CN102530727B - Lifting appliance shot automatic tracking and control system - Google Patents
Lifting appliance shot automatic tracking and control system Download PDFInfo
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- CN102530727B CN102530727B CN201210023300.2A CN201210023300A CN102530727B CN 102530727 B CN102530727 B CN 102530727B CN 201210023300 A CN201210023300 A CN 201210023300A CN 102530727 B CN102530727 B CN 102530727B
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- camera lens
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Abstract
The invention relates to a lifting appliance lens automatic tracking and control system. A camera lens assembly is arranged on a cloud deck assembly in the system, a cloud deck and a lens are respectively installed on and connected with a stepping motor, an embedded track controller is respectively connected with the cloud deck assembly and the camera lens assembly, and a manual manipulator is connected with the embedded track controller. The camera lens assembly collects target video, automatically controls variable focal length, and keeps video definition of a target lifting appliance. The cloud deck assembly controls and adjusts angle of pitch of the camera lens assembly, automatically tracks the lifting appliance, and keeps focusing. An embedded control chip is arranged on the embedded track controller, the camera lens assembly and the cloud deck assembly are automatically controlled by the chip, and video automatic tracking of the target lifting appliance is kept. The lifting appliance lens automatic tracking and control system can achieve the video automatic tracking and focal variable control on lifting appliances of large assembly and disassembly equipment, can automatically zoom along vertical movement of the lifting appliances, can continuously track image shooting, clearly displays lifting targets, brings convenience to accurately control the lifting targets, and completes safety assembly and disassembly work.
Description
Technical field
The invention belongs to video frequency graphic monitoring technical field, relate to autozoom, the tracking control system of video object, relate in particular to a kind of camera lens automatic following control system and device for suspender, be called for short camera lens tracker.
Background technology
Video frequency following system, in Video Surveillance Industry, along with the demand of intelligent video analysis, has obtained very great development, is mostly applied to people and associated object are monitored.
Along with the development of Technology for Modern Equipment technology, some large-scale handling equipments highly more and more higher, has greatly improved handling conditions.But, because the position of driver's cab is very high, up to four or five ten meters, if suspender is deep into cabin, can reach the distance of six or seven ten meters apart from ground, therefore can cause driver not see the running condition of suspender, affect speed of production, and very easily produce potential safety hazard.
For this reason, for these large-scale handling equipment configure a kind of device or system, can be with the up-and-down movement autozoom of suspender, and follow shot all the time, clear demonstration lifting target, so that driver can observe suspender operational process by this device, thereby accurately manipulates suspender, realize safe in operation, become the target that handling industry is pursued.
Summary of the invention
The object of this invention is to provide a kind of suspender camera lens automatic following control system, it can realize video from motion tracking and Zoom control to large-scale handling equipment suspender, thereby make to be engaged in the driver of charge and discharge operations on large-scale handling equipment, can manipulate exactly suspender, complete safety loading operation.
Technical solution of the present invention is as follows:
A kind of suspender camera lens automatic following control system, described system comprises head assembly, camera lens assembly, suspender video lens tracking module, Embedded Trace controller and manual station;
On described head assembly, settle camera lens assembly, wherein The Cloud Terrace and camera lens are installed respectively connection stepper motor, Embedded Trace controller is connected respectively with camera lens assembly with head assembly, suspender video lens tracking module is installed in Embedded Trace device, and manual station connects Embedded Trace controller;
Described suspender video lens tracking module comprises: altitude signal acquisition module, for obtaining altitude information, provides control foundation; Target tracking module, for calculating the track data to target sling lifting; And automatically control and adjustment module, for realizing driving, control, adjustment, the correction to head assembly and camera lens assembly, complete from motion tracking;
Described camera lens assembly gathers target video and automatically controls zoom, keeps target suspender video definition; The pitch angle of camera lens assembly is adjusted in described head assembly control, from motion tracking suspender, keeps focusing; Described embedded controller is provided with embedded control chip, by altitude signal acquisition module, target tracking module with automatically control and adjustment module, control lens zoom, focusing and The Cloud Terrace pitch angle, by chip, camera lens assembly and head assembly are realized to control automatically, keep the video of target suspender from motion tracking;
Described manual station is arranged on driver driving chamber, by driver's manual regulation camera lens and The Cloud Terrace.
