CN202975840U - Remote monitoring system - Google Patents
Remote monitoring system Download PDFInfo
- Publication number
- CN202975840U CN202975840U CN 201220673668 CN201220673668U CN202975840U CN 202975840 U CN202975840 U CN 202975840U CN 201220673668 CN201220673668 CN 201220673668 CN 201220673668 U CN201220673668 U CN 201220673668U CN 202975840 U CN202975840 U CN 202975840U
- Authority
- CN
- China
- Prior art keywords
- cloud terrace
- monitoring
- angle
- control system
- long distance
- 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.)
- Expired - Fee Related
Links
Images
Landscapes
- Studio Devices (AREA)
Abstract
The utility model provides a remote monitoring system which includes a holder which is provided with a monitoring camera, a holder state acquisition device which acquires the present posture of the holder, a position information receiving device which receives the position information of a monitored object, a monitoring host which is connected with the holder state acquisition device and the position information receiving device respectively and transmits a holder control order according to the present posture of the holder and the position information of the monitored object, and a holder control device which is connected with the monitoring host and controls the holder to carry out the posture adjustment according to the holder control order transmitted by the monitoring host. According to the holder posture and the position of the monitored object which are acquired in real time, the monitoring host automatically transmits a control order, and according to the control order, the holder control device controls the holder lens to automatically track the monitored object to automatically position the monitored object, the tracking is implemented, and the acquired position of the monitored target is more accurate.
Description
Technical field
The utility model relates to the monitoring field, especially, relates to a kind of long distance control system.
Background technology
At present, long distance control system is monitored moving target and is had dual mode, and a kind of is that a plurality of monitoring cameras are set, the situation in each camera lens fixed surveillance a certain zone, and the dead angle appears monitoring in this method unavoidably, the target in can't the monitoring moving state; The another kind of method of using artificial observation, The Cloud Terrace can carry monitoring camera and rotate, but need to rely on artificial observation manual setting monitoring camera towards and focal length.Monitoring camera generally is fixedly mounted on The Cloud Terrace, with the cloud platform rotation adjustment towards.Such as the remote monitoring to yard craft, need the monitor staff to control the The Cloud Terrace that is arranged on the bank eminence by cradle head controllor, make the boats and ships that monitoring camera is aimed at needs monitoring, and adjust the discrepancy situation that lens focus is monitored boats and ships.
Scheme according to prior art, the monitoring objective remote system can not the automatic capturing monitoring objective the position, and precision and the speed of monitoring are not high, can't realize monitoring objective is accurately located rapidly, the impact that artificial observation is subject to monitoring personnel subjectivity is larger, observation scope is limited, and is subject to the restriction of the factor of weather, can not realize well the remote monitoring to monitoring objective.
Problem for prior art medium-long range supervisory system can't position monitoring objective does not automatically also propose effective solution at present.
The utility model content
Fundamental purpose of the present utility model is to provide a kind of long distance control system, the problem that can't automatically position monitoring objective to solve prior art medium-long range supervisory system.
According to an aspect of the present utility model, provide a kind of long distance control system.This long distance control system comprises: The Cloud Terrace is provided with monitoring camera on this The Cloud Terrace; The The Cloud Terrace state collecting device is for the current attitude that gathers The Cloud Terrace; Position information receiver is for the positional information that receives monitoring objective; Monitoring host computer is connected respectively with The Cloud Terrace state collecting device and position information receiver, is used for sending the cradle head control instruction according to the current attitude of The Cloud Terrace and the positional information of monitoring objective; Tripod head controlling device is connected with monitoring host computer, and the cradle head control instruction that is used for sending according to monitoring host computer is controlled The Cloud Terrace and carried out the attitude adjustment.
Further, the The Cloud Terrace state collecting device comprises: acceleration transducer, be arranged on The Cloud Terrace, and be used for measuring current roll angle and the angle of pitch of The Cloud Terrace.
Further, the The Cloud Terrace state collecting device comprises: gyroscope is arranged on The Cloud Terrace the anglec of rotation when being used for measuring cloud platform rotation.
Further, the The Cloud Terrace state collecting device comprises: electronic compass, be arranged on The Cloud Terrace, and be used for measuring the current angle of The Cloud Terrace and the angle of magnetic north direction.
Further, this long distance control system also comprises: monitor screen, be connected with monitoring host computer, be used for the monitoring image of display monitoring lens shooting.
Further, this long distance control system also comprises: lever position indicator is connected with monitoring host computer, at the particular location that is used for the sign monitoring objective.
