CN117590409A - Dynamic target positioning monitoring method and system - Google Patents
Dynamic target positioning monitoring method and system Download PDFInfo
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- CN117590409A CN117590409A CN202311549887.5A CN202311549887A CN117590409A CN 117590409 A CN117590409 A CN 117590409A CN 202311549887 A CN202311549887 A CN 202311549887A CN 117590409 A CN117590409 A CN 117590409A
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- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000012544 monitoring process Methods 0.000 title claims abstract description 21
- 230000000007 visual effect Effects 0.000 claims abstract description 31
- 238000010276 construction Methods 0.000 claims description 3
- 238000003384 imaging method Methods 0.000 abstract description 7
- 238000005516 engineering process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Studio Devices (AREA)
Abstract
The invention discloses a dynamic target positioning monitoring method and a system, comprising the following steps: determining a field of view area taking a camera lens as an origin according to a focal length of the camera lens and a wide angle of the camera lens; in the view field area, a camera lens is taken as an origin, and two symmetry axes which are perpendicular to the origin in the view field area are taken as coordinate axes, so that a two-dimensional coordinate system is constructed; and acquiring a dynamic target image and determining the coordinates of the dynamic target in the visual field area, thereby obtaining the moving track of the dynamic target in the visual field area. And (3) providing a fixed-focus imaging edge scale algorithm, constructing a two-dimensional coordinate system in the visual field area, and rapidly positioning the coordinates of the dynamic target in the visual field area when the dynamic target enters the visual field area of the camera.
Description
Technical Field
The present invention relates to the field of dynamic target positioning technologies, and in particular, to a dynamic target positioning monitoring method and system.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The current dynamic target positioning technology is mostly based on electromagnetic wave reflection technology, adopts the process of multi-base station emission-obstacle reflection, positions the target in a mode of calculating the target distance by conducting time of electromagnetic wave circulation signals, has visual signal reflection effect on the far and near distance of an object by the electromagnetic reflection technology, can accurately judge the position of the object relatively, namely, the plane object and the sensor generate far and near displacement change, and the electromagnetic sensor can easily capture the change; however, since the linear distance between the object and the sensor does not change, the displacement change of the object cannot be captured by the electromagnetic sensor, and thus there is a problem in positioning the moving track position of the dynamic object.
Disclosure of Invention
In order to solve the problems, the invention provides a dynamic target positioning and monitoring method and a system, and provides a fixed-focus imaging edge scale algorithm to construct a two-dimensional coordinate system in a visual field area, and when a dynamic target enters the visual field area of a camera, the coordinates of the dynamic target in the visual field area are rapidly positioned.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
in a first aspect, the present invention provides a dynamic target positioning monitoring method, including:
determining a field of view area taking a camera lens as an origin according to a focal length of the camera lens and a wide angle of the camera lens;
in the view field area, a camera lens is taken as an origin, and two symmetry axes which are perpendicular to the origin in the view field area are taken as coordinate axes, so that a two-dimensional coordinate system is constructed;
and acquiring a dynamic target image and determining the coordinates of the dynamic target in the visual field area, thereby obtaining the moving track of the dynamic target in the visual field area.
Alternatively, the field of view area is square.
Alternatively, the determining the field of view region includes: and determining a field radius according to the focal length of the camera lens and the wide angle of the camera lens, and determining the side length of the square field area according to the field radius.
Alternatively, the radius of the field of view is:wherein L is the known field distance of the fixed focus camera; alpha is the wide angle of the lens.
Alternatively, the side length of the field of view is:wherein R is the radius of the field of view.
In an alternative embodiment, in the two-dimensional coordinate system, the lens coordinate directions are 0 °, 90 °, 180 °, and 270 ° in the clockwise direction on the four corners of the field of view.
As an alternative implementation manner, after determining the moving track of the dynamic target in the visual field area, further determining the coordinate difference between the moving track of the dynamic target and the set track, and completing the positioning monitoring of the dynamic target.
In a second aspect, the present invention provides a dynamic target positioning monitoring system comprising:
a field-of-view area determining module configured to determine a field of view area with the camera lens as an origin based on a camera lens focal length and a camera lens wide angle;
the coordinate system construction module is configured to construct a two-dimensional coordinate system in the view field area by taking a camera lens as an origin and taking two symmetry axes of the view field area, which are perpendicular to each other at the origin, as coordinate axes;
and the positioning module is configured to acquire a dynamic target image and determine the coordinates of the dynamic target in the visual field area, so as to obtain the moving track of the dynamic target in the visual field area.
In a third aspect, the invention provides an electronic device comprising a memory and a processor and computer instructions stored on the memory and running on the processor, which when executed by the processor, perform the method of the first aspect.
