CN107889317B - System, controller and method for tracking target by spotlight - Google Patents
System, controller and method for tracking target by spotlight Download PDFInfo
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- CN107889317B CN107889317B CN201711318433.1A CN201711318433A CN107889317B CN 107889317 B CN107889317 B CN 107889317B CN 201711318433 A CN201711318433 A CN 201711318433A CN 107889317 B CN107889317 B CN 107889317B
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- 239000000463 material Substances 0.000 claims description 6
- 229910000838 Al alloy Inorganic materials 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 7
- 238000012549 training Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 9
- 239000011159 matrix material Substances 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 238000001816 cooling Methods 0.000 description 3
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- 238000004458 analytical method Methods 0.000 description 1
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
- H05B45/00—Circuit arrangements for operating light-emitting diodes [LED]
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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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
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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
- H04N23/80—Camera processing pipelines; Components thereof
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Abstract
The application discloses a system, a controller and a method for tracking a target by a spotlight, comprising a camera, a controller, the spotlight comprising a base and a lamplight device, a first servo motor arranged on the base and used for controlling the spotlight to rotate forwards and backwards, and a second servo motor arranged on the lamplight device and used for controlling the spotlight to rotate leftwards and rightwards; the controller is connected with the camera, and the first output of controller is connected with the input of first servo motor, and the second output of controller is connected with the input of second servo motor. The application can use an automatic control mode to enable the spotlight to track the target, does not need manual control, is not easy to cause artificial faults, and increases the reliability of control; in addition, the spotlight moves along with the target, a fixed target route is not needed, the spotlight is flexible, the training time is reduced, and the performance effect is enhanced.
Description
Technical Field
The present invention relates to the field of target tracking technologies, and in particular, to a system, a controller, and a method for tracking a target by using a spotlight.
Background
With the development of lighting technology, spotlights are increasingly used. A spotlight is a spotlight device that collects scattered light over a certain area using a spotlight lens or a reflecting mirror. In general, during stage performance, a traveling path of a performer needs to be tracked by a spotlight, so that performance effect is enhanced. In the prior art, there are two general implementations of spotlight tracking targets: firstly, an operator controls the rotation of the spotlight in a remote control mode, so that the aperture of the spotlight moves along with a target, and the manual control mode is easy to cause artificial faults (for example, the operator cannot concentrate on the movement of the target due to the light effect), so that the reliability of control is reduced; secondly, the movement route of the spotlight is programmed in advance, and the control mode of the fixed route enables the target to move along the movement route of the spotlight, so that flexibility is lacked, the exercise time is increased, and the performance effect is influenced.
Therefore, how to provide a solution to the above technical problem is a problem that a person skilled in the art needs to solve at present.
Disclosure of Invention
The application aims to provide a system, a controller and a method for tracking a target by a spotlight, which adopt an automatic control mode to enable the spotlight to track the target without manual control, so that human faults are not easy to cause, and the control reliability is improved; in addition, the spotlight moves along with the target, a fixed target route is not needed, the spotlight is flexible, the training time is reduced, and the performance effect is enhanced.
In order to solve the technical problems, the invention provides a system for tracking a target by a spotlight, which comprises a reference picture for respectively shooting the target and an aperture of the spotlight in advance, a camera for shooting a live performance picture, a controller, the spotlight comprising a base and a lamplight device, a first servo motor arranged on the base and used for controlling the spotlight to rotate forwards and backwards, and a second servo motor arranged on the lamplight device and used for controlling the spotlight to rotate leftwards and rightwards; wherein:
The controller is connected with the camera, a first output end of the controller is connected with an input end of the first servo motor, and a second output end of the controller is connected with an input end of the second servo motor; the method comprises the steps of determining target characteristics and aperture characteristics in advance according to a reference picture of the target and a reference picture of the aperture; controlling the camera to shoot live performance pictures at intervals of preset time, and receiving the performance pictures; and determining an actual target coordinate and an actual aperture coordinate according to the performance picture, the target feature and the aperture feature, and controlling the first servo motor and the second servo motor to rotate by corresponding angles according to the distance between the actual target coordinate and the actual aperture coordinate and the preset distance angle relation.
