CN114637342A - Holder control method and device, monitoring equipment and readable storage medium - Google Patents
Holder control method and device, monitoring equipment and readable storage medium Download PDFInfo
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- CN114637342A CN114637342A CN202210267790.4A CN202210267790A CN114637342A CN 114637342 A CN114637342 A CN 114637342A CN 202210267790 A CN202210267790 A CN 202210267790A CN 114637342 A CN114637342 A CN 114637342A
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D3/20—Control of position or direction using feedback using a digital comparing device
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Abstract
The invention provides a holder control method, a holder control device, a monitoring device and a readable storage medium, wherein the holder control method comprises the following steps: obtaining coordinates of a target object; determining a first rotation angle of the first holder and a second rotation angle of the second holder according to the coordinates of the target object; the first rotating angle and the second rotating angle are respectively used for indicating the first cloud platform and the second cloud platform to complete rotating motion within the same rotating time so as to enable the target object to be located at the picture center of the ball machine corresponding to the rotated second cloud platform; and controlling the first holder to rotate according to the first rotation angle from the current position, and controlling the second holder to rotate according to the second rotation angle. The second cloud platform can arrive the position of aiming at with the target object fast under the drive of first cloud platform, and the rotational speed of the second cloud platform that not only promotes can also make the second cloud platform aim at the target through allocating suitable rotation angle for first cloud platform and second cloud platform, reduces the target and loses the risk.
Description
Technical Field
The invention relates to the technical field of monitoring, in particular to a holder control method, a holder control device, monitoring equipment and a readable storage medium.
Background
With the rapid development of scientific technology in recent years, the tracking of target objects is more and more widely applied. In the prior art, a method for double-cradle head cooperative tracking exists, in the method, one cradle head drives the other cradle head to move, the moving speed of the cradle head is increased, and the method can adapt to target tracking with high moving speed.
However, although the moving speed of the raised pan/tilt head is increased, the influence of the motion of one pan/tilt head on the motion of the other pan/tilt head is not considered, the control precision is low, and the target cannot be aligned, so that the target tracking fails.
Therefore, how to control the precision of the lifting cloud platform in the case of the moving speed of the lifting cloud platform is a technical problem to be solved.
Disclosure of Invention
One of the objectives of the present invention is to provide a method and an apparatus for controlling a pan/tilt head, a monitoring device, and a readable storage medium, so as to improve the control accuracy of the pan/tilt head and prevent target tracking loss.
Embodiments of the invention may be implemented as follows:
in a first aspect, the present invention provides a pan/tilt head control method, comprising: obtaining coordinates of a target object; determining a first rotation angle of a first holder and a second rotation angle of a second holder according to the coordinates of the target object; the second holder is mounted on the first holder, and the first rotation angle and the second rotation angle are respectively used for indicating the first holder and the second holder to complete rotation movement within the same rotation time, so that the target object is located at the picture center of a ball machine corresponding to the rotated second holder; and controlling the first holder to rotate from the current position according to the first rotation angle, and controlling the second holder to rotate according to the second rotation angle.
In a second aspect, the present invention provides a pan/tilt head control apparatus, comprising: the acquisition module is used for acquiring the coordinates of the target object; the analysis module is used for determining a first rotation angle of the first holder and a second rotation angle of the second holder according to the coordinates of the target object; the second holder is mounted on the first holder, and the first rotation angle and the second rotation angle are respectively used for indicating that the first holder and the second holder complete rotation within the same rotation time, so that the target object is located at the picture center of a ball machine corresponding to the rotated second holder; and the control module is used for controlling the first holder to rotate from the current position according to the first rotation angle and controlling the second holder to rotate according to the second rotation angle.
In a third aspect, the present invention provides an image capturing apparatus comprising a processor and a memory, the memory storing a computer program executable by the processor, the processor being operable to execute the computer program to implement the method of the first aspect.
In a fourth aspect, the invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of the first aspect.
The invention provides a holder control method, a holder control device, a monitoring device and a readable storage medium, wherein the method comprises the following steps: obtaining coordinates of a target object; determining a first rotation angle of a first holder and a second rotation angle of a second holder according to the coordinates of the target object; the second holder is mounted on the first holder, and the first rotation angle and the second rotation angle are respectively used for indicating the first holder and the second holder to complete rotation movement within the same rotation time, so that the target object is located at the picture center of a ball machine corresponding to the rotated second holder; and controlling the first holder to rotate from the current position according to the first rotation angle, and controlling the second holder to rotate according to the second rotation angle. In order to increase the tracking speed of the second holder, in the embodiment of the present invention, the angles at which the first holder and the second holder need to rotate are determined first, so that the second holder can reach the position aligned with the target object quickly under the driving of the first holder, and not only the rotation speed of the second holder is increased, but also the second holder can align with the target object by allocating appropriate rotation angles to the first holder and the second holder, thereby reducing the risk of losing the target object.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic view of a scenario applicable to the embodiment of the present application;
fig. 2 is a schematic structural diagram of a monitoring device according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a control system of a monitoring device according to an embodiment of the present invention;
fig. 4 is a schematic flow chart of a pan/tilt control method according to an embodiment of the present invention;
fig. 5 is a schematic flowchart of one possible implementation manner of step S402 provided in the embodiment of the present invention;
FIG. 6 is a schematic flow chart diagram of one implementation of step S402-2 provided by an embodiment of the present invention;
FIG. 7 is a schematic flow chart of a first implementation of step S402-3 provided by an embodiment of the present invention;
fig. 8A is a schematic diagram of a motor motion curve according to an embodiment of the present invention;
FIG. 8B is a schematic diagram of another motor motion profile provided by an embodiment of the present invention;
FIG. 9 is a schematic flow chart of a second implementation of step S402-3 provided by an embodiment of the present invention;
fig. 10 is a schematic flow chart of another pan/tilt head control method according to an embodiment of the present invention;
fig. 11 is a schematic flowchart of an implementation manner of step S405 provided by the embodiment of the present invention;
fig. 12 is a functional block diagram of a pan/tilt control apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the 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.
