CN113724324A - Control method and device of holder, storage medium and electronic device - Google Patents
Control method and device of holder, storage medium and electronic device Download PDFInfo
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- CN113724324A CN113724324A CN202111006231.XA CN202111006231A CN113724324A CN 113724324 A CN113724324 A CN 113724324A CN 202111006231 A CN202111006231 A CN 202111006231A CN 113724324 A CN113724324 A CN 113724324A
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- 238000001514 detection method Methods 0.000 claims abstract description 54
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- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
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Abstract
The embodiment of the invention provides a control method and device of a cloud deck, a storage medium and an electronic device, wherein the method comprises the following steps: acquiring a first coordinate of a target holder, wherein the first coordinate is a first coordinate of a first position where the target holder is located currently; determining a second coordinate of a second position to which the target holder needs to rotate under the condition that a target event is detected, wherein the target event is an event for triggering monitoring equipment carried by the target holder to execute an action detection operation, and the second position is an end position of one rotation completed when the monitoring equipment executes the action detection operation; determining a third coordinate according to the first coordinate and the second coordinate, wherein the distance between the first coordinate and the third coordinate is smaller than the distance between the first coordinate and the second coordinate; and controlling the target holder to rotate so that the target holder rotates to the third coordinate. By the method and the device, the problem of low real-time performance of cradle head tracking in the related technology is solved, and the effect of improving the real-time performance of cradle head tracking is achieved.
Description
Technical Field
The embodiment of the invention relates to the field of communication, in particular to a control method and device of a holder, a storage medium and an electronic device.
Background
In the field of intelligent cameras, a cradle head bearing a camera generally has intelligent dynamic detection and tracking functions, and can determine whether to trigger detection according to images shot by the camera, for example, after a shot object is detected to move, the object moving is dynamically tracked by controlling the rotation of the cradle head. For example, in a scene applied to a home-use intelligent camera, when a person is detected to walk in front of the camera, the holder can be rotated in real time, so that the aim of tracking the motion track of the person is fulfilled.
In the prior art, the coordinate of a moving person is calculated firstly according to an intelligent dynamic detection algorithm, then the cradle head is controlled to turn to the coordinate, in the rotating process of the cradle head, dynamic detection is stopped, and the next dynamic detection operation is started only after the cradle head is rotated, but according to a dynamic detection mode in the related technology, the waiting time of dynamic detection is longer, so that the real-time performance of dynamic detection is lower.
In view of the above problems in the related art, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a control method and device of a holder, a storage medium and an electronic device, which are used for at least solving the problem of low real-time tracking of the holder in the related art.
According to an embodiment of the present invention, there is provided a control method of a pan/tilt head, including: acquiring a first coordinate of a target holder, wherein the first coordinate is a first coordinate of a first position where the target holder is located currently; determining a second coordinate of a second position to which the target holder needs to rotate under the condition that a target event is detected, wherein the target event is an event for triggering monitoring equipment carried by the target holder to execute a motion detection operation, and the second position is an end position of one rotation completed when the monitoring equipment executes the motion detection operation; determining a third coordinate according to the first coordinate and the second coordinate, wherein the distance between the first coordinate and the third coordinate is smaller than the distance between the first coordinate and the second coordinate; and controlling the target holder to rotate so as to enable the target holder to rotate to the third coordinate.
Optionally, before the target event is detected, the method further comprises: determining a duration of time that the target event is not detected; and in the case that the duration is determined to be greater than or equal to a preset time interval, reducing the image frame rate, wherein the image frame rate is used for indicating the frequency of acquiring the frame images shot by the monitoring equipment.
Optionally, in the case that the target event is detected, the method further includes: and increasing the image frame rate.
Optionally, determining a third coordinate according to the first coordinate and the second coordinate includes: determining a first step number and a first duration required for the target holder to rotate from the first position to the second position according to the first coordinate and the second coordinate, wherein the first step number is the maximum value of the rotation step number of the target holder in the horizontal direction and the vertical direction; determining a second time length between time points of which the first time length is determined by the distance of the time points of which the target events are detected; and determining the third coordinate according to the first step number and the second time length.
Optionally, determining the third coordinate according to the first step number and the second duration includes: adjusting the first step number to enable a difference value between N times of the reciprocal of the current image frame rate and a target sum to be larger than or equal to 0 and smaller than a preset threshold value, wherein the target sum is the sum of the second time length and the adjusted first time length corresponding to the adjusted first step number, and N is an integer larger than 0; and determining the third coordinate according to the adjusted first step number.
