CN112714287A - Pan-tilt target conversion control method, device, equipment and storage medium - Google Patents

Pan-tilt target conversion control method, device, equipment and storage medium Download PDF

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Publication number
CN112714287A
CN112714287A CN202011543459.8A CN202011543459A CN112714287A CN 112714287 A CN112714287 A CN 112714287A CN 202011543459 A CN202011543459 A CN 202011543459A CN 112714287 A CN112714287 A CN 112714287A
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CN
China
Prior art keywords
target object
target
distance
pan
image
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CN202011543459.8A
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Chinese (zh)
Inventor
李培俊
李方
陈曦
付守海
周伟亮
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Guangdong Keystar Intelligence Robot Co ltd
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Guangdong Keystar Intelligence Robot Co ltd
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Priority to CN202011543459.8A priority Critical patent/CN112714287A/en
Publication of CN112714287A publication Critical patent/CN112714287A/en
Priority to PCT/CN2021/099420 priority patent/WO2022134490A1/en
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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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • G05D3/20—Control of position or direction using feedback using a digital comparing device
    • 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
    • H04N23/61—Control of cameras or camera modules based on recognised objects
    • 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

Abstract

The invention relates to a method, a device, equipment and a storage medium for controlling the conversion of a holder target, wherein the method comprises the steps of acquiring a first image of a target object shot by holder equipment under a first multiple; determining the position of the target object in the first image as the initial position of the target object in the shooting area of the holder equipment; selecting a triangular model matched with the actual distance between the holder equipment and the target object, and calculating the rotation parameters required by the holder equipment when the target object is moved from the initial position to the target position of the shooting area; and controlling the holder equipment to rotate according to the rotation parameters so that the holder equipment rotates to a target position where the target object is located in the shooting area, and shooting by a second multiple to obtain a second image of the target object, so that the rapidity and the accuracy of the rotation parameters of the holder equipment are determined, the holder target conversion control is more stable and smooth, and the control time is saved.

Description

Pan-tilt target conversion control method, device, equipment and storage medium
Technical Field
The invention relates to the technical field of detection robots, in particular to a method, a device, equipment and a storage medium for controlling cloud deck target conversion.
Background
Generally, a high-voltage transmission line is arranged in the open air and needs to be periodically inspected and maintained. The obstacle crossing robot can cross obstacles such as a high-voltage tower or a line hardware fitting and the like, penetrate through the high-voltage transmission line, and detect hidden danger defects of the high-voltage transmission line and the high-voltage tower in the high-voltage transmission line.
At present, an upper computer can be used to send a control instruction to an obstacle crossing robot at the background so as to control the obstacle crossing robot to move on a high-voltage power transmission line and control a holder on the obstacle crossing robot to record a scene picture. And a background analyst can analyze the hidden danger and defect conditions of the high-voltage transmission line according to the field picture.
Furthermore, when a cloud platform on the obstacle crossing robot is controlled to record the scene picture, a control instruction can be sent to the cloud platform so as to control the cloud platform to execute operations such as adjusting the rotation angle, the shooting multiple and the shooting focal length.
It should be noted that, when the pan/tilt head is manually controlled to move to obtain an image of a target area, since even if the position of the camera is slightly adjusted in the case of a high magnification of the camera, a large-scale shake of the image capturing area is easily caused, which causes instability of control, and thus there is a problem that the pan/tilt head cannot be manually positioned to the image capturing target area quickly.
Disclosure of Invention
The invention aims to provide a method, a device, equipment and a storage medium for controlling the target conversion of a holder, so that the rapidity and the accuracy of the rotation parameters of the holder equipment are determined, the target conversion control of the holder is more stable and smoother, and the technical effect of saving the control time is achieved.
In order to achieve the above object, a first aspect of the present application provides a pan-tilt target switching control method, including:
acquiring a first image shot by holder equipment under a first multiple;
determining the position of a target object in the first image as the initial position of the target object in the shooting area of the pan-tilt equipment;
selecting a triangular model matched with the actual distance between the holder equipment and the target object, and calculating a rotation parameter required by the holder equipment when the target object is moved from the initial position to the target position of the shooting area, wherein the vertex of the triangular model is used for respectively representing the positions of the holder equipment, the target object before relative movement and the target object after relative movement in the space;
and controlling the holder equipment by using the rotation parameters so as to enable the holder equipment to rotate to the target position of the target object in the shooting area, and shooting by a second multiple to obtain a second image.
Further, the determining the position of the target object in the first image as the initial position of the target object in the image capturing area of the pan/tilt apparatus includes:
displaying the first image;
receiving a first user operation acting on the first image;
in response to the first user operation, drawing a target area in an area where the target object is located in the first image;
and determining the central position of the target area as the initial position of the target object in the shooting area of the holder equipment.
Further, the determining the position of the target object in the first image as the initial position of the target object in the image capturing area of the pan/tilt apparatus includes:
preprocessing the first image and extracting image features from the first image;
inputting the image characteristics into a target recognition model to recognize a target area where a target object is located in the first image;
and determining the central position of the target area as the initial position of the target object in the shooting area of the holder equipment.
Further, the selecting a triangle model matching with the actual distance between the pan-tilt apparatus and the target object, and calculating the rotation parameters required by the pan-tilt apparatus when moving the target object from the initial position to the target position of the image capture area, includes:
taking the difference between the initial position and the target position as a pixel moving distance of the target object moving in the image pickup area;
converting the pixel moving distance into an actual moving distance of the target object moving relative to the holder equipment according to a linear corresponding relation between the actual distance and the pixel distance which is measured in advance;
selecting a triangular model based on the actual distance between the holder equipment and the target object, wherein the triangular model is used for representing a spatial triangular relation formed among the holder equipment, the target object before relative movement and the target object after relative movement, and calculating to obtain the rotation angle of the holder equipment by using the actual movement distance;
and taking the rotation angle as a rotation parameter of the holder equipment.
Further, when the actual distance between the pan and tilt apparatus and the target object exceeds a preset distance threshold, the pan and tilt apparatus, the target object before the relative movement and the target object after the relative movement form an isosceles triangle in space;
selecting a triangular model based on the actual distance between the pan-tilt device and the target object, wherein the triangular model is used for representing a spatial triangular relationship formed among the pan-tilt device, the target object before relative movement and the target object after relative movement, and calculating the rotation angle of the pan-tilt device by using the actual movement distance, and the method comprises the following steps:
determining an actual distance between the pan-tilt apparatus and the target object;
taking the actual distance as the length of the waist of the isosceles triangle and the actual moving distance as the length of the bottom edge of the isosceles triangle, and solving the angle of the diagonal angle of the bottom edge based on the cosine law of the triangle;
and determining the angle of the bottom edge as the rotation angle of the holder equipment.
