CN1186923C - Abnormal object automatic finding and tracking video camera system - Google Patents
Abnormal object automatic finding and tracking video camera system Download PDFInfo
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- CN1186923C CN1186923C CNB031161545A CN03116154A CN1186923C CN 1186923 C CN1186923 C CN 1186923C CN B031161545 A CNB031161545 A CN B031161545A CN 03116154 A CN03116154 A CN 03116154A CN 1186923 C CN1186923 C CN 1186923C
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Abstract
The present invention relates to a camera system which can automatically discover and track an abnormal target. A closed-loop control system is formed by a camera lens, a camera, an image collecting unit, an image processing unit, a tripod head control unit and a tripod head, wherein the image collecting unit can convert a standard television signal output by the camera into a 16-bit digital video camera signal, the image processing unit can finish the detection of the abnormal target to output the center position of the largest abnormal target, and can output the zooming control quantity of the camera lens according to the size of the target and the position of the target in visual field; the tripod head control unit can give an alarm to a monitoring center and simultaneously control the rotation of the tripod head to male the light axis of the camera arranged on the tripod head point to the detected abnormal target, and the tripod head control unit can automatically regulate the magnification factor of the camera lens to make the monitoring center obtain the clear and internal video image of the abnormal target. Thus, the rapid detection and track of an invading target can be realized.
Description
Technical field
The present invention relates to a kind of unusual target and automatically find and the tracking camera system, is a kind ofly can find the unusual target in the visual field automatically, it is changed the guard monitor system of multiplication factor automatically from motion tracking, camera lens.
Background technology
In the visual field in case there are objects moving (having people, thing to enter) or the feature that produces video image under the situations such as naked light, dense smoke changes be called unusual.Traditional supervisory control system does not have the anomaly function, can only pay close attention to monitor by the monitor staff and note abnormalities.But because people's attentiveness can not concentrate for a long time, fewer in number or for Control Room for the monitoring of invasion at night, then require supervisory control system to have the anomaly function.People such as Liu Jun, Shu Chaojun, Wu Liangfu are at " the unusual cradle head control of the single goal of supervisory control system is followed the tracks of " (" Machine Tool Electric Appliance " 2001,6) introduced in the literary composition and a kind ofly can carry out sound identification to the image of sending back by computer and find moving target, rotated the supervisory control system of finishing this unusual target of auto-tracking shooting at the Long-distance Control The Cloud Terrace by computer.The shortcoming of this cover system is that the general holder rotational angular velocity that uses in the system is little and can only be fixed value, and image processing, cradle head control unit are finished by the computer of far-end in the system in addition.More than two aspect reasons increased control time-delay, can't find and the unusual target of real-time tracking fast moving.
People such as Yu Hongshan, Wang Yaonan is in " a kind of novel intelligent frequency image monitoring system " (" information and control " 2002,12) introduce a kind of novel intelligent frequency image monitoring system in the literary composition, use PC monitoring host computer acquisition of image data, carry out analysis and judgement, finish moving object detection, particular color target detection, and send to respective decoder based on the master-slave mode serial communication controlling that control command drives corresponding The Cloud Terrace, camera is made corresponding actions.This system also is to use the computer of far-end to finish image acquisition, processing and to the control of The Cloud Terrace and video camera, therefore has identical shortcoming with the system of front.
Under the normal condition, the resolution of video camera photographic images is not high, and details is not obvious.When appearance is unusual, for the needs of collecting evidence, need and can after finding target, regulate the camera lens multiplication factor automatically, obtain more clear, complete target image, this function is that present supervisory control system does not have.
Summary of the invention
The objective of the invention is at the deficiencies in the prior art, provide a kind of unusual target to find automatically and the tracking camera system, can automatically find the unusual target in the visual field, when reporting to the police, Surveillance center can carry out obtaining the target image of complete display to target from motion tracking and the automatic camera lens multiplication factor of adjusting.
