CN103017740B - 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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- CN103017740B CN103017740B CN201210501581.8A CN201210501581A CN103017740B CN 103017740 B CN103017740 B CN 103017740B CN 201210501581 A CN201210501581 A CN 201210501581A CN 103017740 B CN103017740 B CN 103017740B
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 87
- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000012806 monitoring device Methods 0.000 title abstract 6
- 230000004807 localization Effects 0.000 claims description 11
- 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 the localization method of monitoring objective and positioning system.
Background technology
Traditional supervisory system uses front-end equipment to gather video data, then by line transmission on the monitor of rear end, finally carry out analyzing and processing image information by people.Along with the development of technology, monitoring no longer meets only image information, sometimes the positional information knowing monitoring objective is also needed, be difficult to target localization by means of only monitored picture, and the method for target location is estimated in traditional zoom by camera lens and focusing, not only operating difficulties, and precision is low, is difficult to the needs meeting some occasions.Certainly the patent also having some related objectives to locate, such as publication number is the Multi-target position tracking based on polyphaser and the system of CN102243765, its technical scheme to be gone forward side by side line trace by installing multiple video camera and adopting image procossing mode to obtain target, but the actual geographic position of monitoring objective and video camera cannot obtain to monitoring objective distance, and this locator meams also more complicated, dirigibility is poor, especially higher to large-scale remote monitor cost.So just need a kind of geographic position that accurately can 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 object of the invention is the technological deficiency for existing in prior art, and provide a kind of video monitoring apparatus that utilizes to the localization method of monitoring objective and positioning system.
The technical scheme adopted for realizing object of the present invention is:
A kind of video monitoring apparatus that utilizes is to the localization method of monitoring objective, comprise the following steps, 1) control two and monitor described monitoring objective with the video monitoring apparatus of monitoring objective not on same straight line simultaneously, and make described monitoring objective be positioned at the centre of video image; 2) control system reads the geographical angle information of positional information residing for each video monitoring apparatus and current camera; 3) control system calculates the positional information of monitoring objective according to the positional information of each video monitoring apparatus and geographical angle information and exports.
The positional information of each video monitoring apparatus and the angle information between The Cloud Terrace coordinate system and geographic coordinate system store in a storage module, and in control system reading memory module, each position information and angle information are to calculate the positional information of monitoring objective.
Described video monitoring apparatus comprises The Cloud Terrace and camera, and described The Cloud Terrace also comprises the GPS module for measuring The Cloud Terrace position and is used for measuring the compass module of 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, and described The Cloud Terrace also comprises the GPS module for measuring The Cloud Terrace position and is used for measuring the compass module of 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 in order to receive the GPS information of The Cloud Terrace, angle information and camera and carries out calculating the GPS information of monitoring objective; Display module, for receiving the GPS information of the monitoring objective that data processing module data calculate and being shown.
Compared with prior art, the invention has the beneficial effects as follows:
Localization method of the present invention only needs slightly to change or only need each watch-dog information record on original watch-dog, just can realize the function of monitoring objective location, and farther target can be seen by watch-dog, so it is low to have cost, precision is high, feature far away of finding range.
Meanwhile, supervisory system of the present invention, by arranging GPS module and compass module, can provide GPS information and the angle information of each watch-dog for system, increases simplely can realize positioning function without the need to doing too many change, has expanded its application.
Accompanying drawing explanation
Figure 1 shows that computation model schematic 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, be 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, comprises the following steps,
1) control two and monitor described monitoring objective with the video monitoring apparatus of monitoring objective not on same straight line simultaneously, 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 positional information residing for each video monitoring apparatus and current camera, wherein, positional information comprises latitude and longitude information and elevation information, for ease of calculating, can measure the positional information of each video monitoring apparatus and angle information between The Cloud Terrace coordinate system and geographic coordinate system and stores in a storage module when supervisory system erection, in control system reading memory module, the positional information of each video monitoring apparatus and angle information are to calculate the positional information of monitoring objective.
Certainly, also measurement module can be set on video monitoring apparatus, as as described in The Cloud Terrace on the GPS module being used for measuring The Cloud Terrace position and the compass module being used for the angle measuring The Cloud Terrace coordinate system and actual geographic coordinate are set, control system can obtain above-mentioned information equally by the GPS information and angle information of inquiring about each module.
3) control system calculates the positional information of monitoring objective according to the positional information of each video monitoring apparatus and geographical angle information and exports.Because ABC 3 forms a triangle, utilize sine and orthogonal projection can calculate the positional information of target C, it comprises longitude and latitude and elevation information.
Exemplary illustrated is carried out below by for the video monitoring apparatus localization method with GPS module and compass module.
First The Cloud Terrace initial point is set, the initial point of The Cloud Terrace, namely the coordinate system of The Cloud Terrace self can arbitrarily be arranged, but in order to convenience of calculation, can by the horizontal initial point of The Cloud Terrace A and The Cloud Terrace B, namely the zero degree of level is arranged on same direction, and such as The Cloud Terrace A is to the direction of The Cloud Terrace B, and vertical initial point is arranged on horizontal direction.
