CN111766902B - Control method for realizing video pan-tilt steering based on longitude and latitude coordinates - Google Patents
Control method for realizing video pan-tilt steering based on longitude and latitude coordinates Download PDFInfo
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- CN111766902B CN111766902B CN202010589647.8A CN202010589647A CN111766902B CN 111766902 B CN111766902 B CN 111766902B CN 202010589647 A CN202010589647 A CN 202010589647A CN 111766902 B CN111766902 B CN 111766902B
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Abstract
The invention relates to a control method for realizing the steering of a video cloud deck based on longitude and latitude coordinates, wherein a system acquires the longitude and latitude coordinates of a target object in real time, and executes the conversion of the longitude and latitude coordinates and the synchronous calculation of a steering angle of video equipment, and the system transmits the calculated azimuth angle to a video cloud deck control steering data interface in real time to realize the accurate steering of a video lens, thereby realizing the real-time video observation and the following positioning shooting of the target object by the system. The invention is suitable for real-time tracking observation of objects travelling on water surface and road surface, can measure and calculate the distance of the target object in real time, can realize measures such as accurate strong light irradiation, acoustic wave directional driving and the like on the target object by carrying different directional observation equipment on the holder, and has wide application prospect.
Description
Technical Field
The invention relates to the field of intelligent monitoring of submarine cable channels, in particular to a control method for realizing steering of a video holder based on longitude and latitude coordinates.
Background
In the field of monitoring for preventing external force damage of submarine cables in the power industry, the currently applied common technical means is to monitor suspicious targets in water surface areas where the submarine cables are located by adopting a ship positioning system (AIS) and video equipment, the specific process is that the monitoring system monitors the approximate position of the suspicious targets (mainly ships) through the AIS equipment, and then the video equipment with a holder is manually adjusted to turn to the position of the suspicious targets, so that video monitoring on the suspicious targets is realized. Although the mode can achieve the purpose of video monitoring of suspicious targets, the intelligent degree and the effectiveness are not high, and the distance measurement of target position points cannot be realized, because the environment of a submarine cable channel area is complex, the operational interference of manually adjusting the video alignment is large, the external damage risk in the submarine cable channel area can be found and treated at the first time, and if the target position is inaccurately positioned, the emergency measures are not properly treated, the external damage accidents of the submarine cable and the power supply interruption are caused, and the social, economic and property loss is caused. Therefore, if the automatic and accurate video steering and video evidence obtaining can be realized through an intelligent technical means, and the reference distance of a suspicious target object is calculated at the same time, the on-site suspicious target discovery rate and the on-site suspicious target timeliness of the submarine cable can be effectively improved, favorable conditions are provided for further state judgment, accident prevention and emergency treatment of the submarine cable, and the intelligent operation and maintenance level of the submarine cable is improved.
Disclosure of Invention
In view of this, the invention aims to provide a control method for realizing video pan-tilt steering based on longitude and latitude coordinates, which realizes automatic and accurate steering and distance measurement of video equipment through automatic calculation of a system, and can reduce the complexity of video operation for operation and maintenance first-aid repair personnel and improve the emergency disposal efficiency.
In order to achieve the purpose, the invention adopts the following technical scheme:
a control method for realizing video pan-tilt steering based on longitude and latitude coordinates comprises the following steps:
s1, acquiring longitude and latitude coordinates and altitude of the photoelectric equipment with a holder, constructing an initial coordinate system, and taking the longitude and latitude sum as an origin coordinate (x, y, z);
step S2: acquiring an initial horizontal angle and a vertical angle of the photoelectric equipment with the holder, setting the horizontal initial angle of the holder as an angle of 0 degree, and enabling the side length of the horizontal initial angle to coincide with the positive direction of an X axis of a horizontal coordinate system; setting the vertical initial angle of the holder as 0 degree, and enabling the side length of the holder to coincide with the X-axis direction of a vertical coordinate system; the difference between the initial angle of the photoelectric equipment and a preset initial angle in a system is a deviation angle alpha;
s3, acquiring related data of the target object, and calculating the horizontal distance and the steering angle between the target object and the photoelectric equipment;
s4, controlling the photoelectric equipment to accurately steer the target object by calling a data control interface of the photoelectric equipment according to the horizontal distance and the steering angle between the target object and the photoelectric equipment;
and S5, after the steering control is finished, resetting the steering angle of the current photoelectric equipment holder to be the initial angle of the photoelectric equipment, and simultaneously recording the deviation angle of the difference between the initial angle and the initial angle.
Further, the step S3 is specifically that longitude and latitude coordinate values (LonA, latA) of the target object, the average radius R of the earth and the distance l between every two latitudes are received and obtained through a marine radar and a ship positioning device WD And the application scene is positioned in the northern hemisphere and the eastern hemisphere relative to the equator.
Further, the horizontal distance between the target object and the photoelectric device is calculated as follows:
1) Judging a target object coordinate quadrant: calculating a coordinate quadrant where the target object is located according to the longitude and latitude (LonA, latA) of the target object and the longitude and latitude (LonO, latO) of the origin:
in coordinate quadrant 1 condition: lonA-LonO >0 and LatA-LatO >0;
in coordinate quadrant 2 condition: lonA-LonO <0 and LatA-LatO >0;
in coordinate quadrant 3 condition: lonA-LonO <0 and LatA-LatO <0;
in coordinate quadrant 4 condition: lonA-LonO >0 and LatA-LatO <0;
2) Calculating the linear distance between the target object and the origin:
calculating the horizontal linear distance l between the target and the origin AO ：
The north-south spacing and the east-west spacing between the two are first calculated,
the north-south distance: l. the W‘D’ ＝|LatA-LatO|*l WD ，
East-west spacing: l. the J‘D’ ＝|LonA-LonO|*COS|LatA-LatO|*l WD ，
On the horizontal coordinate system, the straight-line distance l between the target and the origin AO And l is W‘D’ 、l J‘D’ Form a right triangle, wherein AO Is a bevel edge,/ J‘D’ Is adjacent side,/ W‘D’ Opposite side, then AO Can be calculated by the Pythagorean theorem, i.e.
Further, the steering angle includes a horizontal steering angle and a vertical angle.
Further, the calculation of the horizontal steering angle between the target object and the photoelectric device specifically includes:
according to the horizontal rectangular coordinate quadrant where the target object is located and the distance between the target object and the original point, the angle formed by the target object and the original point on the horizontal rectangular coordinate system and the positive direction of the X axis is as follows:
the target object is in quadrant 1, and the angle with the origin is as follows: θ = arctg (l) W‘D’ /l j‘D’ )+0×π；
The target object is in quadrant 2, and the angle with the origin is as follows:
the target object is in quadrant 3, and the angle with the origin is as follows:
the target object is in quadrant 4, and the angle between the target object and the origin is as follows:
further, the calculation of the vertical steering angle between the target object and the optoelectronic device is specifically as follows:
(1) Judging a target object coordinate quadrant:
(2) Acquiring the linear distance and the vertical distance between the target object and the origin, wherein the altitude installation height of the photoelectric equipment is the vertical distance h between the target object and the origin AO A linear distance between the two is l AO ；：
(3) And calculating the vertical angle of the target object and the origin according to the linear distance and the vertical distance between the target object and the origin.
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, automatic and accurate steering and distance measurement of the video equipment are realized through automatic calculation of the system, the complexity of video operation can be reduced for operation and maintenance first-aid repair personnel, and the emergency disposal efficiency is improved.
Drawings
FIG. 1 is a flow chart of the precision steering process of the optoelectronic device of the present invention;
FIG. 2 is a schematic diagram of the major components of an optoelectronic device in accordance with an embodiment of the present invention;
FIG. 3 is a model of a video horizontal steering scene in a horizontal rectangular coordinate system according to an embodiment of the present invention;
FIG. 4 is a video vertical steering scene model in a vertical rectangular coordinate system according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a horizontal steering positioning process of the optoelectronic device according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a vertical steering positioning process of an optoelectronic device according to an embodiment of the present invention.
Detailed Description
The invention is further explained by the following embodiments in conjunction with the drawings.
Referring to fig. 1, the invention provides a control method for realizing video pan-tilt steering based on longitude and latitude coordinates, comprising the following steps:
s1, acquiring longitude and latitude coordinates and altitude of the photoelectric equipment with the holder, constructing an initial coordinate system, and taking the longitude and latitude sum as an origin coordinate (x, y, z);
as shown in fig. 3, in the present embodiment, the absolute longitude and latitude coordinates of any monitored object are converted into coordinate positions (x ', y') with respect to the origin. The horizontal coordinate system is established for calculating the distance of the target object from the origin and the angle of horizontal rotation of the optoelectronic device from the initial position to the target position.
In the embodiment, any monitored object is considered to be located on a horizontal plane (height: 0 m), and the vertical angle of the rotation of the optoelectronic device to the target object can be calculated by the horizontal distance between the target object and the optoelectronic device and the known altitude-to-ground distance of the optoelectronic device, as shown in fig. 4.
Step S2: acquiring an initial horizontal angle and a vertical angle of the photoelectric equipment with the holder, setting the horizontal initial angle of the holder as an angle of 0 degree, and enabling the side length of the holder to coincide with the positive direction of an X axis of a horizontal coordinate system; setting the vertical initial angle of the holder as 0 degree, and enabling the side length of the holder to coincide with the X-axis direction of a vertical coordinate system; the difference between the initial angle of the photoelectric equipment and a preset initial angle in a system is a deviation angle alpha; as shown in FIGS. 3 and 4, it is assumed that the initial angle of the video device is in quadrant 1 of the rectangular coordinate system
S3, acquiring related data of the target object, and calculating the horizontal distance and the steering angle between the target object and the photoelectric equipment;
in the embodiment, longitude and latitude coordinate values (LonA, latA) of the target object are obtained by receiving the coordinates from the marine radar and the ship positioning device; the application scene is located in the north (north latitude) of the equator and in the east hemisphere (east longitude).
Horizontal distance and horizontal steering angle calculation process:
1) Judging a target object coordinate quadrant: calculating a coordinate quadrant where the target object is located according to the longitude and latitude (LonA, latA) of the target object and the longitude and latitude (LonO, latO) of the origin:
in coordinate quadrant 1 condition: lonA-LonO >0 and LatA-LatO >0
In coordinate quadrant 2 condition: lonA-LonO <0 and LatA-LatO >0
In coordinate quadrant 3 condition: lonA-LonO <0 and LatA-LatO <0
In coordinate quadrant 4 condition: lonA-LonO >0 and LatA-LatO <0
As shown in fig. 5, it is assumed here that the object is in quadrant 2.
2) Calculating the linear distance between the target object and the origin:
calculating the horizontal linear distance l between the target and the origin AO Firstly, calculating the north-south distance and the east-west distance between the two, wherein the north-south distance calculating method comprises the following steps: l W‘D’ ＝|LatA-LatO|*l WD The east-west space calculation method comprises the following steps: l J‘D’ ＝|LonA-LonO|*COS|LatA-LatO|*l WD At this time, on the horizontal coordinate system of the system, the straight-line distance l between the target and the origin AO And l is W‘D’ 、l J‘D’ Form a right triangle, wherein AO Is a beveled edge, l J‘D’ Is adjacent side, l W‘D’ Opposite side, then AO The length of (A) can be calculated by the Pythagorean theorem, i.e.
3) Calculating the horizontal angle between the target and the origin:
knowing the horizontal rectangular coordinate quadrant of the target object and the distance between the target object and the original point, the angle calculation mode formed by the target object and the original point on the horizontal rectangular coordinate system and the positive direction of the X axis is as follows:
the target object is in quadrant 1, and the angle with the origin is as follows: θ = arctg (l) W‘D’ /l J‘D’ )+0×π。
The target object is in quadrant 2, and the angle with the origin is as follows:
the angle between the target object and the origin in quadrant 3 is as follows:
the target object is in quadrant 4, and the angle with the origin is as follows:
as shown in FIG. 5, the angle of the target object is assumed to be in quadrant 2
Preferably, in this embodiment, the relationship between the horizontal deviation angle (α) of the optoelectronic device and the angle (θ) between the target and the origin is also considered, and the horizontal steering of the optoelectronic device is selected, so that the optoelectronic device can steer to the specified angle by the shortest path:
if theta-alpha is greater than 0 and less than or equal to 180, the horizontal deflection angle of the photoelectric equipment is | theta-alpha | (turning from right to left, namely anticlockwise);
if theta-alpha is less than 0, the horizontal deflection angle of the photoelectric device is- | theta-alpha | (turning from left to right, namely clockwise);
if θ - α >180, the horizontal deflection angle of the optoelectronic device is-360- θ + α (turning left to right, i.e., clockwise).
In fig. 5, the video pan-tilt will rotate from its initial position in a counter-clockwise direction to an angle theta-alpha.
2. Vertical angle calculation process:
1) Judging a target object coordinate quadrant:
since the optoelectronic device is installed above the horizontal plane, the monitored target is located on the horizontal plane, and therefore, the target is necessarily located in quadrant 3 or 4 on the vertical rectangular coordinate system built in the system, and since the maximum angle range of the video pan-tilt in the vertical direction of rotation is between 90 and-90 degrees, the target is located in quadrant 4 in the vertical rectangular coordinate system in any case, as shown in fig. 6.
2) Calculating the linear distance and the vertical distance between the target object and the origin:
since the target is located on the horizontal plane, the altitude installation height of the optoelectronic device is the vertical distance between the target and the origin (written as h) AO ) The straight-line distance between the two is already calculated when the horizontal steering angle is calculated, namely: l AO 。
3) Calculating the vertical angle of the target object and the origin:
due to the horizontal distance l between the photoelectric equipment and the target AO Has calculated the vertical height h of the target AO As is known, the angle between the target and the origin on the orthogonal coordinate system and the positive direction of the X-axis is calculated as follows:
because the actual maximum vertical steering angle range of the video device is 180 and the actual target positions are all located in quadrant 4 on the vertical rectangular coordinate system, the vertical deflection angle θ of the video device is given by: - |90-arcos (h) AO /l AO )|。
Preferably, the present embodiment further considers a relationship between a vertical deviation angle (α) of the optoelectronic device and an angle (θ) between the target and the origin, where the vertical deviation angle of the optoelectronic device is:
if theta-alpha is greater than 0 and less than or equal to 90, the vertical deflection angle of the photoelectric equipment is | theta-alpha | (the tripod head turns from bottom to top and shows a counterclockwise direction on a vertical coordinate system);
if theta-alpha is less than 0 and more than or equal to-90, the vertical deflection angle of the photoelectric equipment is- | theta + alpha | (the tripod head turns from top to bottom and is clockwise on a vertical coordinate system);
in fig. 6, the video pan-tilt will rotate from its initial position in a clockwise direction to an angle of θ + α.
S4, controlling the photoelectric equipment to accurately steer the target object by calling a data control interface of the photoelectric equipment according to the horizontal distance and the steering angle between the target object and the photoelectric equipment;
and S5, after the steering control is finished, resetting the steering angle of the current photoelectric equipment holder to be the initial angle of the photoelectric equipment, and simultaneously recording the deviation angle of the difference between the initial angle and the initial angle.
Preferably, referring to fig. 2, the optoelectronic device with a tripod head in this embodiment includes a tripod head, and a photosensitive unit, a laser lens, a thermal imaging lens, and a visible light lens that are disposed on the tripod head.
The above description is only a preferred embodiment of the present invention, and all the equivalent changes and modifications made according to the claims of the present invention should be covered by the present invention.
Claims (6)
1. A control method for realizing video pan-tilt steering based on longitude and latitude coordinates is characterized by comprising the following steps:
s1, acquiring longitude and latitude coordinates and altitude of the photoelectric equipment with the holder, constructing an initial coordinate system, and taking the longitude and latitude and the altitude as origin coordinates (x, y, z) of the photoelectric equipment;
step S2: acquiring an initial horizontal angle and a vertical angle of the photoelectric equipment with the holder, setting the horizontal initial angle of the holder as an angle of 0 degree, and enabling the side length of the holder to coincide with the positive direction of an X axis of a horizontal coordinate system; setting the vertical initial angle of the holder as 0 degree, and enabling the side length of the holder to coincide with the X-axis direction of a vertical coordinate system; the difference between the initial angle of the photoelectric equipment and a preset initial angle in a system is a deviation angle alpha;
s3, acquiring related data of the target object, and calculating the horizontal distance and the steering angle between the target object and the photoelectric equipment;
s4, controlling the photoelectric equipment to accurately steer the target object by calling a data control interface of the photoelectric equipment according to the horizontal distance and the steering angle between the target object and the photoelectric equipment;
and S5, after the steering control is finished, resetting the steering angle of the current photoelectric equipment holder to be the initial angle of the photoelectric equipment, and simultaneously recording the deviation angle of the difference between the initial angle and the initial angle.
2. The latitude and longitude based chair of claim 1The control method for realizing the video pan-tilt steering is characterized in that the step S3 is specifically that longitude and latitude coordinate values (LonA, latA) of a target object, the average radius R of the earth and the distance l between every two latitudes are received and obtained through a marine radar and a ship positioning device WD 。
3. The method for controlling a video pan/tilt/zoom based on latitude and longitude coordinates of claim 1, wherein the horizontal distance between the target and the optoelectronic device is calculated as follows:
1) Judging a target object coordinate quadrant: calculating a coordinate quadrant where the target object is located according to the longitude and latitude (LonA, latA) of the target object and the longitude and latitude (LonO, latO) of the origin:
in coordinate quadrant 1 condition: lonA-LonO >0 and LatA-LatO >0;
in coordinate quadrant 2 condition: lonA-LonO is less than 0 and LatA-LatO is more than 0;
in coordinate quadrant 3 condition: lonA-LonO is less than 0 and LatA-LatO is less than 0;
in coordinate quadrant 4 condition: lonA-LonO >0 and LatA-LatO <0;
2) Calculating the linear distance between the target object and the origin:
calculating the horizontal linear distance l between the target and the origin AO ：
The north-south spacing and the east-west spacing between the two are first calculated,
distance between north and south: l W‘D’ ＝|LatA-LatO|*l WD ，
East-west spacing: l J‘D’ ＝|LonA-LonO|*COS|LatA-LatO|*l WD ，
Wherein l WD For each distance between latitudes, on a horizontal coordinate system, a straight-line distance l is between the target and the origin AO And l is W‘D’ 、l J‘D’ Form a right triangle, wherein AO Is a bevel edge,/ J‘D’ Is adjacent side,/ W‘D’ Opposite side, then AO Can be calculated by the Pythagorean theorem, i.e.
4. The method of claim 1, wherein the steering angle comprises a horizontal steering angle and a vertical steering angle.
5. The method for controlling a video pan/tilt head steering based on latitude and longitude coordinates of claim 4, wherein the calculation of the horizontal steering angle between the target object and the electro-optical device is specifically as follows:
according to the quadrant of the horizontal rectangular coordinate where the target object is located and the distance between the target object and the original point, the angle formed by the target object and the original point on the horizontal rectangular coordinate system and the positive direction of the X axis is as follows:
the target object is in quadrant 1, and the angle with the origin is as follows: θ = arctg (l) W‘D’ /l J‘D’ )+0×π；
The target object is in quadrant 2, and the angle with the origin is as follows:
the angle between the target object and the origin in quadrant 3 is as follows:
the target object is in quadrant 4, and the angle between the target object and the origin is as follows:
wherein l W‘D’ At a north-south distance of J‘D’ East-west spacing.
6. The method for controlling a video pan/tilt head steering based on latitude and longitude coordinates of claim 4, wherein the calculation of the vertical steering angle between the target object and the electro-optical device is specifically as follows:
(1) Judging a target object coordinate quadrant:
(2) Acquiring the linear distance and the vertical distance between the target object and the origin, wherein the altitude installation height of the photoelectric equipment is the vertical distance h between the target object and the origin AO A linear distance between the two is l AO ；
(3) And calculating the vertical angle of the target object and the origin according to the linear distance and the vertical distance between the target object and the origin.
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| CN100531373C (en) * | 2007-06-05 | 2009-08-19 | 西安理工大学 | Video frequency motion target close-up trace monitoring method based on double-camera head linkage structure |
| CN102263933B (en) * | 2010-05-25 | 2013-04-10 | 浙江宇视科技有限公司 | Implement method and device for intelligent monitor |
| CN102665044A (en) * | 2012-04-01 | 2012-09-12 | 杭州天视智能系统有限公司 | Camera remote control method, device thereof and system thereof |
| CN102917171B (en) * | 2012-10-22 | 2015-11-18 | 中国南方电网有限责任公司超高压输电公司广州局 | Based on the small target auto-orientation method of pixel |
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| CN104320587A (en) * | 2014-11-12 | 2015-01-28 | 南京汉图信息技术有限公司 | Method for automatically obtaining shooting range of outdoor pan-tilt camera |
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| CN106888361A (en) * | 2015-12-11 | 2017-06-23 | 深圳市轻生活科技有限公司 | Video interactive control method and device |
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| CN107247458A (en) * | 2017-05-24 | 2017-10-13 | 中国电子科技集团公司第二十八研究所 | UAV Video image object alignment system, localization method and cloud platform control method |
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