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 or explained in subsequent figures.
In the description of the present invention, it should be noted that, if the terms "upper", "lower", "inner", "outer", etc. are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship which the product of the present invention is used to usually place, it is only for convenience of description and simplification of the description, but it is not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
Furthermore, the appearances of the terms "first," "second," and the like, if any, are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
Fig. 1 is a schematic view of a scene applicable to the embodiment of the present application. Referring to fig. 1, the scene includes a monitoring device 100, a target object 200, and a monitoring area 300. The monitoring device 100 may have one or more holders, and the monitoring device 100 may monitor the monitoring area 300 in all directions through rotation of the holders, and in an actual scene, the monitoring device 100 may perform real-time target detection on the monitoring area 300, and when it is detected that the target object 200 enters the monitoring area, real-time tracking of the target object 200 may be triggered.
At present, in the prior art, a method for cooperative tracking of two pan/tilt heads exists, in which one pan/tilt head drives the other pan/tilt head to move, so that the moving speed of the pan/tilt head can be increased, and the method is suitable for target tracking with high moving speed. However, although the moving speed of the pan/tilt is increased by the above method, the influence of the motion of one pan/tilt on the motion of the other pan/tilt is not considered, the control accuracy is low, and the target may not be aligned, which may cause a problem of target tracking failure.
Therefore, in order to improve the control accuracy of the pan/tilt head under the condition of improving the moving speed of the pan/tilt head, the embodiment of the invention provides monitoring equipment and a pan/tilt head control method.
Fig. 2 is a schematic structural diagram of a monitoring apparatus provided in an embodiment of the present application, and referring to fig. 2, the monitoring apparatus 100 may include a first image capture device 110, a second image capture device 120, and a third image capture device 130.
The second camera device 120 uses the first camera device 110 as a base, and includes a first holder 121, which can horizontally rotate relative to the first camera device 110, and the first holder 121 is provided with a power mechanism capable of vertically rotating, which can control the movement to vertically rotate; the third camera device 130 uses the first holder 121 as a base and includes a second holder 131. The second cradle head 131 can rotate horizontally and vertically without limitation of movement.
Optionally, the first camera device 110 may be but is not limited to a panoramic camera, taking the panoramic camera as an example, the first camera device 110 may be composed of 8 fixed-focus lens portions, each lens is arranged at equal intervals, the angle is 45 °, the lens is inclined downward and used for monitoring from high altitude downward, the lens generally adopts a 2.8mm, 4mm or 6mm focal length, and different types of lenses may be selected according to the actual application scene of the device; the lens adopts an F1.0 large-aperture lens, the image sensor adopts a 1/1.8' target surface, so that the lens can be clearly seen at night under low illumination even without light supplement, and the image is colorful; because the design of the large aperture is adopted, the panorama does not need light supplement, and structures and hardware related to the light supplement can be saved.
Optionally, the second camera 120 may be a ball camera, and is composed of a small zoom lens, the optical magnification may be 3-6 times, and the lens covers a focal length of 2.8mm to 50mm, the lens of the camera may adopt an F1.3 aperture lens, and the image sensor may adopt a 1/1.8 "target surface, so as to sufficiently ensure the low-light effect; the light filling can adopt mixed light filling, adopts 4 infrared lamps and 4 white light lamps to carry out the light filling respectively. The first pan/tilt head 121 can rotate horizontally by 360 degrees, the rotation is relative to the first camera device 110, and meanwhile, a rotation module composed of the movement lens and the light supplement module can vertically rotate by 0-30 degrees.
Optionally, the third camera 130 may be composed of a large zoom lens, the optical magnification may be more than 30 times, and the lens covers a focal length of 5mm to 250mm, the lens of the camera may adopt an F1.6 aperture lens, and the image sensor may adopt a 1/1.8 "target surface, so as to sufficiently ensure the low-light effect; the light filling can adopt the infrared light filling of laser, can adopt 4 long distance infrared lamps, 2 middle distance infrared lamps and 2 infrared lamps closely to carry out the light filling respectively. The second pan/tilt 131 can rotate horizontally by 360 degrees, the rotation is relative to the second camera device 12, and meanwhile, a rotation module composed of the camera lens of the movement and the light supplement module can vertically rotate by-10 degrees to 90 degrees.
