CN105491328A - Camera tracking system and method based on satellite positioning signal - Google Patents
Camera tracking system and method based on satellite positioning signal Download PDFInfo
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- CN105491328A CN105491328A CN201510800900.9A CN201510800900A CN105491328A CN 105491328 A CN105491328 A CN 105491328A CN 201510800900 A CN201510800900 A CN 201510800900A CN 105491328 A CN105491328 A CN 105491328A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/67—Focus control based on electronic image sensor signals
Abstract
The invention provides a camera tracking system and method based on a satellite positioning signal, and belongs to the field of traffic management. The camera tracking system based on the satellite positioning signal comprises a positioning satellite, a fixed satellite signal receiving base station arranged in a test site, a vehicular evaluation system arranged on a test vehicle, a database server, an application program server and a video monitoring server, which are arranged in a control center, and a camera tripod head arranged in the test site; the fixed satellite signal receiving base station can carry out reference satellite positioning and data transmission; a differential GPS satellite receiving point is arranged on the vehicular evaluation system; the positioning satellite sends a satellite positioning signal to the fixed satellite signal receiving base station, the signal keeps a constant value, namely a reference value after being calibrated, and when the satellite positioning signal generates positioning drift according to the satellite data receiving condition, an offset is generated.
Description
Technical field
The invention belongs to field of traffic control, be specifically related to a kind of Camera Tracking System based on satellite positioning signal and method.
Background technology
Vehicle driver subject two examination is commonly called as place driving path, and driver need complete some subject sides of the Ministry of Public Security " 123 " command requirement for passing the examination in test site.Rank difference is driven according to the vehicle driver standard that driver applies, the subject completed is also different, driving rank as standard is C1, then need in test site, complete " reversing warehouse-in ", " slope road vehicle positioning stop and starting ", " lateral parking ", " right-angled bend " four subjects.Along with improving constantly of people's living standard, the student carrying out vehicle driver examination also increases year by year, and the difficulty of examination supervision is also in continuous increase.For preventing student from impersonating, arranging the behaviors such as normal place malpractices, constantly introducing as means such as fingerprint individual verification, examination process pan-shots in examination hall in examination hall.But these means still have some shortcomings, the student much left things to chance still finds the leak of some test sites, provides convenient for practicing fraud in its examination process.
The examination system that the area that present China has realized place driving path electronization examination uses all requires the function that the configuration video monitoring of the vehicle-mounted computer in car and video file are uploaded.Meanwhile panoramic camera is set in test site, takes and record the testing situations of all vehicles in test site, and be uploaded to the function of supervision center.The problem of monitoring that these means largely solve in examination car and car is taken an examination outward, but the examination all-the-way tracking of a certain examination student or a certain vehicle is still come with some shortcomings.Monitoring driving people face and identity as the video monitoring image in car, what outdoor panoramic camera was observed is all vehicles and all subjects, still there is very large deficiency in its level of detail, even if having The Cloud Terrace to carry out remote control, but focal position and dead angle, place still can cause the unintelligible or leaky of video capture.
Other one deck meaning of examination video monitoring is to be supervised by video, and the False Rate in examination hall is reduced.So-called erroneous judgement refers to because place signal is disturbed, cause the test site do not possessed under examination condition in examination process, create the judgement of mistake to vehicle driver, thus cause its mistake by deduction mark or the situation that mark should be deducted but not by deduction corresponding scores.This all likely occurs in any one electronization examination process, such as on-off model is adopted to be the test site of judgment basis, reason of its erroneous judgement has more the impact that the existing transducer such as photoelectricity, Hall arranged in the venue is subject to weather or human factor, as snowflake, fallen leaves, motor-vehicle tail-gas to the interference of photosignal for another example strong wind Hall element Deccan is disturbed.The electronic test site of a new generation uses differential GPS as signal judging basis, but also can be subject to the impact of the factor such as cloud layer, GPS drift.There occurs erroneous judgement and will produce dispute, so can take measures to be corrected to erroneous judgement by video monitoring and human intervention, be also the information source of examination equipment being carried out to error correction and adjustment simultaneously.And the monitoring of this respect be test site panoramic shooting or examination car in shooting be all be difficult to meet as judgment basis.
Summary of the invention
The object of the invention is to solve the difficult problem existed in above-mentioned prior art, a kind of Camera Tracking System based on satellite positioning signal and method are provided.