Optionally, determining, according to the first coordinate and the second coordinate of the target pan/tilt, a first number of steps required for the target pan/tilt to rotate from the first position to the second position includes: acquiring a preset horizontal jitter threshold value of the target holder and a preset vertical jitter threshold value of the target holder; when detecting that the absolute value of the difference value of the first coordinate and the second coordinate in the horizontal direction is smaller than the horizontal shaking threshold value, determining that the number of the rotation steps of the target holder in the horizontal direction is 0; when detecting that the absolute value of the difference value of the first coordinate and the second coordinate in the horizontal direction is larger than or equal to the horizontal shaking threshold, determining the number of rotation steps of the target holder in the horizontal direction based on the absolute value of the difference value between the horizontal direction coordinate of the second coordinate and the horizontal direction coordinate of the first coordinate; when detecting that the absolute value of the difference value of the first coordinate and the second coordinate in the vertical direction is smaller than the vertical shaking threshold value, determining that the number of the rotating steps of the target holder in the vertical direction is 0; when detecting that the absolute value of the difference value of the first coordinate and the second coordinate in the vertical direction is larger than or equal to the vertical shaking threshold, determining the number of rotation steps of the target holder in the vertical direction based on the absolute value of the difference value between the coordinate in the vertical direction of the second coordinate and the coordinate in the vertical direction of the first coordinate; and determining the maximum value of the rotation step number of the target holder in the horizontal direction and the rotation step number of the target holder in the vertical direction as the first step number.
According to another embodiment of the present invention, there is provided a control apparatus of a pan/tilt head, including: the system comprises an acquisition module, a processing module and a control module, wherein the acquisition module is used for acquiring a first coordinate of a target holder, and the first coordinate is an initial coordinate of the target holder; the trigger module is used for triggering motion detection when the target object moves; the first determining module is used for determining a second coordinate to which the target holder needs to rotate; the second determining module is used for determining a third coordinate according to the first coordinate and the second coordinate of the target holder; and the sending module is used for sending a control instruction to the target holder and indicating the target holder to rotate to the third coordinate.
According to yet another embodiment of the invention, there is also provided a computer-readable storage medium having a computer program stored therein, wherein the computer program, when executed by a processor, implements the steps of the method as set forth in any of the above.
According to yet another embodiment of the present invention, there is also provided an electronic device, including a memory in which a computer program is stored and a processor configured to execute the computer program to perform the steps in any of the above method embodiments.
According to the invention, a first coordinate where the target holder is currently located is obtained; under the condition that a trigger detection operation event is detected, a second coordinate to which the target holder needs to rotate and a third coordinate to which the target holder actually needs to rotate are determined, and the distance between the determined third coordinate to which the target holder actually needs to rotate and the first coordinate is smaller than the distance between the second coordinate and the first coordinate, so that the number of steps of the target holder needing to rotate is reduced, the waiting time for triggering the next round of motion detection is shortened, the problem of low real-time performance of holder tracking in the related technology can be solved, and the effect of improving the real-time performance of holder tracking is achieved.
Drawings
Fig. 1 is a block diagram of a hardware structure of a mobile terminal of a control method of a pan/tilt head according to an embodiment of the present invention;
fig. 2 is a flow chart of a method of control of a head according to an embodiment of the invention;
FIG. 3 is a schematic structural diagram of a pan-tilt intelligent camera according to an embodiment of the invention;
FIG. 4 is a flow chart of a dynamic inspection algorithm of a target pan/tilt head according to an embodiment of the present invention;
fig. 5 is a block diagram 1 of the structure of a control device of a head according to an embodiment of the invention;
fig. 6 is a block diagram 2 of the control device of the pan/tilt head according to the embodiment of the present invention.
Detailed Description
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings in conjunction with the embodiments.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
The method embodiments provided in the embodiments of the present application may be executed in a mobile terminal, a computer terminal, or a similar computing device. Taking an operation on a mobile terminal as an example, fig. 1 is a hardware structure block diagram of the mobile terminal of a method for controlling a pan-tilt according to an embodiment of the present invention. As shown in fig. 1, the mobile terminal may include one or more (only one shown in fig. 1) processors 102 (the processor 102 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA), and a memory 104 for storing data, wherein the mobile terminal may further include a transmission device 106 for communication functions and an input-output device 108. It will be understood by those skilled in the art that the structure shown in fig. 1 is only an illustration, and does not limit the structure of the mobile terminal. For example, the mobile terminal may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1.
The memory 104 may be used to store a computer program, for example, a software program and a module of application software, such as a computer program corresponding to the control method of the pan/tilt head in the embodiment of the present invention, and the processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, so as to implement the method described above. The memory 104 may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory located remotely from the processor 102, which may be connected to the mobile terminal 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 transmission device 106 is used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a Network adapter (NIC) that can be connected to other Network devices through a base station to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is used to communicate with the internet in a wireless manner.
In the present embodiment, a method for controlling a pan/tilt head is provided, and fig. 2 is a flowchart of a method for controlling a pan/tilt head according to an embodiment of the present invention, as shown in fig. 2, the flowchart includes the following steps:
step S202, acquiring a first coordinate of a target holder, wherein the first coordinate is a first coordinate of a first position where the target holder is located currently;
the target holder can be a holder module for bearing monitoring equipment, the first position where the target holder is currently located can be the position where the target holder is located after the target holder finishes rotating once, and can also be the initial position where the target holder is powered on, the first position where the target holder is currently located is not limited, and the first coordinate of the target holder is the first coordinate of the first position where the target holder is currently located.