Further, the determining an actual distance between the pan/tilt apparatus and the target object includes:
acquiring the actual size of the target object;
determining a pixel size of the target object in the first image;
determining a ratio between the pixel size and the actual size as an actual proportion;
taking the ratio between the actual distance corresponding to the calibration position and the pixel distance which are measured in advance when the calibration object is away from the holder equipment by a unit distance as a reference ratio;
determining the ratio of the actual proportion to the reference proportion as a distance multiple;
and taking the product of the distance multiple and the unit distance as the actual distance between the holder equipment and the target object.
Further, the determining an actual distance between the pan/tilt apparatus and the target object includes:
moving the holder equipment to a preset point on the periphery of the target object;
acquiring a target distance between the preset point and the target object;
and taking the target distance as the actual distance between the holder equipment and the target object.
Further, when the actual distance between the pan and tilt equipment and the target object is less than or equal to a preset distance threshold, the pan and tilt equipment, the target object before relative movement and the target object after relative movement form a right triangle in space; a right-angle side of the right-angle triangle corresponds to a connecting line between the target object before the relative movement and the target object after the relative movement; the other right-angle side corresponds to a connecting line between the target object and the holder device after the relative movement; the bevel edge corresponds to a connecting line between the target object and the holder device before relative movement;
selecting a triangular model based on the actual distance between the pan-tilt device and the target object, wherein the triangular model is used for representing a spatial triangular relationship formed among the pan-tilt device, the target object before relative movement and the target object after relative movement, and calculating the rotation angle of the pan-tilt device by using the actual movement distance, and the method comprises the following steps:
taking the actual distance between the target object after the relative movement and the holder equipment as a first distance;
calculating the ratio of the actual moving distance to the first distance;
calculating an arc tangent value corresponding to the ratio;
and determining the arc tangent value as the rotation angle of the holder equipment.
Further, before the converting the pixel moving distance into an actual moving distance of the target object moving relative to the pan/tilt head apparatus according to a linear correspondence relationship between an actual distance and a pixel distance measured in advance, the method further includes:
and calibrating the camera device in the holder equipment to obtain the linear corresponding relation between the actual distance and the pixel distance corresponding to the camera device.
Further, before the second image is obtained by shooting at the second multiple, the method further comprises:
determining a target proportion of the target object in the image pickup area when the target object is moved to a target position of the image pickup area;
determining that the target object occupies the original proportion of the first image in the first image;
taking the ratio of the target proportion to the original proportion as a magnification factor;
and taking the product of the first multiple and the amplification factor as a second multiple.
In order to achieve the above object, a second aspect of the present application provides a pan/tilt target switching control apparatus, including:
the first image acquisition module is used for acquiring a first image of a target object shot by the holder equipment under a first multiple;
an initial position determining module, configured to determine a position of the target object in the first image as an initial position of the target object in an image capturing area of the pan/tilt/zoom apparatus;
a rotation parameter calculation module, configured to select a triangle model that matches an actual distance between the pan-tilt apparatus and the target object, and calculate a rotation parameter required by the pan-tilt apparatus when the target object is moved from the initial position to a target position of the image capture area, where vertices of the triangle model are used to respectively represent positions of the pan-tilt apparatus, the target object before the relative movement, and the target object after the relative movement in space;
and the second image acquisition module is used for controlling the holder equipment to rotate according to the rotation parameters so as to enable the holder equipment to rotate to the target position of the target object in the shooting area, and shooting by a second multiple to obtain a second image of the target object.
To achieve the above object, a third aspect of the present application provides a pan/tilt target switching control apparatus, comprising: a memory and one or more processors;
the memory for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the pan/tilt/target switching control method according to any one of the first aspect.
To achieve the above object, a fourth aspect of the present application provides a storage medium containing computer-executable instructions for performing the pan/tilt head target switching control method according to any one of the first aspect when executed by a computer processor.
As can be seen from the above, according to the technical scheme provided by the application, a first image of a target object shot by a pan-tilt device under a first multiple is obtained; determining the position of the target object in the first image as an initial position of the target object in an image pickup area of the pan-tilt equipment; selecting a triangular model matched with the actual distance between the holder equipment and the target object, and calculating a rotation parameter required by the holder equipment when the target object is moved from the initial position to the target position of the shooting area, wherein the vertex of the triangular model is used for respectively representing the positions of the holder equipment, the target object before relative movement and the target object after relative movement in the space; and controlling the holder equipment to rotate according to the rotation parameters so as to enable the holder equipment to rotate to the target position of the target object in the shooting area, and shooting by a second multiple to obtain a second image of the target object, so that the rapidity and the accuracy of determining the rotation parameters of the holder equipment are realized, the holder target conversion control is more stable and smooth, and the technical effect of saving the control time is achieved.
Drawings
Fig. 1A is a flowchart of a pan-tilt target switching control method provided in embodiment 1 of the present invention;
fig. 1B is a schematic diagram of a target object located at an initial position according to embodiment 1 of the present invention;
fig. 1C is a schematic diagram of a target object moving in an imaging region according to embodiment 1 of the present invention;
fig. 1D is a schematic view of spatial positions of a pan-tilt apparatus, a target object before relative movement, and a target object after relative movement according to embodiment 1 of the present invention;
fig. 1E is a schematic view of spatial positions of another pan-tilt apparatus, a target object before relative movement, and a target object after relative movement according to embodiment 1 of the present invention;
fig. 2 is a schematic structural diagram of a pan-tilt target switching control device provided in embodiment 2 of the present invention;
fig. 3 is a schematic structural diagram of a pan-tilt target switching control device according to embodiment 3 of the present invention.
Detailed Description
The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
Example 1
The application provides a cloud deck target conversion control method, which can be executed by a cloud deck target conversion control device, wherein the cloud deck target conversion control device can be realized in a software and/or hardware mode and is integrated in cloud deck target conversion control equipment. Optionally, the pan/tilt target switching control device may be an upper computer of the pan/tilt device, where the upper computer includes, but is not limited to, a computer, a server, and other terminals. In this embodiment, a detailed description will be given by taking an example in which the pan/tilt target switching control apparatus is a server.
