CN115006772A - Fire fighting truck remote operation control method, device, equipment and medium - Google Patents

Fire fighting truck remote operation control method, device, equipment and medium Download PDF

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Publication number
CN115006772A
CN115006772A CN202210626369.8A CN202210626369A CN115006772A CN 115006772 A CN115006772 A CN 115006772A CN 202210626369 A CN202210626369 A CN 202210626369A CN 115006772 A CN115006772 A CN 115006772A
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China
Prior art keywords
camera
arm
tracked
assembly
angle
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CN202210626369.8A
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Chinese (zh)
Inventor
臧传涛
苏健
李国军
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Shenyang Jietong Fire Truck Co ltd
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Shenyang Jietong Fire Truck Co ltd
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Priority to CN202210626369.8A priority Critical patent/CN115006772A/en
Publication of CN115006772A publication Critical patent/CN115006772A/en
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    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62C—FIRE-FIGHTING
    • A62C37/00—Control of fire-fighting equipment
    • A62C37/04—Control of fire-fighting equipment with electrically-controlled release
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources

Abstract

The disclosure provides a fire fighting truck remote operation control method, device, equipment and medium, and relates to the technical field of fire fighting. The method comprises the following steps: acquiring attitude parameters of the jib assembly; calculating a tracking angle of a first camera according to the attitude parameter of the jib assembly and a preset installation parameter of the first camera, wherein the tracking angle is an included angle between a straight line passing through a center point of the first camera and a center point of the object to be tracked and a horizontal plane; and controlling the rotating assembly to drive the first camera to rotate according to the change of the tracking angle so as to adjust the shooting angle of the first camera, and enabling the object to be tracked to be in the shooting range of the first camera. The disclosure provides a fire fighting truck remote operation control method, device, equipment and medium, which can enable a remote operator to remotely control a fire fighting truck at a visual angle of an object to be tracked, and ensure the safety and accuracy of remotely operating the fire fighting truck.

Description

Fire fighting truck remote operation control method, device, equipment and medium
Technical Field
The present disclosure relates to the field of communications technologies, and in particular, to a method and an apparatus for remote operation control of a fire fighting truck, an electronic device, and a computer-readable storage medium.
Background
In the fire-fighting industry, an electric control system is a core component for realizing intelligent control of a fire truck, and the engineering machinery industry is dedicated to exploration and implementation of remote control in recent years.
Fire rescue is a very dangerous operation task, along with the development of science and technology and the increasingly mature unmanned demand technology, the unmanned operation demand of fire vehicles is very strong, and the technical key is assistance through visual images in order to guarantee the unmanned remote control technology adopted by the operation safety at present.
In the related art, remote control is realized by adding a camera to a fire fighting vehicle, however, accurate control cannot be performed on remote control due to a viewing angle problem.
It is to be noted that the information disclosed in the above background section is only for enhancement of understanding of the background of the present disclosure, and thus may include information that does not constitute prior art known to those of ordinary skill in the art.
Disclosure of Invention
The present disclosure provides a method, an apparatus, a device and a medium for remote operation control of a fire engine, which at least to some extent overcome the problem of poor accuracy of unmanned remote control provided in the related art.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows, or in part will be obvious from the description, or may be learned by practice of the disclosure.
According to one aspect of the disclosure, a fire fighting truck remote operation control method is provided, the fire fighting truck comprises a truck body, a boom assembly and a video tracking system, one end of the boom assembly is mounted on a turntable of the truck body, the other end of the boom assembly is provided with an object to be tracked, the video tracking system comprises a first camera for tracking the object to be tracked, the first camera is mounted on a rotating assembly, the rotating assembly is arranged on the turntable close to one end of the boom assembly, and the method comprises the following steps:
acquiring attitude parameters of the jib assembly;
calculating a tracking angle of a first camera according to the attitude parameter of the jib assembly and a preset installation parameter of the first camera, wherein the tracking angle is an included angle between a straight line passing through a center point of the first camera and a center point of the object to be tracked and a horizontal plane;
and controlling the rotating assembly to drive the first camera to rotate according to the change of the tracking angle so as to adjust the shooting angle of the first camera and enable the object to be tracked to be in the shooting range of the first camera.
In one embodiment of the present disclosure, the arm support assembly includes at least a first arm and a second arm, a first end of the first arm is rotatably connected to the turntable, a second end of the first arm is movably connected to a first end of the second arm, and a second end of the second arm is provided with the object to be tracked;
the acquiring of attitude parameters of the jib assembly comprises:
acquiring the length from the first end of the first arm to the first end of the second arm and a first included angle between a straight line passing through the first end of the first arm and the first end of the second arm and a horizontal plane;
and acquiring the length of the second arm and a second included angle between a straight line passing through the first end of the first arm and the first end of the second arm and the second arm.
In one embodiment of the present disclosure, the calculating a tracking angle of the first camera according to the attitude parameter of the boom assembly and a preset installation parameter of the first camera includes:
calculating a first distance from the object to be tracked to a first horizontal plane where a center point of a first camera is located and a second distance between a projection of the center point of the object to be tracked on the first horizontal plane where the first camera is located and the center point of the first camera according to the attitude parameters of the jib assembly and preset installation parameters of the first camera;
and calculating the tracking angle of the first camera according to the first distance and the second distance.
In one embodiment of the present disclosure, the preset installation parameter of the first camera includes an installation height of the first camera;
the first distance is obtained by:
calculating a third distance between the object to be tracked and a second horizontal plane where the rotary table is located according to the attitude parameters of the jib assembly;
and calculating the first distance according to the third distance and the installation height of the first camera.
In one embodiment of the present disclosure, the preset installation parameter of the first camera includes an installation width of the first camera;
the second distance is obtained by:
calculating a fourth distance between the projection of the object to be tracked on a second horizontal plane where the rotary table is located and a connection point of the jib assembly and the rotary table according to the attitude parameters of the jib assembly;
and calculating the second distance according to the fourth distance and the installation width of the first camera.