Step S204, under the condition that a target event is detected, determining a second coordinate of a second position to which the target holder needs to rotate, wherein the target event is an event for triggering monitoring equipment carried by the target holder to execute a motion detection operation, and the second position is an end position of one rotation completed when the monitoring equipment executes the motion detection operation;
the target event can be an event that a person in a monitoring range of monitoring equipment carried by the holder moves, or an event that an object in the monitoring range of the monitoring equipment carried by the holder falls, the monitoring equipment can shoot images, detects the target event in a monitoring picture through brightness change values of two frames of shot images, converts coordinates of a target moving object in the target event into coordinates of a target holder, determines second coordinates to which the target holder needs to rotate under the condition that the target holder tracks the target moving object, controls the position of the target holder when the target holder rotates to the second coordinates, and completes one-time rotation end point position when the monitoring equipment performs action detection operation.
Step S206, determining a third coordinate according to the first coordinate and the second coordinate, wherein the distance between the first coordinate and the third coordinate is smaller than the distance between the first coordinate and the second coordinate;
the third coordinate may be a coordinate to which the target holder actually rotates after adjusting the number of steps to which the target holder needs to rotate, for example, in order to reduce the waiting time for the monitoring device to receive two frames of images, the number of steps to which the target holder needs to rotate may be reduced, and after the number of steps to which the target holder actually rotates is determined, the distance between the first coordinate and the third coordinate to which the target holder actually rotates may be smaller than the distance between the first coordinate and the calculated second coordinate to which the target holder needs to rotate.
And S208, controlling the target holder to rotate so as to enable the target holder to rotate to the third coordinate.
And after the third coordinate to which the target holder actually rotates is determined, controlling the target holder to rotate to the third coordinate.
The above steps may be performed by a monitoring system including the monitoring device and the target pan/tilt head, or performed by a processor (e.g., a CPU module) in the monitoring system, or performed by another processing device that is provided relatively independently from the monitoring system.
Through the steps, the first coordinate where the target holder is located currently is obtained; under the condition that a trigger detection operation event is detected, a second coordinate to which the target holder needs to rotate and a third coordinate to which the target holder actually needs to rotate are determined, and the distance between the determined third coordinate to which the target holder actually needs to rotate and the first coordinate is smaller than the distance between the second coordinate and the first coordinate, so that the number of steps of the target holder needing to rotate is reduced, the waiting time for triggering the next round of motion detection is shortened, the problem of low real-time performance of holder tracking in the related technology is solved, and the real-time performance of holder tracking is improved.
As an optional implementation manner, the technical scheme of the present invention may be applied to a low-end pan-tilt intelligent camera, and due to the limitations of cost and a Central Processing Unit (CPU), etc., a general face recognition algorithm, a tracking algorithm, etc. cannot be normally applied to this type of low-end pan-tilt intelligent camera, so that only relatively simple motion detection and a human shape algorithm may be adopted. Fig. 3 shows a schematic structural diagram of a pan/tilt intelligent camera according to an embodiment of the present invention, and generally includes: the audio frequency input module, audio output module, the button module, cloud platform module, the CPU module, the WIFI module, the pilot lamp module, Sensor module. The intelligent cloud platform comprises an audio input module, an audio output module, a key module, a cloud platform module, a WIFI module, an indicator lamp module and a Sensor module, wherein the Sensor module is connected with the CPU module, a moving object in a target event can be intelligently tracked by the cloud platform module in the cloud platform intelligent camera, and the cloud platform module can be controlled to rotate to an appointed coordinate through the CPU module.
As an optional implementation manner, an overall flow of the target pan/tilt motion detection algorithm is shown in fig. 4, where fig. 4 is a flow chart of the target pan/tilt motion detection algorithm according to an embodiment of the present invention, and the steps of the target pan/tilt motion detection algorithm are as follows:
step S401: initializing a horizontal shaking threshold NX and a vertical shaking threshold NY of the target holder, a first coordinate (X0 and Y0) of the current position of the target holder, and the time BT required by the target holder to rotate one step;
the horizontal jitter threshold NX and the vertical jitter threshold NY may be set to 1 degree, and the time BT required for the target pan-tilt to rotate by one step may be 2ms, 4ms or 6ms, and may be set according to the actual situation of the target pan-tilt.
Step S402: when the cradle head stops rotating, starting dynamic detection, and judging whether to trigger a dynamic detection algorithm or not through the brightness difference value of the images shot by the monitoring equipment;
step S403: recording the time interval of the dynamic detection algorithm, and if the dynamic detection algorithm is not triggered within the preset time, reducing the data stream frame rate of the intelligent dynamic detection to FN 2;
the time interval for recording the motion detection algorithm may be 1s or 2s, the time interval of the motion detection algorithm may be adjusted according to actual needs, and the FN2 may be 200 frames, that is, one frame of data is received every 5 milliseconds.
