CN105323540A - Intelligent control four-axis aircraft with multiple cameras - Google Patents
Intelligent control four-axis aircraft with multiple cameras Download PDFInfo
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- CN105323540A CN105323540A CN201410346295.8A CN201410346295A CN105323540A CN 105323540 A CN105323540 A CN 105323540A CN 201410346295 A CN201410346295 A CN 201410346295A CN 105323540 A CN105323540 A CN 105323540A
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Abstract
The invention relates to an intelligent control four-axis aircraft with multiple cameras. The aircraft comprises a sensor 5 and the cameras A, B, C and D, and includes four propellers which are arranged in criss-cross intersection. A flight power system of independent research and development is integrated in the aircraft, the aircraft is configured with a professional radio remote control system, and the aircraft is capable autonomous navigation flight. Four rotors are mounted in four corners of the aircraft respectively, and driven by a motor, blades can rotate forwardly and backwardly, an inertial navigation module composed of gyroscopes of three directions and a three-axis acceleration sensor is mounted on the four-axis aircraft to maintain stable flight of the aircraft, and an electronic regulator is used to ensure rapid flight of the aircraft. The four cameras are respectively mounted on the four rotors, and connected with the sensor at the center of the aircraft to transmit information and monitor a moving object. According to the four-axis aircraft, monitoring is rapider and more comprehensive, and the monitoring efficiency is improved.
Description
Technical field
The present invention relates to a kind of multiple-camera intelligent controlling device, specifically relates to a kind of multiple-camera Based Intelligent Control four-axle aircraft.
Background technology
Along with the development of multimedia technology, video monitoring Application and security operation more and more widely and the field such as to keep a lookout of public security.A lot of intelligent monitor systems is needed in modern city, as bank, harbour, airport, depot area, the key area of communication base station.Traditional supervisory control system does not have the function automatically noted abnormalities, and needs monitoring operator on duty and pays close attention to monitor to note abnormalities, but can not concentrate for a long time due to the attentiveness of people, can not observe many screens simultaneously yet.Especially, due to the system that monitor staff is less, monitoring range is larger, especially at night, traditional monitor mode can not follow the tracks of suspicious target, and the video of record usually seldom includes effective information.IT technology is much utilized to carry out conventional Multi-thread control thus realize remote monitoring although have now, but system and method for today generally can only realize one-side monitoring, namely monitor staff can not receive complete monitor video in time, poor real, panoramic shooting can not cover very large monitor area, and the Camera location that can control is limited in scope.And intelligent monitor system has the function automatically noted abnormalities, a supervisory control system comprises multiple cameras, and the guarded region of each video camera exists relevance, greatly compensate for the defect of traditional monitor mode.
Summary of the invention
The object of the invention is to overcome deficiency of the prior art, provide a kind of multiple-camera
Intelligent control method and device thereof, moving target in the guarded region that it can cover multiple-camera carry out omnidistance across camera to automatically track, and the moving target information of each camera acquisition can be fully utilized, thus coordinated signals is carried out to the video camera of whole system.This guarded region can be the region of a day or several road compositions, Huo Yige community.The said tracking of the present invention all accuses that camera pan-tilt processed rotates and lens focus (be called for short and control video camera).Target is in the picture of video camera picked-up with suitable size and position, carries out camera automatic focusing simultaneously, make clear picture.Such system substantially increases the validity of monitoring image and recording image information, decreases monitoring blind area.The present invention also carries out zoom amplification and tracking to the moving target detected or suspicious region, and the feature information of picked-up, record moving target, improves the validity to moving target identification.The tracking of the present invention to moving target refers to automatic focus.
In order to solve the problems of the technologies described above, the present invention is achieved through the following technical solutions:
The invention provides a kind of multi-camera intelligent control method and device, it is by video detection module, camera control module.It combines with multiple cameras, video encoder, communication module, video recording equipment and other expansion equipment, can form intelligent video monitoring system.
Further, described video detection module realizes moving object detection, and extracts the size of moving target on image, position and kinematic parameter, and wherein kinematic parameter comprises the direction of motion and movement velocity.The size of extracted moving target, position and kinematic parameter are sent to camera control module by video detection module.Further, described camera control module accept from video detection module corresponding to each video camera about information such as moving target size, position and kinematic parameters, carry out analyses and prediction to movement tendency, described movement tendency refers to the adjacent camera that moving target may arrive after the possible position of subsequent time or moving target depart from the monitoring range of current camera and monitoring range thereof.Camera control module sends control information based on predicting the outcome to video camera, control orientation and the focal length of corresponding video camera or its contiguous video camera, moving target appears in camera video picture with suitable size, moving target is followed the tracks of, or make its contiguous video camera wait for that moving target enters video, the relay tracking across video camera is carried out to moving target.
Compared with prior art, the invention has the beneficial effects as follows:
Make monitoring more quick, comprehensively, substantially increase supervision efficiency, solve the problem that the current monitor staff of needs carries out monitoring all the time, fabulous has saved time and efforts.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of multiple-camera Based Intelligent Control four-axle aircraft of the present invention
Fig. 2 is the flow chart of multiple-camera Based Intelligent Control four-axle aircraft of the present invention.
Embodiment
Below in conjunction with accompanying drawing and embodiment, the present invention is described in further detail:
Aircraft combines with multi-camera intelligent control method by the present invention, all-around intelligent control monitoring is carried out by arranging camera on aircraft four direction, solving people cannot the long-time monitoring of continuous and effective, and a large amount of has saved manpower and time, thus improves work efficiency.
