CN102223522A - Intelligent automatic tracker module - Google Patents

Abstract

The invention discloses an intelligent automatic tracker module. The intelligent automatic tracker module comprises an image acquisition module, a target detection module, a tracking offset calculation module, an offset conversion module and a communication module. The image acquisition module converts images into digital signals, outputting the digital signals and storing the digital signals in an image storage device; the target detection module is connected with the image storage device, performs operation to generate three-dimensional motion position information of each target and outputs the information to the tracking offset calculation module; the tracking offset calculation module outputs a control signal, and connects to the offset conversion module; the offset conversion module converts the tracking offset into angle offset; and the communication module transmits an angle offset control signal to a dome camera, and receives control instructions of the dome camera or a holder. The intelligent automatic tracker module can be widely used in the fields of intelligent traffic, warehouse, prison monitoring, bank security and the like, wherein maximum horizontal tracking speed of the controlled dome camera or holder can be 60 degree/second while maximum vertical tracking speed thereof is 40 degree/second; and the intelligent automatic tracker module is high in tracking stability and sensitive in tracking.

Description

Intelligence autotracking unit module

Technical field

The present invention relates to field of video monitoring, in particular for the intelligent autotracking unit module in the camera monitoring system.

Background technology

Along with China improves constantly the requirement of public security environment, the safety defense monitoring system demand is constantly risen, the intelligent degree to safety defense monitoring system requires more and more higher simultaneously.Existing camera monitoring system only possesses single camera function mostly, needing to drop into a large amount of manpower and materials monitors, manages, the monitor staff is required than higher, labour intensity is very big, intelligent video analysis instrument on the market, module majority can only be analyzed the behavior in the visual field under the static situation of video camera, do not have and servo platform formation interlock, walk out the visual field when target and just can't obtain target image, or but it is relatively poor to possess the following function effect, when occur blocking, situation such as interference, tracing process is discontinuous, stability is bad.

Summary of the invention

The objective of the invention is to overcome the deficiencies in the prior art, provide a kind of tracking stability high intelligent autotracking unit module.

The objective of the invention is to finish by following technical solution, intelligent autotracking unit module comprises image capture module, module of target detection, tracking side-play amount computing module, side-play amount modular converter, communication module, it is characterized in that:

Image capture module with video data signal amplify, filtering, A/D converts digital signal to, and the output storage is advanced in the image memory;

Module of target detection connects video memory, and digital image sequence is set up the statistical model of environmental background, and the statistical model of online updating background, carry out the calculation process of moving object detection and adaptive background subtraction method then, generate each Three-dimension Target movement position information and export tracking side-play amount computing module to;

Follow the tracks of the side-play amount computing module three-dimensional motion positional information is used the KLT track algorithm that mates based on pixel, the output control signal connects the side-play amount modular converter;

The coordinate system offset signal that the side-play amount modular converter will be followed the tracks of the input of side-play amount computing module converts the angular deflection amount to;

Communication module transfers to the camera ball machine with angular deflection amount control signal, and receives the control command of ball machine or The Cloud Terrace.

The present invention originally can be widely used in fields such as intelligent transportation, warehouse, prison monitoring, bank's security, and the maximum tracking velocity of ball machine of being controlled or The Cloud Terrace level can reach: 60 degree/seconds, vertical maximum tracking velocity: 40 degree/seconds, the tracking stability height is followed the tracks of sensitive.

Description of drawings

Fig. 1 is the structural representation of each module of the present invention;

Fig. 2 is the flow chart of the adaptive background subduction algorithm of module of target detection of the present invention.

Embodiment

Below in conjunction with accompanying drawing the present invention is done detailed introduction.

As shown in Figure 1: intelligent autotracking unit module, comprise image capture module 1, module of target detection 3, follow the tracks of side-play amount computing module 4, side-play amount modular converter 5, communication module 6, image capture module with video data signal amplify, filtering, A/D converts digital signal to, and the output storage is advanced in the image memory 2;

Module of target detection connects video memory, and digital image sequence is set up the statistical model of environmental background, and the statistical model of online updating background, carry out the calculation process of moving object detection and adaptive background subtraction method then, generate each Three-dimension Target movement position information and export tracking side-play amount computing module to; The flow chart of adaptive background subduction algorithm as shown in Figure 2.

Follow the tracks of the side-play amount computing module three-dimensional motion positional information is used the KLT track algorithm that mates based on pixel, the output control signal connects the side-play amount modular converter;

The coordinate system offset signal that the side-play amount modular converter will be followed the tracks of the input of side-play amount computing module converts the angular deflection amount to;

Communication module transfers to the camera ball machine with angular deflection amount control signal, and receives the control command of clipping the ball (or The Cloud Terrace).

The present invention is based on the flush type circuit module of DSP and FPGA, with extraneous interface be one 10 core interfaces, comprise the 5V power supply,, the input of CVBS analog video, output, serial ports receives RX, I2C interface, is applied to can realize in the safety monitoring equipment from motion tracking, manual locking suspicious object, can be according to different safety monitoring environment, select different track algorithms for use, improved the usefulness of following the tracks of.Can realize simultaneously of the direct conversion of camera pixel side-play amount, make this module application more convenient in the ball machine, extensive to ball machine angular deflection amount.

This intelligent-tracking module is packed into behind the clipping the ball (or The Cloud Terrace), can finish following function.

Fully from motion tracking:

This moment, tracking ball was in autonomous mode, and in moving object entered the visual field, tracking ball detected moving object and follows the tracks of its movement locus, all the time object was moved to the center, visual field, called No. 88 preset point and entered automatic tracing mode.

Manual locking is followed the tracks of:

This moment tracking ball place armed state, the user can mobile ball machine, object that will primary part observation moves to central cross silk place, visual field, press locking key then, then can be after the tracking ball from the movement locus of this object of motion tracking, need not manually participate in, OPEN (aperture is opened) lock onto target, any manual operation unlocks.

Intelligent cruise

This moment, tracking ball was in autonomous mode, at first in menu, set the preset point and the preset point time of staying that the scanning of cruising will be observed, start intelligent cruise then, then tracking ball is not only finished cruise function, also can analyze, when finding target, can start tracking, the movement locus of tracking target the scene of the preset point of cruising, when target exceeded field range, then tracking ball was proceeded to cruise.Scanning cruise for No. six for intelligent cruise, call No. 80 preset point and enter intelligent cruise.

Video scene is analyzed:

At first the ball machine is moved to the position of wishing observation, enter menu and in the visual field, delimit one or more zones, withdraw from menu, start the video scene analysis, whether then system can detect has object to enter in these zones, if having object to enter then trigger warning, and start and follow the tracks of.

Claims (1)

1. intelligent autotracking unit module comprises image capture module, module of target detection, tracking side-play amount computing module, side-play amount modular converter and communication module, it is characterized in that:

Image capture module with video data signal amplify, filtering, A/D converts digital signal to, and the output storage is advanced in the image memory;

Module of target detection connects video memory, and digital image sequence is set up the statistical model of environmental background, and the statistical model of online updating background, carry out the calculation process of moving object detection and adaptive background subtraction method then, generate each Three-dimension Target movement position information and export tracking side-play amount computing module to;

Follow the tracks of the side-play amount computing module three-dimensional motion positional information is used the KLT track algorithm that mates based on pixel, the output control signal connects the side-play amount modular converter;

The coordinate system offset signal that the side-play amount modular converter will be followed the tracks of the input of side-play amount computing module converts the angular deflection amount to;

Communication module transfers to the camera ball machine with angular deflection amount control signal, and receives the control command of clipping the ball (or The Cloud Terrace).