Preferably, the pulse output end of the first servo motor is connected with the first feedback end of the controller, and the pulse output end of the second servo motor is connected with the second feedback end of the controller; the first servo motor and the second servo motor are both used for outputting the received pulse number, and the controller is also used for retransmitting the pulse corresponding to the phase-difference pulse number when the received pulse number is smaller than the transmitted pulse number.
Preferably, the controller is specifically an S5P4418 controller.
Preferably, the material of the housing of the lighting device is cast aluminum alloy.
Preferably, the system further comprises a plurality of cooling fins, and the plurality of cooling fins are uniformly distributed on the surface of the shell.
Preferably, the lighting device comprises an LED chip and an LED driving power supply for supplying power to the LED chip;
The system further comprises a mobile terminal or an upper computer for receiving an opening instruction or a closing instruction sent by an operator, wherein the mobile terminal or the upper computer is in wireless connection with the controller, a third output end of the controller is connected with a control end of the LED driving power supply, and the controller is further used for correspondingly controlling the opening or closing of the LED driving power supply when receiving the opening instruction or the closing instruction.
Preferably, the process of determining the target feature and the aperture feature in advance according to the reference picture of the target and the reference picture of the aperture respectively is specifically:
And carrying out gray scale processing and feature extraction processing on the reference picture of the target and the reference picture of the aperture in advance, and determining the features of the target and the features of the aperture.
Preferably, the process of determining the actual coordinates of the target and the actual coordinates of the aperture according to the performance picture, the target feature and the aperture feature is specifically:
Gray processing is carried out on the performance picture, the target and the aperture are identified from the gray processed performance picture according to the characteristics of the target and the characteristics of the aperture, and the pixel coordinates of the target and the pixel coordinates of the aperture are determined;
And converting the pixel coordinates of the target and the pixel coordinates of the aperture sequentially through an image coordinate system, a camera coordinate system and a reference coordinate system of an actual plane to obtain the actual coordinates of the target and the actual coordinates of the aperture.
In order to solve the above technical problem, the present invention further provides a controller for tracking a target by using a spotlight, which is applied to any one of the above systems for tracking a target by using a spotlight, and includes:
A determining unit, configured to determine a target feature and an aperture feature in advance according to a reference picture of the target and a reference picture of the aperture;
a receiving unit for controlling the camera to shoot live performance pictures at intervals of preset time and receiving the performance pictures;
And the control unit is used for determining the actual coordinates of the target and the actual coordinates of the aperture according to the performance picture, the target characteristics and the aperture characteristics, and controlling the first servo motor and the second servo motor to rotate by corresponding angles according to the distance between the actual coordinates of the target and the actual coordinates of the aperture and the angle relation of the preset distance.
In order to solve the technical problem, the invention also provides a method for tracking a target by using a spotlight, which is applied to any system for tracking the target by using the spotlight, and comprises the following steps:
The camera respectively shoots reference pictures of a target and an aperture of the spotlight in advance, and the controller correspondingly determines target characteristics and aperture characteristics according to the reference pictures of the target and the aperture;
The controller controls the camera to shoot live performance pictures at intervals of preset time and receives the performance pictures;
The controller determines an actual target coordinate and an actual aperture coordinate according to the performance picture, the target feature and the aperture feature, and controls the first servo motor and the second servo motor to rotate by corresponding angles according to the distance between the actual target coordinate and the actual aperture coordinate and the preset distance angle relation;
The first servo motor controls the spotlight to rotate forwards or backwards through self rotation, and the second servo motor controls the spotlight to rotate left or right through self rotation, so that the aperture moves along with the target.
Compared with the system for controlling the spotlight tracking target through manual control and fixed route in the prior art, the system for controlling the spotlight tracking target comprises a camera, a controller, a spotlight comprising a base and a lamplight device, a first servo motor arranged on the base and used for controlling the spotlight to rotate forwards and backwards, and a second servo motor arranged on the lamplight device and used for controlling the spotlight to rotate leftwards and rightwards.