As shown in Figure 1, multiple-camera Based Intelligent Control four-axle aircraft flow process of the present invention comprises:
Needing to carry out initialization to system before this process starts, as focal length initial for video camera and orientation being placed in some presetting bits (aiming at the entrance of road) preset, defining the neighbouring relations of each video camera.As each video camera defines some regions associated with adjacent camera, this region can define by focal length of camera, direction parameter scope, and defines the title of adjacent camera or numbering and corresponding presetting bit thereof.
If moving target do not detected in present image, then the master reference 5 of aircraft will note abnormalities automatically, automatically will proceed to abnormal area, makes moving target appear in monitored picture; If moving target detected in present image, then analyze the size of this moving target, position and kinematic parameter, by controlling focal length of camera and orientation pursuit movement target, camera automatic focusing.If video camera have employed high resolution sensor, then can also realize virtual zoom by the mode of digital zooming.Utilize the position of moving target on present image and the direction of motion, movement velocity, the position of moving target after camera control on image (needing to consider to control required time) can be estimated, controlling the orientation of camera pan-tilt, making moving target be in picture central authorities as far as possible when having controlled.
Simultaneously according to predefined adjacent camera associated region, as pursuit movement target enters certain focal length and bearing range, then controlling corresponding contiguous video camera is the focal length and orientation that preset accordingly, make adjacent camera visual field catch this moving target, or wait for that moving target enters visual field.
Great circle in figure represents the monitoring range of video camera, A, B, C, D are four video cameras, be placed in respectively on the four direction of aircraft, once in motion target occurs, the information of moving target is sent to four video cameras by transducer 5 after analyzing, once in motion target enters in the monitoring range of video camera A, be then detected.Control orientation and the focal length of video camera A, moving target is followed the tracks of, in figure, video camera A will counterclockwise rotate, once the azimuth of video camera enters a angular region shown in chain line, then the adjacent camera B of control association adjusts the orientation of video camera B, wait for entering of moving target, control video camera B and follow the tracks of this moving target.Same, if moving target enters the region contiguous with C, after moving target enters camera coverage, continued to follow the tracks of by video camera C.
The undeclared part related in the present invention is same as the prior art or adopt prior art to be realized.
Claims (1)
1. a multiple-camera Based Intelligent Control four-axle aircraft, analyzes the vision signal from each video camera, controls each video camera according to analysis result, it is characterized in that comprising the steps:
Step 1: detect the moving target in vision signal, analyzes moving target size in the picture, position, kinematic parameter; According to the size of moving target, position, kinematic parameter, control orientation and the focal length of this video camera, make moving target appear in the video pictures of this video camera with suitable position and size, realize the tracking to moving target;
Step 2: according to position and the direction of motion of moving target, and the monitoring range of adjacent camera, the adjacent camera monitor area that predicted motion target will enter, control orientation and the focal length of this adjacent camera, make adjacent camera visual field catch this moving target, or wait for that moving target enters visual field;
Step 3: when moving target not detected and do not have moving target in contiguous camera supervised scope in camera video picture, the focal length of video camera and orientation are placed in a presetting bit preset;
Step 4: when moving target being detected in camera views, pursuit movement target, and Separation control camera lens at regular intervals, change focal length, control camera orientation simultaneously, make camera lens alignment motion target, thus make moving target be in a period of time in picture in the mode of amplifying feature, then control video camera and continue that non-feature mode is carried out to moving target with suitable focal length and orientation and follow the tracks of.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410346295.8A CN105323540A (en) | 2014-07-18 | 2014-07-18 | Intelligent control four-axis aircraft with multiple cameras |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410346295.8A CN105323540A (en) | 2014-07-18 | 2014-07-18 | Intelligent control four-axis aircraft with multiple cameras |
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| CN105323540A true CN105323540A (en) | 2016-02-10 |
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| CN201410346295.8A Pending CN105323540A (en) | 2014-07-18 | 2014-07-18 | Intelligent control four-axis aircraft with multiple cameras |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109324638A (en) * | 2018-12-05 | 2019-02-12 | 中国计量大学 | Quadrotor drone Target Tracking System based on machine vision |
| CN109947127A (en) * | 2019-03-12 | 2019-06-28 | 深圳市道通智能航空技术有限公司 | A kind of monitoring unmanned method, apparatus, equipment and storage medium |
| CN110084838A (en) * | 2019-05-22 | 2019-08-02 | 广州高新兴机器人有限公司 | A kind of method and device of the human body positioning based on holder |
| CN111034171A (en) * | 2017-09-26 | 2020-04-17 | 索尼半导体解决方案公司 | Information processing system |
-
2014
- 2014-07-18 CN CN201410346295.8A patent/CN105323540A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111034171A (en) * | 2017-09-26 | 2020-04-17 | 索尼半导体解决方案公司 | Information processing system |
| CN111034171B (en) * | 2017-09-26 | 2022-05-17 | 索尼半导体解决方案公司 | Information processing system |
| CN109324638A (en) * | 2018-12-05 | 2019-02-12 | 中国计量大学 | Quadrotor drone Target Tracking System based on machine vision |
| CN109947127A (en) * | 2019-03-12 | 2019-06-28 | 深圳市道通智能航空技术有限公司 | A kind of monitoring unmanned method, apparatus, equipment and storage medium |
| CN110084838A (en) * | 2019-05-22 | 2019-08-02 | 广州高新兴机器人有限公司 | A kind of method and device of the human body positioning based on holder |
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Application publication date: 20160210 |
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| WD01 | Invention patent application deemed withdrawn after publication |