CN105812736A - Self-adjustment Pan/Tilt/Zoom camera remote intelligent control system and control method - Google Patents

Self-adjustment Pan/Tilt/Zoom camera remote intelligent control system and control method Download PDF

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Publication number
CN105812736A
CN105812736A CN201610162338.6A CN201610162338A CN105812736A CN 105812736 A CN105812736 A CN 105812736A CN 201610162338 A CN201610162338 A CN 201610162338A CN 105812736 A CN105812736 A CN 105812736A
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cloud terrace
camera
monitoring
video
rotation
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陈双叶
王善喜
郑楷
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Beijing University of Technology
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Beijing University of Technology
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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
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/14—Picture signal circuitry for video frequency region
    • H04N5/144—Movement detection

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Studio Devices (AREA)

Abstract

The invention discloses a self-adjustment Pan/Tilt/Zoom camera remote intelligent control system and control method, and belongs to the technical field of computer vision in a remote monitoring system. The system carries out preprocessing and moving target detection on collected video sequence images, thus enabling the monitoring images to be clearer. Through adoption of a method combined with a Kalman filter and a Camshift algorithm, a monitoring target in each image is locked. The position coordinate of the monitoring target is recorded. Whether the coordinate leaves from the constraint region of a screen or not is judged. Whether to track the target automatically by an automatic tracking module or not is decided according to the judging result. Adjustment carried out preferentially in which direction is decided by comparing the rotation time of a camera tripod in the horizontal direction with the rotation time in the vertical direction. A lens is automatically zoomed according to comparison of the difference value of a target display size and a threshold. The camera and the camera tripod can be remotely controlled by a mobile phone. The system and the method are better in timeliness, and the performance of the monitoring system is improved.

Description

Self-interacting type cradle head camera remote intelligent control system and control method thereof
Technical field
The present invention relates to a kind of self-interacting type cradle head camera remote intelligent control system and control method thereof, belong to cradle head camera long distance control system Computer vision technique field.
Background technology
The most of position of traditional monitoring camera is fixed, and monitoring range is limited, it is easy to monitoring dead angle occur.Along with the development of technology, occur in that cradle head camera monitoring system.Monitoring personnel manually operate keyboard to regulate the zoom of cloud platform rotation and camera lens, and these operations often lag behind the motion of target, and real-time is poor.Monitoring personnel need to stare at for a long time and look at screen, it is easy to cause personal error.Traditional monitoring system mostly is evidence obtaining of putting on record, does not effectively prevent unexpected generation.Monitored object distance the distance of camera lens, the focusing of characteristic portion, picture readability etc. all affect the detection progress of case.Traditional monitoring system great majority are required for personnel and are monitored at Control Room, do not realize long-range monitoring truly.
Summary of the invention
According to problem set forth above, it is an object of the invention to: a kind of self-interacting type cradle head camera remote intelligent control method is provided.The core of this system is on the basis of traditional monitoring camera, adds the Based Intelligent Control of The Cloud Terrace and camera lens.By obtaining monitoring objective centroid position coordinate on screen, whether calculate beyond constraint, it may be judged whether regulate the rotation of The Cloud Terrace.Monitoring objective size compares with area threshold with the absolute value of the difference of given size value, it is judged that camera lens whether zoom.When automatic regulating system breaks down, can be connected by mobile phone wireless, access the monitor video of PC, remote manual regulates The Cloud Terrace and photographic head, improve the real-time of monitoring system, accuracy, carry out pretreatment to collecting video sequence image, making picture become apparent from, this is that conventional monitoring systems does not possess.
The inventive method is based on Intelligent Remote Control System, and described Intelligent remote control device mainly includes monopod video camera, video conversion circuit, PC, serial interface switching circuit, android system mobile phone control module；Monopod video camera is used for shooting monitoring area video, and this monopod video camera is made up of video camera, zoom lens, The Cloud Terrace, decoder, wireless communication module, is connected with video conversion circuit.
Video conversion circuit is for being converted to digital video by the analog video of cradle head camera, and video conversion circuit is connected with photographic head and computer.