Before the target performs on the platform, the camera respectively shoots a reference picture of the target and a reference picture of the aperture of the spotlight, and the controller can correspondingly determine the target characteristics and the aperture characteristics according to the reference picture of the target and the reference picture of the aperture. After the target performs on the platform, the controller controls the camera to shoot live performance pictures at intervals of set time and receives the performance pictures shot by the camera. The controller can determine the actual coordinates of the target and the actual coordinates of the aperture according to the received performance picture and the target characteristics and the aperture characteristics determined in advance. The controller controls the first servo motor and the second servo motor to rotate by corresponding angles according to the distance between the actual coordinates of the target and the actual coordinates of the aperture and the set distance-angle relation, so that the spotlight is controlled to rotate, and the aperture moves along with the target. Therefore, the application adopts an automatic control mode to enable the spotlight to track the target, does not need manual control, is not easy to cause artificial faults, and increases the reliability of control; in addition, the spotlight moves along with the target, a fixed target route is not needed, the spotlight is flexible, the training time is reduced, and the performance effect is enhanced.
The invention provides a controller and a method for tracking a target by using a spotlight, which have the same beneficial effects as the tracking system.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required in the prior art and the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a system for tracking a target with a spotlight according to the present invention;
FIG. 2 is a schematic diagram of a rotation positioning of a servo motor according to the present invention;
FIG. 3 is a schematic view of a rotation angle of a servo motor according to the present invention;
FIG. 4 is a schematic diagram of a relationship between a camera coordinate system and a reference coordinate system according to the present invention;
Fig. 5 is a schematic structural diagram of a controller for tracking a target by using a spotlight according to the present invention;
fig. 6 is a flowchart of a method for tracking a target by using a spotlight according to the present invention.
Detailed Description
The core of the application is to provide a system, a controller and a method for tracking the target by the spotlight, which adopts an automatic control mode to enable the spotlight to track the target without manual control, thus being not easy to cause artificial faults and increasing the reliability of control; in addition, the spotlight moves along with the target, a fixed target route is not needed, the spotlight is flexible, the training time is reduced, and the performance effect is enhanced.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a system for tracking a target by using a spotlight according to the present invention.
The system comprises a camera 1, a controller 2 and a spotlight 3, wherein the camera 1 is used for respectively taking a reference picture of an object and an aperture of the spotlight 3 in advance and taking a live performance picture, the spotlight 3 comprises a base 31 and a light device 32, the system also comprises a first servo motor 4 which is arranged on the base 31 and is used for controlling the spotlight 3 to rotate forwards and backwards, and a second servo motor 5 which is arranged on the light device 32 and is used for controlling the spotlight 3 to rotate leftwards and rightwards; wherein:
The controller 2 is connected with the camera 1, a first output end of the controller 2 is connected with an input end of the first servo motor 4, and a second output end of the controller 2 is connected with an input end of the second servo motor 5; the method comprises the steps of determining target characteristics and aperture characteristics in advance according to a target reference picture and an aperture reference picture; controlling the camera 1 to shoot live performance pictures at intervals of preset time and receiving the performance pictures; and determining the actual coordinates of the target and the actual coordinates of the aperture according to the performance picture, the target characteristics and the aperture characteristics, and controlling the first servo motor 4 and the second servo motor 5 to rotate by corresponding angles according to the distance between the actual coordinates of the target and the actual coordinates of the aperture and the angle relation between the preset distance.
It should be noted that, the preset and the preset in the present application are set in advance, and only need to be set once, and no resetting is needed unless the modification is needed according to the actual situation.
Specifically, the system provided by the application comprises a camera 1, a controller 2, a spotlight 3, a first servo motor 4 and a second servo motor 5. Considering that the aperture of the spotlight 3 is to track the movement of the target, before the target performs on the platform, the application respectively takes the picture of the aperture and the picture of the target to be tracked by the aperture through the camera 1 in advance and sends the pictures to the controller 2, and the controller 2 can correspondingly determine the characteristics of the target and the characteristics of the aperture according to the taken picture of the target and the picture of the aperture. When the camera 1 takes a picture again and sends it to the controller 2, the controller 2 can recognize whether the taken picture contains the diaphragm and the target to be tracked by the diaphragm or not based on the determined target characteristics and diaphragm characteristics, i.e., the picture of the diaphragm and the picture of the target taken in advance are taken as reference pictures.
