CN105812724A - Panoramic head controlling method and system - Google Patents
Panoramic head controlling method and system Download PDFInfo
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- CN105812724A CN105812724A CN201410856165.9A CN201410856165A CN105812724A CN 105812724 A CN105812724 A CN 105812724A CN 201410856165 A CN201410856165 A CN 201410856165A CN 105812724 A CN105812724 A CN 105812724A
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Abstract
The invention discloses a panoramic head controlling method and system. According to the main contents, an panoramic image is acquired; a preset area is selected in the panoramic image; through the coordinate conversion relationship between a head controller of the panoramic image and a head device, the selected position coordinate in the panoramic image is converted to a position coordinate which can be identified by the head device; when the head device rotates to a monitor scene corresponding to the position coordinate, setting response is returned to the head controller; and the head controller stores the first corresponding relation between the position coordinate in the panoramic image and an index value according to the setting response and determines that the preset area is a set preset point. The preset point is set in the panoramic image. Without repeatedly acquiring a local monitor scene, the preset point is set in the local monitor scene. The user experience is improved.
Description
Technical field
The present invention relates to cradle head control technical field, particularly relate to control method and the system of a kind of pan and tilt head.
Background technology
In existing video monitoring system, gather the photographic head of image by cradle head control direction, the monitoring scene can seen under fixed viewpoint due to photographic head is limited, accordingly, it would be desirable to rely on pan and tilt head that all directions in monitoring scene and angle are carried out effective monitoring.So-called pan and tilt head, is both can regulate photographic head node to rotate on a longitudinal axis, photographic head can be allowed again to horizontally rotate in the horizontal plane shooting, thus reaching to make photographic head shoot a node fixed position in three dimensions to carry out omnidirectional shooting.
Pan and tilt head is mainly used in the monitor in real time to monitoring scene, accordingly, it would be desirable to for pan and tilt head preset cruise, patrol mark, track swept by line, but, the setting of these tracks depends on the setting of preset point.The setting of existing preset point, firstly the need of selecting region to be monitored in monitoring scene, then the photographic head of tripod head equipment is adjusted to region to be monitored, record the rotational coordinates of now pan and tilt head, and be this preset point index of definition value, such as: preset point 1, rotational coordinates [36 °, 70 °, 20], wherein, 20 is the zoom rate of the photographic head of tripod head equipment, by this preset point 1 and rotational coordinates [36 °, 70 °, 20] it is saved in preset point project table as preset point information, so that when calling preset point, pan and tilt head can be controlled by input preset point sequence number to rotate to rotational coordinates [36 °, 70 °, 20] corresponding monitoring scene.
In like manner, owing to cruise realizes by calling multiple preset point successively, therefore, the setting of the track of cruise is exactly substantially the setting of preset point.
But, for patrolling mark, being user starts record button and starts to record and patrol mark track by clicking, especially by the left side on user operation cradle head controllor, right, on, under, upper left, upper right, lower-left, eight, bottom right directionkeys realizes the direction controlling to tripod head equipment, need to pre-set the translational speed of tripod head equipment, such as: pre-set the translational speed of tripod head equipment, record current original position, first press left button, duration is t1, press upper right again, duration is t2, press bottom right again, duration is t3, and terminate, then can record original position, it is moved to the left t1 duration, t2 duration is moved to upper right, lower mobile t3 duration to the right.This patrols mark route for patrolling mark route 1 to assume definition, and when calling, directly in cradle head controllor, mark route 1 is patrolled in input, then can call this and patrol mark route, and namely tripod head equipment will move according to the track patrolling mark route 1.
In like manner, line is swept and is also set as, and the setting that simply line is swept is more simple, only needs record start position and end position, and the line between two positions is line and sweeps.
But, owing to each producer is different to the degree of perfection of cradle head control function, existing preset point, cruise setting up procedure complex loaded down with trivial details, and need that tripod head equipment is adjusted reference scene and be configured, therefore can only see current monitoring scene, can not macroscopic view control all monitoring scenes picture, preset point, cruise route orientation in whole monitoring scene can not be embodied.
Be additionally, since patrol mark route and line to sweep etc. be all the parameter of movement locus, utilizing existing cradle head control scheme is accurately lively to embody, and makes troubles to user, reduces Consumer's Experience.