PC is used for watching monitor video, based on OpenCV platform, by Camshift algorithm to motion target tracking, Kalman filter predictive compensation is utilized to reduce tracking error, data according to monopod video camera feedback are analyzed processing, control cloud platform rotation and camera lens zoom, make monitoring objective be shown in the middle of screen with suitably sized in real time, be connected with serial interface switching circuit with video conversion circuit.
Serial interface switching circuit is for passing the control instruction of computer in cradle head camera, and serial interface switching circuit is connected with computer and cradle head camera.
Android system mobile phone control module controls cradle head camera for remote manual, pass through radio communication, the monitor video of real time access PC, and cloud platform rotation and the camera lens zoom of cradle head camera is controlled in real time by wireless connections, by other supplemental functionality of photographic head, make monitoring effect better.
A kind of cradle head camera remote intelligent control method provided by the invention, specifically includes following steps:
Step one: based on OpenCV platform, the computer video sequence image to collecting carries out pretreatment and utilizes frame difference method detection moving target.
Step 2: monitoring objective is tracked positioning by computer according to Camshift algorithm, Kalman filter is utilized to be predicted compensating, obtain monitoring objective center-of-mass coordinate (X, Y), judge center-of-mass coordinate whether with sighting center coordinate (D1/2, D2/2) for the center of circle, radius is in the circular constraint of R, if beyond constraint, The Cloud Terrace is adjusted；Otherwise, The Cloud Terrace transfixion, jump to step 5, wherein, the resolution of image is D1*D2, R is predetermined threshold value.
Step 3: when The Cloud Terrace is adjusted, if automatic regulating system function is normal, The Cloud Terrace is automatically adjusted tracing and monitoring target；Otherwise, communicated by mobile phone wireless, utilize cradle head control function interface to send instruction, by mobile phone remote Non-follow control cloud platform rotation, complete tracing task.Wherein, cradle head control amount is:
Horizontal direction angle:
Vertical direction angle:
Wherein, X is monitoring objective horizontal direction center-of-mass coordinate, and Y is monitoring objective vertical direction center-of-mass coordinate, and θ 1 is the half of photographic head horizontal view angle,Half for photographic head vertical angle of view.
Step 4: during cloud platform rotation, according to horizontal direction rotation time T1 judges preferentially to which direction rotate with vertical direction rotation time T2 length.During T1 >=T2, The Cloud Terrace vertical direction preferentially rotates；Otherwise, The Cloud Terrace horizontal direction preferentially rotates.Rotation time formula is:
Horizontal direction rotation time: T1=α/ν 1
Vertical direction rotation time: T2=β/ν 2
Wherein, ν 1 is The Cloud Terrace horizontal direction velocity of rotation, and ν 2 is The Cloud Terrace vertical direction velocity of rotation.
Step 5: monitoring objective size Α in screen compares with the threshold value Κ of regulation with the absolute value Ε of the difference of the suitable dimension size Β of regulation, as Ε >=Κ, camera lens zoom；Otherwise, camera lens not zoom.Wherein:
Α is tracking window area, it is possible to calculates according to track algorithm and obtains；
The resolution of image is D1*D2；
Ε=| Α-Β |；
Wherein K is the area threshold pre-set, by pixel square in units of.
Step 6: during camera lens zoom, if automatic regulating system function is normal, camera lens receives the instruction that serial ports sends, automatic zoom, until monitoring objective occurs on screen with the suitable dimension of regulation；Otherwise, being communicated by mobile phone wireless, utilize focusing to control function interface and send instruction, remote manual controls camera lens zoom.Then, jump to step one, move in circles.
Beneficial effect
The self-interacting type dome camera intelligent controlling device of present invention proposition and control method, improve the real-time of monitoring system, accuracy, video sequence image Preprocessing Algorithm makes monitored picture become apparent from, when automatic regulating system breaks down, by mobile phone remote manual adjustments cradle head camera, complete the tracing and monitoring to target, make monitoring system more scientific, hommization.