When the targets are people, the walking gesture can be greatly changed, and pictures of a plurality of targets can be taken in advance as reference pictures of the targets, so that the identification accuracy is improved.
When the target plays on the table, the controller 2 starts to control the camera 1 to take live performance pictures at set time intervals. When the camera 1 takes a live performance picture, it is sent to the controller 2, and the controller 2 can determine the aperture and the target to be tracked by the aperture contained in the performance picture according to the performance picture, the determined target feature and the aperture feature, thereby determining the actual coordinates of the target and the actual coordinates of the aperture. Let the actual coordinates of the object be (x 1, y 1) and the actual coordinates of the aperture be (x 2, y 2), the distance relation between them is
The present application can determine the distance that the spotlight 3 should move forward or backward and the distance that the spotlight should move left or right when the aperture is tracking the target after knowing the distance between the target and the aperture. The spotlight 3 comprises a base 31 and a lamplight device 32, wherein the first servo motor 4 is arranged on the base 31, the first servo motor 4 drives the spotlight 3 to rotate forwards and backwards through a gear, and the second servo motor 5 is arranged on the lamplight device 32, and the second servo motor 5 drives the spotlight 3 to rotate leftwards and rightwards through the gear.
A servo motor is a motor that can convert a voltage signal into a torque and a rotation speed to drive a control object. The rotation speed of the rotor of the servo motor is controlled by an input signal, can quickly respond, has the characteristics of small electromechanical time constant, digital control, high linearity, constant torque output and the like, and can convert the received electric signal into angular displacement or angular speed output on the motor shaft.
Referring to fig. 2 and 3, fig. 2 is a schematic diagram of a rotation positioning of a servo motor according to the present invention, and fig. 3 is a schematic diagram of a rotation angle of the servo motor according to the present invention.
As can be seen from fig. 2, after the spotlight is rotated by a certain angle α by the servo motor, the aperture is changed from the first position to the second position, and thus, the rotation angle of the spotlight has a certain relationship with the distance that the aperture moves. As can be seen from fig. 3, assuming that the perpendicular projection point of the spotlight to the projection plane is the origin, and that the distance from the spotlight to the projection plane is d1 and the distance from the aperture of the spotlight to the origin is d2, the rotation angle α=arctan (d 2/d 1) of the spotlight.
The servo motor is known to be positioned by the received pulse, the pulse number required by one circle of rotation of the servo motor is determined, and when one pulse is received, the servo motor rotates by an angle corresponding to the pulse, so that the displacement of the aperture is realized. Therefore, the application can correspondingly determine the rotation angles of the first servo motor 4 and the second servo motor 5 according to the distance to be moved forward or backward and the distance to be moved left or right and the set distance angle relation, thereby determining the first pulse number required by the forward or backward rotation of the spotlight 3 and the second pulse number required by the left or right rotation of the spotlight 3, and transmitting the pulse corresponding to the first pulse number to the first servo motor 4, and the first servo motor 4 correspondingly drives the spotlight 3 to rotate forward or backward; the pulses corresponding to the second pulse number are sent to the second servo motor 5, and the second servo motor 5 correspondingly drives the spotlight 3 to rotate left or right, so that the aperture tracking target moves.
Compared with the system for controlling the spotlight tracking target through manual control and fixed route in the prior art, the system for controlling the spotlight tracking target comprises a camera, a controller, a spotlight comprising a base and a lamplight device, a first servo motor arranged on the base and used for controlling the spotlight to rotate forwards and backwards, and a second servo motor arranged on the lamplight device and used for controlling the spotlight to rotate leftwards and rightwards.
