CN105388923A - Pre-configuration method and system for controlling different dome cameras to output same rotating speed - Google Patents

Pre-configuration method and system for controlling different dome cameras to output same rotating speed Download PDF

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Publication number
CN105388923A
CN105388923A CN201510750724.2A CN201510750724A CN105388923A CN 105388923 A CN105388923 A CN 105388923A CN 201510750724 A CN201510750724 A CN 201510750724A CN 105388923 A CN105388923 A CN 105388923A
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ball machine
speed
cloud terrace
machine
forecourt
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CN105388923B (en
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叶小明
李玉天
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Zhejiang Uniview Technologies Co Ltd
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Zhejiang Uniview Technologies Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
    • G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement

Abstract

The invention relates to a pre-configuration method and system for controlling different dome cameras to output a same rotating speed. Parameter pre configuration is carried out on all dome cameras in a monitoring system. When a control system of the monitoring system sends a same speed control parameter in practical application, matching with actual speed control parameters, obtained by pre configuration, of all dome cameras is carried out and the dome cameras are controlled based on the actual speed control parameters, so that all dome cameras are controlled to move at the same rotating speed. Therefore, during cloud platform switching, the picture of an image collected by the monitoring system changes flatly, thereby realizing the good user experience. Especially when a professional keyboard is used for controlling dome cameras, the user can obtain the good control experience.

Description

A kind of method for pre-configuration and system controlling different ball machine output same rotational speed
Technical field
The invention belongs to safety precaution monitoring field, relate to a kind of method for pre-configuration and the system that control different ball machine output same rotational speed.
Background technology
Ball machine (i.e. ball-shaped camera) is one of monitoring frontend the most general in monitoring field, ball machine comprises The Cloud Terrace and video camera, its rotation by The Cloud Terrace controls the monitoring direction of video camera, and the rotating speed (referring to angular velocity here) of video camera is controlled by the zoom progression controlling marble forming machine, zoom progression is higher, and the rotating speed of video camera is slower.The Cloud Terrace is as the vitals controlling video camera rotation direction, and its velocity of rotation weighs the important indicator of The Cloud Terrace class height.
In a large-scale supervisory system, often use the video camera of each brand, but zero firmware, technique, software that each manufacturer's ball machine adopts are respectively different, and the rotary speed parameter of each ball machine can be caused also different.But even same brand producer, the video camera of different style also there are differences on rotating speed.Therefore, when controlling back and forth different ball machine to switch, the manipulation effect of ball machine is very bad, and user cannot use same speed parameter to control each ball machine with identical rotary speed movement, and the problems demand of different ball machine rotating speed adaptation solves.
The cloud platform rotation speed of current most of monitor supervision platform is all adjustable, and when controlling different ball machine, the rotation speed of manual adjustments The Cloud Terrace can obtain the The Cloud Terrace rotating speed that needs, but corresponding same speed control parameter, the actual revolution of different ball machine is different.In order to make different ball machine can rotate with identical speed, when switching ball machine, need the speed control parameter of each ball machine of manual configure, this is more difficult to the control of on-fixed speed, as professional cradle head control keyboard.The rotating speed of specialty cradle head control keyboard is according to the distant bar amplitude of fluctuation setting of keyboard, for the ball machine that rotating speed is slower, during direction controlling, distant bar amplitude of fluctuation wants large, for rotating speed ball machine faster, during direction controlling, distant bar amplitude of fluctuation is little, user needs the amplitude constantly adjusting distant bar to control the rotating speed of marble forming machine, obtains a good control effects with this.This change to keyboard operation, needs user to be constantly familiar with, could control preferably, not only sacrifices user's experience, uses also very inconvenient.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, provide a kind of and control method for pre-configuration and the system that different ball machine exports same rotational speed.