Accompanying drawing explanation
Fig. 1 intelligent remote monitoring system block diagram.
Fig. 2 Camshift algorithm and Kalman filter combination algorithm FB(flow block).
Fig. 3 monitoring objective coordinate schematic diagram.
Fig. 4 monopod video camera intelligence control system block diagram.
Fig. 5 monopod video camera function homepage.
Fig. 6 cloud platform rotation controls function interface.
Fig. 7 focuses control function interface.
Fig. 8 other miscellaneous functions of-Figure 15 cradle head camera control interface.
Detailed description of the invention
With reference to Fig. 1, Fig. 2, PC is properly functioning, based on OpenCV platform, the track algorithm real time execution that Camshift algorithm and Kalman filter combine, waits video incoming of cradle head camera shooting；Opening monopod video camera, video resource, through video conversion circuit, is delivered in PC, selects the target to follow the tracks of with mouse, utilizes the track algorithm that PC runs to object real-time tracking.
With reference to Fig. 3, Fig. 4, track algorithm is utilized to obtain monitoring objective center-of-mass coordinate (X, Y), judge that whether center-of-mass coordinate is with sighting center coordinate (D1/2, D2/2) for the center of circle, radius is in the circular constraint of R, if beyond constraint, The Cloud Terrace is adjusted, when automatic control system is normal, PC passes through serial interface switching circuit, automatically sends instruction to The Cloud Terrace, The Cloud Terrace rotates adjustment automatically, when target centroid coordinate is shown in constraint, PC stops sending rotation command to The Cloud Terrace, and The Cloud Terrace stops operating；If not beyond constraint, The Cloud Terrace transfixion, wherein, the resolution of image is D1*D2, R is predetermined threshold value.When The Cloud Terrace needs to rotate and regulates, its rotation direction is divided into 8 kinds of situations:
Target centroid is poor with sighting center horizontal coordinate: Δ x=X-D1/2
Target centroid and the vertical coordinate difference of sighting center: Δ y=Y-D2/2
(1) when Δ x > R and | Δ y | are during≤R, The Cloud Terrace level moves right；
(2) as Δ x > R and Δ y <-R, The Cloud Terrace is upper direction to the right；
(3) as | Δ x |≤R and Δ y <-R, The Cloud Terrace upward vertical movement；
(4) as Δ x <-R and Δ y <-R, The Cloud Terrace is upper direction to the left；
(5) when Δ x <-R and | Δ y | are during≤R, The Cloud Terrace level is to left movement；
(6) as Δ x <-R and Δ y > R, The Cloud Terrace is moved beneath to the left；
(7) as | Δ x |≤R and Δ y > R, The Cloud Terrace vertical downward movement；
(8) as Δ x > R and Δ y > R, The Cloud Terrace moves to the right；
Wherein, cradle head control amount is:
Horizontal direction angle:
Vertical direction angle:
Wherein, X is monitoring objective horizontal direction center-of-mass coordinate, and Y is monitoring objective vertical direction center-of-mass coordinate, and θ 1 is the half of photographic head horizontal view angle,Half for photographic head vertical angle of view.
When The Cloud Terrace needs when both horizontally and vertically all rotating, according to horizontal direction rotation time T1 judges preferentially to which direction rotate with vertical direction rotation time T2 length.During T1 >=T2, The Cloud Terrace vertical direction preferentially rotates；Otherwise, The Cloud Terrace horizontal direction preferentially rotates.Rotation time formula is:
Horizontal direction rotation time: T1=α/ν 1
Vertical direction rotation time: T2=β/ν 2
Wherein, ν 1 is The Cloud Terrace horizontal direction velocity of rotation, and ν 2 is The Cloud Terrace vertical direction velocity of rotation.
With reference to Fig. 4, Fig. 6, when The Cloud Terrace automatic control system breaks down, mobile phone carries out wireless connections, the monitor video of real time inspection PC, and passes through cradle head control function interface, the rotation direction of Non-follow control The Cloud Terrace, it is achieved monitoring objective is followed the tracks of, makes target be shown in monitoring screen central authorities as far as possible.