Fig. 1A is a flowchart of a pan-tilt target switching control method provided in embodiment 1 of the present invention. Referring to fig. 1A, the method may include the steps of:
s110, acquiring a first image of the target object shot by the holder device under the first multiple.
In this embodiment, can be applied to the remote control to the cloud platform equipment in the robot that hinders more. Specifically, the obstacle crossing robot can move on a high-voltage transmission line and record images or images in the high-voltage transmission line through holder equipment. Furthermore, the self or surrounding environment of the high-voltage transmission line can be analyzed based on the image or the image, and fault detection and maintenance can be performed in time.
Generally, on one hand, the upper computer can send a control instruction to the obstacle crossing robot to control the obstacle crossing robot to move along the high-voltage power transmission line; on the other hand, a control instruction can be sent to the holder equipment on the obstacle crossing robot so as to control the rotation, the shooting and other operations of the holder equipment.
In this embodiment, the target object is an object that needs to be focused and shot. Exemplarily, for an obstacle crossing robot for detecting a high voltage transmission line, the target object is a key component in the high voltage transmission line, such as an insulator string vertically suspended at a tower head, and a vibration damper.
In this embodiment, the upper computer can control the process that the obstacle crossing robot advances, and the cloud platform equipment is controlled to shoot the first image on aiming at high tension transmission line simultaneously.
It should be noted that, in this embodiment, the first multiple may be configured as a low multiple, such as 1 multiple, so that the pan-tilt apparatus may acquire as many views as possible on the obstacle crossing robot travel path.
In addition, in this embodiment, a target object in an image, such as the target object in the first image described in this embodiment, refers to a pixel point corresponding to an actual target object in the first image.
And S120, determining the position of the target object in the first image as the initial position of the target object in the shooting area of the holder equipment.
In this embodiment, the relative position of the target object in the imaging region refers to a position where the actual target object is projected to the imaging region through an imaging element such as a convex lens in the imaging device. Further, for a light-sensing type image pickup apparatus, the image pickup region may correspond to a light-sensing region of the image pickup apparatus. In short, the image pickup area corresponds to an area range that can be picked up by the image pickup device, that is, an area range seen by an image picked up by the image pickup device.
Generally, target objects are distributed at different positions in a traveling path of the obstacle crossing robot, and when the pan-tilt equipment records with the same rotation angle, the target objects are easily at the edge positions of a camera shooting area, which is not beneficial to clearly acquiring images corresponding to the target objects, and is also not beneficial to performing fault analysis on the target objects based on subsequent images.
In this embodiment, in order to obtain a clear image of the target object in time, the pan/tilt apparatus may be controlled to rotate, that is, the shooting angle of the pan/tilt apparatus is adjusted, so that the target object falls on the target position in the shooting area. The target position is closer to the center of the imaging region than the edge position. The target position can of course be set directly as the geometric center of the image capture area.
Fig. 1B is a schematic diagram of a target object located at an initial position according to embodiment 1 of the present invention. Referring to fig. 1B, in this embodiment, a target region where a target object is located may be identified in the first image, and a geometric center of the target region may be used as an initial position of the target object in the imaging region. As shown in fig. 1B, the target area of 3 target objects (insulator strings) is identified by using 3 rectangular boxes, and the geometric center of the rectangular box can be used as the position of the target object in the first image, that is, the initial position of the target object in the image capture area.
Specifically, in this embodiment, the determining the initial position of the target object in the image capturing area of the pan/tilt apparatus may be performed in two ways, including: manual and automatic.
1. Manually operated mode
In this embodiment, the upper computer may receive the first image from the pan/tilt apparatus, and display the first image; then, receiving a first user operation acting on the first image, such as a user operation of a picture frame; responding to a first user operation, and drawing a target area in an area where a target object is located in a first image; and determining the central position of the target area as the initial position of the target object in the camera shooting area of the holder equipment.
Wherein, the central position is the geometric center of the target area. If the target area is a rectangular frame, the central position is the center of the rectangular frame; for another example, when the target area is a circular frame, the central position is the center of the circular frame.
2. Automatic mode
In this embodiment, a preprocessing operation may be performed on the first image, and image features may be extracted from the first image; inputting the image characteristics into a target recognition model to recognize a target area where a target object is located in a first image; and determining the central position of the target area as the initial position of the target object in the camera shooting area of the holder equipment.
The preprocessing operation can use an image noise reduction algorithm to remove noise interference generated by a camera device or an external environment so as to obtain a first image with few noise points and high definition; an image enhancement algorithm may also be used to improve the contrast of the first image, increase or decrease edge information of the target object, etc. Specifically, the contrast can be stretched to enhance the dynamic range of the gray scale; histogram equalization may also be used to perform equalization processing and the like on the global image.
Further, the image feature may be an edge feature in the first image, or the like. The target recognition model can adopt target detection algorithms such as MobileNet-SSD, YOLO, Faster-RCNN, FPN and the like. Preferably, the object recognition model can be set to a model using the MobileNet-SSD object detection algorithm.
Further, after the image features are input into the target recognition model, the type of the target object can be recognized through the recognition processing of the target recognition model, and the position and the size of the target area of the target object in the image can also be recognized. Accordingly, a rectangular frame may be drawn in the first image according to the position and the size, for identifying the target area where the target object is located.
Further, the center position of the target area may be used as the initial position of the target object in the image capturing area of the pan/tilt head device.
And S130, calculating rotation parameters required by the holder equipment when the target object is moved from the initial position to the target position of the shooting area.
In this embodiment, the rotation parameter may correspond to a rotation angle. In addition, the holder device can rotate in several dimensions, and can correspond to several groups of rotation angles. For example, the pan/tilt apparatus may rotate in a vertical direction and a horizontal direction, and the rotation parameter may correspond to a rotation angle of the pan/tilt apparatus in the vertical direction and a rotation angle of the pan/tilt apparatus in the horizontal direction.
In this embodiment, when the pan/tilt apparatus rotates, the corresponding image in the image capturing area of the image capturing device on the pan/tilt apparatus also changes. That is, as the pan/tilt head apparatus rotates, the relative position of the target object in the imaging region also rotates, and the two are in a linear correspondence relationship.