In one embodiment of the present disclosure, the rotating assembly includes a horizontal rotating motor and a lifting rotating motor,
the change according to the tracking angle, control the runner assembly drive the first camera rotates to according to the shooting angle of tracking angle adjustment first camera includes:
controlling the horizontal rotating motor to rotate in the rotating direction of the rotary table by a preset horizontal preset offset so that the first camera is positioned in front of the horizontal moving path of the object to be tracked, and/or controlling the lifting rotating motor to rotate by a preset lifting preset offset so as to track the object to be tracked to ascend or descend so that the first camera is positioned in front of the vertical moving path of the object to be tracked;
and if the first camera shoots an obstacle in the movement process, controlling the rotary table and/or the jib assembly to stop moving.
According to another aspect of the present disclosure, a fire fighting truck remote operation control device is provided, the fire fighting truck includes a truck body, a boom assembly and a video tracking system, boom assembly one end is installed on the revolving stage of the truck body, the other end is equipped with the object to be tracked, the video tracking system includes a first camera for tracking the object to be tracked, the first camera is installed on a rotating assembly, the rotating assembly is disposed near the revolving stage of boom assembly one end, the device includes:
the acquisition module is used for acquiring attitude parameters of the jib assembly;
the calculation module is used for calculating a tracking angle of the first camera according to the attitude parameters of the jib assembly and preset installation parameters of the first camera, wherein the tracking angle is an included angle between a straight line passing through a center point of the first camera and a center point of the object to be tracked and a horizontal plane;
and the control module is used for controlling the rotating assembly to drive the first camera to rotate according to the change of the tracking angle so as to adjust the shooting angle of the first camera and enable the object to be tracked to be in the shooting range of the first camera.
In one embodiment of the present disclosure, the video tracking system further includes a second camera for collecting an environmental image and a third camera for collecting a field image, the second camera is disposed on the boom assembly, and the third camera is disposed on the object to be tracked.
According to another aspect of the present disclosure, there is provided an electronic device including: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the above-mentioned fire truck remote operation control method via execution of the executable instructions.
According to another aspect of the present disclosure, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the fire fighting truck remote operation control method described above.
According to the fire fighting truck remote operation control method, the fire fighting truck remote operation control device, the fire fighting truck remote operation control equipment and the fire fighting truck remote operation control medium, the attitude parameter of the jib assembly and the installation parameter of the first camera are obtained, the tracking angle of the first camera is calculated, and the shooting angle of the first camera is adjusted according to the change of the tracking angle, so that an object to be tracked is maintained in the shooting range of the first camera, a remote controller can remotely control the fire fighting truck at the visual angle of the object to be tracked, and the safety and the accuracy of the remote operation fire fighting truck are guaranteed.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure. It is to be understood that the drawings in the following description are merely exemplary of the disclosure, and that other drawings may be derived from those drawings by one of ordinary skill in the art without the exercise of inventive faculty.
FIG. 1 shows a schematic view of a fire engine of an embodiment of the present disclosure;
FIG. 2 shows a schematic diagram of a video following system of an embodiment of the present disclosure;
FIG. 3 illustrates a flow chart of a method of remote operation control of a fire engine of an embodiment of the present disclosure;
FIG. 4 illustrates a schematic diagram of a boom assembly of an embodiment of the present disclosure;
FIG. 5 shows a schematic view of an arm support assembly of yet another embodiment of the present disclosure;
FIG. 6 illustrates a schematic diagram of a calculation of a tracking angle from pose parameters of a boom assembly and mounting parameters of a first camera according to an embodiment of the present disclosure;
FIG. 7 shows a schematic view of a fire engine remote operation control device of an embodiment of the present disclosure;
fig. 8 shows a block diagram of the electronic device according to the embodiment of the present disclosure.
Icon: 100. a fire engine; 101. a vehicle body; 102. a turntable; 103. an arm support assembly; 1031. a first arm; 1032. a second arm; 104. an object to be tracked; 105. a video tracking system; 1051. a first camera; 1052. a rotating assembly; 10521. a horizontal rotation motor; 10522. a lifting rotating motor; 10523. a tilt sensor; 1053. a frame; 10531. a controller; 10532. an external port; 1054. a second camera; 1055. and a third camera.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus their repetitive description will be omitted. Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.
Fig. 1 is a schematic structural diagram of an exemplary fire fighting vehicle to which the method or the apparatus for remote operation control of a fire fighting vehicle provided in the embodiment of the present disclosure may be applied.
As shown in fig. 1, the fire fighting truck 100 includes a truck body 101, a boom assembly 103, and a video tracking system 105, wherein the boom assembly 103 is mounted on a turntable 102 of the truck body 101 at one end and provided with an object to be tracked 104 at the other end. It should be noted that the object 104 to be tracked may be a rescue platform, a water cannon or a working bucket disposed at the other end of the boom assembly 103.
The boom assembly 103 may include at least one main arm and a folding arm, at least one auxiliary arm may be further disposed between the main arm and the folding arm, the arms are movably connected, and the length of each arm and the included angle between two adjacent arms may be freely adjusted, and the specific structure of the boom assembly 103 is not specifically limited in this application.
The turntable 102 is rotatably disposed on the vehicle body 101, and the driving mechanism drives the turntable to rotate relative to the vehicle body 101, the driving mechanism may include a belt transmission mechanism, a rack-and-pinion transmission mechanism, and the like, and the driving mechanism capable of driving the turntable 102 to rotate has various types, which is not specifically limited in this application.
Illustratively, the video tracking system 105 includes a first camera 1051 for tracking the object 104 to be tracked, the first camera 1051 being mounted on a rotating assembly 1052, the rotating assembly 1052 being disposed on the turntable 102 proximate one end of the boom assembly 103.