Summary of the invention
The embodiment of the present invention provides control method and the system of a kind of pan and tilt head, in order to the problem solving the relatively complicated complexity of cradle head control existed in prior art.
The embodiment of the present invention is by the following technical solutions:
A kind of control method of pan and tilt head, described method includes:
Obtaining the panoramic picture of monitoring scene, wherein, described panoramic picture comprises the topography of multiple same size；
Selecting preset regions in described panoramic picture, it is determined that described preset regions primary importance coordinate in described panoramic picture, and be described preset regions index of definition value, wherein, the size of described preset regions is not more than the size of described topography；
The preset point of the primary importance coordinate and index value that carry described preset regions is arranged request and is sent to tripod head equipment, to indicate described tripod head equipment by the described primary importance Coordinate Conversion that receives for second position coordinate；
After described tripod head equipment rotates the monitoring scene corresponding to described preset regions according to described second position coordinate, the preset point receiving the return of described tripod head equipment arranges response, preserve the first corresponding relation of described primary importance coordinate and described index value, it is determined that described preset regions is preset point.
A kind of control method of pan and tilt head, described method includes:
The preset point of the primary importance coordinate carrying preset regions and index value that receive cradle head controllor transmission arranges request；
It is second position coordinate by described primary importance Coordinate Conversion；
Rotate, according to described second position coordinate, the monitoring scene that extremely described preset regions is corresponding, and response is set to described cradle head controllor return preset point, to indicate described cradle head controllor to preserve the first corresponding relation of described primary importance coordinate and described index value.
A kind of cradle head controllor, including:
Acquiring unit, for obtaining the panoramic picture of monitoring scene, wherein, described panoramic picture comprises the topography of multiple same size；
Determine unit, for selecting preset regions in described panoramic picture, it is determined that described preset regions primary importance coordinate in described panoramic picture, and it it is described preset regions index of definition value, wherein, the size of described preset regions is not more than the size of described topography；
First transmitting element, is sent to tripod head equipment for the preset point of the primary importance coordinate and index value that carry described preset regions is arranged request, to indicate described tripod head equipment by the described primary importance Coordinate Conversion that receives for second position coordinate；
Unit is set, for after described tripod head equipment rotates the monitoring scene corresponding to described preset regions according to described second position coordinate, the preset point receiving the return of described tripod head equipment arranges response, preserve the first corresponding relation of described primary importance coordinate and described index value, it is determined that described preset regions is preset point.
A kind of tripod head equipment, including:
Second receives unit, and the preset point of the primary importance coordinate carrying preset regions and index value for receiving cradle head controllor transmission arranges request；
Converting unit, being used for described primary importance Coordinate Conversion is second position coordinate；
Second transmitting element, for rotating, according to described second position coordinate, the monitoring scene that extremely described preset regions is corresponding, and response is set to described cradle head controllor return preset point, to indicate described cradle head controllor to preserve the first corresponding relation of described primary importance coordinate and described index value.
The control system of a kind of pan and tilt head, including described cradle head controllor and described tripod head equipment.
In embodiments of the present invention, by utilizing the panoramic picture obtained, panoramic picture selects preset regions, and by the coordinate transformation relation between cradle head controllor and the tripod head equipment at panoramic picture place, position coordinates in the panoramic picture of selection is converted to the position coordinates that tripod head equipment may identify which, and when tripod head equipment rotates to the monitoring scene that this position coordinates is corresponding, return to cradle head controllor and response is set, the cradle head controllor the first corresponding relation according to the position coordinates arranged in response storage panoramic picture with index value, and determine that this preset regions is the preset point arranged.Thus, it is achieved that preset point is set in panoramic picture, it is not necessary to repeatedly obtains local monitoring scene and arranges preset point under the monitoring scene of local, improve Consumer's Experience.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme in the embodiment of the present invention, below the accompanying drawing used required during embodiment is described is briefly introduced, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the premise not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
The schematic flow sheet of the control method of a kind of pan and tilt head that Fig. 1 provides for the embodiment of the present invention；
Fig. 2 (a), 2 (b) respectively grab volume partial original image and spliced panoramic picture；
Design sketch in panoramic picture when Fig. 3 is call preset point in the embodiment of the present invention；
Design sketch in panoramic picture when Fig. 4 is call cruise route in the embodiment of the present invention；
Fig. 5 is the design sketch patrolling mark drawn in panoramic picture in the embodiment of the present invention；
Fig. 6 is the design sketch that the line drawn in panoramic picture in the embodiment of the present invention is swept；
The structural representation of the Fig. 7 cradle head controllor for providing in the embodiment of the present invention；
The structural representation of the Fig. 8 tripod head equipment for providing in the embodiment of the present invention；
Fig. 9 is the structural representation of the control system of the pan and tilt head of offer in the embodiment of the present invention.