In a specific embodiment, fig. 1C is a schematic diagram illustrating a target object moving in an imaging area according to embodiment 1 of the present invention. Referring to fig. 1C, in the present embodiment, when the pan/tilt apparatus photographs the high-voltage power transmission line at the first photographing angle, the target object (the vibration damper) is located at the upper right of the photographing region. When the pan/tilt head apparatus rotates from the first imaging angle to the second imaging angle at the rotation angle α, the target object (vibration damper) is located at the geometric center of the imaging area.
In this embodiment, based on the linear correspondence of the rotation, the rotation parameter required by the pan/tilt apparatus when the target object moves to the target position, such as the rotation angle α in fig. 1C, can be calculated. It should be noted that, when the pan/tilt head apparatus can rotate in the vertical direction and the horizontal direction, the rotation angle α can be expressed as (α)x，αy) Wherein α isxCan be used to indicate the rotation angle, alpha, in the horizontal directionyMay be used to indicate the angle of rotation in the vertical direction.
Further, in this embodiment, step S130 may be subdivided into steps S131 to S134:
s131, selecting a triangular model matched with the actual distance between the holder equipment and the target object, and calculating a rotation parameter required by the holder equipment when the target object is moved from the initial position to the target position of the shooting area;
and the vertex of the triangular model is used for respectively representing the positions of the holder equipment, the target object before relative movement and the target object after relative movement in the space.
In this embodiment, when the pan/tilt apparatus can rotate in the vertical direction and the horizontal direction, the rotation angle in the horizontal direction and the rotation angle in the vertical direction can be solved respectively. And then, controlling the holder equipment to rotate in the vertical direction and the horizontal direction respectively.
In the present embodiment, an example of solving a rotation parameter (rotation angle) in the horizontal direction will be described.
Specifically, assume that the horizontal coordinate of the initial position of the target object in the imaging region is xoThe horizontal coordinate of the target position is x1Then the pixel moving distance dpix of the target object moving in the camera shooting areaxCan be expressed as (x)1-x0)。
And S132, converting the pixel moving distance into the actual moving distance of the target object moving relative to the holder equipment according to the linear corresponding relation between the actual distance and the pixel distance which is measured in advance.
In this embodiment, the camera device in the pan/tilt apparatus may be calibrated to obtain the linear correspondence between the actual distance and the pixel distance corresponding to the camera device.
For example, the calibration method may be as follows: a calibration object is provided, and the calibration object can be made of 0.285m by 0.289m square paperboard. When the distances D between the camera and the calibration object are 1, 2, 3, 4 and 5m respectively, photographing is carried out.
Further, the pixel distance of the calibration object in the shot image can be acquired, and the proportional relation between the actual distance and the pixel distance can be calculated.
For example, the data obtained are:
1. the distance D between the camera device and the calibration object is 1m, the pixel distance x of the calibration object in the image is 200pixels, and the pixel distance y of the calibration object in the image is 300pixels, wherein x represents width, and y represents height;
2. the distance D between the camera device and the calibration object is 2m, the pixel distance x of the calibration object in the image is 100pixels, and the pixel distance y of the calibration object in the image is 150pixels, wherein x represents width, and y represents height;
3. the distance D between the camera device and a calibration object is 3m, the pixel distance x of the calibration object in the image is 66pixels, and the pixel distance y of the calibration object in the image is 100pixels, wherein x represents width, and y represents height;
4. the distance D between the camera device and the calibration object is 4m, the pixel distance x of the calibration object in the image is 50pixels, and y is 75pixels, wherein x represents width, and y represents height;
5. the distance D between the camera device and the calibration object is 5m, the pixel distance x of the calibration object in the image is 40pixels, and the pixel distance y of the calibration object in the image is 60pixels, wherein x represents width, and y represents height.
From the above data, it can be inferred that at a vertical distance of the imaging device of n meters from the target object, the actual distance represented by 1 pixel is: x is 0.285 ÷ (200/n), and y is 0.289 ÷ (300/n).
That is, 0.285/200 may be taken as a linear multiple in the horizontal direction between the actual distance at the unit distance and the pixel distance, and 0.289/300 may be taken as a linear multiple in the vertical direction between the actual distance at the unit distance and the pixel distance.
Further, it is assumed that the vertical distance between the imaging device and the target object in the pan/tilt apparatus is R1(in meters), the pixel movement distance dpix of the target object in the horizontal directionxThen, the actual moving distance of the target object moving relative to the pan-tilt apparatus can be expressed as:
dx＝Px×dpixx×R1
wherein, PxIs a linear multiple in the horizontal direction between the actual distance at a unit distance (e.g., 1m) and the pixel distance, and may be Px＝0.285/200＝0.001425。
In the calibration process, shooting can be performed by adopting a preset multiple, such as 1 time. Further, in an embodiment, to increase the calibration accuracy, calibration may be performed at a plurality of preset times, and then an average processing manner is applied to the calibration results of the plurality of preset times to obtain the final calibration result at the magnification of 1 time.
For example, calibration is performed at a magnification of 2, 4, 8, 10, 15 and 20 times, and further, two calibration results with relatively large errors of 2 times and 20 times are removed, and an average value of the calibration results corresponding to the middle 4, 8, 10 and 15 times is taken as a final calibration result.
Furthermore, after calibration, error compensation values of 8 coordinate values (x abscissa and y ordinate) can be given in one or more quadrants, such as 1-4, so that the detection precision is more accurate by about 5%.
S133, selecting a triangular model based on the actual distance between the holder device and the target object, wherein the triangular model is used for representing the spatial triangular relation formed among the holder device, the target object before relative movement and the target object after relative movement, and calculating the rotation angle of the holder device by using the actual movement distance.
In this embodiment, the positions of the pan/tilt head device, the target object before the relative movement, and the target object after the relative movement in the space may be set as a triangular model in the space, and further, the lengths of the angles or sides of the triangular model may be determined by using a triangular relationship in the triangular model.
In this embodiment, the triangle model may include: an isosceles triangle or a right triangle.
Further, the spatial trigonometric relation matched with the target object may select the type of the triangular model according to whether the actual distance between the pan/tilt apparatus and the target object exceeds a preset distance threshold. For example, when the actual distance between the pan/tilt apparatus and the target object exceeds a preset distance threshold, the pan/tilt apparatus, the target object before the relative movement, and the target object after the relative movement form an isosceles triangle in space; for another example, when the actual distance between the pan/tilt apparatus and the target object is less than or equal to the preset distance threshold, the pan/tilt apparatus, the target object before the relative movement, and the target object after the relative movement form a right triangle in space.