Fig. 2 shows a schematic diagram of a video following system according to an embodiment of the present disclosure, and as shown in fig. 2, the video following system 105 includes a first camera 1051, a rotating assembly 1052 and a stand 1053, the first camera 1051 is disposed on the rotating assembly 1052, the rotating assembly 1052 is disposed on the stand 1053, and the stand 1053 is mounted on the turntable 102.
The first camera 1051 is used for tracking the object 104 to be tracked in real time along with the movement of the arm support assembly 103 to acquire images, and is used as a main viewing angle of remote operation, the first camera 1051 sends the acquired images of the object 104 to be tracked and the surrounding environment thereof to the controller 10531 in the rack 1053 through a wire, and the rack 1053 is also provided with an external port 10532 for data transmission; of course, in addition to the above-mentioned manner of wired transmission, the first camera 1051 may also transmit the collected images of the object 104 to be tracked and its surroundings to the controller 10531 in the rack 1053 by wireless transmission such as WiFi, bluetooth, 4G/5G, etc. The video following system further comprises a second camera 1054 used for collecting the image of the environment around the vehicle, the second camera 1054 is arranged on the arm support assembly 103, and the second camera 1054 sends the collected image of the environment to the controller 10531 through wireless; in addition, the video following system further comprises a third camera 1055 for collecting rescue or fire-extinguishing site images, and the third camera 1055 sends the collected site images to the controller 10531 through the mobile network; the controller 10531 realizes target tracking through an angle algorithm and an image recognition algorithm, and visually guides remote operation to ensure the safety of the remotely operated fire truck.
The second camera 1054 and the third camera 1055 are connected to the controller 10531 through video cables, and the controller 10531 is connected to a control system of the fire engine through a bus, thereby forming an overall network system.
The rotating assembly 1052 comprises a horizontal rotating motor 10521 and a lifting rotating motor 10522, the horizontal rotating motor 10521 is arranged on the rack 1053, the lifting rotating motor 10522 is arranged on the horizontal rotating motor 10521, the first camera 1051 is arranged on the lifting rotating motor 10522, and the horizontal rotating motor 10521 is used for controlling the first camera 1051 to rotate in the horizontal plane; the elevation rotation motor 10522 is used to control the elevation of the first camera 1051 in the vertical plane to follow the movement of the object 104 to be tracked. A distance sensor and an inclination angle sensor 10523 are respectively mounted on the horizontal rotation motor 10521 and the elevation rotation motor 10522.
When an operator performs remote operation, the object 104 to be tracked completes work tasks such as ascending, descending, horizontal movement and the like according to corresponding operation instructions; meanwhile, in the moving process of the object 104 to be tracked, the first camera 1051 rotates along with the rotary table 102, so that the first camera 1051 collects the image of the object 104 to be tracked and the image on the motion track of the object 104 to be tracked in real time; meanwhile, the rotation angle of the rotating assembly 1052 is controlled, so that the first camera 1051 collects images in the ascending or descending motion process of the object 104 to be tracked and collects images on the motion track of the object 104 to be tracked in real time, and the object 104 to be tracked is within the shooting range of the first camera 1051.
In view of the demand of unmanned remote control fire engine, this disclosure provides a camera follows the motion of jib subassembly, trails the vision auxiliary system of jib subassembly operation end in real time, and it can make the remote operator utilize the vision auxiliary system that this disclosure provided to come remote control fire engine like being in the visual angle of working fill, can carry out visual instruction to remote operation to guarantee remote operation fire engine's security and accuracy. The following examples are intended to illustrate in particular:
first, the embodiment of the present disclosure provides a method for remotely controlling a fire fighting truck, which may be executed by any system with computing capability.
Fig. 3 shows a flowchart of a method for remotely controlling a fire fighting truck according to an embodiment of the disclosure. As shown in fig. 3, the fire fighting truck remote operation control method provided in this embodiment includes a truck body, a boom assembly and a video tracking system, where one end of the boom assembly is mounted on a turntable of the truck body, and the other end of the boom assembly is provided with an object to be tracked, the video tracking system includes a first camera for tracking the object to be tracked, the first camera is mounted on a rotating assembly, and the rotating assembly is disposed on the turntable near one end of the boom assembly, and the method includes:
s302, acquiring attitude parameters of the jib assembly;
for example, the arm support assembly may include a first arm, a second arm, and a driving part for controlling the extension, the contraction, and the angle adjustment of the first arm and/or the second arm, wherein one end of the first arm is rotatably connected, e.g., hinged, with the turntable, the other end of the first arm is movably connected with a first end of the second arm, and a second end of the second arm is provided with the object to be tracked.
The attitude parameters of the jib assembly of the embodiment comprise the length of the first arm and a first included angle between the first arm and the horizontal plane, and the position and the attitude of the first arm in the space can be represented through the attitude parameters; the attitude parameters of the jib assembly further comprise the length of the second arm and a second included angle between the second arm and the first arm, and the spatial position and the attitude of the second arm relative to the first arm can be represented through the attitude parameters of the second arm.
Illustratively, the boom assembly may further comprise at least a first arm and a second arm, a first end of the first arm being articulated with the turntable, a second end of the first arm being connected with a first end of the second arm, a second end of the second arm being provided with the object to be tracked. It should be noted that at least one auxiliary arm may be further disposed between the first arm and the second arm, the number of the auxiliary arms is determined according to actual situations, for example, according to a height to be lifted of an object to be tracked, and the present application is not limited in particular, and each auxiliary arm is movably connected between the second end of the first arm and the first end of the second arm after being movably connected.