Described The Cloud Terrace is installed and is connected a stepper motor.
Described camera lens is installed and is connected two stepper motors.
Suspender camera lens automatic following control system of the present invention can be realized video from motion tracking and Zoom control to large-scale handling equipment suspender, can be with the up-and-down movement autozoom of suspender, and follow shot all the time, clear demonstration lifting target, so that driver can observe suspender operational process by video lens tracking apparatus, thereby accurately manipulate suspender, complete safety loading operation.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of suspender camera lens automatic following control system of the present invention.
Fig. 2 is that Fig. 1 tracking control system is placed in the position view on handling equipment.
Reference numeral:
1 is The Cloud Terrace, and 2 is pick up camera and camera lens, and 3 is Embedded Trace controller, and 4 is manual station, and 5 is driver driving chamber, and 6 is suspender.
The specific embodiment
Below in conjunction with drawings and Examples, the present invention is elaborated.
Referring to Fig. 1 and Fig. 2, the invention provides a kind of suspender camera lens automatic following control system, this system is mainly made up of head assembly, camera lens assembly, suspender video lens tracking module, Embedded Trace controller 3 and manual station 4.
Head assembly comprises The Cloud Terrace 1, camera lens assembly comprises pick up camera and camera lens 2, on head assembly, settle camera lens assembly, wherein The Cloud Terrace and camera lens are installed respectively connection stepper motor, Embedded Trace controller 3 is connected respectively with camera lens assembly with head assembly, suspender video lens tracking module is installed in Embedded Trace device, and manual station 4 connects Embedded Trace controller 3.
Suspender video lens tracking module is mainly by altitude signal acquisition module, target tracking module and automatically control and adjustment module forms, and each module is passed through connection.Altitude signal acquisition module is used for obtaining altitude information, and control foundation is provided.Target tracking module is for calculating the track data to target sling lifting.Automatically control and adjustment module, for realizing driving, control, adjustment, the correction to head assembly and camera lens assembly, complete from motion tracking.
Camera lens assembly gathers target video and automatically controls zoom, keeps target suspender video definition.The pitch angle of camera lens assembly is adjusted in head assembly control, from motion tracking suspender 6, keeps focusing.Embedded controller 3 is provided with embedded control chip, by altitude signal acquisition module, target tracking module with automatically control and adjustment module, control lens zoom, focusing and The Cloud Terrace pitch angle, by chip, camera lens assembly and head assembly are realized to control automatically, keep the video of target suspender from motion tracking.The video of target suspender, from motion tracking, is realized by embedded control chip and system software.
The Cloud Terrace 1 and camera lens 2 all adopt stepper motor to drive, and stepper motor amounts to three, and wherein, The Cloud Terrace connects a stepper motor, is 24V, 30W, regulate through segmentation device; Camera lens adopts two stepper motors, is 5V, 2W, and a stepper motor is used for zoom, and another stepper motor is used for focusing on.
Embedded Trace controller 3 adopts two embedded control chip, controls respectively lens zoom, focusing and The Cloud Terrace pitch angle.
The signal that represents suspender wirerope height is 4-20mA industry control message, proportional, and it is 4mA that wirerope is lifted to when the highest,, being put into when minimum is 20mA.
Standard industry control signal, it is the physical quantity in the time moving by equipment, convert current signal to by transmitter technology, through being sent to control convenience, calculate control formula by embedded chip, the source signal that can control target device, it has the feature simple and direct, that calculate accurately, be easy to control that gathers.
In actual use, the steel cable height h of crane is difference with crane model, and generally, between 70 meters, thirty or forty rice to six, therefore, the present embodiment, at interior charactron and the button of having designed of Embedded Trace controller 3, can allow user by actual conditions setting.In order to allow the driver can manual regulation camera lens and The Cloud Terrace action at operator's compartment, therefore design one manual station 4, manual station 4 is connected with Embedded Trace controller 3, and manual station 4 is placed in driver driving chamber 5, can arbitrarily be operated by driver the lifting of zoom and the The Cloud Terrace of camera lens.