Further, position information receiver is the GPS information receiver, is used for receiving the GPS locating information of monitoring objective; The GPS locating device is installed on monitoring objective.
Further, tripod head controlling device comprises: demoder, be connected with monitoring host computer, and be used for resolving the cradle head control instruction; The lifting cradle head controllor is connected with demoder, and the motor that drives The Cloud Terrace is controlled in the cradle head control instruction after being used for resolving according to demoder.
according to the technical solution of the utility model, the The Cloud Terrace attitude that arrives by Real-time Obtaining and the position of monitoring objective, the target that monitoring host computer calculates monitoring camera automatically towards with the focal length of monitoring camera, and control the automatic tracing and monitoring target of platform-lens by tripod head controlling device according to steering order, after monitoring objective enters guarded region, can be rapidly according to the position control cloud platform rotation of monitoring objective and the focal length of adjusting monitoring camera, thereby can automatically position monitoring objective, implement to follow the tracks of, the position that obtains monitoring objective is more accurate, the velocity accuracy of The Cloud Terrace captured target is higher, control mode is more flexible, make remote monitoring rapider, precision is higher, improved the monitoring level to monitoring objective in guarded region, for further realizing boats and ships, the operation passenger carrying vehicle, the intelligent scheduling of the vehicles such as goods yard vehicle and the animal monitoring management of specific environment provide the foundation.
Description of drawings
Figure of description is used to provide further understanding of the present utility model, consists of the application's a part, and illustrative examples of the present utility model and explanation thereof are used for explaining the utility model, do not consist of improper restriction of the present utility model.In the accompanying drawings:
Fig. 1 is the schematic diagram according to the long distance control system of the utility model embodiment;
Fig. 2 is the schematic diagram according to the control device of the long distance control system of the utility model embodiment;
Fig. 3 is the schematic diagram according to the control of the long distance control system of the utility model embodiment;
Fig. 4 is according to calculating the schematic diagram of the target pitching squareness of The Cloud Terrace in the control method of the long distance control system of the utility model embodiment;
Fig. 5 is according to calculating the schematic diagram of the target course deviation angle of The Cloud Terrace in the control method of the long distance control system of the utility model embodiment;
Fig. 6 is according to calculating the schematic diagram of the realistic objective course deviation angle of The Cloud Terrace in the control method of the long distance control system of the utility model embodiment;
Fig. 7 is the schematic diagram according to actual geographic coordinate in the control method of the long distance control system of the utility model embodiment;
Fig. 8 is according to monitoring the schematic diagram of the displaing coordinate on screen in the control method of the long distance control system of the utility model embodiment.
Embodiment
Need to prove, in the situation that do not conflict, embodiment and the feature in embodiment in the application can make up mutually.Describe below with reference to the accompanying drawings and in conjunction with the embodiments the utility model in detail.
Fig. 1 is the schematic diagram according to the long distance control system of the utility model embodiment, and as shown in Figure 1, this system comprises: be fixedly installed the The Cloud Terrace 10 of monitoring camera, this The Cloud Terrace 10 can rotate under the driving of motor, thus adjust monitoring camera towards.The The Cloud Terrace state collecting device is connected with The Cloud Terrace 10, be used for gathering the current attitude of The Cloud Terrace 10, the attitude of The Cloud Terrace 10 generally comprises the rotational angle (namely monitoring camera towards angle) of The Cloud Terrace 10, the velocity of rotation of The Cloud Terrace 10, the adjustable height of The Cloud Terrace 10, wherein the angle of The Cloud Terrace 10 comprises: the angle of drift of The Cloud Terrace 10 (angle of The Cloud Terrace in surface level) and the angle of pitch (angle of The Cloud Terrace in vertical plane).Position information receiver 11 is for the positional information (comprising height, precision, latitude etc.) that receives monitoring objective 14; Monitoring host computer 12, are connected with position information receiver with The Cloud Terrace attitude harvester and are connected respectively, be used for obtaining the attitude of The Cloud Terrace 10 and the positional information of monitoring objective 14, and according to the angle on target of the positional information calculation The Cloud Terrace 10 of the current attitude of The Cloud Terrace 10 and monitoring objective 14 and the target focal length of monitoring camera, and the steering orders such as target focal length of the above-mentioned angle on target that calculates and monitoring camera are sent to tripod head controlling device; Tripod head controlling device is connected with monitoring host computer 12, according to the rotational angle of the target Focussing The Cloud Terrace 10 of the angle on target of The Cloud Terrace 10 and monitoring camera and the focal length of monitoring camera.
Wherein, The Cloud Terrace state collecting device, tripod head controlling device, monitoring camera all are arranged on The Cloud Terrace 10, so do not illustrate in the drawings.
The Cloud Terrace 10 is installed on eminence, The Cloud Terrace state collecting device and monitoring camera are arranged on The Cloud Terrace 10, rotate with The Cloud Terrace 10, the The Cloud Terrace state collecting device can measure in real time and gather the rotary state that comprises The Cloud Terrace 10 and monitoring camera towards the The Cloud Terrace attitude, the rotary state of The Cloud Terrace 10 can comprise acceleration, speed, rotation direction of cloud platform rotation etc.The data of longitude, latitude, sea level elevation and initial steer angle that The Cloud Terrace 10 is initial all can obtain by measurement, are given data.
Tripod head controlling device also is arranged on The Cloud Terrace 10, according to the rotational angle of the target Focussing The Cloud Terrace of the angle on target of above-mentioned The Cloud Terrace 10 and monitoring camera and the focal length of monitoring camera, make monitoring camera can complete display ground take the image of monitoring objective.
The long distance control system of the utility model embodiment can also comprise the supervision screen, is used for the monitoring image of display monitoring lens shooting.
The The Cloud Terrace state collecting device can specifically comprise: the measuring equipments such as gyroscope, acceleration transducer, magnetoresistive transducer are used for accurately measuring current course deviation angle and the luffing angle equal angles information of The Cloud Terrace.This The Cloud Terrace state collecting device and tripod head controlling device also can be used for the transformation of old The Cloud Terrace system, to save the cost of supervisory system upgrading.Above-mentioned athletic posture comprises rotating speed, acceleration, direction of motion of cloud platform rotation etc.For the The Cloud Terrace of controlling with precision, relative attitude information and the record that also can directly obtain The Cloud Terrace in information from controlling of The Cloud Terrace.The attitude information that like this, just can be obtained last time opens the beginning attitude as what The Cloud Terrace was controlled.After operation is completed, obtain relative attitude information in information from controlling, add the attitude information of last time, just obtained current attitude information.
Acceleration transducer in the The Cloud Terrace state collecting device, gyroscope, electronic compass are arranged on The Cloud Terrace respectively.Wherein, acceleration transducer is used for measuring current roll angle and the angle of pitch of The Cloud Terrace; Gyroscope, the anglec of rotation when being used for measuring cloud platform rotation; Electronic compass is arranged on The Cloud Terrace, is used for measuring the current angle of The Cloud Terrace and the angle of magnetic north direction.
Be arranged on the positioning equipment 15 on monitoring objective 14 in the long distance control system of the present embodiment, can be various types of positioning equipments, such as GPS(Globle Positioning System) device, the Big Dipper locating device of China, the Galileo locating device etc. in Europe can carry out the equipment of wireless location arbitrarily.When positioning equipment 15 was the GPS device, correspondingly position information receiver 11 was the GPS information receiver, was used for receiving the GPS locating information of monitoring objective.
In the occasion of the motion track that needs real-time follow-up monitoring objective 14 or locating information, the long distance control system of the present embodiment can also arrange monitoring screen, and this monitoring screen is connected with monitoring host computer, is used for the monitoring image of display monitoring lens shooting.In addition, in order to identify corresponding position at remote monitoring main frame place, the long distance control system of the present embodiment can also comprise: lever position indicator is connected with monitoring host computer, in the position that is used for identifying monitoring objective.
Tripod head controlling device in above embodiment can comprise: demoder, be connected with monitoring host computer, and be used for resolving the cradle head control instruction; The lifting cradle head controllor is connected with demoder, and the motor that drives The Cloud Terrace is controlled in the cradle head control instruction after being used for resolving according to demoder.Thereby make the motor-driven cloud platform rotation to angle on target.
The long distance control system that the utility model embodiment provides can also comprise monitoring objective position and cradle head control database, be used for preserving the positional information of monitoring objective and the record of coming in and going out, and the record of cradle head control, and generate and export the control daily record of cradle head controllor and the daily record of travelling of monitoring objective according to above record.Can dispatch and manage all monitoring objectives in monitoring range easily according to above-mentioned monitoring objective and cradle head control record.
Monitoring objective in this example can be boats and ships, operation passenger carrying vehicle, goods yard vehicle, personage, animal or even valuable article etc., and The Cloud Terrace and monitoring camera are arranged on the bus stop, parking lot, goods yard, crossing, street of bank, the passenger carrying vehicle at harbour etc. need to carry out occasion that monitoring objective is monitored to manage concentratedly.Concrete The Cloud Terrace and the installation site of monitoring camera can be configured according to practical matter and needs, avoid as much as possible monitoring the appearance at dead angle.
The below is introduced the control device of the long distance control system of above-described embodiment, this control device can be used for above-mentioned any described long distance control system is controlled, Fig. 2 is the schematic diagram according to the control device of the long distance control system of the utility model embodiment, as shown in Figure 2, this control device comprises: acquisition module 21 is used for obtaining the attitude of The Cloud Terrace 10 and the positional information of monitoring objective; Computing module 23 is used for according to the angle on target of attitude and positional information calculation The Cloud Terrace and the target focal length of monitoring camera; Steering order sending module 25 is used for sending attitude to the control device of The Cloud Terrace and adjusts steering order, and attitude is adjusted steering order and comprised above-mentioned angle on target and target focal length.Wherein, acquisition module 21 attitude of obtaining The Cloud Terrace can comprise: the height, angle of drift and the angle of pitch that obtain The Cloud Terrace; The positional information of the monitoring objective that acquisition module 21 obtains comprises: the height of monitoring objective and longitude and latitude.
Wherein, the angle on target of The Cloud Terrace comprises: target angle of drift (horizontal angle), the target angle of pitch (vertically angle).Wherein computing module 23 calculates the step of target angle of drift and is: the difference in height of calculating The Cloud Terrace and monitoring objective; Calculate The Cloud Terrace to the distance of monitoring objective according to the longitude and latitude of The Cloud Terrace, the longitude and latitude of monitoring objective and the difference in height of The Cloud Terrace and monitoring objective; Calculate the target luffing angle of The Cloud Terrace to the distance of monitoring objective according to difference in height and the The Cloud Terrace of The Cloud Terrace and monitoring objective.
Wherein computing module 23 calculates the step of target angle of drift and is: draw the target course deviation angle of The Cloud Terrace according to the longitude and latitude of The Cloud Terrace, the calculation of longitude ﹠ latitude of monitoring objective; The step that computing module 23 calculates target angle of pitch calculating target focal length comprises: the difference in height of calculating The Cloud Terrace and monitoring objective; Calculate The Cloud Terrace to the distance of monitoring objective according to the longitude and latitude of The Cloud Terrace, the longitude and latitude of monitoring objective and the difference in height of The Cloud Terrace and monitoring objective; Draw the target focal length of monitoring camera according to the incidence relation of the focal length of monitoring camera and shooting distance to the distance of monitoring objective according to The Cloud Terrace.
Height, angle of drift and the angle of pitch that acquisition module 21 obtains The Cloud Terrace are measured by the attitude harvester.Height and longitude and latitude that acquisition module 21 obtains monitoring objective comprise: the height and the longitude and latitude that obtain the monitoring objective of being measured by the positioning equipment that is arranged on monitoring objective.
Further, the control device of the long distance control system of the utility model embodiment can also comprise coordinate respective modules (not shown), is used for setting up the corresponding relation between the displaing coordinate on actual geographic coordinate and supervision screen; The displaing coordinate determination module is for the displaing coordinate on the corresponding supervision screen of actual geographic coordinate of determining monitoring objective according to corresponding relation; Station location marker module (not shown) is used for the displaing coordinate place sign monitoring objective on the supervision screen of correspondence.Thereby can be in real time the position of monitoring objective be shown on monitoring screen in real time, make the monitor staff position of monitoring objective intuitively.
Control method below in conjunction with long distance control system is introduced long distance control system of the present utility model, and Fig. 3 is the schematic diagram according to the control of the long distance control system of the utility model embodiment, and as shown in Figure 3, this control method mainly comprises the steps:
Step S31 obtains the attitude of The Cloud Terrace and the positional information of monitoring objective;
Step S33 is according to the angle on target of attitude and positional information calculation The Cloud Terrace and the target focal length of monitoring camera;
Step S35 adjusts steering order to the control device transmission attitude of The Cloud Terrace, and attitude is adjusted steering order and comprised angle on target and target focal length.
Wherein, the attitude of obtaining The Cloud Terrace in step S31 comprises: the height, angle of drift and the angle of pitch that obtain The Cloud Terrace; The positional information of obtaining monitoring objective comprises: the height and the longitude and latitude that obtain monitoring objective.
The step of calculating the target angle of pitch in step S33 is specifically as follows: the difference in height of calculating The Cloud Terrace and monitoring objective; Calculate The Cloud Terrace to the distance of monitoring objective according to the longitude and latitude of The Cloud Terrace, the longitude and latitude of monitoring objective and the difference in height of The Cloud Terrace and monitoring objective; Calculate the target luffing angle of The Cloud Terrace to the distance of monitoring objective according to difference in height and the The Cloud Terrace of The Cloud Terrace and monitoring objective.Fig. 4 is according to calculating the schematic diagram of the target pitching squareness of The Cloud Terrace in the control method of the long distance control system of the utility model embodiment, as shown in Figure 4, suppose that the initial pitch orientation of The Cloud Terrace becomes the δ angle with horizontal direction, the longitude and latitude of The Cloud Terrace 10 is (lat1, lng1), the longitude and latitude of monitoring objective 14 is (lat2, lng2), according to the longitude and latitude of the longitude and latitude of The Cloud Terrace 10 and monitoring objective 14 can calculate between The Cloud Terrace 10 and monitoring objective 14 apart from s, calculate between the two apart from the code of s can for:
Because the height of monitoring objective and The Cloud Terrace all acquires, shown in the difference in height h of The Cloud Terrace and monitoring objective can calculate, calculated between The Cloud Terrace 10 and monitoring objective 14 apart from s, can draw target luffing angle α, computing formula is
Thereby making monitoring camera by the control cloud platform rotation is α-δ or (180-α)-δ at the rotational angle of pitch orientation reality.
In step S33, the step of calculating target angle of drift is specifically as follows: draw the target course deviation angle of The Cloud Terrace according to the longitude and latitude of The Cloud Terrace, the calculation of longitude ﹠ latitude of monitoring objective.
Fig. 5 is according to calculating the schematic diagram of the target course deviation angle of The Cloud Terrace in the control method of the long distance control system of the utility model embodiment, as shown in Figure 5, the position of The Cloud Terrace 10 is initial point, set up coordinate system, horizontal direction (latitude) is X-axis, east is positive dirction, vertical oppositely (longitude) is Y-axis, north is positive dirction, the initial angle of the horizontal direction of monitoring camera is east by north θ °, regulation clockwise rotates as negative, rotate counterclockwise as just, The Cloud Terrace is s1 to the distance of the first monitoring objective 141, The Cloud Terrace is s2 to the distance of the second monitoring objective 142, monitoring camera is to the course deviation angle γ of the course deviation angle of the second monitoring objective 142=The Cloud Terrace initial angle θ-second monitoring objective 142 so, monitoring camera is to the angle beta of initial angle θ-first monitoring objective 141 of the course deviation angle=The Cloud Terrace of the first monitoring objective 141, the monitoring camera course deviation rotates counterclockwise θ-γ angle and can monitor the first monitoring objective 141 so, level rotates counterclockwise θ-β angle can monitor the second monitoring objective 142.
Fig. 6 is according to calculating the schematic diagram of the realistic objective course deviation angle of The Cloud Terrace in the control method of the long distance control system of the utility model embodiment, the longitude and latitude of The Cloud Terrace is known, take The Cloud Terrace as initial point, sets up coordinate system, horizontal direction (latitude) is X-axis, east is positive dirction, and vertical direction (longitude) is Y-axis, and north is positive dirction, can be divided into four zones, relatively longitude and latitude, determine the position at monitoring objective place, then calculate the realistic objective course deviation angle of The Cloud Terrace.
By to the luffing angle of The Cloud Terrace 10 and the adjustment of course deviation angle, just can capture neatly the physical location of monitoring objective, make the direction of the direction aligning monitoring objective of monitoring camera.Except direction, take monitoring objective 14 monitoring images and also can further adjust the focal length of monitoring camera to the position of The Cloud Terrace 10 according to monitoring objective 14.
Fall into a trap the calculate step of target focal length of step S33 is specifically as follows: the difference in height of calculating The Cloud Terrace and monitoring objective; Calculate The Cloud Terrace to the distance of monitoring objective according to the longitude and latitude of The Cloud Terrace, the longitude and latitude of monitoring objective and the difference in height of The Cloud Terrace and monitoring objective; Draw the target focal length of monitoring camera according to the incidence relation of the focal length of monitoring camera and shooting distance to the distance of monitoring objective according to The Cloud Terrace.
For example, monitoring camera visual range farthest is R, and the zoom multiple N of this camera lens, the R/N relation of the corresponding shooting distance of one times of focal length namely so, can obtain the incidence relation of focal length and shooting distance based on this, then calculate The Cloud Terrace 10 to the distance of monitoring objective 14, utilize above-mentioned incidence relation just can obtain the target focal length of monitoring camera.
Height, angle of drift and the angle of pitch that above-mentioned steps S31 obtains The Cloud Terrace are measured by the attitude harvester.The height of the monitoring objective that above-mentioned steps S31 obtains and longitude and latitude are height and the longitudes and latitudes by the monitoring objective that is arranged on the positioning equipment measurement on monitoring objective.
In the situation that long distance control system is provided with monitoring screen, the control method of the long distance control system that the utility model embodiment provides can also comprise: set up the corresponding relation between the displaing coordinate on actual geographic coordinate and supervision screen; Determine the displaing coordinate on the corresponding supervision screen of actual geographic coordinate of monitoring objective according to corresponding relation; Displaing coordinate place sign monitoring objective on the supervision screen of correspondence.Thereby can be in real time the position of monitoring objective be shown on monitoring screen in real time, make the monitor staff position of monitoring objective intuitively.
Fig. 7 is the schematic diagram according to actual geographic coordinate in the control method of the long distance control system of the utility model embodiment, and Fig. 8 is according to monitoring the schematic diagram of the displaing coordinate on screen in the control method of the long distance control system of the utility model embodiment.Actual geographic position coordinates shown in Figure 7 is take longitude and latitude as unit, take latitude 0 ° (equator) as X-axis, east is positive dirction, take 0 ° of east longitude as Y-axis, north is positive dirction, gets 3 some a arbitrarily according to field survey, b, c consists of triangle, crosses two limits of parallel segment friendship triangle that the O point is done the equator, and calculates the coordinate of 2 intersection points.Image coordinate shown in Figure 8 is take pixel as unit, and take summit, the lower left corner as initial point, level is to the right X-axis and for just, is Y-axis and for just vertically upward.Coordinate (the x that on known actual geographic position, O is ordered, y) and directly obtain obtain arbitrarily nonoverlapping 3 point coordinate a(x1, y1 in twos), b(x2, y2), c(x3, y3) and image on correspond to the coordinate points a ' (x4, y4) of 3 of actual geographic position, b ' (x5, y5), c ' (x6, y6).
At first, judge that the O point is whether in 3 triangles that surround of ABC (comprising the border): calculate the area of triangle ABC, the area of triangle ABO, the area of triangle ACO and the area of triangle BCO by Heron's formula; The size of the area of the area of comparison triangle ABC and the area of triangle ABO, triangle ACO and the area sum of triangle BCO, if the area of triangle ABC is greater than the area of triangle ABO, the area of triangle ACO and the area sum of triangle BCO, put O outside triangle ABC, if both equate, put O and (comprise the border) in triangle ABC.
If the O point is in the situation that in triangle ABC, determine that some O is whether on triangle ABC border, if putting O is respectively AO, BO to the distance of 2 of this edge AB, can calculate the two-part ratio T=AO/BO that an O is divided into this edge, can be divided into A ' O '/B ' O '=T to the A ' B ' limit with respect to the AB limit on image with sampling point O ' so.
The O point is in the situation that in triangle ABC, determine that some O (does not comprise the border) in triangle ABC, that will the O point does the line segment that is parallel to the equator compared to two limits of triangle ABC, calculate the coordinate of 2 intersection points, the ratio that intersection point is cut apart the limit: T=d1/d2, T2=d3/d4, and some O is at the ratio T3=s1/s2 that the line segment of 2 intersection points compositions is cut apart.Owing to fixing in the position of 3 of ABC, and under two coordinate systems ratio T1, T2, T3 is constant, thereby can be by known ratio T1, T2, T3 determine the position at 2 intersection points and some O ' place on image.Thereby can be regarded as coordinate position O ' on the out position display device (x ', y ') by calculating.
If the O point not in 3 triangles that surround of ABC (comprising the border), can again be chosen the actual geographic position and calculate with monitoring known other 3 of screen position corresponding relation.
The below describes two kinds of preferred specific embodiments of the utility model:
In the first specific embodiment, monitoring objective is boats and ships, and The Cloud Terrace is installed on the eminence on bank, and the The Cloud Terrace state collecting device gathers the current attitude of The Cloud Terrace, and this attitude information is sent to monitoring host computer.GPS equipment is installed on the The Cloud Terrace boats and ships, and can sends to the positional information of boats and ships the gps signal receiving equipment on bank, the gps signal receiving equipment is transmitted to monitoring host computer by communication cable with above-mentioned positional information.Monitoring host computer calculates angle on target and the target focal length of camera lens according to above-mentioned positional information and attitude information, and the steering order that comprises angle on target and target focal length is sent to the control device of The Cloud Terrace.The rotational angle that tripod head controlling device is controlled The Cloud Terrace to target towards, and the focal length of controlling monitoring camera is to the target focal length.Monitoring camera is taken the image of boats and ships, and shows image on monitoring screen.And identify these boats and ships on the position of the corresponding boats and ships actual geographic of lever position indicator position.
When monitoring a plurality of boats and ships at the same time, monitoring host computer according to the positional information of each boats and ships calculate respectively target towards and focal length, tripod head controlling device is controlled the image that monitoring camera is taken each boats and ships successively.Building database in monitoring host computer for image and the motion track of preserving each boats and ships, generates boats and ships and moves daily record, and operating personnel can call at any time this ship's log book and carry out next step operation.
in the second specific embodiment, monitoring objective is police, The Cloud Terrace is installed on by main traffic route, comprise the GPS device in police's Jingwutong, and can send to the gps signal receiving equipment to police's real time position, police process merit and need to follow the tracks of or take when keeping evidence, by the Jingwutong that locating device is housed, police's real time position is sent to the gps signal receiving equipment, the gps signal receiving equipment is logical is transmitted to monitoring host computer with above-mentioned real-time position information, monitoring host computer calculates the target component of monitoring camera, tripod head controlling device is according to above target component track up police's activity, and police's position is positioned.When the monitoring camera that current The Cloud Terrace carries was taken less than image, monitoring host computer sent target component to next monitoring camera.Utilize this long distance control system to carry out Real-Time Scheduling to police, with the fastest velocity process accident.
Accordingly, monitoring objective in this example can also be operation passenger carrying vehicle, goods yard vehicle or even valuable article etc., and The Cloud Terrace and monitoring camera are arranged on the bus stop, parking lot, goods yard, crossing, street of passenger carrying vehicle etc. need to carry out occasion that monitoring objective is monitored to manage concentratedly.
The monitoring objective of the remote monitoring in this example can also be animal, personage etc., such as the system that sets up the present embodiment in the Safari Park, wild animal in the garden is monitored, obtain the data of zooscopy, perhaps under the outdoor environments such as seabeach, the crowd is monitored, to realize the timely relief of unexpected environment.
The Cloud Terrace in above-described embodiment and the installation site of monitoring camera can be carried out according to practical matter and needs, avoid as much as possible monitoring the appearance at dead angle.The background process platform be can also build according to the actual requirements, monitoring image and locating information further processed.
Use the technical solution of the utility model, the control method of long distance control system comprises: obtain the attitude of The Cloud Terrace and the positional information of monitoring objective; According to the angle on target of attitude and positional information calculation The Cloud Terrace and the target focal length of monitoring camera; Control device to The Cloud Terrace sends attitude adjustment steering order, and attitude is adjusted steering order and comprised angle on target and target focal length.the The Cloud Terrace attitude that arrives by Real-time Obtaining and the position of monitoring objective, automatically the target of calculating monitoring camera towards with the focal length of monitoring camera, and by the control device of the The Cloud Terrace automatic tracing and monitoring target of target focus controlling platform-lens according to angle on target and the monitoring camera of The Cloud Terrace, after monitoring objective enters guarded region, can be rapidly according to the position control cloud platform rotation of monitoring objective and the focal length of adjusting monitoring camera, thereby can automatically position monitoring objective, implement to follow the tracks of, the position that obtains monitoring objective is more accurate, the velocity accuracy of The Cloud Terrace captured target is higher, control mode is more flexible, make remote monitoring rapider, precision is higher, improved the monitoring level to monitoring objective in guarded region, for further realizing boats and ships, the operation passenger carrying vehicle, the intelligent scheduling of the vehicles such as goods yard vehicle and the animal monitoring management of specific environment provide the foundation.
The above is only preferred embodiment of the present utility model, is not limited to the utility model, and for a person skilled in the art, the utility model can have various modifications and variations.All within spirit of the present utility model and principle, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection domain of the present utility model.
