CN103034247B - The control method of long distance control system and control device - Google Patents
The control method of long distance control system and control device Download PDFInfo
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- CN103034247B CN103034247B CN201210525936.7A CN201210525936A CN103034247B CN 103034247 B CN103034247 B CN 103034247B CN 201210525936 A CN201210525936 A CN 201210525936A CN 103034247 B CN103034247 B CN 103034247B
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Abstract
The invention provides a kind of control method and control device of long distance control system.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 attitude and the angle on target of positional information calculation The Cloud Terrace and the target focal length of monitoring camera; Control device to The Cloud Terrace sends pose adjustment steering order, and pose adjustment steering order comprises angle on target and target focal length.By applying technical scheme of the present invention, in guarded region, long distance control system can adjust the focal length of monitoring camera according to the position control cloud platform rotation of monitoring objective rapidly, thus automatically positions monitoring objective, implements to follow the tracks of.The velocity accuracy of The Cloud Terrace captured target is higher, control mode is more flexible, make remote monitoring more rapid, improve monitoring level, for realizing providing the foundation to boats and ships, the operation intelligent scheduling of the vehicles such as passenger carrying vehicle, goods yard vehicle and the animal monitoring management of specific environment further.
Description
Technical field
The present invention relates to 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 carries out monitoring existence two kinds of modes to moving target, and one arranges multiple monitoring camera, the situation in each a certain region of camera lens fixed surveillance, and this method occurs monitoring dead angle unavoidably, cannot target in monitoring moving state; The another kind of method 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 is generally fixedly mounted on The Cloud Terrace, with cloud platform rotation adjustment towards.Such as to the remote monitoring of yard craft, need monitor staff to control to be arranged on the The Cloud Terrace of bank eminence by cradle head controllor, make monitoring camera aim at the boats and ships needing monitoring, and adjust lens focus to monitor the discrepancy situation of boats and ships.
Scheme conventionally, monitoring objective remote system can not the position of automatic capturing monitoring objective, and monitoring precision and speed not high, cannot realize accurately locating rapidly monitoring objective, the impact that artificial observation is subject to monitoring personnel subjectivity is larger, observation scope is limited, and is subject to the restriction of factor of weather, can not realize the remote monitoring to monitoring objective well.
Automatically to the problem that monitoring objective positions, also effective solution cannot not proposed at present for prior art medium-long range supervisory system.
Summary of the invention
Fundamental purpose of the present invention is to provide a kind of long distance control system and control method thereof and control device, cannot automatically to the problem that monitoring objective positions to solve prior art medium-long range supervisory system.
According to an aspect of the present invention, a kind of control method of long distance control system is provided.The control method of this long distance control system comprises: obtain the attitude of The Cloud Terrace and the positional information of monitoring objective; The angle on target of The Cloud Terrace and the target focal length of monitoring camera according to attitude and positional information calculation; Control device to The Cloud Terrace sends pose adjustment steering order, and this pose adjustment steering order comprises angle on target and target focal length.
Further, the attitude obtaining The Cloud Terrace comprises: obtain the height of The Cloud Terrace, angle of drift and the angle of pitch; The positional information obtaining monitoring objective comprises: the height and the longitude and latitude that obtain monitoring objective.
Further, according to the current pose of The Cloud Terrace and the positional information calculation of monitoring objective, the angle on target of The Cloud Terrace comprises: the difference in height calculating The Cloud Terrace and monitoring objective; Difference in height according to the longitude and latitude of The Cloud Terrace, the longitude and latitude of monitoring objective and The Cloud Terrace and monitoring objective calculates the distance of The Cloud Terrace to monitoring objective; The target pitch angle of The Cloud Terrace is calculated according to the difference in height of The Cloud Terrace and monitoring objective and The Cloud Terrace to the distance of monitoring objective.
