CN116614709A - Intelligent control method, system, terminal and medium for distributed control ball - Google Patents
Intelligent control method, system, terminal and medium for distributed control ball Download PDFInfo
- Publication number
- CN116614709A CN116614709A CN202310480169.0A CN202310480169A CN116614709A CN 116614709 A CN116614709 A CN 116614709A CN 202310480169 A CN202310480169 A CN 202310480169A CN 116614709 A CN116614709 A CN 116614709A
- Authority
- CN
- China
- Prior art keywords
- regulation
- control
- parameters
- ball
- angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 34
- 238000012544 monitoring process Methods 0.000 claims abstract description 27
- 238000004088 simulation Methods 0.000 claims abstract description 25
- 238000004458 analytical method Methods 0.000 claims abstract description 23
- 230000001105 regulatory effect Effects 0.000 claims abstract description 16
- 230000000007 visual effect Effects 0.000 claims description 46
- 238000004364 calculation method Methods 0.000 claims description 13
- 238000004590 computer program Methods 0.000 claims description 13
- 230000001276 controlling effect Effects 0.000 claims description 12
- 238000004422 calculation algorithm Methods 0.000 claims description 9
- 230000006870 function Effects 0.000 claims description 7
- 230000004927 fusion Effects 0.000 claims description 4
- 238000010191 image analysis Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 5
- 206010000117 Abnormal behaviour Diseases 0.000 description 4
- 238000003860 storage Methods 0.000 description 4
- 239000013598 vector Substances 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/61—Control of cameras or camera modules based on recognised objects
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/95—Computational photography systems, e.g. light-field imaging systems
- H04N23/951—Computational photography systems, e.g. light-field imaging systems by using two or more images to influence resolution, frame rate or aspect ratio
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Computing Systems (AREA)
- Theoretical Computer Science (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
The application discloses a distributed control ball intelligent control method, a system, a terminal and a medium, wherein a tracking target is regulated and controlled from an actual position in a monitoring image to a calibration position through simulation analysis, so that a simulation regulation parameter which is further corrected on the basis of a three-dimensional regulation parameter of a ball-type camera is obtained, a plurality of simulation regulation parameters are combined to estimate and obtain an estimated regulation parameter at the next moment, and the estimated regulation parameter and the three-dimensional regulation parameter are overlapped and fused to control the ball-type camera, so that the ball-type camera can acquire a frame image of the tracking target which is as reliable as possible into the calibration position, the image analysis is facilitated, and the situation that the tracking target is separated from the monitoring range can be reduced.
Description
Technical Field
The application relates to the technical field of intelligent control, in particular to an intelligent control method, an intelligent control system, an intelligent control terminal and an intelligent control medium for a distributed control ball.
Background
The distributed control ball is an intelligent device supporting high integration levels such as video image acquisition, wireless video image transmission, central dispatching intercom, real-time positioning monitoring, remote cradle head control and the like, and is widely applied to safety risk monitoring of sites such as electric power operation, engineering operation and public places.
At present, when the control ball is applied to safety risk monitoring, the spherical camera is controlled to rotate for 360 degrees to monitor a target place through the edge calculation module, then a frame picture is extracted from a video stream in real time through the control of the spherical camera, and then an AI algorithm is called to identify abnormal behaviors, for example, constructors in construction sites do not wear or take off safety helmets, after the abnormal behaviors are identified, in order to obtain the abnormal behaviors in more detail, a target tracking algorithm is generally adopted to track the targets with the abnormal behaviors in real time, and the monitoring direction of the spherical camera in the control ball needs to be dynamically adjusted in the real-time tracking process. However, in the prior art, the monitoring direction of the dome camera is mainly adjusted according to the motion trail prediction of the tracked target, on one hand, the monitoring direction is influenced by the randomness of the motion of the tracked target, and the tracked target is generally deviated from the central position of the acquired frame image; on the other hand, under the influence of the shooting view angle of the dome camera, the monitoring direction adjustment of the dome camera cannot be triggered by the small-range movement of the tracking target in the shooting view angle range of the camera. The accuracy of behavior recognition can be reduced to a certain extent when the tracking target deviates from the central position of the acquired frame image; and meanwhile, the abrupt movement of the tracking target is difficult to deal with, so that the tracking target is lost.
Disclosure of Invention
The application aims to solve the problems and provide a distributed ball intelligent control method, a system, a terminal and a medium.