1. Isosceles triangle
In this embodiment, fig. 1D is a schematic diagram of spatial positions of a pan-tilt apparatus, a target object before relative movement, and a target object after relative movement, according to embodiment 1 of the present invention. When the pan/tilt apparatus is far enough from the target object, the vertical distances between the pan/tilt apparatus before and after rotation and the target object may be considered to be equal, that is, the pan/tilt apparatus, the target object before relative movement, and the target object after relative movement form an isosceles triangle in space.
In an embodiment, an actual distance between the pan-tilt apparatus and the target object may be determined; taking the actual distance as the length of the waist of the isosceles triangle and the actual moving distance as the length of the bottom edge of the isosceles triangle, and solving the angle of the diagonal angle of the bottom edge based on the cosine law of the triangle; and determining the angle of the bottom line as the rotation angle of the holder equipment.
Referring to fig. 1D, the actual distance between the pan/tilt head apparatus and the target object before the relative movement is DxThe actual distance between the pan/tilt apparatus and the target object after the relative movement is also dx. The distance between the target objects before and after the relative movement is lx. Rotation angle radxThe cosine value of (d) may be expressed as:
Figure BDA0002853373340000141
further, the rotation angle rad of the holder equipment can be determined by solving the inverse cosine valuex。
Further, the following two methods may also be used to determine the actual distance between the pan/tilt apparatus and the target object, and may include: image processing acquisition method, direct acquisition method
1.1 image processing acquisition method
Specifically, the actual size of the target object may be obtained; determining a pixel size of a target object in a first image; determining the ratio of the pixel size to the actual size as an actual proportion; taking the ratio of the actual distance corresponding to the calibration position and the pixel distance which are measured in advance when the calibration object is away from the holder equipment by a unit distance as a reference ratio; determining the ratio of the actual proportion to the reference proportion as a distance multiple; and taking the product of the distance multiple and the unit distance as the actual distance between the holder equipment and the target object.
1.2 direct acquisition method
Specifically, the pan-tilt device may be moved to a preset point around the target object, coordinates of the preset point may be stored in the database, and a target distance from the preset point to the target object is stored in the database; further, the target distance between the preset point and the target object can be obtained from the database; and taking the target distance as the actual distance between the holder equipment and the target object.
2. Right triangle
In this embodiment, fig. 1E is a schematic view of spatial positions of another pan-tilt apparatus, a target object before relative movement, and a target object after relative movement, which are provided in embodiment 1 of the present invention. When the holder device is closer to the target object, the holder device, the target object before the relative movement and the target object after the relative movement form a right triangle in space.
Referring to FIG. 1E, a right-angle side d of the right trianglexCorresponding to a connecting line between the target object before the relative movement and the target object after the relative movement; another right-angle side R1Corresponding to a connecting line between the target object after the relative movement and the holder equipment; bevel edge R0Corresponding to a connection line between the target object before the relative movement and the pan/tilt apparatus. The length of each edge corresponds to the distance. In addition, h in FIG. 1E is a hypotenuse R0Upper is high.
Referring to the trigonometric relationship in FIG. 1E, the following equation can be obtained:
Figure BDA0002853373340000151
dpixx＝abs(x1-x0) (2)
dx＝Px×dpixx×R1 (3)
wherein arctan is an arctangent function; abs is an absolute value function; the horizontal coordinate of the initial position of the target object in the imaging region is xoThe horizontal coordinate of the target position is x1，dpixxMoving distance of pixels moving in the camera shooting area for the target object; pxIs a linear multiple in the horizontal direction between the actual distance and the pixel distance at a unit distance, and can be Px＝0.285/200＝0.001425；radxIs the rotation angle of the pan/tilt apparatus.
Combining the formulas (1) to (3), the rotation angle rad of the pan-tilt equipmentxCan be expressed as:
radx＝arctan(Px×dpixx)。
that is, the actual distance between the target object after the relative movement and the pan/tilt head apparatus may be taken as the first distance, i.e., R1(ii) a Calculating the actual moving distance dxAt a first distance R from the1Ratio of (i.e. P)x×dpixx(ii) a Calculating the ratio (P)x×dpixx) The corresponding arctan value; and determining the arc tangent value as the rotation angle of the holder equipment.
In this embodiment, a more matched spatial triangular relationship may be selected based on the actual distance between the pan/tilt apparatus and the target object, and further, the accuracy of detection may be increased. In addition, when the spatial triangular relation represented by the right triangle is used, the used parameters are small and the calculation amount is less, and when the actual distance between the holder device and the target object is short, the isosceles triangle can be switched to the right triangle, so that the calculation of the rotation angle is more flexible and the total time is less.
And S134, taking the rotation angle as a rotation parameter of the holder equipment.
In this embodiment, when the rotation angle is used as the rotation parameter of the pan/tilt apparatus, the pan/tilt apparatus may directly rotate according to the rotation angle when receiving the rotation parameter.
And S140, controlling the holder equipment to rotate according to the rotation parameters so that the holder equipment rotates to the target position of the target object in the shooting area, and shooting by a second multiple to obtain a second image of the target object.
In general, the second multiple may be set to be larger than the first multiple, so that the target object may occupy a larger proportion of the second image after the rotation, that is, the target object may be observed more clearly from the second image.
In one embodiment, a target proportion of the target object in the image pickup area when the target object is moved to the target position of the image pickup area can be determined; determining the original proportion of a target object in a first image, wherein the target object occupies the original proportion of the first image; taking the ratio of the target proportion to the original proportion as a magnification factor; and taking the product of the first multiple and the magnification as a second multiple.
It should be noted that, in general, in the case of a high magnification, the pan/tilt head apparatus is rotated to adjust the relative position of the target object in the imaging region, and a strong shake is likely to be generated. The reason for this shake is that as the magnification of the imaging device increases, more pixels are displaced per unit of rotation angle of the target object in the imaging region.
Based on the above factors, if the rotation parameters of the pan/tilt apparatus are manually adjusted, with the relative position of the target object in the imaging region as feedback, and then the rotation parameters of the pan/tilt apparatus are manually adjusted until the target position of the target object in the imaging region, this requires many unsmooth attempts, and it is not necessarily possible to finally adjust the target object to the target position in the imaging region.
