CN104281158A - Stable camera tracking device and method - Google Patents
Stable camera tracking device and method Download PDFInfo
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- CN104281158A CN104281158A CN201310284446.7A CN201310284446A CN104281158A CN 104281158 A CN104281158 A CN 104281158A CN 201310284446 A CN201310284446 A CN 201310284446A CN 104281158 A CN104281158 A CN 104281158A
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Abstract
The invention provides a stable camera tracking device and method. The device comprises a camera, a camera mounting platform, an azimuth rotation driving motor, a pitching rotation driving motor, an azimuth angle coder, a pitching angle coder, an image collector and a computer. The camera is mounted on the camera mounting platform. After the stable camera tracking device obtains four variables including the azimuth angle of the azimuth rotation driving motor, the pitching angle of the pitching rotation driving motor, the positional value of a target image and gyroscope position information at the same, a computer multivariable control algorithm and a multi-feedback control method are used for generating control signals, closed-loop movement calibration is carried out on the azimuth angle and the pitching angle of the camera mounting platform, and the purpose that the camera effectively tracks, recognizes and monitors an target object is achieved. The stable camera tracking device further has the advantages of being simple in structure, small in size, high in generality and low in cost.
Description
Technical field
The invention belongs to Computer Control Technology field, particularly a kind of camera tenacious tracking device and method.
Background technology
In prior art, camera tracking means is usually adopted to realize naval target detection, follow the tracks of, identify and monitor.Existing camera tracking means adopts special image acquisition and processing device to carry out image procossing to target, also need special servo-drive system to carry out camera orientation, luffing drived control simultaneously, therefore, there is poor universality, complexity be high, volume is large, limitation that cost is high, inapplicable ship motion carrier is followed the tracks of naval target, identify, monitor.
Summary of the invention
For the defect that prior art exists, the invention provides a kind of camera tenacious tracking device, have that structure is simple, volume is little, highly versatile and the low advantage of cost, but also can follow the tracks of target object, identify and monitor accurately.
The technical solution used in the present invention is as follows:
The invention provides a kind of camera tenacious tracking device, comprise camera, camera mounting platform, orientation rotation drive motor, pitching rotary drive motor, azimuth angular encoders, angle of pitch scrambler, image acquisition device and computing machine; Described camera is arranged on described camera mounting platform;
First output interface of described computing machine is connected with the input interface of described orientation rotation drive motor, first output interface of described orientation rotation drive motor is connected with the azimuth axis of described camera mounting platform, and the second output interface of described orientation rotation drive motor is by the first input interface formation platform position angle feedback control loop of described azimuth angular encoders feedback link to described computing machine;
Second output interface of described computing machine is connected with the input interface of described pitching rotary drive motor, first output interface of described pitching rotary drive motor is connected with the pitch axis of described camera mounting platform, and the second input interface that the second output interface of described pitching rotary drive motor is connected to described computing machine by described angle of pitch encoder feedback forms platform angle of pitch feedback control loop;
Described camera is fixedly mounted on described camera mounting platform; Described image acquisition device is arranged on the imaging optical path of described camera, and the output terminal of described image acquisition device is connected to the 3rd input interface formation cam feedback control loop of described computing machine.
Preferably, also gyroscope is comprised; Described gyroscope is fixedly mounted on the hull on naval vessel, and described gyrostatic output interface is connected to the 4th input interface of described computing machine.
Preferably, also image display is comprised; The input interface of described image display is connected with the 3rd output interface of described computing machine.
Preferably, the 3rd input interface of described computing machine is pci interface, PCI-E interface or USB interface.
The present invention also provides a kind of and applies the method that above-mentioned camera tenacious tracking device carries out camera tenacious tracking, comprises the following steps:
S1, described camera aims at guarded region, and described computing machine obtains the following variables value of current time: described camera position angle, the described camera angle of pitch, gyro position information and guarded region internal object picture position value;
S2, described computer based calculates in multivariable Control algorithm described target image positional value, described camera position angle, the described camera angle of pitch and described gyro position information, produces control signal;
S3, described computing machine carries out the motion correction of closed loop to described camera position angle and the described camera angle of pitch according to described control signal, described camera is effectively followed the tracks of, identifies and monitor target object.
Preferably, in S1, described computing machine obtains guarded region internal object picture position value and is specially:
S1-1, described camera is by aiming at guarded region, and the image of guarded region is imaged onto described camera with the form of analog picture signal;
S1-2, described image acquisition device collection is imaged onto the analog picture signal of described camera, and after this analog picture signal is converted into data image signal, is transferred to computing machine;
S1-3, described computing machine, to real-time resolving after described data image signal pre-service, obtains described guarded region internal object picture position value.
Preferably, in S1-3, described preprocess method is speed difference auto modification and speed limit rate data preprocessing method.