The technical aim of the application is realized by the following technical scheme:
in a first aspect, an intelligent control method for a ball distribution and control device is provided, which includes the following steps:
acquiring at least three frames of monitoring images which all contain tracking targets;
when the simulation analysis regulates and controls the tracking target from the actual position in the monitoring image to the calibration position, the simulation regulation and control parameters corrected by the spherical camera in the control ball on pitch angle, horizontal angle and visual angle distance are distributed;
determining three-dimensional adjustment parameters for adjusting pitch angle, horizontal angle and visual angle distance of the spherical camera in the deployment and control ball at the next moment through a target tracking algorithm;
according to the fitting analysis of the multiple simulated regulation parameters, the estimated regulation parameters of the spherical camera in the distributed control ball, which are corrected at the next moment, are analyzed;
and superposing and fusing the estimated regulation and control parameters and the three-dimensional regulation parameters to obtain the actual regulation and control parameters of the spherical camera in the distributed control ball at the next moment.
Further, the simulation regulation parameters comprise pitch angle regulation quantity, horizontal angle regulation quantity and visual angle distance regulation quantity, and the specific determination process is as follows:
acquiring a calibrated visual angle distance of the spherical camera when the tracking target is positioned at a calibrated position;
determining position coordinates of an actual position and a calibration position;
performing cotangent inverse function calculation according to the calibrated visual angle distance, the actual position and the position coordinates of the calibrated position to obtain a pitch angle regulation and control amount and a horizontal angle regulation and control amount;
performing space triangle geometric analysis according to the calibrated visual angle distance, the actual position and the position coordinates of the calibrated position to obtain the actual visual angle distance when the tracking target is positioned at the actual position;
and calculating to obtain the viewing angle distance regulating and controlling quantity according to the difference between the actual viewing angle distance and the calibrated viewing angle distance.
Further, the calculation method of the pitch angle regulation and control quantity comprises the following steps:
wherein, alpha represents pitch angle regulation and control quantity, positive value is upward regulation and control, and negative value is downward regulation and control; x is x s A horizontal axis coordinate representing an actual position; x is x 0 A horizontal axis coordinate representing a calibration position; l (L) 0 Indicating the nominal viewing angle distance.
Further, the calculation method of the horizontal angle regulation and control amount comprises the following steps:
wherein, beta represents the horizontal angle regulation and control amount, positive value is clockwise regulation and control, and negative value is anticlockwise regulation and control; y is s Vertical axis coordinates representing the actual position; y is 0 Vertical axis coordinates representing the calibration position; l (L) 0 Indicating the nominal viewing angle distance.
Further, the calculation method of the viewing angle distance regulation quantity comprises the following steps:
wherein Deltal represents the viewing angle distance regulation and control amount, positive value is far regulation and control, and negative value is near regulation and control; x is x s A horizontal axis coordinate representing an actual position; x is x 0 A horizontal axis coordinate representing a calibration position; y is s Vertical axis coordinates representing the actual position; y is 0 Vertical axis coordinates representing the calibration position; l (L) 0 Indicating the nominal viewing angle distance.
Further, the fitting analysis process of the estimated regulation parameters specifically comprises the following steps:
respectively performing single fitting on the pitch angle, the horizontal angle and the visual angle distance in the simulated regulation parameters, and respectively estimating to obtain regulation and control amounts for correcting the pitch angle, the horizontal angle and the visual angle distance;
and combining the estimated regulation and control parameters obtained by estimating the pitch angle, the horizontal angle and the visual angle distance to form estimated regulation and control parameters.
Furthermore, the regulation and control quantity is fitted by a least square method.
In a second aspect, an intelligent control system for controlling a ball is provided, including:
the image acquisition module is used for acquiring at least three frames of monitoring images which all contain tracking targets;
the simulation correction module is used for simulating and analyzing simulation regulation parameters corrected by the spherical camera in the control ball on pitch angle, horizontal angle and visual angle distance when regulating and controlling the tracking target from the actual position in the monitoring image to the calibration position;
the tracking analysis module is used for determining three-dimensional adjustment parameters for adjusting pitch angle, horizontal angle and visual angle distance of the spherical camera in the deployment and control ball at the next moment through a target tracking algorithm;
the parameter estimation module is used for carrying out fitting analysis on estimated regulation parameters corrected by the spherical camera in the distributed control ball at the next moment according to the plurality of simulated regulation parameters;
and the parameter fusion module is used for superposing and fusing the estimated regulation and control parameters and the three-dimensional regulation parameters to obtain the actual regulation and control parameters of the spherical camera in the control ball at the next moment.