Detailed description of the invention
In order to make the object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, the present invention is described in further detail, it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, all other embodiments that those of ordinary skill in the art obtain under not making creative work premise, broadly fall into the scope of protection of the invention.
Below by specific embodiment, technical scheme involved in the present invention being described in detail, the present invention includes, but are not limited to following example.
As it is shown in figure 1, the schematic flow sheet of control method of a kind of pan and tilt head provided for the embodiment of the present invention, the method mainly comprises the steps that
Step 101: obtain the panoramic picture of monitoring scene.
Wherein, described panoramic picture comprises the topography of multiple same size.
In this step 101, the panoramic picture of monitoring scene can obtain in the following manner:
First, the zoom rate of the ball machine of the photographic head of tripod head equipment is adjusted to minimum, under this minimum zoom rate, captures the original image of different azimuth, be sent to cradle head controllor.
Then, cradle head controllor utilizes existing picture splicing collimation technique, will grab multiple original image, and be spliced into the panoramic picture for this monitoring scene, and preserve.
As shown in Fig. 2 (a), list the partial original image grabbed, after picture splicing calibration, form the panoramic picture as shown in Fig. 2 (b).
Step 102: select preset regions in panoramic picture, it is determined that preset regions primary importance coordinate in described panoramic picture, and be preset regions index of definition value.Wherein, the size of preset regions is not more than the size of topography.
In embodiments of the present invention, the preset regions in panoramic picture selects especially by one of in the following manner or combination:
Mode one, draws the preset regions of preset shape in described panoramic picture, and clicks preset point settings button and choose.
Mode two: choose the preset regions that current monitoring scene is corresponding in described panoramic picture, and click preset point settings button.
It should be noted that both the above mode is the alternative of the present invention, this selection mode is not carried out concrete restriction, it is also possible to include other selection modes based on above-mentioned selection mode, be within protection scope of the present invention.
Step 103: the preset point of the primary importance coordinate and index value that carry preset regions is arranged request and is sent to tripod head equipment, to indicate tripod head equipment by the primary importance Coordinate Conversion that receives for second position coordinate.
In embodiments of the present invention, owing to panoramic picture is a width plane picture, its position coordinates is two-dimentional, and the rotational coordinates of tripod head equipment is three-dimensional, therefore, carrys out opening relationships by the Formula of Coordinate System Transformation of panoramic picture therebetween.Specifically, it is possible to the Formula of Coordinate System Transformation with reference to existing panoramic picture is changed.But, the present invention is based on the basis after conversion, it is assumed that the primary importance coordinate in panoramic picture is also three-dimensional, for instance [x, y, z], then x is horizontal coordinate, and y is vertical coordinate, and z is zoom rate.
After selecting preset regions, it is determined that primary importance coordinate [x, the y of this preset regions, z], simultaneously, it is determined that the index value M of this preset regions, by [x, y, z] and M be sent to tripod head equipment, notify that it carries out Coordinate Conversion, obtain under the monitoring scene that this preset regions is corresponding, the coordinate parameters of tripod head equipment, i.e. second position coordinate.
Afterwards, this tripod head equipment will carry out the setting of parameter according to this second position coordinate, rotates under the monitoring scene that this second position coordinate is corresponding.
Step 104: after tripod head equipment rotates the monitoring scene corresponding to preset regions according to second position coordinate, the preset point receiving tripod head equipment return arranges response, preserves the first corresponding relation of primary importance coordinate and index value, it is determined that preset regions is preset point.