With reference to Fig. 4, Fig. 5, Fig. 7, being engraved in change during due to the distance of monitoring moving target and monopod video camera, monitoring objective size on the display screen is also in being continually changing, it is necessary to Real-time Focusing, makes target be shown in monitoring screen central authorities with suitably sized.Monitoring objective size Α in screen compares with the threshold value Κ of regulation with the absolute value Ε of the difference of the suitable dimension size Β of regulation, as Ε >=Κ, and camera lens zoom；Otherwise, camera lens not zoom.Wherein:
Α is tracking window area, it is possible to calculates according to track algorithm and obtains；
The resolution of image is D1*D2；
Ε=| Α-Β |；
Wherein K is the area threshold pre-set, by pixel square in units of.
During camera lens zoom, if automatic regulating system function is normal, camera lens receives the instruction that serial ports sends, automatic zoom, until monitoring objective occurs on screen with the suitable dimension of regulation, now, PC stops sending focusing instruction to camera lens, and focussing process terminates；If automatic regulating system functional fault, being communicated by mobile phone wireless, utilize focusing to control function interface and send instruction, remote manual controls camera lens zoom.Control in function interface at manual focusing, be divided into quickly focusing and trickle focusing two ways, utilize slider bar to horizontally slip and realize focusing mode, for mode of quickly focusing；Button is utilized to realize focusing mode, for trickle focusing mode, in combination with, better realize focusing and control, make monitoring objective be shown in center Screen with desirable size.
App software design based on android system is as follows:
Click App software, main interface is regulated automatically into photographic head, including: photographic head switch, camera function setting, the control of diaphragm, auto exposure mode, white balance, photographic head focusing, quickcam image focusing, storage are preset and wide dynamic, brightness regulation, double; two optical-filter switcher；Bottom button: homepage, focusing, focusing, brightness, exposure compensating.Wherein, in this homepage, the return push-button clicked on mobile phone interface can exit software.Each function interface is described below:
1, camera function is arranged: stabilization mode menu selects (being made up of: stabilization pattern is opened, stabilization pattern is closed, image keeps, totally 4 option ranks) drop-down menu；Image effect menu setecting (pass, negative film, black white image, totally 3 option ranks)；Image left and right phase-veversal switch；Freeze frame switchs；Image spins upside down switch；Depositor monitoring mode-72 (being made up of drop-down menu: full HD 60P (1920*1080P/60fps), full HD 50P (1920*1080P/50fps), full HD 60I (1920*1080I/60fps), full HD 50I (1920*1080I/50fps), high definition 30P (1280*720P/30fps), high definition 25P (1280*720P/25fps), totally 6 option ranks).
2, the control of diaphragm: high sensitivity mode switch；High resolution model switchs；Noise reduction mode menu setecting (close, 1,2,3,4,5, totally 6 option ranks)；Aperture regulates (slider bar controls to adjust, and shows with percents regulating result)；Gamma regulates (slider bar controls to adjust, and shows with percents regulating result).
3, auto exposure mode: auto exposure mode selects (being made up of: full-automatic, shutter priority, aperture priority, manual mode, totally 4 option ranks) drop-down menu；Aperture regulates (slider bar controls to adjust, and shows with percents regulating result)；Gain-adjusted (slider bar controls to adjust, and shows with percents regulating result)；Shutter regulates (slider bar controls to adjust, and shows with percents regulating result, and has slow shutter release automatically)；Slow automatic exposure (slider bar controls to adjust, and shows with percents regulating result, and has backlight switch).
4, white balance: white balance mode select (be made up of drop-down menu: AWB, automatically trigger trackings, indoor white balance, outdoor white balance, a key trigger white balance, manual white balance, automatically open air white balance, automatic sodium vapor lamp white balance, manual sodium vapor lamp white balance, totally 9 options menus)；Red gain (slider bar controls to adjust, and shows with percents regulating result)；Blue gain (slider bar controls to adjust, and shows with percents regulating result)；One key trigger button.