Then the sea level elevation h that GPS module obtains The Cloud Terrace A and B is inquired about
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).
Drawn the distance of A and B by the calculation of longitude & latitude of The Cloud Terrace A and The Cloud Terrace B, or control The Cloud Terrace A observation The Cloud Terrace B, inquiry The Cloud Terrace A vertical angle information, obtaining The Cloud Terrace B relative to the vertical angle of A is γ, for the latter.
Control The Cloud Terrace A and The Cloud Terrace B monitoring objective C simultaneously, obtain 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
2.Wherein, α
1, β
1, α
2, β
2all the angle of camera relative to The Cloud Terrace initial point.
For the ease of calculating, surface level B, C being projected to A place obtains 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 the distance of the horizontal direction of monitoring objective C to 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
1be less than 0)
Above-mentioned is only done exemplary illustration to the Distance geometry elevation carrection computing method of target C, can draw the GPS information of target C after obtaining the above results in conjunction with the The Cloud Terrace coordinate of The Cloud Terrace A or The Cloud Terrace B and the angle of geographic coordinate.
Meanwhile, 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.The wherein adjustable zoom of camera and focusing, to realize remote monitor target, improves precision.Described The Cloud Terrace also comprises the GPS module for measuring The Cloud Terrace position information and is used for the compass module of the angle measuring The Cloud Terrace coordinate system and actual geographic coordinate.After setting initial point, The Cloud Terrace can realize the measurement of horizontal and vertical orientation angle, as long as by alignment lens monitoring objective, monitoring objective is made to be positioned at the centre of video image, then instructions query The Cloud Terrace horizontal and vertical angle is sent, 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 in order to receive the GPS information of The Cloud Terrace, angle information and camera and carry out calculating the GPS information of monitoring objective; Display module, in order to receive the GPS information of the monitoring objective that data processing module data calculate and to be shown.
The present invention only needs slightly to change on original watch-dog, and just can realize the function of monitoring objective location, and can see farther target by watch-dog, so it is low to have cost, precision is high, feature far away of finding range.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles 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 (3)
1. utilize video monitoring apparatus to a localization method for monitoring objective, it is characterized in that, comprise the following steps,
1) control two and monitor described monitoring objective with the video monitoring apparatus of monitoring objective not on same straight line simultaneously, and make monitoring objective be positioned at the centre of video image, described video monitoring apparatus comprises The Cloud Terrace and camera, and described The Cloud Terrace also comprises the GPS module for measuring The Cloud Terrace position information and is used for the compass module of the angle measuring The Cloud Terrace coordinate system and actual geographic coordinate;
2) control system reads the geographical angle information of positional information residing for each video monitoring apparatus and current camera;
3) control system calculates the positional information of monitoring objective according to the positional information of each video monitoring apparatus and geographical angle information and exports.
2. localization method as claimed in claim 1, it is characterized in that, the positional information of each video monitoring apparatus and the angle information between The Cloud Terrace coordinate system and geographic coordinate system store in a storage module, and in control system reading memory module, each position information and angle information are to calculate the positional information of monitoring objective.
3. one kind utilizes 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 the GPS module for measuring The Cloud Terrace position information and is used for the compass module of the angle measuring The Cloud Terrace coordinate system and actual geographic coordinate;
Data processing module, is arranged in the angle information of The Cloud Terrace coordinate system in order to receive the GPS information of The Cloud Terrace, angle information and camera and carries out calculating the GPS information of monitoring objective;
Display module, in order to receive the GPS information of the monitoring objective that data processing module data calculate and to be shown.
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| CN201210501581.8A CN103017740B (en) | 2012-11-28 | 2012-11-28 | Method and system for positioning monitoring target by using video monitoring devices |
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| CN103017740B true CN103017740B (en) | 2015-02-11 |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN104299236B (en) * | 2014-10-20 | 2018-02-27 | 中国科学技术大学先进技术研究院 | A kind of object localization method based on scene calibration combined interpolation |
| CN104301685B (en) * | 2014-10-23 | 2018-03-27 | 深圳艾瑞斯通技术有限公司 | A kind of fiber-optic vibration environment method for visually monitoring, apparatus and system |
| CN106713822A (en) * | 2015-08-14 | 2017-05-24 | 杭州海康威视数字技术股份有限公司 | Video camera used for video monitoring and monitoring system |
| 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 |
| CN108519067B (en) * | 2018-03-21 | 2020-09-22 | 刘前进 | Method for determining coordinates of shooting target in camera shift operation process |
| CN109307585A (en) * | 2018-04-26 | 2019-02-05 | 东南大学 | A kind of intelligent test system of nearly mesh formula display performance |
| CN110706447B (en) * | 2019-10-14 | 2022-05-03 | 浙江大华技术股份有限公司 | Disaster position determination method, disaster position determination device, storage medium, and electronic device |
| 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 |
| 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 |
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