After tripod head equipment rotates the monitoring scene corresponding to preset regions according to second position coordinate, tripod head equipment can return preset point to cradle head controllor and arrange response, after cradle head controllor receives this response, preserve the first corresponding relation of primary importance coordinate and index value, in order to when calling this preset point, directly input index value later.Determine that this preset regions is preset point, so far, being provided with of preset point.Compared in prior art, the setting of preset point just must will can be carried out under monitoring scene corresponding for cloud deck equipment moving to this preset point, the plan of establishment of the preset point of the present invention is more flexible, is only configured on the panoramic picture obtained before, improves the control service efficiency of The Cloud Terrace.
After determining at least one preset point, inquiry request can also be sent to tripod head equipment, second corresponding relation of the 3rd position coordinates with index value to indicate preset point that The Cloud Terrace equipment query self stores, wherein, the 3rd position coordinates is obtain after the tripod head equipment second position coordinate to being converted to is normalized operation.When the 3rd position coordinates that tripod head equipment inquires in the second corresponding relation is not initial value, receive the inquiry response that tripod head equipment returns the index value labelling preset point according to the preset point carried in inquiry response.
It should be noted that, in embodiments of the present invention, owing to tripod head equipment can be installed the lens of Multiple Type, the scope of its zoom rate is different, therefore, in order to unified in a tripod head equipment, the coordinate of tripod head equipment can be normalized, that is: range for-1～1 after horizontal coordinate x normalization, after vertical coordinate y normalization, range for-1～1, after zoom rate coordinate z normalization, range for 0～1.Otherwise, the coordinate that tripod head equipment is returned needs to carry out renormalization process, just can be sent to cradle head controllor.Specifically, renormalization process can be passed through but be not limited to below equation:
When horizontal coordinate normalizes to-1～1, tripod head equipment could be arranged to just rotate to be to the left, rotates to be to the right negative.Conversion formula can be:
X=180*x (x > 0)
X=180*x (x < 0)
Wherein, X is true horizon coordinate figure.
When vertical coordinate normalizes to-1～1, tripod head equipment could be arranged to move up as just, moving down as negative, and conversion formula can be:
Y=-180*y
Wherein, Y is true vertical coordinate figure.
When zoom rate Unitary coordinate is to 0～1, the true zoom rate of tripod head equipment can be the change multiplying power scope of respective model lens, for instance: 0～128.
Preferably, after determining at least two preset point, it is also possible to choose at least two preset point in panoramic picture successively, and be connected by straight line between described adjacent preset point；Determine the index value of at least two preset point, and according to choosing order that the index value determined is stored as cruise array；Determine that the straight line between at least two preset point chosen and adjacent preset point is cruise route, and storage corresponding to cruise array.
Preferably, arbitrary according to selection patrols mark route, calls this moving parameter patrolling mark route, wherein, patrols and include mobile starting position coordinates, mobile end position coordinates, moving direction and traveling time in the moving parameter of mark route；Starting with the original position that this patrols mark route, according to the moving parameter patrolling mark route, draw the first curve of predetermined width on the panoramic picture obtained, wherein, the first curve reflects the position patrolling mark route in panoramic picture.
Preferably, any line according to selecting is swept, and calls the moving parameter that this line is swept, includes mobile starting position coordinates and mobile end position coordinates in the moving parameter that its center line is swept；Starting with the original position that this line is swept, according to the moving parameter that line is swept, draw the second curve of predetermined width on the panoramic picture obtained, wherein, the second curve reflects the position that line is swept in panoramic picture.
In tripod head equipment side, the preset point of the primary importance coordinate carrying preset regions and index value that tripod head equipment receives cradle head controllor transmission arranges request；It is second position coordinate by primary importance Coordinate Conversion；According to the monitoring scene that second position coordinate rotation to preset regions is corresponding, and response is set to cradle head controllor return preset point, to indicate cradle head controllor to preserve the first corresponding relation of described primary importance coordinate and index value.
By several concrete examples, control program involved in the present invention is carried out more detailed description individually below, it is assumed that got panoramic picture.
