CN105388923B - A kind of method for pre-configuration and system controlling different ball machine output same rotational speeds - Google Patents
A kind of method for pre-configuration and system controlling different ball machine output same rotational speeds Download PDFInfo
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- 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
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Abstract
A kind of method for pre-configuration and system controlling different ball machine output same rotational speeds, by carrying out parameter pre-configuration to each ball machine in monitoring system, so that in practical applications, when the control system of monitoring system sends the same speed control parameter, matching is pre-configured the obtained actual speed control parameter of each ball machine and controls the ball machine with the actual speed control parameter, each ball machine is controlled with same rotary speed movement, so that the image frame variation of monitoring system acquisition is more gentle when holder switching, preferable user experience is obtained with this.Especially when using professional Keyboard Control ball machine, user can obtain preferably controlling experience.
Description
Technical field
The invention belongs to safety precaution monitoring fields, are related to a kind of pre-configuration side controlling different ball machine output same rotational speeds
Method and system.
Background technology
Ball machine (i.e. ball-shaped camera) is one of most common monitoring frontend in monitoring field, ball machine include holder and
Video camera, by the monitoring direction of the rotation control video camera of holder, and the zoom series by controlling ball machine is taken the photograph to control
The rotating speed (herein referring to angular speed) of camera, zoom series is higher, and the rotating speed of video camera is slower.Holder is as control video camera rotation
The important component in direction, velocity of rotation are to weigh the important indicator of holder class height.
In one large-scale monitoring system, the video camera of each brand is often used, but each manufacturer's ball machine is adopted
Zero firmware, technique, software are respectively different, and the rotary speed parameter of each ball machine can be caused also different.Even however, same
Brand producer, there is also differences on rotating speed for the video camera of different styles.Therefore, when different ball machines are controlled with switching back and forth,
The manipulation effect of ball machine is very bad, and user can not use the same speed parameter to control each ball machine and be transported with identical rotating speed
Dynamic, the problem of different ball machine rotating speeds adaptations, is urgently to be resolved hurrily.
The cloud platform rotation speed of most of monitor supervision platforms is all adjustable at present, can be manual when controlling different ball machines
The holder rotating speed that the rotation speed of holder is needed is adjusted, but the corresponding same speed control parameter, the true of different ball machines turn
Speed is different.In order to enable different ball machines can be rotated with identical speed, when switching ball machine, need to go configuration each manually
The speed control parameter of a ball machine, this is relatively difficult to the control of on-fixed speed, such as professional cradle head control keyboard.Professional holder
The rotating speed of control keyboard is set according to the distant bar amplitude of fluctuation of keyboard, for the ball machine that rotating speed is slower, when direction controlling distant bar
Amplitude of fluctuation is big, and for the faster ball machine of rotating speed, when direction controlling, distant bar amplitude of fluctuation wanted small, and user needs constantly to adjust distant
The amplitude of bar controls the rotating speed of ball machine, and a preferable control effect is obtained with this.This variation to keyboard operation needs
It wants user to be constantly familiar with, could preferably control, not only sacrifice user experience, using being above also very inconvenient.
Invention content
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of different ball machines of control to export same rotational speed
Method for pre-configuration and system.
The object of the present invention is achieved like this：A kind of method for pre-configuration controlling different ball machine output same rotational speeds, packet
Include following steps：
Preset the corresponding expected range of speeds of holder speed level；
Control system sends different speed control parameters to ball machine, and the holder in the prerotation ball machine obtains the holder
Actual speed, when holder actual speed is in the expected range of speeds, by the corresponding speed control parameter of the actual speed and expection
The range of speeds is saved in correspondingly in the ball machine control module, realizes the speed control parameter of the expected rotating speed of ball machine output
It is pre-configured；
Control system sends identical speed control parameter to each ball machine, each expected range of speeds of ball machine control module matching
Corresponding each ball machine speed control parameter is simultaneously sent to corresponding ball machine, controls each ball machine and exports identical rotating speed.
Further, the speed control parameter is holder speed level.