It can be understood that, the monitoring apparatus 100 provided in the embodiment of the present application is different from the dual-pan-tilt monitoring apparatus in the prior art, in that the monitoring range can be expanded and the number of detected targets is larger by using the first camera device 110 for panoramic monitoring, and secondly, in the process of performing target tracking, both the second camera device 120 and the third camera device 130 can track the target, for example, target tracking is performed in the second camera device 120, wherein the third camera device 130 may be stationary, and in the process of performing target tracking in the third camera device 130, the second camera device 120 is stationary; in addition, in the process of tracking the target by the third camera 130, if a target moving at a fast tracking speed is required, the first pan/tilt head 121 of the second camera 120 can be controlled to move simultaneously, and in this process, the pan/tilt head control method provided by the embodiment of the present invention can ensure that the third camera 130 is accurately aligned with the target.
That is, in order to enable the third camera 130 (ball machine) to quickly locate and track the target, the first pan/tilt head 121 and the second pan/tilt head 131 may be simultaneously controlled to rotate by a program, and the two pan/tilt heads simultaneously rotate in a coordinated manner so that the second pan/tilt head 131 may rotate to a position aligned with the target in a shortest time. Under normal conditions, the limit rotation speed of the second holder 131 is ω max, the limit rotation speed of the first holder 121 is ω max, and the second holder 131 is driven to rotate by the first holder 121, so that the second holder 131 obtains a faster rotation speed, thereby speeding up the positioning time, and meanwhile, due to a higher rotation speed, the second holder 131 continuously tracks the fast moving target more easily.
Fig. 3 is a schematic structural diagram of a control system of a monitoring device according to an embodiment of the present invention. As shown in fig. 3, the system includes a processing module of the first image capturing device 110, a processing module of the second image capturing device 120, a processing module of the third image capturing device 130, and a gateway module.
Optionally, the processing module of the first camera device 110 may be a DSP platform, which is responsible for acquiring a 360 ° panoramic image, and meanwhile, performing some intelligent services, such as human body detection, motor vehicle detection, non-motor vehicle detection, people counting, vehicle counting, etc., on the panoramic image; meanwhile, the panoramic DSP platform can perform data interaction with the annular pan-tilt and the spherical pan-tilt according to the service condition so as to perform linkage;
in order to realize the tracking snapshot, the processing module of the first camera device 110 may perform intelligent analysis on the acquired panoramic image, and the analysis result may be transmitted to the processing module of the second camera device 120 and the processing module of the third camera device 130 for controlling the two holders to perform corresponding actions, where the transmitted data includes: target coordinates, tracking linkage mode, tracking duration and the like;
optionally, the processing module of the second camera device 120 may be a DSP platform, which is responsible for acquiring the image of the movement, and meanwhile, performs some intelligent services for the image, such as human body detection, motor vehicle detection, non-motor vehicle detection, perimeter, and the like; meanwhile, the first pan/tilt/zoom DSP platform may receive data sent by the processing module of the first camera 110, and perform a linkage operation by analyzing a data acquisition instruction; the first cradle head 121 has a vertical and horizontal motor control module therein, which controls the movement of the first cradle head 121 to rotate vertically and horizontally.
In order to realize the tracking snapshot, the processing module of the first camera device 110 transmits data to the processing module of the second camera device 120, so that the processing module controls the first pan-tilt 121 to perform corresponding vertical and horizontal rotation actions, and meanwhile, the processing module of the second camera device 120 can also receive an instruction of the processing module of the first camera device 110 to control the service to be turned off and turned on and the specific service configuration; meanwhile, the processing module of the second camera 120 may also feed back the state information of itself to the processing module of the first camera 110, such as the rotation angle, the speed, the current service state, and the like of the first camera 121.
Optionally, the processing module of the second camera device 120 may be a DSP platform, which is responsible for acquiring the core image, and meanwhile, performing some intelligent services for the image, such as face snapshot, human body detection, motor vehicle detection, non-motor vehicle detection, structured attribute analysis, and the like; meanwhile, the second pan/tilt head 131 may receive data sent by the processing module of the first camera 110 and the processing module of the second camera 120, and perform linkage operation by analyzing the data acquisition instruction; the second cradle head 131 has a vertical and horizontal motor control module therein, which controls the movement of the second cradle head 131 to rotate vertically and horizontally.
In order to realize the tracking snapshot, the processing module of the first camera device 110 transmits data to the processing module of the third camera device 130, so that the processing module controls the second holder 131 to perform corresponding vertical and horizontal rotation actions, and meanwhile, the processing module of the third camera device 130 can also receive an instruction of the processing module of the first camera device 110 to control the service to be turned off and turned on and the specific service configuration; meanwhile, the processing module of the third camera 130 may also feed back the state information of itself to the processing module of the first camera 110, such as the rotation angle, the speed, the current service state, and the like of the second camera 131.
Optionally, the gateway module is configured to be responsible for data interaction among a processing module of the second camera 120, the processing module of the second camera 120, and a processing module of the third camera 130, and is also responsible for an external network interface.