Example 1: preset point
(1) setting of preset point:
First, cradle head controllor selection preset regions, and obtain the primary importance coordinate of this preset regions simultaneously, and be this preset regions index of definition value；Primary importance coordinate and index value are sent to tripod head equipment.
Afterwards, the primary importance Coordinate Conversion received is second position coordinate by tripod head equipment, rotates to the monitoring scene that second position coordinate is corresponding, and arranges response to cradle head controllor transmission.
Finally, cradle head controllor is according to the response that arranges received, the first corresponding relation of storage primary importance coordinate and index value.
(2) the calling of preset point
After preset point is set in the manner described above, assume that user needs to call one of them preset point, then can input on cradle head controllor or select corresponding index value, cradle head controllor is according to receiving index value, calling corresponding primary importance coordinate, and be sent to tripod head equipment, tripod head equipment is according to the primary importance coordinate received, be converted to the second position coordinate that oneself may identify which, and rotate under the monitoring scene that second position coordinate is corresponding.As it is shown on figure 3, now, the region at the preset point place in panoramic picture is highlighted, represents and now successfully calls.
Example 2: cruise
(1) setting cruised
The setting of cruise is similar with arranging of preset point, is based on the cruise route that multiple preset point of setting are arranged, the index of multiple preset point is defined as the index of cruise route.
(2) that cruises calls
After cruise route is set in the manner described above, assume that user needs to call one of them cruise route, then can input on cradle head controllor or select corresponding index value, cradle head controllor is according to receiving index value, calling corresponding multiple primary importance coordinate, and be sent to tripod head equipment, tripod head equipment is according to the primary importance coordinate received, be converted to the second position coordinate that oneself may identify which, and move down according to cruise route.Now, as shown in Figure 4, the region at this cruise route place in panoramic picture is highlighted, represents and now successfully calls.
Example 3: patrol mark
(1) setting of mark is patrolled
The setting patrolling mark can be configured according to existing mode, and specifically, user can pass through left and right, upper and lower, the upper left on cradle head controllor, upper right, lower-left, eight, bottom right directionkeys realize the direction controlling to tripod head equipment, can set a translational speed in advance.Such as: from the original position set, 2s is moved in bottom right, and upper right moves 3s, and 4s is moved in bottom right, and upper right moves 4s, obtains patrolling mark route 1.
(2) drafting of mark is patrolled
After the setting carrying out patrolling mark in the manner described above, select arbitrary to patrol mark route, call this moving parameter patrolling mark route, wherein, patrol and the moving parameter of mark route includes mobile starting position coordinates, mobile end position coordinates, moving direction (in embodiments of the present invention, the direction of movement is not limited to above-mentioned eight kinds, according to the time setting different directions, two buttons (translational speed is different) can also be pressed simultaneously and realize the movement of different directions) and traveling time；Starting with the original position that this patrols mark route, according to the moving parameter patrolling mark route, draw the first curve of predetermined width on the panoramic picture obtained, wherein, the first curve reflects the position patrolling mark route in panoramic picture.Such as: be plotted on panoramic picture as it is shown in figure 5, patrol mark route 1.
(3) calling of mark is patrolled
Patrol calling of mark similar with calling of cruising, do not repeat at this.
Example 4: line is swept
(1) setting that line is swept
What line was swept be arranged at, and to patrol arranging of mark similar, simply direction and time to movement is not recorded, only record start position and end position, when rotating to corresponding original position and end position at tripod head equipment, distinguishes the coordinate of record start position and the coordinate of end position.And being converted to coordinates feedback that cradle head controllor may identify which to cradle head controllor, the corresponding relation of cradle head controllor storage the line index value swept and the coordinate received, line is swept and is arranged successfully.
(2) drafting that line is swept
After carrying out the setting that line is swept in the manner described above, select any line to sweep route, call this line and sweep the moving parameter of route, wherein, patrol and the moving parameter of mark route includes mobile starting position coordinates and mobile end position coordinates；The original position sweeping route with this line starts, and sweeps the moving parameter of route according to line, draws the second curve of predetermined width on the panoramic picture obtained, and as shown in Figure 6, wherein, the second curve reflects line and sweeps route position in panoramic picture.