Further, the corresponding speed control parameter of holder actual speed and expected range of speeds packet are preserved correspondingly
Include following steps：
Step I, holder speed level the value range 1~M, M for obtaining current ball machine are positive integer, and M≤N, N are that system is pre-
If the maximum value of holder speed level；
Step II, the holder speed level that control system configures current ball machine is Ni, and Ni is positive integer, 1≤Ni≤M, cloud
When platform speed level is Ni, the expection range of speeds of ball machine is PNi~PNiNi, PNiNi>PNi, control system, which is calculated, works as forecourt
The holder adaptation speed level M1 of machine is simultaneously sent to current ball machine：
M1=Ni × (M/N)；
Step III, the angular speed Q1 of current ball machine is obtained by rotating the holder of current ball machine；
Step IV, angular speed Q1 is compared with the expected range of speeds, works as PNi≤Q1≤PNiNiWhen, control system will turn
Fast rank M1 is saved in the control module of current ball machine；Conversely, entering step V；
Step V, holder adaptation the speed level Mn, n that control system n-th calculates current ball machine are positive integer and n >=2,
The calculation formula of Mn is：
Mn=Mn-1+((PNi+PNiNi)/2-Qn-1)×(M1/Q1+M2/Q2+….+Mn-1/Qn-1)/n-1,
In formula, Mn, Mn-1 ..., M2, M1 indicate respectively control system n-th, (n-1)th time ..., the 2nd time, the 1st time calculating
Current ball machine holder is adapted to speed level, Qn-1..., Q2, Q1 indicate control system respectively (n-1)th time ..., the 2nd time, the 1st time
The angular speed of current ball machine is calculated, step III and step IV are repeated.
Further, the step III calculates the angular speed Q1 of ball machine using image matching algorithm.
Further, described image matching algorithm the specific steps are：
A. the initial pictures before current ball machine cloud platform rotation are acquired, by the size of image down to 8 × 8,64 pictures in total
Element, meanwhile, simplify image color, image after diminution is switched into 64 grades of gray scales, the grey scale pixel value that the i-th row jth arranges is denoted as Sij,
Obtain one 8 × 8 Matrix List S, S=Sij, i, j are positive integer, 1≤i≤8,1≤j≤8；
B. the average gray value V1 of the image pixel gray level after computational short cut color；
C. one 8 × 8 eigenmatrix S1, S1=S1 are establishedij, S1ijIndicate the value of the i-th row jth row of eigenmatrix,
By image pixel gray level value SijIt is compared with average gray value V1, SijWhen >=V1, S1ij=1；Conversely, S1ij=0；
D. it rotates the holder of current ball machine and acquires image, the rotation time t ' of holder when record collects every frame image,
And step a-c is repeated to the image of acquisition, obtain eigenmatrix S '=S ' of present imageij, S 'ijIndicate the i-th of eigenmatrix
The value of row jth row；
E. each of the matrix S1 of initial pictures before the eigenmatrix S ' and cloud platform rotation of the image current ball machine acquired
Element numerical value is compared, count matrix numerical value it is identical when quantity St；
F. the every frame picture obtained to the cloud platform rotation k circles of current ball machine carries out the processing of step a-e, obtains St maximums
Image be ball machine rotation k circle when image, the angular speed Q1 of ball machine：
Q1=k × π/t；
In formula, image corresponding cloud platform rotation time when t is St maximums, k is positive integer and k >=1.
Further, the angular speed Q1 steps that the step III obtains current ball machine are：
Before cloud platform rotation, the horizontal-shift angle L1 of holder is obtained, after rotating certain time interval T, holder stops, and obtains again
The horizontal-shift angle L2 of holder obtains the rotational angular velocity Q1 of current ball machine：
Q1=(L2-L1)/T.
Further, the horizontal-shift angle is detected by angular transducer, and angular transducer is by the horizontal displacement angle
It is sent to control system.
Using the method for the present invention, invention additionally provides the pre-configurations that a kind of different ball machines of control export same rotational speed
System, including control system, multiple ball machines and multiple ball machine control modules, the ball machine are a pair of with the ball machine control module one
It answers, which is characterized in that the control system presets the corresponding expected range of speeds of holder speed level, and sends identical holder
Speed level gives different ball machines, each ball machine control module to match the holder rotating speed of the corresponding each ball machine of the expected range of speeds respectively
Rank is simultaneously sent to corresponding ball machine, controls each ball machine and exports identical rotating speed；
The control module of the ball machine includes：
Prerotation ball machine holder obtains the holder prerotation module of holder actual speed；
Holder actual speed is made comparisons with the expected range of speeds, it is corresponding in the expected range of speeds to obtain actual speed
The comparison module of holder speed level；
Parameter for storing the corresponding holder speed level of actual speed and the expected range of speeds correspondingly is deposited
Store up module.
