CN101685100B - Shooting device for detecting moving speed of shot object and method thereof - Google Patents
Shooting device for detecting moving speed of shot object and method thereof Download PDFInfo
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- CN101685100B CN101685100B CN2008101610358A CN200810161035A CN101685100B CN 101685100 B CN101685100 B CN 101685100B CN 2008101610358 A CN2008101610358 A CN 2008101610358A CN 200810161035 A CN200810161035 A CN 200810161035A CN 101685100 B CN101685100 B CN 101685100B
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Abstract
The invention discloses a shooting device for detecting the moving speed of a shot object and a method thereof. The method comprises the following steps: acquiring coordinates of a first time point of a shooting device and a first focusing distance, a first elevation angle and a first horizontal angle relative to the shot object to calculate the coordinates of the first time point of the shot object; acquiring coordinates of a second time point of the shooting device and a second focusing distance, a second elevation angle and a second horizontal angle relative to the shot object to calculate the coordinates of the second time point of the shot object; then calculating the moving distance of the shot object by the coordinates of the first time point and the second time point of the shot object; calculating the moving speed of the shot object by a time difference and the moving distance; and then displaying the obtained moving speed on the shooting device so that a user can learn the moving speed of the shot object. The invention is convenient for the user to view the moving speed of the shot object.
Description
Technical field
The present invention relates to a kind of detection method of translational speed, particularly a kind of camera head and method thereof that detects moving speed of shot object.
Background technology
(Global Positioning System GPS) is a round orbiter navigational system of middle distance to GPS.It can provide accurate in locating, test the speed and the high precision time standard for earth surface overwhelming majority area (98%).GPS is by U.S. Department of Defense development and safeguard, can satisfy to be positioned at the whole world Anywhere or the accurate continuously needs of determining three-dimensional position, three-dimensional motion and time of the military user of terrestrial space.This system comprises 24 gps satellites in the space; Ground 1 master station, 3 data injection plants and 5 monitoring stations and as the GPS receiver of user side.Minimum need are 4 satellites wherein, just can determine residing on earth position of user side and sea level elevation rapidly; The satellite number that can be connected to is many more, and the position that decoding is come out is just accurate more.
Because GPS has characteristics such as not being subjected to weather effect, global high coverage rate (98%) and removable location, therefore except military use, the navigation (for example: aircraft navigation, marine navigation and traffic navigation etc.) that is used for the people's livelihood in a large number with (for example: the location of vehicle anti-theft, mobile communication device etc.) etc. locate.
In recent years, in digital camera, video camera etc., installed GPS, the position when taking in order in captured photograph or film, to show by many manufacturers.The GPS photograph of current trend has installed GPS exactly additional in camera head, can write down gps coordinate automatically when taking pictures, and can allow the user make the personal travel daily record.
But the camera head that has GPS at present, the photo of being taken only can allow the user know the position of camera head, and can't allow the user know captured object position.Equally also can't know the translational speed of object.
Summary of the invention
The invention provides a kind of camera head and method thereof that detects moving speed of shot object, can allow the user know captured moving speed of shot object.
The camera head of detection moving speed of shot object disclosed according to the present invention include GPS (Global Positioning System, GPS) receiver, photographing module, elevation angle device, refer to northern device and arithmetic element.
GPS receiver is in order to obtaining first longitude, first latitude and first sea level elevation of this camera head at very first time point, and the 3rd longitude of second time point, the 3rd latitude and the 3rd sea level elevation.
Photographing module is in order to focusing in object, with first focusing that obtains very first time point from second focusing of second time point from.
Elevation angle device reaches in the second folded elevation angle angle of second time point in the first folded elevation angle angle of very first time point in order to measure camera head and horizontal direction.
Refer to that northern device reaches at the second folded level angle of second time point at the first folded level angle of very first time point in order to measure camera head and direct north.