The objective of the invention is camera lens, video camera, image acquisition units, graphics processing unit, cradle head control unit, The Cloud Terrace formation closed-loop control system to be realized by image acquisition units, graphics processing unit and cradle head control cell design being become special-purpose hardware circuit and being embedded in the The Cloud Terrace.The standard television signal of video camera output is divided into two-way, and one the tunnel directly exports, and another road links to each other with image acquisition units, and the data image signal that collects send graphics processing unit.Cradle head control unit one end links to each other with graphics processing unit, and the other end links to each other with The Cloud Terrace.The cradle head control unit has the RS232 communication interface, system can by this interface to Surveillance center send report to the police or Surveillance center by The Cloud Terrace and camera lens in this interface manual control system.
Directly link to each other or image is uploaded with digital protocol such as TCP/IP from the standard television signal one tunnel of video camera output with the monitor of Surveillance center.Another road is transformed to digital video signal through image acquisition units.Graphics processing unit is handled and is analyzed the digital video signal that collects, and the centre coordinate whether unusual and the maximum unusual target of output are arranged in the detected image is to the cradle head control unit.Can report to the police to Surveillance center by the RS232 interface in the cradle head control unit, control The Cloud Terrace simultaneously and rotate, the unusual target that the optical axis direct detection of the video camera that is installed on the The Cloud Terrace is arrived.In the time of near unusual target image moves to center, the visual field, thereby the cradle head control unit is regulated the camera lens multiplication factor automatically and is made Surveillance center obtain clear, the complete video image of unusual target.
Image acquisition units of the present invention, graphics processing unit and cradle head control cell design become special-purpose hardware circuit to be embedded in the The Cloud Terrace.Image acquisition units becomes the output of 16 bit digital vision signals with the standard television signal of pal mode.Graphics processing unit carries out image processing, finishes the center of the maximum unusual target of detection output of unusual target, and becomes times controlled quentity controlled variable according to the size and the output camera lens of the position in the visual field of target.The cradle head control unit rotates respective angles according to the unusual target's center Position Control The Cloud Terrace of graphics processing unit output, becomes a times controlled quentity controlled variable according to camera lens and finishes the camera lens change doubly.
Image acquisition units of the present invention, graphics processing unit and cradle head control unit adopt dedicated video decoding chip (Video Decoder), digital signal processor spare (DSP) and chip microcontroller respectively.
The method of abnormality detection is that gray feature to the previous frame image of the digital picture that collects and time correlation compares among the present invention, with the zone of gray scale sudden change as unusual, the formation binary image.The binary image that forms is carried out image segmentation, and the zone that area is little is ignored as noise, with area greater than the abnormal area of certain threshold value as target area unusually.Calculate the area of each unusual target area and return the wherein centre coordinate of the unusual target area of area maximum, notice cradle head control unit occurs unusual, finishes abnormality detection.
Automatically to become principle doubly be whether distance decision according to the center, the centre distance visual field of unusual target area becomes doubly to camera lens among the present invention, if this distance just becomes doubly less than certain threshold value.The camera lens multiplication factor is divided into 4 grades, and according to the image area and the center decision change times rank of unusual target area, the more little change of area times rank is big more.
The present invention improves the The Cloud Terrace of existing Alternating Current Power Supply, adopt two stepping motors to replace alternating current machine that existing The Cloud Terraces are adopted as driving element, finish the control that horizontally rotates with the pitch rotation both direction respectively, improve the flexibility of cradle head control, improved the rapidity and the accuracy of The Cloud Terrace Position Control.
Compare with the unusual target following supervisory control system of using the Alternating Current Power Supply The Cloud Terrace to add the far-end computer formation in the past, the present invention is because use special hardware to realize collection, processing, the cradle head control of video image, and with camera lens, video camera, image acquisition units, graphics processing unit, cradle head control unit and The Cloud Terrace in in-house formation closed-loop control system, eliminated the image transmission speed and hanged down and the cradle head control time-delay influence to controlling greatly, realized original irrealizable detection, tracking, automatic anamorphosis function quick intrusion target.When application the present invention transformed existing supervisory control system, as long as the The Cloud Terrace part in the replacement system, other parts of supervisory control system originally need not changed, so the application prospect of system of the present invention is extensive.
Description of drawings
Fig. 1 is a system functional block diagram of the present invention.
Fig. 2 is a system, control circuit structural representation of the present invention.
Fig. 3 is a cradle head control unit main circuit.
Fig. 4 is a control word format.
Fig. 5 is level, pitch control subsystem amount form.
Fig. 6 is a dsp software interrupt handling routine flow chart.
Fig. 7 is for realizing back entire system structural representation.
Fig. 7 (a) is the system hardware structure front view, and Fig. 7 (b) is the system hardware structure end view.Among Fig. 7,1 is horizontal stepping motor, and 2 are the pitching stepping motor, 3 is horizontal driving belt, 4 are the pitching driving belt, and 5 for horizontally rotating frame, and 6 is the pitch rotation frame, 7 are the pitching limit switch, 8 is horizontal limit switch, and 9 is video camera, and 10 is camera lens, 11 is the control circuit part, and 12 is fixed frame.
Embodiment
Below in conjunction with accompanying drawing technical scheme of the present invention is further described.
As shown in Figure 1, automatic discovery of unusual target of the present invention and tracking camera system are realized by the closed-loop control system that camera lens, video camera, image acquisition units, graphics processing unit, cradle head control unit constitute.Wherein camera lens adopts electronic three variable lenses, and the focal length of camera lens, multiplication factor and aperture can be controlled by the control line on the camera lens.Video camera adopts analog video camera, the standard television signal of output pal mode.
The output of video camera connects Surveillance center and image acquisition units, the output of image acquisition units connects the cradle head control unit through graphics processing unit, the output of cradle head control unit links to each other with The Cloud Terrace and camera lens, and the cradle head control unit links to each other with Surveillance center by the RS232 communication interface.
Directly link to each other or image is uploaded with digital protocol such as TCP/IP from the standard television signal one tunnel of video camera output with the monitor of Surveillance center, image acquisition units is delivered on another road, by image acquisition units the standard television signal of pal mode is become the output of 16 bit digital vision signals.Graphics processing unit is handled and is analyzed the digital video signal that collects, and the centre coordinate whether unusual and the maximum unusual target of output are arranged in the detected image is to the cradle head control unit.Can report to the police to Surveillance center by the RS232 interface in the cradle head control unit, control The Cloud Terrace simultaneously and rotate, the unusual target that the optical axis direct detection of the video camera that is installed on the The Cloud Terrace is arrived.In the time of near unusual target image moves to center, the visual field, thereby the cradle head control unit is regulated the camera lens multiplication factor automatically and is made Surveillance center obtain clear, the complete video image of unusual target.
Fig. 2 has illustrated the whole implementation method of system, control circuit.DSP development board C6711DSK among the figure realizes graphics processing unit, and the expansion daughter board is realized image acquisition units and cradle head control unit.Core devices on the DSP development board C6711DSK is the TMS320C6711DSP chip.The DSP development board is connected by the expansion interface on the DSP development board between the daughter board with expansion.Stepper motor driver has adopted the XJ-2HB02M of Celerity Inc. among Fig. 2, and its maximum drive current is 1 ampere.The camera lens control signal by ground wire and focusing, change doubly, the aperture control signal forms.
Expansion daughter board epigraph collecting unit adopts the dedicated video decoding chip, and model is that SAA7111 realizes.The I of SAA7111
2The C bus is by the DB_CLKX1 with the DSP development board, and DB_DX1 is arranged to general purpose I/O mode and simulates realization.Image acquisition units has adopted the picture frame buffer structure based on push-up storage, and push-up storage adopts special-purpose video frame memory, and model is AL422.Interface logic between push-up storage and dedicated video decoding chip and DSP development board uses the EPM7032SLC-15 of a slice ALTERA company to realize.The interface logic design will guarantee to trigger the external interrupt of TMS320C6711DSP after every two field picture writes push-up storage fully.Image acquisition units is stored in the digital video signal that standard television signal becomes the YUV16 form in the push-up storage, and the TMS320C6711DSP chip reads in view data among the SDRAM on the DSP development board in the QDMA mode by external data bus.
Fig. 3 has illustrated cradle head control unit main circuit implementation method, and wherein single-chip microcomputer has adopted three 89C52 single-chip microcomputers, and single-chip microcomputer 1 realizes horizontally rotating control, and single-chip microcomputer 2 is realized pitch rotation control, and single-chip microcomputer 3 is realized camera lens control and RS232 communication.The DB_D[7..0 of DSP development board] link to each other through latching with the P1 mouth of single-chip microcomputer 1; DB_D[15..8] link to each other through latching with the P1 mouth of single-chip microcomputer 2; DB_D[31] latch back and single-chip microcomputer 1, single-chip microcomputer 2, the INT0 of single-chip microcomputer 3 links to each other; DB_D[26..24] latch the back link to each other with the P1.2～P1.0 of single-chip microcomputer 3; The output control signal OEN of latch links to each other with the P1.7 of single-chip microcomputer 3; Latch signal CLK logic is:
CLK＜＝(NOT?DB_AWEN)AND(NOT?DB_CE3N)
This logic makes TMS320C6711 can be latched to 32 bit data that its CE3 memory space writes.TMS320C6711 is called control word to 32 bit data that its CE3 space writes.Other positions of the P1 port of single-chip microcomputer 3 are used to be provided with hardware address and camera lens control.Control word format such as Fig. 4.Everybody implication is among the figure: when updating mark when 1 becomes 0, show and exported new data; Abnormality mark is put and was represented to have in 1 o'clock unusually, and 0 is no abnormal; Become a times controlled quentity controlled variable and represent that video camera becomes times rank.Level and pitch control subsystem amount form such as Fig. 5.Witness marker is 1 among the figure, and expression The Cloud Terrace current location is set to initial position.Reseting mark is that reset operation is carried out in 1 expression, and The Cloud Terrace returns initial position from current location.The angle step that the representative of corner controlled quentity controlled variable is rotated and the direction of rotation.
The control word updating mark that writes when the DSP development board triggers the external interrupt 0 of single-chip microcomputer 1, single-chip microcomputer 2, single-chip microcomputer 3 when 1 becomes 0.In single-chip microcomputer 1, single-chip microcomputer 2, single-chip microcomputer 3 external interrupt 0 handling procedure, read the data on the DSP data wire, determine that the amount of horizontally rotating, pitch rotation amount, camera lens change are measured.The output control signal OEN of latch is by the P1.7 control of single-chip microcomputer 3, and when Surveillance center transferred manual control to by serial ports notice single-chip microcomputer 3, the P1.7 output high level of single-chip microcomputer 3 made single-chip microcomputer 1, single-chip microcomputer 2 accept the control of single-chip microcomputer 3 fully.
The process that DSP development board software is carried out is:
TMS320C6711DSP starts the back and finish initialization in principal function, comprises the I to SAA7111
2C initialization, initialization of variable, the interrupt identification that QDMA register, removing QDAM end interrupt and external interrupt are set, startup external interrupt to using in the program.
Read pointer with push-up storage in the processing function of the external interrupt of TMS320C6711DSP resets, and starts the frame of digital image that the QDMA transmission will collect then and reads in the SDRAM of DSP development board from the first in first out memory.Trigger the QDMA end interrupt after the QDMA end of transmission, in this interrupt handling routine, software interrupt is read and triggered to the image among the SDRAM.In software interrupt processing function, image is handled.
The TMS320C6711DSP software interrupt handler is at first put the updating mark in the control word 1 and this control word write the arbitrary address of the CE3 memory space of TMS320C6711DSP as shown in Figure 6.If the present frame appearance occurs unusually unusually or once then abnormality detection thinks have unusually, otherwise is no abnormal.If the result of abnormality detection is unusual for having, judge at first whether overtime constant Ta or intrusion target have shifted out guarded region to Looking Out Time.If judged result is for being then reset, otherwise carry out abnormality processing.
The method of abnormality detection is: with each picture element gray value of the last field picture of current field picture and time correlation relatively, if error greater than gray threshold T, with this mark 1 otherwise mark 0, is finished the binaryzation of image.The size of gray threshold T has determined the sensitivity that detects, and T greatly then sensitivity is little, instead knows that then sensitivity is big.Because it is to occur in flakes that image changes, so certain discrete pixel changes and should belong to wrong report.Use of the binary image filtering of general wave digital lowpass filter, eliminate the wrong report point obtaining.Filtered binary image is cut apart, with area greater than the zone of constant S as unusual target area, obtain the number, image area of unusual target area and in the position of picture centre in the visual field.If greater than zero, showing in forward view, the number of abnormal area occurred unusually.
Judge whether overtime method is to judge that whether the frame number of IMAQ is greater than monitoring constant to Looking Out Time.Monitor that constant is greatly then long to the anomaly monitoring time, on the contrary then short.
The process of abnormality processing is if the center of unusual target area near the center in the visual field, is calculated change times controlled quentity controlled variable according to the size of unusual target in image, otherwise kept current change times controlled quentity controlled variable.Change times controlled quentity controlled variable is 0,1,2 and 3 level Four, and each level is higher than upper level camera lens multiple, and the image size of unusual target is approximated to inverse ratio with a change times controlled quentity controlled variable.After calculate finishing, updating mark is put 0, abnormality mark puts 1 and with the position of unusual target, becomes times controlled quentity controlled variable and forms control word according to the form of control word, then this control word is write the arbitrary address in the CE3 space of TMS320C6711DSP.
Reset operation is that a change times controlled quentity controlled variable is put 0, and updating mark puts 0, and the reseting mark in level and the pitch control subsystem amount is put 1, and this control word is write the arbitrary address of the CE3 memory space of DSP development board.
The method that single-chip microcomputer 1, single-chip microcomputer 2 softwares are realized is: at first variable and the control register of using in the program carried out initialization after powering on, open external interrupt 0, whether judge mark is 1 then, if be 1, level (pitching) controlled quentity controlled variable of reading in by the P1 mouth also puts 0 with mark, continues judge mark.In the handling procedure of the external interrupt 0 of single-chip microcomputer 1, single-chip microcomputer 2, mark is put 1.After reading in controlled quentity controlled variable, judge at first whether reseting mark is 1, if the motor of then controlling on this direction returns initial position.Judge that then witness marker is 1, if then with current location as initial position.If reseting mark and witness marker are 0, then according to the corner controlled quentity controlled variable, the motor of controlling on this direction rotates corresponding angle.
Single-chip microcomputer 3 method of software realization are: variable and the serial ports register at first used in the initialize routine in the main program, open external interrupt 0.Externally interrupt judging whether the abnormality mark position of control word is 1 in 0 the handling procedure,, otherwise do not report to the police if be 1 then report to the police to main frame by serial ports.Become a times controlled quentity controlled variable controls lens according to camera lens then and finish change doubly.All the time read serial ports in the main program, if the data of reading are that the beginning flag and the byte of reading in subsequently are consistent with the hardware address of system, three bytes then will reading in subsequently respectively as horizontally rotate, pitch rotation and camera lens becomes times controlled quentity controlled variable, export horizontal controlled quentity controlled variable at the P0 of single-chip microcomputer 3 then, P2 output pitch control subsystem amount, P1.7 exports high level, and INT0 produces trailing edge, becomes a times controlled quentity controlled variable according to camera lens and finishes the camera lens change doubly.
Overall structure after system realizes as shown in Figure 7, wherein horizontal stepping motor 1 and pitching stepping motor 2 are two-phase stepping motor.Horizontal stepping motor 1 drives by horizontal driving belt 3 and horizontally rotates frame 5, pitching stepping motor 2, driving belt 4, pitch rotation frame 6, video camera 9 and do the rotation on the horizontal direction.Pitching stepping motor 2 is done elevating movement by pitching driving belt 4 drive pitch rotation frames 6, video camera 9.Video camera 9 is fixed on the pitch rotation frame 6, can play motion with one.Horizontal limit switch 8 is fixed on the fixed frame 12.Pitching limit switch 7 is fixed on and horizontally rotates on the frame 5.The output of horizontal limit switch 8 and pitching limit switch 7 links to each other with corresponding lead-in wire in the cradle head control element circuit respectively.11 is the control circuit part of system among the figure, is embedded in the fixed frame 12, standard television signal is arranged as input interface, standard television signal output interface and RS232 serial ports.
Claims (5)
1, a kind of unusual target is found and the tracking camera system automatically, by camera lens, video camera, image acquisition units, graphics processing unit, the cradle head control unit, The Cloud Terrace constitutes closed-loop control system, the output that it is characterized in that video camera connects Surveillance center and image acquisition units, the output of image acquisition units connects the cradle head control unit through graphics processing unit, the output of cradle head control unit links to each other with The Cloud Terrace and camera lens, the cradle head control unit links to each other with Surveillance center by the RS232 communication interface simultaneously, image acquisition units becomes the output of 16 bit digital vision signals with standard television signal, graphics processing unit is finished the center of the maximum unusual target of detection output of unusual target, and according to the big or small of target and the position output camera lens change times controlled quentity controlled variable in the visual field, the cradle head control unit rotates respective angles according to the unusual target's center Position Control The Cloud Terrace of graphics processing unit output, becomes a times controlled quentity controlled variable according to camera lens and finishes the camera lens change doubly.
2, find automatically and the tracking camera system as the said unusual target of claim 1, it is characterized in that image acquisition units, graphics processing unit and cradle head control unit adopt dedicated video decoding chip, digital signal processor spare DSP and chip microcontroller respectively, and be designed to independently that hardware circuit is embedded in the The Cloud Terrace.
3, automatically find and the tracking camera system as the said unusual target of claim 1, it is characterized in that graphics processing unit compares the gray feature of the previous frame image of the digital picture that collects and time correlation, with the zone of gray scale sudden change as unusually, form binary image, the binary image that forms is carried out image segmentation, the zone that area is little is ignored as noise, with area greater than the abnormal area of certain threshold value as unusual target area, calculate the area of each unusual target area and return the wherein centre coordinate of the unusual target area of area maximum, notice cradle head control unit occurs unusual, finishes abnormality detection.
4, find automatically and the tracking camera system as the said unusual target of claim 1, it is characterized in that camera lens adopts electronic three variable lenses, the focal length of camera lens, multiplication factor and aperture are controlled by the control line on the camera lens, the cradle head control unit is divided into 4 grades with the camera lens multiplication factor, according to the image area and the center decision change times rank of unusual target area.
5, find automatically and the tracking camera system as claim 1 or 2 said unusual targets, it is characterized in that The Cloud Terrace adopts two stepping motors as driving element, finishes the control that horizontally rotates with the pitch rotation both direction respectively.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108471497A (en) * | 2018-03-02 | 2018-08-31 | 天津市亚安科技有限公司 | A kind of ship target real-time detection method based on monopod video camera |
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