Before the target performs on the platform, the camera respectively shoots a reference picture of the target and a reference picture of the aperture of the spotlight, and the controller can correspondingly determine the target characteristics and the aperture characteristics according to the reference picture of the target and the reference picture of the aperture. After the target performs on the platform, the controller controls the camera to shoot live performance pictures at intervals of set time and receives the performance pictures shot by the camera. The controller can determine the actual coordinates of the target and the actual coordinates of the aperture according to the received performance picture and the target characteristics and the aperture characteristics determined in advance. The controller controls the first servo motor and the second servo motor to rotate by corresponding angles according to the distance between the actual coordinates of the target and the actual coordinates of the aperture and the set distance-angle relation, so that the spotlight is controlled to rotate, and the aperture moves along with the target. Therefore, the application adopts an automatic control mode to enable the spotlight to track the target, does not need manual control, is not easy to cause artificial faults, and increases the reliability of control; in addition, the spotlight moves along with the target, a fixed target route is not needed, the spotlight is flexible, the training time is reduced, and the performance effect is enhanced.
Based on the above embodiments:
as a preferred embodiment, the pulse output end of the first servo motor 4 is connected with the first feedback end of the controller 2, and the pulse output end of the second servo motor 5 is connected with the second feedback end of the controller 2; the first servo motor 4 and the second servo motor 5 are both used for outputting the number of pulses received by the first servo motor, and the controller 2 is also used for retransmitting the pulses corresponding to the number of pulses with phase difference when the number of pulses received is smaller than the number of pulses transmitted by the second servo motor.
Specifically, considering that the servo motor itself has a function of emitting pulses, when the servo motor rotates by one angle, the pulse output end of the servo motor emits a corresponding number of pulses. In order to ensure the positioning accuracy, the pulse output end of the first servo motor 4 is connected with the first feedback end of the controller 2, and the pulse output end of the second servo motor 5 is connected with the second feedback end of the controller 2, so that a closed-loop control system is formed. The controller 2 compares the number of pulses sent by the received first servo motor 4 with the number of pulses sent by the controller, when the number of pulses received is smaller than the number of pulses sent by the controller, the controller 2 indicates that the pulses received by the first servo motor 4 are wrong, and the controller 2 resends the pulses corresponding to the number of pulses with phase difference to the first servo motor 4, so that the rotation of the motor is accurately controlled. The rotation of the controller 2 for controlling the second servo motor 5 refers to the description of the controller 2 for controlling the rotation of the first servo motor 4, and the present application will not be described herein.
As a preferred embodiment, the controller 2 is embodied as an S5P4418 controller.
Specifically, when the target position moves, it takes a certain time for the controller 2 to control the spotlight 3 to rotate, and in order to make the aperture tracking target invisible to the naked eye, the lag time should be less than 0.04 seconds. Known lag time = camera shooting time + picture transfer time + controller image analysis time + servo motor rotation time.
Therefore, in order to increase the speed of the aperture tracking target, the controller 2 in the application can select an S5P4418 controller with the operation speed as high as 1.4GHz, and the total time of transmission, analysis and rotation control can be controlled within 0.02 seconds. In order to further improve the speed of diaphragm tracking the target, the camera 1 in the application can be a CCD (charge coupled deviceccd, charge coupled device) camera, which can take more than 50 photos per second, thereby ensuring that the lag time of diaphragm tracking the target cannot be seen by the eyes of a person as much as possible.
Of course, other models of the controller 2 and the camera 1 in the present application may be used, and the present application is not limited thereto.
Moreover, the controller 2 is also provided with WiFi, USB, RS interfaces such as WiFi, USB, RS interfaces so as to be capable of communicating with other components. The CCD camera can be fixedly arranged on the base 31 of the spotlight 3 and is communicated with the controller 2 by using an RS485 serial port.
As a preferred embodiment, the material of the housing of the light fixture 32 is a cast aluminum alloy.
Specifically, considering that the spotlight 3 generates a large amount of heat when continuously emitting light during operation, the housing material of the light device 32 is cast aluminum alloy, so that the heat can be rapidly dissipated, and the service life of the spotlight 3 is prolonged. Other materials may be used for the housing material of the light device 32 according to the present application, and the present application is not particularly limited herein.
As a preferred embodiment, the system further comprises a plurality of heat sinks uniformly distributed on the surface of the housing.
