CN103017740A - Method and system for positioning monitoring target by using video monitoring devices - Google Patents
Method and system for positioning monitoring target by using video monitoring devices Download PDFInfo
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- CN103017740A CN103017740A CN2012105015818A CN201210501581A CN103017740A CN 103017740 A CN103017740 A CN 103017740A CN 2012105015818 A CN2012105015818 A CN 2012105015818A CN 201210501581 A CN201210501581 A CN 201210501581A CN 103017740 A CN103017740 A CN 103017740A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 87
- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000012806 monitoring device Methods 0.000 title abstract 6
- 230000004807 localization Effects 0.000 claims description 12
- 238000012545 processing Methods 0.000 claims description 7
- 238000004364 calculation method Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 2
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Abstract
The invention discloses a method for positioning a monitoring target by using video monitoring devices. The method comprises the following steps of 1) controlling the two video monitoring devices which are not located on the same straight line with the monitoring target, and monitoring the monitoring target by using the two video monitoring devices simultaneously; and locating the monitoring target at the center of a video image; 2) reading position information of each video monitoring device and geographic angle information of a current camera by a control system; and 3) calculating to obtain position information of the monitoring target according to the position information and the geographic angle information of each video monitoring device, and outputting the position information of the monitoring target by using the control system. The invention further discloses a positioning device capable of realizing the method simultaneously. According to the positioning method provided by the invention, former monitoring equipment only needs to be slightly improved, so that the function of positioning the monitoring target can be realized. Furthermore, a farther target can be seen through the monitoring equipment, so that the method provided by the invention has the characteristics of low cost, high precision, and far measured distance.
Description
Technical field
The present invention relates to technical field of video monitoring, particularly relate to a kind of video monitoring apparatus that utilizes to localization method and the positioning system of monitoring objective.
Background technology
Traditional supervisory system is to use front-end equipment to gather video data, is transferred on the monitor of rear end by circuit again, comes the analyzing and processing image information by the people at last.Development along with technology, only image information is no longer satisfied in monitoring, sometimes also need to know the positional information of monitoring objective, only be difficult to target localization by monitored picture, and the method for target location is estimated in traditional zoom of passing through camera lens and focusing, not only operating difficulties, and precision is low, is difficult to satisfy the needs of some occasions.The patent that some related objective location are also arranged certainly, be multiple goal positioning and tracing method and the system based on polyphaser of CN102243765 such as publication number, its technical scheme is by a plurality of video cameras being installed and being adopted the image processing method formula to obtain the target line trace of going forward side by side, but the actual geographic position of monitoring objective and video camera can't obtain to the monitoring objective distance, and also more complicated of this locator meams, dirigibility is relatively poor, and is especially higher to large-scale remote monitor cost.So just need a kind of geographic position that can accurately calculate target, and use flexibly, can realize on a large scale, the apparatus and method of remote monitor target localization.
Summary of the invention
The objective of the invention is for the technological deficiency that exists in the prior art, and provide a kind of video monitoring apparatus that utilizes to localization method and the positioning system of monitoring objective.
For realizing that the technical scheme that purpose of the present invention adopts is:
A kind of video monitoring apparatus that utilizes is to the localization method of monitoring objective, may further comprise the steps, 1) two of controls and monitoring objective not the video monitoring apparatus on the same straight line monitor simultaneously described monitoring objective, and make described monitoring objective be positioned at the centre of video image; 2) control system reads the geographical angle information of the residing positional information of each video monitoring apparatus and current camera; 3) the control system positional information and the output that calculate monitoring objective according to positional information and the geographical angle information of each video monitoring apparatus.
Angle information between the positional information of each video monitoring apparatus and The Cloud Terrace coordinate system and the geographic coordinate system is stored in the memory module, and control system reads in the memory module each positional information and angle information to calculate the positional information of monitoring objective.
Described video monitoring apparatus comprises The Cloud Terrace and camera, the compass module that described The Cloud Terrace also comprises measuring the GPS module of The Cloud Terrace position and is used for measuring The Cloud Terrace coordinate system and actual geographic coordinate angle.
A kind of video monitoring apparatus that utilizes is to the positioning system of monitoring objective, comprise at least two video monitoring apparatus, described video monitoring apparatus comprises The Cloud Terrace and camera, the compass module that described The Cloud Terrace also comprises measuring the GPS module of The Cloud Terrace position and is used for measuring The Cloud Terrace coordinate system and actual geographic coordinate angle; Data processing module is arranged in the angle information of The Cloud Terrace coordinate system and calculates the GPS information of monitoring objective in order to GPS information, angle information and the camera that receives The Cloud Terrace; Display module is used for the GPS information of the monitoring objective that receive data processing module data calculate and with its demonstration.