In the embodiment, the rotation parameters of the pan-tilt equipment are skillfully and directly calculated in an image processing mode, and the pan-tilt equipment is controlled to rotate according to the rotation parameters so as to adjust the target object to the target position in the shooting area; and then, the cradle head equipment is set to shoot a second image by adopting a second multiple higher than the first multiple, so that the whole cradle head target conversion control process and the shooting process are smoother and more stable, the rapidity and the accuracy of the rotation parameters of the cradle head equipment are determined, and the technical effect of saving the control time is achieved.
Particularly, for the situation that the first image has a plurality of target objects, the rotation parameters of the pan/tilt apparatus corresponding to each target object can be calculated respectively, so that the problems of time consumption and low working efficiency caused by manual adjustment of the rotation angle of the pan/tilt apparatus under the situation that a plurality of target objects are needed to be fine-tuned one by one are solved.
Furthermore, the shooting sequence of a plurality of target objects can be optimized, the total rotation angle of the holder equipment is reduced, and the time cost and the electric power cost are greatly saved.
In addition, generally, the outdoor environment network is not good, the network connection is often disconnected, if the cloud platform equipment is required to be remotely controlled for many times all the time, the network connection is disconnected, the control effect of the cloud platform equipment is poor, and the working efficiency is reduced.
Example 2
Fig. 2 is a schematic structural diagram of a pan-tilt target switching control device provided in embodiment 2 of the present invention. The application provides a cloud platform target conversion controlling means, can realize through the mode of software and/or hardware to the integration can carry out in cloud platform target conversion controlgear. Optionally, the pan/tilt target switching control device may be an upper computer of the pan/tilt device, where the upper computer includes, but is not limited to, a computer, a server, and other terminals. In this embodiment, a detailed description will be given by taking an example in which the pan/tilt target switching control apparatus is a server.
Referring to fig. 2, the pan-tilt target switching control device may specifically include the following structure: a first image acquisition module 210, an initial position determination module 220, a rotation parameter calculation module 230, and a second image acquisition module 240.
A first image obtaining module 210, configured to obtain a first image of a target object captured by a pan-tilt device under a first multiple;
an initial position determining module 220, configured to determine a position of the target object in the first image as an initial position of the target object in an image capturing area of the pan/tilt apparatus;
a rotation parameter calculating module 230, configured to select a triangle model that matches an actual distance between the pan/tilt apparatus and the target object, and calculate a rotation parameter required by the pan/tilt apparatus when the target object is moved from the initial position to a target position of the image capturing area, where vertices of the triangle model are used to respectively represent positions of the pan/tilt apparatus, the target object before relative movement, and the target object after relative movement in space;
a second image obtaining module 240, configured to control the pan/tilt apparatus to rotate according to the rotation parameter, so that the pan/tilt apparatus rotates to the target position where the target object is located in the image capturing area, and captures a second image of the target object by a second multiple.
In the embodiment, the rotation parameters of the pan-tilt equipment are skillfully and directly calculated in an image processing mode, and the pan-tilt equipment is controlled to rotate according to the rotation parameters so as to adjust the target object to the target position in the shooting area; and then, the cradle head equipment is set to shoot a second image by adopting a second multiple higher than the first multiple, so that the whole cradle head target conversion control process and the shooting process are smoother and more stable, the rapidity and the accuracy of the rotation parameters of the cradle head equipment are determined, and the technical effect of saving the control time is achieved.
On the basis of the above technical solution, the initial position determining module 220 includes:
a first image display unit for displaying the first image.
A first user operation receiving unit configured to receive a first user operation applied to the first image.
A first user operation responding unit, configured to respond to the first user operation, so as to draw a target region in a region where the target object is located in the first image.
A first initial position determining unit, configured to determine a center position of the target area as an initial position of the target object in an image capturing area of the pan/tilt head device.
On the basis of the above technical solution, the initial position determining module 220 includes:
and the image feature extraction unit is used for carrying out preprocessing operation on the first image and extracting image features from the first image.
And the target area identification unit is used for inputting the image characteristics into a target identification model so as to identify a target area where a target object in the first image is located.
And the second initial position determining unit is used for determining the central position of the target area as the initial position of the target object in the shooting area of the holder equipment.
On the basis of the above technical solution, the rotation parameter calculating module 230 includes:
a pixel movement distance determination unit configured to determine a difference between the initial position and the target position as a pixel movement distance in which the target object moves within the imaging region.
And the actual moving distance determining unit is used for converting the pixel moving distance into the actual moving distance of the target object moving relative to the holder equipment according to the linear corresponding relation between the actual distance and the pixel distance which is measured in advance.
And the rotation angle determining unit is used for selecting a triangular model based on the actual distance between the holder equipment and the target object, representing the spatial triangular relation formed among the holder equipment, the target object before relative movement and the target object after relative movement, and calculating the rotation angle of the holder equipment by using the actual movement distance.
And the rotation parameter determining unit is used for taking the rotation angle as a rotation parameter of the holder equipment.
On the basis of the technical scheme, when the actual distance between the holder equipment and the target object exceeds a preset distance threshold, the holder equipment, the target object before relative movement and the target object after relative movement form an isosceles triangle in space; a rotation angle determination unit comprising:
and the actual distance determining subunit is used for determining the actual distance between the holder device and the target object.
And the base diagonal determining subunit is used for taking the actual distance as the length of the waist of the isosceles triangle and the actual moving distance as the length of the base of the isosceles triangle, and solving the angle of the diagonal of the base based on the cosine law of the triangle.
And the first rotation angle determining subunit is configured to determine an angle of an angle subtended by the bottom edge as the rotation angle of the pan/tilt apparatus.
In an embodiment, the actual distance determining subunit may be specifically configured to: acquiring the actual size of the target object; determining a pixel size of the target object in the first image; determining a ratio between the pixel size and the actual size as an actual proportion; taking the ratio between the actual distance corresponding to the calibration position and the pixel distance which are measured in advance when the calibration object is away from the holder equipment by a unit distance as a reference ratio; determining the ratio of the actual proportion to the reference proportion as a distance multiple; and taking the product of the distance multiple and the unit distance as the actual distance between the holder equipment and the target object.