In a fourth aspect, the present invention provides a computer readable storage medium storing computer instructions which, when executed by a processor, perform the method of the first aspect.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a method and a system for positioning and monitoring a dynamic target, and provides a fixed-focus imaging edge scale algorithm, namely a visual field area taking a camera lens as an origin is determined according to the focal length of the camera lens and the wide-angle of the camera lens, a two-dimensional coordinate system in the visual field area is constructed, and when the dynamic target enters the visual field area of a camera, the coordinate of the dynamic target in the visual field area can be quickly positioned, so that the moving track of the dynamic target in the visual field area is obtained. The method solves the problem of positioning the position of the dynamic target in the translation process, and has wide application prospect in the fields of part distribution and transportation, dynamic assembly and the like.
Additional aspects of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
FIG. 1 is a flowchart of a dynamic target positioning monitoring method according to embodiment 1 of the present invention;
FIG. 2 is a view area diagram of embodiment 1 of the present invention;
FIG. 3 is a schematic diagram of a two-dimensional coordinate system according to embodiment 1 of the present invention;
fig. 4 is a view illustrating the coordinate directions of a lens according to embodiment 1 of the present invention.
Detailed Description
The invention is further described below with reference to the drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular forms also are intended to include the plural forms, and furthermore, it is to be understood that the terms "comprises" and "comprising" and any variations thereof are intended to cover non-exclusive inclusions, e.g., processes, methods, systems, products or devices that comprise a series of steps or units, are not necessarily limited to those steps or units that are expressly listed, but may include other steps or units that are not expressly listed or inherent to such processes, methods, products or devices.
Embodiments of the invention and features of the embodiments may be combined with each other without conflict.
Example 1
The invention provides a dynamic target positioning monitoring method, as shown in figure 1, comprising the following steps:
determining a field of view area taking a camera lens as an origin according to a focal length of the camera lens and a wide angle of the camera lens;
in the view field area, a camera lens is taken as an origin, and two symmetry axes which are perpendicular to the origin in the view field area are taken as coordinate axes, so that a two-dimensional coordinate system is constructed;
and acquiring a dynamic target image and determining the coordinates of the dynamic target in the visual field area, thereby obtaining the moving track of the dynamic target in the visual field area.
In this embodiment, by installing a target on a dynamic target, a dynamic target image is acquired by a fixed-focus camera, and then coordinate information of the dynamic target is determined according to a two-dimensional coordinate system in a field of view region.
In this embodiment, the process of determining the field of view with the camera lens as the origin according to the camera lens focal length and the camera lens wide angle includes: and determining a field radius according to the focal length of the camera lens and the wide angle of the camera lens, and determining a square field area with the side length of X according to the field radius.
As shown in fig. 2, specifically: the radius of view determined according to the focal length of the camera lens and the wide angle of the camera lens is:
the side length of the visual field area is determined according to the visual field radius:
wherein L is the known field distance of the fixed focus camera; alpha is the wide angle of the lens;
in this embodiment, in the field of view area, a two-dimensional coordinate system as shown in fig. 3 is constructed with a camera lens as an origin and two symmetry axes of the field of view area intersecting perpendicularly with the origin as coordinate axes;
in the two-dimensional coordinate system, the directions of the lens coordinates are 0 degrees, 90 degrees, 180 degrees and 270 degrees in sequence in the clockwise direction on four corners of the square visual field area, as shown in fig. 4;
after the dynamic target enters the field of view of the camera, the camera captures the dynamic target, the dynamic image is transmitted to the imaging processor through the special signal cable at the refresh rate of 100ms, and therefore the coordinates of the dynamic target in the field of view are obtained.
In this embodiment, after the coordinates of the dynamic object in the field of view area are determined, the moving track of the dynamic object in the field of view area is obtained, and the difference between the coordinates of the moving track of the dynamic object and the set track can be further determined.
In the embodiment, an X-Y coordinate scale algorithm is performed on an imaging edge according to the imaging distance of the fixed focal length camera to form a coordinate system of a dynamic target in an imaging visual field area, so that coordinate information of the dynamic target is judged in a two-dimensional coordinate system, the position positioning of a dynamic target object in the translation process is solved, and the method has wide application prospects in the fields of part distribution and carrying, dynamic assembly and the like.
Example 2
The present embodiment provides a dynamic target positioning monitoring system, including:
a field-of-view area determining module configured to determine a field of view area with the camera lens as an origin based on a camera lens focal length and a camera lens wide angle;
the coordinate system construction module is configured to construct a two-dimensional coordinate system in the view field area by taking a camera lens as an origin and taking two symmetry axes of the view field area, which are perpendicular to each other at the origin, as coordinate axes;
and the positioning module is configured to acquire a dynamic target image and determine the coordinates of the dynamic target in the visual field area, so as to obtain the moving track of the dynamic target in the visual field area.
In this embodiment, the field of view area is square.
In this embodiment, the process of determining the field of view includes: and determining a field radius according to the focal length of the camera lens and the wide angle of the camera lens, and determining the side length of the square field area according to the field radius.
In this embodiment, the radius of the field of view is:wherein L is the known field distance of the fixed focus camera; alpha is the wide angle of the lens.
In this embodiment, the side length of the field of view is:wherein R is the radius of the field of view.