Arithmetic element is in order to calculate second longitude, second latitude and second sea level elevation of object position from, first elevation angle angle and first level angle according to first longitude, first latitude, first sea level elevation, first focusing.Arithmetic element is in order to calculate the 4th longitude, the 4th latitude and four seas degree of lifting in this second time point object position according to the 3rd longitude, the 3rd latitude, the 3rd sea level elevation, second focusing from, second elevation angle angle and second level angle.Calculate the displacement of object by second longitude, second latitude, second sea level elevation, the 4th longitude, the 4th latitude and four seas degree of lifting.Calculate the translational speed of object in the mistiming by very first time point and the mistiming and the displacement of second time point.
Wherein, the camera head of detection moving speed of shot object disclosed according to the present invention also includes display unit.Display unit electrically connects arithmetic element, in order to show the translational speed of object in the mistiming.
The method of detection moving speed of shot object disclosed according to the present invention is applied to camera head, in order to obtain the translational speed of object.The method that detects moving speed of shot object includes:
At first, obtain first longitude, first latitude and first sea level elevation of camera head position; Then, the photographing module of camera head is focused in object and obtain photographing module to first focusing of object from; And when photographing module is focused in object, measure camera head and the first folded elevation angle angle of horizontal direction; And when photographing module is focused in object, measure camera head and the first folded level angle of direct north; Then, calculate second longitude, second latitude and second sea level elevation of object position from, first elevation angle angle and first level angle according to first longitude, first latitude, first sea level elevation, first focusing;
After a mistiming, obtain the 3rd longitude, the 3rd latitude and the 3rd sea level elevation of camera head position again; Then, after the mistiming, with the photographing module of camera head focus in object and obtain photographing module to second focusing of object from; And after the mistiming, photographing module is focused when the object, obtain the second folded elevation angle angle of camera head and horizontal direction; And after the mistiming, photographing module is focused when the object, obtain the second folded level angle of camera head and direct north; Then according to the 3rd longitude, the 3rd latitude, the 3rd sea level elevation, second focusing from, second elevation angle angle and second level angle, after calculating the mistiming, the 4th longitude of object position, the 4th latitude and four seas degree of lifting; Calculate the displacement of object in the mistiming by second longitude, second latitude, second sea level elevation, the 4th longitude, the 4th latitude and four seas degree of lifting then; Calculate object in the translational speed of mistiming by mistiming and displacement at last.
Wherein, the step that calculates second longitude, second latitude and second sea level elevation of object position comprises: at first, according to first focusing to draw first difference in height and first horizontal range of object and camera head poor with first elevation angle angle calculation; Then, calculate first difference of longitude and first difference of latitude of object and camera head according to the first horizontal range difference and first level angle; Then, add up by first difference of longitude and first longitude, to draw second longitude; And by first difference of latitude and first latitude totalling, to draw second latitude; At last, add up by first difference in height and first sea level elevation, to draw second sea level elevation.
Wherein, the step that calculates the 4th longitude, the 4th latitude and the four seas degree of lifting of object position comprises: at first, according to second focusing to draw second difference in height and second horizontal range of object and camera head poor with second elevation angle angle calculation; Then, calculate second difference of longitude and second difference of latitude of object and camera head according to the second horizontal range difference and second level angle; Then, add up by second difference of longitude and the 3rd longitude, to draw the 4th longitude; And by second difference of latitude and the 3rd latitude totalling, to draw the 4th latitude; At last, add up by second difference in height and the 3rd sea level elevation, to draw four seas degree of lifting.
The method of detection moving speed of shot object disclosed according to the present invention also comprises: show the translational speed of object in the mistiming.
The camera head of detection moving speed of shot object disclosed according to the present invention and method thereof, the position that the GPS of in advance utilizing in the camera head to be installed in very first time point is learnt camera head.By photographing module obtain between camera head and the object second focusing from, obtain camera head and the folded first folded level angle of first elevation angle angle, camera head and direct north of horizontal direction by elevation angle device with referring to northern device again, calculate via trigonometric function again, can obtain first difference of longitude, first difference of latitude and first difference in height between object and the camera head.Via first longitude, first latitude and first sea level elevation that add up the camera head position, and first difference of longitude between object and the camera head, first difference of latitude and first difference in height, just can learn in when point very first time, second longitude of object position, second latitude and second sea level elevation.