Extreme length, minimum length and the transverse distance of two effective suspender steel cables that show setting of number are housed in the Embedded Trace controller 3 of the present embodiment.When normal boot-strap, do not show, user only need click rightmost button, and charactron is just light.First shows that data are extreme length (LED light going up are most bright), can between 30-80m, arrange arbitrarily; Click again and show that data are minimum length (central LED light are bright), can between 2-10m, arrange arbitrarily; Click again and show that data are transverse distance (under LED light bright), can arrange arbitrarily between 1.5-3m; Clicking charactron extinguishes again.Data deposit Embedded Trace controller in.Two, data setup and use left side button, a button is for increasing, and a button is for reducing.
The Cloud Terrace regulates as follows: if L=3m, true altitude H=7m, angle at the beginning is 45 °, and the linear velocity of mobile is 4m/S to the maximum, and the maximum angular rate of corresponding control The Cloud Terrace is (artg (11/7))-45 °=12.528 °/S; If reference position height is less than L, angle at the beginning α <45 °, cireular frequency is greater than 12.528 °/S of this numerical value possibly.
It is 0.03 ° for required angle error.The in the situation that of initial input, take L=H=7m as example, if the angular error of initial input is 0.03 °, the error that corresponds to L is ± 7.3cm.Therefore the precision of inputting primary data should be in 1 centimetre of magnitude.Due to the restriction of ADC figure place on control desk, ADC can differentiate 20mv left and right, and the present embodiment is the resistance sampling with 250 Europe to 4-20mA industry control signal.Full-scale range scope be 1V to 5V, if steel cable height is 3 ~ 63m height, the sampling precision that its industry control signal 4-20mA is corresponding will be in 20mV, the survey precision of 0.6 ° of guarantee output.If it is large that the altitude range detecting becomes, industry control signal is had to higher requirement.
Camera adjusting is as follows: during due to pass tester in power-down state, the zoom position of camera lens is random, therefore in the time again powering on, need an initialized process, forward zoom to end position, then be the initial zero-bit of zoom accordingly, and go out all the other zoom positions according to industrial 4-20mA calculated signals thus.The variation producing because of zoom will affect focusing, so also need to compensate focusing on.These two work are all completed by two stepping motors controlling camera lens assembly by Embedded Trace controller.In the present embodiment, stepping motor is covered the omnidistance 4200 step left and right that need of zoom, corresponding 8 ADC, and 21 steps are approximately walked in each bit variation.According to experiment, zoom process is substantially steady, the imperceptible pause and transition in rhythm or melody of naked eyes.
In sum, suspender camera lens automatic following control system of the present invention can be realized video from motion tracking and Zoom control to large-scale handling equipment suspender, can be with the up-and-down movement autozoom of suspender, and follow shot all the time, clear demonstration lifting target, so that driver can observe suspender operational process by video lens tracking apparatus, thereby accurately manipulates suspender, complete safety loading operation.
Certainly, those skilled in the art in the art will be appreciated that, above-described embodiment is only for the present invention is described, and not as limitation of the invention, as long as within the scope of connotation of the present invention, variation, the modification etc. of above-described embodiment all will be dropped in the scope of the claims in the present invention.
