specific functions, and the instruction segments are used to describe the execution process of the computer program 32 in the camera angle offset monitoring device 3 . For example, the computer program 32 can be divided into a first acquisition unit, a second acquisition unit, a third acquisition unit, and a first processing unit, and the specific functions of each unit are as follows:

a first acquisition unit, configured to acquire first angle information corresponding to a first acceleration sensor; the first acceleration sensor is an acceleration sensor of a camera; the first angle information is first acceleration information corresponding to the first acceleration sensor The angle between the direction and the horizontal plane; the first acceleration information is triaxial acceleration information;

The second acquiring unit is configured to acquire the second angle information corresponding to the second acceleration sensor; the second acceleration sensor is the acceleration sensor of the network video recorder; the second angle information is the second acceleration corresponding to the second acceleration sensor The angle between the direction of the information and the horizontal plane; the second acceleration information is triaxial acceleration information;

a third acquiring unit, configured to acquire the first difference between the first angle information and the second angle information;

A first processing unit, configured to determine that the camera angle is shifted when the first difference is greater than a preset difference threshold and the duration corresponding to the first difference is greater than a preset time threshold.

The monitoring device for the angle shift of the camera may include, but is not limited to, the processor 30 and the memory 31 . Those skilled in the art can understand that FIG. 3 is only an example of the monitoring device 3 with the camera angle offset, and does not constitute a limitation on the camera angle offset monitoring device 3, and may include more or less components than those shown in the figure, Or some components are combined, or different components, for example, the monitoring device for the angle shift of the camera may also include an input and output device, a network access device, a bus, and the like.

The so-called processor 30 may be a central processing unit (Central Processing Unit, CPU), and may also be other general-purpose processors, digital signal processors (Digital Signal Processors, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), Off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 31 may be an internal storage unit of the monitoring device 3 whose camera angle is shifted, for example, a hard disk or a memory of the monitoring device 3 whose camera angle is shifted. The memory 31 can also be an external storage device of the monitoring device 3 of the camera angle offset, such as a plug-in hard disk equipped on the monitoring device 3 of the camera angle offset, a smart memory card (Smart Media Card, SMC). ), secure digital (Secure Digital, SD) card, flash memory card (FlashCard) and so on. Further, the camera angle-shifted monitoring device 3 may further include both an internal storage unit and an external storage device of the camera-camera angle-shifted monitoring device 3 . The memory 31 is used to store the computer program and other programs and data required by the camera angle shift monitoring device. The memory 31 can also be used to temporarily store data that has been output or will be output.

It should be noted that the information exchange, execution process and other contents between the above-mentioned devices/units are based on the same concept as the method embodiments of the present application. For specific functions and technical effects, please refer to the method embodiments section. It is not repeated here.

An embodiment of the present application also provides a network device, the network device includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, the processor executing The computer program implements the steps in any of the foregoing method embodiments.

Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the steps in the foregoing method embodiments can be implemented.

The embodiments of the present application provide a computer program product, when the computer program product runs on a mobile terminal, the steps in the foregoing method embodiments can be implemented when the mobile terminal executes the computer program product.

The integrated unit, if implemented in the form of a software functional unit and sold or used as an independent product, may be stored in a computer-readable storage medium. Based on this understanding, the present application realizes all or part of the processes in the methods of the above embodiments, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When executed by a processor, the steps of each of the above method embodiments can be implemented. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form, and the like. The computer-readable medium may include at least: any entity or device capable of carrying the computer program code to the photographing device/terminal device, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), electrical carrier signal, telecommunication signal, and software distribution medium. For example, U disk, mobile hard disk, disk or CD, etc. In some jurisdictions, under legislation and patent practice, computer readable media may not be electrical carrier signals and telecommunications signals.

In the foregoing embodiments, the description of each embodiment has its own emphasis. For parts that are not described or described in detail in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of this application.

In the embodiments provided in this application, it should be understood that the disclosed apparatus/network device and method may be implemented in other manners. For example, the apparatus/network device embodiments described above are only illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units. Or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

The above-mentioned embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the above-mentioned embodiments, those of ordinary skill in the art should understand that: it can still be used for the above-mentioned implementations. The technical solutions described in the examples are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions in the embodiments of the application, and should be included in the within the scope of protection of this application.