Through the control system, the first cloud platform 121 and the second cloud platform 131 can be controlled to rotate simultaneously, the second cloud platform 131 is driven to rotate through the first cloud platform 121, meanwhile, the second cloud platform 131 rotates relative to the first cloud platform 121, so that the second cloud platform 131 obtains faster rotating speed, the positioning time is accelerated, and meanwhile, due to the fact that the higher rotating speed exists, the spherical cloud platform continuously tracks the target which moves fast more easily.
Fig. 4 is a schematic flowchart of a pan-tilt control method according to an embodiment of the present invention. The method is described by taking a monitoring device 100 as an execution subject, and referring to fig. 4, the method includes:
s401, obtaining the coordinates of the target object.
Wherein the target object may be a person, a motor vehicle, a non-motor vehicle, etc.
In the obtaining of the coordinates of the target object, optionally, people, motor vehicles, and non-motor vehicles may be identified by classifying the acquired panoramic image, and people, motor vehicles, or non-motor vehicles that trigger an alarm or enter a monitoring range may all be used as the target object, feature extraction and Identifier (ID) assignment may be performed on the detected target object to distinguish different objects, and the coordinates of the target object may be obtained according to the width and height of the detection frame of each target object to which the ID is assigned.
S402, determining a first rotation angle of the first holder and a second rotation angle of the second holder according to the coordinates of the target object.
And S403, controlling the first holder to rotate from the current position according to the first rotation angle, and controlling the second holder to rotate according to the second rotation angle.
The second cloud platform is installed on the first cloud platform, and the first rotating angle and the second rotating angle are respectively used for indicating the first cloud platform and the second cloud platform to complete rotating motion within the same rotating time so that the target object is located at the picture center of the ball machine corresponding to the rotated second cloud platform.
As shown in the monitoring apparatus in fig. 2, if the target object is tracked by using the third camera 130 alone, due to the limitation of the rotation speed, the target may be lost when facing the target with a particularly fast moving speed, therefore, in this scenario, in order to increase the tracking speed of the third camera 130, the embodiment of the present invention may first determine the respective angles that the first pan and the second pan need to rotate, so that the second pan can reach the position aligned with the target object quickly under the driving of the first pan, not only the rotation speed of the second pan and the second pan can be increased, but also the second pan can be aligned with the target object by allocating appropriate rotation angles to the first pan and the second pan, thereby reducing the risk of losing the target object.
It can be seen that the above-mentioned pan/tilt control method can be applied to a tracking scene of a target with a fast moving speed, and if the moving speed of the target object is slow, the first pan/tilt or the second pan/tilt can be used alone to track the target object.
Fig. 5 is a schematic flowchart of a possible implementation manner of step S402 provided in an embodiment of the present invention, where the method may rapidly allocate rotation angles to the first pan/tilt and the second pan/tilt, and the method includes:
s402-1, obtaining the picture center coordinates of the dome camera.
The ball machine can be understood as the third camera 130 in fig. 2, the coordinate (X) of the center of the screen of the ball machinemid,Ymid) Can be determined according to the image collected by the ball machine.
S402-2, determining the position difference between the second holder and the target object according to the relative position information of the coordinates of the target object and the picture center coordinates and the relative position information of the picture center coordinates and the lens center of the ball machine.
The coordinates of the target object and the coordinates of the center of the picture are both coordinates in a planar rectangular coordinate system, and the second holder is located in a spatial coordinate system, and the coordinates in the planar rectangular coordinate system need to be mapped to the spatial coordinate system to determine the position difference between the second holder and the target object.
Fig. 6 is a schematic flowchart of an implementation manner of step S402-2 provided in an embodiment of the present invention, where the method can quickly determine the difference between the positions of the second pan/tilt and the target object, and the method includes:
s402-2-1, taking the lens center as the origin position, establishing a space coordinate system.
S402-2-2, respectively mapping the coordinate of the target object and the picture center coordinate to a space coordinate system, and determining mapping points of the coordinate of the target object and the picture center coordinate in the space coordinate system;
s402-2-3, determining the relative position information of the coordinate of the target object and the coordinate of the center of the picture and the relative position information of the coordinate of the center of the picture and the lens center of the dome camera based on the mapping points of the coordinate of the target object and the coordinate of the center of the picture in the space coordinate system;
s402-2-4, obtaining the position difference between the second holder and the target object according to the field parameter information of the dome camera in the space coordinate system, the relative position information of the coordinates of the target object and the center coordinates of the picture, and the relative position information of the center coordinates of the picture and the lens center of the dome camera.