In another embodiment, the actual distance determining subunit may be further specifically configured to: moving the holder equipment to a preset point on the periphery of the target object; acquiring a target distance between the preset point and the target object; and taking the target distance as the actual distance between the holder equipment and the target object.
On the basis of the technical scheme, when the actual distance between the holder equipment and the target object is smaller than or equal to a preset distance threshold, the holder equipment, the target object before relative movement and the target object after relative movement form a right-angled triangle in space; a right-angle side of the right-angle triangle corresponds to a connecting line between the target object before the relative movement and the target object after the relative movement; the other right-angle side corresponds to a connecting line between the target object and the holder device after the relative movement; and the bevel edge corresponds to a connecting line between the target object and the holder device before relative movement.
The rotation angle determining unit is specifically configured to:
taking the actual distance between the target object after the relative movement and the holder equipment as a first distance;
calculating the ratio of the actual moving distance to the first distance;
calculating an arc tangent value corresponding to the ratio;
and determining the arc tangent value as the rotation angle of the holder equipment.
On the basis of the technical scheme, the device further comprises:
and the calibration module is used for calibrating the camera device in the holder equipment before converting the pixel moving distance into the actual moving distance of the target object moving relative to the holder equipment according to the linear corresponding relation between the actual distance and the pixel distance which is measured in advance, so as to obtain the linear corresponding relation between the actual distance and the pixel distance corresponding to the camera device.
On the basis of the technical scheme, the device further comprises:
and the target proportion determining module is used for determining the target proportion of the target object in the image pickup area when the target object is moved to the target position of the image pickup area before the second image is picked up by the second multiple.
And the original proportion determining module is used for determining that the target object occupies the original proportion of the first image in the first image.
And the magnification determining module is used for taking the ratio of the target proportion to the original proportion as the magnification.
And the second multiplier determining module is used for taking the product of the first multiplier and the amplification factor as a second multiplier.
Example 3
Fig. 3 is a schematic structural diagram of a pan-tilt target switching control device according to embodiment 3 of the present invention. As shown in fig. 3, the pan/tilt target switching control apparatus includes: a processor 30, a memory 31, an input device 32, and an output device 33. The number of the processors 30 in the pan/tilt target switching control device may be one or more, and one processor 30 is taken as an example in fig. 3. The number of the memories 31 in the pan/tilt target switching control device may be one or more, and one memory 31 is taken as an example in fig. 3. The processor 30, the memory 31, the input device 32 and the output device 33 of the pan/tilt target switching control apparatus may be connected by a bus or other means, and fig. 3 illustrates the connection by the bus as an example. The cloud deck target conversion control device is an upper computer of the cloud deck device, and the upper computer can be a computer, a server and the like. In this embodiment, the pan-tilt target switching control device is taken as a server for detailed description, and the server may be an independent server or a cluster server.
The memory 31 serves as a computer-readable storage medium for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the pan/tilt target switching control method according to any embodiment of the present invention (e.g., the first image acquiring module 210, the initial position determining module 220, the rotation parameter calculating module 230, and the second image acquiring module 240 in the pan/tilt target switching control apparatus). The memory 31 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the device, and the like. Further, the memory 31 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 31 may further include memory located remotely from the processor 30, which may be connected to the device over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 32 may be used to receive input numeric or character information and generate key signal inputs related to the setting and function control of the pan/tilt target switching control apparatus, and may also be a camera for acquiring images and a sound pickup apparatus for acquiring audio data. The output device 33 may include an audio device such as a speaker. It should be noted that the specific composition of the input device 32 and the output device 33 can be set according to actual conditions.
The processor 30 executes various functional applications and data processing of the device by executing software programs, instructions and modules stored in the memory 31, that is, implements the above-described pan-tilt target switching control method.
Example 4
Embodiment 4 of the present invention further provides a storage medium containing computer-executable instructions, where the computer-executable instructions are executed by a computer processor to perform a pan/tilt target switching control method, where the method includes:
acquiring a first image shot by holder equipment under a first multiple;
determining the position of a target object in the first image as the initial position of the target object in the shooting area of the pan-tilt equipment;
selecting a triangular model matched with the actual distance between the holder equipment and the target object, and calculating a rotation parameter required by the holder equipment when the target object is moved from the initial position to the target position of the shooting area, wherein the vertex of the triangular model is used for respectively representing the positions of the holder equipment, the target object before relative movement and the target object after relative movement in the space;
and controlling the holder equipment by using the rotation parameters so as to enable the holder equipment to rotate to the target position of the target object in the shooting area, and shooting by a second multiple to obtain a second image.
Of course, the storage medium containing the computer-executable instructions provided in the embodiments of the present invention is not limited to the operations of the pan/tilt target switching control method described above, and may also perform related operations in the pan/tilt target switching control method provided in any embodiments of the present invention, and has corresponding functions and advantages.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk, or an optical disk of a computer, and includes several instructions to enable a computer device (which may be a robot, a personal computer, a server, or a network device) to execute the pan-tilt target switching control method according to any embodiment of the present invention.
It should be noted that, in the above-mentioned pan/tilt head target conversion control apparatus, each unit and module included in the apparatus is merely divided according to the functional logic, but is not limited to the above-mentioned division, as long as the corresponding function can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "in an embodiment," "in another embodiment," "exemplary" or "in a particular embodiment," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although the invention has been described in detail hereinabove by way of general description, specific embodiments and experiments, it will be apparent to those skilled in the art that many modifications and improvements can be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.

Claims (13)

1. A holder target switching control method is characterized by comprising the following steps:
acquiring a first image of a target object shot by holder equipment under a first multiple;
determining the position of the target object in the first image as an initial position of the target object in an image pickup area of the pan-tilt equipment;
selecting a triangular model matched with the actual distance between the holder equipment and the target object, and calculating a rotation parameter required by the holder equipment when the target object is moved from the initial position to the target position of the shooting area, wherein the vertex of the triangular model is used for respectively representing the positions of the holder equipment, the target object before relative movement and the target object after relative movement in the space;
and controlling the holder equipment to rotate according to the rotation parameters so as to enable the holder equipment to rotate to the target position of the target object in the shooting area, and shooting by a second multiple to obtain a second image of the target object.
2. The method according to claim 1, wherein the determining the position of the target object in the first image as an initial position of the target object in an image capture area of the pan-tilt apparatus comprises:
displaying the first image;
receiving a first user operation acting on the first image;
in response to the first user operation, drawing a target area in an area where the target object is located in the first image;
and determining the central position of the target area as the initial position of the target object in the shooting area of the holder equipment.