In a third aspect, a computer terminal is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements a method for controlling a ball as set forth in any one of the first aspects when the program is executed.
In a fourth aspect, a computer readable medium is provided, on which a computer program is stored, the computer program being executed by a processor to implement a method for controlling a ball control according to any one of the first aspects.
Compared with the prior art, the application has the following beneficial effects:
1. according to the intelligent control method for the distributed control ball, provided by the application, the tracking target is regulated and controlled from the actual position in the monitoring image to the calibration position through simulation analysis, so that the simulation regulation and control parameter which is further corrected on the basis of the three-dimensional regulation and control parameter of the ball-type camera is obtained, the estimated regulation and control parameter at the next moment is estimated by combining a plurality of simulation regulation and control parameters, and the estimated regulation and control parameter and the three-dimensional regulation and control parameter are overlapped and fused to control the ball-type camera, so that the ball-type camera can acquire the frame image of the tracking target which is as reliable as possible to the calibration position, the image analysis is facilitated, and the situation that the tracking target is separated from the monitoring range can be reduced;
2. according to the application, the pitch angle regulation and control quantity, the horizontal angle regulation and control quantity and the visual angle distance regulation and control quantity can be analyzed only according to the position coordinates of the actual position and the calibration visual angle distance, the actual visual angle distance of the actual position is not required to be known in advance, and the implementation difficulty is low;
3. when the spherical camera is regulated and controlled according to the actual regulation and control parameters, the visual angle distance of the spherical camera when the spherical camera collects images is adaptively regulated, and the quality of the collected images is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following description will briefly explain the practical drawings required in the embodiments or the prior art description, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart in embodiment 1 of the present application;
fig. 2 is a system block diagram in embodiment 2 of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail below. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. All other embodiments, based on the examples herein, which are within the scope of the application as defined by the claims, will be within the scope of the application as defined by the claims.
Example 1:
an intelligent control method for a distributed ball, as shown in figure 1, comprises the following steps:
step S1: acquiring at least three frames of monitoring images which all contain tracking targets;
step S2: when the simulation analysis regulates and controls the tracking target from the actual position in the monitoring image to the calibration position, the simulation regulation and control parameters corrected by the spherical camera in the control ball on pitch angle, horizontal angle and visual angle distance are distributed;
step S3: determining three-dimensional adjustment parameters for adjusting pitch angle, horizontal angle and visual angle distance of the spherical camera in the deployment and control ball at the next moment through a target tracking algorithm;
step S4: according to the fitting analysis of the multiple simulated regulation parameters, the estimated regulation parameters of the spherical camera in the distributed control ball, which are corrected at the next moment, are analyzed;
step S5: and superposing and fusing the estimated regulation and control parameters and the three-dimensional regulation parameters to obtain the actual regulation and control parameters of the spherical camera in the distributed control ball at the next moment.
It should be noted that, the at least three frames of monitoring images are generally continuously acquired frame images, and the at least three frames of monitoring images generally include the frame image at the current moment.
The calibration position in this embodiment is generally the center position of each frame of image, and may also be a fixed reference object of the same scene.
The determination of the three-dimensional adjustment parameters by the object tracking algorithm described in the present application is a well-known technique in the art, and will not be described here.
The simulation regulation parameters comprise pitch angle regulation quantity, horizontal angle regulation quantity and visual angle distance regulation quantity, and the specific determination process is as follows: acquiring a calibrated visual angle distance of the spherical camera when the tracking target is positioned at a calibrated position; determining position coordinates of an actual position and a calibration position; performing cotangent inverse function calculation according to the calibrated visual angle distance, the actual position and the position coordinates of the calibrated position to obtain a pitch angle regulation and control amount and a horizontal angle regulation and control amount; performing space triangle geometric analysis according to the calibrated visual angle distance, the actual position and the position coordinates of the calibrated position to obtain the actual visual angle distance when the tracking target is positioned at the actual position; and calculating to obtain the viewing angle distance regulating and controlling quantity according to the difference between the actual viewing angle distance and the calibrated viewing angle distance.
When determining the position coordinates of the actual position and the calibration position, the coordinate system may be constructed by taking the calibration position as the origin, or the origin may be randomly generated to directly determine the difference between the abscissa and the ordinate.