Preferably, described camera is fixedly mounted on described camera mounting platform, and described camera mounting platform connects described orientation rotation drive motor and described pitching rotary drive motor respectively;
In S1, described computing machine obtains described camera position angle and the described camera angle of pitch is specially:
Described computing machine gathers the position angle of described orientation rotation drive motor by described azimuth angular encoders, and described computing machine gathers the angle of pitch of described pitching rotary drive motor by described angle of pitch scrambler; Described computing machine extrapolates the position angle of described camera by the position angle of described orientation rotation drive motor, and described computing machine extrapolates the angle of pitch of described camera by the angle of pitch of described pitching rotary drive motor;
In S3, described computing machine is specially the motion correction that closed loop is carried out at described camera position angle and the described camera angle of pitch according to described control signal:
Described control signal is sent to described orientation rotation drive motor and described pitching rotary drive motor by described computing machine respectively; Described orientation rotation drive motor rotates and adjusts the position angle of described camera, and described pitching rotary drive motor rotates and adjusts the angle of pitch of described camera.
Beneficial effect of the present invention is as follows:
Camera tenacious tracking device provided by the invention, after obtaining the position angle of orientation rotation drive motor, the angle of pitch of pitching rotary drive motor, target image positional value and gyro position information four variablees simultaneously, computing machine multivariable Control algorithm and many feedbacks is adopted to produce control signal, thus camera mounting platform position angle and the angle of pitch are carried out to the motion correction of closed loop, reach the object that camera is effectively followed the tracks of target object, identifies and monitored.Also have that structure is simple, volume is little, highly versatile and the low advantage of cost.
Accompanying drawing explanation
Fig. 1 is the structural representation of camera tenacious tracking device provided by the invention.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in detail:
As shown in Figure 1, the invention provides a kind of camera tenacious tracking device, comprise camera, camera mounting platform, orientation rotation drive motor, pitching rotary drive motor, azimuth angular encoders, angle of pitch scrambler, image acquisition device and computing machine; Described camera is fixedly mounted on described camera mounting platform;
First output interface of described computing machine is connected with the input interface of described orientation rotation drive motor, first output interface of described orientation rotation drive motor is connected with the azimuth axis of described camera mounting platform, and the second output interface of described orientation rotation drive motor is by the first input interface formation platform position angle feedback control loop of described azimuth angular encoders feedback link to described computing machine;
Second output interface of described computing machine is connected with the input interface of described pitching rotary drive motor, first output interface of described pitching rotary drive motor is connected with the pitch axis of described camera mounting platform, and the second input interface that the second output interface of described pitching rotary drive motor is connected to described computing machine by described angle of pitch encoder feedback forms platform angle of pitch feedback control loop;
Described camera is fixedly mounted on described camera mounting platform; Described image acquisition device is arranged on the imaging optical path of described camera, and the output terminal of described image acquisition device is connected to the 3rd input interface formation cam feedback control loop of described computing machine.Wherein, the 3rd input interface of computing machine includes but not limited to pci interface, PCI-E interface or USB interface.
For increasing the control accuracy of computing machine, gyroscope can also be comprised; Described gyroscope is fixedly mounted on the hull on naval vessel, and described gyrostatic output interface is connected to the 4th input interface of described computing machine.
For strengthening human-computer interaction function, improving the convenience of camera tenacious tracking device provided by the invention, can also image display be comprised; The input interface of described image display is connected with the 3rd output interface of described computing machine.
The course of work of camera tenacious tracking device provided by the invention is:
Computing machine obtains the value of multiple variable, then control signal is calculated by multivariable Control algorithm, by the rotation of control signal control azimuth rotary drive motor and pitching rotary drive motor, the rotation of orientation rotation drive motor and pitching rotary drive motor directly controls azimuthal variation and the angle of pitch change of camera mounting platform, again because camera is fixedly mounted on camera mounting platform, so, the azimuthal variation of camera mounting platform and angle of pitch change directly control azimuthal variation and the angle of pitch change of camera, finally achieve the position angle by changing camera and the angle of pitch, make the continuous run-home object of camera, realize following the tracks of target object, the object identifying and monitor.
In the present invention, obtain 4 variablees for computing machine and produce control signal, these 4 variablees are respectively:
(1) position angle of orientation rotation drive motor
Azimuth angular encoders gathers the angle value of orientation rotation drive motor, and is uploaded to computing machine.