(3) what line was swept calls
What line was swept call with cruise, to patrol calling of mark similar, do not repeat at this.The number of times called and frequency are arranged according to the demand of user.
Belonging to same inventive concept based on the control method of the The Cloud Terrace of offer in embodiment one, the embodiment of the present invention additionally provides a kind of cradle head controllor and a kind of tripod head equipment.
As it is shown in fig. 7, a kind of cradle head controllor provided for the embodiment of the present invention, including:
Acquiring unit 201, for obtaining the panoramic picture of monitoring scene, wherein, panoramic picture comprises the topography of multiple same size.
Determining unit 202, for selecting preset regions in panoramic picture, it is determined that preset regions primary importance coordinate in described panoramic picture, and be preset regions index of definition value, wherein, the size of preset regions is not more than the size of topography.
First transmitting element 203, is sent to tripod head equipment for the preset point of the primary importance coordinate and index value that carry preset regions is arranged request, to indicate tripod head equipment by the primary importance Coordinate Conversion that receives for second position coordinate.
Unit 204 is set, for after tripod head equipment rotates the monitoring scene corresponding to preset regions according to second position coordinate, the preset point receiving tripod head equipment return arranges response, preserves the first corresponding relation of primary importance coordinate and index value, it is determined that preset regions is preset point.
Preferably, the preset regions in panoramic picture selects especially by one of in the following manner or combination:
Panoramic picture draws the preset regions of preset shape, and clicks preset point settings button and choose；
Panoramic picture is chosen the preset regions that current monitoring scene is corresponding, and clicks preset point settings button.
Preferably, unit is set and is additionally operable to after determining at least two preset point, choose at least two preset point in described panoramic picture successively, and be connected by straight line between described adjacent preset point；Determine the index value of described at least two preset point, and according to choosing order that the index value determined is stored as cruise array；Determine that the straight line between at least two preset point chosen and adjacent preset point is cruise route, and storage corresponding to cruise array.
Preferably, this cradle head controllor also includes image-drawing unit, for patrolling mark route according to the arbitrary of selection, calls this moving parameter patrolling mark route, wherein, patrol and the moving parameter of mark route includes mobile starting position coordinates, mobile end position coordinates, moving direction and traveling time；And for starting with this original position patrolling mark route, according to the moving parameter patrolling mark route, the panoramic picture obtained is drawn the first curve of predetermined width, wherein, the first curve reflects the position patrolling mark route in panoramic picture.
Preferably, any line that image-drawing unit is additionally operable to according to selecting is swept, and calls the moving parameter that this line is swept, includes mobile starting position coordinates and mobile end position coordinates in the moving parameter that its center line is swept；Starting with the original position that this line is swept, according to the moving parameter that line is swept, draw the second curve of predetermined width on the panoramic picture obtained, wherein, the second curve reflects the position that line is swept in panoramic picture.
As shown in Figure 8, for the structural representation of a kind of tripod head equipment that the embodiment of the present invention provides, purchase I tripod head equipment and include:
Second receives unit 301, and the preset point of the primary importance coordinate carrying preset regions and index value for receiving cradle head controllor transmission arranges request；
Converting unit 302, being used for primary importance Coordinate Conversion is second position coordinate；
Second transmitting element 303, for the monitoring scene corresponding according to second position coordinate rotation to preset regions, and arranges response to cradle head controllor return preset point, to indicate cradle head controllor to preserve the first corresponding relation of primary importance coordinate and index value.
Additionally, this embodiment of the present invention additionally provides the control system of a kind of pan and tilt head, as it is shown in figure 9, include cradle head controllor 401 and tripod head equipment 402.
Those skilled in the art are it should be appreciated that embodiments of the invention can be provided as method, system or computer program.Therefore, the present invention can adopt the form of complete hardware embodiment, complete software implementation or the embodiment in conjunction with software and hardware aspect.And, the present invention can adopt the form at one or more upper computer programs implemented of computer-usable storage medium (including but not limited to disk memory, CD-ROM, optical memory etc.) wherein including computer usable program code.