5, photographic head focuses on: focusing mode switch automatically；Automatic focusing mode selects (being made up of: mode standard, interval auto-focusing, triggering focusing, totally 3 option ranks) drop-down menu；Automatically focus on Sang Si and select (being made up of drop-down menu: mode standard, low, totally 2 option ranks)；Manual focusing (slider bar controls to adjust, and shows with percents regulating result)；Near limit (slider bar controls to adjust, and shows with percents regulating result).
6, quickcam image focusing: focusing (slider bar controls to adjust, and shows with percents regulating result)；Numeral focusing (slider bar controls to adjust, and shows with percents regulating result)；And have joint debugging pattern sum tone of Chinese characters Jiao's option.
7, storage preset and wide dynamically: arrange menu setecting (be made up of drop-down menu: 0,1,2,3,4,5, C, totally 7 option ranks)；Playback function menu setecting (be made up of drop-down menu: 0,1,2,3,4,5, C, totally 7 option ranks)；Factory reset select (be made up of drop-down menu: 0,1,2,3,4,5, C, totally 7 option ranks)；Wide dynamic menu selects (being made up of: open and close, automatic, fixed ratio, record digital video) drop-down menu.
8, brightness regulation: automatic regulating lightness switchs；Manual adjustments brightness (slider bar controls to adjust, and shows with percents regulating result).
9, double; two optical-filter switchers: double; two optical filter switch modes switch；Infrared focusing modification model switchs；Double; two optical filter automatic transfer switch；Double; two optical filter automatic switchover alarm switches.
10, exposure compensating regulates: exposure compensating regulates switch；Manual adjustments exposure compensating (slider bar controls to adjust, and shows with percents regulating result).
With reference to Fig. 8-Figure 15, for other miscellaneous function interfaces of cradle head camera, utilizing different function interfaces to cooperate, make picture apparent, monitoring effect is better.

Claims (3)

1. self-interacting type cradle head camera remote intelligent control system, it is characterised in that: this control system mainly includes monopod video camera, video conversion circuit, PC, serial interface switching circuit, android system mobile phone control module；Monopod video camera is used for shooting monitoring area video, and this monopod video camera is made up of video camera, zoom lens, The Cloud Terrace, decoder, wireless communication module, is connected with video conversion circuit；
Video conversion circuit is for being converted to digital video by the analog video of cradle head camera, and video conversion circuit is connected with photographic head and computer；
PC is used for watching monitor video, based on OpenCV platform, by Camshift algorithm to motion target tracking, Kalman filter predictive compensation is utilized to reduce tracking error, data according to monopod video camera feedback are analyzed processing, control cloud platform rotation and camera lens zoom, make monitoring objective be shown in the middle of screen with suitably sized in real time, be connected with serial interface switching circuit with video conversion circuit；
Serial interface switching circuit is for passing the control instruction of computer in cradle head camera, and serial interface switching circuit is connected with computer and cradle head camera；
Android system mobile phone control module controls cradle head camera for remote manual, pass through radio communication, the monitor video of real time access PC, and cloud platform rotation and the camera lens zoom of cradle head camera is controlled in real time by wireless connections, by other supplemental functionality of photographic head, make monitoring effect better.