Specifically, in order to further improve the heat dissipation speed, the application can also uniformly install a plurality of cooling fins on the surface of the shell to dissipate the heat on the surface of the shell, thereby further prolonging the service life of the spotlight 3.
As a preferred embodiment, the lighting device 32 includes an LED chip and an LED driving power source for supplying power to the LED chip;
The system further comprises a mobile terminal or an upper computer for receiving an opening instruction or a closing instruction sent by an operator, the mobile terminal or the upper computer is in wireless connection with the controller 2, a third output end of the controller 2 is connected with a control end of the LED driving power supply, and the controller 2 is further used for correspondingly controlling the opening or closing of the LED driving power supply when receiving the opening instruction or the closing instruction.
Specifically, the lighting device 32 of the present application includes an LED driving power supply and an LED chip. Because the LED driving power supply is mature, the LED driving power supply with the control functions of on/off, brightness adjustment, color adjustment and the like is selected, an RS485 serial port is provided, and the controller 2 controls the LED driving power supply through the serial port.
The application also comprises a mobile terminal or an upper computer which is in wireless connection with the controller 2, wherein the mobile terminal or the upper computer is used for receiving an opening instruction or a closing instruction sent by an operator, and sending the opening instruction or the closing instruction to the controller 2 through WiFi, and the controller 2 can control the opening and the closing of the LED driving power supply, so that the remote operation is realized. The application can also realize other functions such as brightness adjustment, color adjustment and the like by utilizing remote operation.
As a preferred embodiment, the process of determining the target feature and the aperture feature in advance according to the reference picture of the target and the reference picture of the aperture respectively is specifically:
and carrying out gray level processing and feature extraction processing on the reference picture of the target and the reference picture of the aperture in advance, and determining the features of the target and the features of the aperture.
Specifically, first, a gradation process is performed on a reference picture, in which an obtained color image is converted into a gradation image represented by a two-dimensional digital matrix gx y, where x is the number of rows of the matrix and y is the number of columns of the matrix, and matrix element values represent gradation values of corresponding pixel points. For example, g [3] [10] =8 means that the gray value of the pixel located in the 3 rd row and the 10 th column is 8.
Then, feature extraction is performed on the gray-scale processed picture, wherein the feature extraction is to extract image information and determine whether the point of each image belongs to an image feature, and the feature extraction result is to divide the points on the image into different subsets, and the subsets often belong to isolated points, continuous curves or continuous areas, so as to determine target features and aperture features.
As a preferred embodiment, the process of determining the target actual coordinates and the aperture actual coordinates from the performance picture, the target feature and the aperture feature is specifically:
Carrying out gray processing on the performance picture, identifying the target and the aperture from the gray processed performance picture according to the characteristics of the target and the characteristics of the aperture, and determining the pixel coordinates of the target and the pixel coordinates of the aperture;
and converting the pixel coordinates of the target and the pixel coordinates of the aperture sequentially through an image coordinate system, a camera coordinate system and a reference coordinate system of an actual plane to obtain the actual coordinates of the target and the actual coordinates of the aperture.
Specifically, the gradation processing is performed on the performance picture, and the target and the diaphragm are identified from the gradation-processed performance picture based on the characteristics of the target and the characteristics of the diaphragm. The position coordinates of the pixel point of the obtained gray scale image are taken as the pixel coordinates of the pixel point, g [0] [0] is the origin of the pixel coordinate system, and for example, the pixel coordinates of the pixel point positioned in the 3 rd row and the 10 th column are (3, 10). The origin of the pixel coordinate system may be different from the origin of the image coordinate system, and therefore, the origin of the image coordinate of the performance picture is set in advance, and the pixel coordinates of the target and the pixel coordinates of the aperture are converted into the image coordinates of the target and the image coordinates of the aperture, which corresponds to coordinate translation.