Further, comprise according to the angle on target of the current pose of The Cloud Terrace and the positional information calculation The Cloud Terrace of monitoring objective: the target course deviation angle drawing 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 pose of The Cloud Terrace and the positional information calculation target focal length of monitoring objective: the difference in height calculating The Cloud Terrace and monitoring objective; Difference in height according to the longitude and latitude of The Cloud Terrace, the longitude and latitude of monitoring objective and The Cloud Terrace and monitoring objective calculates the distance of The Cloud Terrace to monitoring objective; To draw the target focal length of monitoring camera according to the focal length of monitoring camera and the incidence relation of shooting distance according to The Cloud Terrace to the distance of monitoring objective.
Further, obtain the height of The Cloud Terrace, angle of drift and the angle of pitch to comprise: obtain by the height of the The Cloud Terrace of The Cloud Terrace Posture acquisition measurement device, angle of drift and the angle of pitch.
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 measured by the positioning equipment be arranged on monitoring objective.
Further, also comprise after the acquisition current pose of The Cloud Terrace and the positional information of monitoring objective: set up the corresponding relation between the displaing coordinate in actual geographic coordinate and monitor screen; According to corresponding relation determination monitoring objective actual geographic coordinate corresponding to monitor screen on displaing coordinate; Displaing coordinate place mark monitoring objective in the monitor screen of correspondence.
According to another aspect of the present invention, a kind of control device of long distance control system is additionally provided.The control device of this long distance control system comprises: acquisition module, for the positional information of the attitude and monitoring objective that obtain The Cloud Terrace; Computing module, 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, send pose adjustment steering order for the control device to The Cloud Terrace, pose adjustment steering order comprises angle on target and target focal length.
Further, the control device of this long distance control system also comprises: coordinate respective modules, for setting up the corresponding relation between the displaing coordinate in actual geographic coordinate and monitor screen; Displaing coordinate determination module, the displaing coordinate in the monitor screen corresponding to the actual geographic coordinate according to corresponding relation determination monitoring objective; Station location marker module, for the displaing coordinate place mark monitoring objective in the monitor 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 attitude and the angle on target of positional information calculation The Cloud Terrace and the target focal length of monitoring camera; Control device to The Cloud Terrace sends pose adjustment steering order, and pose adjustment steering order comprises angle on target and target focal length.The The Cloud Terrace attitude arrived by Real-time Obtaining and the position of monitoring objective, the target of automatic calculating monitoring camera is towards the focal length with monitoring camera, and by the angle on target of control device according to The Cloud Terrace of The Cloud Terrace and the automatic tracing and monitoring target of target focus controlling platform-lens of monitoring camera, after monitoring objective enters guarded region, can rapidly according to the position control cloud platform rotation of monitoring objective and the focal length of adjustment monitoring camera, thus can automatically position monitoring objective, implement to follow the tracks of, the position obtaining 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, improve the monitoring level to monitoring objective in guarded region, for realizing boats and ships further, operation passenger carrying vehicle, the intelligent schedulings of the vehicles such as goods yard vehicle and the animal monitoring management of specific environment provide the foundation.
Accompanying drawing explanation
Figure of description is used to provide a further understanding of the present invention, and form a application's part, schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is the schematic diagram of the long distance control system according to the embodiment of the present invention;
Fig. 2 is the schematic diagram of the control device of long distance control system according to the embodiment of the present invention;
Fig. 3 is the schematic diagram of the control of long distance control system according to the embodiment of the present invention;
Fig. 4 is the schematic diagram of the target pitch squareness calculating The Cloud Terrace in the control method according to the long distance control system of the embodiment of the present invention;
Fig. 5 is according to the schematic diagram of target course deviation angle calculating The Cloud Terrace in the control method of the long distance control system of the embodiment of the present invention;
Fig. 6 is according to the schematic diagram of realistic objective course deviation angle calculating The Cloud Terrace in the control method of the long distance control system of the embodiment of the present invention;
Fig. 7 is the schematic diagram of actual geographic coordinate in the control method according to the long distance control system of the embodiment of the present invention;
Fig. 8 is the schematic diagram of the displaing coordinate in the control method according to the long distance control system of the embodiment of the present invention in monitor screen.
Embodiment
It should be noted that, when not conflicting, the embodiment in the application and the feature in embodiment can combine mutually.Below with reference to the accompanying drawings and describe the present invention in detail in conjunction with the embodiments.