(2) angle of pitch of pitching rotary drive motor
Angle of pitch scrambler gathers the angle value of pitching rotary drive motor, and is uploaded to computing machine
(3) target image positional value
Computing machine obtains target image positional value in the following manner:
S1, camera aims at guarded region after fixing by certain angle of pitch and position angle, and the image of guarded region is imaged onto camera with the form of analog picture signal;
S2, image acquisition device collection is imaged onto the analog picture signal of camera, and after this analog picture signal is converted into data image signal, is transferred to computing machine;
S3, computing machine carries out analyzing and processing to this data image signal, obtains target image positional value;
Concrete, computing machine carries out real-time resolving to after this data image signal pre-service, obtains target image coordinate information and target image positional value.Preprocess method can be: speed difference auto modification and speed limit rate data prediction.By said method, can effectively extract target image positional value, even if under rugged environment, when target disappears in short-term, also can effectively to target following.
(4) gyro position information
Gyroscope is fixedly mounted on naval vessel body, gathers gyro position information and is uploaded to computing machine.
Application gyroscope technology, by gyro information process, increases anti-" interference " ability to Ship Swaying, increases camera mounting platform stability, make camera mounting platform have low-speed stable tracking performance.
In sum, camera tenacious tracking device provided by the invention, after obtaining the position angle of orientation rotation drive motor, the angle of pitch of pitching rotary drive motor, target image positional value and gyro position information four variablees simultaneously, computing machine multivariable Control algorithm and many feedbacks is adopted to produce control signal, thus camera mounting platform position angle and the angle of pitch are carried out to the motion correction of closed loop, reach the object that camera is effectively followed the tracks of target object, identifies and monitored.Also have that structure is simple, volume is little, highly versatile and the low advantage of cost.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should look protection scope of the present invention.
Claims (8)
1. a camera tenacious tracking device, is characterized in that, comprises camera, camera mounting platform, orientation rotation drive motor, pitching rotary drive motor, azimuth angular encoders, angle of pitch scrambler, image acquisition device and computing machine; Described camera is arranged on described camera mounting platform;
First output interface of described computing machine is connected with the input interface of described orientation rotation drive motor, first output interface of described orientation rotation drive motor is connected with the azimuth axis of described camera mounting platform, and the second output interface of described orientation rotation drive motor is by the first input interface formation platform position angle feedback control loop of described azimuth angular encoders feedback link to described computing machine;
Second output interface of described computing machine is connected with the input interface of described pitching rotary drive motor, first output interface of described pitching rotary drive motor is connected with the pitch axis of described camera mounting platform, and the second input interface that the second output interface of described pitching rotary drive motor is connected to described computing machine by described angle of pitch encoder feedback forms platform angle of pitch feedback control loop;
Described camera is fixedly mounted on described camera mounting platform; Described image acquisition device is arranged on the imaging optical path of described camera, and the output terminal of described image acquisition device is connected to the 3rd input interface formation cam feedback control loop of described computing machine.
2. camera tenacious tracking device according to claim 1, is characterized in that, also comprise gyroscope; Described gyroscope is fixedly mounted on the hull on naval vessel, and described gyrostatic output interface is connected to the 4th input interface of described computing machine.
3. camera tenacious tracking device according to claim 1, is characterized in that, also comprise image display; The input interface of described image display is connected with the 3rd output interface of described computing machine.
4. camera tenacious tracking device according to claim 1, is characterized in that, the 3rd input interface of described computing machine is pci interface, PCI-E interface or USB interface.
5. application rights requires that described in any one of 1-4, camera tenacious tracking device carries out a method for camera tenacious tracking, is characterized in that, comprises the following steps:
S1, described camera aims at guarded region, and described computing machine obtains the following variables value of current time: described camera position angle, the described camera angle of pitch, gyro position information and guarded region internal object picture position value;
S2, described computer based calculates in multivariable Control algorithm described target image positional value, described camera position angle, the described camera angle of pitch and described gyro position information, produces control signal;
S3, described computing machine carries out the motion correction of closed loop to described camera position angle and the described camera angle of pitch according to described control signal, described camera is effectively followed the tracks of, identifies and monitor target object.
6. method according to claim 5, is characterized in that, in S1, described computing machine obtains guarded region internal object picture position value and is specially:
S1-1, described camera is by aiming at guarded region, and the image of guarded region is imaged onto described camera with the form of analog picture signal;
S1-2, described image acquisition device collection is imaged onto the analog picture signal of described camera, and after this analog picture signal is converted into data image signal, is transferred to computing machine;
S1-3, described computing machine, to real-time resolving after described data image signal pre-service, obtains described guarded region internal object picture position value.
7. method according to claim 6, is characterized in that, in S1-3, described preprocess method is speed difference auto modification and speed limit rate data preprocessing method.