The position that the GPS of in advance utilizing in the camera head to be installed in second time point is learnt camera head.By photographing module obtain between camera head and the object second focusing from, obtain camera head and the folded second folded level angle of second elevation angle angle, camera head and direct north of horizontal direction by elevation angle device with referring to northern device again, calculate via trigonometric function again, can obtain second difference of longitude, second difference of latitude and second difference in height between object and the camera head.Via the 3rd longitude, the 3rd latitude and the 3rd sea level elevation that add up the camera head position, and second difference of longitude between object and the camera head, second difference of latitude and second difference in height, just can learn when second time point the 4th longitude of object position, the 4th latitude and four seas degree of lifting.
In the position of very first time point, can calculate the displacement of object in the mistiming of the very first time and second time by object with second time point.Can obtain the translational speed of object in the mistiming by mistiming and displacement.The translational speed of demonstration object in the mistiming watched the translational speed of object to make things convenient for the user on display unit.
About feature of the present invention and practical operation, conjunction with figs. is described in detail as follows as most preferred embodiment.
Description of drawings
Fig. 1 is the camera head synoptic diagram according to detection moving speed of shot object of the present invention;
Fig. 2 is a very first time point, and the camera head that detects moving speed of shot object is focused when object and the angle synoptic diagram of horizontal direction;
Fig. 3 is a very first time point, and the camera head that detects moving speed of shot object is focused when object and the angle synoptic diagram of direct north;
Fig. 4 is second time point, and the camera head that detects moving speed of shot object is focused when object and the angle synoptic diagram of horizontal direction;
Fig. 5 is second time point, and the camera head that detects moving speed of shot object is focused when object and the angle synoptic diagram of direct north;
Fig. 6 detects the camera head of moving speed of shot object and the mobile synoptic diagram of object in the mistiming for the very first time point and second time point;
Fig. 7 is the process flow diagram according to the method for the detection moving speed of shot object of first embodiment of the invention;
Fig. 8 is the process flow diagram according to the method for the detection moving speed of shot object of second embodiment of the invention; And
Fig. 9 is the process flow diagram according to the method for the detection moving speed of shot object of third embodiment of the invention.
And the description of reference numerals in the above-mentioned accompanying drawing is as follows:
11 GPS receiver
12 photographing modules
13 elevation angle devices
14 refer to northern device
15 arithmetic elements
16 display units
100 detect the camera head of moving speed of shot object
200 objects
X1 first longitude
Y1 first latitude
Z1 first sea level elevation
X2 second longitude
Y2 second latitude
Z2 second sea level elevation
X3 the 3rd longitude
Y3 the 3rd latitude
Z3 the 3rd sea level elevation
X4 the 4th longitude
Y4 the 4th latitude
Z4 four seas degree of lifting
D1 first focusing from
D2 first horizontal range is poor
D3 second focusing from
D4 second horizontal range is poor
DH1 first difference in height
DH2 second difference in height
DX1 first difference of longitude
DY1 first difference of latitude
DX2 second difference of longitude
DY2 second difference of latitude
L surface level direction
The N direct north
θ 1 first elevation angle angle
θ 2 first level angles
θ 3 second elevation angle angles
θ 4 second level angles
The dt mistiming
S displacement
The V translational speed
Embodiment
Please refer to Fig. 1.Fig. 1 is the camera head synoptic diagram according to detection moving speed of shot object of the present invention.
In Fig. 1, the camera head 100 that detects moving speed of shot object includes GPS receiver 11, photographing module 12, elevation angle device 13, refers to northern device 14, arithmetic element 15 and display unit 16.
GPS (Global Positioning System, GPS) receiver 11 in order to the gps coordinate of obtaining very first time point (promptly, first longitude, first latitude and first sea level elevation of very first time point), and the gps coordinate of second time point (that is, the 3rd longitude, the 3rd latitude and the 3rd sea level elevation).
Photographing module 12 is used to very first time point and second time point is focused in object, with first focusing that obtains very first time point from second focusing of second time point from.
Elevation angle device 13 reaches in the second folded elevation angle angle of second time point in the first folded elevation angle angle of very first time point with the surface level direction in order to measure the camera head 100 that detects moving speed of shot object.