Beneficial effects of the present invention：The present invention to each ball machine in monitoring system by carrying out parameter pre-configuration so that
In practical applications, when the control system of monitoring system sends the same speed control parameter, matching pre-configuration obtains each
The actual speed control parameter of ball machine simultaneously controls the ball machine with the actual speed control parameter, controls each ball machine similarly to turn
Speed movement so that the image frame variation of monitoring system acquisition when holder switches is more gentle, and preferable user's body is obtained with this
It tests.Especially when using professional Keyboard Control ball machine, user can obtain preferably controlling experience.
Corresponding speed control parameter in the range of speeds is being expected to each ball machine holder actual speed by way of iteration
And preserve, it realizes that the parameter of ball machine is pre-configured, calculates simply, it is convenient that the parameter that each ball machine is pre-configured is carried out in practical applications
It calls.In addition, calculating the angular speed of ball machine rotation according to image matching algorithm, the speed of service and precision of system can be improved, it is right
The rotational angular velocity of ball machine is accurately controlled.Further, it is also possible to by obtaining the horizontal-shift angle of holder in ball machine
Change to calculate the rotational angular velocity of ball machine, is further simplified calculation.
Description of the drawings
Fig. 1 is the structural schematic diagram of monitoring system of the embodiment of the present invention；
Fig. 2 is the schematic diagram that holder of the embodiment of the present invention is pre-configured.
Specific implementation mode
The invention will be further described below in conjunction with the accompanying drawings and by specific embodiment, and following embodiment is descriptive
, it is not restrictive, protection scope of the present invention cannot be limited with this.
A kind of pre-configuration system of the different ball machine output same rotational speeds of control of the present invention, referring to Fig. 1, the present embodiment includes
Multiple ball machines and multiple ball machine control modules, ball machine are corresponded with ball machine control module, and multiple ball machine control modules pass through one
A control system control.Ball machine includes the holder of video camera and control video camera rotation, and fixed holder or electronic may be selected in holder
Holder, holder realize the rotation of horizontal direction by the driving of horizontal drive motor, are realized by the driving of vertical driving motor
The rotation of vertical direction, and then video camera is driven to be rotated towards different directions.In general, (the present embodiment transfer of ball machine rotating speed
Speed is angular speed) refer to rotating speed of the ball machine under 1 grade of zoom, and the zoom series of ball machine is higher, the rotating speed of ball machine is slower.For
Convenience is to comparison, and for the present embodiment before multiple ball machines are carried out with rotating speed adaptation and is pre-configured, all ball machines are respectively positioned on 1 grade of zoom
Under.
Ball machine control module includes holder prerotation module, comparison module and parameter memory module.Wherein, holder prerotation module
Holder actual speed is obtained for prerotation ball machine holder, comparison module makes comparisons holder actual speed with the expected range of speeds,
Obtain actual speed corresponding holder speed control parameter in the expected range of speeds, in the present embodiment, the speed control of holder
Parameter processed is holder speed level, and parameter memory module is used for the corresponding holder speed level of actual speed and expected rotating speed model
It encloses and correspondingly stores.
In monitoring system, when control system sends an identical holder speed level to multiple ball machines, if not right
Each ball machine in monitoring system is pre-configured, and each ball machine may export different rotating speeds, poor user experience, in order to solve
When control system sends the same holder speed level to multiple ball machines, the identical problem of multiple ball machine rotating speeds is of the invention
A kind of method for pre-configuration controlling different ball machine output same rotational speeds, specifically includes：
Step 1 presets the corresponding expected range of speeds of holder speed level, as shown in table 1：
Table 1
| System holder speed level | The range of speeds (rad/s) |
| 1 | P1~P11 |
| 2 | P2~P22 |
| … | … |
| Ni | PNi~PNiNi |
| …… | …… |
| N | PN~PNN |
In table 1, Ni, N are positive integer, and N indicates the maximum value of predetermined system holder speed level, 1≤Ni≤N, P1,
P11；P2, P22；…；PNi, PNiNi；…；PN, PNNIt is positive number, and P11>P1, P22>P2..., PNiNi>PNi..., PNN>PN.Work as control
The ball machine 1 that the unified holder speed level Ni of default one is sent to arrives ball machine n, expection of the ball machine 1 to ball machine n output rotating speeds
The range of speeds is：PNi~PNiNi。
Step 2, control system send different holder speed levels to ball machine, and the holder in the prerotation ball machine, obtaining should
The actual speed of holder, when holder actual speed is in the expected range of speeds, by the corresponding holder speed level of the actual speed
It is saved in correspondingly in the ball machine control module with the expected range of speeds, realizes the speed control of the expected rotating speed of ball machine output
The pre-configuration of parameter.