Wherein, a space coordinate system is established by taking the lens center as an origin, and the known picture center coordinate is (X)mid,Ymid) Horizontal half field angle H and vertical half field angle V of the dome camera, then the connecting line vector between the center coordinate of the picture and the origin
P, T represents the horizontal angle and vertical angle of the mapping point of the center of the picture in the space coordinate system, the connecting line vector between the coordinate (X, Y) of the target object and the origin point
Wherein P 'and T' respectively represent the horizontal direction angle and the vertical direction angle of the mapping point of the target object in the space coordinate system, and then when the target object is located at the picture center of the dome camera, the horizontal direction target position and the vertical direction target position of the second pan-tilt should be represented by the following formulas:
P′＝Pcurrent horizontal position+θs
It should be noted that, the pan-tilt position referred to in the embodiments of the present invention refers to an angle θ of the pan-tilt in a space coordinate systemsI.e., the amount of positional difference that needs to be determined for embodiments of the present invention. For example, assume that the position difference amount θ is determinedsAt 30 degrees, if the first pan/tilt or the second pan/tilt is used for tracking alone, the first pan/tilt or the second pan/tilt is only required to rotate by 30 degrees to align with the target, and if the first pan/tilt is required to drive the second pan/tilt to move, the embodiment of the invention can provide the theta angle according to the provided theta anglesDetermining a first rotation angle theta of a first pan/tilt headrA second rotation angle theta of the second pan-tilt headbThe sum of the first rotation angle and the second rotation angle is the position difference thetas。
It should be noted that, in steps S402-2-1 to S402-2-4, a spatial coordinate system is established with the lens center of the second pan-tilt, and the position difference is determined with the angle of view parameter information of the second pan-tilt, which is suitable for a scene requiring the first pan-tilt to drive the second pan-tilt to track, if the first pan-tilt needs to perform tracking alone, the spatial coordinate system is established with the lens center of the first pan-tilt in steps S402-2-1 to S402-2-4, and the position difference is determined with the angle of view parameter information of the first pan-tilt, which is similar in calculation manner and is not described herein again.
How to depend on the position difference amount θ will be described belowsDetermining a first angle of rotation thetarA second rotation angle theta of the second pan-tilt headb。
S402-3, determining a first rotation angle of the first holder and a second rotation angle of the second holder according to the position difference.
In the mechanical structure shown in fig. 2, the horizontal rotation of the first platform can affect the horizontal rotation of the second platform, so as to perform horizontal rotation compensation, and then in the motion curve of the motor with constant acceleration, the maximum angular velocity of the first platform is assumed to be VrThe maximum angular velocity of the second head is VbThe angle of the first pan-tilt which needs to move is thetarAngle theta of movement of the second headbThe difference in position is thetas。
When considering the acceleration and deceleration intervals of the first pan/tilt and the second pan/tilt, an implementation manner is shown in fig. 7, where fig. 7 is a schematic flowchart of the first implementation manner of step S402-3 provided in the embodiment of the present invention, the method may rapidly allocate an appropriate angle to the first pan/tilt and the second pan/tilt according to the position difference, so as to ensure that the second pan/tilt can be aligned with the target object after rotating, and the method includes:
s402-3-1a, obtaining maximum angular velocity information corresponding to the first holder and the second holder respectively;
s402-3-2a, determining the speed difference information of the first holder and the second holder in the same rotation time according to the maximum angular speed information corresponding to the first holder and the second holder respectively;
s402-3-3a, determining a first rotation angle of the first holder and a second rotation angle of the second holder according to the angle distribution model corresponding to the speed difference information.
Wherein, in order to guarantee the secondThe target location that the cloud platform can be accurate fast arrives, first cloud platform and second cloud platform can begin the accelerated motion simultaneously to stop motion at the same time deceleration, then can obtain according to the invariable motor acceleration curve of acceleration: difference in position θsSatisfies the following relation:
wherein, asThe acceleration of the first holder and the second holder.
Fig. 8A and 8B show an analytical graph of the relationship, where fig. 8A is a schematic diagram of a motor motion curve provided by an embodiment of the present invention, fig. 8B is a schematic diagram of another motor motion curve provided by an embodiment of the present invention, and fig. 8A and 8B reflect that, assuming that the accelerations of the first and second pan/tiltsIn this case, the first and second holders need to complete acceleration and deceleration within the same rotation time, so as to ensure that the second holder can be aligned to the target, but due to the speed difference between the first and second holders, the first and second holders need to have a speed difference within the same rotation time, for example, in an acceleration and deceleration interval, due to the maximum speed difference between the first and second holders, both holders may be able to accelerate to the maximum speed and then decelerate, or only one holder may be able to accelerate to the maximum speed, or both holders may not be able to accelerate to the maximum speed, and this speed difference causes the rotation angles respectively allocated to the first and second holders to be different.
According to the different speed gap information, an angle distribution model corresponding to each type of speed gap information can be obtained as follows:
for example, when
Then, the first tripod head and the second tripod head both do not reach the maximum speed in the acceleration and deceleration interval, and then the position difference is divided equally, namely
The first cradle head can be ensured to rapidly drive the second cradle head to move and align with the target object, and for example,
the first holder and the second holder are both shown to reach the maximum speed in the acceleration and deceleration interval, and then the corresponding speed distribution model is as follows:
θb＝θs-θr。
after the first rotation angle and the second rotation angle are obtained in the manner, the horizontal target positions to which the first holder and the second holder respectively rotate can be obtained as follows:
P′first cloud platform＝PCurrent horizontal position of first holder+θr
P′Second tripod head＝PCurrent horizontal position of second holder+θb
When the acceleration and deceleration sections of the first pan/tilt and the second pan/tilt are not considered, another implementation manner may be as shown in fig. 9, where fig. 9 is a schematic flowchart of the second implementation manner of step S402-3 provided in the embodiment of the present invention, and the method may include:
s402-3-1b, obtaining maximum angular velocity information corresponding to the first holder and the second holder respectively;
s402-3-2b, according to the maximum angular velocity information corresponding to the first cloud platform and the second cloud platform, carrying out angle distribution on the position difference to obtain a first rotating angle of the first cloud platform and a second rotating angle of the second cloud platform.