Refer to that northern device 14 reaches at the second folded level angle of second time point at the first folded level angle of very first time point with direct north in order to measure the camera head 100 that detects moving speed of shot object.Refer to that northern device 14 can certainly measure the camera head 100 that detects moving speed of shot object and Due South at folded first level angle of very first time point and at the second folded level angle of second time point.
Arithmetic element 15 is in order to calculate second longitude, second latitude and second sea level elevation in very first time point object position according to first longitude, first latitude, first sea level elevation, first focusing from, first elevation angle angle and first level angle.
Arithmetic element 15 calculates the 4th longitude, the 4th latitude and four seas degree of lifting in the second time point object position according to the 3rd longitude, the 3rd latitude, the 3rd sea level elevation, second focusing from, second elevation angle angle and second level angle.
By the displacement of second longitude, second latitude, second sea level elevation, the 4th longitude, the 4th latitude and four seas degree of lifting calculating object, and and by mistiming and displacement calculating object the translational speed in mistiming in of very first time point with second time point.
Display unit 16 electrically connects arithmetic element 15, in order to show translational speed.
Photographing module 12 can include lens set, step motor, image sensing element and processing unit etc.Spacing by step motor control lens set is adjusted focal length, in order to focus in object.The image of object projects on the image sensing element via lens set.Whether focus on object by the image that processing unit analysis image sensing element is received, and by the focal length of each eyeglass of lens set make up calculate the camera head 100 that detects moving speed of shot object and the focusing between the object from.
Elevation angle device 13 can be utensils such as gyroscope.
Refer to northern device 14 can be north arrow or compass etc. have in order to by the ground magnetic attachment, have the utensil of fixed-direction.
Arithmetic element 15 can be a microprocessor.Arithmetic element 15 can refer to single microprocessor, also can refer to a plurality of microprocessors.
Display unit 16 can be LCD, light emitting diode indicator or organic light emitting diode display etc.
Please refer to Fig. 2 and Fig. 3, and merge with reference to Fig. 1.Fig. 2 is a very first time point, and the camera head that detects moving speed of shot object is focused when object and the angle synoptic diagram of horizontal direction.Fig. 3 is a very first time point, and the camera head that detects moving speed of shot object is focused when object and the angle synoptic diagram of direct north.
In Fig. 2, in very first time point, obtain in advance camera head 100 positions of detecting moving speed of shot object gps coordinate (X1, Y1, Z1).Wherein, X1 is when point very first time, detects first longitude of camera head 100 positions of moving speed of shot object; Y1 is when point very first time, detects first latitude of camera head 100 positions of moving speed of shot object; Z1 is when point very first time, detects first sea level elevation of camera head 100 positions of moving speed of shot object.
Utilize step motor to adjust lens set spacing in the photographing module 12, in order to focus on object 200 (for example: aircraft, automobile or mountain etc.).Object 200 images that processing unit analyses in the photographing module 12 are received judge whether to focus on object 200, and are made up by the focal length of each eyeglass of lens set and to calculate the camera head 100 that detects moving speed of shot object and first focusing between the object 200 from D1.
In very first time point, photographing module 12 is focused when object 200, utilizes the elevation angle device 13 in the camera head 100 that detects moving speed of shot object to measure the camera head 100 and the first folded elevation angle angle θ 1 of surface level direction L that detects moving speed of shot object.From the D1 and first elevation angle angle θ 1, utilize trigonometric function to calculate formula a and formula b by first focusing.
D2=D1 * Cos θ 1 formula a
DH1=D1 * Sin θ 1 formula b
D2 is that first horizontal range between object 200 and the camera head 100 that detects moving speed of shot object is poor.DH1 is first difference in height between object 200 and the camera head 100 that detects moving speed of shot object.
In Fig. 3, in very first time point, photographing module 12 is focused when object 200, utilizes the finger north device 14 in the camera head 100 that detects moving speed of shot object to measure the camera head 100 and the first folded level angle θ 2 of direct north N that detects moving speed of shot object.By formula a, the first horizontal range difference D2 and the first level angle θ 2, utilize trigonometric function to calculate formula c and formula d.