In this embodiment, the calculation formula of the pitch angle adjustment amount is specifically:
wherein, alpha represents pitch angle regulation and control quantity, positive value is upward regulation and control, and negative value is downward regulation and control; x is x s A horizontal axis coordinate representing an actual position; x is x 0 A horizontal axis coordinate representing a calibration position; l (L) 0 Indicating the nominal viewing angle distance.
In addition, the calculation formula of the horizontal angle regulation and control amount is specifically as follows:
wherein, beta represents the horizontal angle regulation and control amount, positive value is clockwise regulation and control, and negative value is anticlockwise regulation and control; y is s Vertical axis coordinates representing the actual position; y is 0 Vertical axis coordinates representing the calibration position; l (L) 0 Indicating the nominal viewing angle distance.
In addition, the calculation formula of the viewing angle distance regulation quantity is specifically as follows:
wherein Deltal represents the viewing angle distance regulation and control amount, positive value is far regulation and control, and negative value is near regulation and control; x is x s A horizontal axis coordinate representing an actual position; x is x 0 A horizontal axis coordinate representing a calibration position; y is s Vertical axis coordinates representing the actual position; y is 0 Vertical axis coordinates representing the calibration position; l (L) 0 Indicating the nominal viewing angle distance.
According to the application, the pitch angle regulation and control quantity, the horizontal angle regulation and control quantity and the visual angle distance regulation and control quantity can be analyzed only according to the position coordinates of the actual position and the calibration visual angle distance, the actual visual angle distance of the actual position is not required to be known in advance, and the implementation difficulty is low; in addition, when the spherical camera is regulated and controlled according to the actual regulation and control parameters, the visual angle distance of the spherical camera when the spherical camera collects images is adaptively regulated, and the quality of the collected images is improved.
As an optional implementation manner, the fitting analysis process of the estimated regulation parameters specifically includes: respectively performing single fitting on the pitch angle, the horizontal angle and the visual angle distance in the simulated regulation parameters, and respectively estimating to obtain regulation and control amounts for correcting the pitch angle, the horizontal angle and the visual angle distance; and combining the estimated regulating and controlling parameters obtained by estimating the pitch angle, the horizontal angle and the visual angle distance to form estimated regulating and controlling parameters, wherein the regulating and controlling parameters can be fitted by adopting a least square method.
As another alternative implementation manner, the estimated regulation parameters can also carry out integral fitting analysis on the pitch angle, the horizontal angle and the visual angle distance, for example, the pitch angle, the horizontal angle and the visual angle distance are converted into three-dimensional vectors, and Matlab is adopted to predict the motion trail of the three-dimensional vectors.
It is necessary to describe that the control ball used in the present application may be either an independent control ball or a plurality of combined control balls. Besides the spherical camera, the distributed control ball also comprises an edge computing integrated machine, a tripod, a 12V lithium battery power supply module, a storage box, a loudspeaker, a network cable interface and the like.
Example 2:
an intelligent control system for a distributed control ball is used for realizing the intelligent control method for the distributed control ball described in the embodiment 1, and as shown in fig. 2, the intelligent control system comprises an image acquisition module, a simulation correction module, a tracking analysis module, a parameter estimation module and a parameter fusion module.
The image acquisition module is used for acquiring at least three frames of monitoring images which all contain tracking targets; the simulation correction module is used for simulating and analyzing simulation regulation parameters corrected by the spherical camera in the control ball on pitch angle, horizontal angle and visual angle distance when regulating and controlling the tracking target from the actual position in the monitoring image to the calibration position; the tracking analysis module is used for determining three-dimensional adjustment parameters for adjusting pitch angle, horizontal angle and visual angle distance of the spherical camera in the deployment and control ball at the next moment through a target tracking algorithm; the parameter estimation module is used for carrying out fitting analysis on estimated regulation parameters corrected by the spherical camera in the distributed control ball at the next moment according to the plurality of simulated regulation parameters; and the parameter fusion module is used for superposing and fusing the estimated regulation and control parameters and the three-dimensional regulation parameters to obtain the actual regulation and control parameters of the spherical camera in the control ball at the next moment.
Working principle: according to the application, the tracking target is regulated and controlled from the actual position in the monitoring image to the calibration position through simulation analysis, so that the simulation regulation and control parameter which is further corrected on the basis of the three-dimensional regulation and control parameter of the dome camera is obtained, the estimated regulation and control parameter at the next moment is estimated by combining a plurality of simulation regulation and control parameters, and the estimated regulation and control parameter and the three-dimensional regulation and control parameter are overlapped and fused to control the dome camera, so that the dome camera can acquire the frame image of the tracking target which is as close to the calibration position as possible, the image analysis is facilitated, and the situation that the tracking target is separated from the monitoring range can be reduced.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims. In addition, the specific features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various possible combinations are not described further. Moreover, any combination of the various embodiments of the application can be made without departing from the spirit of the application, which should also be considered as disclosed herein.