The object of the present invention is achieved like this: a kind of method for pre-configuration controlling different ball machine output same rotational speed, comprises the steps:
Preset the expection range of speeds that The Cloud Terrace speed level is corresponding;
Control system sends different speed control parameter to ball machine, The Cloud Terrace in this ball machine of prerotation, obtain the actual speed of this The Cloud Terrace, when The Cloud Terrace actual speed is in the expection range of speeds, speed control parameter corresponding for this actual speed and the expection range of speeds are saved in this ball machine control module correspondingly, realize ball machine and export the pre-configured of the speed control parameter of expection rotating speed;
Control system sends identical speed control parameter to each ball machine, and each ball motor speed controling parameters that each ball machine control module coupling expection range of speeds is corresponding also sends to corresponding ball machine, controls each ball machine and exports identical rotating speed.
Further, described speed control parameter is The Cloud Terrace speed level.
Further, preserve speed control parameter corresponding to The Cloud Terrace actual speed correspondingly and expect that the range of speeds comprises the steps:
Step I, obtain the The Cloud Terrace speed level value range 1 ~ M when forecourt machine, M is positive integer, and M≤N, N are the maximal value of systemic presupposition The Cloud Terrace speed level;
Step II, control system configuration is positive integer when the The Cloud Terrace speed level of forecourt machine is Ni, Ni, and 1≤Ni≤M, when The Cloud Terrace speed level is Ni, the expection range of speeds of ball machine is P ni~ P niNi, P niNi>P ni, control system calculates the adaptive speed level M1 of The Cloud Terrace when forecourt machine and is sent to current ball machine:
M1＝Ni×(M/N)；
Step III, obtains by the The Cloud Terrace rotated when forecourt machine the angular velocity Q1 working as forecourt machine;
Step IV, compares angular velocity Q1 and the expection range of speeds, works as P ni≤ Q1≤P niNitime, speed level M1 is saved in the control module of forecourt machine by control system; Otherwise, enter step V;
Step V, control system calculates the adaptive speed level Mn of The Cloud Terrace when forecourt machine for n-th time, and n is positive integer and n >=2, and the computing formula of Mn is:
Mn＝Mn-1+((P Ni+P NiNi)/2-Qn-1)×(M1/Q1+M2/Q2+….+Mn-1/Qn-1)/n-1，
In formula, Mn, Mn-1 ..., M2, M1 represent control system respectively n-th time, (n-1)th time ..., calculate for the 2nd time, the 1st time when the adaptive speed level of forecourt machine head, Qn-1 ..., Q2, Q1 represent control system respectively (n-1)th time ..., the angular velocity that calculates when forecourt machine for the 2nd time, the 1st time, repeat step III and step IV.
Further, described step III adopts image matching algorithm to calculate the angular velocity Q1 of ball machine.
Further, the concrete steps of described image matching algorithm are:
A. gather the initial pictures before forecourt machine head rotates, by the size of image down to 8 × 8,64 pixels altogether, meanwhile, simplified image color, will reduce rear image and transfer 64 grades of gray scales to, and the grey scale pixel value of the i-th row jth row is designated as S ij, obtain the Matrix List S of 8 × 8, S=S ij, i, j are positive integer, 1≤i≤8,1≤j≤8;
The average gray value V1 of the image pixel gray level b. after computational short cut color;
C. the eigenmatrix S1 of 8 × 8 is set up, S1=S1 ij, S1 ijthe value of the i-th row jth row of representation feature matrix, by image pixel gray level value S ijcompare with average gray value V1, S ijduring>=V1, S1 ij=1; Otherwise, S1 ij=0;
D. rotate the The Cloud Terrace when forecourt machine and gather image, recording the rotation time t ' of The Cloud Terrace when collecting every two field picture, and step a-c is repeated to the image gathered, obtaining eigenmatrix the S '=S ' of present image ij, S ' ijthe value of the i-th row jth row of representation feature matrix;
E. each element numerical value one_to_one corresponding of the matrix S 1 of initial pictures before the eigenmatrix S ' of image gathered when forecourt machine and cloud platform rotation is contrasted, count matrix numerical value identical time quantity St;
F. the every frame picture obtained is enclosed to the cloud platform rotation k when forecourt machine and all carries out the process of step a-e, obtain the maximum image of St and be image when ball machine rotates k circle, the angular velocity Q1 of ball machine:
Q1＝k×π/t；
In formula, t be St maximum time cloud platform rotation time corresponding to image, k is positive integer and k >=1.