2. utilize the self-interacting type cradle head camera remote intelligent control method that system described in claim 1 carries out, it is characterised in that: specifically include following steps,
Step one: based on OpenCV platform, the computer video sequence image to collecting carries out pretreatment and utilizes frame difference method detection moving target；
Step 2: monitoring objective is tracked positioning by computer according to Camshift algorithm, Kalman filter is utilized to be predicted compensating, obtain monitoring objective center-of-mass coordinate (X, Y), judge center-of-mass coordinate whether with sighting center coordinate (D1/2, D2/2) for the center of circle, radius is in the circular constraint of R, if beyond constraint, The Cloud Terrace is adjusted；Otherwise, The Cloud Terrace transfixion, jump to step 5, wherein, the resolution of image is D1*D2, R is predetermined threshold value；
Step 3: when The Cloud Terrace is adjusted, if automatic regulating system function is normal, The Cloud Terrace is automatically adjusted tracing and monitoring target；Otherwise, communicated by mobile phone wireless, utilize cradle head control function interface to send instruction, by mobile phone remote Non-follow control cloud platform rotation, complete tracing task；Wherein, cradle head control amount is:
Horizontal direction angle:
Vertical direction angle:
Wherein, X is monitoring objective horizontal direction center-of-mass coordinate, and Y is monitoring objective vertical direction center-of-mass coordinate, and θ 1 is the half of photographic head horizontal view angle,Half for photographic head vertical angle of view；
Step 4: during cloud platform rotation, according to horizontal direction rotation time T1 judges preferentially to which direction rotate with vertical direction rotation time T2 length；During T1 >=T2, The Cloud Terrace vertical direction preferentially rotates；Otherwise, The Cloud Terrace horizontal direction preferentially rotates；Rotation time formula is:
Horizontal direction rotation time: T1=α/ν 1
Vertical direction rotation time: T2=β/ν 2
Wherein, ν 1 is The Cloud Terrace horizontal direction velocity of rotation, and ν 2 is The Cloud Terrace vertical direction velocity of rotation；
Step 5: monitoring objective size A in screen compares with the threshold k of regulation with the absolute value E of the difference of the suitable dimension size B of regulation, as E >=K, camera lens zoom；Otherwise, camera lens not zoom；Wherein:
A is tracking window area, it is possible to calculates according to track algorithm and obtains；
The resolution of image is D1*D2；
E=| A-B |；
Wherein K is the area threshold pre-set, by pixel square in units of；
Step 6: during camera lens zoom, if automatic regulating system function is normal, camera lens receives the instruction that serial ports sends, automatic zoom, until monitoring objective occurs on screen with the suitable dimension of regulation；Otherwise, being communicated by mobile phone wireless, utilize focusing to control function interface and send instruction, remote manual controls camera lens zoom；Then, jump to step one, move in circles.
3. self-interacting type cradle head camera remote intelligent control method according to claim 2, it is characterised in that:
PC is properly functioning, based on OpenCV platform, and the track algorithm real time execution that Camshift algorithm and Kalman filter combine, wait video incoming of cradle head camera shooting；Opening monopod video camera, video resource, through video conversion circuit, is delivered in PC, selects the target to follow the tracks of with mouse, utilizes the track algorithm that PC runs to object real-time tracking；
Track algorithm is utilized to obtain monitoring objective center-of-mass coordinate (X, Y), judge that whether center-of-mass coordinate is with sighting center coordinate (D1/2, D2/2) for the center of circle, radius is in the circular constraint of R, if beyond constraint, The Cloud Terrace is adjusted, when automatic control system is normal, PC passes through serial interface switching circuit, automatically sends instruction to The Cloud Terrace, The Cloud Terrace rotates adjustment automatically, when target centroid coordinate is shown in constraint, PC stops sending rotation command to The Cloud Terrace, and The Cloud Terrace stops operating；If not beyond constraint, The Cloud Terrace transfixion, wherein, the resolution of image is D1*D2, R is predetermined threshold value；When The Cloud Terrace needs to rotate and regulates, its rotation direction is divided into 8 kinds of situations:
Target centroid is poor with sighting center horizontal coordinate: Δ x=X-D1/2
Target centroid and the vertical coordinate difference of sighting center: Δ y=Y-D2/2
(1) when Δ x > R and | Δ y | are during≤R, The Cloud Terrace level moves right；