The attitude parameters of the boom assembly of the embodiment comprise the length from the first end of the first arm to the first end of the second arm and a first included angle between a straight line passing through the first end of the first arm and the first end of the second arm and a horizontal plane, and the model of the boom assembly can be simplified through the attitude parameters, so that the tracking angle of the first camera can be calculated quickly; the attitude parameters of the boom assembly further comprise the length of the second arm and a second included angle between the second arm and a straight line passing through the first end of the first arm and the first end of the second arm and the second arm, and the spatial position and the attitude of the second arm relative to the straight line passing through the first end of the first arm and the first end of the second arm can be represented through the attitude parameters of the second arm.
Specifically, the length of the first arm, the length of the second arm, or the length from the first end of the first arm to the first end of the second arm is obtained by a distance sensor, which may be any one or more of a laser sensor, an ultrasonic sensor, and other sensors capable of measuring the distance between two points. And acquiring a first included angle between the first arm and the horizontal plane or a second included angle between the first arm and the second arm through the tilt sensor. When other auxiliary arms are arranged between the first arm and the second arm, the included angle between the adjacent first arm and the auxiliary arm, the included angle between the adjacent auxiliary arms and the included angle between the auxiliary arm and the second arm can be respectively measured through the tilt angle sensor, and then the included angle between a straight line passing through the first end of the first arm and the first end of the second arm and the length from the first end of the first arm to the first end of the second arm are determined according to the measured included angles and the lengths of the arms.
S304, calculating a tracking angle of the first camera according to the attitude parameters of the jib assembly and preset installation parameters of the first camera, wherein the tracking angle is an included angle between a straight line passing through a center point of the first camera and a center point of an object to be tracked and a horizontal plane.
The tracking angle of the first camera in this embodiment is an included angle between a straight line passing through a center point of the first camera and a center point of an object to be tracked and a horizontal plane, and in order to calculate the tracking angle, the attitude parameter of the boom assembly is known, the distance of the object to be tracked on the first horizontal plane where the first camera is located can be calculated through the attitude parameter of the boom assembly, the tracking angle of the first camera can be calculated through the distance of the object to be tracked on the first horizontal plane where the first camera is located and the distance of the object to be tracked between the foot of the first camera on the first horizontal plane and the center point of the first camera, that is, the tangent value of the tracking angle of the first camera is the ratio between the distance of the object to be tracked on the first horizontal plane where the first camera is located and the distance of the object to be tracked between the foot of the first horizontal plane and the center point of the first camera.
In one embodiment, since the boom assembly and the first camera are installed at different positions, and the first horizontal plane where the first camera is located and the second horizontal plane where the rotating platform is located are different, when the tracking angle of the first camera is calculated, the calculation result needs to be corrected according to the installation parameters of the first camera. The installation parameters of the first camera comprise the installation height of the first camera relative to the second horizontal plane and the installation width of the first camera between the projection of the first camera on the second horizontal plane and the connection point of the first arm and the rotary table. Under the condition that the first camera is installed, the installation height and the installation width can be measured through the distance sensor, and the measured installation parameters of the first camera are stored in the controller.
Generally, when installing first camera, first camera is installed on runner assembly, and runner assembly sets up on the revolving stage, and first camera is located the revolving stage top, and upwards sets up towards waiting to track the object direction slope, and generally, first camera sets up on the inboard revolving stage of jib subassembly to prevent jib subassembly and waiting to track the object and shelter from first camera in the motion process.
S306, according to the change of the tracking angle, the rotating assembly is controlled to drive the first camera to rotate so as to adjust the shooting angle of the first camera, and therefore the object to be tracked is within the shooting range of the first camera.
When an operator remotely controls an object to be tracked to move, firstly, the rotating assembly is adjusted to place the object to be tracked in the center of the shooting range of the first camera, the operator can set the ascending or descending target height of the object to be tracked and the target moving angle of the object to be tracked on the horizontal plane in the controller, the controller calculates the attitude parameter of the boom assembly according to the set target height and the set target moving angle, the tracking angle of the first camera is calculated according to the attitude parameter of the boom assembly, the rotating assembly is controlled to control the rotation of the first camera by taking the tracking angle of the first camera as a target value, and the object to be tracked is guaranteed to be kept in the shooting range of the first camera in the moving process.
According to the fire fighting truck remote operation control method provided by the embodiment of the disclosure, the attitude parameter of the jib assembly and the installation parameter of the first camera are acquired, the tracking angle of the first camera is calculated, and the shooting angle of the first camera is adjusted according to the change of the tracking angle, so that an object to be tracked is maintained in the shooting range of the first camera, a remote controller can remotely control the fire fighting truck at the visual angle of the object to be tracked, and the safety and the accuracy of the remotely operated fire fighting truck are guaranteed.
In one embodiment, the boom assembly includes at least a first arm and a second arm, a first end of the first arm being pivotally connected, e.g., articulated, to the vehicle body, a second end of the first arm being movably connected, e.g., articulated, to a first end of the second arm, a second end of the second arm being provided with the object to be tracked;
step S302 acquires attitude parameters of the boom assembly, including:
acquiring the length from the first end of the first arm to the first end of the second arm and a first included angle between a straight line passing through the first end of the first arm and the first end of the second arm and a horizontal plane;
the length of the second arm and a second included angle between a straight line passing through the first end of the first arm and the first end of the second arm and the second arm are obtained.
To describe the attitude parameters of the boom assembly in detail, reference is now made to fig. 4 and 5.
Fig. 4 illustrates a schematic diagram of an arm support assembly of an embodiment of the present disclosure. As shown in fig. 4, the arm support assembly comprises a first arm and a second arm, a first end a of the first arm is hinged on the turntable, a second end B of the first arm is movably connected with a first end of the second arm, and a second end Q of the second arm is provided with an object to be tracked, under the condition, the length AB of the first arm is the length from the first end a of the first arm to the first end B of the second arm, and a first included angle a is an included angle between the first arm and a horizontal plane; the second included angle b is an included angle between the first arm and the second arm, and the tracking angle c of the first camera is an included angle between a straight line OQ passing through a central point of an object to be tracked and a central point of the first camera and a first horizontal plane.