Referring to Fig. 2, the process for obtaining holder actual speed in this step by prerotation is：
Step I, speed level the value range 1~M, M for obtaining current ball machine holder are positive integer, and M≤N.It is current to implement
Ball machine holder speed level in example is 1~256.
Step II, the holder speed level that control system configures current ball machine is Ni, and Ni is positive integer, and Ni≤M.Control
System is obtained by calculation the holder adaptation speed level M1 of current ball machine and is sent to the ball machine, the speed level of holder adaptation
The calculation formula of M1 is：
M1=Ni × (M/N).
When it is not integer to calculate the M1 obtained, rounding is carried out to M1 by way of rounding up.
Step III, the rotational angular velocity Q1 of current ball machine is obtained by holder prerotation.
The holder that the present embodiment obtains current ball machine using image matching algorithm rotates k circles in the horizontal direction, and k is just whole
Ball machine rotational angular velocity Q1 when number and k >=1, i.e. cloud platform rotation k × 360 °, wherein image matching algorithm uses perceptual hash
Algorithm or Character Area Matching algorithm, present example calculate the angular speed Q1 of each ball machine using perceptual hash algorithm, specifically
Step is：
A. the initial pictures before current ball machine cloud platform rotation are acquired, by the size of image down to 8 × 8,64 pictures in total
Element, the image difference come this is done to abandon the picture strip of different sizes, ratio, convenient follow-up calculating.Meanwhile simplification figure
As color, image after diminution is switched into 64 grades of gray scales, i.e. all pixels point only has 64 kinds of colors in total.The picture that i-th row jth is arranged
Plain gray value is denoted as Sij, obtain one 8 × 8 Matrix List S, S=Sij, i, j are positive integer, 1≤i≤8,1≤j≤8.
B. the average gray value V1 of the image pixel gray level after computational short cut color.
C. one 8 × 8 eigenmatrix S1, S1=S1 are establishedij, S1ijIndicate the value of the i-th row jth row of eigenmatrix,
I, j are positive integer, 1≤i≤8,1≤j≤8.By the image pixel gray level value S after simplified colorijWith average gray value V1 into
Row compares, SijWhen >=V1, S1ij=1；Conversely, S1ij=0, obtain one 8 × 8 eigenmatrix S1.
D. it rotates the holder of current ball machine and acquires image, the rotation time t ' of holder when record collects every frame image,
And step a-c is repeated to the image of acquisition, obtain eigenmatrix S '=S ' of present imageij, S 'ijIndicate the i-th of eigenmatrix
The value of row jth row, i, j are positive integer, 1≤i≤8,1≤j≤8.
E. each of the matrix S1 of initial pictures before the eigenmatrix S ' and cloud platform rotation of the image current ball machine acquired
Element numerical value is compared, count matrix numerical value it is identical when quantity St.
F. the every frame picture obtained to the cloud platform rotation k circles of current ball machine carries out the processing of step a-e, obtains St maximums
Image be ball machine rotation k circle when image, ball machine Output speed Q1：
Q1=k × π/t；
In formula, image corresponding cloud platform rotation time when t is St maximums.
In the present embodiment, the holder of current ball machine rotates 360 ° in the horizontal direction, acquires multiple image, is handled
Calculate ball machine rotational angular velocity Q1.
The present invention additionally provides another way to the acquisition ball machine rotational angular velocity of step III, and electricity is driven in PTZ level
Angular transducer of the installation for detecting cloud platform rotation angle in the rotation axis of machine, angular transducer can select existing as needed
Conventional angular transducer type.Specifically, angular transducer selection high-precision tilt angle sensor SCA100T in the present embodiment.
Before cloud platform rotation, the horizontal-shift angle L1 of holder is detected using angular transducer, after rotating certain time interval T, cloud
Platform stops, and detects the horizontal-shift angle L2 of holder again, obtains angular speed Q1, and angular transducer is by the horizontal-shift angle of detection
Degree L1 and horizontal-shift angle L2 is sent to control system, and the rotational angular velocity Q1 for obtaining ball machine is calculated by control system：
Q1=(L2-L1)/T.
It is of course also possible to which the vertical shift angle before detecting cloud platform rotation and when stopping is fast come the angle of rotation for calculating ball machine
Degree.