The present invention is that flow chart and/or block diagram with reference to method according to embodiments of the present invention, equipment (system) and computer program describe.It should be understood that can by the combination of the flow process in each flow process in computer program instructions flowchart and/or block diagram and/or square frame and flow chart and/or block diagram and/or square frame.These computer program instructions can be provided to produce a machine to the processor of general purpose computer, special-purpose computer, Embedded Processor or other programmable data processing device so that the instruction performed by the processor of computer or other programmable data processing device is produced for realizing the device of function specified in one flow process of flow chart or multiple flow process and/or one square frame of block diagram or multiple square frame.
These computer program instructions may be alternatively stored in and can guide in the computer-readable memory that computer or other programmable data processing device work in a specific way, the instruction making to be stored in this computer-readable memory produces to include the manufacture of command device, and this command device realizes the function specified in one flow process of flow chart or multiple flow process and/or one square frame of block diagram or multiple square frame.
These computer program instructions also can be loaded in computer or other programmable data processing device, make on computer or other programmable devices, to perform sequence of operations step to produce computer implemented process, thus the instruction performed on computer or other programmable devices provides for realizing the step of function specified in one flow process of flow chart or multiple flow process and/or one square frame of block diagram or multiple square frame.
Although preferred embodiments of the present invention have been described, but those skilled in the art are once know basic creative concept, then these embodiments can be made other change and amendment.So, claims are intended to be construed to include preferred embodiment and fall into all changes and the amendment of the scope of the invention.
Obviously, the present invention can be carried out various change and modification without deviating from the spirit and scope of the present invention by those skilled in the art.So, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.
Claims (13)
1. the control method of a pan and tilt head, it is characterised in that described method includes:
Obtaining the panoramic picture of monitoring scene, wherein, described panoramic picture comprises the topography of multiple same size；
Selecting preset regions in described panoramic picture, it is determined that described preset regions primary importance coordinate in described panoramic picture, and be described preset regions index of definition value, wherein, the size of described preset regions is not more than the size of described topography；
The preset point of the primary importance coordinate and index value that carry described preset regions is arranged request and is sent to tripod head equipment, to indicate described tripod head equipment by the described primary importance Coordinate Conversion that receives for second position coordinate；
After described tripod head equipment rotates the monitoring scene corresponding to described preset regions according to described second position coordinate, the preset point receiving the return of described tripod head equipment arranges response, preserve the first corresponding relation of described primary importance coordinate and described index value, it is determined that described preset regions is preset point.
2. the method for claim 1, it is characterised in that the preset regions in described panoramic picture selects especially by one of in the following manner or combination:
Described panoramic picture draws the preset regions of preset shape, and clicks preset point settings button and choose；
Described panoramic picture is chosen the preset regions that current monitoring scene is corresponding, and clicks preset point settings button.
3. the method as described in as arbitrary in claim 1 or 2, it is characterised in that after determining at least two preset point, described method also includes:
Choose at least two preset point in described panoramic picture successively, and be connected by straight line between described adjacent preset point；
Determine the index value of described at least two preset point, and according to choosing order that the described index value determined is stored as cruise array；
The straight line determined between described at least two preset point and the adjacent preset point chosen is cruise route, and storage corresponding to described cruise array.
4. the method for claim 1, it is characterised in that also include:
Arbitrary patrol mark route according to what select, call this moving parameter patrolling mark route, wherein, described in patrol in the moving parameter of mark route and include mobile starting position coordinates, mobile end position coordinates, moving direction and traveling time；
Starting with the original position that this patrols mark route, according to the described moving parameter patrolling mark route, draw the first curve of predetermined width on the described panoramic picture obtained, wherein, described first curve reflects the position patrolling mark route in panoramic picture.
5. the method for claim 1, it is characterised in that also include:
Any line according to selecting is swept, and calls the moving parameter that this line is swept, includes mobile starting position coordinates and mobile end position coordinates in the moving parameter that wherein said line is swept；
Starting with the original position that this line is swept, according to the moving parameter that described line is swept, draw the second curve of predetermined width on the described panoramic picture obtained, wherein, described second curve reflects the position that line is swept in panoramic picture.
