CN105163032A - Road monitoring camera anti-shake device and method based on two-dimensional motion compensation - Google Patents

Abstract

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 based on two-dimensional motion compensation. The device comprises a revolving shaft, a horizontal guide rail and a vertical guide rail, wherein a gravity center adjusting block is arranged at the bottom of the revolving shaft. Through the structural design, the horizontal guide rail can be automatically adjusted to a horizontal state through the gravity center adjusting block under the situation that a cantilever beam shakes. Compared with a patent of invention named Road Monitoring Camera Anti-Shake Device and Method for Compensating for Swinging of Cantilever Beam applied by the same research group, the device has the advantages that a level gauge is omitted; the hardware cost is reduced; active control of one dimension during compensation for the swinging of the cantilever beam is reduced; the cantilever beam swinging compensation time is shortened; image blurring under the situation of frequent swinging of the cantilever beam is suppressed; and a more remarkable clear imaging effect is achieved.

Description

Anti-shake device and method for road surveillance camera based on two-dimensional motion compensation

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 based on two-dimensional motion compensation.

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.

In response to the above problems, our research group applied for an invention patent "An anti-shake device and method for road surveillance cameras used to compensate for cantilever beam swing". A key device, combined with the trigonometric function principle, three-dimensionally adjusts the surveillance camera to ensure that the relative position of the surveillance camera to the auxiliary target remains unchanged, and then compensates for the cantilever beam swing caused by vibration and airflow, reduces the change in the position and angle of the road surveillance camera, and effectively suppresses the The image is blurred to achieve clear imaging, which plays a role in promoting the realization of road network informatization and intelligence.

Yet, also there are following several problems in this invention:

The device and method need three-dimensional active adjustment of the road monitoring camera, and corresponding to three steps, the compensation delay for the swing of the cantilever beam is relatively long. In the case of high-frequency swing of the cantilever beam, the clear imaging effect of the monitoring camera is not particularly ideal. .

Contents of the invention

In view of the above problems, the present invention discloses a road surveillance camera anti-shake device and method based on two-dimensional motion compensation. The device and method only need two-dimensional active adjustment of the road surveillance camera, and only two steps are required to achieve Compensating the swing of the cantilever beam, especially in the case of high-frequency swing of the cantilever beam, the present invention suppresses image blur and achieves a more significant effect of clear imaging.

The purpose of the present invention is achieved like this:

Road surveillance camera anti-shake device based on two-dimensional motion compensation, including camera two-dimensional adjustment module and auxiliary target module;

The camera two-dimensional adjustment module includes a horizontal guide rail and a vertical guide rail, and the monitoring camera can move horizontally along the horizontal guide rail and move up and down along the vertical guide rail; the bottom of the monitoring camera is connected to the horizontal support end of the cantilever beam through a rotating shaft;

The rotating shaft is a hole shaft matching structure, and the shaft can swing freely in the hole; the bottom of the monitoring camera is connected to the shaft structure in the hole shaft matching structure, the bottom of the shaft structure is connected to the center of gravity adjustment block, and the horizontal support end of the cantilever beam is connected to the hole shaft matching Both ends of the hole structure in the structure;

The camera two-dimensional adjustment module also includes an auxiliary camera aimed at the auxiliary target module;

The auxiliary target module includes a vertically arranged mounting plate, a first auxiliary target and a second auxiliary target arranged up and down on the mounting plate; the first auxiliary target and the second auxiliary target are within the field of view of the auxiliary camera; The angle between the line connecting the first auxiliary target and the auxiliary camera and the vertical direction is α, and the angle between the line connecting the second auxiliary target and the auxiliary camera and the vertical direction is β.

In the anti-shake device for road surveillance cameras based on two-dimensional motion compensation, 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 based on two-dimensional motion compensation, the first auxiliary target and the second auxiliary target both radiate r-rays to the auxiliary camera, and the auxiliary camera is an r-ray receiver.

A road monitoring camera anti-shake method based on two-dimensional motion compensation realized on the above-mentioned two-dimensional motion compensation-based road monitoring camera anti-shake device, comprising the following steps:

Step a, 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 surveillance camera moves outward along the horizontal guide rail, or the surveillance camera moves downward along the vertical guide rail, or the surveillance camera simultaneously moves along the horizontal guide rail Move outward, move down along the vertical guide rail, or the monitoring camera alternately moves outward along the horizontal guide rail, and move down along the vertical guide rail, until the angle between the line connecting the first auxiliary target and the auxiliary camera and the vertical direction is equal to α, go to step b;

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 surveillance camera moves inward along the horizontal guide rail, or the surveillance camera moves upward along the vertical guide rail, or the surveillance camera moves along the horizontal guide rail simultaneously. Inward movement, upward movement along the vertical guide rail, or the monitoring camera alternately moves inward along the horizontal guide rail and upward movement along the vertical guide rail, until the angle between the line connecting the first auxiliary target and the auxiliary camera and the vertical direction is equal to α, enter step b;

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 b;

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 horizontal guide rail and moves upward along the vertical guide rail at the same time, and the moving speed of the horizontal guide rail and the vertical guide rail is The ratio 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, the monitoring camera moves inward along the horizontal guide rail and moves downward along the vertical guide rail at the same time, and the movement of the horizontal guide rail and the vertical guide rail The speed ratio 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 based on two-dimensional motion compensation realized on the above-mentioned two-dimensional motion compensation-based road monitoring camera anti-shake device, comprising the following steps:

Step a, 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 horizontal guide rail, or the monitoring camera moves downward along the vertical guide rail, or the monitoring camera simultaneously moves along the horizontal guide rail Move outward, move down along the vertical guide rail, or the monitoring camera alternately moves outward along the horizontal guide rail, and move down along the vertical guide rail, until the angle between the line connecting the second auxiliary target and the auxiliary camera and the vertical direction is equal to β, go to step b;

Situation 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 surveillance camera moves inward along the horizontal guide rail, or the surveillance camera moves upward along the vertical guide rail, or the surveillance camera moves along the horizontal guide rail simultaneously. Inward movement, upward movement along the vertical guide rail, or the surveillance camera alternately moves inward along the horizontal guide rail and upward movement along the vertical guide rail, until the angle between the line connecting the second auxiliary target and the auxiliary camera and the vertical direction is equal to β, enter step b;

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 b;

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 inward along the horizontal guide rail and moves downward along the vertical guide rail at the same time, and the movement of the horizontal guide rail and the vertical guide rail The speed ratio 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 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 outward along the horizontal guide rail and moves upward along the vertical guide rail at the same time, and the moving speed of the horizontal guide rail and the vertical guide rail The ratio 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:

First, compared with the invention patent "Anti-Shake Device and Method for Road Surveillance Camera Used to Compensate Cantilever Sway" applied by our research group, the present invention can also compensate for cantilever sway and reduce changes in the position and angle of the road surveillance camera. Effectively suppress image blurring, realize clear imaging, and promote the realization of road network informatization and intelligence.

Second, compared with the invention patent "An anti-shake device and method for road surveillance cameras used to compensate for the swing of the cantilever beam" applied by this research group, since the present invention retains the first auxiliary target and the second auxiliary target to be arranged in the vertical The structure provided on the mounting plate can also ensure that the positions of the first auxiliary target and the second auxiliary target remain unchanged relative to the ground, thereby improving the accuracy of the adjustment of the surveillance camera.

Third, compared with the invention patent "Anti-Shake Device and Method for Road Surveillance Camera Used to Compensate Cantilever Sway" applied by our research group, the following structure is adopted: the rotating shaft is a hole-shaft matching structure, and the shaft can swing freely in the hole ;The bottom of the surveillance camera is connected to the shaft structure in the hole shaft matching structure, the bottom of the shaft structure is connected to the center of gravity adjustment block, and the horizontal support end of the cantilever beam is connected to the two ends of the hole structure in the hole shaft matching structure; Under the action of the adjustment block, the horizontal guide rail will also be automatically adjusted to the horizontal state, which not only saves the level instrument and reduces the hardware cost, but also reduces the active control of one dimension in the process of compensating the cantilever beam swing, shortening the cantilever beam swing compensation Time, in the case of high-frequency swing of the cantilever beam, the effect of suppressing image blur and achieving clear imaging is more significant.

Description of drawings

Figure 1 is a schematic diagram of the connection of the shaft and related components.

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 road surveillance camera anti-shake method based on two-dimensional motion compensation according to the present invention.

Fig. 4 is a flow chart of the fifth embodiment of the road surveillance camera anti-shake method based on two-dimensional motion compensation of the present invention.

Among the figure: 11 horizontal guide rails, 12 vertical guide rails, 13 monitoring cameras, 14 rotating shafts, 15 center of gravity adjustment blocks, 16 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 surveillance camera based on two-dimensional motion compensation.

The road surveillance camera anti-shake device based on two-dimensional motion compensation of this embodiment includes a camera two-dimensional adjustment module and an auxiliary target module;

The camera two-dimensional adjustment module includes a horizontal guide rail 11 and a vertical guide rail 12, and the monitoring camera 13 can move horizontally along the horizontal guide rail 11 and move up and down along the vertical guide rail 12; the bottom of the monitoring camera 13 is connected to the horizontal support end of the cantilever beam by a rotating shaft 14 This part of the structure is the same as another invention patent applied by the research group "An anti-shake device and method for road surveillance cameras used to compensate for cantilever beam swing", and will not be repeated in the form of drawings in this application.

The rotating shaft 14 is a hole shaft matching structure, and the shaft can swing freely in the hole; the bottom of the surveillance camera 13 is connected to the shaft structure in the hole shaft matching structure, the bottom of the shaft structure is connected to the center of gravity adjustment block 15, and the horizontal support end of the cantilever beam is connected to the The two ends of the hole structure in the hole shaft matching structure; the connection schematic diagram of the rotating shaft 14 and related devices is shown in FIG. 1 .

The camera two-dimensional adjustment module also includes an auxiliary camera 16 aiming at the auxiliary target module;

The auxiliary target module includes a vertically arranged mounting plate 21, a first auxiliary target 22 and a second auxiliary target 23 arranged up and down on the mounting plate 21; 16 in the field of view; the angle between the line connecting the first auxiliary target 22 and the auxiliary camera 16 and the vertical direction is α, and the angle between the line connecting the second auxiliary target 23 and the auxiliary camera 16 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 surveillance camera based on two-dimensional motion compensation.

The road monitoring camera anti-shake device based on two-dimensional motion compensation of this embodiment, on the basis of the specific embodiment one, further defines that the first auxiliary target 22 and the second auxiliary target 23 are all infrared band LEDs, and the auxiliary camera 16 is an infrared band LED. 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 surveillance camera based on two-dimensional motion compensation.

The road monitoring camera anti-shake device based on two-dimensional motion compensation of this embodiment, on the basis of the specific embodiment one, further defines that the first auxiliary target 22 and the second auxiliary target 23 all radiate r-rays to the auxiliary camera 16, and the auxiliary camera 16 is 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 a road surveillance camera anti-shake method based on two-dimensional motion compensation.

