CN113280799A - Orientation determining method and device of ball machine and computer readable storage medium - Google Patents
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Abstract
The invention provides a method for determining the orientation of a dome camera, belongs to the technical field of monitoring and shooting, and solves the technical problem that the orientation of the dome camera rotating by 360 degrees is difficult to determine in the prior art. A method of determining the orientation of a ball machine, the method comprising the steps of: acquiring original magnetic field data, and performing sliding filtering on the original magnetic field data; judging the peak value or the valley value of the filtered magnetic field data curve through monotonicity; if the peak value is the peak value, the azimuth of the peak value is the true north azimuth; if the value is a valley value, the position of the valley value is a true south position.
Description
Technical Field
The invention relates to the technical field of monitoring and shooting, in particular to a method and a device for determining the orientation of a dome camera and a computer readable storage medium.
Background
After the dome camera is installed and deployed, a user needs to know the direction of a monitoring picture of the dome camera so as to quickly locate abnormal points. Therefore, the ball machine can introduce a magnetic sensor, the true north of the ball machine is obtained through the judgment of the magnetic field, and then the azimuth angle of any position of the ball machine is obtained by taking the true north as a standard.
At present, in a traditional ball machine rotating by 360 degrees, the north or south is judged by rotating a circle to obtain the maximum or minimum value of a certain shaft. However, in a ball machine which does not rotate 360 °, due north or south is not in the rotation range, so that the direction cannot be determined.
Therefore, the prior art has the problem that the orientation of the ball machine which does not rotate by 360 degrees is difficult to determine.
Disclosure of Invention
The invention aims to provide a method and a device for determining the orientation of a dome camera and a computer readable storage medium, which are used for solving the technical problem that the orientation of the dome camera rotating by 360 degrees is difficult to determine in the prior art.
In a first aspect, the present invention provides a method for determining an orientation of a ball machine, the method including the steps of:
acquiring original magnetic field data, and performing sliding filtering on the original magnetic field data;
judging the peak value or the valley value of the filtered magnetic field data curve through monotonicity;
if the peak value is the peak value, the azimuth of the peak value is the true north azimuth;
if the value is a valley value, the position of the valley value is a true south position.
Further, the step of determining the peak value and the valley value of the filtered magnetic field data curve by monotonicity includes:
dividing the filtered magnetic field data into a plurality of intervals, and determining the monotonicity of each interval;
gradually judging monotonicity changes of two adjacent intervals;
if monotonicity is changed from monotone increasing to monotone decreasing, peaks exist in the two adjacent intervals;
if monotonicity is changed from monotone decreasing to monotone increasing, a valley value exists in the two adjacent intervals.
Further, the step of determining monotonicity of each interval includes:
obtaining an interval slope by using two endpoint values of the interval;
if the slope is positive, the slope is a monotone increasing interval;
if the slope is negative, it is a monotonically decreasing interval.
Further, the step of performing sliding filtering on the raw magnetic field data includes:
continuously collecting a plurality of values of the original magnetic field data, removing a plurality of maximum values and minimum values in the collected data, and averaging the rest values.
Further, if the peak value is the peak value, the step that the azimuth where the peak value is located is the true north azimuth includes:
and acquiring coordinate values of the true north direction.
Further, if the value is a valley value, the step of determining that the position of the valley value is a true south position includes:
and rotating the true south direction by 180 degrees to obtain the true north direction, and acquiring coordinate values of the true north direction.
In a second aspect, the present invention also provides an orientation determining apparatus for a ball machine, including:
a data filtering module: the device is used for acquiring original magnetic field data and performing sliding filtering on the original magnetic field data;
a judging module: judging the peak value or the valley value of the filtered magnetic field data curve through monotonicity; if the peak value is the peak value, the azimuth of the peak value is the true north azimuth; if the value is a valley value, the position of the valley value is a true south position.
In a third aspect, the present invention also provides a computer readable storage medium storing machine executable instructions which, when invoked and executed by a processor, cause the processor to perform the method provided in the first aspect.
The invention provides a method for determining the orientation of a dome camera, which comprises the following steps:
the method comprises the steps of obtaining original magnetic field data, carrying out sliding filtering on the original magnetic field data, avoiding the problem of large jitter of the original magnetic field data, enabling the magnetic field data interval to be smooth, and reducing interference of judging peak values and valley values.