Step S404: detecting whether the touch start detection algorithm is detected, if the touch start detection algorithm is not detected, returning to the step S403, and if the touch start detection algorithm is detected, entering the step S405;
step S405: increasing the frame rate of the intelligent detection data stream to FN frames, namely processing the data stream once every 1/FN second, and recording the current processing time point as T1;
step S406: calculating the coordinates (X1, Y1) to which the target holder needs to rotate;
step S407: judging whether | X1-X0| is smaller than a horizontal jitter threshold NX, if so, judging that the value of the horizontal rotation step number X of the target holder is 0, namely judging that the step number X of the holder rotating in the horizontal direction is smaller than the horizontal jitter threshold NX, and judging that the holder is slightly jittered; if not, judging that the value of | X1-X0| is | X1-X0|, namely judging that the number of steps X of the rotation of the tripod head in the horizontal direction is more than or equal to a horizontal shaking threshold NX, judging that the target event needs to be tracked by the target tripod head, and judging that the number of steps X of the rotation of the target tripod head in the horizontal direction is | X1-X0 |;
step S408: judging whether the absolute value Y1-Y0 is smaller than a vertical jitter threshold NY, if so, judging that the value of the number Y of steps of the vertical rotation of the target holder is 0, namely judging that the number Y of steps of the holder rotating in the vertical direction is smaller than the vertical jitter threshold NY, and judging that the holder is slightly jittered; if not, judging that the value of the | Y1-Y0| is | Y1-Y0|, namely judging that the step number Y of the rotation of the holder in the vertical direction is more than or equal to a vertical shaking threshold NY, judging that the target event needs to be tracked by the target holder, and judging that the step number Y of the rotation of the target holder in the vertical direction is | Y1-Y0 |;
step S409: determining the time spent by the target holder for completing one rotation according to the maximum value of the steps required to rotate in the horizontal direction and the maximum value of the steps required to rotate in the vertical direction, wherein YT is MAX (X, Y) BT, and recording the current processing time point as T2;
wherein, the target holder can rotate in the horizontal direction and the vertical direction simultaneously.
Step S4010: determining a time point T1 at which the target event is detected, and adjusting the horizontal step number and the vertical step number of the target holder to (X2, Y2) from a second time period T3 between a time point T2 at which the target holder rotation is determined, i.e., T3 ═ T2-T1, to make (T3+ MAX (X2, Y2) × BT) close to an integer multiple of 1/FN, based on the second time period T3 and the time YT required for the target holder to complete one rotation, even if (X2, Y2) satisfies the formula N/FN- (T3+ MAX (X2, Y2) × BT) ═ a, where a > -0 and N are integers greater than 0, i.e., to make (T3+ MAX (X2, Y2) × BT) close to an integer multiple of 1/FN;
step S4011: stopping the motion detection algorithm, controlling the pan-tilt to rotate to (X2, Y2), after the pan-tilt rotation is finished, sending a message of the end of the pan-tilt rotation to the step S402, and starting the motion detection algorithm.
In an optional embodiment, before detecting the target event, the method further comprises: determining a duration of time that the target event is not detected; and in the case that the duration is determined to be greater than or equal to a preset time interval, reducing the image frame rate, wherein the image frame rate is used for indicating the frequency of acquiring the frame images shot by the monitoring equipment.
As shown in step S403 in fig. 4, when the target event is not detected, that is, when the target event is not detected, the duration of the undetected target event may be recorded, and when the duration is determined to be greater than or equal to a preset time interval, the frame rate of the data frame may be decreased, where the preset time interval may be 1S, 2S, or 5S, and specifically, the preset time interval may be adjusted according to an actual situation. If the frame rate of the current data frame is 20 frames/second, the frame rate can be reduced to 5 frames/second, the frame rate of the data frame is reduced under the condition that no motion detection trigger exists, the local power consumption can be reduced, and the lower the frame rate of the data frame is, the lower the load of the CPU is, and the lower the corresponding power consumption is.
In an optional embodiment, in case the target event is detected, the method further comprises: and increasing the image frame rate.
The intelligent camera of the pan/tilt/zoom camera may reduce the frame rate of the data frame when it is determined that the duration of the undetected target event is greater than or equal to the preset time interval, and may dynamically increase the frame rate of the data frame when the target event is detected, as shown in step S405 in fig. 4, for example, the frame rate of the data frame when the target event is not currently triggered is 5 frames/second, and when the target event is triggered, the frame rate may be increased to 20 frames/second, so as to ensure real-time tracking of the target pan/tilt/zoom camera.