Fig. 5 shows a schematic view of a boom assembly and an object to be tracked of a further embodiment of the present disclosure. In fig. 5, the arm support assembly includes a first arm, a second arm, and an auxiliary arm movably connected between the first arm and the second arm, a first end a of the first arm is hinged to the turntable, a second end E of the first arm is movably connected to the first end of the auxiliary arm, a second end B of the auxiliary arm is movably connected to the first end of the second arm, and a second end Q of the second arm is provided with an object to be tracked. The number of auxiliary arms may be at least one, and is illustrated as one auxiliary arm in the present disclosure.
In order to simplify the calculation, the first arm and the auxiliary arm are simplified as shown in fig. 5, and since the length of each arm and the angle between adjacent arms can be obtained by measurement, it is necessary to calculate the length AB of the line connecting the first end a of the first arm and the first end B of the second arm according to known conditions.
In the triangle ABE, knowing the length AE of the first arm, the length BE of the auxiliary arm and the angle ≤ e between the first arm and the auxiliary arm, the length AB from the first end a of the first arm to the first end B of the second arm satisfies the following formula:
AB 2 ＝BE 2 +AE 2 -BE × AE × cos-
The length of AB can be calculated by equation one.
Similarly, a & lt EBA and a & lt EAB can be obtained, and since the included angle of the first arm relative to the second horizontal plane and the included angle between the auxiliary arm and the second arm are known, a & lt a & gt and a & lt b & gt in fig. 5 can be obtained. Therefore, the case where the auxiliary arm is provided between the first arm and the second arm can be simplified to the case of two arms, and the following description will be made by taking an example where the boom assembly includes the first arm and the second arm when calculating the tracking angle of the first camera from the attitude parameter of the boom assembly.
The specific manner of obtaining attitude parameters of the boom assembly is indicated above and will not be described in detail herein.
In this embodiment, the step S304 calculates the tracking angle of the first camera according to the attitude parameter of the boom assembly and the preset installation parameter of the first camera, and includes:
calculating a first distance from an object to be tracked to a first horizontal plane where a center point of a first camera is located and a second distance between a projection of the center point of the object to be tracked on the first horizontal plane where the first camera is located and the center point of the first camera according to the attitude parameters of the jib assembly and preset installation parameters of the first camera;
and calculating the tracking angle of the first camera according to the first distance and the second distance.
Fig. 6 illustrates a schematic diagram of calculating a tracking angle from pose parameters of the boom assembly and mounting parameters of the first camera in accordance with an embodiment of the present disclosure. As shown in fig. 6, to calculate the tracking angle ° c of the first camera, i.e. the angle between the line between the central point O of the first camera and the central point Q of the object to be tracked and the first horizontal plane.
And constructing a right triangle OPQ, wherein the point P is a projection point of the object to be tracked on the first horizontal plane. In the right triangle OPQ, there are:
tan < c ═ QP/PO formula two
According to the formula two, a first distance QP from the object to be tracked to the first horizontal plane and a second distance PO from a projection point P of the object to be tracked on the first horizontal plane to a central point O of the first camera need to be obtained, and then the tracking angle c of the first camera is obtained according to the formula two.
In one embodiment, the preset installation parameters of the first camera comprise the installation height of the first camera;
the first distance is obtained by:
calculating a third distance between the object to be tracked and a second horizontal plane where the rotary table is located according to the attitude parameters of the jib assembly;
and calculating the first distance according to the third distance and the installation height of the first camera.
In this embodiment, the first distance QP cannot be directly obtained, and is further converted into a third distance from the object to be tracked to the second horizontal plane according to the attitude parameter of the boom assembly, so that the first distance is calculated according to the third distance and the installation height of the first camera.
As shown in fig. 6, a projection point of the object to BE tracked Q on the first horizontal plane is P, a projection point on the second horizontal plane is C, a perpendicular line of PQ is drawn through the first end B of the second arm, the obtained foot is denoted as E, a perpendicular line of BE is drawn through the first end a of the first arm, the obtained foot is denoted as F, a perpendicular line of AC is drawn through the first end B of the second arm, the obtained foot is denoted as D, and a third distance QC from the object to BE tracked to the second horizontal plane is obtained. As can be seen from fig. 6:
PQ＝QC-PC＝EC-EQ-PC＝BD-EQ-PC
in the right triangle ABD, we can get according to the sine theorem:
BD＝AB×sin∠a；
in a right-angled triangle BEQ, we obtain according to the sine theorem:
EQ＝QB×sin∠EBQ；
wherein, the angle EBQ is 180 degrees-angle b-angle ABF is 180 degrees-angle b-angle a;
from this, PQ × sin ═ AB × sin ═ QB × sin ═ c (180 ° — b ═ c).
Therefore, the first distance can be calculated through the attitude parameter of the arm support assembly and the installation height of the object to be tracked.
In one embodiment, the preset installation parameters of the first camera comprise the installation width of the first camera;
the second distance is obtained by:
calculating a fourth distance between the projection of the object to be tracked on a second horizontal plane where the rotary table is located and a connecting point of the jib assembly and the rotary table according to the attitude parameters of the jib assembly;
and calculating the second distance according to the fourth distance and the installation width of the first camera.
In fig. 6, a second distance from a projection point P of the object to be tracked to the first horizontal plane to a center point O of the first camera is denoted as OP, a fourth distance from a projection point C of the object to be tracked to the second horizontal plane to a connection point a of the boom assembly and the turntable is denoted as AC, and an installation width of the first camera is denoted as AG, and it can be seen that:
OP＝AC-AG＝AD+DC-AG；
in the right-angled triangle BEQ, the following can be obtained according to the cosine theorem:
DC＝BE＝BQ×cos∠QBE＝BQ×cos(180°-∠a-∠b)；
in the right triangle AFB, the following can be obtained according to the cosine theorem:
AD＝FB＝AB×cos∠a；
then OP-AD + DC-AG-AB × cos ═ a + BQ × cos (180 ° -a-b) -AG.