(2) as Δ x > R and Δ y <-R, The Cloud Terrace is upper direction to the right；
(3) as | Δ x |≤R and Δ y <-R, The Cloud Terrace upward vertical movement；
(4) as Δ x <-R and Δ y <-R, The Cloud Terrace is upper direction to the left；
(5) when Δ x <-R and | Δ y | are during≤R, The Cloud Terrace level is to left movement；
(6) as Δ x <-R and Δ y > R, The Cloud Terrace is moved beneath to the left；
(7) as | Δ x |≤R and Δ y > R, The Cloud Terrace vertical downward movement；
(8) as Δ x > R and Δ y > R, The Cloud Terrace moves to the right；
Wherein, cradle head control amount is:
Horizontal direction angle:
Vertical direction angle:
Wherein, X is monitoring objective horizontal direction center-of-mass coordinate, and Y is monitoring objective vertical direction center-of-mass coordinate, and θ 1 is the half of photographic head horizontal view angle,Half for photographic head vertical angle of view；
When The Cloud Terrace needs when both horizontally and vertically all rotating, according to horizontal direction rotation time T1 judges preferentially to which direction rotate with vertical direction rotation time T2 length；During T1 >=T2, The Cloud Terrace vertical direction preferentially rotates；Otherwise, The Cloud Terrace horizontal direction preferentially rotates；Rotation time formula is:
Horizontal direction rotation time: T1=α/v1
Vertical direction rotation time: T2=β/v2
Wherein, v1 is The Cloud Terrace horizontal direction velocity of rotation, and v2 is The Cloud Terrace vertical direction velocity of rotation；
When The Cloud Terrace automatic control system breaks down, mobile phone carries out wireless connections, the monitor video of real time inspection PC, and by cradle head control function interface, the rotation direction of Non-follow control The Cloud Terrace, it is achieved monitoring objective is followed the tracks of, makes target be shown in monitoring screen central authorities as far as possible；
Being engraved in change during due to the distance of monitoring moving target and monopod video camera, monitoring objective size on the display screen is also in being continually changing, it is necessary to Real-time Focusing, makes target be shown in monitoring screen central authorities with suitably sized；Monitoring objective size A in screen compares with the threshold k of regulation with the absolute value E of the difference of the suitable dimension size B of regulation, as E >=K, and camera lens zoom；Otherwise, camera lens not zoom；Wherein:
A is tracking window area, it is possible to calculates according to track algorithm and obtains；
The resolution of image is D1*D2；
E=| A-B |；
Wherein K is the area threshold pre-set, by pixel square in units of；
During camera lens zoom, if automatic regulating system function is normal, camera lens receives the instruction that serial ports sends, automatic zoom, until monitoring objective occurs on screen with the suitable dimension of regulation, now, PC stops sending focusing instruction to camera lens, and focussing process terminates；If automatic regulating system functional fault, being communicated by mobile phone wireless, utilize focusing to control function interface and send instruction, remote manual controls camera lens zoom；Control in function interface at manual focusing, be divided into quickly focusing and trickle focusing two ways, utilize slider bar to horizontally slip and realize focusing mode, for mode of quickly focusing；Button is utilized to realize focusing mode, for trickle focusing mode, in combination with, better realize focusing and control, make monitoring objective be shown in center Screen with desirable size.
CN201610162338.6A 2016-03-21 2016-03-21 Self-adjustment Pan/Tilt/Zoom camera remote intelligent control system and control method Pending CN105812736A (en)

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CN111242984A (en) * 2020-02-13 2020-06-05 珠海安联锐视科技股份有限公司 Target tracking method based on moving head camera
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CN112929750A (en) * 2020-08-21 2021-06-08 海信视像科技股份有限公司 Camera adjusting method and display device
CN113724324A (en) * 2021-08-30 2021-11-30 杭州华橙软件技术有限公司 Control method and device of holder, storage medium and electronic device
CN114900607A (en) * 2022-04-27 2022-08-12 上海呈合信息科技有限公司 Automatic follow is taken a photograph processing system with following
CN114938429A (en) * 2022-05-20 2022-08-23 重庆紫光华山智安科技有限公司 Target tracking method, system, equipment and computer readable medium
WO2023025202A1 (en) * 2021-08-25 2023-03-02 深圳市道通智能航空技术股份有限公司 Control method and apparatus for direction of gimbal, and terminal
CN117156267A (en) * 2023-09-07 2023-12-01 思翼科技（深圳）有限公司 Cloud deck camera working mode switching method and system based on environment self-adaption

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Application publication date: 20160727