The peak value or the valley value of the filtered magnetic field data curve is judged through monotonicity, and the positive south or the positive north direction existing in the magnetic field curve of the non-360-degree rotating ball machine can be determined by judging the peak value or the valley value.
If the peak value is the peak value, the azimuth of the peak value is the true north azimuth, and therefore the north direction azimuth of the non-360-degree rotating ball machine is determined.
If the orientation of the valley is the true south orientation, the orientation of the valley is determined, and therefore the south pointing orientation of the non-360-degree rotating ball machine is determined.
By adopting the method for determining the orientation of the dome camera, the filtered magnetic field data curve is judged by utilizing monotonicity, the orientation of the positive north or the positive south of the non-360-degree rotating dome camera is determined by judging the peak value or the valley value, and the problem that the orientation is difficult to determine when the positive north or the positive south is not in the rotating range of the non-360-degree rotating dome camera is solved.
Accordingly, the orientation determining apparatus of a ball machine and the computer-readable storage medium provided by the present invention also have the above-mentioned technical effects.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a flowchart of an orientation determining method of a ball machine according to an embodiment of the present invention;
FIG. 2 is a first diagram illustrating magnetic field data versus orientation in accordance with an embodiment of the present invention;
FIG. 3 is a second schematic diagram illustrating magnetic field data versus orientation in accordance with an embodiment of the present invention;
FIG. 4 is a third schematic diagram illustrating magnetic field data versus orientation in the practice of the present invention;
FIG. 5 is a detailed flowchart of a second step of a method for determining the orientation of a dome camera implemented in accordance with the present invention;
FIG. 6 is a flow chart of a method for determining monotonicity for each interval in the practice of the present invention;
FIG. 7 is a graph of magnetic field data in the practice of the present invention;
FIG. 8 is a comparison of magnetic field data before and after sliding filtering in accordance with an embodiment of the present invention;
FIG. 9 is a schematic diagram of an orientation determining device for a ball machine in the practice of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "comprising" and "having," and any variations thereof, as referred to in embodiments of the present invention, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements but may alternatively include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
At present, in a traditional ball machine rotating by 360 degrees, the north or south is judged by rotating a circle to obtain the maximum or minimum value of a certain shaft. However, in a ball machine which does not rotate 360 °, due north or south is not in the rotation range, so that the direction cannot be determined.
Therefore, the prior art has the problem that the orientation of the ball machine which does not rotate by 360 degrees is difficult to determine.
To solve the above problems, embodiments of the present invention provide a method for determining an orientation of a ball machine
Example 1:
as shown in fig. 1, a method for determining an orientation of a ball machine according to an embodiment of the present invention is applied to a ball machine having a rotation angle of 180 degrees or more, and includes the following steps:
s1: the method comprises the steps of obtaining original magnetic field data, carrying out sliding filtering on the original magnetic field data, avoiding the problem of large jitter of the original magnetic field data, enabling the magnetic field data interval to be smooth, and reducing interference of judging peak values and valley values.
S2: the peak value or the valley value of the filtered magnetic field data curve is judged through monotonicity, and the positive south or the positive north direction existing in the magnetic field curve of the non-360-degree rotating ball machine can be determined by judging the peak value or the valley value.
S3: if the peak value is the peak value, the azimuth of the peak value is the true north azimuth, and therefore the north direction azimuth of the non-360-degree rotating ball machine is determined.
S4: if the orientation of the valley is the true south orientation, the orientation of the valley is determined, and therefore the south pointing orientation of the non-360-degree rotating ball machine is determined.
By adopting the method for determining the orientation of the ball machine, provided by the embodiment of the invention, the filtered magnetic field data curve is judged by utilizing monotonicity, and the orientation of the positive north or the positive south of the non-360-degree rotating ball machine is determined by judging the peak value or the valley value, so that the problem that the orientation is difficult to determine when the positive north or the positive south is not in the rotating range of the non-360-degree rotating ball machine is solved.