DX1=D2 * Sin θ 2=D1 * Cos θ 1 * Sin θ 2 formula c
DY1=D2 * Cos θ 2=D1 * Cos θ 1 * Cos θ 2 formula d
DX1 is first difference of longitude between object 200 and the camera head 100 that detects moving speed of shot object.DY1 is first difference of latitude between object 200 and the camera head 100 that detects moving speed of shot object.
Longitude and latitude is done benchmark at east longitude 0 degree and north latitude 0 degree and is begun to calculate, because θ 2 begins to calculate from direct north N, therefore the difference of longitude dX1 that calculates of trigonometric function, the direction that increases with first longitude X1 metering is opposite, so the calculating of the totalling of the first longitude X1 and the first difference of longitude dX1 must be with the mode of subtracting each other.Calculate formula e, formula f and formula g by the first longitude X1, the first latitude Y1, the first sea level elevation Z1, formula b, formula c and formula d.
X2=X1-dX1=X1-D2 * Sin θ 2=X1-D1 * Cos θ 1 * Sin θ 2 formula e
Y2=Y1+dY1=Y1+D1 ' * Cos θ 2=Y1+D1 * Cos θ 1 * Cos θ 2 formula f
Z2=Z1+dH1=Z1+D1 * Sin θ 1 formula g
X2 is when point very first time, second longitude of object 200 positions.Y2 is when point very first time, second latitude of object 200 positions.Z2 is when point very first time, second sea level elevation of object 200 positions.By X2, Y2 and the Z2 of aforementioned calculation gained, be when point very first time, the gps coordinate of object 200 positions (X2, Y2, Z2).
Please refer to Fig. 4 and Fig. 5, and merge referring to figs. 1 through Fig. 3.Fig. 4 is second time point, and the camera head that detects moving speed of shot object is focused when object and the angle synoptic diagram of horizontal direction.Fig. 5 is second time point, and the camera head that detects moving speed of shot object is focused when object and the angle synoptic diagram of direct north.
In Fig. 4, in second time point, obtain in advance camera head 100 positions of detecting moving speed of shot object gps coordinate (X3, Y3, Z3).Wherein, when X3 is second time point, detect the 3rd longitude of camera head 100 positions of moving speed of shot object; When Y3 is second time point, detect the 3rd latitude of camera head 100 positions of moving speed of shot object; When Z3 is second time point, detect the 3rd sea level elevation of camera head 100 positions of moving speed of shot object.
Utilize step motor to adjust lens set spacing in the photographing module 12, in order to focus on object 200 (for example: aircraft, automobile or mountain etc.).Object 200 images that processing unit analyses in the photographing module 12 are received judge whether to focus on object 200, and are made up by the focal length of each eyeglass of lens set and to calculate the camera head 100 that detects moving speed of shot object and second focusing between the object 200 from D3.
In second time point, photographing module 12 is focused when object 200, utilizes the elevation angle device 13 in the camera head 100 that detects moving speed of shot object to measure the camera head 100 and the second folded elevation angle angle θ 3 of surface level direction L that detects moving speed of shot object.From the D3 and second elevation angle angle θ 3, utilize trigonometric function to calculate formula h and formula i by second focusing
D4=D3 * Cos θ 3 formula h
DH2=D3 * Sin θ 3 formula i
D4 is that second horizontal range between object 200 and the camera head 100 that detects moving speed of shot object is poor.DH2 is second difference in height between object 200 and the camera head 100 that detects moving speed of shot object.
In Fig. 5, in second time point, photographing module 12 is focused when object 200, utilizes the finger north device 14 in the camera head 100 that detects moving speed of shot object to measure the camera head 100 and the second folded level angle θ 4 of direct north N that detects moving speed of shot object.By formula h, the second horizontal range difference D4 and the second level angle θ 4, utilize trigonometric function to calculate formula j and formula k.
DX2=D4 * Sin θ 4=D3 * Cos θ 3 * Sin θ 4 formula j
DY2=D4 * Cos θ 4=D3 * Cos θ 3 * Cos θ 4 formula k
DX2 is second difference of longitude between object 200 and the camera head 100 that detects moving speed of shot object.DY2 is second difference of latitude between object 200 and the camera head 100 that detects moving speed of shot object.