Step IV, by angular speed Q1 and expected range of speeds PNi~PNiNiIt is compared, if matching, i.e. PNi≤Q1≤
PNiNi, then configuration successful, speed level M1 is saved in the ball machine control module of current ball machine by control system.If conversely, not
Matching then carries out a wheel calibration, enters step V；
Step V, it is positive integer and the calculating public affairs of n >=2, Mn that control system n-th, which calculates holder adaptation speed level Mn, n,
Formula is：
Mn=Mn-1+((PNi+PNiNi)/2-Qn-1)×(M1/Q1+M2/Q2+….+Mn-1/Qn-1)/n-1,
In formula, Mn, Mn-1 ..., M2, M1 indicate respectively control system n-th, (n-1)th time ..., the 2nd time, the 1st time calculating
Current ball machine holder is adapted to speed level, Qn-1..., Q2, Q1 indicate control system respectively (n-1)th time ..., the 2nd time, the 1st time
Calculate the angular speed of current ball machine.When it is not integer to calculate the Mn obtained, rounding is carried out to Mn by way of rounding up.
Step III and step IV are repeated, until the ball machine angular speed Qn that n-th is calculated meets condition：PNi≤Qn≤
PNiNi, speed level Mn is saved in the ball machine control module of current ball machine by control system, and the rotating speed of current ball machine can reach
The expection rotating speed P of system configuration speed level NiNi~PNiNiIt is interior.
Different ball machines are controlled by way of above-mentioned iteration and export identical velocity of rotation, for the ball of friction speed parameter
Machine A and B, when the speed step of set-up of control system is fixed, control system obtains ball machine A and ball machine respectively by iterating to calculate
Corresponding holder is adapted to speed level when the rotational angular velocity of B is within the scope of expected rotational angular velocity, and will calculate pair obtained
The holder adaptation speed level answered is sent to ball machine A and ball machine B, and when controlling ball machine A, ball machine A actual speeds are rotated expected
In angular velocity range, when being switched to ball machine B controls, ball machine B actual speeds are also within the scope of expected rotational angular velocity so that
The image frame variation of monitoring system acquisition when holder switches is more gentle, and preferable user experience is obtained with this.
Step 3, control system send identical holder speed level to each ball machine, and each ball machine control module matching is expected
The corresponding each ball machine holder speed level of the range of speeds is simultaneously sent to corresponding ball machine, controls each ball machine and exports identical rotating speed.
When being fixed the invention enables the rotating speed grade sent when control system, pass through the ball machine control module of each ball machine
With being stored in speed control parameter in the ball machine control module through being pre-configured, and the speed control parameter is sent to corresponding
Ball machine, control ball machine rotate in the expected range of speeds, obtain preferable user's control experience.
The above is only presently preferred embodiments of the present invention, is not imposed any restrictions to the present invention, every according to the present invention
Technical spirit changes any simple modification, change and equivalent structure made by above example, still falls within skill of the present invention
The protection domain of art scheme.
Claims (8)
1. a kind of method for pre-configuration controlling different ball machine output same rotational speeds, which is characterized in that include the following steps：
Preset the corresponding expected range of speeds of holder speed level；
Control system sends different speed control parameters to ball machine, and the holder in the prerotation ball machine obtains the reality of the holder
Rotating speed, when holder actual speed is in the expected range of speeds, by the corresponding speed control parameter of the actual speed and expected rotating speed
Range is saved in correspondingly in the ball machine control module, realizes the prewired of the speed control parameter of the expected rotating speed of ball machine output
It sets；
Control system sends identical speed control parameter to each ball machine, and each expected range of speeds of ball machine control module matching corresponds to
Each ball machine speed control parameter and be sent to corresponding ball machine, control each ball machine and export identical rotating speed.
2. controlling the method for pre-configuration of different ball machine output same rotational speeds as described in claim 1, which is characterized in that the speed
Degree control parameter is holder speed level.