In an alternative embodiment, determining a third coordinate from the first coordinate and the second coordinate includes: determining a first step number and a first duration required for the target holder to rotate from the first position to the second position according to the first coordinate and the second coordinate, wherein the first step number is the maximum value of the rotation step number of the target holder in the horizontal direction and the vertical direction; determining a second time length between time points of which the first time length is determined by the distance of the time points of which the target events are detected; and determining the third coordinate according to the first step number and the second time length.
As shown in steps S401 to S4010 in fig. 4, determining a first number of steps required for the target pan/tilt to rotate from the first position to the second position according to a first coordinate (X0, Y0) of a first position where the target pan/tilt is currently located and a second coordinate (X1, Y1) of the second position to which the target pan/tilt needs to rotate after the target event occurs, where the first number of steps is a maximum value of the number of steps that the target pan/tilt needs to rotate in the horizontal direction and the vertical direction, for example, the number of steps X that the target pan/tilt needs to rotate in the horizontal direction is | X1-X0|, the number of steps Y that the target pan/tilt needs to rotate in the vertical direction is | Y1-Y0|, the first number of steps is MAX (X, Y), the first duration is a product of the first number of steps and the time BT that the target pan/tilt needs to rotate by one step, assuming that the number of steps X that the target pan/tilt needs to rotate in the horizontal direction is 10, if the number of steps Y required to rotate in the vertical direction is 14, and the time BT required for one step of the target pan-tilt rotation is 4 milliseconds, the first number of steps is MAX (10,14) ═ 14, and the first duration is MAX (10,14) × BT, that is, 14 × 4 ═ 56 ms. And determining a second time length between the time points of the target event detection and the first time length determination, assuming that the time point of the target event detection is T1-0 ms, and the time point of the first time length determination is T2-1 ms, and then determining a third coordinate to which the target holder needs to rotate according to the first step number and the first time length, wherein the second time length is T2-T1-1 ms.
In an optional embodiment, determining the third coordinate according to the first step number and the second duration includes: adjusting the first step number to enable a difference value between N times of the reciprocal of the current image frame rate and a target sum to be larger than or equal to 0 and smaller than a preset threshold value, wherein the target sum is the sum of the second time length and the adjusted first time length corresponding to the adjusted first step number, and N is an integer larger than 0; and determining the third coordinate according to the adjusted first step number.
As shown in step S4010 in fig. 4, assuming that the number of steps X that the target holder needs to rotate in the horizontal direction is 10, the number of steps Y that the target holder needs to rotate in the vertical direction is 14, and the time BT that the target holder needs to rotate one step is 4 milliseconds, the first number of steps is MAX (10,14) ═ 14, and the first duration is MAX (10,14) × BT, that is, 14 × 4 ═ 56 milliseconds. And determining a second time length between the time points when the target event is detected and the time point when the first time length is determined, wherein the second time length T3 is T2-T1-1 ms if the time point when the target event is detected is T1-0 ms and the time point when the first time length is determined is T2-1 ms. Since the triggering condition of the dynamic detection is calculated by the brightness difference of two frames of image data, the optimal situation is that when the target holder rotates, the time just reaches the front of the 1 st frame data in the two frames of image data, the waiting time is shortest, that is, the next dynamic detection algorithm can be triggered only by waiting for the interval of 1 frame data, assuming that the frame rate FN of the data frame is 20 frames/second, one frame is received every 50 milliseconds, if the first step number of the target holder needing to rotate is not adjusted, the receiving of two frames of image data is completed only by waiting for 2 ms- (56ms-50ms) -1ms (93 ms), and then whether the detection algorithm is triggered is judged, if the first step number of the target holder rotating is adjusted to be 12 steps, only the waiting for (50ms-4ms 12-1 ms) +50ms (51 ms), the reception of two frames of data can be completed, and then whether the detection algorithm is triggered is judged, the third coordinate is determined by the adjusted first step number, and the third coordinate is the coordinate value (X2, Y2) which satisfies the condition MAX (X2, Y2) being 12.
In an optional embodiment, determining, according to the first coordinate and the second coordinate of the target pan/tilt, a first number of steps required for the target pan/tilt to rotate from the first position to the second position includes: acquiring a preset horizontal jitter threshold value of the target holder and a preset vertical jitter threshold value of the target holder; when detecting that the absolute value of the difference value of the first coordinate and the second coordinate in the horizontal direction is smaller than the horizontal shaking threshold value, determining that the number of the rotation steps of the target holder in the horizontal direction is 0; when detecting that the absolute value of the difference value of the first coordinate and the second coordinate in the horizontal direction is larger than or equal to the horizontal shaking threshold, determining the number of rotation steps of the target holder in the horizontal direction based on the absolute value of the difference value between the horizontal direction coordinate of the second coordinate and the horizontal direction coordinate of the first coordinate; when detecting that the absolute value of the difference value of the first coordinate and the second coordinate in the vertical direction is smaller than the vertical shaking threshold value, determining that the number of the rotating steps of the target holder in the vertical direction is 0; when detecting that the absolute value of the difference value of the first coordinate and the second coordinate in the vertical direction is larger than or equal to the vertical shaking threshold, determining the number of rotation steps of the target holder in the vertical direction based on the absolute value of the difference value between the coordinate in the vertical direction of the second coordinate and the coordinate in the vertical direction of the first coordinate; and determining the maximum value of the rotation step number of the target holder in the horizontal direction and the rotation step number of the target holder in the vertical direction as the first step number.