Longitude and latitude is done benchmark at east longitude 0 degree and north latitude 0 degree and is begun to calculate, because θ 4 begins to calculate from direct north N, therefore the second difference of longitude dX2 that calculates of trigonometric function, the direction that increases with the 3rd longitude X3 metering is opposite, so the calculating of the totalling of the 3rd longitude X3 and the second difference of longitude dX2 must be with the mode of subtracting each other.Calculate formula 1, formula m and formula n by the 3rd longitude X3, the 3rd latitude Y3, the 3rd sea level elevation Z3, formula i, formula j and formula k.
X4=X3-dX2=X3-D4 * Sin θ 4=X3-D3 * Cos θ 3 * Sin θ 4 formula 1
Y4=Y3+dY2=Y3+D4 * Cos θ 4=Y3+D3 * Cos θ 3 * Cos θ 4 formula m
Z4=Z3+dH2=Z3+D3 * Sin θ 3 formula n
When X4 is second time point, the 4th longitude of object 200 positions.When Y4 is second time point, the 4th latitude of object 200 positions.When Z4 is second time point, the four seas degree of lifting of object 200 positions.By X4, Y4 and the Z4 of aforementioned calculation gained, when being second time point, the gps coordinate of object 200 positions (X4, Y4, Z4).
Please refer to Fig. 6, and merge referring to figs. 1 through Fig. 5.Fig. 6 detects the camera head of moving speed of shot object and the mobile synoptic diagram of object in the mistiming for the very first time point and second time point.
When putting in the very first time, (X1, Y1 Z1), also are the first longitude X1, the first latitude Y1, the first sea level elevation Z1 to the gps coordinate of the camera head 100 of detection moving speed of shot object.(X2, Y2 Z2), also are the second longitude X2, the second latitude Y2, the second sea level elevation Z2 to the gps coordinate of object 200.
When second time point, (X3, Y3 Z3), also are the 3rd longitude X3, the 3rd latitude Y3, the 3rd sea level elevation Z3 to the gps coordinate of the camera head 100 of detection moving speed of shot object.(X4, Y4 Z4), also are the 4th longitude X4, the 4th latitude Y4, four seas degree of lifting Z4 to the gps coordinate of object 200.
By object 200 in the position of very first time point (X2, Y2 is Z2) with the position (X4 of second time point, Y4, Z4), utilize Pythagorean theorem to calculate object 200 in the mistiming dt of the very first time point and second time point, the displacement S of object 200.
By mistiming dt and displacement S, can calculate the translational speed V of object 200.
Please refer to Fig. 7.Fig. 7 is the process flow diagram according to the method for the detection moving speed of shot object of first embodiment of the invention.
Detect the method for moving speed of shot object, be applied to a camera head, in order to obtain the translational speed of an object, include: at first, obtain first longitude, first latitude and first sea level elevation of camera head position, as step 21; Then, with the photographing module of camera head focus in object and obtain photographing module to first focusing of object from, as step 22; And when photographing module is focused in object, measure camera head and the first folded elevation angle angle of horizontal direction, as step 23; And when photographing module is focused in object, measure camera head and the first folded level angle of direct north, as step 24; Then, calculate second longitude, second latitude and second sea level elevation of object position according to first longitude, first latitude, first sea level elevation, first focusing from, first elevation angle angle and first level angle, as step 25; After a mistiming, obtain the 3rd longitude, the 3rd latitude and the 3rd sea level elevation of camera head position, as step 26; Then, after the mistiming, with the photographing module of camera head focus in object and obtain photographing module to second focusing of object from, as step 27; And after the mistiming, photographing module is focused when object, measures camera head and the second folded elevation angle angle of horizontal direction, as step 28; And after the mistiming, photographing module is focused when object, measures camera head and the second folded level angle of direct north, as step 29; Then, calculate the 4th longitude, the 4th latitude and the four seas degree of lifting of object position according to the 3rd longitude, the 3rd latitude, the 3rd sea level elevation, second focusing from, second elevation angle angle and second level angle, as step 30; Calculate the displacement of object in the mistiming by second longitude, second latitude, second sea level elevation, the 4th longitude, the 4th latitude and four seas degree of lifting, as step 31; And calculate object in the translational speed of mistiming, as step 32 by mistiming and displacement; At last, show translational speed, as step 33.
