CN103034247A - Controlling method and controlling device for remote monitoring system - Google Patents
Controlling method and controlling device for remote monitoring system Download PDFInfo
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- CN103034247A CN103034247A CN2012105259367A CN201210525936A CN103034247A CN 103034247 A CN103034247 A CN 103034247A CN 2012105259367 A CN2012105259367 A CN 2012105259367A CN 201210525936 A CN201210525936 A CN 201210525936A CN 103034247 A CN103034247 A CN 103034247A
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Abstract
The invention provides a controlling method and a controlling device for remote monitoring system. The controlling method of the remote monitoring system includes the obtaining of the attitude of a cradle head and the location information of a monitoring object. The target angle of the cradle head and focal distance of a monitoring camera are calculated according to the attitude and location information. By utilizing the controlling method and controlling device for remote monitoring system, within the monitoring area, according to the location of the monitoring object the remote monitoring system controls the turning of the cradle head quickly, adjusts the focal distance of the monitoring camera , automatically locates the monitoring object and implements tracing. The speed and accuracy of capturing target by the cradle head are higher, the controlling mode is more flexible, the remote monitoring is more quickly, the monitoring level is increased, and a foundation is provided for the intelligent dispatching of ships,operating passenger vehicles, goods yard vehicles and the like transportation means and animal monitoring and management under specific environment.
Description
Technical field
The present invention relates to the monitoring field, especially, relate to a kind of control method and control device of long distance control system.
Background technology
At present, long distance control system is monitored moving target and is had dual mode, and a kind of is that a plurality of monitoring cameras are set, the situation in each a certain zone of camera lens fixed surveillance, and the dead angle appears monitoring in this method unavoidably, the target in can't the monitoring moving state; The another kind of method of using artificial observation, The Cloud Terrace can carry monitoring camera and rotate, but need to rely on artificial observation manual setting monitoring camera towards and focal length.Monitoring camera generally is fixedly mounted on the The Cloud Terrace, with the cloud platform rotation adjustment towards.Such as the remote monitoring to yard craft, need the monitor staff to control the The Cloud Terrace that is installed in the bank eminence by cradle head controllor, make the boats and ships that monitoring camera is aimed at needs monitoring, and adjust the discrepancy situation that lens focus is monitored boats and ships.
Scheme according to prior art, the monitoring objective remote system can not the automatic capturing monitoring objective the position, and precision and the speed of monitoring are not high, can't realize monitoring objective is accurately located rapidly, the impact that artificial observation is subject to monitoring personnel subjectivity is larger, observation scope is limited, and is subject to the restriction of the factor of weather, can not realize well the remote monitoring to monitoring objective.
Problem for prior art medium-long range supervisory system can't position monitoring objective does not automatically also propose effective solution at present.
Summary of the invention
Fundamental purpose of the present invention provides a kind of long distance control system and control method and control device, the problem that can't automatically position monitoring objective to solve prior art medium-long range supervisory system.
A kind of control method of long distance control system is provided according to an aspect of the present invention.The control method of this long distance control system comprises: obtain the attitude of The Cloud Terrace and the positional information of monitoring objective; According to the angle on target of attitude and the described The Cloud Terrace of positional information calculation and the target focal length of monitoring camera; Control device to The Cloud Terrace sends attitude adjustment steering order, and this attitude is adjusted steering order and comprised angle on target and target focal length.
Further, the attitude of obtaining The Cloud Terrace comprises: the height, angle of drift and the angle of pitch that obtain The Cloud Terrace; The positional information of obtaining monitoring objective comprises: the height and the longitude and latitude that obtain monitoring objective.
Further, the angle on target according to the described The Cloud Terrace of positional information calculation of the current attitude of The Cloud Terrace and monitoring objective comprises: the difference in height of calculating The Cloud Terrace and monitoring objective; Calculate The Cloud Terrace to the distance of monitoring objective according to the longitude and latitude of The Cloud Terrace, the longitude and latitude of monitoring objective and the difference in height of The Cloud Terrace and monitoring objective; The target luffing angle that calculates The Cloud Terrace to the distance of monitoring objective according to difference in height and the The Cloud Terrace of The Cloud Terrace and monitoring objective.
Further, the angle on target according to the positional information calculation The Cloud Terrace of the current attitude of The Cloud Terrace and monitoring objective comprises: draw the target course deviation angle of The Cloud Terrace according to the longitude and latitude of The Cloud Terrace, the calculation of longitude ﹠ latitude of monitoring objective.
Further, comprise according to the current attitude of The Cloud Terrace and the positional information calculation target focal length of monitoring objective: the difference in height of calculating The Cloud Terrace and monitoring objective; Calculate The Cloud Terrace to the distance of monitoring objective according to the longitude and latitude of The Cloud Terrace, the longitude and latitude of monitoring objective and the difference in height of The Cloud Terrace and monitoring objective; Draw the target focal length of monitoring camera according to the incidence relation of the focal length of monitoring camera and shooting distance to the distance of monitoring objective according to The Cloud Terrace.
Further, the height, angle of drift and the angle of pitch that obtain The Cloud Terrace comprise: the height, angle of drift and the angle of pitch that obtain the The Cloud Terrace of being measured by The Cloud Terrace attitude harvester.
Further, the height and the longitude and latitude that obtain monitoring objective comprise: the height and the longitude and latitude that obtain the monitoring objective of being measured by the positioning equipment that is installed on the monitoring objective.
Further, obtaining the current attitude of The Cloud Terrace and the positional information of monitoring objective also comprises afterwards: set up the corresponding relation between the displaing coordinate on actual geographic coordinate and the supervision screen; Determine the displaing coordinate on the corresponding supervision screen of actual geographic coordinate of monitoring objective according to corresponding relation; Displaing coordinate place sign monitoring objective on the supervision screen of correspondence.
A kind of control device of long distance control system also is provided according to another aspect of the present invention.The control device of this long distance control system comprises: acquisition module is used for obtaining the attitude of The Cloud Terrace and the positional information of monitoring objective; Computing module is used for according to the angle on target of attitude and positional information calculation The Cloud Terrace and the target focal length of monitoring camera; The steering order sending module is used for sending attitude to the control device of The Cloud Terrace and adjusts steering order, and attitude is adjusted steering order and comprised angle on target and target focal length.
Further, the control device of this long distance control system also comprises: the coordinate respective modules is used for setting up the corresponding relation between the displaing coordinate on actual geographic coordinate and the supervision screen; The displaing coordinate determination module is for the displaing coordinate on the corresponding supervision screen of actual geographic coordinate of determining monitoring objective according to corresponding relation; The station location marker module is used for the displaing coordinate place sign monitoring objective on the supervision screen of correspondence.
According to technical scheme of the present invention, the control method of long distance control system comprises: obtain the attitude of The Cloud Terrace and the positional information of monitoring objective; According to the angle on target of attitude and positional information calculation The Cloud Terrace and the target focal length of monitoring camera; Control device to The Cloud Terrace sends attitude adjustment steering order, and attitude is adjusted steering order and comprised angle on target and target focal length.The The Cloud Terrace attitude that arrives by Real-time Obtaining and the position of monitoring objective, automatically the target of calculating monitoring camera towards with the focal length of monitoring camera, and by the control device of the The Cloud Terrace automatic tracing and monitoring target of target focus controlling platform-lens according to angle on target and the monitoring camera of The Cloud Terrace, after monitoring objective enters guarded region, can be rapidly according to the position control cloud platform rotation of monitoring objective and the focal length of adjusting monitoring camera, thereby can automatically position monitoring objective, implement to follow the tracks of, the position that obtains monitoring objective is more accurate, the velocity accuracy of The Cloud Terrace captured target is higher, control mode is more flexible, make remote monitoring rapider, precision is higher, improved the monitoring level to monitoring objective in the guarded region, for further realizing boats and ships, the operation passenger carrying vehicle, the intelligent scheduling of the vehicles such as goods yard vehicle and the animal monitoring management of specific environment provide the foundation.
Description of drawings
Figure of description is used to provide a further understanding of the present invention, consists of the application's a part, and illustrative examples of the present invention and explanation thereof are used for explaining the present invention, do not consist of improper restriction of the present invention.In the accompanying drawings:
Fig. 1 is the synoptic diagram according to the long distance control system of the embodiment of the invention;
Fig. 2 is the synoptic diagram according to the control device of the long distance control system of the embodiment of the invention;
Fig. 3 is the synoptic diagram according to the control of the long distance control system of the embodiment of the invention;
Fig. 4 is according to the synoptic diagram that calculates the target pitching squareness of The Cloud Terrace in the control method of the long distance control system of the embodiment of the invention;
Fig. 5 is according to the synoptic diagram that calculates the target course deviation angle of The Cloud Terrace in the control method of the long distance control system of the embodiment of the invention;
Fig. 6 is according to the synoptic diagram that calculates the realistic objective course deviation angle of The Cloud Terrace in the control method of the long distance control system of the embodiment of the invention;
Fig. 7 is the synoptic diagram according to actual geographic coordinate in the control method of the long distance control system of the embodiment of the invention;
Fig. 8 is according to the synoptic diagram that monitors the displaing coordinate on the screen in the control method of the long distance control system of the embodiment of the invention.
Embodiment
Need to prove that in the situation of not conflicting, embodiment and the feature among the embodiment among the application can make up mutually.Describe below with reference to the accompanying drawings and in conjunction with the embodiments the present invention in detail.
Fig. 1 is the synoptic diagram according to the long distance control system of the embodiment of the invention, and as shown in Figure 1, this system comprises: be fixedly installed the The Cloud Terrace 10 of monitoring camera, this The Cloud Terrace 10 can rotate under the driving of motor, thus adjust monitoring camera towards.The The Cloud Terrace state collecting device is connected with The Cloud Terrace 10, be used for gathering the current attitude of The Cloud Terrace 10, the attitude of The Cloud Terrace 10 generally comprises the rotational angle (namely monitoring camera towards angle) of The Cloud Terrace 10, the velocity of rotation of The Cloud Terrace 10, the adjustable height of The Cloud Terrace 10, wherein the angle of The Cloud Terrace 10 comprises: the angle of drift of The Cloud Terrace 10 (angle of The Cloud Terrace in surface level) and the angle of pitch (angle of The Cloud Terrace in vertical plane).Position information receiver 11 is for the positional information (comprising height, precision, latitude etc.) that receives monitoring objective 14; Monitoring host computer 12, are connected with position information receiver with The Cloud Terrace attitude harvester and are connected respectively, be used for obtaining the attitude of The Cloud Terrace 10 and the positional information of monitoring objective 14, and according to the angle on target of the positional information calculation The Cloud Terrace 10 of the current attitude of The Cloud Terrace 10 and monitoring objective 14 and the target focal length of monitoring camera, and the target focal length of the above-mentioned angle on target that calculates and monitoring camera sent to tripod head controlling device; Tripod head controlling device is connected with monitoring host computer 12, according to the rotational angle of the target Focussing The Cloud Terrace 10 of the angle on target of The Cloud Terrace 10 and monitoring camera and the focal length of monitoring camera.
Wherein, The Cloud Terrace state collecting device, tripod head controlling device, monitoring camera all are installed on the The Cloud Terrace 10, so do not illustrate in the drawings.
The Cloud Terrace 10 is installed on eminence, The Cloud Terrace state collecting device and monitoring camera are installed on the The Cloud Terrace 10, rotate with The Cloud Terrace 10, the The Cloud Terrace state collecting device can measure in real time and gather the rotary state that comprises The Cloud Terrace 10 and monitoring camera towards the The Cloud Terrace attitude, the rotary state of The Cloud Terrace 10 can comprise acceleration, speed, rotation direction of cloud platform rotation etc.The data of longitude, latitude, sea level elevation and initial steer angle that The Cloud Terrace 10 is initial all can obtain by measuring, and be given data.
Positioning equipment 15 is installed on the monitoring objective 14, is used for obtaining the position information such as longitude, latitude, the speed of a ship or plane and course of monitoring objective 14 positions, and above information is sent to position information receiver 11.Positioning equipment 15 can be various types of positioning equipments, such as GPS(Globle Positioning System) device, the Big Dipper locating device of China, the Galileo locating device etc. in Europe can carry out arbitrarily the equipment of wireless location.When positioning equipment 15 was the GPS device, correspondingly position information receiver 11 was the GPS information receiver, was used for receiving the GPS locating information of monitoring objective.
Position information receiver 11 is installed on the fixed position, be connected with monitoring server 11 by communication cable 13, for the positional information of the monitoring objective 14 that receives 15 transmissions of monitoring objective positioning equipment, comprise longitude, latitude and the height of monitoring objective 14 positions in this positional information.The installation site of this positional information receiving equipment 11 can be determined according to actual needs, to guarantee the needing zone of monitoring in the regional extent that can receive active position information.
Monitoring host computer 12 is connected with position information receiver with the The Cloud Terrace state collecting device respectively by communication cable 13 and is connected, be used for obtaining the current attitude of The Cloud Terrace 10 and the positional information of monitoring objective 14, and according to the angle on target of the positional information calculation The Cloud Terrace 10 of the current attitude of The Cloud Terrace 10 and monitoring objective 14 and the target focal length of monitoring camera.The control command that then will comprise the target focal length of above-mentioned angle on target and monitoring camera sends to tripod head controlling device.
Tripod head controlling device also is installed on the The Cloud Terrace 10, according to the rotational angle of the target Focussing The Cloud Terrace of the angle on target of above-mentioned The Cloud Terrace 10 and monitoring camera and the focal length of monitoring camera, makes monitoring camera can complete display ground take the image of monitoring objective.
The long distance control system of the embodiment of the invention can also comprise the supervision screen, is used for the monitoring image of display monitoring lens shooting.
The The Cloud Terrace state collecting device can specifically comprise: the measuring equipments such as gyroscope, acceleration transducer, magnetoresistive transducer, and for current course deviation angle and the luffing angle equal angles information of accurately measuring The Cloud Terrace.This The Cloud Terrace state collecting device and tripod head controlling device also can be used for the transformation of old The Cloud Terrace system, to save the cost of supervisory system upgrading.Above-mentioned athletic posture comprises rotating speed, acceleration, direction of motion of cloud platform rotation etc.For the The Cloud Terrace with precision control, relative attitude information and the record that also can directly obtain The Cloud Terrace in the information from controlling of The Cloud Terrace.The attitude information that like this, just can be obtained last time opens the beginning attitude as what The Cloud Terrace was controlled.After operation is finished, obtain relative attitude information in the information from controlling, add the attitude information of last time, just obtained current attitude information.
Be installed in the positioning equipment 15 on the monitoring objective 14 in the long distance control system of present embodiment, can be various types of positioning equipments, such as GPS(Globle Positioning System) device, the Big Dipper locating device of China, the Galileo locating device etc. in Europe can carry out arbitrarily the equipment of wireless location.When positioning equipment 15 was the GPS device, correspondingly position information receiver 11 was the GPS information receiver, was used for receiving the GPS locating information of monitoring objective.
Occasion in the motion track that needs real-time follow-up monitoring objective 14 or locating information; the long distance control system of present embodiment can also arrange monitoring screen; displaing coordinate place at the corresponding actual geographic coordinate of monitoring screen identifies this monitoring objective; at this moment; monitoring host computer 12, actual geographic coordinate that also be used for to determine monitoring objective 14 corresponding displaing coordinate on monitoring screen.
The long distance control system that the embodiment of the invention provides can comprise monitoring objective position and cradle head control database, be used for preserving the positional information of monitoring objective and the record of coming in and going out, and the record of cradle head control, and according to above record generation and the control daily record of output cradle head controllor and the daily record of travelling of monitoring objective.Can dispatch and manage all monitoring objectives in the monitoring range easily according to above-mentioned monitoring objective and cradle head control record.
Monitoring objective in this example can be boats and ships, operation passenger carrying vehicle, goods yard vehicle, personage, animal or even valuable article etc., and The Cloud Terrace and monitoring camera are installed in the bus stop, parking lot, goods yard, crossing, street of bank, the passenger carrying vehicle at harbour etc. need to carry out occasion that monitoring objective is monitored to manage concentratedly.Concrete The Cloud Terrace and the installation site of monitoring camera can be configured according to practical matter and needs, avoid as much as possible monitoring the appearance at dead angle.
The below is introduced the control device of the long distance control system of above-described embodiment, this control device can be used for above-mentioned any described long distance control system is controlled, Fig. 2 is the synoptic diagram according to the control device of the long distance control system of the embodiment of the invention, as shown in Figure 2, this control device comprises: acquisition module 21 is used for obtaining the attitude of The Cloud Terrace 10 and the positional information of monitoring objective; Computing module 23 is used for according to the angle on target of attitude and positional information calculation The Cloud Terrace and the target focal length of monitoring camera; Steering order sending module 25 is used for sending attitude to the control device of The Cloud Terrace and adjusts steering order, and attitude is adjusted steering order and comprised above-mentioned angle on target and target focal length.Wherein, acquisition module 21 attitude of obtaining The Cloud Terrace can comprise: the height, angle of drift and the angle of pitch that obtain The Cloud Terrace; The positional information of the monitoring objective that acquisition module 21 obtains comprises: the height of monitoring objective and longitude and latitude.
Wherein, the angle on target of The Cloud Terrace comprises: target angle of drift (horizontal angle), the target angle of pitch (vertically angle).Wherein the step of computing module 23 calculating target angles of drift is: the difference in height of calculating The Cloud Terrace and monitoring objective; Calculate The Cloud Terrace to the distance of monitoring objective according to the longitude and latitude of The Cloud Terrace, the longitude and latitude of monitoring objective and the difference in height of The Cloud Terrace and monitoring objective; The target luffing angle that calculates The Cloud Terrace to the distance of monitoring objective according to difference in height and the The Cloud Terrace of The Cloud Terrace and monitoring objective.
Wherein the step of computing module 23 calculating target angles of drift is: draw the target course deviation angle of The Cloud Terrace according to the longitude and latitude of The Cloud Terrace, the calculation of longitude ﹠ latitude of monitoring objective; The step that computing module 23 calculates target angle of pitch calculating target focal length comprises: the difference in height of calculating The Cloud Terrace and monitoring objective; Calculate The Cloud Terrace to the distance of monitoring objective according to the longitude and latitude of The Cloud Terrace, the longitude and latitude of monitoring objective and the difference in height of The Cloud Terrace and monitoring objective; Draw the target focal length of monitoring camera according to the incidence relation of the focal length of monitoring camera and shooting distance to the distance of monitoring objective according to The Cloud Terrace.
Height, angle of drift and the angle of pitch that acquisition module 21 obtains The Cloud Terrace are measured by the attitude harvester.Height and longitude and latitude that acquisition module 21 obtains monitoring objective comprise: the height and the longitude and latitude that obtain the monitoring objective of being measured by the positioning equipment that is installed on the monitoring objective.
Further, the control device of the long distance control system of the embodiment of the invention can also comprise coordinate respective modules (not shown), is used for setting up the corresponding relation between the displaing coordinate on actual geographic coordinate and the supervision screen; The displaing coordinate determination module is for the displaing coordinate on the corresponding supervision screen of actual geographic coordinate of determining monitoring objective according to corresponding relation; Station location marker module (not shown) is used for the displaing coordinate place sign monitoring objective on the supervision screen of correspondence.Thereby can be in real time the position of monitoring objective be shown at monitoring screen in real time, make the intuitively position of monitoring objective of monitor staff.
The embodiment of the invention also provides a kind of control method of long distance control system, the control device of any long distance control system that the control of this long distance control system can provide by the above embodiment of the present invention is carried out, and, the control method of this long distance control system can be applied to comprise the long distance control system with upper controller, Fig. 3 is the synoptic diagram according to the control of the long distance control system of the embodiment of the invention, as shown in Figure 3, this control method mainly comprises the steps:
Step S31 obtains the attitude of The Cloud Terrace and the positional information of monitoring objective;
Step S33 is according to the angle on target of attitude and positional information calculation The Cloud Terrace and the target focal length of monitoring camera;
Step S35 adjusts steering order to the control device transmission attitude of The Cloud Terrace, and attitude is adjusted steering order and comprised angle on target and target focal length.
Wherein, the attitude of obtaining The Cloud Terrace among the step S31 comprises: the height, angle of drift and the angle of pitch that obtain The Cloud Terrace; The positional information of obtaining monitoring objective comprises: the height and the longitude and latitude that obtain monitoring objective.
The step of calculating the target angle of pitch among the step S33 is specifically as follows: the difference in height of calculating The Cloud Terrace and monitoring objective; Calculate The Cloud Terrace to the distance of monitoring objective according to the longitude and latitude of The Cloud Terrace, the longitude and latitude of monitoring objective and the difference in height of The Cloud Terrace and monitoring objective; The target luffing angle that calculates The Cloud Terrace to the distance of monitoring objective according to difference in height and the The Cloud Terrace of The Cloud Terrace and monitoring objective.Fig. 4 is according to the synoptic diagram that calculates the target pitching squareness of The Cloud Terrace in the control method of the long distance control system of the embodiment of the invention, as shown in Figure 4, suppose that the initial pitch orientation of The Cloud Terrace becomes the δ angle with horizontal direction, the longitude and latitude of The Cloud Terrace 10 is (lat1, lng1), the longitude and latitude of monitoring objective 14 is (lat2, lng2), according to the longitude and latitude of the longitude and latitude of The Cloud Terrace 10 and monitoring objective 14 can calculate between The Cloud Terrace 10 and the monitoring objective 14 apart from s, calculate between the two apart from the code of s can for:
Because the height of monitoring objective and The Cloud Terrace all acquires, shown in the difference in height h of The Cloud Terrace and monitoring objective can calculate, calculated between The Cloud Terrace 10 and the monitoring objective 14 apart from s, then can draw target luffing angle α, computing formula is
Thereby making monitoring camera by the control cloud platform rotation is α-δ or (180-α)-δ at the rotational angle of pitch orientation reality.
The step of calculating the target angle of drift among the step S33 is specifically as follows: draw the target course deviation angle of The Cloud Terrace according to the longitude and latitude of The Cloud Terrace, the calculation of longitude ﹠ latitude of monitoring objective.
Fig. 5 is according to the synoptic diagram that calculates the target course deviation angle of The Cloud Terrace in the control method of the long distance control system of the embodiment of the invention, as shown in Figure 5, the position of The Cloud Terrace 10 is initial point, set up coordinate system, horizontal direction (latitude) is X-axis, east is positive dirction, vertical oppositely (longitude) is Y-axis, north is positive dirction, the initial angle of the horizontal direction of monitoring camera is east by north θ °, regulation clockwise rotates as negative, rotate counterclockwise as just, The Cloud Terrace is s1 to the distance of the first monitoring objective 141, The Cloud Terrace is s2 to the distance of the second monitoring objective 142, and monitoring camera is to the course deviation angle γ of the course deviation angle of the second monitoring objective 142=The Cloud Terrace initial angle θ-second monitoring objective 142 so, and monitoring camera is to the angle beta of initial angle θ-first monitoring objective 141 of the course deviation angle=The Cloud Terrace of the first monitoring objective 141, the monitoring camera course deviation rotates counterclockwise θ-γ angle and can monitor the first monitoring objective 141 so, and level rotates counterclockwise θ-β angle can monitor the second monitoring objective 142.
Fig. 6 is according to the synoptic diagram that calculates the realistic objective course deviation angle of The Cloud Terrace in the control method of the long distance control system of the embodiment of the invention, the longitude and latitude of The Cloud Terrace is known, take The Cloud Terrace as initial point, sets up coordinate system, horizontal direction (latitude) is X-axis, east is positive dirction, and vertical direction (longitude) is Y-axis, and north is positive dirction, can be divided into four zones, compare longitude and latitude, determine the position at monitoring objective place, calculate again the realistic objective course deviation angle of The Cloud Terrace.
By to the luffing angle of The Cloud Terrace 10 and the adjustment of course deviation angle, just can capture neatly the physical location of monitoring objective, make the direction of the direction aligning monitoring objective of monitoring camera.Except direction, take monitoring objective 14 monitoring images also can further be adjusted monitoring camera to the position of The Cloud Terrace 10 according to monitoring objective 14 focal length.
Fall into a trap the calculate step of target focal length of step S33 is specifically as follows: the difference in height of calculating The Cloud Terrace and monitoring objective; Calculate The Cloud Terrace to the distance of monitoring objective according to the longitude and latitude of The Cloud Terrace, the longitude and latitude of monitoring objective and the difference in height of The Cloud Terrace and monitoring objective; Draw the target focal length of monitoring camera according to the incidence relation of the focal length of monitoring camera and shooting distance to the distance of monitoring objective according to The Cloud Terrace.
For example, monitoring camera farthest visual range is R, and the zoom multiple N of this camera lens, R/N relation of the corresponding shooting distance of one times of focal length namely so, can obtain based on this incidence relation of focal length and shooting distance, then calculate The Cloud Terrace 10 to the distance of monitoring objective 14, utilize above-mentioned incidence relation just can obtain the target focal length of monitoring camera.
Height, angle of drift and the angle of pitch that above-mentioned steps S31 obtains The Cloud Terrace are measured by the attitude harvester.The height of the monitoring objective that above-mentioned steps S31 obtains and longitude and latitude are height and the longitudes and latitudes by the monitoring objective that is installed in the positioning equipment measurement on the monitoring objective.
Be provided with in long distance control system in the situation of monitoring screen, the control method of the long distance control system that the embodiment of the invention provides can also comprise: set up the corresponding relation between the displaing coordinate on actual geographic coordinate and the supervision screen; Determine the displaing coordinate on the corresponding supervision screen of actual geographic coordinate of monitoring objective according to corresponding relation; Displaing coordinate place sign monitoring objective on the supervision screen of correspondence.Thereby can be in real time the position of monitoring objective be shown at monitoring screen in real time, make the intuitively position of monitoring objective of monitor staff.
Fig. 7 is the synoptic diagram according to actual geographic coordinate in the control method of the long distance control system of the embodiment of the invention, and Fig. 8 is according to the synoptic diagram that monitors the displaing coordinate on the screen in the control method of the long distance control system of the embodiment of the invention.Actual geographic position coordinates shown in Figure 7 is take longitude and latitude as unit, take latitude 0 ° (equator) as X-axis, east is positive dirction, take 0 ° of east longitude as Y-axis, north is positive dirction, gets arbitrarily 3 some a according to field survey, b, c consists of triangle, crosses two limits of parallel segment friendship triangle that the O point is done the equator, and calculates the coordinate of 2 intersection points.Image coordinate shown in Figure 8 is take pixel as unit, and take summit, the lower left corner as initial point, level is to the right X-axis and for just, is Y-axis and for just vertically upward.Coordinate (the x that O is ordered on the known actual geographic position, y) and directly obtain obtain arbitrarily in twos nonoverlapping 3 point coordinate a(x1, y1), b(x2, y2), c(x3, y3) and image on correspond to 3 coordinate points a ' (x4, y4) of actual geographic position, b ' (x5, y5), c ' (x6, y6).
At first, judge that the O point is whether in 3 triangles that surround of ABC (comprising the border): the area, the area of triangle ABO, the area of triangle ACO and the area of triangle BCO that calculate triangle ABC by Heron's formula; The size of the area of the area of comparison triangle ABC and the area of triangle ABO, triangle ACO and the area sum of triangle BCO, if the area of triangle ABC is greater than the area of triangle ABO, the area of triangle ACO and the area sum of triangle BCO, then put O outside triangle ABC, if both equate, then put O and (comprise the border) in triangle ABC.
If in the situation of O point in triangle ABC, determine that some O is whether on triangle ABC border, if then putting O is respectively AO, BO to 2 the distance of this edge AB, can calculate the two-part ratio T=AO/BO that an O is divided into this edge, can be divided into A ' O '/B ' O '=T to the A ' B ' limit with respect to the AB limit on the image with sampling point O ' so.
In the situation of O point in triangle ABC, determine that some O (does not comprise the border) in triangle ABC, that will the O point does the line segment that is parallel to the equator compared to two limits of triangle ABC, calculate the coordinate of 2 intersection points, the ratio that intersection point is cut apart the limit: T=d1/d2, T2=d3/d4, and some O is at the ratio T3=s1/s2 that the line segment of 2 intersection points compositions is cut apart.Owing to fix in the position of 3 of ABC, and under two coordinate systems ratio T1, T2, T3 is constant, thereby can be by known ratio T1, T2, T3 determines 2 intersection points and the position of putting O ' place at image.Thereby by calculating coordinate position O ' on the out position display device at last (x ', y ').
If the O point not in 3 triangles that surround of ABC (comprising the border), can again be chosen the actual geographic position and calculate with monitoring known other 3 of screen position corresponding relation.
The below describes two kinds of preferred specific embodiments of the present invention:
In the first specific embodiment, monitoring objective is boats and ships, and The Cloud Terrace is installed on the eminence on bank, and the The Cloud Terrace state collecting device gathers the current attitude of The Cloud Terrace, and this attitude information is sent to monitoring host computer.GPS equipment is installed on the The Cloud Terrace boats and ships, and can sends to the positional information of boats and ships the gps signal receiving equipment on bank, the gps signal receiving equipment is transmitted to monitoring host computer by communication cable with above-mentioned positional information.Monitoring host computer calculates angle on target and the target focal length of camera lens according to above-mentioned positional information and attitude information, and the steering order that comprises angle on target and target focal length is sent to the control device of The Cloud Terrace.The rotational angle of tripod head controlling device control The Cloud Terrace to target towards, and the focal length of control monitoring camera is to the target focal length.Monitoring camera is taken the image of boats and ships, and shows image at monitoring screen.And at the position of the corresponding boats and ships actual geographic of lever position indicator position these boats and ships of sign.
When monitoring a plurality of boats and ships at the same time, monitoring host computer according to the positional information of each boats and ships calculate respectively target towards and focal length, tripod head controlling device control monitoring camera is taken the image of each boats and ships successively.Building database in the monitoring host computer for image and the motion track of preserving each boats and ships, generates boats and ships and moves daily record, and operating personnel can call at any time this ship's log book and carry out next step operation.
In the second specific embodiment, monitoring objective is police, The Cloud Terrace is installed on by the main traffic route, comprise the GPS device in police's the Jingwutong, and can send to the gps signal receiving equipment to police's real time position, police process merit and need to follow the tracks of or take when keeping evidence, by the Jingwutong that locating device is housed police's real time position is sent to the gps signal receiving equipment, the gps signal receiving equipment is logical to be transmitted to monitoring host computer with above-mentioned real-time position information, monitoring host computer calculates the target component of monitoring camera, tripod head controlling device is according to above target component track up police's activity, and police's position is positioned.When the monitoring camera that current The Cloud Terrace carries was taken less than image, monitoring host computer sent target component to next monitoring camera.Utilize this long distance control system to carry out Real-Time Scheduling to police, with the fastest velocity process accident.
Accordingly, monitoring objective in this example can also be operation passenger carrying vehicle, goods yard vehicle or even valuable article etc., and The Cloud Terrace and monitoring camera are installed in the bus stop, parking lot, goods yard, crossing, street of passenger carrying vehicle etc. need to carry out occasion that monitoring objective is monitored to manage concentratedly.
The monitoring objective of the remote monitoring in this example can also be animal, personage etc., such as the system that in the Safari Park, sets up present embodiment, wild animal in the garden is monitored, obtain the data of zooscopy, perhaps under the outdoor environments such as seabeach, the crowd is monitored, to realize the timely relief of unexpected environment.
The Cloud Terrace in above-described embodiment and the installation site of monitoring camera can be carried out according to practical matter and needs, avoid as much as possible monitoring the appearance at dead angle.The background process platform be can also build according to the actual requirements, monitoring image and locating information further processed.
Use technical scheme of the present invention, the control method of long distance control system comprises: obtain the attitude of The Cloud Terrace and the positional information of monitoring objective; According to the angle on target of attitude and positional information calculation The Cloud Terrace and the target focal length of monitoring camera; Control device to The Cloud Terrace sends attitude adjustment steering order, and attitude is adjusted steering order and comprised angle on target and target focal length.The The Cloud Terrace attitude that arrives by Real-time Obtaining and the position of monitoring objective, automatically the target of calculating monitoring camera towards with the focal length of monitoring camera, and by the control device of the The Cloud Terrace automatic tracing and monitoring target of target focus controlling platform-lens according to angle on target and the monitoring camera of The Cloud Terrace, after monitoring objective enters guarded region, can be rapidly according to the position control cloud platform rotation of monitoring objective and the focal length of adjusting monitoring camera, thereby can automatically position monitoring objective, implement to follow the tracks of, the position that obtains monitoring objective is more accurate, the velocity accuracy of The Cloud Terrace captured target is higher, control mode is more flexible, make remote monitoring rapider, precision is higher, improved the monitoring level to monitoring objective in the guarded region, for further realizing boats and ships, the operation passenger carrying vehicle, the intelligent scheduling of the vehicles such as goods yard vehicle and the animal monitoring management of specific environment provide the foundation.
Obviously, those skilled in the art should be understood that, above-mentioned each module of the present invention or each step can realize with general calculation element, they can concentrate on the single calculation element, perhaps be distributed on the network that a plurality of calculation elements form, alternatively, they can be realized with the executable program code of calculation element, thereby, they can be stored in the memory storage and be carried out by calculation element, perhaps they are made into respectively each integrated circuit modules, perhaps a plurality of modules in them or step are made into the single integrated circuit module and realize.Like this, the present invention is not restricted to any specific hardware and software combination.
The above is the preferred embodiments of the present invention only, is not limited to the present invention, and for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. the control method of a long distance control system is characterized in that, comprising:
Obtain the attitude of The Cloud Terrace and the positional information of monitoring objective;
According to the angle on target of described attitude and the described The Cloud Terrace of described positional information calculation and the target focal length of monitoring camera;
Control device to described The Cloud Terrace sends attitude adjustment steering order, and described attitude is adjusted steering order and comprised described angle on target and described target focal length.
2. the control method of long distance control system according to claim 1 is characterized in that,
The attitude of obtaining The Cloud Terrace comprises: the height, angle of drift and the angle of pitch that obtain described The Cloud Terrace;
The positional information of obtaining monitoring objective comprises: the height and the longitude and latitude that obtain monitoring objective.
3. the control method of long distance control system according to claim 2 is characterized in that, comprises according to the angle on target of the described The Cloud Terrace of positional information calculation of the current attitude of described The Cloud Terrace and described monitoring objective:
Calculate the difference in height of described The Cloud Terrace and described monitoring objective;
Calculate described The Cloud Terrace to the distance of described monitoring objective according to the longitude and latitude of the longitude and latitude of described The Cloud Terrace, described monitoring objective and the difference in height of described The Cloud Terrace and described monitoring objective;
Calculate the target luffing angle of described The Cloud Terrace to the distance of described monitoring objective according to the difference in height of described The Cloud Terrace and described monitoring objective and described The Cloud Terrace.
4. the control method of long distance control system according to claim 2 is characterized in that, comprises according to the angle on target of the described The Cloud Terrace of positional information calculation of the current attitude of described The Cloud Terrace and described monitoring objective:
Draw the target course deviation angle of described The Cloud Terrace according to the calculation of longitude ﹠ latitude of the longitude and latitude of described The Cloud Terrace, described monitoring objective.
5. the control method of long distance control system according to claim 2 is characterized in that, comprises according to the current attitude of described The Cloud Terrace and the positional information calculation target focal length of described monitoring objective:
Calculate the difference in height of described The Cloud Terrace and described monitoring objective;
Calculate described The Cloud Terrace to the distance of described monitoring objective according to the longitude and latitude of the longitude and latitude of described The Cloud Terrace, described monitoring objective and the difference in height of described The Cloud Terrace and described monitoring objective;
Draw the target focal length of described monitoring camera according to the incidence relation of the focal length of described monitoring camera and shooting distance to the distance of described monitoring objective according to described The Cloud Terrace.
6. the control method of each described long distance control system in 5 according to claim 1 is characterized in that the height, angle of drift and the angle of pitch that obtain described The Cloud Terrace comprise:
Obtain height, angle of drift and the angle of pitch of the The Cloud Terrace of being measured by The Cloud Terrace attitude harvester.
7. the control method of each described long distance control system in 5 according to claim 1 is characterized in that the height and the longitude and latitude that obtain monitoring objective comprise:
Obtain height and the longitude and latitude of the described monitoring objective of being measured by the positioning equipment that is installed on the described monitoring objective.
8. the control method of each described long distance control system in 5 according to claim 1 is characterized in that, also comprises after obtaining the positional information of the current attitude of The Cloud Terrace and monitoring objective:
Set up the corresponding relation between the displaing coordinate on actual geographic coordinate and the supervision screen;
Determine the displaing coordinate on the corresponding supervision screen of actual geographic coordinate of described monitoring objective according to described corresponding relation;
Displaing coordinate place on the supervision screen of described correspondence identifies described monitoring objective.
9. the control device of a long distance control system is characterized in that, comprising:
Acquisition module is used for obtaining the attitude of The Cloud Terrace and the positional information of monitoring objective;
Computing module is used for according to the angle on target of described attitude and the described The Cloud Terrace of described positional information calculation and the target focal length of monitoring camera;
The steering order sending module is used for sending attitude to the control device of described The Cloud Terrace and adjusts steering order, and described attitude is adjusted steering order and comprised described angle on target and described target focal length.
10. the control device of long distance control system according to claim 11 is characterized in that, also comprises:
The coordinate respective modules is used for setting up the corresponding relation between the displaing coordinate on actual geographic coordinate and the supervision screen;
The displaing coordinate determination module is for the displaing coordinate on the corresponding supervision screen of actual geographic coordinate of determining described monitoring objective according to described corresponding relation;
The station location marker module, the displaing coordinate place that is used on the supervision screen of described correspondence identifies described monitoring objective.
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Denomination of invention: Controlling method and controlling device for remote monitoring system Effective date of registration: 20190327 Granted publication date: 20150902 Pledgee: Nanjing Bank Co.,Ltd. Hangzhou Binjiang Science and Technology Branch Pledgor: TENDENCY TECHNOLOGY Co.,Ltd. Registration number: 2019330000084 |
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