The present invention is achieved by the following technical solutions:
A kind of Camera Tracking System based on satellite positioning signal, comprise position location satellite, the fixed satellite Signal reception base station be arranged in test site, the vehicle-mounted evaluation system be arranged on examination vehicle, the database server being arranged on control centre, apps server and video monitoring server, and be arranged on the camera pan-tilt in test site;
Reference satellite location and transfer of data can be carried out in described fixed satellite Signal reception base station;
Described vehicle-mounted evaluation system is provided with differential GPS satellite reception point;
Described position location satellite is to fixed satellite Signal reception Base Transmitter satellite positioning signal, this signal keeps a fixed value after calibration, i.e. fiducial value, side-play amount is produced when satellite positioning signal produces the drift of location according to the situation that satellite data receives, this side-play amount is sent to vehicle-mounted evaluation system by described fixed satellite Signal reception base station, and then accurately locates the examination vehicle in examination hall;
The latitude and longitude information of the satellite fix that examination car travels is sent back control centre by described vehicle-mounted evaluation system, in tables of data, preset point period is retrieved by the database server of control centre, these data are sent to video monitoring server, by video monitoring server, the instruction of calling control point is sent to preset camera pan-tilt, the video camera controlled on this camera pan-tilt is followed the tracks of.
Signal between described fixed satellite and vehicle-mounted evaluation system adopts wireless signal.
Described fixed satellite Signal reception base station positions the subject edge in test site, is namely defined as section's object starting point signal when examination vehicle enters this region from side; When examination vehicle is examined in subject, described fixed satellite Signal reception base station can catch the satellite positioning signal of examination vehicle in real time.
Described tables of data comprises following information: examination information of trainee, examination car information, test subject place information, preset point positional information, satellite fix range information, tester, car, subject, preset point, satellite fix scope contacts list.
485 buses are adopted to connect between described camera pan-tilt and the video monitoring server of control centre, serial ports of computers is used to export, if command range, in 200 meters of distance ranges, uses passive RS 232-485 interface equipment, if distance is more than 200 meters, use active R S232-485 interface equipment; Exporting data format is 1 start bit, 8 bit data positions, no parity check position, baud rate 2400B/S.
Described camera pan-tilt adopts the platform can supporting PELCO-P agreement.
Utilize the described camera tracking method realized based on the Camera Tracking System of satellite positioning signal as follows:
S1, determines test subject original position triggering signal;
S2, determines that the best camera position of each test subject taken by video camera, angle, these information is stored as The Cloud Terrace preset point, waits to be called;
S3, the examination car that examinee is selected, the place of test subject and selection forms exam information base table, waits for and preset point information association;
S4, the test subject selected according to examination hall and place, establish examinee, examine car, choose subject and place, preset point united information;
S5, when receiving section's object starting point signal, calls preset point, forms image taking;
S6, judges whether to exist preset point in subject, if so, then proceeds to S7, if not, then proceeds to S8;
S7, triggers according to signal in subject, calls preset point;
S8, Course Examination terminates, and waits for and enters next subject;
S9, judges whether all subjects take an examination all, if so, then proceeds to S10, if not, then return S5;
S10, calls a preset point of dispatching a car, and video camera turns to be examined test ground and drive and to dispatch a car position.
Compared with prior art, the invention has the beneficial effects as follows: the test subject that the present invention travels according to vehicle driver, in conjunction with taking an examination Design of Signal and achieve a kind of outdoor with the seizure of monopod video camera and image trace device in place, can effectively to a certain vehicle or a certain student the car body action in examination process take.It is advantageous that and can take for the examination overall process of a certain examination car or driver, examination process can be linked up with the exam information of student and file.
Accompanying drawing explanation
The step block diagram of Fig. 1 the inventive method
The structural representation of Fig. 2 present system
The database information structure chart of Fig. 3 present system
The control structure figure of Fig. 4 present system.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail:
The solution of the present invention is specific as follows:
The location of scene of the first, making a video recording
The test site of place driving path is made up of some test subjects, and these test subjects are organized in together according to certain route, has road in examination hall to connect between two different subjects, finally forms a loop.Namely examinee from starting point start examination turning to starting point by all subject rear vehicle.Vehicle can trigger this section's object initial signal when entering each test subject.What initial signal of the present invention adopted is satellite positioning signal, comprises GPS, the Big Dipper, Ge Luonasi etc., and this kind of differential GPS signal be arranged on examination car drives within the scope of the test subject that presets and then represents that this test subject starts.Demarcate a commencing signal, thus made no matter to be the process that the signal pickup assembly be also mounted on car body be arranged on place carries out judging.From the angle of supervision, test start signal designates the position at examination car place, and before and after this position, error normal conditions are no more than 20CM, uses the error of differential satellite framing signal to be generally no more than 5CM.The video camera so also following the tracks of to needs provides positional information to a certain degree.When a certain vehicle triggers test subject commencing signal, camera lens can be positioned accurately this test subject region.