In one possible embodiment, it is demonstrated that the peak of the magnetic field data is oriented north and the valley of the magnetic field data is oriented south. As shown in fig. 2, a three-axis magnetic sensor can sense components of a magnetic field in three XYZ directions, typically in units of magnetic field strength μ T. Geomagnetism is a magnetic field pointing from south to north, and at some place on the earth, the geomagnetism can be regarded as a vector pointing in parallel to north. As shown in fig. 3, taking a plane as an example, a is a magnetic field sensor, X, Y corresponds to two axes of the plane of the sensor, N is a north-pointing geomagnetic field vector at the position of the magnetic field sensor, and α is an angle between N and X. Then, in the current state, the Magnetic field magnitude of the corresponding X-direction component is Magnetic _ X = | N |. COS α, which is also the X-direction Magnetic field magnitude of the sensor output. Subsequently, as the three-axis magnetic sensor rotates counterclockwise, the value of the corresponding component in the X direction also changes with the angle α. As shown in fig. 4, when α = 0 °, the magnitude of the magnetic field corresponding to the x direction is the largest (i.e., the magnetic field peak), and it can also reflect that the current direction is north or south. When α = 180 °, the magnetic field magnitude in the corresponding X direction is the minimum (i.e., the magnetic field valley), which also reflects that the current direction is south. The situation of three axes is similar, and the components are in space, and the process is the same as that of two axes, which is not described again here.
In one possible embodiment, as shown in fig. 5, the step of determining the peak and the valley of the filtered magnetic field data curve by monotonicity comprises:
s21: the filtered magnetic field data is divided into a plurality of intervals and the monotonicity of each interval is determined.
S22: and gradually judging monotonicity change of two adjacent intervals.
S23: if monotonicity is changed from monotone increasing to monotone decreasing, peaks exist in the two adjacent intervals.
S24: if monotonicity is changed from monotone decreasing to monotone increasing, a valley value exists in the two adjacent intervals.
For example: first, two flag bits are set, the current monotonicity a and the monotonicity b of the previous measurement. The measuring method is that in the process of magnetic field data acquisition, two numbers are taken in a given interval, and monotonicity of current data is obtained in a large and small mode. Then refreshing the current monotonicity a, comparing a and b to judge whether the monotonicity has change, and finally refreshing the monotonicity b measured before.
In the process of determining whether the monotonicity is changed, it is possible to determine whether the monotonicity is a peak value or a valley value. If the previous time is monotonically increasing and the current time is monotonically decreasing, then it is a peak. If the previous time is monotonically decreasing and the current time is monotonically increasing, then the valley is reached. Therefore, in the moving process of the ball machine, a peak value, a valley value or a mark bit of a general value is attached to each acquired data, and then the position of the true south or the true north can be obtained by acquiring the current coordinate in real time.
In one possible embodiment, as shown in fig. 6, the step of determining the monotonicity of each interval comprises:
s211: and obtaining the slope of the interval by using the two endpoint values of the interval.
S212: if the slope is positive, it is a monotone increasing interval.
S213: if the slope is negative, it is a monotonically decreasing interval.
For example: as shown in fig. 7, the X axis is a rotation angle, the Y axis is a magnetic field value, key parameters for determining monotonicity are an acquired data interval X and a data difference Y, and a required slope K = Y/X, that is, monotonicity, can be obtained by setting the two parameters. Monotonically increasing if the actual slope K = K and monotonically decreasing if K = -K. In reality the ideal pole slope is 0, but in practice we are almost impossible to get this point because of the presence of interference. Therefore, in practical process, we need to reduce X and Y to improve sensitivity, and need to increase X and Y to obtain a certain anti-interference capability.
In one possible embodiment, the step of sliding filtering the raw magnetic field data comprises:
continuously collecting a plurality of values of the original magnetic field data, removing a plurality of maximum values and minimum values in the collected data, and averaging the rest values. If the data jitter is large, the actual sensitivity is poor if the anti-interference capability is increased by increasing the data interval and the data difference value, so that sliding filtering needs to be introduced to make the magnetic field data interval smoother, as shown in fig. 8, the X axis is the rotation angle, the Y axis is the magnetic field value, and a comparison graph before and after the sliding filtering is performed. The key parameters in the sliding filtering are the number of the collected magnetic field data, the number of the maximum values and the number of the minimum values, and the number of the key parameters needs to be determined by balancing according to specific conditions.