Claims (10)
1. The intelligent control method for the distributed control ball is characterized by comprising the following steps of:
step S1: acquiring at least three frames of monitoring images which all contain tracking targets;
step S2: when the simulation analysis regulates and controls the tracking target from the actual position in the monitoring image to the calibration position, the simulation regulation and control parameters corrected by the spherical camera in the control ball on pitch angle, horizontal angle and visual angle distance are distributed;
step S3: determining three-dimensional adjustment parameters for adjusting pitch angle, horizontal angle and visual angle distance of the spherical camera in the deployment and control ball at the next moment through a target tracking algorithm;
step S4: according to the fitting analysis of the multiple simulated regulation parameters, the estimated regulation parameters of the spherical camera in the distributed control ball, which are corrected at the next moment, are analyzed;
step S5: and superposing and fusing the estimated regulation and control parameters and the three-dimensional regulation parameters to obtain the actual regulation and control parameters of the spherical camera in the distributed control ball at the next moment.
2. The intelligent control method of the deployment ball according to claim 1, wherein the simulation regulation parameters comprise pitch angle regulation quantity, horizontal angle regulation quantity and visual angle distance regulation quantity, and the specific determination process is as follows:
acquiring a calibrated visual angle distance of the spherical camera when the tracking target is positioned at a calibrated position;
determining position coordinates of an actual position and a calibration position;
performing cotangent inverse function calculation according to the calibrated visual angle distance, the actual position and the position coordinates of the calibrated position to obtain a pitch angle regulation and control amount and a horizontal angle regulation and control amount;
performing space triangle geometric analysis according to the calibrated visual angle distance, the actual position and the position coordinates of the calibrated position to obtain the actual visual angle distance when the tracking target is positioned at the actual position;
and calculating to obtain the viewing angle distance regulating and controlling quantity according to the difference between the actual viewing angle distance and the calibrated viewing angle distance.
3. The intelligent control method of the pitch angle control ball according to claim 2, wherein the calculation method of the pitch angle control quantity is as follows:
wherein, alpha represents pitch angle regulation and control quantity, positive value is upward regulation and control, and negative value is downward regulation and control; x is x s A horizontal axis coordinate representing an actual position; x is x 0 A horizontal axis coordinate representing a calibration position; l (L) 0 Indicating the nominal viewing angle distance.
4. The intelligent control method for the ball control according to claim 2, wherein the calculation method for the horizontal angle regulation quantity is as follows:
wherein, beta represents the horizontal angle regulation and control amount, positive value is clockwise regulation and control, and negative value is anticlockwise regulation and control; y is s Vertical axis coordinates representing the actual position; y is 0 Vertical axis coordinates representing the calibration position; l (L) 0 Indicating the nominal viewing angle distance.
5. The intelligent control method of the ball control according to claim 2, wherein the calculation method of the viewing angle distance adjustment quantity is as follows:
wherein Deltal represents the viewing angle distance regulation and control amount, positive value is far regulation and control, and negative value is near regulation and control; x is x s A horizontal axis coordinate representing an actual position; x is x 0 A horizontal axis coordinate representing a calibration position; y is s Vertical axis coordinates representing the actual position; y is 0 Vertical axis coordinates representing the calibration position; l (L) 0 Indicating the nominal viewing angle distance.
6. The intelligent control method for the control ball according to claim 1, wherein the fitting analysis process of the estimated control parameters is specifically as follows:
respectively performing single fitting on the pitch angle, the horizontal angle and the visual angle distance in the simulated regulation parameters, and respectively estimating to obtain regulation and control amounts for correcting the pitch angle, the horizontal angle and the visual angle distance;
and combining the estimated regulation and control parameters obtained by estimating the pitch angle, the horizontal angle and the visual angle distance to form estimated regulation and control parameters.
7. The intelligent control method for the control ball according to claim 6, wherein the control amount is fitted by a least square method.
