CN107920232B - Intelligent tracking camera system based on GPS positioning coordinate resolving - Google Patents
Intelligent tracking camera system based on GPS positioning coordinate resolving Download PDFInfo
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- CN107920232B CN107920232B CN201711209855.5A CN201711209855A CN107920232B CN 107920232 B CN107920232 B CN 107920232B CN 201711209855 A CN201711209855 A CN 201711209855A CN 107920232 B CN107920232 B CN 107920232B
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
- H04N23/661—Transmitting camera control signals through networks, e.g. control via the Internet
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Abstract
The invention discloses an intelligent tracking camera system based on GPS positioning coordinate calculation, which comprises an information acquisition system and a data processing center, wherein the information acquisition system comprises a handheld GPS positioning instrument, a high-definition camera and a pan-tilt control module, the high-definition camera is fixed on the pan-tilt control module, the high-definition camera is provided with a camera GPS positioning instrument, the data processing center is a PC (personal computer), the PC is provided with a display screen, a data processing module and a coordinate calculation module, the coordinate calculation module comprises a target angle calculation algorithm and a high-speed moving object turning-back pre-judgment algorithm, the handheld GPS positioning instrument, the camera GPS positioning instrument and the high-definition camera are connected with the data processing center through a first communication module, and the pan-tilt control module is connected with the data processing center through a second. The invention realizes the purpose of effectively recording the administrative law enforcement process, avoids the damage to shooting in an emergency and reduces the labor intensity in the shooting process.
Description
Technical Field
The invention relates to the technical field of tracking camera shooting, in particular to an intelligence based on GPS positioning coordinate calculation
The camera system can be tracked.
Background
With the continuous development of science and technology, artificial intelligence has been widely used in various industries as the leading technology of modern science and technology. The intelligent tracking camera shooting is an important part in the current law enforcement process, and the current law enforcement camera shooting is divided into two parts: firstly, law enforcement personnel carry a law enforcement recorder to record the law enforcement process; secondly, the assistant holds the camera to take a follow shot. Both the two types of shooting have certain defects, the former is a narrow view field and cannot shoot the picture of a law enforcement officer, and the latter is a picture which needs to be tracked and shot by an assistant person in a close range, which wastes manpower and is easy to damage the shooting in case of emergency. Therefore, it is necessary to develop an intelligent tracking camera system based on a GPS positioning system.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides an intelligent tracking camera system based on GPS positioning coordinate calculation, which aims to effectively record the law enforcement process including the pictures of the law enforcement site and law enforcement personnel, avoid sudden damage to the shooting and reduce the labor intensity in the shooting process.
The technical solution of the invention is as follows:
the utility model provides an intelligent tracking camera system based on GPS fixes a position coordinate is solved, includes information acquisition system and data processing center, its characterized in that: the information acquisition system comprises a handheld GPS positioning instrument, a high-definition camera and a tripod head control module, wherein the high-definition camera is fixed on the tripod head control module, the high-definition camera is provided with the camera GPS positioning instrument, the handheld GPS positioning instrument is responsible for acquiring the position information of a target, the camera GPS positioning instrument is responsible for acquiring the position information of the high-definition camera, the tripod head control module is responsible for outputting the current horizontal angle and the current vertical angle of the high-definition camera and simultaneously driving the high-definition camera to deflect, the data processing center is a PC (personal computer), the PC is provided with a display screen, a data processing module and a coordinate resolving module, the data processing module is responsible for converting a received code program into recognizable angle information, the coordinate resolving module comprises a target angle calculation algorithm and a high-speed moving object turning-back prejudging algorithm, and the target angle calculation algorithm is responsible for resolving the, And comparing, calculating a horizontal target angle and a vertical target angle to be transferred, comparing and analyzing the calculated horizontal target angle to be transferred with the received current horizontal angle by using a high-speed moving object turning back prejudging algorithm, and judging the horizontal direction to be transferred by the pan-tilt control module, wherein the handheld GPS locator, the camera GPS locator and the high-definition camera are connected with a data processing center through a first communication module, and the pan-tilt control module is connected with the data processing center through a second communication module.
Preferably, the first communication module communicates through one or more of 4G, CDMA and WiFi.
Preferably, the communication module II is used for establishing socket communication through a TCP protocol, namely, the PC is connected with the holder control module through the TCP protocol to establish socket communication, and the TCP protocol is converted into an RS485 physical layer protocol which can be identified by the holder control module.
Preferably, the handheld GPS locator and the camera GPS locator both comprise high-precision GPS board card hardware and cors differential centimeter-level positioning software based on 4G, CDMA and WiFi networks.
Preferably, the high-definition camera comprises white light and infrared image acquisition.
Preferably the pan-tilt control module comprises a cross shaft steering engine component and a vertical shaft steering engine component, the cross shaft steering engine component is arranged in the support and comprises a cross shaft code wheel, a cross shaft stepping motor, a cross shaft synchronous belt and a cross shaft synchronous belt pulley, the cross shaft code wheel is connected with the cross shaft synchronous belt pulley through a connecting rod, the vertical shaft steering engine component comprises a vertical shaft code wheel, a vertical shaft stepping motor, a vertical shaft synchronous belt and a vertical shaft synchronous belt pulley, the vertical shaft code wheel is connected with the vertical shaft synchronous belt pulley through a connecting rod, the vertical shaft code wheel is arranged in the support, the vertical shaft stepping motor, the vertical shaft synchronous belt and the vertical shaft synchronous belt pulley are arranged in the base, the high-definition camera rotates under the action of the cross shaft stepping motor and the vertical shaft stepping motor, and the cross shaft code wheel.
The invention has the beneficial effects that: according to the intelligent tracking camera shooting method, the intelligent tracking camera shooting of the target is realized by resolving the position information of the target and the position information of the camera, the administrative law enforcement process including the pictures of law enforcement sites and law enforcement personnel is effectively recorded, meanwhile, the shooting is prevented from being damaged by sudden conditions, and the labor intensity in the shooting process is reduced; the control precision is improved by the high-speed moving object turning-back prejudgment algorithm in the coordinate calculation module.
Drawings
Fig. 1 is a block diagram of the working principle of the present invention.
Fig. 2 is a left perspective view of the high definition camera and the pan/tilt control module.
Fig. 3 is a right perspective view of the high definition camera and the pan/tilt control module.
Wherein: 1 high definition camera 2 camera GPS locater 3 support 4 cross axle code wheel 5 cross axle step motor 6 cross axle synchronous belt 7 cross axle synchronous pulley 8 vertical axis code wheel 9 vertical axis step motor 10 vertical axis synchronous belt 11 vertical axis synchronous pulley 12 base.