Claims (10)

1. a monitoring method for camera angle shift, is characterized in that, comprises: Obtain the first angle information corresponding to the first acceleration sensor; the first acceleration sensor is the acceleration sensor of the camera; the first angle information is the direction between the direction of the first acceleration information corresponding to the first acceleration sensor and the horizontal plane. an included angle; the first acceleration information is triaxial acceleration information; Obtain second angle information corresponding to the second acceleration sensor; the second acceleration sensor is an acceleration sensor of a network video recorder; the second angle information is the distance between the direction of the second acceleration information corresponding to the second acceleration sensor and the horizontal plane The included angle of ; the second acceleration information is triaxial acceleration information; obtaining a first difference between the first angle information and the second angle information; When the first difference value is greater than a preset difference value threshold, and the duration corresponding to the first difference value is greater than a preset time threshold value, it is determined that the camera angle is shifted. 2. The monitoring method for camera angle offset according to claim 1, wherein the acquiring the first angle information corresponding to the first acceleration sensor comprises: acquiring first acceleration information corresponding to the first acceleration sensor; The first acceleration information is converted into first angle information according to a preset conversion strategy. 3. The method for monitoring camera angle offset according to claim 2, wherein the converting the first acceleration information into the first angle information according to a preset conversion strategy comprises: Calculate according to the first acceleration information and a preset calculation strategy to obtain a first angle-related parameter; Converting the first angle-related parameter into third angle information; the third angle information is the angle between the direction corresponding to the first acceleration information and the direction corresponding to the resultant acceleration; The first angle information is determined according to the third angle information. 4. The monitoring method for camera angle offset according to claim 1, wherein the acquiring the first angle information corresponding to the first acceleration sensor comprises: First angle information corresponding to the first acceleration sensor sent by the camera is received. 5. The monitoring method for camera angle offset according to claim 1, wherein the acquiring the second angle information corresponding to the second acceleration sensor comprises: acquiring second acceleration information corresponding to the second acceleration sensor; The second acceleration information is converted into second angle information according to a preset conversion strategy. 6. The method for monitoring camera angle offset according to claim 5, wherein the converting the second acceleration information into the second angle information according to a preset conversion strategy comprises: Calculate according to the second acceleration information and a preset calculation strategy to obtain second angle-related parameters; Converting the second angle-related parameter into fourth angle information; the fourth angle information is the angle between the direction corresponding to the second acceleration information and the direction corresponding to the resultant acceleration; The second angle information is determined according to the fourth angle information. 7 . The monitoring method for camera angle shift according to claim 1 , wherein when the first difference is greater than a preset difference threshold, and the duration corresponding to the first difference is greater than When the time threshold is preset, before it is determined that the camera angle is shifted, the method further includes: acquiring first static angle information corresponding to the first acceleration sensor and second static angle information corresponding to the second acceleration sensor in a static state; A difference between the first static angle information and the second static angle information is used as a preset difference threshold. 8 . The method for monitoring camera angle shift according to claim 1 , wherein when the first difference is greater than a preset difference threshold, and the duration corresponding to the first difference is greater than When the time threshold is preset, after it is determined that the camera angle is shifted, the method further includes: The camera angle offset reminder information is generated; the camera angle offset reminder information includes the camera angle offset status information, the camera angle offset reason, and the camera angle offset correction prompt information. 9. A monitoring device for camera angle shift, characterized in that, comprising: a first acquisition unit, configured to acquire first angle information corresponding to a first acceleration sensor; the first acceleration sensor is an acceleration sensor of a camera; the first angle information is first acceleration information corresponding to the first acceleration sensor The angle between the direction and the horizontal plane; the first acceleration information is triaxial acceleration information; The second acquiring unit is configured to acquire the second angle information corresponding to the second acceleration sensor; the second acceleration sensor is the acceleration sensor of the network video recorder; the second angle information is the second acceleration corresponding to the second acceleration sensor The angle between the direction of the information and the horizontal plane; the second acceleration information is triaxial acceleration information; a third acquiring unit, configured to acquire the first difference between the first angle information and the second angle information; A first processing unit, configured to determine that the camera angle is shifted when the first difference is greater than a preset difference threshold and the duration corresponding to the first difference is greater than a preset time threshold. 10 . A computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented. 11 .

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