As shown in steps S407 to S407 in fig. 4, when determining the first step length, it is necessary to first obtain a horizontal jitter threshold and a vertical jitter threshold, and add a horizontal jitter threshold and a vertical jitter threshold, so that the minute jitter can be effectively shielded, the rotation efficiency of the pan/tilt head is improved, and the real-time performance of tracking can be further improved. The horizontal jitter threshold may be NX, the horizontal jitter threshold is NY, and NX and NY may be set according to actual conditions, for example, NX and NY may be set to 1 degree, 2 degrees, etc., where values of the horizontal and vertical jitter thresholds are not limited. The first coordinate of the target holder may be (X0, Y0), after the second coordinate that the target holder needs to rotate to is determined to be (X1, Y1), it is determined whether | X1-X0| is less than the horizontal shaking threshold NX, if | X1-X0| is less than the horizontal shaking threshold NX, it is determined that the value of the horizontal rotation step number X of the target holder is 0, that is, it is determined that | X1-X0| is less than the horizontal shaking threshold NX, it is determined that the target holder is slightly shaken; if the | X1-X0| is judged to be greater than or equal to the horizontal shaking threshold NX, the value of the horizontal rotation step number X of the target holder is judged to be | X1-X0|, namely when the step number X of the holder rotating in the horizontal direction is judged to be greater than or equal to the horizontal shaking threshold NX, the target holder is judged to need to track the target event, and the step number X of the holder rotating in the horizontal direction is | X1-X0 |.
After the number of steps of the target holder needing to rotate in the horizontal direction is completed, the number of steps of the target holder needing to rotate in the vertical direction can be judged, whether | Y1-Y0| is smaller than a vertical jitter threshold NY is judged, if | Y1-Y0| is smaller than the vertical jitter threshold NY, the value of the number of steps of the target holder vertical rotation is judged to be 0, namely | Y1-Y0| is judged to be smaller than the vertical jitter threshold NY, the target holder vertical rotation is judged to be micro-jitter; if the absolute value of Y1-Y0 is greater than or equal to a vertical shaking threshold NY, the value of the horizontal rotation step number Y of the target holder is judged to be absolute value of Y1-Y0, namely when the absolute value of Y1-Y0 is judged to be greater than or equal to the vertical shaking threshold NY, the target event is judged to need to be tracked by the target holder, and the step number Y needing to rotate in the vertical direction is absolute value of Y1-Y0;
through the above determination of the number of steps of the target holder rotating in the horizontal direction and the vertical direction, the number of steps of the target holder rotating in the horizontal direction can be obtained as X, and the number of steps of the target holder rotating in the vertical direction can be obtained as Y.
Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode 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 is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
In this embodiment, a control device of a pan/tilt head is further provided, where the control device is used to implement the foregoing embodiments and preferred embodiments, and details are not repeated after the description. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
Fig. 5 is a block diagram 1 of a control device of a pan/tilt head according to an embodiment of the present invention, as shown in fig. 5, the device comprising: the obtaining module 52 is configured to obtain a first coordinate of a target pan/tilt, where the first coordinate is a first coordinate of a first position where the target pan/tilt is currently located; a first determining module 54, configured to determine, when a target event is detected, a second coordinate of a second position to which the target pan-tilt needs to be rotated, where the target event is an event for triggering a monitoring device carried by the target pan-tilt to perform a motion detection operation, and the second position is an end position of one rotation completed when the monitoring device performs the motion detection operation; a second determining module 56, configured to determine a third coordinate according to the first coordinate and the second coordinate, where a distance between the first coordinate and the third coordinate is smaller than a distance between the first coordinate and the second coordinate; and a control module 58, configured to control the target pan-tilt to rotate, so that the target pan-tilt rotates to the third coordinate.
Fig. 6 is a block diagram 2 of the structure of a control device of a pan-tilt head according to an embodiment of the invention, as shown in fig. 6, which, in addition to all the modules shown in fig. 5, also comprises a third determination module 62 for determining the duration of time during which said target event is not detected; and an adjusting module 64, configured to decrease an image frame rate if it is determined that the duration is greater than or equal to a preset time interval, where the image frame rate is used to indicate a frequency of acquiring frame images captured by the monitoring device.
In an alternative embodiment, the above apparatus is further configured to increase the image frame rate in case the target event is detected.
