CN112351208A - Automatic tracking method, system, equipment and medium for loading and unloading videos of unmanned vehicles - Google Patents
Automatic tracking method, system, equipment and medium for loading and unloading videos of unmanned vehicles Download PDFInfo
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- CN112351208A CN112351208A CN202011219670.4A CN202011219670A CN112351208A CN 112351208 A CN112351208 A CN 112351208A CN 202011219670 A CN202011219670 A CN 202011219670A CN 112351208 A CN112351208 A CN 112351208A
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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
- H04N23/67—Focus control based on electronic image sensor signals
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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
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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Abstract
The application provides an unmanned vehicle loading and unloading video automatic tracking method, system, equipment and medium, which comprises the following steps: shooting a preset position area by using a camera device capable of rotating and focusing; detecting whether an external signal containing position information of the loading and unloading truck is received; when the fact that an external signal is received is detected, the focal length and the rotation angle of the loading and unloading truck shot by the camera device are adjusted, so that a shot picture of the camera device displays a position area of the external signal, and the shot area of the camera device returns to a preset position area until the loading and unloading truck finishes loading and unloading. This application detects the positional information of loading and unloading goods wagon through external signal, utilizes external signal to trigger camera device and shoots in order to adjust camera device the focus and the rotation angle of loading and unloading goods wagon adjust camera device's shooting picture is in order to show the position area of external signal reaches the purpose of real-time tracking loading and unloading goods wagon to improve the video quality of shooing.
Description
Technical Field
The application belongs to the field of image processing, particularly relates to the field of metallurgy, and particularly relates to an unmanned traveling crane loading and unloading video automatic tracking method, system, equipment and medium.
Background
Steel mills need to store a large amount of scrap every year, and the scrap is transported mainly by trucks, for example, to load and unload the scrap in a designated area. However, the existing loading and unloading area is large, the loading and unloading positions of the trucks cannot be ensured due to the fact that more trucks are loaded and unloaded, and even if the trucks are provided with the camera device for shooting in a scrap steel plant, the camera device adopts a fixed position and a fixed visual angle to achieve fixed-point shooting, and the shot video quality cannot be ensured.
Disclosure of Invention
In view of the above disadvantages of the prior art, an object of the present application is to provide a method, a system, a device, and a medium for video automatic tracking of a loading and unloading vehicle of an unmanned traveling vehicle, which are used to solve the problems that the loading and unloading vehicle cannot be accurately tracked and photographed and the purpose of real-time monitoring of the loading and unloading vehicle cannot be achieved in the prior art.
In order to achieve the above and other related objects, the present application provides an automatic video tracking method for loading and unloading materials of an unmanned vehicle, comprising:
shooting a preset position area by using a camera device capable of rotating and focusing;
detecting whether an external signal containing position information of the loading and unloading truck is received;
when the fact that an external signal is received is detected, the focal length and the rotation angle of the loading and unloading truck shot by the camera device are adjusted, so that a shot picture of the camera device displays a position area of the external signal, and the shot area of the camera device returns to a preset position area until the loading and unloading truck finishes loading and unloading.
An object of the application is to provide an unmanned driving loading and unloading video automatic tracking system, include:
the camera module is used for shooting a preset position area by using a camera device capable of rotating and focusing;
the detection module is used for detecting whether an external signal containing position information of the loading and unloading truck is received or not;
and the video tracking module is used for adjusting the focal length and the rotation angle of the camera device for shooting the loading and unloading truck when receiving the external signal is detected, so that the shooting picture of the camera device displays the position area of the external signal, and the shooting area of the camera device returns to the preset position area until the loading and unloading truck finishes loading and unloading.
Another object of the present application is to provide an electronic device, comprising:
one or more processing devices;
a memory for storing one or more programs; when the one or more programs are executed by the one or more processing devices, the one or more processing devices are enabled to execute the unmanned vehicle loading and unloading video automatic tracking method.
It is a further object of the present application to provide a computer readable storage medium having a computer program stored thereon for causing the computer to execute the unmanned vehicle loading and unloading video automatic tracking.
As described above, the unmanned vehicle loading and unloading video automatic tracking method, system, device and medium of the present application have the following beneficial effects:
the position information of the loading and unloading truck is detected through an external signal, the camera device is triggered by the external signal to adjust the focal length and the rotation angle of the loading and unloading truck shot by the camera device, and the shot picture of the camera device is adjusted to display the position area of the external signal, so that the purpose of tracking the loading and unloading truck in real time is achieved, and the shot video quality is improved.