Since the second pan head acceleration/deceleration section has a small displacement, the acceleration/deceleration section may not be considered, and the angle may be allocated according to the position difference:
after the first rotation angle and the second rotation angle are obtained in the manner, the horizontal target positions to which the first holder and the second holder respectively rotate can be obtained as follows:
in the embodiment of the application, the second holder is controlled to operate to the target position, real-time magnification scaling processing can be performed according to the width and the height of the target frame of the target, the size of the target is proper, then automatic focusing is triggered, and finally the target is clear.
Fig. 10 is a schematic flow chart of another pan/tilt head control method according to an embodiment of the present invention, where the method can determine a speed at which a pan/tilt head tracks a target, and prevent a target tracking failure, and the method includes:
s404, determining the current position variation of the first holder and the maximum displacement increment of the target object in the picture corresponding to the first holder; or determining the current position variation of the second holder and the maximum displacement increment of the target object in the picture of the dome camera;
the tracking speeds of the first and second holders are determined in a similar manner, and the second holder is taken as an example for explanation.
In determining the current displacement increment of the second pan/tilt head, it may alternatively be determined from the current position of the second pan/tilt head and the historical position at the time of capturing the previous frame of image, where the horizontal direction position and the vertical direction position are described separately.
Suppose that the current position of the first pan/tilt head is (P ', T '), and the historical position is (P 'k-1,T′k-1) Then the amount of horizontal direction position change can be expressed as: delta Pan ═ P '-P'k-1The vertical direction position variation amount may be expressed as: delta Tilt ═ T '-T'k-1。
The maximum displacement increment DeltaMaxPan in the horizontal direction can be used for increasing the corresponding target space position when the target moves from the center to the upper right corner or the lower left corner. The vertical maximum displacement increment DeltaMaxTilt is similar.
S405, determining the tracking speed of the first holder according to the relative difference information between the current position variation and the maximum displacement increment of the first holder; or determining the tracking speed of the second tripod head according to the relative difference information between the current position variation and the maximum displacement increment of the second tripod head.
In consideration of the fact that different maximum tracking speeds of the pan-tilt are different under different magnifications, and the moving speed of the pan-tilt is smaller under a large magnification, an embodiment of the invention provides an implementation mode for determining the tracking speed.
Fig. 11 is a schematic flowchart of an implementation manner of step S405 according to an embodiment of the present invention, where the method may determine the tracking speed according to optical parameter information of different pan/tilt heads, and the method includes:
s405-1, obtaining current optical parameter information and the maximum tracking speed of the second holder;
s405-2, determining the speed variation of the second holder according to the current optical parameter information and the maximum tracking speed;
s405-3, determining the tracking speed of the second pan/tilt head according to the relative difference information and the speed variation of the second pan/tilt head.
The following description continues with the example of the second pan/tilt, and the first pan/tilt is similar. For example, assuming that the maximum horizontal tracking speed of the second pan/tilt is MaxPeedPan, the maximum vertical tracking speed is MaxPeedTilt, the real-time obtained magnification of the second pan/tilt is ratio, and according to the obtained DeltaPan and DeltaTilt, the tracking speed of the second pan/tilt in the horizontal direction and the tracking speed of the second pan/tilt in the vertical direction may be respectively expressed as:
SpeedPan＝DeltaPan*(MaxPeedPan/Ration)/DeltaMaxPan
SpeedTilt＝DeltaTilt*(MaxPeedTilt/Ration)/DeltaMaxTilt
and S406, controlling the second holder to move according to the tracking speed, or controlling the second holder to move according to the tracking speed.
Through the mode, if the first cloud platform or the second cloud platform performs tracking independently, the tracking speed of the first cloud platform or the second cloud platform can be determined independently, and target tracking failure is prevented.
After the position and the speed information which need to be moved in the horizontal direction of the second holder or the first holder are determined, the position information and the speed information can be simultaneously transmitted to the bottom layer of the first holder or the second holder to drive the two horizontal directions to simultaneously accelerate and decelerate and control the horizontal direction to reach the target position, and meanwhile, the position which needs to be moved in the vertical direction is transmitted to the spherical holder to move to the target position in the vertical direction.