8. An intelligent control system for a ball control, comprising:
the image acquisition module is used for acquiring at least three frames of monitoring images which all contain tracking targets;
the simulation correction module is used for simulating and analyzing simulation regulation parameters corrected by the spherical camera in the control ball on pitch angle, horizontal angle and visual angle distance when regulating and controlling the tracking target from the actual position in the monitoring image to the calibration position;
the tracking analysis module is used for determining three-dimensional adjustment parameters for adjusting pitch angle, horizontal angle and visual angle distance of the spherical camera in the deployment and control ball at the next moment through a target tracking algorithm;
the parameter estimation module is used for carrying out fitting analysis on estimated regulation parameters corrected by the spherical camera in the distributed control ball at the next moment according to the plurality of simulated regulation parameters;
and the parameter fusion module is used for superposing and fusing the estimated regulation and control parameters and the three-dimensional regulation parameters to obtain the actual regulation and control parameters of the spherical camera in the control ball at the next moment.
9. A computer terminal comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements a method for intelligent control of a trackball as claimed in any one of claims 1 to 7 when executing the program.
10. A computer readable medium having a computer program stored thereon, wherein the computer program is executed by a processor for implementing a method of intelligent control of a trackball according to any of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310480169.0A CN116614709A (en) | 2023-04-28 | 2023-04-28 | Intelligent control method, system, terminal and medium for distributed control ball |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310480169.0A CN116614709A (en) | 2023-04-28 | 2023-04-28 | Intelligent control method, system, terminal and medium for distributed control ball |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116614709A true CN116614709A (en) | 2023-08-18 |
Family
ID=87673826
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310480169.0A Pending CN116614709A (en) | 2023-04-28 | 2023-04-28 | Intelligent control method, system, terminal and medium for distributed control ball |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116614709A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116866720A (en) * | 2023-09-04 | 2023-10-10 | 国网山东省电力公司东营供电公司 | Camera angle self-adaptive regulation and control method, system and terminal based on sound source localization |
-
2023
- 2023-04-28 CN CN202310480169.0A patent/CN116614709A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116866720A (en) * | 2023-09-04 | 2023-10-10 | 国网山东省电力公司东营供电公司 | Camera angle self-adaptive regulation and control method, system and terminal based on sound source localization |
| CN116866720B (en) * | 2023-09-04 | 2023-11-28 | 国网山东省电力公司东营供电公司 | Camera angle self-adaptive regulation and control method, system and terminal based on sound source localization |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107179768B (en) | Obstacle identification method and device | |
| CN107577451B (en) | Multi-Kinect human body skeleton coordinate transformation method, processing equipment and readable storage medium | |
| CN101379825B (en) | Automatic tracking device and automatic tracking method | |
| CN105652872B (en) | The automatic method for tracking and positioning of substation's laser navigation crusing robot intelligent console | |
| US10755419B2 (en) | Moving object detection apparatus, moving object detection method and program | |
| EP4307233A1 (en) | Data processing method and apparatus, and electronic device and computer-readable storage medium | |
| CN116614709A (en) | Intelligent control method, system, terminal and medium for distributed control ball | |
| CN111474953A (en) | Multi-dynamic-view-angle-coordinated aerial target identification method and system | |
| WO2020063058A1 (en) | Calibration method for multi-degree-of-freedom movable vision system | |
| CN113099242B (en) | Power transmission line video monitoring data processing method and system | |
| CN112492297B (en) | Video processing method and related equipment | |
| CN113643342A (en) | Image processing method and device, electronic equipment and storage medium | |
| CN111507132A (en) | Positioning method, device and equipment | |
| US20210327130A1 (en) | Method and device for determining an area map | |
| CN113192164A (en) | Avatar follow-up control method and device, electronic equipment and readable storage medium | |
| CN104786227B (en) | Drop switch based on robot for high-voltage hot-line work changes control system and method | |
| CN104858877B (en) | High-tension line drop switch changes the control method of control system automatically | |
| CN112422895A (en) | Image analysis tracking and positioning system and method based on unmanned aerial vehicle | |
| CN111698467A (en) | Intelligent tracking method and system based on multiple cameras | |
| CN116228859A (en) | Method, system, terminal and medium for correcting deviation of preset bit of camera | |
| CN111684458A (en) | Target detection method, target detection device and unmanned aerial vehicle | |
| JP4937318B2 (en) | Image processing apparatus and image adjustment method | |
| CN108629333A (en) | A kind of face image processing process of low-light (level), device, equipment and readable medium | |
| Bao et al. | Cost-effective and robust visual based localization with consumer-level cameras at construction sites | |
| CN113114950B (en) | IoT camera control method and control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |