CN110933372B - PTZ-based target tracking type monitoring method - Google Patents
PTZ-based target tracking type monitoring method Download PDFInfo
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- CN110933372B CN110933372B CN201911219105.5A CN201911219105A CN110933372B CN 110933372 B CN110933372 B CN 110933372B CN 201911219105 A CN201911219105 A CN 201911219105A CN 110933372 B CN110933372 B CN 110933372B
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 28
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000009434 installation Methods 0.000 claims abstract description 7
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 claims description 3
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
The invention discloses a target tracking type monitoring method based on PTZ, which comprises the following steps: s1, inputting the sn, absolute coordinates and ip address of a millimeter wave radar into a central system, and inputting the sn, absolute coordinates, installation height and ip address of an intelligent dome camera; s2, the millimeter wave radar packages information of a target, x and y coordinates relative to the millimeter wave radar and sn number of the millimeter wave radar into json format data and sends the json format data to a central system; s3, the central system performs data processing, calculates to obtain a Pan value and a Tilt value which are reached by the spherical machine, and obtains a Zoom value which needs focusing of the spherical machine according to the distance between the target and the spherical machine; s4, calculating to obtain a PTZ value which should be rotated; s5, converting the PTZ value into a PTZ instruction and transmitting the PTZ instruction to the spherical camera corresponding to the sn number to realize rotation of the cradle head and zoom of the lens. The invention has the advantages that: the target can be tracked, the target is ensured not to be lost in the monitoring range, the target can be clearly amplified, the target can be conveniently identified, and the resource waste is avoided.
Description
Technical Field
The invention relates to the technical field of security protection, in particular to a target tracking type monitoring method based on PTZ.
Background
At present, the common security monitoring method on the market can only monitor a certain area and a certain direction, can not realize 360-degree full coverage of one monitoring, and can not track and amplify targets. If a plurality of monitoring cameras are adopted to realize the full coverage of the area, the resource waste is caused, and the pain point problems such as the monitoring dead angle and the like occur.
Disclosure of Invention
The technical problem to be solved by the invention is to provide the PTZ-based target tracking type monitoring method which can track the target, ensure that the target is not lost in the monitoring range, can be amplified clearly, is convenient for identifying the target and avoids resource waste.
In order to solve the technical problems, the technical scheme provided by the invention is as follows: a target tracking type monitoring method based on PTZ comprises the following steps:
s1, inputting the sn number, absolute coordinates and ip address of a millimeter wave radar and the sn number, absolute coordinates, installation height and ip address of an intelligent dome camera into a central system, and storing the sn number, absolute coordinates, installation height and ip address into a system database;
s2, when a target enters a monitorable area, the millimeter wave radar packages information of the target, x and y coordinates relative to the millimeter wave radar and sn number of the millimeter wave radar into json format, and sends the json format to a central system;
s3, the central system performs data processing, finds the absolute coordinates of the corresponding millimeter wave radar in the database according to the sn number of the millimeter wave radar in the json format data, calculates the absolute coordinates of the target through relative coordinate system conversion by combining the relative coordinate information of the target in the json format data, can acquire the absolute coordinates of the known intelligent dome camera from the database, compares the absolute coordinates with the absolute coordinates of the target, finds the intelligent dome camera nearest to the target, obtains the sn number of the dome camera, calculates the Pan value and the Tilt value reached by the dome camera through geometric angles, and obtains the Zoom value required to be focused by the dome camera according to the distance between the target and the dome camera;
s4, comparing the obtained Pan value, tilt value and Zoom value with the Pan value, tilt value and Zoom value of the original intelligent ball machine, and calculating to obtain a PTZ value which should be rotated;
s5, converting the PTZ value into a PTZ instruction and transmitting the PTZ instruction to the spherical camera corresponding to the sn number to realize rotation of the cradle head and zoom of the lens, and realize the function of monitoring and tracking the target.
Further, in the step S3, after the absolute coordinates of the known intelligent ball machine are obtained, the absolute coordinates are stored as a dictionary set.
Further, in the step S2, the sn number encapsulated into json format is sent to the central system in a wireless transmission manner, where the central system and the wireless network are located in the same frequency band.
The beneficial effects of the invention are as follows: according to the PTZ-based target tracking type monitoring method, whether targets appear in an area is monitored by adopting the millimeter wave radar, when the targets appear, the millimeter wave radar sends target coordinate information to the central system for processing, the central system analyzes and processes the target information after receiving the target information of the millimeter wave radar and generates a PTZ control instruction which can be identified by a corresponding intelligent dome camera to be transmitted to the intelligent dome camera, and the intelligent dome camera finishes locking the targets through pan-tilt movement and lens zoom, so that the PTZ-based target tracking type monitoring is realized.
Drawings
Fig. 1 is a control analysis diagram of a PTZ-based target tracking type monitoring method according to the present invention.
Fig. 2 is a logic block diagram of a PTZ-based target tracking type monitoring method of the present invention.
Fig. 3 is a graph of geometric angle calculations based on Pan values for a PTZ target tracking type monitoring method of the present invention.