In a possible embodiment, as shown in fig. 1, the step of determining, if the peak is a peak, that the azimuth of the peak is a true north azimuth, includes:
s31: and acquiring coordinate values of the true north direction.
As shown in fig. 1, in a possible embodiment, the step of determining, if the valley is present, that the valley is located in a south-plus-south direction includes:
s41: and rotating the true south direction by 180 degrees to obtain the true north direction, and acquiring coordinate values of the true north direction.
Example 2:
as shown in fig. 9, an orientation determining apparatus of a ball machine according to an embodiment of the present invention includes:
a data filtering module: the device is used for acquiring original magnetic field data and performing sliding filtering on the original magnetic field data;
a judging module: judging the peak value or the valley value of the filtered magnetic field data curve through monotonicity; if the peak value is the peak value, the azimuth of the peak value is the true north azimuth; if the value is a valley value, the position of the valley value is a true south position.
Example 3:
embodiments of the present invention provide a computer-readable storage medium storing machine-executable instructions, which, when invoked and executed by a processor, cause the processor to execute the method of embodiment 1.
The apparatus provided by the embodiment of the present invention may be specific hardware on the device, or software or firmware installed on the device, etc. The device provided by the embodiment of the present invention has the same implementation principle and technical effect as the method embodiments, and for the sake of brief description, reference may be made to the corresponding contents in the method embodiments without reference to the device embodiments. It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the foregoing systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. 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.
For another example, the division of the unit is only one division of logical functions, and there may be other divisions in actual implementation, and for another example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments provided by the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus once an item is defined in one figure, it need not be further defined and explained in subsequent figures, and moreover, the terms "first", "second", "third", etc. are used merely to distinguish one description from another and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; and the modifications, changes or substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention. Are intended to be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. A method for determining the orientation of a ball machine, which is applied to a ball machine having a rotation angle of 180 degrees or more, comprising the steps of:
acquiring original magnetic field data, and performing sliding filtering on the original magnetic field data;
judging the peak value or the valley value of the filtered magnetic field data curve through monotonicity;
if the peak value is the peak value, the azimuth of the peak value is the true north azimuth;
if the value is a valley value, the position of the valley value is a true south position.
2. The method of determining the orientation of a ball machine according to claim 1, wherein the step of determining the peak and the trough of the filtered magnetic field data curve by monotonicity comprises:
dividing the filtered magnetic field data into a plurality of intervals, and determining the monotonicity of each interval;
gradually judging monotonicity changes of two adjacent intervals;
if monotonicity is changed from monotone increasing to monotone decreasing, peaks exist in the two adjacent intervals;
if monotonicity is changed from monotone decreasing to monotone increasing, a valley value exists in the two adjacent intervals.
3. The method of determining the orientation of a ball machine according to claim 1, wherein the step of determining the monotonicity of each interval includes:
obtaining an interval slope by using two endpoint values of the interval;
if the slope is positive, the slope is a monotone increasing interval;
if the slope is negative, it is a monotonically decreasing interval.
4. The method of determining the orientation of a ball machine according to claim 1, wherein the step of sliding filtering the raw magnetic field data includes:
continuously collecting a plurality of values of the original magnetic field data, removing a plurality of maximum values and minimum values in the collected data, and averaging the rest values.
5. The method for determining the orientation of the ball machine according to claim 1, wherein the step of determining that the orientation of the peak is the true north orientation if the peak is the peak value includes:
and acquiring coordinate values of the true north direction.
6. The method of determining the orientation of a ball machine according to claim 1, wherein the step of determining that the orientation of the trough is a true south orientation if the trough is a trough, includes:
and rotating the true south direction by 180 degrees to obtain the true north direction, and acquiring coordinate values of the true north direction.
7. An orientation determining apparatus for a ball machine, comprising:
a data filtering module: the device is used for acquiring original magnetic field data and performing sliding filtering on the original magnetic field data;
a judging module: judging the peak value or the valley value of the filtered magnetic field data curve through monotonicity; if the peak value is the peak value, the azimuth of the peak value is the true north azimuth; if the value is a valley value, the position of the valley value is a true south position.
8. A computer readable storage medium having stored thereon machine executable instructions which, when invoked and executed by a processor, cause the processor to execute the method of any of claims 1 to 6.
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