Fig. 1 is the schematic diagram of the long distance control system according to the embodiment of the present invention, and as shown in Figure 1, this system comprises: the The Cloud Terrace 10 being fixedly installed monitoring camera, and this The Cloud Terrace 10 can rotate under the driving of motor, thus adjustment monitoring camera towards.The Cloud Terrace state collecting device is connected with The Cloud Terrace 10, for gathering the current pose 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 (angle of The Cloud Terrace in surface level) of The Cloud Terrace 10 and the angle of pitch (angle of The Cloud Terrace in vertical plane).Position information receiver 11, for receiving the positional information (comprising height, precision, latitude etc.) of monitoring objective 14; Monitoring host computer 12, be connected respectively with The Cloud Terrace Posture acquisition device and position information receiver 11, for the positional information of the attitude and monitoring objective 14 that obtain The Cloud Terrace 10, and according to the current pose of The Cloud Terrace 10 and the angle on target of the positional information calculation The Cloud Terrace 10 of 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 is sent to tripod head controlling device; Tripod head controlling device, is connected with monitoring host computer 12, according to the angle on target of The Cloud Terrace 10 and the rotational angle of target Focussing The Cloud Terrace 10 of monitoring camera and the focal length of monitoring camera.
Wherein, The Cloud Terrace state collecting device, tripod head controlling device, monitoring camera are all arranged on 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 arranged on The Cloud Terrace 10, rotate with The Cloud Terrace 10, 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 Cloud Terrace attitude, the rotary state of The Cloud Terrace 10 can comprise the acceleration, speed, rotation direction etc. of cloud platform rotation.The data of longitude, latitude, sea level elevation and initial steer angle that The Cloud Terrace 10 is initial all obtain by measuring, and are given data.
Monitoring objective 14 being provided with positioning equipment 15, for obtaining longitude, latitude, the positional information such as the speed of a ship or plane and course of monitoring objective 14 position, and above information being sent to position information receiver 11.Positioning equipment 15 can be various types of positioning equipment, 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 is GPS device, correspondingly position information receiver 11 is GPS information receiving trap, for receiving the GPS locating information of monitoring objective.
Position information receiver 11 is installed on fixed position, be connected with monitoring server 11 by communication cable 13, for receiving the positional information of the monitoring objective 14 that monitoring objective positioning equipment 15 sends, in this positional information, comprise the longitude of monitoring objective 14 position, latitude and height.The installation site of this positional information receiving equipment 11 can be determined according to actual needs, to ensure to need the region of monitoring in the regional extent that can receive active position information.
Monitoring host computer 12 is connected with The Cloud Terrace state collecting device and position information receiver 11 respectively by communication cable 13, for the positional information of the current pose and monitoring objective 14 that obtain The Cloud Terrace 10, and according to the current pose of The Cloud Terrace 10 and the angle on target of the positional information calculation The Cloud Terrace 10 of monitoring objective 14 and the target focal length of monitoring camera.Then the control command of the target focal length comprising above-mentioned angle on target and monitoring camera is sent to tripod head controlling device.
Tripod head controlling device is also arranged on The Cloud Terrace 10, according to the angle on target of above-mentioned The Cloud Terrace 10 and the rotational angle of target Focussing The Cloud Terrace of monitoring camera and the focal length of monitoring camera, makes monitoring camera can take the image of monitoring objective complete display.
The long distance control system of the embodiment of the present invention can also comprise monitor screen, for the monitoring image of display monitoring lens shooting.
The Cloud Terrace state collecting device can specifically comprise: the measuring equipments such as gyroscope, acceleration transducer, magnetoresistive transducer, for accurately measuring current course deviation angle and the luffing angle angularly information of The Cloud Terrace.This The Cloud Terrace state collecting device and tripod head controlling device also may be used for the transformation of old clouds terrace system, to save the cost of supervisory system upgrading.Above-mentioned athletic posture comprises the rotating speed, acceleration, direction of motion etc. of cloud platform rotation.For the The Cloud Terrace with precise hard_drawn tuhes, from the manipulation information of The Cloud Terrace, the relative attitude information of The Cloud Terrace also directly can be obtained and record.Like this, what the attitude information that just last time can be obtained manipulated as The Cloud Terrace opens beginning attitude.After having operated, from manipulation information, obtain relative attitude information, add the attitude information of last time, just obtain current attitude information.