Detailed Description
The invention is further illustrated with reference to the following figures and examples:
an intelligent tracking camera system based on GPS positioning coordinate calculation comprises an information acquisition system and a data processing center. The information acquisition system comprises a handheld GPS position indicator, a high-definition camera 1 and a tripod head control module, wherein the high-definition camera 1 is fixed on the tripod head control module, and a camera GPS position indicator 2 is arranged on the high-definition camera 1. The handheld GPS locator is responsible for collecting position information of a target. The high-definition camera 1 is responsible for shooting a target site, and the high-definition camera 1 comprises white light and infrared image acquisition. The camera GPS locator 2 is responsible for collecting the position information of the high-definition camera 1. The pan-tilt control module is responsible for outputting the current horizontal angle and the current vertical angle of the high-definition camera 1 and controlling the deflection of the high-definition camera 1. The pan-tilt control module comprises a cross shaft steering engine assembly and a vertical shaft steering engine assembly, the cross shaft steering engine assembly is arranged in the support 3 and comprises a cross shaft coded disc 4, a cross shaft stepping motor 5, a cross shaft synchronous belt 6 and a cross shaft synchronous belt pulley 7, the cross shaft coded disc 4 is connected with the cross shaft synchronous belt pulley 7 through a connecting rod, the vertical shaft steering engine assembly comprises a vertical shaft coded disc 8, a vertical shaft stepping motor 9, a vertical shaft synchronous belt 10 and a vertical shaft synchronous belt pulley 11, the vertical shaft coded disc 8 is connected with the vertical shaft synchronous belt pulley 11 through a connecting rod, the vertical shaft coded disc 8 is arranged in the support 3, the vertical shaft stepping motor 9, the vertical shaft synchronous belt 10 and the vertical shaft synchronous belt pulley 11 are arranged in the base 12, the high-definition camera 1 rotates under the action of the cross shaft stepping motor 5 and the vertical shaft stepping motor 9, and the cross shaft coded disc. The data processing center is a PC, and the PC is provided with a display screen, a data processing module and a coordinate calculating module. The data processing module is responsible for converting the received code program into recognizable angle information. The coordinate calculation module comprises a target angle calculation algorithm and a high-speed moving object turning-back prejudgment algorithm, the target angle calculation algorithm is responsible for calculating and comparing the received position information of the high-definition camera 1 and the position information of the target, and calculating a horizontal target angle and a vertical target angle to be turned, the high-speed moving object turning-back prejudgment algorithm is responsible for comparing the calculated horizontal target angle to be turned with the received current horizontal angle and judging the horizontal direction to be turned by the tripod head control module. The handheld GPS positioning instrument, the camera GPS positioning instrument 2 and the high-definition camera 1 are connected with the data processing center through a first communication module, and the cloud platform control module is connected with the data processing center through a second communication module. The first communication module communicates through one or more of 4G, CDMA and WiFi. And the communication module II is used for establishing socket communication through a TCP (transmission control protocol), namely, the PC is connected with the holder control module through the TCP to establish socket communication, and the TCP is converted into an RS485 serial port which can be identified by the holder control module. The handheld GPS locator and the camera GPS locator 2 both comprise high-precision GPS board card hardware and cors differential centimeter-level positioning software based on 4G, CDMA and WiFi networks.
The working process of the invention is as follows:
in the working process, law enforcement personnel carry a handheld GPS (global positioning system) positioning instrument to be in close proximity to a law enforcement site, and the handheld GPS positioning instrument acquires position information of a target, including an elevation value H of the target1Longitude value Lng1Sum dimension value lat1The camera GPS locator 2 collects the position information of the camera, including the elevation value H of the camera2Longitude value Lng2Sum dimension value lat2And the data is transmitted to the data processing center through the communication module. The cloudThe platform control module outputs a code program representing the angle, the code program is transmitted to the data processing center through the communication module II, and the code program is converted into recognizable angle information, namely the current horizontal angle α of the camera under the action of the data processing module in the data processing center0And current vertical angle β0. And the target angle calculation algorithm is responsible for resolving and comparing the received position information of the high-definition camera with the position information of the target, and calculating a horizontal target angle and a vertical target angle to which the holder control module is to turn.
The method for calculating the horizontal target angle α 1 to be turned by the pan-tilt control module comprises the following steps:
1. calculating an average latitude value averlat = (lat 1+ lat 2)/2;
2. if lat1= lat2, the horizontal target angle α 1=90 ° to which the pan/tilt control module is to be turned, and if lat1 ≠ lat2, α = arctan (lng 2-lng 1) × cos (averlat × pi/180 °)/(lat 2-lat 1) × 180 °/pi, the calculated α has positive and negative values, and the calibrations 0 ° -360 ° are all positive values.
If lat2> lat1, the horizontal target angle α 1 to which the pan/tilt control module is to turn is α = α +180 °;
if lat2< lat1, it is determined that (1) if α >0 is calculated, the pan/tilt control module is to turn to the horizontal target angle α 1= α.
(2) If the calculated α <0, the horizontal target angle α 1= α +360 ° to which the pan-tilt control module is to turn.