The flow chart of the road surveillance camera anti-shake method based on two-dimensional motion compensation in this embodiment is shown in FIG. 3 . The method includes the following steps:

Step a, if:

Case 1, the angle between the line between the first auxiliary target 22 and the auxiliary camera 16 and the vertical direction is less than α, the monitoring camera 13 moves outward along the horizontal guide rail 11, or the monitoring camera 13 moves downward along the vertical guide rail 12, or The monitoring camera 13 moves outward along the horizontal guide rail 11 and moves downward along the vertical guide rail 12 at the same time, or the monitoring camera 13 alternately moves outward along the horizontal guide rail 11 and moves downward along the vertical guide rail 12 until the first auxiliary target 22 and The angle between the connection line of the auxiliary camera 16 and the vertical direction is equal to α, and enters step b;

Case two, the angle between the line connecting the first auxiliary target 22 and the auxiliary camera 16 and the vertical direction is greater than α, the monitoring camera 13 moves inwardly along the horizontal guide rail 11, or the monitoring camera 13 moves upward along the vertical guide rail 12, or monitors The camera 13 moves inward along the horizontal guide rail 11 and moves upward along the vertical guide rail 12 at the same time, or the monitoring camera 13 alternately moves inward along the horizontal guide rail 11 and moves upward along the vertical guide rail 12 until the first auxiliary target 22 and the auxiliary camera 16 The angle between the connection line and the vertical direction is equal to α, enter step b;

Case three, the angle between the line connecting the first auxiliary target 22 and the auxiliary camera 16 and the vertical direction is equal to α, and directly enters step b;

Step b. If:

Case 1, the angle between the line between the second auxiliary target 23 and the auxiliary camera 16 and the vertical direction is less than β, the monitoring camera 13 moves outward along the horizontal guide rail 11 and moves upward along the vertical guide rail 12 at the same time, and the horizontal guide rail 11 and The ratio of the moving speed of the vertical guide rail 12 is tanα, until the angle between the line between the second auxiliary target 23 and the auxiliary camera 16 and the vertical direction is equal to β;

Case 2: the angle between the line connecting the second auxiliary target 23 and the auxiliary camera 16 and the vertical direction is greater than β, the monitoring camera 13 moves inward along the horizontal guide rail 11 and moves downward along the vertical guide rail 12 at the same time, and the horizontal guide rail 11 The ratio with the moving speed of the vertical guide rail 12 is tanα, until the angle between the line between the second auxiliary target 23 and the auxiliary camera 16 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 16 and the vertical direction is equal to β, and the process ends.

Specific embodiment five

This embodiment is an embodiment of a road surveillance camera anti-shake method based on two-dimensional motion compensation.

The flow chart of the road surveillance camera anti-shake method based on two-dimensional motion compensation in this embodiment is shown in FIG. 3 . The method includes the following steps:

Step a, if:

Case 1, the angle between the line between the second auxiliary target 23 and the auxiliary camera 16 and the vertical direction is less than β, the monitoring camera 13 moves outward along the horizontal guide rail 11, or the monitoring camera 13 moves downward along the vertical guide rail 12, or The monitoring camera 13 moves outward along the horizontal guide rail 11 and moves downward along the vertical guide rail 12 at the same time, or the monitoring camera 13 alternately moves outward along the horizontal guide rail 11 and moves downward along the vertical guide rail 12 until the second auxiliary target 23 and The angle between the connection line of the auxiliary camera 16 and the vertical direction is equal to β, and enters step b;

Case two, the angle between the line connecting the second auxiliary target 23 and the auxiliary camera 16 and the vertical direction is greater than β, the monitoring camera 13 moves inwardly along the horizontal guide rail 11, or the monitoring camera 13 moves upward along the vertical guide rail 12, or monitors The camera 13 moves inward along the horizontal guide rail 11 and moves upward along the vertical guide rail 12 at the same time, or the monitoring camera 13 alternately moves inward along the horizontal guide rail 11 and moves upward along the vertical guide rail 12 until the second auxiliary target 23 and the auxiliary camera 16 The angle between the connection line and the vertical direction is equal to β, enter step b;

Case three, the angle between the line connecting the second auxiliary target 23 and the auxiliary camera 16 and the vertical direction is equal to β, and directly enters step b;

Step b. If:

Case 1, the angle between the line connecting the first auxiliary target 22 and the auxiliary camera 16 and the vertical direction is less than α, the monitoring camera 13 moves inward along the horizontal guide rail 11 and moves downward along the vertical guide rail 12 at the same time, and the horizontal guide rail 11 The ratio with the moving speed of the vertical guide rail 12 is tanβ, until the angle between the line between the first auxiliary target 22 and the auxiliary camera 16 and the vertical direction is equal to α;