In the present embodiment, in the two-dimensional coordinate system, the lens coordinate directions are 0 °, 90 °, 180 °, and 270 ° in this order in the clockwise direction on the four corners of the field of view.
In this embodiment, after determining the moving track of the dynamic target in the field of view, the coordinate difference between the moving track of the dynamic target and the set track is further determined, so as to complete the positioning monitoring of the dynamic target.
It should be noted that the above modules correspond to the steps described in embodiment 1, and the above modules are the same as examples and application scenarios implemented by the corresponding steps, but are not limited to those disclosed in embodiment 1. It should be noted that the modules described above may be implemented as part of a system in a computer system, such as a set of computer-executable instructions.
In further embodiments, there is also provided:
an electronic device comprising a memory and a processor and computer instructions stored on the memory and running on the processor, which when executed by the processor, perform the method described in embodiment 1. For brevity, the description is omitted here.
It should be understood that in this embodiment, the processor may be a central processing unit CPU, and the processor may also be other general purpose processors, digital signal processors DSP, application specific integrated circuits ASIC, off-the-shelf programmable gate array FPGA or other programmable logic device, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory may include read only memory and random access memory and provide instructions and data to the processor, and a portion of the memory may also include non-volatile random access memory. For example, the memory may also store information of the device type.
A computer readable storage medium storing computer instructions which, when executed by a processor, perform the method described in embodiment 1.
The method in embodiment 1 may be directly embodied as a hardware processor executing or executed with a combination of hardware and software modules in the processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in a memory, and the processor reads the information in the memory and, in combination with its hardware, performs the steps of the above method. To avoid repetition, a detailed description is not provided herein.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
While the foregoing description of the embodiments of the present invention has been presented in conjunction with the drawings, it should be understood that it is not intended to limit the scope of the invention, but rather, it is intended to cover all modifications or variations within the scope of the invention as defined by the claims of the present invention.
Claims (10)
1. A dynamic target location monitoring method, comprising:
determining a field of view area taking a camera lens as an origin according to a focal length of the camera lens and a wide angle of the camera lens;
in the view field area, a camera lens is taken as an origin, and two symmetry axes which are perpendicular to the origin in the view field area are taken as coordinate axes, so that a two-dimensional coordinate system is constructed;
and acquiring a dynamic target image and determining the coordinates of the dynamic target in the visual field area, thereby obtaining the moving track of the dynamic target in the visual field area.
2. A method of dynamic object location monitoring as claimed in claim 1, wherein the field of view is square.
3. A method of dynamic object location monitoring as defined in claim 2, wherein determining the field of view comprises: and determining a field radius according to the focal length of the camera lens and the wide angle of the camera lens, and determining the side length of the square field area according to the field radius.
4. A method of dynamic object positioning and monitoring as defined in claim 3, wherein the radius of the field of view is:wherein L is the known field distance of the fixed focus camera; alpha is the wide angle of the lens.
5. The method of claim 4, wherein the side length of the field of view is:wherein R is the radius of the field of view.
6. A dynamic object positioning monitoring method as claimed in claim 1, wherein in the two-dimensional coordinate system, the lens coordinate directions are 0 °, 90 °, 180 ° and 270 ° in the clockwise direction on the four corners of the field of view.
7. The method for positioning and monitoring the dynamic target according to claim 1, wherein after determining the moving track of the dynamic target in the field of view, the coordinate difference between the moving track of the dynamic target and the set track is further determined, so as to complete the positioning and monitoring of the dynamic target.
8. A dynamic object location monitoring system, comprising:
a field-of-view area determining module configured to determine a field of view area with the camera lens as an origin based on a camera lens focal length and a camera lens wide angle;
the coordinate system construction module is configured to construct a two-dimensional coordinate system in the view field area by taking a camera lens as an origin and taking two symmetry axes of the view field area, which are perpendicular to each other at the origin, as coordinate axes;
and the positioning module is configured to acquire a dynamic target image and determine the coordinates of the dynamic target in the visual field area, so as to obtain the moving track of the dynamic target in the visual field area.
9. An electronic device comprising a memory and a processor and computer instructions stored on the memory and running on the processor, which when executed by the processor, perform the method of any one of claims 1-7.
10. A computer readable storage medium storing computer instructions which, when executed by a processor, perform the method of any of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311549887.5A CN117590409A (en) | 2023-11-16 | 2023-11-16 | Dynamic target positioning monitoring method and system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311549887.5A CN117590409A (en) | 2023-11-16 | 2023-11-16 | Dynamic target positioning monitoring method and system |
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| Publication Number | Publication Date |
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| CN117590409A true CN117590409A (en) | 2024-02-23 |
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| CN202311549887.5A Pending CN117590409A (en) | 2023-11-16 | 2023-11-16 | Dynamic target positioning monitoring method and system |
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| CN (1) | CN117590409A (en) |
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- 2023-11-16 CN CN202311549887.5A patent/CN117590409A/en active Pending
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