Further, described step III acquisition when the angular velocity Q1 step of forecourt machine is:
Before cloud platform rotation, obtain the horizontal-shift angle L1 of The Cloud Terrace, after rotating certain time interval T, The Cloud Terrace stops, and again obtains the horizontal-shift angle L2 of The Cloud Terrace, obtains the rotational angular velocity Q1 when forecourt machine:
Q1＝(L2-L1)/T。
Further, described horizontal-shift angle is detected by angular transducer, and this horizontal shift angle is sent to control system by angular transducer.
Utilize method of the present invention, invention additionally provides a kind of pre-configuration system controlling different ball machine output same rotational speed, comprise control system, multiple ball machine and multiple ball machine control module, described ball machine and described ball machine control module one_to_one corresponding, it is characterized in that, described control system presets the expection range of speeds corresponding to The Cloud Terrace speed level, and send identical The Cloud Terrace speed level to different ball machines, each ball machine control module is mated the The Cloud Terrace speed level of each ball machine corresponding to the expection range of speeds respectively and is sent to corresponding ball machine, control each ball machine and export identical rotating speed,
The control module of described ball machine comprises:
Prerotation ball machine head obtains the The Cloud Terrace prerotation module of The Cloud Terrace actual speed;
The Cloud Terrace actual speed and the expection range of speeds are made comparisons, obtains the comparison module of actual speed The Cloud Terrace speed level corresponding in the expection range of speeds;
For the parameter memory module that The Cloud Terrace speed level corresponding for actual speed and the expection range of speeds are stored correspondingly.
Beneficial effect of the present invention: the present invention is pre-configured by carrying out parameter to each ball machine in supervisory system, make in actual applications, when the control system of supervisory system sends same speed control parameter, mate the pre-configured each ball machine obtained actual speed controling parameters and with this actual speed controling parameters to control this ball machine, control each ball machine with same rotary speed movement, the image frame change that when The Cloud Terrace is switched, supervisory system gathers is comparatively mild, obtains good Consumer's Experience with this.Especially, when using professional Keyboard Control ball machine, user can be controlled to experience preferably.
By the mode of iteration to each ball machine head actual speed corresponding speed control parameter preserving in the expection range of speeds, the parameter realizing ball machine is pre-configured, calculates simple, conveniently calls the parameter that each ball machine is pre-configured in actual applications.In addition, calculate the angular velocity of ball machine rotation according to image matching algorithm, travelling speed and the precision of system can be improved, the rotational angular velocity of ball machine is controlled accurately.In addition, the rotational angular velocity of ball machine can also be calculated by the change of the horizontal-shift angle obtaining The Cloud Terrace in ball machine, simplify account form further.
Accompanying drawing explanation
Fig. 1 is the structural representation of embodiment of the present invention supervisory system;
Fig. 2 is the pre-configured schematic diagram of embodiment of the present invention The Cloud Terrace.
Embodiment
Below in conjunction with accompanying drawing, also by specific embodiment, the invention will be further described, and following examples are descriptive, are not determinate, can not limit protection scope of the present invention with this.
A kind of pre-configuration system controlling different ball machine output same rotational speed of the present invention, see Fig. 1, the present embodiment comprises multiple ball machine and multiple ball machine control module, ball machine and ball machine control module one_to_one corresponding, and multiple ball machine control module is controlled by a control system.Ball machine comprises video camera and controls the The Cloud Terrace of video camera rotation, The Cloud Terrace can select fixing The Cloud Terrace or electric platform, The Cloud Terrace realizes the rotation of horizontal direction by the driving of horizontal drive motor, realized the rotation of vertical direction by the driving of vertical driving motor, and then drive video camera to rotate towards different directions.Usually, ball machine rotating speed (present embodiment medium speed is angular velocity) refers to the rotating speed of ball machine under 1 grade of zoom, and the zoom progression of ball machine is higher, and the rotating speed of ball machine is slower.Conveniently to contrast, the present embodiment multiple ball machine is carried out rotating speed adaptive pre-configured before, under all ball machines are all positioned at 1 grade of zoom.