Therefore, the second distance can be obtained by calculating the attitude parameter of the jib assembly and the installation width of the object to be tracked.
In one embodiment, as shown in fig. 2, the rotating assembly includes a horizontal rotating motor and a lifting rotating motor,
step S306 is to control the rotating assembly to drive the first camera to rotate according to the change of the tracking angle, so as to adjust the shooting angle of the first camera, including:
controlling a horizontal rotating motor to rotate in the rotating direction of a rotary table by a preset horizontal preset offset so that a first camera is positioned in front of the horizontal moving path of the object to be tracked, and/or controlling a lifting rotating motor to rotate by a preset lifting preset offset so as to track the rising or falling of the object to be tracked and make the first camera be positioned in front of the moving path of the object to be tracked;
and if the first camera shoots the obstacle in the movement process, controlling the rotary table and/or the arm frame assembly to stop moving.
When the remote operation is carried out, firstly, the object to be tracked is kept at the central position of the shooting range of the first camera, the operator can remotely set the moving mode (including ascending, descending, horizontal left, horizontal right and the like), the target position and the like of the object to be tracked in the controller, namely, a target moving path of the object to be tracked is set, so that a corresponding operation instruction is generated according to the target moving path of the object to be tracked, setting the pre-offset of the movement direction of the first camera according to the operation instruction of the object to be tracked, enabling the first camera to move to the target position before the object to be tracked, if the object to be tracked moves to the left-turning target position in advance of the object to be tracked by the set pre-offset when the object to be tracked is controlled to turn left, and the object to be tracked is moved to the target position in advance of the object to be tracked by the set pre-offset amount in the processes of right turning/ascending/descending and the like of the object to be tracked. Therefore, the first camera can observe whether an obstacle exists on the moving path of the object to be tracked in advance in the moving process, if the obstacle exists, the rotation of the rotary table and/or the movement of the arm frame assembly are stopped, so that the object to be tracked stops moving, the target tracking consistent with the actual operation habit is realized, the remote operation is guided visually, the safety of the remote operation fire truck is guaranteed, and the object to be tracked is prevented from colliding with the obstacle.
It should be noted that the pre-offset includes a horizontal pre-offset during horizontal movement and a lifting pre-offset during lifting movement, and the setting of the pre-offset may be determined according to actual conditions.
Based on the same inventive concept, the embodiment of the present disclosure further provides a remote operation control device for a fire fighting truck, as described in the following embodiments. Because the principle of the embodiment of the apparatus for solving the problem is similar to that of the embodiment of the method, the embodiment of the apparatus can be referred to the implementation of the embodiment of the method, and repeated descriptions are omitted.
Fig. 7 shows a schematic diagram of a fire fighting vehicle remote operation control device according to an embodiment of the disclosure. As shown in fig. 7, the remote operation control device for fire fighting truck of this embodiment, the fire fighting truck includes a truck body, a boom assembly and a video tracking system, one end of the boom assembly is installed on a turntable of the truck body, the other end is provided with an object to be tracked, the video tracking system includes a first camera for tracking the object to be tracked, the first camera is installed on a rotating assembly, the rotating assembly is installed on the turntable near one end of the boom assembly, the device includes an obtaining module 701, a calculating module 702 and a control module 703, wherein,
an obtaining module 701, configured to obtain an attitude parameter of the boom assembly;
the calculation module 702 is configured to calculate a tracking angle of the first camera according to the attitude parameter of the boom assembly and a preset installation parameter of the first camera, where the tracking angle is an included angle between a horizontal plane and a straight line passing through a center point of the first camera and a center point of an object to be tracked;
the control module 703 is configured to control the rotating assembly to drive the first camera to rotate according to a change of the tracking angle, so as to adjust a shooting angle of the first camera, so that the object to be tracked is within a shooting range of the first camera.
In an optional embodiment, the video tracking system further includes a second camera for capturing an environmental image and a third camera for capturing a live image, the second camera being disposed on the boom assembly, and the third camera being disposed on the object to be tracked.
In one embodiment, the arm support assembly comprises at least a first arm and a second arm, wherein a first end of the first arm is rotatably connected with the turntable, a second end of the first arm is movably connected with a first end of the second arm, and a second end of the second arm is provided with an object to be tracked;
the obtaining module 701 is specifically configured to obtain a length from a first end of the first arm to a first end of the second arm, and a first included angle between a straight line passing through the first end of the first arm and the first end of the second arm and a horizontal plane;
the length of the second arm and a second included angle between a straight line passing through the first end of the first arm and the first end of the second arm and the second arm are obtained.
In an embodiment of the present disclosure, the calculating module 702 is configured to calculate, according to the attitude parameter of the boom assembly and a preset installation parameter of the first camera, a first distance from the object to be tracked to a first horizontal plane where a center point of the first camera is located, and a second distance between a projection of the center point of the object to be tracked on the first horizontal plane where the first camera is located and the center point of the first camera;
and calculating the tracking angle of the first camera according to the first distance and the second distance.
In one embodiment, the preset installation parameters of the first camera comprise the installation height of the first camera;
the calculating module 702 is specifically configured to calculate the first distance:
calculating a third distance between the object to be tracked and a second horizontal plane where the rotary table is located according to the attitude parameters of the jib assembly;
and calculating the first distance according to the third distance and the installation height of the first camera.
In one embodiment, the preset installation parameters of the first camera comprise the installation width of the first camera;
the calculating module 702 is further configured to calculate a second distance:
calculating a fourth distance between the projection of the object to be tracked on a second horizontal plane where the rotary table is located and a connecting point of the jib assembly and the rotary table according to the attitude parameters of the jib assembly;
and calculating the second distance according to the fourth distance and the installation width of the first camera.