When the law enforcement officer is in a moving state, the target angle calculation algorithm in the coordinate calculation module continuously calculates the next horizontal target angle α 2 to be turned by the pan-tilt control module.
After the horizontal target angle is calculated, the high-speed moving object turning-back prejudgment algorithm in the coordinate calculation module calculates and compares the current horizontal angle α 0 and the horizontal target angles α 1 and α 2 to which the pan-tilt control module is to turn, and judges the horizontal direction to which the pan-tilt control module is to turn, wherein the specific algorithm is as follows:
step (1), judging that the horizontal target angle α 1 to which the holder is to be rotated is compared with the current horizontal angle α 0;
if α 1 ≧ α 0, the value 1 is output, and if α 1< α 0, the value 0 is output.
And record the current result (0 or 1)
Step (2), judging that the next horizontal target angle α 2 of the holder is compared with the previous horizontal target angle α 1;
if α 2> α 1, the value 1 is output, if α 2< α 1, the value 0 is output.
And record the current result (0 or 1)
And (3): and (3) judging whether the results of the step (1) and the step (2) are the same.
If the horizontal target angle value α 1 is the same as the horizontal target angle value α 1, the data processing module converts the obtained horizontal target angle value α into a code program and sends an instruction to the pan-tilt control module through the communication module, and the pan-tilt control module rotates to the horizontal target angle α;
if the two directions are different, the data processing module sends a stop instruction to the pan-tilt control module through the communication module, converts the obtained horizontal target angle value α 2 into a code program and sends an instruction to the pan-tilt control module through the communication module, and the pan-tilt control module rotates to the horizontal target angle α 2.
And circulating in this way, comparing the current horizontal angle of the pan-tilt control module with the previous horizontal target angle, comparing the previous horizontal target angle with the next horizontal target angle, and controlling the motion of the pan-tilt control module according to the two comparison results, so that the tracking precision is improved.
The method for calculating the vertical target angle β 1 to be turned by the pan-tilt control module comprises the following steps:
step (1): calculating an elevation difference value H = H2-H1;
step (2): calculating the horizontal distance Dis between the camera and the target, the earth radius R = 6371004,
π = 3.1415926535898，
horizontal distance Dis = arccos (sin (90-Lat 2) sin (90-Lat 1) cos (Lng 2-Lng 1) + cos (90-Lat 2) cos (90-Lat 1)). pi/180R
The vertical target angle β 1= arctan (H/Dis) to be rotated by the pan-tilt control module, the data processing module converts the obtained vertical target angle β 1 into a code program and sends an instruction to the pan-tilt control module through the communication module, the pan-tilt control module rotates to the vertical target angle β 1, the horizontal target angle and the vertical target angle in the data processing center are calculated simultaneously, and the pan-tilt control module is controlled to move in the horizontal direction and the vertical direction.
In conclusion, the invention achieves the expected effect.