The camera coordinate system takes the optical center of the camera 1 as an origin, the optical axis is perpendicular to the image plane, and a certain proportional relationship exists between the camera coordinate system and the image coordinate system, wherein the proportional relationship is related to the focal length of the camera, the photosensitive element and the like. After the camera 1 is selected, the proportional relation is determined, and the image coordinates of the target and the image coordinates of the aperture are converted into the camera coordinates of the target and the camera coordinates of the aperture according to the proportional relation between the image coordinates of the camera 1 and the camera coordinates.
Referring to fig. 4, fig. 4 is a schematic diagram illustrating a relationship between a camera coordinate system and a reference coordinate system according to the present invention.
The reference coordinate system of the actual plane is the real object coordinate to be shot by the camera, and the reference coordinate system of the actual plane and the camera coordinate system are in a rotation and translation relationship because the coordinate directions and the origin are different. According to the relations of X c＝R*Xr +T and Y c＝R*Yr +T, camera coordinates of the target and camera coordinates of the aperture are converted into actual coordinates of the target and actual coordinates of the aperture, wherein X c is an abscissa of the object in the camera coordinate system, Y c is an ordinate of the object in the camera coordinate system, X r is an abscissa of the object in the reference coordinate system, Y r is an ordinate of the object in the reference coordinate system, R is a rotation matrix, and T is a translation vector.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a controller for tracking a target of a spotlight according to the present invention.
The controller is applied to any system for tracking a target by a spotlight, and comprises:
a determining unit 101 for determining target features and aperture features in advance according to a reference picture of the target and a reference picture of the aperture, respectively;
A receiving unit 102 for controlling the camera to take live performance pictures at intervals of a preset time and receiving the performance pictures;
And a control unit 103, configured to determine an actual target coordinate and an actual aperture coordinate according to the performance picture, the target feature and the aperture feature, and control the first servomotor and the second servomotor to rotate by corresponding angles according to a distance between the actual target coordinate and the actual aperture coordinate and a preset distance angle relationship.
The description of the controller provided by the present invention refers to the above system embodiment, and the present invention is not repeated here.
Referring to fig. 6, fig. 6 is a flowchart of a method for tracking a target by using a spotlight according to the present invention.
The method is applied to any system for tracking a target by using a spotlight, and comprises the following steps:
Step S1: the camera respectively shoots reference pictures of the target and the aperture of the spotlight in advance, and the controller correspondingly determines the target characteristic and the aperture characteristic according to the reference pictures of the target and the aperture;
step S2: the controller controls the camera to shoot live performance pictures at intervals of preset time and receives the performance pictures;
Step S3: the controller determines the actual coordinates of the target and the actual coordinates of the aperture according to the performance picture, the target characteristics and the aperture characteristics, and controls the first servo motor and the second servo motor to rotate by corresponding angles according to the distance between the actual coordinates of the target and the actual coordinates of the aperture and the angle relation of the preset distance;
step S4: the first servo motor controls the spotlight to rotate forwards or backwards through self rotation, and the second servo motor controls the spotlight to rotate left or right through self rotation so that the aperture can move along with the target.
The method provided by the present invention is described with reference to the above system embodiments, and the disclosure is not repeated here.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
It should also be noted that in this specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. A system for tracking an object by a spotlight, comprising a reference picture for respectively photographing the object and a projection aperture of the spotlight in advance, a camera for photographing a performance picture of a scene, a controller, the spotlight comprising a base and a light device, a first servo motor mounted on the base for controlling the spotlight to rotate back and forth, and a second servo motor mounted on the light device for controlling the spotlight to rotate left and right; wherein:
The controller is connected with the camera, a first output end of the controller is connected with an input end of the first servo motor, and a second output end of the controller is connected with an input end of the second servo motor; the method comprises the steps of determining target characteristics and projection aperture characteristics in advance according to a reference picture of the target and a reference picture of the projection aperture; controlling the camera to shoot live performance pictures at intervals of preset time, and receiving the performance pictures; determining a target actual coordinate and a projection aperture actual coordinate according to the performance picture, the target feature and the projection aperture feature, and controlling the first servo motor and the second servo motor to rotate by corresponding angles according to the distance between the target actual coordinate and the projection aperture actual coordinate and a preset distance angle relation;