Fig. 4 is a geometric angle calculation chart of Tilt value and Zoom value based on the PTZ target tracking type monitoring method.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Referring to the accompanying drawings, the PTZ-based target tracking type monitoring method comprises the following steps of:
s1, inputting the sn number, absolute coordinates and ip address of a millimeter wave radar and the sn number, absolute coordinates, installation height and ip address of an intelligent dome camera into a central system, and storing the sn number, absolute coordinates, installation height and ip address into a system database;
s2, when a target enters a monitorable area, the millimeter wave radar packages information of the target, x and y coordinates relative to the millimeter wave radar and sn number of the millimeter wave radar into json format, and sends the json format to a central system;
s3, the central system performs data processing, finds the absolute coordinates of the corresponding millimeter wave radar in the database according to the sn number of the millimeter wave radar in the json format data, calculates the absolute coordinates of the target through relative coordinate system conversion by combining the relative coordinate information of the target in the json format data, can acquire the absolute coordinates of the known intelligent dome camera from the database, compares the absolute coordinates with the absolute coordinates of the target, finds the intelligent dome camera nearest to the target, obtains the sn number of the dome camera, calculates the Pan value and the Tilt value reached by the dome camera through geometric angles, and obtains the Zoom value required to be focused by the dome camera according to the distance between the target and the dome camera;
s4, comparing the obtained Pan value, tilt value and Zoom value with the Pan value, tilt value and Zoom value of the original intelligent ball machine, and calculating to obtain a PTZ value which should be rotated;
s5, converting the PTZ value into a PTZ instruction and transmitting the PTZ instruction to the spherical camera corresponding to the sn number to realize rotation of the cradle head and zoom of the lens, and realize the function of monitoring and tracking the target.
In the step S2, after the absolute coordinates of the known intelligent ball machine are obtained, the absolute coordinates are stored as a dictionary set, so that the next comparison is convenient.
In the step S2, sn numbers packaged into json format are sent to the central system in a wireless transmission mode, the central system and the wireless network are located in the same frequency band, transmission is carried out through the wireless network, wiring is avoided, and the wireless transmission system is convenient to use.
The working principle of the invention is as follows: according to the PTZ-based target tracking type monitoring method, whether targets appear in the area is monitored by adopting a millimeter wave radar, and when the targets appear, the millimeter wave radar sends target coordinate information to a central system for processing. After receiving the target information of the millimeter wave radar, the central system analyzes and processes the target information, generates a PTZ control instruction which can be identified by the corresponding intelligent ball machine, and transmits the PTZ control instruction to the intelligent ball machine, and the intelligent ball machine finishes the locking of the target through the movement of the cradle head and the zoom of the lens. The target tracking method and device can be used for tracking the target, ensuring that the target is not lost in the monitoring range, clearly amplifying the target, conveniently identifying the target and avoiding the resource waste of monitoring the same area by a plurality of monitoring devices.
The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the invention, and is not meant to limit the scope of the invention, but to limit the invention to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (3)
1. The PTZ-based target tracking type monitoring method is characterized by comprising the following steps of:
s1, inputting the sn number, absolute coordinates and ip address of a millimeter wave radar and the sn number, absolute coordinates, installation height and ip address of an intelligent dome camera into a central system, and storing the sn number, absolute coordinates, installation height and ip address into a system database;
s2, when a target enters a monitorable area, the millimeter wave radar packages information of the target, x and y coordinates relative to the millimeter wave radar and sn number of the millimeter wave radar into json format, and sends the json format to a central system;
s3, the central system performs data processing, finds the absolute coordinates of the corresponding millimeter wave radar in the database according to the sn number of the millimeter wave radar in the json format data, calculates the absolute coordinates of the target through relative coordinate system conversion by combining the relative coordinate information of the target in the json format data, can acquire the absolute coordinates of the known intelligent dome camera from the database, compares the absolute coordinates with the absolute coordinates of the target, finds the intelligent dome camera nearest to the target, obtains the sn number of the dome camera, calculates the Pan value and the Tilt value reached by the dome camera through geometric angles, and obtains the Zoom value required to be focused by the dome camera according to the distance between the target and the dome camera;
s4, comparing the obtained Pan value, tilt value and Zoom value with the Pan value, tilt value and Zoom value of the original intelligent ball machine, and calculating to obtain a PTZ value which should be rotated;
s5, converting the PTZ value into a PTZ instruction and transmitting the PTZ instruction to the spherical camera corresponding to the sn number to realize rotation of the cradle head and zoom of the lens, and realize the function of monitoring and tracking the target.
2. The PTZ-based target tracking type monitoring method according to claim 1, wherein: in the step S3, after the absolute coordinates of the known intelligent ball machine are obtained, the absolute coordinates are stored as a dictionary set.
3. The PTZ-based target tracking type monitoring method according to claim 1, wherein: in the step S2, the sn number packaged into the json format is sent to the central system in a wireless transmission mode, and the central system and the wireless network are located in the same frequency band.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111586357A (en) * | 2020-05-08 | 2020-08-25 | 深圳市万佳安人工智能数据技术有限公司 | Monitoring device and method for automatic focusing of multiple monitoring cameras |
| CN112489438B (en) * | 2020-11-19 | 2022-09-27 | 公安部第三研究所 | Radar and dome camera linkage system and method for realizing mobile target data calibration |
| CN113286080A (en) * | 2021-05-18 | 2021-08-20 | 中国民用航空总局第二研究所 | Scene monitoring system and video linkage tracking and enhanced display method and device |
| CN113064156B (en) * | 2021-06-01 | 2021-11-19 | 北京高普乐光电科技股份公司 | Radar and photoelectric linkage tracking method and device |
| CN113542695B (en) * | 2021-07-27 | 2024-04-12 | 安徽云森物联网科技有限公司 | Full-automatic regional monitoring system for internet of things |
| CN113573022B (en) * | 2021-07-27 | 2024-03-26 | 安徽云森物联网科技有限公司 | Automatic target tracking method based on millimeter wave radar and PTZ (pulse-to-pulse) holder |
| CN114302059A (en) * | 2021-12-27 | 2022-04-08 | 维坤智能科技（上海）有限公司 | Three-dimensional online intelligent inspection system and method thereof |
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