3. controlling the method for pre-configuration of different ball machine output same rotational speeds as claimed in claim 2, which is characterized in that one is a pair of
It preserves the corresponding speed control parameter of holder actual speed with answering and the expected range of speeds includes the following steps：
Step I, holder speed level the value range 1~M, M for obtaining current ball machine are positive integer, and M≤N, N are systemic presupposition cloud
The maximum value of platform speed level；
Step II, the holder speed level that control system configures current ball machine are Ni, and Ni is positive integer, 1≤Ni≤M, holder turn
When fast rank is Ni, the expection range of speeds of ball machine is PNi~PNiNi, PNiNi>PNi, current ball machine is calculated in control system
Holder is adapted to speed level M1 and is sent to current ball machine：
M1=Ni × (M/N)；
Step III, the angular speed Q1 of current ball machine is obtained by rotating the holder of current ball machine；
Step IV, angular speed Q1 is compared with the expected range of speeds, works as PNi≤Q1≤PNiNiWhen, control system is by rotating speed grade
Other M1 is saved in the control module of current ball machine；Conversely, entering step V；
Step V, holder adaptation the speed level Mn, n that control system n-th calculates current ball machine are positive integer and n >=2, Mn
Calculation formula is：
Mn=Mn-1+((PNi+PNiNi)/2-Qn-1)×(M1/Q1+M2/Q2+….+Mn-1/Qn-1)/n-1,
In formula, Mn, Mn-1..., M2, M1 indicate respectively control system n-th, (n-1)th time ..., calculate for the 2nd time, the 1st time it is current
Ball machine holder is adapted to speed level, Qn-1..., Q2, Q1 indicate control system respectively (n-1)th time ..., the 2nd time, the 1st time calculating
The angular speed of current ball machine, repeats step III and step IV.
4. controlling the method for pre-configuration of different ball machine output same rotational speeds as claimed in claim 3, which is characterized in that the step
Rapid III calculates the angular speed Q1 of ball machine using image matching algorithm.
5. controlling the method for pre-configuration of different ball machine output same rotational speeds as claimed in claim 4, which is characterized in that the figure
As matching algorithm the specific steps are：
A. the initial pictures before current ball machine cloud platform rotation are acquired, by the size of image down to 8 × 8,64 pixels in total, together
When, simplify image color, image after diminution is switched into 64 grades of gray scales, the grey scale pixel value that the i-th row jth arranges is denoted as Sij, obtain
One 8 × 8 Matrix List S, S=Sij, i, j are positive integer, 1≤i≤8,1≤j≤8；
B. the average gray value V1 of the image pixel gray level after computational short cut color；
C. one 8 × 8 eigenmatrix S1, S1=S1 are establishedij, S1ijThe value for indicating the i-th row jth row of eigenmatrix, by image
Grey scale pixel value SijIt is compared with average gray value V1, SijWhen >=V1, S1ij=1；Conversely, S1ij=0；
D. it rotates the holder of current ball machine and acquires image, the rotation time t ' of holder when record collects every frame image, and it is right
The image of acquisition repeats step a-c, obtains eigenmatrix S '=S ' of present imageij, S 'ijIndicate the i-th row the of eigenmatrix
The value of j row；
E. each element of the matrix S1 of initial pictures before the eigenmatrix S ' and cloud platform rotation of the image current ball machine acquired
Numerical value is compared, count matrix numerical value it is identical when quantity St；
F. the every frame picture obtained to the cloud platform rotation k circles of current ball machine carries out the processing of step a-e, obtains the maximum figures of St
As image when as ball machine rotation k is enclosed, the angular speed Q1 of ball machine：
Q1=k × π/t；
In formula, image corresponding cloud platform rotation time when t is St maximums, k is positive integer and k >=1.
6. controlling the method for pre-configuration of different ball machine output same rotational speeds as claimed in claim 3, which is characterized in that the step
Rapid III is the step of obtaining the angular speed Q1 of current ball machine：
Before cloud platform rotation, the horizontal-shift angle L1 of holder is obtained, after rotating certain time interval T, holder stops, and obtains holder again
Horizontal-shift angle L2, obtain the rotational angular velocity Q1 of current ball machine：
Q1=(L2-L1)/T.
7. controlling the method for pre-configuration of different ball machine output same rotational speeds as claimed in claim 6, which is characterized in that the water
Flat deviation angle is detected by angular transducer, which is sent to control system by angular transducer.
8. a kind of pre-configuration system controlling different ball machine output same rotational speeds, including control system, multiple ball machines and multiple balls
Machine control module, the ball machine are corresponded with the ball machine control module, which is characterized in that the control system presets holder
The corresponding expected range of speeds of speed level, and identical holder speed level is sent to different ball machines, each ball machine controls mould
Block matches the holder speed level of the corresponding each ball machine of the expected range of speeds and is sent to corresponding ball machine respectively, controls each ball machine
Export identical rotating speed；
The ball machine control module includes：
Prerotation ball machine holder obtains the holder prerotation module of holder actual speed；
Holder actual speed is made comparisons with the expected range of speeds, obtains actual speed corresponding holder in the expected range of speeds
The comparison module of speed level；
Parameter for storing the corresponding holder speed level of actual speed and the expected range of speeds correspondingly stores mould
Block.
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