Drawings
FIG. 1 shows a flow chart of an unmanned vehicle loading and unloading video automatic tracking method provided by the present application;
FIG. 2 is a view showing a setting scene of a camera device in a scrap steel plant according to the present invention;
fig. 3 is a schematic view illustrating a scene of a rotational zooming of an image capturing apparatus when an external signal is input according to the present application;
FIG. 4 is a flowchart illustrating an exemplary method for video tracking of unmanned vehicle loading and unloading;
FIG. 5 is a block diagram of an unmanned vehicle loading and unloading video automatic tracking system provided by the present application;
fig. 6 shows a schematic structural diagram of an electronic device provided in the present application.
Detailed Description
The following description of the embodiments of the present application is provided by way of specific examples, and other advantages and effects of the present application will be readily apparent to those skilled in the art from the disclosure herein. The present application is capable of other and different embodiments and its several details are capable of modifications and/or changes in various respects, all without departing from the spirit of the present application. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present application, and the drawings only show the components related to the present application and are not drawn according to the number, shape and size of the components in actual implementation, and the type, number and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
Referring to fig. 1, a flow chart of an automatic video tracking method for loading and unloading materials of an unmanned vehicle provided by the present application includes:
step S1, shooting a preset position area by using a camera capable of rotating and focusing;
specifically, an image pickup apparatus that can rotate focus, for example, an image pickup apparatus that can rotate a lens, and the image pickup apparatus includes an auto-focus function.
For example, the camera device is arranged on a beam of a scrap steel plant to shoot a preset position area, and an initial shooting area of the camera, namely the preset position area, is set according to scene conditions by arranging the camera device (camera) capable of rotating and focusing on the beam of the scrap steel plant; the standard format of the Preset location area Preset is:
in the formula, Presetxmin、PresetyminRespectively, the coordinates of the upper left corner X, Y of the Preset photographing region, Presetxmax、Preset ymaxThe coordinates are X, Y at the lower right corner of each preset shooting area, as shown in fig. 2 in detail, each preset position area at least corresponds to one camera device so as to be capable of accurately acquiring images in the current area, and the coordinate system is established in the real scene of the scrap steel plant and corresponds to the real position in the site.
Step S2, detecting whether an external signal containing position information of the loading and unloading truck is received;
specifically, the camera device is connected with an external device or an external system capable of detecting external information of the loading and unloading truck so as to receive an external signal containing position information of the loading and unloading truck, for example, the loading and unloading truck can be accurately sensed by combining a sensor and a camera, so that timely external signal triggering is realized.
And step S3, when the fact that the external signal is received is detected, adjusting the focal length and the rotation angle of the camera device for shooting the loading and unloading truck, enabling the shooting picture of the camera device to display the position area of the external signal, and returning the shooting area of the camera device to a preset position area until the loading and unloading truck finishes loading and unloading.
Specifically, the position information Van of the external signal has a standard format:
in the formula, Vanxmin、VanyminRespectively, coordinates, Van, of the top left corner X, Y of the truck position information transmitted from the outsidexmax、VanymaxCoordinates of a lower right corner X, Y of truck position information respectively transmitted from the outside;
Vanxmin、Vanymin、Vanxmax、Vanymaxposition information according to the Preset position area Preset, (Van)xmin、Vanymin) As origin of coordinates, Presetxmin—>PresetxmaxThe direction is the positive X-axis direction, Presetymin—>PresetymaxA coordinate system is established for the positive direction of the Y axis, and the coordinate system is coordinate information of the loading and unloading truck relative to a preset position area;
adjusting the focal length and the rotation angle of the loading and unloading truck according to the position information of the loading and unloading truck input by the external signal, so that the shooting picture of the camera device is reduced to the position area of the external signal;
in the formula, RotateupRotate angle upward, RotatedownRotate angle downwards, RotateleftTo Rotate the angle to the left, RotaterightTo rotate the angle to the right, Focus is the specific focal segment that needs to be adjusted to.
As shown in fig. 3 in detail, the position information of the external signal loading and unloading truck is compared with the position information of the preset position area, so as to obtain the rotation angle and the focal length adjustment mode of the camera device, for example, according to the input loading and unloading truck position information, the obtained rotation angle and the specific focal length are transmitted to an SDK (development kit matched with an industrial camera) for calling, and the camera is rotated and focused; and reducing the shooting picture of the camera device to fully display the position area of the external signal, or amplifying the shooting picture of the camera device to display the position area of the external signal, thereby realizing automatic monitoring and automatic tracking of the loading and unloading truck.