It should be noted that, the rotating assembly includes a horizontal rotating motor and a lifting rotating motor,
the control module is used for controlling the horizontal rotating motor to rotate in the rotating direction of the rotary table by a preset horizontal preset offset so that the first camera is positioned in front of the horizontal moving path of the object to be tracked, and/or controlling the lifting rotating motor to rotate by a preset lifting preset offset so as to track the rising or falling of the object to be tracked and make the first camera positioned in front of the moving path of the object to be tracked;
and if the first camera shoots the obstacle in the movement process, controlling the rotary table and/or the arm frame assembly to stop moving.
To illustrate the effect of setting the pre-offset, verification was performed by correlation experiments.
In one embodiment, a medium-sized elevating platform fire truck (model DG32) is taken as an experimental object, the medium-sized elevating platform fire truck carries the fire truck remote operation control device, and the rotating speed of a driving arm frame hydraulic motor of the medium-sized elevating platform fire truck (model DG32) is about 110 seconds/circle. After 30 testing rounds, the optimal rotating speed for realizing the pre-deviation of the horizontal rotating motor is 95-100 seconds/circle, and specific test data are shown in table 1.
TABLE 1 Pre-offset experimental data of medium-sized climbing platform fire truck
Figure BDA0003677766680000161
In another embodiment, a large-scale elevating platform fire truck (model DG72) is taken as an experimental object, the large-scale elevating platform fire truck carries the fire truck remote operation control device disclosed by the invention, and the rotating speed of a hydraulic motor of a driving arm frame of the large-scale elevating platform fire truck (model DG72) is about 140 seconds/circle. After 30 testing rounds, the optimal rotating speed for realizing the pre-deviation of the horizontal rotating motor is 125-130 seconds/circle, and specific test data are shown in table 2.
TABLE 2 Pre-offset experimental data of large-scale elevating platform fire truck
Figure BDA0003677766680000162
Of course, the above experiment only exemplarily uses the medium-sized elevating platform fire truck DG32 and the large-sized elevating platform fire truck DG72 as experimental objects, and through experimental verification, the speed of the horizontal rotating motor on different types of elevating vehicles can be better controlled, target tracking consistent with actual operation habits is realized, and remote operation is visually guided to ensure the safety of the remotely operated vehicles.
It should be noted that, the setting of the vertical pre-offset is similar to the setting of the horizontal pre-offset, and both can be determined through an experimental process, which is not described in detail herein.
As will be appreciated by one skilled in the art, aspects of the present invention may be embodied as a system, method or program product. Thus, various aspects of the invention may be embodied in the form of: an entirely hardware embodiment, an entirely software embodiment (including firmware, microcode, etc.) or an embodiment combining hardware and software aspects that may all generally be referred to herein as a "circuit," module "or" system.
The remote operation control device for the fire fighting truck provided by the embodiment calculates the tracking angle of the first camera through acquiring the attitude parameters of the jib assembly and the installation parameters of the first camera, adjusts the shooting angle of the first camera according to the tracking angle, so that an object to be tracked is maintained in the shooting range of the first camera, a remote controller can remotely control the fire fighting truck according to the visual angle of the object to be tracked, and the safety and the accuracy of the remote operation fire fighting truck are guaranteed.
An electronic device 800 according to this embodiment of the invention is described below with reference to fig. 8. The electronic device 800 shown in fig. 8 is only an example and should not bring any limitation to the function and the scope of use of the embodiments of the present invention.
As shown in fig. 8, electronic device 800 is in the form of a general purpose computing device. The components of the electronic device 800 may include, but are not limited to: the at least one processing unit 810, the at least one memory unit 820, and a bus 830 that couples the various system components including the memory unit 820 and the processing unit 810.
Wherein the storage unit stores program code that is executable by the processing unit 810 to cause the processing unit 810 to perform steps according to various exemplary embodiments of the present invention as described in the above section "exemplary methods" of the present specification. For example, the processing unit 810 may perform the acquisition of pose parameters of the boom assembly as shown in fig. 3; calculating a tracking angle of a first camera according to the attitude parameters of the jib assembly and preset installation parameters of the first camera, wherein the tracking angle is an included angle between a straight line passing through a center point of the first camera and a center point of an object to be tracked and a horizontal plane; according to the change of the tracking angle, the rotating assembly is controlled to drive the first camera to rotate so as to adjust the shooting angle of the first camera, and therefore the object to be tracked is in the shooting range of the first camera.
The storage unit 820 may include readable media in the form of volatile memory units such as a random access memory unit (RAM)8201 and/or a cache memory unit 8202, and may further include a read only memory unit (ROM) 8203.
The storage unit 820 may also include a program/utility 8204 having a set (at least one) of program modules 8205, such program modules 8205 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may comprise an implementation of a network environment.
Bus 830 may be any of several types of bus structures including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.
The electronic device 800 may also communicate with one or more external devices 840 (e.g., keyboard, pointing device, bluetooth device, etc.), with one or more devices that enable a user to interact with the system 800, and/or with any devices (e.g., router, modem, etc.) that enable the electronic device 800 to communicate with one or more other computing devices. Such communication may occur via input/output (I/O) interfaces 850. Moreover, the system 800 may also communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the Internet) via the network adapter 860. As shown, the network adapter 860 communicates with the other modules of the electronic device 800 via the bus 830. It should be appreciated that although not shown, other hardware and/or software modules may be used in conjunction with the electronic device 800, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which may be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.
In an exemplary embodiment of the present disclosure, there is also provided a computer-readable storage medium having stored thereon a program product capable of implementing the above-described method of the present specification. In some possible embodiments, aspects of the invention may also be implemented in the form of a program product comprising program code means for causing a terminal device to carry out the steps according to various exemplary embodiments of the invention described in the above section "exemplary methods" of the present description, when said program product is run on the terminal device.