6. the control method of a pan and tilt head, it is characterised in that described method includes:
The preset point of the primary importance coordinate carrying preset regions and index value that receive cradle head controllor transmission arranges request；
It is second position coordinate by described primary importance Coordinate Conversion；
Rotate, according to described second position coordinate, the monitoring scene that extremely described preset regions is corresponding, and response is set to described cradle head controllor return preset point, to indicate described cradle head controllor to preserve the first corresponding relation of described primary importance coordinate and described index value.
7. a cradle head controllor, it is characterised in that including:
Acquiring unit, for obtaining the panoramic picture of monitoring scene, wherein, described panoramic picture comprises the topography of multiple same size；
Determine unit, for selecting preset regions in described panoramic picture, it is determined that described preset regions primary importance coordinate in described panoramic picture, and it it is described preset regions index of definition value, wherein, the size of described preset regions is not more than the size of described topography；
First transmitting element, is sent to tripod head equipment for the preset point of the primary importance coordinate and index value that carry described preset regions is arranged request, to indicate described tripod head equipment by the described primary importance Coordinate Conversion that receives for second position coordinate；
Unit is set, for after described tripod head equipment rotates the monitoring scene corresponding to described preset regions according to described second position coordinate, the preset point receiving the return of described tripod head equipment arranges response, preserve the first corresponding relation of described primary importance coordinate and described index value, it is determined that described preset regions is preset point.
8. cradle head controllor as claimed in claim 7, it is characterised in that the preset regions in described panoramic picture selects especially by one of in the following manner or combination:
Described panoramic picture draws the preset regions of preset shape, and clicks preset point settings button and choose；
Described panoramic picture is chosen the preset regions that current monitoring scene is corresponding, and clicks preset point settings button.
9. the cradle head controllor as described in as arbitrary in claim 7 or 8, it is characterised in that the described unit that arranges is additionally operable to:
After determining at least two preset point, choose at least two preset point in described panoramic picture successively, and be connected by straight line between described adjacent preset point；
Determine the index value of described at least two preset point, and according to choosing order that the described index value determined is stored as cruise array；
The straight line determined between described at least two preset point and the adjacent preset point chosen is cruise route, and storage corresponding to described cruise array.
10. cradle head controllor as claimed in claim 7, it is characterised in that also include:
Image-drawing unit, for arbitrary patrolling mark route according to what select, calls this moving parameter patrolling mark route, wherein, described in patrol in the moving parameter of mark route and include mobile starting position coordinates, mobile end position coordinates, moving direction and traveling time；And
Original position for patrolling mark route with this starts, and according to the described moving parameter patrolling mark route, draws the first curve of predetermined width on the described panoramic picture obtained, and wherein, described first curve reflects the position patrolling mark route in panoramic picture.
11. cradle head controllor as claimed in claim 7, it is characterised in that described image-drawing unit is additionally operable to:
Any line according to selecting is swept, and calls the moving parameter that this line is swept, includes mobile starting position coordinates and mobile end position coordinates in the moving parameter that wherein said line is swept；
Starting with the original position that this line is swept, according to the moving parameter that described line is swept, draw the second curve of predetermined width on the described panoramic picture obtained, wherein, described second curve reflects the position that line is swept in panoramic picture.
12. a tripod head equipment, it is characterised in that including:
Second receives unit, and the preset point of the primary importance coordinate carrying preset regions and index value for receiving cradle head controllor transmission arranges request；
Converting unit, being used for described primary importance Coordinate Conversion is second position coordinate；
Second transmitting element, for rotating, according to described second position coordinate, the monitoring scene that extremely described preset regions is corresponding, and response is set to described cradle head controllor return preset point, to indicate described cradle head controllor to preserve the first corresponding relation of described primary importance coordinate and described index value.
13. the control system of a pan and tilt head, it is characterised in that include described cradle head controllor and described tripod head equipment.
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| CN201410856165.9A CN105812724A (en) | 2014-12-31 | 2014-12-31 | Panoramic head controlling method and system |
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| CN116668830A (en) * | 2023-05-19 | 2023-08-29 | 哈尔滨四福科技有限公司 | Method, system, equipment and medium for setting preset point of water level observation camera |
| CN116668830B (en) * | 2023-05-19 | 2023-10-24 | 哈尔滨四福科技有限公司 | Method, system, equipment and medium for setting preset point of water level observation camera |
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Application publication date: 20160727 |