Claims (1)
1. a suspender camera lens automatic following control system, is characterized in that, described system comprises head assembly, camera lens assembly, suspender video lens tracking module, Embedded Trace controller and manual station;
On described head assembly, settle camera lens assembly, wherein The Cloud Terrace and camera lens are installed respectively connection stepper motor, Embedded Trace controller is connected respectively with camera lens assembly with head assembly, suspender video lens tracking module is installed in Embedded Trace device, and manual station connects Embedded Trace controller;
Described suspender video lens tracking module comprises: altitude signal acquisition module, for obtaining altitude information, provides control foundation; Target tracking module, for calculating the track data to target sling lifting; And automatically control and adjustment module, for realizing driving, control, adjustment, the correction to head assembly and camera lens assembly, complete from motion tracking;
Described camera lens assembly gathers target video and automatically controls zoom, keeps target suspender video definition; The pitch angle of camera lens assembly is adjusted in described head assembly control, from motion tracking suspender, keeps focusing; Described embedded controller is provided with embedded control chip, by altitude signal acquisition module, target tracking module with automatically control and adjustment module, control lens zoom, focusing and The Cloud Terrace pitch angle, by chip, camera lens assembly and head assembly are realized to control automatically, keep the video of target suspender from motion tracking;
Described manual station is arranged on driver driving chamber, by the zoom of driver's manual regulation camera lens and the lifting of The Cloud Terrace;
In described Embedded Trace controller, be provided with two charactrons and button, charactron is used for showing extreme length, minimum length and the transverse distance of the suspender steel cable arranging; When normal boot-strap, do not show, user only need click rightmost button, and charactron is just light; First shows that data are extreme lengths, can between 30-80m, arrange arbitrarily; Click again and show that data are minimum lengths, can between 2-10m, arrange arbitrarily; Click again and show that data are transverse distances, can between 1.5-3m, arrange arbitrarily; Clicking charactron extinguishes again; Data deposit Embedded Trace controller in; Two, data setup and use left side button, a button is for increasing, and a button is for reducing;
Described The Cloud Terrace and camera lens all adopt stepper motor to drive, and wherein, The Cloud Terrace connects a stepper motor, regulate through segmentation device; Camera lens adopts two stepper motors, and one of them stepper motor is used for zoom, and another stepper motor is used for focusing on;
The signal that represents suspender wirerope height is 4-20mA industry control message, proportional, and it is 4mA that wirerope is lifted to when the highest, and being put into when minimum is 20mA; Standard industry control signal, is the physical quantity in the time moving by equipment, converts current signal to by transmitter technology, through being sent to control convenience, calculates control formula by embedded chip, the source signal that can control target device;
Resistance sampling to 4-20mA industry control signal with 250 Europe; Full-scale range scope be 1V to 5V, if steel cable height is 3 ~ 63m height, the sampling precision that its industry control signal 4-20mA is corresponding will be in 20mV, the survey precision of 0.6 ° of guarantee output;
Camera adjusting is as follows: during due to pass tester in power-down state, the zoom position of camera lens is random, therefore in the time again powering on, need an initialized process, forward zoom to end position, then be the initial zero-bit of zoom accordingly, and go out all the other zoom positions according to industrial 4-20mA calculated signals thus; The variation producing because of zoom will affect focusing, so also need to compensate focusing on; These two work are all completed by two stepping motors controlling camera lens assembly by Embedded Trace controller.
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| CN201210023300.2A CN102530727B (en) | 2012-02-02 | 2012-02-02 | Lifting appliance shot automatic tracking and control system |
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| CN201210023300.2A CN102530727B (en) | 2012-02-02 | 2012-02-02 | Lifting appliance shot automatic tracking and control system |
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| CN102530727A CN102530727A (en) | 2012-07-04 |
| CN102530727B true CN102530727B (en) | 2014-05-21 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104003307B (en) * | 2014-04-11 | 2016-02-03 | 湖南中联重科智能技术有限公司 | Tower machine video monitoring control convenience, method, system and tower machine |
| FI3321226T3 (en) | 2016-11-11 | 2023-06-01 | Abb Schweiz Ag | Container crane control system comprising a camera |
| CN107426501B (en) * | 2017-08-15 | 2023-12-12 | 天津埃特维科技有限公司 | Automatic controller of monitoring camera and automatic focus tracking monitoring camera system for lifting appliance |
| CN111385439A (en) * | 2018-12-27 | 2020-07-07 | 杭州聚视通网络技术有限公司 | Lifting robot |
| CN110996068B (en) * | 2019-12-20 | 2021-03-16 | 上海振华重工(集团)股份有限公司 | Automatic tracking system, equipment and method for lifting appliance |
| CN115497054B (en) * | 2022-11-17 | 2023-02-28 | 安徽深核信息技术有限公司 | Method and device for detecting hanging state of safety rope hook for aerial work |
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Address after: Shanghai City, Putuo District Xikang Road 200060 A Victoria Plaza No. 1068 building 22 floor B block Patentee after: Shanghai Chengye Technology & Engineering Co., Ltd. Patentee after: Shanghai Zhenhua Heavy Industries (Group) Co., Ltd. Address before: Shanghai City, Putuo District Xikang Road 200060 A Victoria Plaza No. 1068 building 22 floor B block Patentee before: Shanghai Chengye Technology & Engineering Co., Ltd. Patentee before: Shanghai Zhenhua Heavy Industries (Group) Co., Ltd. |
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Granted publication date: 20140521 Termination date: 20200202 |