Based on the same inventive concept, an embodiment of the present invention further provides a pan/tilt head control apparatus, please refer to fig. 12, fig. 12 is a functional block diagram of the pan/tilt head control apparatus provided in the embodiment of the present invention, including:
an obtaining module 510, configured to obtain coordinates of a target object;
the analysis module 520 is configured to determine a first rotation angle of the first pan/tilt and a second rotation angle of the second pan/tilt according to the coordinates of the target object;
the first rotating angle and the second rotating angle are respectively used for indicating the first cloud platform and the second cloud platform to complete rotation within the same rotating time so as to enable the target object to be located at the picture center of the ball machine corresponding to the rotated second cloud platform;
the control module 530 is configured to control the first holder to rotate from the current position according to the first rotation angle, and control the second holder to rotate according to the second rotation angle.
In an optional embodiment, the analysis module 520 is specifically configured to: obtaining the picture center coordinates of the dome camera; determining the position difference between the second holder and the target object according to the relative position information of the coordinates of the target object and the picture center coordinates and the relative position information of the picture center coordinates and the lens center of the dome camera; and determining a first rotation angle of the first holder and a second rotation angle of the second holder according to the position difference.
In an optional embodiment, the analysis module 520 is specifically configured to: obtaining maximum angular velocity information corresponding to the first holder and the second holder respectively; determining the speed difference information of the first holder and the second holder in the same rotation time according to the maximum angular speed information corresponding to the first holder and the second holder respectively; and determining a first rotating angle of the first holder and a second rotating angle of the second holder according to the angle distribution model corresponding to the speed difference information.
In an optional embodiment, the analysis module 520 is specifically configured to: establishing a space coordinate system by taking the center of the lens as an origin position; mapping the coordinates of the target object and the picture center coordinates into the space coordinate system respectively, and determining mapping points of the coordinates of the target object and the picture center coordinates in the space coordinate system respectively; determining relative position information of the coordinates of the target object and the coordinates of the center of the picture and relative position information of the coordinates of the center of the picture and the center of a lens of the dome camera based on the mapping points of the coordinates of the target object and the coordinates of the center of the picture in the space coordinate system; and obtaining the position difference between the second holder and the target object according to the field parameter information of the dome camera in the space coordinate system, the relative position information of the coordinate of the target object and the image center coordinate, and the relative position information of the image center coordinate and the lens center of the dome camera.
In an optional embodiment, the analysis module 520 is specifically configured to: obtaining maximum angular velocity information corresponding to the first holder and the second holder respectively; and according to the maximum angular velocity information corresponding to the first cloud platform and the second cloud platform, carrying out angle distribution on the position difference to obtain a first rotating angle of the first cloud platform and a second rotating angle of the second cloud platform.
In an optional embodiment, the analyzing module 520 is further configured to determine a current position variation of the first pan/tilt, and a maximum displacement increment of the target object in a picture corresponding to the first pan/tilt; or determining the current position variation of a second holder and the maximum displacement increment of the target object in the picture of the dome camera; determining the tracking speed of the first holder according to the relative difference information between the current position variation of the first holder and the maximum displacement increment; or determining the tracking speed of the second holder according to the relative difference information between the current position variation of the second holder and the maximum displacement increment; the control module 530 is further configured to control the second pan/tilt head to move according to the tracking speed, or control the second pan/tilt head to move according to the tracking speed.
In an optional embodiment, the analyzing module 520 is specifically configured to obtain current optical parameter information and a maximum tracking speed of the second pan/tilt head; determining the speed variation of the second holder according to the current optical parameter information and the maximum tracking speed; and determining the tracking speed of the second holder according to the relative difference information and the speed variation of the second holder.
The embodiment of the present invention further provides another structure of the monitoring device 100, where the monitoring device 100 includes a processor, a memory, a bus, a first cradle head 121, and a second cradle head 131. The processor, the memory, the first cradle head 121 and the second cradle head 131 are connected through a bus.
The processor is used to execute executable modules, such as computer programs, stored in the memory. The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the movement calibration method provided by this embodiment may be implemented by hardware integrated logic circuits in a processor or instructions in the form of software.
The Processor may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.
The Memory may comprise a Random Access Memory (RAM) and may also include a non-volatile Memory, such as at least one disk Memory.
The memory is used for storing programs, for example, programs corresponding to the pan/tilt head control device 500 provided in this embodiment. The pan/tilt head control device 500 provided in this embodiment includes at least one software functional module that can be stored in a memory in the form of software or firmware (firmware) or solidified in an Operating System (OS) of the monitoring apparatus 100. After receiving the execution instruction, the processor executes the program to implement the movement calibration method provided by the embodiment of the invention.
The bus may be an ISA (Industry Standard architecture) bus, a PCI (peripheral component interconnect) bus, or an EISA (extended Industry Standard architecture) bus.
An embodiment of the present invention further provides a readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the pan/tilt control method according to any one of the foregoing embodiments. The computer readable storage medium may be, but is not limited to, various media that can store program codes, such as a U disk, a removable hard disk, a ROM, a RAM, a PROM, an EPROM, an EEPROM, a magnetic or optical disk, etc.
It should be understood that the disclosed apparatus and method may be embodied in other forms. 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.
In addition, the functional modules in the embodiments of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules 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: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes. It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention. 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.