Compared with prior art, the invention has the beneficial effects as follows:
Localization method of the present invention only need to slightly be done change or only need each watch-dog information recording/on original watch-dog, just can realize the function of monitoring objective location, and can see farther target by watch-dog, so it is low to have a cost, precision is high, the characteristics far away of finding range.
Simultaneously, supervisory system of the present invention by GPS module and compass module are set, can provide for system GPS information and the angle information of each watch-dog, increases simplely to need not to do too many change and can realize positioning function, has expanded its application.
Description of drawings
Figure 1 shows that computation model synoptic diagram of the present invention.
Embodiment
Below in conjunction with the drawings and specific embodiments the present invention is described in further detail.Should be appreciated that specific embodiment described herein only in order to explain the present invention, is not intended to limit the present invention.
As shown in Figure 1, the present invention utilizes video monitoring apparatus to the localization method of monitoring objective, may further comprise the steps,
1) control two with monitoring objective not the video monitoring apparatus on the same straight line monitor simultaneously described monitoring objective, and make monitoring objective be positioned at the centre of video image, wherein, two video monitoring apparatus are designated as The Cloud Terrace A and The Cloud Terrace B, monitoring objective is designated as target C
2) control system reads the geographical angle information of the residing positional information of each video monitoring apparatus and current camera, wherein, positional information comprises latitude and longitude information and elevation information, for ease of calculating, can measure positional information and the angle information between The Cloud Terrace coordinate system and the geographic coordinate system of each video monitoring apparatus and be stored in the memory module in supervisory system is set up, control system reads the positional information of each video monitoring apparatus in the memory module and angle information to calculate the positional information of monitoring objective.
Certainly, also can measurement module be set at video monitoring apparatus, as being used for measuring the GPS module of The Cloud Terrace position the setting of described The Cloud Terrace and being used for measuring the compass module of the angle of The Cloud Terrace coordinate system and actual geographic coordinate, control system can be obtained above-mentioned information equally by GPS information and the angle information of inquiring about each module.
3) the control system positional information and the output that calculate monitoring objective according to positional information and the geographical angle information of each video monitoring apparatus.Because 3 of ABC consist of a triangle, utilize sine and orthogonal projection can calculate the positional information of target C, it comprises longitude and latitude and elevation information.
The below will carry out exemplary illustrated as an example of video monitoring apparatus localization method with GPS module and compass module example.
The The Cloud Terrace initial point at first is set, the initial point of The Cloud Terrace, the coordinate system that is The Cloud Terrace self can arbitrarily arrange, but for convenience of calculation, can be with the horizontal initial point of The Cloud Terrace A and The Cloud Terrace B, the zero degree that is level is arranged on same direction, and such as the direction of The Cloud Terrace A to The Cloud Terrace B, vertical initial point is arranged on horizontal direction.
Then inquire about the sea level elevation h that the GPS module is obtained The Cloud Terrace A and B
1And h
2, obtain the difference in height h=h of The Cloud Terrace A and The Cloud Terrace B
2-h
1(supposing that The Cloud Terrace B is higher than The Cloud Terrace A).
Draw the distance of A and B by the calculation of longitude ﹠ latitude of The Cloud Terrace A and The Cloud Terrace B, perhaps control The Cloud Terrace A observation The Cloud Terrace B, inquiry The Cloud Terrace A vertical angle information, obtaining The Cloud Terrace B is γ with respect to the vertical angle of A, take the latter as example.
Control The Cloud Terrace A and The Cloud Terrace B be monitoring objective C simultaneously, obtains level angle and the vertical angle of The Cloud Terrace A and The Cloud Terrace B.If the horizontal and vertical angle of The Cloud Terrace A is respectively α
1, β
1, the horizontal and vertical angle of The Cloud Terrace B is respectively α
2, β
2Wherein, α
1, β
1, α
2, β
2All be that camera is with respect to the angle of The Cloud Terrace initial point.
For the ease of calculating, B, C are projected on the surface level at A place and obtain B', C', as shown in Figure 1.
BB'=h=h
2-h
1
AB'=htanγ=(h
2-h
1)tanγ
At triangle AB'C', had by sine:
Calculate monitoring objective C to the distance of the horizontal direction of The Cloud Terrace A and The Cloud Terrace B:
The sea level elevation of monitoring objective C: (when monitoring objective C is lower than observation station A, β
1Less than 0)
Above-mentionedly only be to the distance of target C and highly measure computing method and done exemplary illustration, after obtaining the above results, can draw the GPS information of target C in conjunction with the angle of the The Cloud Terrace coordinate of The Cloud Terrace A or The Cloud Terrace B and geographic coordinate.