The second, with the associating of examinee and car information of taking an examination
Following the tracks of for the shooting of certain examination vehicle and certain examination student to realize camera, first must obtain subject and the place information of certain student examination.In a comprehensive driving path examination hall, place, often to there is multiple identical subject, match with the examination car of reequiping in advance.Such as " side parking " subject is test time the longest subject, then accordingly in an examination hall, arrange parking stall, multiple side, and right-angled bend is examination used time the shortest subject, then the place of this test subject is just relatively less.If examination vehicle is many, then consider the number in suitable increase subject examination hall, the smoothness of taking an examination can be ensured like this, prevent most student from stopping on examination road, wait for the situation of test subject.
Control centre can according to the test subject place built well, equilibrium assignment examination student test site, and examination vehicle also can according to the different test site of jam situation Stochastic choice same section object, and this is all allow in examination process.So, the tracking realizing certain student examination just must obtain information corresponding to test subject examination hall and student and car three.The integrated information of examination student's vehicle and test subject place allocation table three is as shown in table 1:
| Sequence number | Student | Test subject place | Examine number plate |
| 1 | First | Side parking A | 001 |
| 2 | First | Right-angled bend B | 001 |
| 3 | Second | Side parking B | 002 |
| … | … | … | … |
Table 1
By database manipulation, the exam information of all for a certain student places driving path can be screened, as the locating information source of carrying out a certain student's video tracking.
Three, overall section object video location
Camera pan-tilt used in the present invention is general holder, namely can support that the platform of PELCO-P agreement can.PELCO-P agreement is general holder control protocol, is widely used in camera pan-tilt control.The control word of this agreement is as shown in table 2:
| Byte 1 | Byte 2 | Byte 3 | Byte 4 | Byte 5 | Byte 6 | Byte 7 |
| Sync byte | Address code | Command code 1 | Command code 2 | Numeric data code 1 | Numeric data code 2 | Check code |
Table 2
This protocol data form is 1 start bit, 8 bit data positions, no parity check position, baud rate 2400B/S.
The command code of this agreement and numeric data code specification are concentrated at this puppy parc explanation, is not repeating at this.This agreement support arranges 1-64 preset point.So-called preset point, namely preserves camera position information, and when sending call instruction to The Cloud Terrace, video camera turns to preset point to take.The setting of 1-32 preset point and call instruction be as shown in Table 3 and Table 4:
| Byte 1 | Byte 2 | Byte 3 | Byte 4 | Byte 5 | Byte 6 | Byte 7 |
| Sync byte | Address code | 00H | 03H | 00H | Preset period | Check code |
Table 3
| Byte 1 | Byte 2 | Byte 3 | Byte 4 | Byte 5 | Byte 6 | Byte 7 |
| Sync byte | Address code | 00H | 07H | 00H | Preset period | Check code |
Table 4
33-64 preset point arranges and calls control word as shown in following table 5 and table 6:
| Byte 1 | Byte 2 | Byte 3 | Byte 4 | Byte 5 | Byte 6 | Byte 7 |
| Sync byte | Address code | 02H | FFH | Preset period | 01H | Check code |
Table 5
| Byte 1 | Byte 2 | Byte 3 | Byte 4 | Byte 5 | Byte 6 | Byte 7 |
| Sync byte | Address code | 02H | FFH | Preset period | 00H | Check code |
Table 6
In sum, first video camera is adjusted on the initial camera site of a certain subject, then this position is defined as a preset point, and by this preset point and test subject information association.Select when there being student then to generate information as shown in table 7 below when sailing this subject into.
| Sequence number | Student | Test subject place | Preset point | Examine number plate |
| 1 | First | Side parking A | 01H | 001 |
| 2 | First | Right-angled bend B | 02H | 001 |
| 3 | Second | Side parking B | 03H | 002 |
| … | … | … | … | … |
Table 7
When the student that takes an examination enters some subjects, trigger the signal that certain test subject starts to take an examination.This signal, using student and examination car and test subject as search condition, uniquely will be located a preset point, obtain the period of this preset point, and then send to video camera and call the order of preset point, then can realize shooting examination vehicle being entered to certain test subject.