3. The method according to claim 1, wherein the determining the position of the target object in the first image as an initial position of the target object in an image capture area of the pan-tilt apparatus comprises:
preprocessing the first image and extracting image features from the first image;
inputting the image characteristics into a target recognition model to recognize a target area where a target object is located in the first image;
and determining the central position of the target area as the initial position of the target object in the shooting area of the holder equipment.
4. The method according to claim 1, wherein the selecting a triangle model matching an actual distance between the pan-tilt apparatus and the target object, and calculating a rotation parameter required for the pan-tilt apparatus when moving the target object from the initial position to a target position of the imaging area comprises:
taking the difference between the initial position and the target position as a pixel moving distance of the target object moving in the image pickup area;
converting the pixel moving distance into an actual moving distance of the target object moving relative to the holder equipment according to a linear corresponding relation between the actual distance and the pixel distance which is measured in advance;
selecting a triangular model based on the actual distance between the holder equipment and the target object, wherein the triangular model is used for representing a spatial triangular relation formed among the holder equipment, the target object before relative movement and the target object after relative movement, and calculating to obtain the rotation angle of the holder equipment by using the actual movement distance;
and taking the rotation angle as a rotation parameter of the holder equipment.
5. The method according to claim 4, characterized in that the pan-tilt device, the target object before relative movement and the target object after relative movement form an isosceles triangle in space when the actual distance between the pan-tilt device and the target object exceeds a preset distance threshold;
selecting a triangular model based on the actual distance between the pan-tilt device and the target object, wherein the triangular model is used for representing a spatial triangular relationship formed among the pan-tilt device, the target object before relative movement and the target object after relative movement, and calculating the rotation angle of the pan-tilt device by using the actual movement distance, and the method comprises the following steps:
determining an actual distance between the pan-tilt apparatus and the target object;
taking the actual distance as the length of the waist of the isosceles triangle and the actual moving distance as the length of the bottom edge of the isosceles triangle, and solving the angle of the diagonal angle of the bottom edge based on the cosine law of the triangle;
and determining the angle of the bottom edge as the rotation angle of the holder equipment.
6. The method of claim 5, wherein said determining an actual distance between said pan and tilt apparatus and said target object comprises:
acquiring the actual size of the target object;
determining a pixel size of the target object in the first image;
determining a ratio between the pixel size and the actual size as an actual proportion;
taking the ratio between the actual distance corresponding to the calibration position and the pixel distance which are measured in advance when the calibration object is away from the holder equipment by a unit distance as a reference ratio;
determining the ratio of the actual proportion to the reference proportion as a distance multiple;
and taking the product of the distance multiple and the unit distance as the actual distance between the holder equipment and the target object.
7. The method of claim 5, wherein said determining an actual distance between said pan and tilt apparatus and said target object comprises:
moving the holder equipment to a preset point on the periphery of the target object;
acquiring a target distance between the preset point and the target object;
and taking the target distance as the actual distance between the holder equipment and the target object.
8. The method according to claim 4, wherein when the actual distance between the pan-tilt apparatus and the target object is lower than or equal to a preset distance threshold, the pan-tilt apparatus, the target object before relative movement and the target object after relative movement form a right triangle in space; a right-angle side of the right-angle triangle corresponds to a connecting line between the target object before the relative movement and the target object after the relative movement; the other right-angle side corresponds to a connecting line between the target object and the holder device after the relative movement; the bevel edge corresponds to a connecting line between the target object and the holder device before relative movement;
selecting a triangular model based on the actual distance between the pan-tilt device and the target object, wherein the triangular model is used for representing a spatial triangular relationship formed among the pan-tilt device, the target object before relative movement and the target object after relative movement, and calculating the rotation angle of the pan-tilt device by using the actual movement distance, and the method comprises the following steps:
taking the actual distance between the target object after the relative movement and the holder equipment as a first distance;
calculating the ratio of the actual moving distance to the first distance;
calculating an arc tangent value corresponding to the ratio;
and determining the arc tangent value as the rotation angle of the holder equipment.
9. The method according to any one of claims 4-8, further comprising, prior to said converting said pixel movement distance to an actual movement distance of said target object relative to said head apparatus based on a predetermined linear correspondence between actual distance and pixel distance:
and calibrating the camera device in the holder equipment to obtain the linear corresponding relation between the actual distance and the pixel distance corresponding to the camera device.
10. The method of claim 1, further comprising, prior to said capturing the second image at the second multiple:
determining a target proportion of the target object in the image pickup area when the target object is moved to a target position of the image pickup area;
determining that the target object occupies the original proportion of the first image in the first image;
taking the ratio of the target proportion to the original proportion as a magnification factor;
and taking the product of the first multiple and the amplification factor as a second multiple.
11. A pan-tilt target switching control device, comprising:
the first image acquisition module is used for acquiring a first image of a target object shot by the holder equipment under a first multiple;
an initial position determining module, configured to determine a position of the target object in the first image as an initial position of the target object in an image capturing area of the pan/tilt/zoom apparatus;
a rotation parameter calculation module, configured to select a triangle model that matches an actual distance between the pan-tilt apparatus and the target object, and calculate a rotation parameter required by the pan-tilt apparatus when the target object is moved from the initial position to a target position of the image capture area, where vertices of the triangle model are used to respectively represent positions of the pan-tilt apparatus, the target object before the relative movement, and the target object after the relative movement in space;
and the second image acquisition module is used for controlling the holder equipment to rotate according to the rotation parameters so as to enable the holder equipment to rotate to the target position of the target object in the shooting area, and shooting by a second multiple to obtain a second image of the target object.
12. A pan-tilt target switching control apparatus, comprising: a memory and one or more processors;
the memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement a pan-tilt target transition control method according to any one of claims 1-10.
13. A storage medium containing computer-executable instructions for performing the pan-tilt target switching control method according to any one of claims 1 to 10 when executed by a computer processor.
CN202011543459.8A 2020-12-23 2020-12-23 Pan-tilt target conversion control method, device, equipment and storage medium Pending CN112714287A (en)

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CN113473010A (en) * 2021-06-29 2021-10-01 浙江大华技术股份有限公司 Snapshot method and device, storage medium and electronic device
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