In an alternative embodiment, the second determining module 56 may determine the third coordinate according to the first coordinate and the second coordinate by: determining a first step number and a first duration required for the target holder to rotate from the first position to the second position according to the first coordinate and the second coordinate, wherein the first step number is the maximum value of the rotation step number of the target holder in the horizontal direction and the vertical direction; determining a second time length between time points of which the first time length is determined by the distance of the time points of which the target events are detected; and determining the third coordinate according to the first step number and the second time length.
In an alternative embodiment, the second determining module 56 may determine the third coordinate according to the first step number and the second time length by: adjusting the first step number to enable a difference value between N times of the reciprocal of the current image frame rate and a target sum to be larger than or equal to 0 and smaller than a preset threshold value, wherein the target sum is the sum of the second time length and the adjusted first time length corresponding to the adjusted first step number, and N is an integer larger than 0; and determining the third coordinate according to the adjusted first step number.
In an alternative embodiment, the second determining module 56 may determine the first number of steps required for the target pan/tilt to rotate from the first position to the second position according to the first coordinate and the second coordinate of the target pan/tilt as follows: acquiring a preset horizontal jitter threshold value of the target holder and a preset vertical jitter threshold value of the target holder; when detecting that the absolute value of the difference value of the first coordinate and the second coordinate in the horizontal direction is smaller than the horizontal shaking threshold value, determining that the number of the rotation steps of the target holder in the horizontal direction is 0; when detecting that the absolute value of the difference value of the first coordinate and the second coordinate in the horizontal direction is larger than or equal to the horizontal shaking threshold, determining the number of rotation steps of the target holder in the horizontal direction based on the absolute value of the difference value between the horizontal direction coordinate of the second coordinate and the horizontal direction coordinate of the first coordinate; when detecting that the absolute value of the difference value of the first coordinate and the second coordinate in the vertical direction is smaller than the vertical shaking threshold value, determining that the number of the rotating steps of the target holder in the vertical direction is 0; when detecting that the absolute value of the difference value of the first coordinate and the second coordinate in the vertical direction is larger than or equal to the vertical shaking threshold, determining the number of rotation steps of the target holder in the vertical direction based on the absolute value of the difference value between the coordinate in the vertical direction of the second coordinate and the coordinate in the vertical direction of the first coordinate; and determining the maximum value of the rotation step number of the target holder in the horizontal direction and the rotation step number of the target holder in the vertical direction as the first step number.
It should be noted that, the above modules may be implemented by software or hardware, and for the latter, the following may be implemented, but not limited to: the modules are all positioned in the same processor; alternatively, the modules are respectively located in different processors in any combination.
Embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the method as set forth in any of the above.
Alternatively, in the present embodiment, the storage medium may be configured to store a computer program for executing the steps of:
s1, acquiring a first coordinate of a target holder, wherein the first coordinate is a first coordinate of a first position where the target holder is located currently;
s2, determining a second coordinate of a second position to which the target pan-tilt needs to rotate when a target event is detected, where the target event is an event for triggering a monitoring device carried by the target pan-tilt to perform a motion detection operation, and the second position is an end position of one rotation completed when the monitoring device performs the motion detection operation;
s3, determining a third coordinate according to the first coordinate and the second coordinate, wherein the distance between the first coordinate and the third coordinate is smaller than the distance between the first coordinate and the second coordinate;
and S4, controlling the target holder to rotate so as to enable the target holder to rotate to the third coordinate.
In an exemplary embodiment, the computer-readable storage medium may include, but is not limited to: various media capable of storing computer programs, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
Embodiments of the present invention also provide an electronic device comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the steps of any of the above method embodiments.
In an exemplary embodiment, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.
Optionally, in this embodiment, the processor may be configured to execute the following steps by a computer program:
s1, acquiring a first coordinate of a target holder, wherein the first coordinate is a first coordinate of a first position where the target holder is located currently;
s2, determining a second coordinate of a second position to which the target pan-tilt needs to rotate when a target event is detected, where the target event is an event for triggering a monitoring device carried by the target pan-tilt to perform a motion detection operation, and the second position is an end position of one rotation completed when the monitoring device performs the motion detection operation;
s3, determining a third coordinate according to the first coordinate and the second coordinate, wherein the distance between the first coordinate and the third coordinate is smaller than the distance between the first coordinate and the second coordinate;
and S4, controlling the target holder to rotate so as to enable the target holder to rotate to the third coordinate.
For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary embodiments, and details of this embodiment are not repeated herein.
It will be apparent to those skilled in the art that the various modules or steps of the invention described above may be implemented using a general purpose computing device, they may be centralized on a single computing device or distributed across a network of computing devices, and they may be implemented using program code executable by the computing devices, such that they may be stored in a memory device and executed by the computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into various integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A control method of a pan-tilt head is characterized by comprising the following steps:
acquiring a first coordinate of a target holder, wherein the first coordinate is a first coordinate of a first position where the target holder is located currently;
determining a second coordinate of a second position to which the target holder needs to rotate under the condition that a target event is detected, wherein the target event is an event for triggering monitoring equipment carried by the target holder to execute a motion detection operation, and the second position is an end position of one rotation completed when the monitoring equipment executes the motion detection operation;
determining a third coordinate according to the first coordinate and the second coordinate, wherein the distance between the first coordinate and the third coordinate is smaller than the distance between the first coordinate and the second coordinate;
and controlling the target holder to rotate so as to enable the target holder to rotate to the third coordinate.