Ball machine control module comprises The Cloud Terrace prerotation module, comparison module and parameter memory module.Wherein, The Cloud Terrace prerotation module is used for prerotation ball machine head and obtains The Cloud Terrace actual speed, The Cloud Terrace actual speed and the expection range of speeds are made comparisons by comparison module, obtain the The Cloud Terrace speed control parameter that actual speed is corresponding in the expection range of speeds, in the present embodiment, the speed control parameter of The Cloud Terrace is The Cloud Terrace speed level, and parameter memory module is used for The Cloud Terrace speed level corresponding for actual speed and expects what the range of speeds stored correspondingly.
In supervisory system, when control system sends an identical The Cloud Terrace speed level to multiple ball machine, if do not carry out pre-configured to each ball machine in supervisory system, each ball machine may export different rotating speeds, poor user experience, in order to solve when control system sends same The Cloud Terrace speed level to multiple ball machine, the problem that multiple ball machine rotating speed is identical, a kind of method for pre-configuration controlling different ball machine output same rotational speed of the present invention, specifically comprises:
Step one, presets the expection range of speeds that The Cloud Terrace speed level is corresponding, as shown in table 1:
Table 1
System The Cloud Terrace speed level The range of speeds (rad/s)
1 P 1～P 11
2 P 2～P 22
… …
Ni P Ni～P NiNi
…… ……
N P N～P NN
In table 1, Ni, N are positive integer, and N represents the maximal value of predetermined system The Cloud Terrace speed level, 1≤Ni≤N, P 1, P 11; P 2, P 22; P ni, P niNi; P n, P nNbe positive number, and P 11>P 1, P 22>P 2..., P niNi>P ni..., P nN>P n.Send to ball machine 1 to ball machine n when control system sets a unified The Cloud Terrace speed level Ni, ball machine 1 to the expection range of speeds of ball machine n output speed is: P ni~ P niNi.
Step 2, control system sends different The Cloud Terrace speed level to ball machine, The Cloud Terrace in this ball machine of prerotation, obtain the actual speed of this The Cloud Terrace, when The Cloud Terrace actual speed is in the expection range of speeds, The Cloud Terrace speed level corresponding for this actual speed and the expection range of speeds are saved in this ball machine control module correspondingly, realize ball machine and export the pre-configured of the speed control parameter of expection rotating speed.
See Fig. 2, in this step by the process of prerotation acquisition The Cloud Terrace actual speed be:
Step I, obtain the speed level value range 1 ~ M when forecourt machine head, M is positive integer, and M≤N.Ball machine head speed level in present example is 1 ~ 256.
Step II, control system configuration is positive integer when the The Cloud Terrace speed level of forecourt machine is Ni, Ni, and Ni≤M.Control system is by the adaptive speed level M1 of The Cloud Terrace that calculates when forecourt machine and be sent to this ball machine, and the computing formula of the speed level M1 of The Cloud Terrace adaptation is:
M1＝Ni×(M/N)。
When the M1 calculating acquisition is not integer, by the mode rounded up, M1 is rounded.
Step III, obtains the rotational angular velocity Q1 when forecourt machine by The Cloud Terrace prerotation.
The The Cloud Terrace that the present embodiment adopts image matching algorithm to obtain when forecourt machine rotates k circle in the horizontal direction, k is positive integer and k >=1, namely ball machine rotational angular velocity Q1 during cloud platform rotation k × 360 °, wherein, image matching algorithm adopts perception hash algorithm or Character Area Matching algorithm, present example adopts perception hash algorithm to calculate the angular velocity Q1 of each ball machine, and concrete steps are:
A. gather the initial pictures before forecourt machine head rotates, by the size of image down to 8 × 8,64 pixels, this is done to the image difference abandoning different size, the image of ratio brings, facilitate subsequent calculations altogether.Meanwhile, simplified image color, will reduce rear image and transfer 64 grades of gray scales to, namely all pixels only have 64 kinds of colors altogether.The grey scale pixel value of the i-th row jth row is designated as S ij, obtain the Matrix List S of 8 × 8, S=S ij, i, j are positive integer, 1≤i≤8,1≤j≤8.
The average gray value V1 of the image pixel gray level b. after computational short cut color.
C. the eigenmatrix S1 of 8 × 8 is set up, S1=S1 ij, S1 ijthe value of the i-th row jth row of representation feature matrix, i, j are positive integer, 1≤i≤8,1≤j≤8.Image pixel gray level value S after color will be simplified ijcompare with average gray value V1, S ijduring>=V1, S1 ij=1; Otherwise, S1 ij=0, obtain the eigenmatrix S1 of 8 × 8.
D. rotate the The Cloud Terrace when forecourt machine and gather image, recording the rotation time t ' of The Cloud Terrace when collecting every two field picture, and step a-c is repeated to the image gathered, obtaining eigenmatrix the S '=S ' of present image ij, S ' ijthe value of the i-th row jth row of representation feature matrix, i, j are positive integer, 1≤i≤8,1≤j≤8.
E. each element numerical value one_to_one corresponding of the matrix S 1 of initial pictures before the eigenmatrix S ' of image gathered when forecourt machine and cloud platform rotation is contrasted, count matrix numerical value identical time quantity St.
F. the every frame picture obtained is enclosed to the cloud platform rotation k when forecourt machine and all carries out the process of step a-e, obtain the maximum image of St and be image when ball machine rotates k circle, ball machine Output speed Q1:
Q1＝k×π/t；
In formula, t be St maximum time cloud platform rotation time corresponding to image.
In the present embodiment, when the The Cloud Terrace of forecourt machine rotates 360 ° in the horizontal direction, gather multiple image, carry out process and calculate ball machine rotational angular velocity Q1.
The acquisition ball machine rotational angular velocity of the present invention to step III additionally provides another kind of mode, the rotation axis of The Cloud Terrace horizontal drive motor is installed the angular transducer for detecting cloud platform rotation angle, and angular transducer can select existing conventional angular transducer type as required.Particularly, in the present embodiment, high-precision tilt angle sensor SCA100T selected by angular transducer.
Before cloud platform rotation, angular transducer is utilized to detect the horizontal-shift angle L1 of The Cloud Terrace, after rotating certain time interval T, The Cloud Terrace stops, again detect the horizontal-shift angle L2 of The Cloud Terrace, obtain angular velocity Q1, the horizontal-shift angle L1 of detection and horizontal-shift angle L2 is all sent to control system by angular transducer, is calculated the rotational angular velocity Q1 obtaining ball machine by control system:
Q1＝(L2-L1)/T。
Certainly, the vertical shift angle before also can detecting cloud platform rotation and when stopping is to calculate the rotational angular velocity of ball machine.
Step IV, by angular velocity Q1 and expection range of speeds P ni~ P niNicompare, if coupling, i.e. P ni≤ Q1≤P niNi, then configuration successful, speed level M1 is saved in the ball machine control module of forecourt machine by control system.Otherwise, if do not mate, then carry out taking turns calibration, enter step V;
Step V, control system calculates the adaptive speed level Mn of The Cloud Terrace for n-th time, and n is positive integer and n >=2, and the computing formula of Mn is:
Mn＝Mn-1+((P Ni+P NiNi)/2-Qn-1)×(M1/Q1+M2/Q2+….+Mn-1/Qn-1)/n-1，
In formula, Mn, Mn-1 ..., M2, M1 represent control system respectively n-th time, (n-1)th time ..., calculate for the 2nd time, the 1st time when the adaptive speed level of forecourt machine head, Qn-1 ..., Q2, Q1 represent control system respectively (n-1)th time ..., the angular velocity that calculates when forecourt machine for the 2nd time, the 1st time.When the Mn calculating acquisition is not integer, by the mode rounded up, Mn is rounded.
Repeat step III and step IV, until the ball machine angular velocity Qn calculated for n-th time satisfies condition: P ni≤ Qn≤P niNi, speed level Mn is saved in the ball machine control module of forecourt machine by control system, when the rotating speed of forecourt machine can reach the expection rotating speed P of system configuration speed level Ni ni~ P niNiin.
Control different ball machine by the mode of above-mentioned iteration and export identical velocity of rotation, for ball machine A and B of friction speed parameter, when the speed step of set-up of control system is fixed, the adaptive speed level of the The Cloud Terrace that control system obtains ball machine A and ball machine B respectively rotational angular velocity by iterative computation is corresponding when expecting within the scope of rotational angular velocity, and adaptive for the The Cloud Terrace calculating the correspondence obtained speed level is sent to ball machine A and ball machine B, during control marble forming machine A, ball machine A actual speed is within the scope of expection rotational angular velocity, when being switched to ball machine B control, ball machine B actual speed is equally within the scope of expection rotational angular velocity, the image frame change that when The Cloud Terrace is switched, supervisory system gathers is comparatively mild, good Consumer's Experience is obtained with this.
Step 3, control system sends identical The Cloud Terrace speed level to each ball machine, and each ball machine head speed level that each ball machine control module coupling expection range of speeds is corresponding also sends to corresponding ball machine, controls each ball machine and exports identical rotating speed.
When the invention enables the rotating speed grade sent when control system to fix, mated through the pre-configured speed control parameter be stored in this ball machine control module by the ball machine control module of each ball machine, and this speed control parameter is sent to corresponding ball machine, control marble forming machine rotates in the expection range of speeds, obtains good user and controls to experience.
The above; it is only preferred embodiment of the present invention; not the present invention is imposed any restrictions, every above embodiment is done according to the technology of the present invention essence any simple modification, change and equivalent structure change, all still belong to the protection domain of technical solution of the present invention.

Claims (8)

1. control the method for pre-configuration that different ball machine exports same rotational speed, it is characterized in that, comprise the steps:
Preset the expection range of speeds that The Cloud Terrace speed level is corresponding;
Control system sends different speed control parameter to ball machine, The Cloud Terrace in this ball machine of prerotation, obtain the actual speed of this The Cloud Terrace, when The Cloud Terrace actual speed is in the expection range of speeds, speed control parameter corresponding for this actual speed and the expection range of speeds are saved in this ball machine control module correspondingly, realize ball machine and export the pre-configured of the speed control parameter of expection rotating speed;
Control system sends identical speed control parameter to each ball machine, and each ball motor speed controling parameters that each ball machine control module coupling expection range of speeds is corresponding also sends to corresponding ball machine, controls each ball machine and exports identical rotating speed.
2. the method for pre-configuration controlling different ball machine output same rotational speed as claimed in claim 1, it is characterized in that, described speed control parameter is The Cloud Terrace speed level.
3. the method for pre-configuration controlling different ball machine output same rotational speed as claimed in claim 2, is characterized in that, preserves speed control parameter corresponding to The Cloud Terrace actual speed correspondingly and comprises the steps: with the expection range of speeds
Step I, obtain the The Cloud Terrace speed level value range 1 ~ M when forecourt machine, M is positive integer, and M≤N, N are the maximal value of systemic presupposition The Cloud Terrace speed level;
Step II, control system configuration is positive integer when the The Cloud Terrace speed level of forecourt machine is Ni, Ni, and 1≤Ni≤M, when The Cloud Terrace speed level is Ni, the expection range of speeds of ball machine is P ni~ P niNi, P niNi>P ni, control system calculates the adaptive speed level M1 of The Cloud Terrace when forecourt machine and is sent to current ball machine:
M1＝Ni×(M/N)；
Step III, obtains by the The Cloud Terrace rotated when forecourt machine the angular velocity Q1 working as forecourt machine;
Step IV, compares angular velocity Q1 and the expection range of speeds, works as P ni≤ Q1≤P niNitime, speed level M1 is saved in the control module of forecourt machine by control system; Otherwise, enter step V;
Step V, control system calculates the adaptive speed level Mn of The Cloud Terrace when forecourt machine for n-th time, and n is positive integer and n >=2, and the computing formula of Mn is:
Mn＝Mn-1+((P Ni+P NiNi)/2-Qn-1)×(M1/Q1+M2/Q2+….+Mn-1/Qn-1)/n-1，
In formula, Mn, Mn-1 ..., M2, M1 represent control system respectively n-th time, (n-1)th time ..., calculate for the 2nd time, the 1st time when the adaptive speed level of forecourt machine head, Qn-1 ..., Q2, Q1 represent control system respectively (n-1)th time ..., the angular velocity that calculates when forecourt machine for the 2nd time, the 1st time, repeat step III and step IV.
4. the method for pre-configuration controlling different ball machine output same rotational speed as claimed in claim 3, is characterized in that, described step III adopts image matching algorithm to calculate the angular velocity Q1 of ball machine.
5. the method for pre-configuration controlling different ball machine output same rotational speed as claimed in claim 4, it is characterized in that, the concrete steps of described image matching algorithm are:
A. gather the initial pictures before forecourt machine head rotates, by the size of image down to 8 × 8,64 pixels altogether, meanwhile, simplified image color, will reduce rear image and transfer 64 grades of gray scales to, and the grey scale pixel value of the i-th row jth row is designated as S ij, obtain the Matrix List S of 8 × 8, S=S ij, i, j are positive integer, 1≤i≤8,1≤j≤8;
The average gray value V1 of the image pixel gray level b. after computational short cut color;
C. the eigenmatrix S1 of 8 × 8 is set up, S1=S1 ij, S1 ijthe value of the i-th row jth row of representation feature matrix, by image pixel gray level value S ijcompare with average gray value V1, S ijduring>=V1, S1 ij=1; Otherwise, S1 ij=0;
D. rotate the The Cloud Terrace when forecourt machine and gather image, recording the rotation time t ' of The Cloud Terrace when collecting every two field picture, and step a-c is repeated to the image gathered, obtaining eigenmatrix the S '=S ' of present image ij, S ' ijthe value of the i-th row jth row of representation feature matrix;
E. each element numerical value one_to_one corresponding of the matrix S 1 of initial pictures before the eigenmatrix S ' of image gathered when forecourt machine and cloud platform rotation is contrasted, count matrix numerical value identical time quantity St;
F. the every frame picture obtained is enclosed to the cloud platform rotation k when forecourt machine and all carries out the process of step a-e, obtain the maximum image of St and be image when ball machine rotates k circle, the angular velocity Q1 of ball machine:
Q1＝k×π/t；
In formula, t be St maximum time cloud platform rotation time corresponding to image, k is positive integer and k >=1.
6. the method for pre-configuration controlling different ball machine output same rotational speed as claimed in claim 3, it is characterized in that, the step that described step III obtains as the angular velocity Q1 of forecourt machine is:
Before cloud platform rotation, obtain the horizontal-shift angle L1 of The Cloud Terrace, after rotating certain time interval T, The Cloud Terrace stops, and again obtains the horizontal-shift angle L2 of The Cloud Terrace, obtains the rotational angular velocity Q1 when forecourt machine:
Q1＝(L2-L1)/T。
7. the method for pre-configuration controlling different ball machine output same rotational speed as claimed in claim 6, it is characterized in that, described horizontal-shift angle is detected by angular transducer, and this horizontal shift angle is sent to control system by angular transducer.
8. one kind controls the pre-configuration system that different ball machine exports same rotational speed, comprise control system, multiple ball machine and multiple ball machine control module, described ball machine and described ball machine control module one_to_one corresponding, it is characterized in that, described control system presets the expection range of speeds corresponding to The Cloud Terrace speed level, and send identical The Cloud Terrace speed level to different ball machines, each ball machine control module is mated the The Cloud Terrace speed level of each ball machine corresponding to the expection range of speeds respectively and is sent to corresponding ball machine, controls each ball machine and exports identical rotating speed;
Described ball machine control module comprises:
Prerotation ball machine head obtains the The Cloud Terrace prerotation module of The Cloud Terrace actual speed;
The Cloud Terrace actual speed and the expection range of speeds are made comparisons, obtains the comparison module of actual speed The Cloud Terrace speed level corresponding in the expection range of speeds;
For the parameter memory module that The Cloud Terrace speed level corresponding for actual speed and the expection range of speeds are stored correspondingly.
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