Simultaneously, the invention also discloses a kind of video monitoring apparatus that utilizes to the positioning system of monitoring objective, comprise at least two video monitoring apparatus, it comprises camera and The Cloud Terrace.Wherein camera can be regulated zoom and focusing, to realize the remote monitor target, improves precision.Described The Cloud Terrace also comprises measuring the GPS module of The Cloud Terrace position information and is used for measuring the compass module of the angle of The Cloud Terrace coordinate system and actual geographic coordinate.After setting initial point, The Cloud Terrace can be realized the measurement of horizontal and vertical orientation angle, as long as with the alignment lens monitoring objective, make monitoring objective be positioned at the centre of video image, then send instruction inquiry The Cloud Terrace horizontal and vertical angle, just can obtain the angle information data processing module of The Cloud Terrace, be arranged in the angle information of The Cloud Terrace coordinate system and calculate the GPS information of monitoring objective in order to GPS information, angle information and the camera that receives The Cloud Terrace; Display module, the GPS information of the monitoring objective that calculates in order to receive data processing module data and with its demonstration.
The present invention only need to slightly do change on original watch-dog, just can realize the function of monitoring objective location, and can see farther target by watch-dog, so it is low to have a cost, precision is high, the characteristics far away of finding range.
The above only is preferred implementation of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (4)
1. one kind is utilized video monitoring apparatus to the localization method of monitoring objective, it is characterized in that, may further comprise the steps,
1) two of controls and monitoring objective not the video monitoring apparatus on the same straight line monitor simultaneously described monitoring objective, and make monitoring objective be positioned at the centre of video image;
2) control system reads the geographical angle information of the residing positional information of each video monitoring apparatus and current camera;
3) the control system positional information and the output that calculate monitoring objective according to positional information and the geographical angle information of each video monitoring apparatus.
2. localization method as claimed in claim 1, it is characterized in that, angle information between the positional information of each video monitoring apparatus and The Cloud Terrace coordinate system and the geographic coordinate system is stored in the memory module, and control system reads in the memory module each positional information and angle information to calculate the positional information of monitoring objective.
3. localization method as claimed in claim 1, it is characterized in that, described video monitoring apparatus comprises The Cloud Terrace and camera, and described The Cloud Terrace also comprises measuring the GPS module of The Cloud Terrace position information and is used for measuring the compass module of the angle of The Cloud Terrace coordinate system and actual geographic coordinate.
4. one kind is utilized video monitoring apparatus to the positioning system of monitoring objective, it is characterized in that, comprise at least two video monitoring apparatus, described video monitoring apparatus comprises The Cloud Terrace and camera, and described The Cloud Terrace also comprises measuring the GPS module of The Cloud Terrace position information and is used for measuring the compass module of the angle of The Cloud Terrace coordinate system and actual geographic coordinate;
Data processing module is arranged in the angle information of The Cloud Terrace coordinate system and calculates the GPS information of monitoring objective in order to GPS information, angle information and the camera that receives The Cloud Terrace;
Display module, the GPS information of the monitoring objective that calculates in order to receive data processing module data and with its demonstration.
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Cited By (10)
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| CN103399319A (en) * | 2013-07-22 | 2013-11-20 | 山东神戎电子股份有限公司 | Space target positioning method applicable to video monitoring |
| CN104301685A (en) * | 2014-10-23 | 2015-01-21 | 深圳艾瑞斯通技术有限公司 | Optical fiber vibration environment visual monitor method, device and system |
| CN104299236A (en) * | 2014-10-20 | 2015-01-21 | 中国科学技术大学先进技术研究院 | Target locating method based on scene calibration and interpolation combination |
| CN105674948A (en) * | 2016-01-12 | 2016-06-15 | 上海斐讯数据通信技术有限公司 | Triangulation device and method and mobile terminal |
| WO2017028579A1 (en) * | 2015-08-14 | 2017-02-23 | 杭州海康威视数字技术股份有限公司 | Camera and surveillance system for video surveillance |
| CN108519067A (en) * | 2018-03-21 | 2018-09-11 | 刘前进 | Video camera, which moves in axis operating process, determines that photographic subjects sit calibration method |
| CN109307585A (en) * | 2018-04-26 | 2019-02-05 | 东南大学 | A kind of intelligent test system of nearly mesh formula display performance |
| WO2021073472A1 (en) * | 2019-10-14 | 2021-04-22 | Zhejiang Dahua Technology Co., Ltd. | Positioning systems and methods |
| CN114384568A (en) * | 2021-12-29 | 2022-04-22 | 达闼机器人有限公司 | Position measuring method and device based on mobile camera, processing equipment and medium |
| CN115731658A (en) * | 2021-08-31 | 2023-03-03 | 国家电网有限公司 | Security positioning device and method for power system equipment |
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| WO2021073472A1 (en) * | 2019-10-14 | 2021-04-22 | Zhejiang Dahua Technology Co., Ltd. | Positioning systems and methods |
| CN115731658A (en) * | 2021-08-31 | 2023-03-03 | 国家电网有限公司 | Security positioning device and method for power system equipment |
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