More specific examples of the computer-readable storage medium in the present disclosure may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
In the present disclosure, a computer readable storage medium may include a propagated data signal with readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Alternatively, program code embodied on a computer readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
In particular implementations, program code for carrying out operations of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + +, or the like, as well as conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., through the internet using an internet service provider).
It should be noted that although in the above detailed description several modules or units of the device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit, according to embodiments of the present disclosure. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units.
Moreover, although the steps of the methods of the present disclosure are depicted in the drawings in a particular order, this does not require or imply that the steps must be performed in this particular order, or that all of the depicted steps must be performed, to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step execution, and/or one step broken down into multiple step executions, etc.
Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which may be a personal computer, a server, a mobile terminal, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice in the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

Claims (10)

1. A fire fighting truck remote operation control method comprises a truck body, a boom assembly and a video tracking system, wherein one end of the boom assembly is mounted on a rotary table of the truck body, the other end of the boom assembly is provided with an object to be tracked, the video tracking system comprises a first camera for tracking the object to be tracked, the first camera is mounted on a rotating assembly, the rotating assembly is arranged on the rotary table close to one end of the boom assembly, and the method is characterized by comprising the following steps:
acquiring attitude parameters of the jib assembly;
calculating a tracking angle of a first camera according to the attitude parameter of the jib assembly and a preset installation parameter of the first camera, wherein the tracking angle is an included angle between a straight line passing through a center point of the first camera and a center point of the object to be tracked and a horizontal plane;
and controlling the rotating assembly to drive the first camera to rotate according to the change of the tracking angle so as to adjust the shooting angle of the first camera and enable the object to be tracked to be in the shooting range of the first camera.
2. The method of claim 1, wherein the boom assembly comprises at least a first arm and a second arm, a first end of the first arm is pivotally connected to the turntable, a second end of the first arm is movably connected to a first end of the second arm, and a second end of the second arm is configured to receive the object to be tracked;
the acquiring of attitude parameters of the jib assembly comprises:
acquiring the length from the first end of the first arm to the first end of the second arm and a first included angle between a straight line passing through the first end of the first arm and the first end of the second arm and a horizontal plane;
and acquiring the length of the second arm and a second included angle between a straight line passing through the first end of the first arm and the first end of the second arm and the second arm.
3. The fire fighting vehicle remote operation control method according to claim 2, wherein the calculating of the tracking angle of the first camera according to the attitude parameter of the boom assembly and the preset installation parameter of the first camera includes:
calculating a first distance from the object to be tracked to a first horizontal plane where a center point of a first camera is located and a second distance between a projection of the center point of the object to be tracked on the first horizontal plane where the first camera is located and the center point of the first camera according to the attitude parameters of the jib assembly and preset installation parameters of the first camera;
and calculating the tracking angle of the first camera according to the first distance and the second distance.
4. The fire engine remote operation control method according to claim 3, wherein the preset installation parameter of the first camera includes an installation height of the first camera;
the first distance is obtained by:
calculating a third distance between the object to be tracked and a second horizontal plane where the rotary table is located according to the attitude parameters of the jib assembly;
and calculating the first distance according to the third distance and the installation height of the first camera.
5. The fire engine remote operation control method according to claim 3, wherein the preset installation parameter of the first camera includes an installation width of the first camera;
the second distance is obtained by:
calculating a fourth distance between the projection of the object to be tracked on a second horizontal plane where the rotary table is located and a connection point of the jib assembly and the rotary table according to the attitude parameters of the jib assembly;
and calculating the second distance according to the fourth distance and the installation width of the first camera.
6. A fire fighting vehicle remote operation control method according to any one of claims 1 to 5, wherein the rotation unit includes a horizontal rotation motor and a lifting rotation motor,
according to the change of the tracking angle, the rotating assembly is controlled to drive the first camera to rotate so as to adjust the shooting angle of the first camera, and the method comprises the following steps:
controlling the horizontal rotating motor to rotate in the rotating direction of the rotary table by a preset horizontal preset offset so that the first camera is positioned in front of the horizontal moving path of the object to be tracked, and/or controlling the lifting rotating motor to rotate by a preset lifting preset offset so as to track the object to be tracked to ascend or descend so that the first camera is positioned in front of the vertical moving path of the object to be tracked;
and if the first camera shoots an obstacle in the movement process, controlling the rotary table and/or the jib assembly to stop moving.
7. The utility model provides a fire engine remote operation controlling means, the fire engine includes automobile body, jib subassembly and video tracking system, jib subassembly one end install in on the revolving stage of automobile body, the other end is equipped with treats the tracking object, video tracking system is including being used for the tracking treat the first camera of tracking object, first camera is installed on runner assembly, runner assembly set up in being close to jib subassembly one end on the revolving stage, its characterized in that, the device includes:
the acquisition module is used for acquiring attitude parameters of the jib assembly;
the calculation module is used for calculating a tracking angle of the first camera according to the attitude parameters of the jib assembly and preset installation parameters of the first camera, wherein the tracking angle is an included angle between a straight line passing through a center point of the first camera and a center point of the object to be tracked and a horizontal plane;
and the control module is used for controlling the rotating assembly to drive the first camera to rotate according to the change of the tracking angle so as to adjust the shooting angle of the first camera and enable the object to be tracked to be in the shooting range of the first camera.
8. The fire fighting vehicle remote operation control device of claim 7, wherein the video tracking system further comprises a second camera for capturing images of the environment and a third camera for capturing images of the scene, the second camera being disposed on the boom assembly, the third camera being disposed on the object to be tracked.
9. An electronic device, comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to perform the method of any of claims 1-6 via execution of the executable instructions.
10. A computer-readable storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the fire fighting vehicle remote operation control method according to any one of claims 1 to 6.
CN202210626369.8A 2022-06-02 2022-06-02 Fire fighting truck remote operation control method, device, equipment and medium Pending CN115006772A (en)

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