The positioning equipment 15 on monitoring objective 14 is arranged in the long distance control system of the present embodiment, can be various types of positioning equipment, 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 is GPS device, correspondingly position information receiver 11 is GPS information receiving trap, for receiving the GPS locating information of monitoring objective.
In the occasion of the motion track or locating information that need real-time follow-up monitoring objective 14; the long distance control system of the present embodiment can also arrange monitoring screen; this monitoring objective is identified at the displaing coordinate place of the corresponding actual geographic coordinate of monitoring screen; now; monitoring host computer 12, also for determining the displaing coordinate that the actual geographic coordinate of monitoring objective 14 is corresponding on monitoring screen.
The long distance control system that the embodiment of the present invention provides can comprise monitoring objective position and cradle head control database, for preserving the positional information of monitoring objective and record of coming in and going out, and the record of cradle head control, and generate according to above record and export the control daily record of cradle head controllor and the traveling daily record of monitoring objective.Can according to above-mentioned monitoring objective and cradle head control record easily all monitoring objectives in monitoring range be dispatched and be managed.
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 arranged on the bank at harbour, the bus stop, parking lot, goods yard, street intersections etc. of passenger carrying vehicle needs to carry out to monitor the occasion of managing concentratedly to monitoring objective.Concrete The Cloud Terrace and the installation site of monitoring camera can be configured according to practical matter and needs, avoid the appearance monitoring dead angle as much as possible.
Below the control device of the long distance control system of above-described embodiment is introduced, this control device may be used for controlling above-mentioned long distance control system described in any one, Fig. 2 is the schematic diagram of the control device of long distance control system according to the embodiment of the present invention, as shown in Figure 2, this control device comprises: acquisition module 21, for the positional information of the attitude and monitoring objective that obtain The Cloud Terrace 10; Computing module 23, 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, send pose adjustment steering order for the control device to The Cloud Terrace, pose adjustment steering order comprises above-mentioned angle on target and target focal length.Wherein, the attitude that acquisition module 21 obtains The Cloud Terrace can comprise: obtain the height of The Cloud Terrace, angle of drift and the angle of pitch; 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), target pitch angle (vertical angles).Wherein computing module 23 calculates the step of target angle of drift and is: the difference in height calculating The Cloud Terrace and monitoring objective; Difference in height according to the longitude and latitude of The Cloud Terrace, the longitude and latitude of monitoring objective and The Cloud Terrace and monitoring objective calculates the distance of The Cloud Terrace to monitoring objective; The target pitch angle of The Cloud Terrace is calculated according to the difference in height of The Cloud Terrace and monitoring objective and The Cloud Terrace to the distance of monitoring objective.
Wherein computing module 23 calculates the step of target angle of drift and is: the target course deviation angle drawing 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 pitch angle calculating target focal length comprises: the difference in height calculating The Cloud Terrace and monitoring objective; Difference in height according to the longitude and latitude of The Cloud Terrace, the longitude and latitude of monitoring objective and The Cloud Terrace and monitoring objective calculates the distance of The Cloud Terrace to monitoring objective; To draw the target focal length of monitoring camera according to the focal length of monitoring camera and the incidence relation of shooting distance according to The Cloud Terrace to the distance of monitoring objective.
Acquisition module 21 obtains the height of The Cloud Terrace, angle of drift and the angle of pitch and is obtained by Posture acquisition measurement device.Acquisition module 21 obtains the height of monitoring objective and longitude and latitude comprises: the height and the longitude and latitude that obtain the monitoring objective measured by the positioning equipment be arranged on monitoring objective.
Further, the control device of the long distance control system of the embodiment of the present invention can also comprise coordinate respective modules (not shown), for setting up the corresponding relation between the displaing coordinate in actual geographic coordinate and monitor screen; Displaing coordinate determination module, the displaing coordinate in the monitor screen corresponding to the actual geographic coordinate according to corresponding relation determination monitoring objective; Station location marker module (not shown), for the displaing coordinate place mark monitoring objective in the monitor screen of correspondence.Thus can in real time the position of monitoring objective be shown in real time on monitoring screen, make the position of monitor staff's monitoring objective intuitively.
The embodiment of the present invention additionally provides a kind of control method of long distance control system, the control device of any one long distance control system that the control of this long distance control system can be provided by the above embodiment of the present invention performs, and, the control method of this long distance control system can be applied to the long distance control system comprised with upper controller, Fig. 3 is the schematic diagram of the control of long distance control system according to the embodiment of the present 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, according to attitude and the angle on target of positional information calculation The Cloud Terrace and the target focal length of monitoring camera;
Step S35, the control device to The Cloud Terrace sends pose adjustment steering order, and pose adjustment steering order comprises angle on target and target focal length.
Wherein, the attitude obtaining The Cloud Terrace in step S31 comprises: obtain the height of The Cloud Terrace, angle of drift and the angle of pitch; The positional information obtaining monitoring objective comprises: the height and the longitude and latitude that obtain monitoring objective.
The step calculating target pitch angle in step S33 is specifically as follows: the difference in height calculating The Cloud Terrace and monitoring objective; Difference in height according to the longitude and latitude of The Cloud Terrace, the longitude and latitude of monitoring objective and The Cloud Terrace and monitoring objective calculates the distance of The Cloud Terrace to monitoring objective; The target pitch angle of The Cloud Terrace is calculated according to the difference in height of The Cloud Terrace and monitoring objective and The Cloud Terrace to the distance of monitoring objective.Fig. 4 is the schematic diagram of the target pitch squareness calculating The Cloud Terrace in the control method according to the long distance control system of the embodiment of the present invention, as shown in Figure 4, suppose that the initial pitch orientation of The Cloud Terrace becomes 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), can calculate the distance s between The Cloud Terrace 10 and monitoring objective 14 according to the longitude and latitude of The Cloud Terrace 10 and the longitude and latitude of monitoring objective 14, the code calculating distance s between the two can be:
Because the height of monitoring objective and The Cloud Terrace acquires all, the difference in height h of shown The Cloud Terrace and monitoring objective can calculate, and has calculated the distance s between The Cloud Terrace 10 and monitoring objective 14, then can draw target pitch angle α, and computing formula is
thus make monitoring camera be α-δ or (180-α)-δ at the rotational angle of pitch orientation reality by controlling cloud platform rotation.
The step calculating target angle of drift in step S33 is specifically as follows: the target course deviation angle drawing 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 schematic diagram of target course deviation angle calculating The Cloud Terrace in the control method of the long distance control system of the embodiment of the present 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 rotates clockwise 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, so monitoring camera is to the course deviation angle γ of course deviation angle=The Cloud Terrace initial angle θ-the second monitoring objective 142 of the second monitoring objective 142, monitoring camera is to the angle beta of initial angle θ-the first monitoring objective 141 of the course deviation angle=The Cloud Terrace of the first monitoring objective 141, so monitoring camera course deviation rotates counterclockwise θ-γ angle and can monitor the first monitoring objective 141, level rotates counterclockwise θ-β angle can monitor the second monitoring objective 142.
Fig. 6 is according to the schematic diagram of realistic objective course deviation angle calculating The Cloud Terrace in the control method of the long distance control system of the embodiment of the present invention, the longitude and latitude of The Cloud Terrace is known, is initial point, sets up coordinate system with The Cloud Terrace, horizontal direction (latitude) is X-axis, east is positive dirction, and vertical direction (longitude) is Y-axis, and north is positive dirction, four regions can be divided into, relatively longitude and latitude, determines the position at monitoring objective place, then calculates 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 the physical location of monitoring objective neatly, make the direction of monitoring camera aim at the direction of monitoring objective.Except direction, shooting monitoring objective 14 monitoring image also can further according to the focal length of monitoring objective 14 to the position adjustment monitoring camera of The Cloud Terrace 10.
Fall into a trap the calculate step of target focal length of step S33 is specifically as follows: the difference in height calculating The Cloud Terrace and monitoring objective; Difference in height according to the longitude and latitude of The Cloud Terrace, the longitude and latitude of monitoring objective and The Cloud Terrace and monitoring objective calculates the distance of The Cloud Terrace to monitoring objective; To draw the target focal length of monitoring camera according to the focal length of monitoring camera and the incidence relation of shooting distance according to The Cloud Terrace to the distance of monitoring objective.
Such as, monitoring camera farthest visual range is R, and the zoom magnification N of this camera lens, so relation of the R/N namely corresponding shooting distance of one times of focal length, the incidence relation of focal length and shooting distance can be obtained based on this, then calculate the distance of The Cloud Terrace 10 to monitoring objective 14, utilize above-mentioned incidence relation just can obtain the target focal length of monitoring camera.
Above-mentioned steps S31 obtains the height of The Cloud Terrace, angle of drift and the angle of pitch and is obtained by Posture acquisition measurement device.The height of the monitoring objective that above-mentioned steps S31 obtains and longitude and latitude are height and the longitude and latitude of the monitoring objective measured by the positioning equipment be arranged on monitoring objective.
When long distance control system is provided with monitoring screen, the control method of the long distance control system that the embodiment of the present invention provides can also comprise: set up the corresponding relation between the displaing coordinate in actual geographic coordinate and monitor screen; According to corresponding relation determination monitoring objective actual geographic coordinate corresponding to monitor screen on displaing coordinate; Displaing coordinate place mark monitoring objective in the monitor screen of correspondence.Thus can in real time the position of monitoring objective be shown in real time on monitoring screen, make the position of monitor staff's monitoring objective intuitively.
Fig. 7 is the schematic diagram of actual geographic coordinate in the control method according to the long distance control system of the embodiment of the present invention, and Fig. 8 is the schematic diagram of the displaing coordinate in the control method according to the long distance control system of the embodiment of the present invention in monitor screen.Actual geographic position coordinates shown in Fig. 7 is in units of longitude and latitude, with latitude 0 ° (equator) for X-axis, east is positive dirction, with east longitude 0 ° for Y-axis, north is positive dirction, gets arbitrary 3 some a according to field survey, b, c forms triangle, crosses parallel segment friendship triangle two limits that O point does equator, and calculates the coordinate of 2 intersection points.Image coordinate shown in Fig. 8 is in units of pixel, and with summit, the lower left corner for initial point, level is X-axis to the right and for just, be Y-axis vertically upward and is just.Coordinate (the x of O point on known actual geographic position, what y) and directly obtain obtains arbitrarily nonoverlapping 3 point coordinate a(x1, y1 between two), b(x2, y2), c(x3, y3) and image on correspond to the coordinate points a ' (x4, y4) of 3 of actual geographic position, b ' (x5, y5), c ' (x6, y6).
First, O point is judged whether in ABC 3 triangles surrounded (comprising border): the area being calculated the area of triangle ABC, the area of triangle ABO, the area of triangle ACO and triangle BCO by Heron's formula; The relatively size of the area of triangle ABC and the area sum of the area of triangle ABO, the area of triangle ACO and triangle BCO, if the area of triangle ABC is greater than the area sum of the area of triangle ABO, the area of triangle ACO and triangle BCO, then put O outside triangle ABC, if both are equal, then put O and (comprise border) in triangle ABC.
If O point is in triangle ABC, determine an O whether on triangle ABC border, if the distance of 2 then putting O to this edge AB is AO, BO respectively, the two-part ratio T=AO/BO that an O is divided into this edge can be calculated, so A ' B ' the limit relative to AB limit on image can be divided into A ' O '/B ' O '=T with sampling point O '.
O point is in triangle ABC, determine that an O (does not comprise border) in triangle ABC, that will do the line segment that is parallel to equator two limits compared to triangle ABC by O point, calculate the coordinate of 2 intersection points, the ratio that intersection point splits limit: T=d1/d2, T2=d3/d4, and some O is at the ratio T3=s1/s2 that the line segment of 2 intersection point compositions is split.Owing to fixing in the position of ABC 3, and ratio T1, T2, T3 are constant under two coordinate systems, thus can by known ratio T1, and T2, T3 determine the position at 2 intersection points and some O ' place on image.Thus by calculating coordinate position O ' at last out position display device (x ', y ').
If O point is not in ABC 3 triangles surrounded (comprising border), actual geographic position again can be chosen and corresponding relation known other 3 in monitor screen position calculate.
Below the present invention's two kinds of preferred specific embodiments are described:
In the first specific embodiment, monitoring objective is boats and ships, and The Cloud Terrace is installed on the eminence on bank, and The Cloud Terrace state collecting device gathers the current pose of The Cloud Terrace, and this attitude information is sent to monitoring host computer.The Cloud Terrace boats and ships are provided with GPS device, and the positional information of boats and ships can be sent to the gps signal receiving equipment on bank, above-mentioned positional information is transmitted to monitoring host computer by communication cable by gps signal receiving equipment.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 comprising angle on target and target focal length is sent to the control device of The Cloud Terrace.The rotational angle that tripod head controlling device controls The Cloud Terrace to target towards, and the focal length controlling monitoring camera is to target focal length.The image of monitoring camera shooting boats and ships, and image is shown on monitoring screen.And this boats and ships are identified on the position of the corresponding boats and ships actual geographic position of lever position indicator.
When monitoring multiple 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 controls monitoring camera and takes the image of each boats and ships successively.Building database in monitoring host computer, for preserving image and the motion track of each boats and ships, generating boats and ships and moving daily record, and operating personnel can call this ship's log book at any time and carry out next step operation.
In the second specific embodiment, monitoring objective is police, The Cloud Terrace is installed on by main traffic route, GPS device is comprised in the Jingwutong of police, and police's real time position can be sent to gps signal receiving equipment, police process merit to be needed to carry out following the tracks of or take when retaining evidence, by the Jingwutong that locating device is housed, police's real time position is sent to gps signal receiving equipment, gps signal receiving equipment is logical is transmitted to monitoring host computer by above-mentioned real-time position information, monitoring host computer calculates the target component of monitoring camera, tripod head controlling device is according to the activity of above target component track up police, and the position of police is positioned.When the monitoring camera shooting that current The Cloud Terrace carries is less than image, monitoring host computer sends target component to next monitoring camera.Utilize this long distance control system can 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 bus stop, parking lot, goods yard, street intersections etc. that The Cloud Terrace and monitoring camera are arranged on passenger carrying vehicle need to carry out monitoring the occasion of managing concentratedly to monitoring objective.
The monitoring objective of the remote monitoring in this example can also be animal, personage etc., in Safari Park, such as set up the system of the present embodiment, wild animal in garden is monitored, obtain the data of zooscopy, or under the outdoor environments such as seabeach, 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 the appearance monitoring dead angle as much as possible.Background process platform can also be built according to the actual requirements, further process monitoring image and locating information.
Apply 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 attitude and the angle on target of positional information calculation The Cloud Terrace and the target focal length of monitoring camera; Control device to The Cloud Terrace sends pose adjustment steering order, and pose adjustment steering order comprises angle on target and target focal length.The The Cloud Terrace attitude arrived by Real-time Obtaining and the position of monitoring objective, the target of automatic calculating monitoring camera is towards the focal length with monitoring camera, and by the angle on target of control device according to The Cloud Terrace of The Cloud Terrace and the automatic tracing and monitoring target of target focus controlling platform-lens of monitoring camera, after monitoring objective enters guarded region, can rapidly according to the position control cloud platform rotation of monitoring objective and the focal length of adjustment monitoring camera, thus can automatically position monitoring objective, implement to follow the tracks of, the position obtaining 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, improve the monitoring level to monitoring objective in guarded region, for realizing boats and ships further, operation passenger carrying vehicle, the intelligent schedulings 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 of the present invention each module or each step can realize with general calculation element, they can concentrate on single calculation element, or be distributed on network that multiple calculation element forms, alternatively, they can realize with the executable program code of calculation element, thus, they can be stored and be performed by calculation element in the storage device, or they are made into each integrated circuit modules respectively, or the multiple module in them or step are made into single integrated circuit module to realize.Like this, the present invention is not restricted to any specific hardware and software combination.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, 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 amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. a control method for long distance control system, is characterized in that, comprising:
Obtain the attitude of The Cloud Terrace and the positional information of monitoring objective;
The angle on target of The Cloud Terrace and the target focal length of monitoring camera according to described attitude and described positional information calculation;
Control device to described The Cloud Terrace sends pose adjustment steering order, and described pose adjustment steering order comprises described angle on target and described target focal length;
The control device of described The Cloud Terrace is according to the angle on target of described The Cloud Terrace and the rotational angle of target Focussing The Cloud Terrace of monitoring camera and the focal length of monitoring camera.
2. the control method of long distance control system according to claim 1, is characterized in that,
The attitude obtaining The Cloud Terrace comprises: obtain the height of described The Cloud Terrace, angle of drift and the angle of pitch;
The positional information 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, according to the current pose of described The Cloud Terrace and the positional information calculation of described monitoring objective, the angle on target of The Cloud Terrace comprises:
Calculate the difference in height of described The Cloud Terrace and described monitoring objective;
The distance of described The Cloud Terrace to described monitoring objective is calculated according to the difference in height of the longitude and latitude of described The Cloud Terrace, the longitude and latitude of described monitoring objective and described The Cloud Terrace and described monitoring objective;
The target pitch angle of described The Cloud Terrace is calculated according to the difference in height of described The Cloud Terrace and described monitoring objective and described The Cloud Terrace to the distance of described monitoring objective.
4. the control method of long distance control system according to claim 2, is characterized in that, according to the current pose of described The Cloud Terrace and the positional information calculation of described monitoring objective, the angle on target of The Cloud Terrace comprises:
The target course deviation angle of described The Cloud Terrace is drawn according to the longitude and latitude of described The Cloud Terrace, the calculation of longitude & latitude of 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 pose 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;
The distance of described The Cloud Terrace to described monitoring objective is calculated according to the difference in height of the longitude and latitude of described The Cloud Terrace, the longitude and latitude of described monitoring objective and described The Cloud Terrace and described monitoring objective;
To draw the target focal length of described monitoring camera according to the focal length of described monitoring camera and the incidence relation of shooting distance according to described The Cloud Terrace to the distance of described monitoring objective.
6. the control method of the long distance control system according to any one of claim 2 to 5, is characterized in that, obtains the height of described The Cloud Terrace, angle of drift and the angle of pitch and comprises:
Obtain by the height of the The Cloud Terrace of The Cloud Terrace Posture acquisition measurement device, angle of drift and the angle of pitch.
7. the control method of the long distance control system according to any one of claim 2 to 5, 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 measured by the positioning equipment be arranged on described monitoring objective.
8. the control method of the long distance control system according to any one of claim 2 to 5, is characterized in that, also comprises after obtaining the current pose of The Cloud Terrace and the positional information of monitoring objective:
Set up the corresponding relation between the displaing coordinate in actual geographic coordinate and monitor screen;
The displaing coordinate in the monitor screen corresponding to actual geographic coordinate of described monitoring objective is determined according to described corresponding relation;
Displaing coordinate place in the monitor screen of described correspondence identifies described monitoring objective.
9. a control device for long distance control system, is characterized in that, comprising:
Acquisition module, for the positional information of the attitude and monitoring objective that obtain The Cloud Terrace;
Computing module, for the angle on target of The Cloud Terrace according to described attitude and described positional information calculation and the target focal length of monitoring camera;
Steering order sending module, send pose adjustment steering order for the control device to described The Cloud Terrace, described pose adjustment steering order comprises described angle on target and described target focal length.
10. the control device of long distance control system according to claim 9, is characterized in that, also comprises:
Coordinate respective modules, for setting up the corresponding relation between the displaing coordinate in actual geographic coordinate and monitor screen;
Displaing coordinate determination module, for determine described monitoring objective according to described corresponding relation actual geographic coordinate corresponding to monitor screen on displaing coordinate;
Station location marker module, the displaing coordinate place in the monitor screen in described correspondence identifies described monitoring objective.
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