Referring to fig. 3, a flowchart of an embodiment of an automatic video tracking method for loading and unloading materials of an unmanned vehicle provided by the present application is detailed as follows:
on the basis of the above embodiment, the method further includes:
and 4, when no external signal is detected to be received, keeping the shooting area of the camera device unchanged and still being the preset position area.
In the embodiment, a camera capable of rotating and focusing is arranged on a beam of a scrap steel plant, and the camera is arranged for shooting a preset position area; connecting the camera with an external system or external equipment capable of detecting position information of the loading and unloading truck, and receiving an external position signal; detecting that an external signal is transmitted, namely, the 'presence' indicates that the truck is loading and unloading materials, and the 'absence' indicates that no truck is loading and unloading materials; when the external signal is detected to be transmitted, the rotation angle and the focal length of the camera are adjusted, so that the shooting picture is reduced to the position area where the external signal is transmitted, when the train finishes loading and unloading, the external signal is transmitted again, at the moment, the external signal is 'no', and the shooting area of the camera is adjusted to be restored to the initial preset position area.
Referring to fig. 5, a flow chart of an automatic video tracking system for loading and unloading materials of an unmanned vehicle provided by the present application includes:
the camera module 1 is used for shooting a preset position area by using a camera device capable of rotating and focusing;
the detection module 2 is used for detecting whether an external signal containing position information of the loading and unloading truck is received or not;
and the video tracking module 3 is used for adjusting the focal length and the rotation angle of the camera device for shooting the loading and unloading truck when receiving the external signal is detected, so that the shooting picture of the camera device displays the position area of the external signal, and returning the shooting area of the camera device to a preset position area until the loading and unloading truck finishes loading and unloading.
On the basis, the method also comprises the following steps: and the video recording module 4 is used for keeping the shooting area of the camera device unchanged and still being the preset position area when no external signal is detected to be received.
It should be noted that the unmanned driving loading and unloading video automatic tracking method and the unmanned driving loading and unloading video automatic tracking system are in a one-to-one correspondence relationship, and here, technical details and technical effects related to the unmanned driving loading and unloading video automatic tracking system are the same as those of the identification method, and are not repeated herein, please refer to the unmanned driving loading and unloading video automatic tracking method.
Referring now to fig. 6, a schematic diagram of an electronic device (e.g., a terminal device or server 500) suitable for implementing embodiments of the present disclosure is shown, where the terminal device in the embodiments of the present disclosure may include, but is not limited to, a mobile terminal such as a mobile phone, a notebook computer, a digital broadcast receiver, a PDA (personal digital assistant), a PAD (tablet), a PMP (portable multimedia player), a vehicle terminal (e.g., a car navigation terminal), etc., and a fixed terminal such as a digital TV, a desktop computer, etc. the electronic device shown in fig. 4 is only one example and should not bring any limitations to the functions and scope of use of the embodiments of the present disclosure.
As shown in fig. 6, electronic device 500 may include a processing means (e.g., central processing unit, graphics processor, etc.) 501 that may perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM)502 or a program loaded from a storage means 508 into a Random Access Memory (RAM) 503. In the RAM503, various programs and data necessary for the operation of the electronic apparatus 500 are also stored. The processing device 501, the ROM502, and the RAM503 are connected to each other through a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.
Generally, the following devices may be connected to the I/O interface 505: input devices 506 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; output devices 507 including, for example, a Liquid Crystal Display (LCD), speakers, vibrators, and the like; storage devices 508 including, for example, magnetic tape, hard disk, etc.; and a communication device 509. The communication means 509 may allow the electronic device 500 to communicate with other devices wirelessly or by wire to exchange data. While fig. 6 illustrates an electronic device 500 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided.
In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication means 509, or installed from the storage means 508, or installed from the ROM 502. The computer program performs the above-described functions defined in the methods of the embodiments of the present disclosure when executed by the processing device 501.
The computer readable medium may be embodied in the electronic device; or may exist separately without being assembled into the electronic device.
The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: the method of the above-described steps S1 to S4 is performed.
Computer program code for carrying out operations for aspects of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
To sum up, this application detects the positional information of loading and unloading goods wagon through external signal, utilizes external signal to trigger camera device and shoots in order to adjust camera device the focus and the rotation angle of loading and unloading goods wagon adjust camera device's shooting picture is in order to show the positional area of external signal reaches the purpose of real-time tracking loading and unloading goods wagon to improve the video quality of shooing.
The above embodiments are merely illustrative of the principles and utilities of the present application and are not intended to limit the application. Any person skilled in the art can modify or change the above-described embodiments without departing from the spirit and scope of the present application. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical concepts disclosed in the present application shall be covered by the claims of the present application.