Four, the track up of image in subject
If generally the running distance of test subject is shorter, and under video camera can cover this section's object situation completely, can consider only to arrange the initial track up of this subject.So just can record the driving conditions in subject.If subject running distance is longer, as the subject such as " hundred meters add downshift ", " speed limit width-limited door " (truck examination needs examination).Then can consider to set up preset point on the position that running distance interval is far away, video camera rotating speed is set simultaneously according to subject speed.The triggering of calling for preset point is still correlated with the means of electronization examination, if adopt differential satellite locate mode, then can travel the triggering signal of the satellite positioning signal in subject as preset point location triggered by vehicle.If the triggering adopting the decision signal of output switch parameter to call as preset point, then can choose on-off model distant in subject as the signal triggering preset point.Like this, the video image of vehicle in subject can be traced into.Implementation step flow process of the present invention is illustrated in fig. 1 shown below, and comprising:
S1, determines test subject original position triggering signal;
S2, determines that the best camera position of each test subject taken by video camera, angle, these information is stored as The Cloud Terrace preset point, waits to be called;
S3, the examination car that examinee is selected, the place of test subject and selection forms exam information base table, waits for and preset point information association;
S4, the test subject selected according to examination hall and place, establish examinee, examine car, choose subject and place, preset point united information;
S5, when car of taking an examination triggers subject commencing signal, calls preset point, forms image taking;
S6, judges whether to exist preset point in subject, if so, then proceeds to S7, if not, then proceeds to S8;
S7, triggers according to signal in subject, calls preset point;
S8, Course Examination terminates, and waits for and enters next subject;
S9, judges whether all subjects take an examination all, if so, then proceeds to S10, if not, then return S5;
S10, calls a preset point of dispatching a car, and video camera turns to be examined test ground and drive and to dispatch a car position.
System of the present invention is concrete as shown in Figure 2:
In Fig. 2,1,2,3 represent the first position location satellite, the second position location satellite and the 3rd position location satellite respectively, as GPS, the Big Dipper, Ge Luonasi etc., 4 represent the fixed satellite Signal reception base station be arranged in test site, and whether qualified 5 be (travel judge by locating information to carry out vehicle with the vehicle-mounted evaluation system of differential GPS satellite reception point.)。Satellite to be launched an artificial satellite framing signal to fixed base stations 4, and this signal (is calibrated from fixing base station) and this value of fixed value can be kept to be fiducial value after calibration.The situation that under different time and weather environment, the satellite positioning signal of fixing point can receive according to satellite data produces the drift of location, i.e. side-play amount, fixing point (refers to the data transmission equipment in fixed base stations.Fixing point base station has reference satellite to locate simultaneously and transfer of data obtains function) by data transmission equipment this side-play amount sent to onboard system 5 (signal between fixed satellite and 5 first be wireless signal, frequency can be hand number of units biography frequency also can be high frequency WIFI signal.Less demanding, as long as it is just passable to carry out Wireless Data Transmission).Thus the driving vehicle in examination hall can accurately be located.Its error reaches the precision of < 10CM when satellite positioning signal is good.
Accurately can be located subject edge in place by fixing point satellite-signal base station, section's object starting point signal can be determined when vehicle enters this region from certain side.Vehicle also can catch the satellite positioning signal of vehicle in real time when examining in subject.
The contact establishing following information is needed in database side, as shown in Figure 3, in Fig. 3,1 represents examination information of trainee, 2 represent examination car information, 3 represent test subject place information, 4 represent preset point positional information, and 5 represent satellite fix range information, and 6 represent tester, car, subject, preset point, satellite fix scope contacts list.
The latitude and longitude information of satellite fix that examination car travels only need be sent back control centre by examination onboard system, retrieves preset point period in tables of data shown in 6 in figure 3, be then sent to prefabricated camera pan-tilt by the data, services end of control centre.
485 buses are adopted to connect between The Cloud Terrace and control centre's video controller, serial ports of computers can be used to export, command range can use passive RS 232-485 interface equipment in 200 meters of distance ranges, distance more than 200 meters in order to ensure that the reliability that data transmit can use active R S232-485 interface equipment.Exporting data format is 1 start bit, 8 bit data positions, no parity check position, baud rate 2400B/S.The control procedure of whole control as shown in Figure 4.
In Fig. 4,1 represents onboard system, and 2 represent control centre's apps server, and 3 represent video monitoring server, and 4 represent camera pan-tilt, and 5 represent database server.
(onboard system comprises car-mounted computer to car-mounted computer 1, also comprise two Vehicular satellite locators in addition, antenna, powered ups power supply etc.) transmit satellite fix precise information to control centre's apps server 2, the data that apps server 2 is retrieved in conjunction with database 5, determine preset point period, these data are sent to video monitoring server 3, by video monitoring server 3, the instruction of calling control point is sent to prefabricated tracking camera by 485 buses.