8. method according to claim 5, is characterized in that, described camera is fixedly mounted on described camera mounting platform, and described camera mounting platform connects described orientation rotation drive motor and described pitching rotary drive motor respectively;
In S1, described computing machine obtains described camera position angle and the described camera angle of pitch is specially:
Described computing machine gathers the position angle of described orientation rotation drive motor by described azimuth angular encoders, and described computing machine gathers the angle of pitch of described pitching rotary drive motor by described angle of pitch scrambler; Described computing machine extrapolates the position angle of described camera by the position angle of described orientation rotation drive motor, and described computing machine extrapolates the angle of pitch of described camera by the angle of pitch of described pitching rotary drive motor;
In S3, described computing machine is specially the motion correction that closed loop is carried out at described camera position angle and the described camera angle of pitch according to described control signal:
Described control signal is sent to described orientation rotation drive motor and described pitching rotary drive motor by described computing machine respectively; Described orientation rotation drive motor rotates and adjusts the position angle of described camera, and described pitching rotary drive motor rotates and adjusts the angle of pitch of described camera.
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| CN201310284446.7A CN104281158A (en) | 2013-07-08 | 2013-07-08 | Stable camera tracking device and method |
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| CN104811642A (en) * | 2015-04-24 | 2015-07-29 | 段然 | Chest wearing camera system with double cloud decks and control method thereof |
| CN106375716A (en) * | 2016-08-31 | 2017-02-01 | 上海鹰觉科技有限公司 | Optical device stable tracking system and method for ship |
| CN106612395A (en) * | 2015-10-22 | 2017-05-03 | 意法半导体公司 | Optical image stabilization synchronization of gyroscope and actuator drive circuit |
| CN107289902A (en) * | 2017-06-20 | 2017-10-24 | 中国科学技术大学 | Binocular high-speed, high precision theodolite based on image recognition with tracking |
| CN107329161A (en) * | 2017-06-06 | 2017-11-07 | 芜湖航飞科技股份有限公司 | Precision monitoring system based on big-dipper satellite |
| CN107727059A (en) * | 2017-10-12 | 2018-02-23 | 西安天和防务技术股份有限公司 | Target location determines system and target bearing determining device |
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| CN104811642A (en) * | 2015-04-24 | 2015-07-29 | 段然 | Chest wearing camera system with double cloud decks and control method thereof |
| CN106612395B (en) * | 2015-10-22 | 2020-02-21 | 意法半导体公司 | Optical image stabilization synchronization method for gyroscope and actuator driving circuit |
| US10466503B2 (en) | 2015-10-22 | 2019-11-05 | Stmicroelectronics, Inc. | Optical image stabilization synchronization of gyroscope and actuator drive circuit |
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| CN106612395A (en) * | 2015-10-22 | 2017-05-03 | 意法半导体公司 | Optical image stabilization synchronization of gyroscope and actuator drive circuit |
| US10520748B2 (en) | 2015-12-21 | 2019-12-31 | Stmicroelectronics, Inc. | Optical image stabilization actuator driver power distribution control |
| US10527867B2 (en) | 2015-12-21 | 2020-01-07 | Stmicroelectronics, Inc. | Optical image stabilization actuator driver power distribution control |
| US10649228B2 (en) | 2015-12-21 | 2020-05-12 | Stmicroelectronics, Inc. | Optical image stabilization actuator driver power distribution control |
| US10649229B2 (en) | 2015-12-21 | 2020-05-12 | Stmicroelectronics, Inc. | Optical image stabilization actuator driver power distribution control |
| CN106375716A (en) * | 2016-08-31 | 2017-02-01 | 上海鹰觉科技有限公司 | Optical device stable tracking system and method for ship |
| CN107329161A (en) * | 2017-06-06 | 2017-11-07 | 芜湖航飞科技股份有限公司 | Precision monitoring system based on big-dipper satellite |
| CN107289902A (en) * | 2017-06-20 | 2017-10-24 | 中国科学技术大学 | Binocular high-speed, high precision theodolite based on image recognition with tracking |
| CN107928709A (en) * | 2017-07-03 | 2018-04-20 | 深圳英美达医疗技术有限公司 | A kind of endoscopic imaging system and its control method |
| CN107727059B (en) * | 2017-10-12 | 2024-03-19 | 西安天和防务技术股份有限公司 | Target position determining system and target position determining device |
| CN107727059A (en) * | 2017-10-12 | 2018-02-23 | 西安天和防务技术股份有限公司 | Target location determines system and target bearing determining device |
| CN109061998A (en) * | 2018-09-28 | 2018-12-21 | 北京工业大学 | A kind of automation equipment that realizing a wide range of time-lapse photography and control method |
| CN109061998B (en) * | 2018-09-28 | 2020-10-16 | 北京工业大学 | Automatic device for realizing large-range time-delay photography and control method |
| CN112120005A (en) * | 2020-08-11 | 2020-12-25 | 杭州炸裂科技有限公司 | Livestock farm wolf colony dispersing device, control system and method |
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