The pulse output end of the first servo motor is connected with the first feedback end of the controller, and the pulse output end of the second servo motor is connected with the second feedback end of the controller; the first servo motor and the second servo motor are both used for outputting the number of pulses received by the first servo motor and the second servo motor, and the controller is also used for retransmitting the pulses corresponding to the number of pulses with phase difference when the number of pulses received is smaller than the number of pulses transmitted by the second servo motor;
the process of determining the target characteristic and the projection aperture characteristic according to the reference picture of the target and the reference picture of the projection aperture in advance comprises the following steps:
Carrying out gray level processing and feature extraction processing on the reference picture of the target and the reference picture of the projection aperture in advance, and determining the features of the target and the features of the projection aperture;
the process of determining the actual coordinates of the target and the actual coordinates of the projection aperture according to the performance picture, the target feature and the projection aperture feature comprises the following steps:
Gray processing is carried out on the performance picture, the target and the projection aperture are identified from the gray processed performance picture according to the characteristics of the target and the characteristics of the projection aperture, and the pixel coordinates of the target and the pixel coordinates of the projection aperture are determined;
And converting the pixel coordinates of the target and the pixel coordinates of the projection aperture sequentially through an image coordinate system, a camera coordinate system and a reference coordinate system of an actual plane to obtain the actual coordinates of the target and the actual coordinates of the projection aperture.
2. The system of claim 1, wherein the controller is embodied as an S5P4418 controller.
3. The system of claim 1, wherein the material of the housing of the light fixture is a cast aluminum alloy.
4. The system of claim 3, further comprising a plurality of heat sinks, wherein a plurality of said heat sinks are uniformly distributed on a surface of said housing.
5. The system of claim 4, wherein the light device comprises an LED chip and an LED driving power supply for powering the LED chip;
The system further comprises a mobile terminal or an upper computer for receiving an opening instruction or a closing instruction sent by an operator, wherein the mobile terminal or the upper computer is in wireless connection with the controller, a third output end of the controller is connected with a control end of the LED driving power supply, and the controller is further used for correspondingly controlling the opening or closing of the LED driving power supply when receiving the opening instruction or the closing instruction.
6. A spotlight tracking object controller for use in a spotlight tracking object system according to any of claims 1-5, comprising:
A determining unit, configured to determine a target feature and a projection aperture feature in advance according to the reference picture of the target and the reference picture of the projection aperture;
a receiving unit for controlling the camera to shoot live performance pictures at intervals of preset time and receiving the performance pictures;
And the control unit is used for determining the actual coordinates of the target and the actual coordinates of the projection aperture according to the performance picture, the target characteristics and the projection aperture characteristics, and controlling the first servo motor and the second servo motor to rotate by corresponding angles according to the distance between the actual coordinates of the target and the actual coordinates of the projection aperture and the preset distance angle relation.
7. A method of spotlight tracking an object, applied to a system for spotlight tracking an object according to any of claims 1-5, comprising:
The camera respectively shoots reference pictures of a target and a projection aperture of the spotlight in advance, and the controller correspondingly determines target characteristics and projection aperture characteristics according to the reference pictures of the target and the projection aperture;
The controller controls the camera to shoot live performance pictures at intervals of preset time and receives the performance pictures;
the controller determines an actual target coordinate and an actual projection aperture coordinate according to the performance picture, the target feature and the projection aperture feature, and controls the first servo motor and the second servo motor to rotate by corresponding angles according to the distance between the actual target coordinate and the actual projection aperture coordinate and the preset distance angle relation;
The first servo motor controls the spotlight to rotate forwards or backwards through self rotation, and the second servo motor controls the spotlight to rotate left or right through self rotation, so that the projection aperture moves along with the target.
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| CN201711318433.1A CN107889317B (en) | 2017-12-12 | 2017-12-12 | System, controller and method for tracking target by spotlight |
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| CN109238238B (en) * | 2018-09-05 | 2020-12-11 | 浙江大丰实业股份有限公司 | Automatic positioning system for stage performer |
| CN110493569B (en) * | 2019-08-12 | 2021-06-15 | 苏州佳世达光电有限公司 | Monitoring target shooting tracking method and system |
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