Please refer to Fig. 8 and Fig. 9, and merge with reference to Fig. 7.Fig. 8 is the process flow diagram according to the method for the detection moving speed of shot object of second embodiment of the invention.Fig. 9 is the process flow diagram according to the method for the detection moving speed of shot object of third embodiment of the invention.
In this, detect the camera head and the method thereof of moving speed of shot object, the position that the GPS of in advance utilizing in the camera head to be installed in very first time point is learnt camera head.By photographing module obtain between camera head and the object first focusing from, obtain camera head and the folded first folded level angle of first elevation angle angle, camera head and direct north of horizontal direction by elevation angle device with referring to northern device again, calculate via trigonometric function again, can obtain first difference of longitude, first difference of latitude and first difference in height between object and the camera head.Via first longitude, first latitude and first sea level elevation that add up the camera head position, and first difference of longitude between object and the camera head, first difference of latitude and first difference in height, just can learn in when point very first time, second longitude of object position, second latitude and second sea level elevation.
The position that the GPS of in advance utilizing in the camera head to be installed in second time point is learnt camera head.By photographing module obtain between camera head and the object second focusing from, obtain camera head and the folded second folded level angle of second elevation angle angle, camera head and direct north of horizontal direction by elevation angle device with referring to northern device again, calculate via trigonometric function again, can obtain second difference of longitude, second difference of latitude and second difference in height between object and the camera head.Via the 3rd longitude, the 3rd latitude and the 3rd sea level elevation that add up the camera head position, and second difference of longitude between object and the camera head, second difference of latitude and second difference in height, just can learn when second time point the 4th longitude of object position, the 4th latitude and four seas degree of lifting.
In the position of very first time point, can calculate the displacement of object in the mistiming of the very first time and second time by object with second time point.Can obtain the translational speed of object in the mistiming by mistiming and displacement.The translational speed of demonstration object in the mistiming watched the translational speed of object to make things convenient for the user on display unit.
Claims (6)
1. camera head that detects moving speed of shot object includes:
One GPS receiver, in order to obtaining one first longitude, one first latitude and one first sea level elevation of this camera head at very first time point, and one the 3rd longitude of one second time point, one the 3rd latitude and one the 3rd sea level elevation;
One photographing module, in order to focusing in an object, with one first focusing that obtains this very first time point from one second focusing of this second time point from;
One elevation angle device reaches in one second folded elevation angle angle of this second time point in one first folded elevation angle angle of this very first time point in order to a camera head and a horizontal direction of measuring this detection moving speed of shot object;
One refers to northern device, reaches at one second folded level angle of this second time point at one first folded level angle of this very first time point in order to a camera head and a direct north of measuring this detection moving speed of shot object; And
One arithmetic element, in order to according to this first longitude, this first latitude, this first sea level elevation, this first focusing from, this first elevation angle angle and this first level angle calculate one second longitude of putting this object position in this very first time, one second latitude and one second sea level elevation, according to the 3rd longitude, the 3rd latitude, the 3rd sea level elevation, this second focusing from, this second elevation angle angle and this second level angle calculate one the 4th longitude in this this object position of second time point, one the 4th latitude and a four seas degree of lifting, by this second longitude, this second latitude, this second sea level elevation, the 4th longitude, the 4th latitude and this four seas degree of lifting calculate a displacement of this object, and and calculate the translational speed of this object in this mistiming by this point and a mistiming and this displacement of this second time point very first time.
2. the camera head of detection moving speed of shot object as claimed in claim 1 includes:
One display unit electrically connects this arithmetic element, in order to show this translational speed.