Claims (10)
1. A pan-tilt control method, characterized in that the method comprises:
obtaining coordinates of a target object;
determining a first rotation angle of a first holder and a second rotation angle of a second holder according to the coordinates of the target object;
the second holder is mounted on the first holder, and the first rotation angle and the second rotation angle are respectively used for indicating the first holder and the second holder to complete rotation movement within the same rotation time, so that the target object is located at the picture center of a ball machine corresponding to the rotated second holder;
and controlling the first holder to rotate from the current position according to the first rotation angle, and controlling the second holder to rotate according to the second rotation angle.
2. A pan/tilt head control method according to claim 1, wherein a first rotation angle of the first pan/tilt head, a second rotation angle of the second pan/tilt head are determined on the basis of the coordinates of the target object,
obtaining the picture center coordinates of the dome camera;
determining the position difference between the second holder and the target object according to the relative position information of the coordinates of the target object and the picture center coordinates and the relative position information of the picture center coordinates and the lens center of the dome camera;
and determining a first rotation angle of the first holder and a second rotation angle of the second holder according to the position difference.
3. A pan/tilt head control method according to claim 2, wherein determining a first rotation angle of the first pan/tilt head and a second rotation angle of the second pan/tilt head according to the difference in position comprises:
obtaining maximum angular velocity information corresponding to the first holder and the second holder respectively;
determining the speed difference information of the first holder and the second holder in the same rotation time according to the maximum angular speed information corresponding to the first holder and the second holder respectively;
and determining a first rotating angle of the first holder and a second rotating angle of the second holder according to the angle distribution model corresponding to the speed difference information.
4. A pan/tilt head control method according to claim 2, wherein determining the amount of positional difference between the second pan/tilt head and the target object based on the relative positional information of the coordinates of the target object and the coordinates of the center of the screen and the relative positional information of the coordinates of the center of the screen and the lens center of the ball machine comprises:
establishing a space coordinate system by taking the center of the lens as an origin position;
mapping the coordinates of the target object and the picture center coordinates into the space coordinate system respectively, and determining mapping points of the coordinates of the target object and the picture center coordinates in the space coordinate system respectively;
determining relative position information of the coordinates of the target object and the coordinates of the center of the picture and relative position information of the coordinates of the center of the picture and the center of a lens of the dome camera based on the mapping points of the coordinates of the target object and the coordinates of the center of the picture in the space coordinate system;
and obtaining the position difference between the second holder and the target object according to the field parameter information of the dome camera in the space coordinate system, the relative position information of the coordinate of the target object and the image center coordinate, and the relative position information of the image center coordinate and the lens center of the dome camera.
5. A pan/tilt head control method according to claim 2, wherein determining a first rotation angle of the first pan/tilt head and a second rotation angle of the second pan/tilt head according to the difference in position comprises:
obtaining maximum angular velocities corresponding to the first holder and the second holder respectively;
and according to the maximum angular speeds corresponding to the first cloud platform and the second cloud platform, carrying out angle distribution on the position difference to obtain a first rotating angle of the first cloud platform and a second rotating angle of the second cloud platform.
6. A pan-tilt control method according to claim 1, characterized in that said method further comprises:
determining the current position variation of the first holder and the maximum displacement increment of the target object in a picture corresponding to the first holder; or determining the current position variation of a second holder and the maximum displacement increment of the target object in the picture of the dome camera;
determining the tracking speed of the first holder according to the relative difference information between the current position variation of the first holder and the maximum displacement increment; or determining the tracking speed of the second holder according to the relative difference information between the current position variation of the second holder and the maximum displacement increment;
and controlling the second cradle head to move according to the tracking speed, or controlling the second cradle head to move according to the tracking speed.
7. A pan-tilt control method according to claim 6, wherein the tracking speed of the second pan-tilt is determined according to information of relative difference between the amount of change in the current position of the second pan-tilt and the maximum displacement increment;
obtaining current optical parameter information and the maximum tracking speed of the second holder;
determining the speed variation of the second holder according to the current optical parameter information and the maximum tracking speed;
and determining the tracking speed of the second holder according to the relative difference information and the speed variation of the second holder.
8. A pan/tilt/zoom control device, comprising:
the acquisition module is used for acquiring the coordinates of the target object;
the analysis module is used for determining a first rotation angle of the first holder and a second rotation angle of the second holder according to the coordinates of the target object;
the second holder is mounted on the first holder, and the first rotation angle and the second rotation angle are respectively used for indicating that the first holder and the second holder complete rotation within the same rotation time, so that the target object is located at the picture center of a ball machine corresponding to the rotated second holder;
and the control module is used for controlling the first holder to rotate from the current position according to the first rotation angle and controlling the second holder to rotate according to the second rotation angle.
9. A monitoring device, characterized by at least a processor and a memory, the memory storing a computer program executable by the processor, the processor being executable to implement the method of any of claims 1-7.
10. A readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1-7.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115396590A (en) * | 2022-07-05 | 2022-11-25 | 浙江大华技术股份有限公司 | Gun and ball linkage equipment control method and device, terminal equipment and storage medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115396590A (en) * | 2022-07-05 | 2022-11-25 | 浙江大华技术股份有限公司 | Gun and ball linkage equipment control method and device, terminal equipment and storage medium |
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