Along with video identification and the continuous progress of shooting tracking technique, there has been the camera system can carrying out panorama tracking and autozoom to certain vehicle in market, but the single cost of this type systematic is all more than ten thousand yuan, and if realize smooth tracking for same vehicle and also need to carry out continuous machine learning.The present invention utilizes existing equipment and general simple cradle head controllor in test site to realize the shooting of a kind of vehicle tracking for place driving path, for place driving path provides a kind of new regulatory measure
Technique scheme is one embodiment of the present invention, for those skilled in the art, on the basis that the invention discloses application process and principle, be easy to make various types of improvement or distortion, and the method be not limited only to described by the above-mentioned embodiment of the present invention, therefore previously described mode is just preferred, and does not have restrictive meaning.
Claims (7)
1. the Camera Tracking System based on satellite positioning signal and method, it is characterized in that: the described Camera Tracking System based on satellite positioning signal comprises position location satellite, the fixed satellite Signal reception base station be arranged in test site, the vehicle-mounted evaluation system be arranged on examination vehicle, the database server being arranged on control centre, apps server and video monitoring server, and be arranged on the camera pan-tilt in test site;
Reference satellite location and transfer of data can be carried out in described fixed satellite Signal reception base station;
Described vehicle-mounted evaluation system is provided with differential GPS satellite reception point;
Described position location satellite is to fixed satellite Signal reception Base Transmitter satellite positioning signal, this signal keeps a fixed value after calibration, i.e. fiducial value, side-play amount is produced when satellite positioning signal produces the drift of location according to the situation that satellite data receives, this side-play amount is sent to vehicle-mounted evaluation system by described fixed satellite Signal reception base station, and then accurately locates the examination vehicle in examination hall;
The latitude and longitude information of the satellite fix that examination car travels is sent back control centre by described vehicle-mounted evaluation system, in tables of data, preset point period is retrieved by the database server of control centre, these data are sent to video monitoring server, by video monitoring server, the instruction of calling control point is sent to preset camera pan-tilt, the video camera controlled on this camera pan-tilt is followed the tracks of.
2. the Camera Tracking System based on satellite positioning signal according to claim 1, is characterized in that: the signal between described fixed satellite and vehicle-mounted evaluation system adopts wireless signal.
3. the Camera Tracking System based on satellite positioning signal according to claim 2, it is characterized in that: described fixed satellite Signal reception base station positions the subject edge in test site, be namely defined as section's object starting point signal when examination vehicle enters this region from side; When examination vehicle is examined in subject, described fixed satellite Signal reception base station can catch the satellite positioning signal of examination vehicle in real time.
4. the Camera Tracking System based on satellite positioning signal according to claim 3, is characterized in that: described tables of data comprises following information: examination information of trainee, examination car information, test subject place information, preset point positional information, satellite fix range information, tester, car, subject, preset point, satellite fix scope contacts list.
5. the Camera Tracking System based on satellite positioning signal according to claim 4, it is characterized in that: between described camera pan-tilt and the video monitoring server of control centre, adopt 485 buses to connect, serial ports of computers is used to export, if command range, in 200 meters of distance ranges, uses passive RS 232-485 interface equipment, if distance is more than 200 meters, use active R S232-485 interface equipment; Exporting data format is 1 start bit, 8 bit data positions, no parity check position, baud rate 2400B/S.
6. the Camera Tracking System based on satellite positioning signal according to claim 5, is characterized in that: described camera pan-tilt adopts the platform can supporting PELCO-P agreement.
7. utilize the arbitrary described camera tracking method realized based on the Camera Tracking System of satellite positioning signal of claim 1-6, it is characterized in that: described method comprises:
S1, determines test subject original position triggering signal;
S2, determines that the best camera position of each test subject taken by video camera, angle, these information is stored as The Cloud Terrace preset point, waits to be called;
S3, the examination car that examinee is selected, the place of test subject and selection forms exam information base table, waits for and preset point information association;
S4, the test subject selected according to examination hall and place, establish examinee, examine car, choose subject and place, preset point united information;
S5, when receiving section's object starting point signal, calls preset point, forms image taking;
S6, judges whether to exist preset point in subject, if so, then proceeds to S7, if not, then proceeds to S8;
S7, triggers according to signal in subject, calls preset point;
S8, Course Examination terminates, and waits for and enters next subject;
S9, judges whether all subjects take an examination all, if so, then proceeds to S10, if not, then return S5;
S10, calls a preset point of dispatching a car, and video camera turns to be examined test ground and drive and to dispatch a car position.
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| CN105491328B (en) | 2018-04-13 |
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