3. a method that detects moving speed of shot object is applied to a camera head, in order to obtain the translational speed of an object, includes:
Obtain one first longitude, one first latitude and one first sea level elevation of this camera head position;
With a photographing module of this camera head focus in this object and obtain this photographing module to one first focusing of this object from;
When this photographing module is focused in this object, measure one first folded elevation angle angle of this camera head and a horizontal direction;
When this photographing module is focused in this object, measure one first folded level angle of this camera head and a direct north;
According to this first longitude, this first latitude, this first sea level elevation, this first focusing from, this first elevation angle angle and this first level angle, with one second longitude, one second latitude and one second sea level elevation that calculates this object position;
After a mistiming, obtain one the 3rd longitude, one the 3rd latitude and one the 3rd sea level elevation of this camera head position;
After this mistiming, with this photographing module of this camera head focus in this object and obtain this photographing module to one second focusing of this object from;
After this mistiming, this photographing module is focused when this object, obtain one second folded elevation angle angle of this camera head and this horizontal direction;
After this mistiming, this photographing module is focused when this object, obtain one second folded level angle of this camera head and this direct north;
According to the 3rd longitude, the 3rd latitude, the 3rd sea level elevation, this second focusing from, this second elevation angle angle and this second level angle, after calculating this mistiming, one the 4th longitude of this object position, one the 4th latitude and a four seas degree of lifting;
Calculate the displacement of this object in this mistiming by this second longitude, this second latitude, this second sea level elevation, the 4th longitude, the 4th latitude and this four seas degree of lifting; And
Calculate this object in the translational speed of this mistiming by this mistiming and this displacement.
4. the method for detection moving speed of shot object as claimed in claim 3, the step that wherein calculates this second longitude, this second latitude and this second sea level elevation of this object position comprises:
According to this first focusing to draw one first difference in height and one first horizontal range of this object and this camera head poor with this first elevation angle angle calculation;
Calculate one first difference of longitude and one first difference of latitude of this object and this camera head according to this first horizontal range difference and this first level angle;
Add up by this first difference of longitude and this first longitude, to draw this second longitude;
Add up by this first difference of latitude and this first latitude, to draw this second latitude; And
Add up by this first difference in height and this first sea level elevation, to draw this second sea level elevation.
5. the method for detection moving speed of shot object as claimed in claim 3, wherein calculate this mistiming after, the step of the 4th longitude of this object position, the 4th latitude and this four seas degree of lifting comprises:
According to this second focusing from this second elevation angle angle, after calculating this mistiming, one second difference in height and one second horizontal range of this object and this camera head are poor;
After calculating this mistiming according to this second horizontal range difference and this second level angle, one second difference of longitude of this object and this camera head and one second difference of latitude;
Add up by this second difference of longitude and the 3rd longitude, to draw the 4th longitude;
Add up by this second difference of latitude and the 3rd latitude, to draw the 4th latitude; And
Add up by this second difference in height and the 3rd sea level elevation, to draw this four seas degree of lifting.
6. the method for detection moving speed of shot object as claimed in claim 3 includes:
Show this translational speed.
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| CN102175882B (en) * | 2010-12-30 | 2013-02-27 | 清华大学 | Natural-landmark-based unmanned helicopter visual speed measurement method |
| CN105874301B (en) * | 2014-01-15 | 2019-01-01 | 麦克赛尔株式会社 | Terminal installation and altitude value adquisitiones |
| CN104714048B (en) * | 2015-03-30 | 2017-11-21 | 上海斐讯数据通信技术有限公司 | A kind of detection method and mobile terminal for mobile object translational speed |
| CN104869631A (en) * | 2015-04-29 | 2015-08-26 | 深圳市金立通信设备有限公司 | Locating method |
| CN104837198A (en) * | 2015-04-29 | 2015-08-12 | 深圳市金立通信设备有限公司 | Terminal |
| WO2016183740A1 (en) * | 2015-05-15 | 2016-11-24 | Chan Lak Wang | Camera, method, and system for filming golf game |
| CN108375682A (en) * | 2018-01-15 | 2018-08-07 | 高力 | Ground target object speed measurement method and device based on apparent time sequence image under space base |
| CN110243339A (en) * | 2019-06-25 | 2019-09-17 | 重庆紫光华山智安科技有限公司 | A kind of monocular cam localization method, device, readable storage medium storing program for executing and electric terminal |
| CN110653837B (en) * | 2019-10-31 | 2021-08-13 | 灵动科技（北京）有限公司 | Autonomous moving device and warehouse logistics system |
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