2. The method of claim 1, wherein prior to detecting the target event, the method further comprises:
determining a duration of time that the target event is not detected;
and in the case that the duration is determined to be greater than or equal to a preset time interval, reducing the image frame rate, wherein the image frame rate is used for indicating the frequency of acquiring the frame images shot by the monitoring equipment.
3. The method of claim 2, wherein in the event that the target event is detected, the method further comprises:
and increasing the image frame rate.
4. The method of claim 1, wherein determining a third coordinate from the first coordinate and the second coordinate comprises:
determining a first step number and a first duration required for the target holder to rotate from the first position to the second position according to the first coordinate and the second coordinate, wherein the first step number is the maximum value of the rotation step number of the target holder in the horizontal direction and the vertical direction;
determining a second time length between time points of which the first time length is determined by the distance of the time points of which the target events are detected;
and determining the third coordinate according to the first step number and the second time length.
5. The method of claim 4, wherein determining the third coordinate based on the first number of steps and the second duration comprises:
adjusting the first step number to enable a difference value between N times of the reciprocal of the current image frame rate and a target sum to be larger than or equal to 0 and smaller than a preset threshold value, wherein the target sum is the sum of the second time length and the adjusted first time length corresponding to the adjusted first step number, and N is an integer larger than 0;
and determining the third coordinate according to the adjusted first step number.
6. The method of claim 4, wherein determining a first number of steps required for the target pan-tilt to rotate from the first position to the second position based on the first and second coordinates of the target pan-tilt comprises:
acquiring a preset horizontal jitter threshold value of the target holder and a preset vertical jitter threshold value of the target holder;
when detecting that the absolute value of the difference value of the first coordinate and the second coordinate in the horizontal direction is smaller than the horizontal shaking threshold value, determining that the number of the rotation steps of the target holder in the horizontal direction is 0;
when detecting that the absolute value of the difference value of the first coordinate and the second coordinate in the horizontal direction is larger than or equal to the horizontal shaking threshold, determining the number of rotation steps of the target holder in the horizontal direction based on the absolute value of the difference value between the horizontal direction coordinate of the second coordinate and the horizontal direction coordinate of the first coordinate;
when detecting that the absolute value of the difference value of the first coordinate and the second coordinate in the vertical direction is smaller than the vertical shaking threshold value, determining that the number of the rotating steps of the target holder in the vertical direction is 0;
when detecting that the absolute value of the difference value of the first coordinate and the second coordinate in the vertical direction is larger than or equal to the vertical shaking threshold, determining the number of rotation steps of the target holder in the vertical direction based on the absolute value of the difference value between the coordinate in the vertical direction of the second coordinate and the coordinate in the vertical direction of the first coordinate;
and determining the maximum value of the rotation step number of the target holder in the horizontal direction and the rotation step number of the target holder in the vertical direction as the first step number.
7. A control device of a pan/tilt head, comprising:
the system comprises an acquisition module, a processing module and a control module, wherein the acquisition module is used for acquiring a first coordinate of a target holder, and the first coordinate is a first coordinate of a first position where the target holder is located currently;
the first determining module is configured to determine, when a target event is detected, a second coordinate of a second position to which the target pan-tilt needs to be rotated, where the target event is an event for triggering a monitoring device carried by the target pan-tilt to perform a motion detection operation, and the second position is an end position of one rotation completed when the monitoring device performs the motion detection operation;
a second determining module, configured to determine a third coordinate according to the first coordinate and the second coordinate, where a distance between the first coordinate and the third coordinate is smaller than a distance between the first coordinate and the second coordinate;
and the control module is used for controlling the target holder to rotate so as to enable the target holder to rotate to the third coordinate.
8. The apparatus of claim 7, further comprising:
a third determination module to determine a duration of time that the target event was not detected;
and the adjusting module is used for reducing the image frame rate under the condition that the duration is determined to be greater than or equal to a preset time interval, wherein the image frame rate is used for indicating the frequency of acquiring the frame images shot by the monitoring equipment.
9. A storage medium, in which a computer program is stored, wherein the program, when executed by a processor, performs the method of any one of claims 1 to 6.
10. An electronic device comprising a memory and a processor, wherein the memory has stored therein a computer program, and wherein the processor is arranged to execute the computer program to perform the method of any of claims 1 to 6.
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| CN115037875A (en) * | 2022-05-17 | 2022-09-09 | 杭州华橙软件技术有限公司 | Cloud deck rotation control method and device |
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