Claims (6)
1. An intelligent tracking camera system based on GPS positioning coordinate calculation comprises an information acquisition system and a data processing center, and is characterized in that the information acquisition system comprises a handheld GPS position indicator, a high-definition camera and a pan-tilt control module, the high-definition camera is fixed on the pan-tilt control module, the high-definition camera is provided with the camera GPS position indicator, the handheld GPS position indicator is responsible for acquiring position information of a target, the camera GPS position indicator is responsible for acquiring position information of the high-definition camera, the pan-tilt control module is responsible for outputting a current horizontal angle and a current vertical angle of the high-definition camera and driving the high-definition camera to deflect, the data processing center is a PC (personal computer), the PC is provided with a display screen, a data processing module and a coordinate calculation module, the data processing module is responsible for converting a received code program into identifiable angle information, the coordinate calculation module comprises a target angle calculation algorithm and a high-speed turn-back moving object pre-judging algorithm, the target angle calculation algorithm is responsible for calculating and comparing the received position information of the high-definition camera with the position information of the target, calculating two continuous horizontal target angles α, α and a vertical target angle, 362, and the high-speed moving object pre-back angle calculation algorithm is responsible for converting the received position information of the two continuous turn-back moving object into a horizontal angle calculation module, a horizontal angle calculation:
step (1), judging that the horizontal target angle α 1 to which the pan-tilt head is to be turned is compared with the current horizontal angle α 0,
if α 1 is equal to or more than α 0, outputting the value 1, if α 1< α 0, outputting the value 0, and recording the current result (0 or 1);
step (2), judging that the next horizontal target angle α 2 of the pan-tilt is compared with the previous horizontal target angle α 1,
if α 2> α 1, the value 1 is output, if α 2< α 1, the value 0 is output, and the current result (0 or 1) is recorded;
judging whether the results of the step (1) and the step (2) are the same, if so, converting the obtained horizontal target angle value α 1 into a code program by the data processing module and sending an instruction to the two-way tripod head control module through the communication module, rotating the tripod head control module to a horizontal target angle α 1, and if not, sending a stop instruction to the two-way tripod head control module through the communication module by the data processing module, converting the obtained horizontal target angle value α 2 into the code program and sending an instruction to the two-way tripod head control module through the communication module, and rotating the tripod head control module to a horizontal target angle α 2;
the handheld GPS positioning instrument, the camera GPS positioning instrument and the high-definition camera are connected with the data processing center through a first communication module, and the holder control module is connected with the data processing center through a second communication module.
2. The intelligent tracking camera system based on GPS positioning coordinate calculation of claim 1, characterized in that: the first communication module communicates through one or more of 4G, CDMA and WiFi.
3. The intelligent tracking camera system based on GPS positioning coordinate calculation of claim 1, characterized in that: and the communication module II is used for establishing socket communication through a TCP (transmission control protocol), namely, the PC is connected with the holder control module through the TCP to establish socket communication, and the TCP is converted into an RS485 physical layer protocol which can be identified by the holder control module.
4. The intelligent tracking camera system based on GPS positioning coordinate calculation of claim 1, characterized in that: the handheld GPS locator and the camera GPS locator both comprise high-precision GPS board card hardware and cors differential centimeter-level positioning software based on 4G, CDMA and WiFi networks.
5. The intelligent tracking camera system based on GPS positioning coordinate calculation of claim 1, characterized in that: the high-definition camera comprises white light and infrared image acquisition.
6. The intelligent tracking camera system based on GPS positioning coordinate calculation of claim 1, characterized in that: the pan-tilt control module comprises a cross shaft steering engine assembly and a vertical shaft steering engine assembly, the cross shaft steering engine assembly is arranged in the support and comprises a cross shaft code wheel, a cross shaft stepping motor, a cross shaft synchronous belt and a cross shaft synchronous belt pulley, the cross shaft code wheel is connected with the cross shaft synchronous belt pulley through a connecting rod, the vertical shaft steering engine assembly comprises a vertical shaft code wheel, a vertical shaft stepping motor, a vertical shaft synchronous belt and a vertical shaft synchronous belt pulley, the vertical shaft code wheel is connected with the vertical shaft synchronous belt pulley through a connecting rod, the vertical shaft code wheel is arranged in the support, the vertical shaft stepping motor, the vertical shaft synchronous belt and the vertical shaft synchronous belt pulley are arranged in the base, the high-definition camera rotates under the action of the cross shaft stepping motor and the vertical shaft stepping motor, and the cross shaft code.
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| CN110058475A (en) * | 2018-12-03 | 2019-07-26 | 叠境数字科技（上海）有限公司 | The angle regulation method of camera, the holder of adjustable camera angle and holder camera |
| CN111291585B (en) * | 2018-12-06 | 2023-12-08 | 杭州海康威视数字技术股份有限公司 | GPS-based target tracking system, method and device and ball machine |
| CN111510624A (en) * | 2020-04-10 | 2020-08-07 | 瞬联软件科技（北京）有限公司 | Target tracking system and target tracking method |
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