Case 2: the angle between the line between the first auxiliary target 22 and the auxiliary camera 16 and the vertical direction is greater than α, the monitoring camera 13 moves outward along the horizontal guide rail 11 and moves upward along the vertical guide rail 12 at the same time, and the horizontal guide rail 11 and The ratio of the moving speed of the vertical guide rail 12 is tanβ, until the angle between the line between the first auxiliary target 22 and the auxiliary camera 16 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 16 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. The road surveillance camera anti-shake device based on two-dimensional motion compensation is characterized in that it includes a camera two-dimensional adjustment module and an auxiliary target module; Described camera two-dimensional adjustment module comprises horizontal guide rail (11) and vertical guide rail (12), monitoring camera (13) can move horizontally along horizontal guide rail (11), moves up and down along vertical guide rail (12); Monitoring camera (13) ) bottom is connected to the horizontal support end of the cantilever beam through the rotating shaft (14); The rotating shaft (14) is a hole shaft matching structure, and the shaft can swing freely in the hole; the bottom of the monitoring camera (13) is connected to the shaft structure in the hole shaft matching structure, and the bottom of the shaft structure is connected to the center of gravity adjustment block (15), the cantilever beam The horizontal support ends of the shaft are connected to the two ends of the hole structure in the hole shaft matching structure; The camera two-dimensional adjustment module also includes an auxiliary camera (16) aiming at the auxiliary target module; The auxiliary target module includes a vertically arranged mounting plate (21), a first auxiliary target (22) and a second auxiliary target (23) arranged up and down on the mounting plate (21); the first auxiliary target (22 ) and the second auxiliary target (23) in the field of view of the auxiliary camera (16); (23) and the angle between the connection line of the auxiliary camera (16) and the vertical direction is β. 2. The road surveillance camera anti-shake device based on two-dimensional motion compensation according to claim 1, characterized in that, the first auxiliary target (22) and the second auxiliary target (23) are infrared band LEDs, The auxiliary camera (16) is an infrared band CCD. 3. The road surveillance camera anti-shake device based on two-dimensional motion compensation according to claim 1, characterized in that, the first auxiliary target (22) and the second auxiliary target (23) all point to the auxiliary camera (16) ) radiate r-rays, and the auxiliary camera (16) is an r-ray receiver. 4. a road monitoring camera anti-shake method based on two-dimensional motion compensation realized on the road monitoring camera anti-shake device based on two-dimensional motion compensation according to claim 1, is characterized in that, comprises the following steps: Step a, if: Case 1, the angle between the line of the first auxiliary target (22) and the auxiliary camera (16) and the vertical direction is less than α, the monitoring camera (13) moves outward along the horizontal guide rail (11), or the monitoring camera (13) Move downward along the vertical guide rail (12), or the monitoring camera (13) moves outwards along the horizontal guide rail (11) simultaneously, and moves downward along the vertical guide rail (12), or the monitoring camera (13) alternately moves along the horizontal guide rail ( 11) move outwards, move down along the vertical guide rail (12), until the angle between the line between the first auxiliary target (22) and the auxiliary camera (16) and the vertical direction is equal to α, enter step b; Situation 2, the angle between the connection line of the first auxiliary target (22) and the auxiliary camera (16) and the vertical direction is greater than α, the monitoring camera (13) moves inwardly along the horizontal guide rail (11), or the monitoring camera (13) Move upward along the vertical guide rail (12), or the monitoring camera (13) moves inward along the horizontal guide rail (11) and moves upward along the vertical guide rail (12) at the same time, or the monitoring camera (13) alternately moves along the horizontal guide rail (11) Move inwardly, move upward along the vertical guide rail (12), until the angle between the line of the first auxiliary target (22) and the auxiliary camera (16) and the vertical direction is equal to α, enter step b; Case three, the angle between the line connecting the first auxiliary target (22) and the auxiliary camera (16) and the vertical direction is equal to α, and directly enters step b; Step b. If: Case one, the angle between the line of the second auxiliary target (23) and the auxiliary camera (16) and the vertical direction is less than β, and the monitoring camera (13) moves outwards along the horizontal guide rail (11) simultaneously, along the vertical guide rail ( 12) Move upwards, and the ratio of the moving speed of the horizontal guide rail (11) to the vertical guide rail (12) is tanα, until the angle between the line connecting the second auxiliary target (23) and the auxiliary camera (16) and the vertical direction is equal to β; Situation two, the angle between the connection line of the second auxiliary target (23) and the auxiliary camera (16) and the vertical direction is greater than β, and the monitoring camera (13) moves inwardly along the horizontal guide rail (11) simultaneously, along the vertical guide rail ( 12) Move downward, and the ratio of the moving speed of the horizontal guide rail (11) to the vertical guide rail (12) is tanα, until the clamping line between the second auxiliary target (23) and the auxiliary camera (16) and the vertical direction angle equal to β; Case 3: The angle between the line connecting the second auxiliary target (23) and the auxiliary camera (16) and the vertical direction is equal to β, and the process ends. 5. a road monitoring camera anti-shake method based on two-dimensional motion compensation realized on the road monitoring camera anti-shake device based on two-dimensional motion compensation according to claim 1, is characterized in that, comprises the following steps: Step a, if: Case 1, the angle between the line of the second auxiliary target (23) and the auxiliary camera (16) and the vertical direction is less than β, the monitoring camera (13) moves outwards along the horizontal guide rail (11), or the monitoring camera (13) Move downward along the vertical guide rail (12), or the monitoring camera (13) moves outwards along the horizontal guide rail (11) simultaneously, and moves downward along the vertical guide rail (12), or the monitoring camera (13) alternately moves along the horizontal guide rail ( 11) move outwards, move down along the vertical guide rail (12), until the angle between the line between the second auxiliary target (23) and the auxiliary camera (16) and the vertical direction is equal to β, enter step b; Case two, the angle between the line of the second auxiliary target (23) and the auxiliary camera (16) and the vertical direction is greater than β, the monitoring camera (13) moves inward along the horizontal guide rail (11), or the monitoring camera (13) Move upward along the vertical guide rail (12), or the monitoring camera (13) moves inward along the horizontal guide rail (11) and moves upward along the vertical guide rail (12) at the same time, or the monitoring camera (13) alternately moves along the horizontal guide rail (11) Move inwardly, move upward along the vertical guide rail (12), until the angle between the line of the second auxiliary target (23) and the auxiliary camera (16) and the vertical direction is equal to β, enter step b; Case three, the angle between the line between the second auxiliary target (23) and the auxiliary camera (16) and the vertical direction is equal to β, and directly enters step b; Step b. If: Situation 1, the angle between the connection line of the first auxiliary target (22) and the auxiliary camera (16) and the vertical direction is less than α, and the monitoring camera (13) moves inwardly along the horizontal guide rail (11) at the same time, along the vertical guide rail ( 12) Move downward, and the ratio of the moving speed of the horizontal guide rail (11) to the vertical guide rail (12) is tanβ, until the clamping line between the first auxiliary target (22) and the auxiliary camera (16) and the vertical direction angle equal to α; Situation two, the angle between the connection line of the first auxiliary target (22) and the auxiliary camera (16) and the vertical direction is greater than α, and the monitoring camera (13) moves outwards along the horizontal guide rail (11) simultaneously, along the vertical guide rail ( 12) Move upwards, and the ratio of the moving speed of the horizontal guide rail (11) to the vertical guide rail (12) is tanβ, until the angle between the line connecting the first auxiliary target (22) and the auxiliary camera (16) 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 (16) and the vertical direction is equal to α, and the process ends.