Claims (10)
1. An automatic video tracking method for loading and unloading materials of an unmanned vehicle is characterized by comprising the following steps:
shooting a preset position area by using a camera device capable of rotating and focusing;
detecting whether an external signal containing position information of the loading and unloading truck is received;
when the fact that an external signal is received is detected, the focal length and the rotation angle of the loading and unloading truck shot by the camera device are adjusted, so that a shot picture of the camera device displays a position area of the external signal, and the shot area of the camera device returns to a preset position area until the loading and unloading truck finishes loading and unloading.
2. The unmanned aerial vehicle loading and unloading video automatic tracking method according to claim 1, further comprising: when no external signal is detected to be received, the shooting area of the camera device is kept unchanged and is a preset position area.
3. The unmanned aerial vehicle loading and unloading video automatic tracking method according to claim 1 or 2, wherein the camera device is mounted on a beam of a scrap plant for shooting a preset position area.
4. The video automatic tracking method for unmanned aerial vehicle loading and unloading materials according to claim 1 or 2, wherein the camera device is connected with an external device or an external system capable of detecting external information of the loading and unloading materials so as to receive external signals containing position information of the loading and unloading materials.
5. The unmanned aerial vehicle loading and unloading video automatic tracking method according to claim 1, wherein the standard format of the preset position area is as follows:
in the formula, Presetxmin、PresetyminRespectively, the coordinates of the upper left corner X, Y of the Preset photographing region, Presetxmax、PresetymaxRespectively, the coordinates of the lower right corner X, Y of the preset shooting area.
6. The unmanned vehicle loading and unloading video automatic tracking method according to claim 1 or 5, wherein the step of adjusting the focal distance and the rotation angle of the camera device for shooting the loading and unloading truck so that the shot picture of the camera device displays the position area of the external signal comprises:
the position information Van of the external signal has a standard format:
in the formula, Vanxmin、VanyminRespectively, coordinates, Van, of the top left corner X, Y of the truck position information transmitted from the outsidexmax、VanymaxCoordinates of a lower right corner X, Y of truck position information respectively transmitted from the outside;
Vanxmin、Vanymin、Vanxmax、Vanymaxposition information according to the Preset position area Preset, (Van)xmin、Vanymin) As origin of coordinates, Presetxmin—>PresetxmaxThe direction is the positive X-axis direction, Presetymin—>PresetymaxA coordinate system is established for the positive direction of the Y axis, and the coordinate system is coordinate information of the loading and unloading truck relative to a preset position area;
adjusting the focal length and the rotation angle of the loading and unloading truck according to the following mode by utilizing the position information of the loading and unloading truck input by the external signal, and amplifying the shooting picture of the camera device to display the position area of the external signal;
in the formula, RotateupRotate angle upward, RotatedownRotate angle downwards, RotateleftTo Rotate the angle to the left, RotaterightTo rotate the angle to the right, Focus is the specific focal segment that needs to be adjusted to.
7. The utility model provides an unmanned driving loading and unloading video automatic tracking system which characterized in that still includes:
the camera module is used for shooting a preset position area by using a camera device capable of rotating and focusing;
the detection module is used for detecting whether an external signal containing position information of the loading and unloading truck is received or not;
and the video tracking module is used for adjusting the focal length and the rotation angle of the camera device for shooting the loading and unloading truck when receiving the external signal is detected, so that the shooting picture of the camera device displays the position area of the external signal, and the shooting area of the camera device returns to the preset position area until the loading and unloading truck finishes loading and unloading.
8. The unmanned aerial vehicle loading and unloading video automatic tracking system of claim 7, further comprising:
and the video recording module is used for keeping the shooting area of the camera device unchanged and still being the preset position area when no external signal is detected to be received.
9. An electronic device, characterized in that: the method comprises the following steps:
one or more processing devices;
a memory for storing one or more programs; when executed by the one or more processing devices, cause the one or more processing devices to implement the unmanned vehicle cargo handling video auto-tracking method of any of claims 1 to 7.
10. A computer-readable storage medium having stored thereon a computer program for causing a computer to execute the unmanned vehicular loading and unloading video automatic tracking method according to any one of claims 1 to 7.
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Address after: 401329 No. 5-6, building 2, No. 66, Nongke Avenue, Baishiyi Town, Jiulongpo District, Chongqing Applicant after: MCC CCID information technology (Chongqing) Co.,Ltd. Address before: 20-24 / F, No.7 Longjing Road, North New District, Yubei District, Chongqing Applicant before: CISDI CHONGQING INFORMATION TECHNOLOGY Co.,Ltd. |
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Application publication date: 20210209 |