Claims (8)
1. a long distance control system, is characterized in that, comprising:
The Cloud Terrace is provided with monitoring camera on described The Cloud Terrace;
The The Cloud Terrace state collecting device is for the current attitude that gathers described The Cloud Terrace;
Position information receiver is for the positional information that receives monitoring objective;
Monitoring host computer, with described The Cloud Terrace state collecting device be connected position information receiver and be connected respectively, be used for sending the cradle head control instruction according to the current attitude of described The Cloud Terrace and the positional information of described monitoring objective;
Tripod head controlling device is connected with described monitoring host computer, and the cradle head control instruction that is used for sending according to described monitoring host computer is controlled described The Cloud Terrace and carried out the attitude adjustment.
2. long distance control system according to claim 1, is characterized in that, described The Cloud Terrace state collecting device comprises:
Acceleration transducer is arranged on described The Cloud Terrace, is used for measuring the current roll angle of described The Cloud Terrace and the angle of pitch.
3. long distance control system according to claim 1, is characterized in that, described The Cloud Terrace state collecting device comprises:
Gyroscope is arranged on described The Cloud Terrace, the anglec of rotation when being used for measuring described cloud platform rotation.
4. long distance control system according to claim 1, is characterized in that, described The Cloud Terrace state collecting device comprises:
Electronic compass is arranged on described The Cloud Terrace, for the angle of current angle and the magnetic north direction of measuring described The Cloud Terrace.
5. long distance control system according to claim 1, is characterized in that, also comprises:
Monitor screen, be connected with described monitoring host computer, be used for the monitoring image that shows that described monitoring camera is taken.
6. long distance control system according to claim 1, is characterized in that, also comprises: lever position indicator is connected with described monitoring host computer, at the particular location that is used for identifying described monitoring objective.
7. the described long distance control system of any one according to claim 1 to 6, is characterized in that,
Described position information receiver is the GPS information receiver, is used for receiving the GPS locating information of monitoring objective;
The GPS locating device is installed on described monitoring objective.
8. the described long distance control system of any one according to claim 1 to 6, is characterized in that, described tripod head controlling device comprises:
Demoder is connected with described monitoring host computer, is used for resolving described cradle head control instruction;
The lifting cradle head controllor is connected with described demoder, and the motor that drives described The Cloud Terrace is controlled in the cradle head control instruction after being used for resolving according to described demoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220673668 CN202975840U (en) | 2012-12-04 | 2012-12-04 | Remote monitoring system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220673668 CN202975840U (en) | 2012-12-04 | 2012-12-04 | Remote monitoring system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202975840U true CN202975840U (en) | 2013-06-05 |
Family
ID=48516893
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220673668 Expired - Fee Related CN202975840U (en) | 2012-12-04 | 2012-12-04 | Remote monitoring system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202975840U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103945164A (en) * | 2014-05-01 | 2014-07-23 | 张臣 | System for recording information transmission in law enforcement process |
| CN103945162A (en) * | 2014-05-01 | 2014-07-23 | 张臣 | System for recording process information transmission at law enforcement site |
| CN104240419A (en) * | 2014-09-24 | 2014-12-24 | 上海大学 | Water surface monitoring system |
| CN106791586A (en) * | 2015-11-19 | 2017-05-31 | 杭州海康威视数字技术股份有限公司 | A kind of method and monitoring device, device, system being monitored to mobile target |
| CN107948518A (en) * | 2017-11-30 | 2018-04-20 | 徐素香 | A kind of camera management system |
-
2012
- 2012-12-04 CN CN 201220673668 patent/CN202975840U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103945164A (en) * | 2014-05-01 | 2014-07-23 | 张臣 | System for recording information transmission in law enforcement process |
| CN103945162A (en) * | 2014-05-01 | 2014-07-23 | 张臣 | System for recording process information transmission at law enforcement site |
| CN104240419A (en) * | 2014-09-24 | 2014-12-24 | 上海大学 | Water surface monitoring system |
| CN106791586A (en) * | 2015-11-19 | 2017-05-31 | 杭州海康威视数字技术股份有限公司 | A kind of method and monitoring device, device, system being monitored to mobile target |
| CN107948518A (en) * | 2017-11-30 | 2018-04-20 | 徐素香 | A kind of camera management system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103034247B (en) | The control method of long distance control system and control device | |
| CN110174093B (en) | Positioning method, device, equipment and computer readable storage medium | |
| CN108306217B (en) | Intelligent autonomous overhead high-voltage line wire flying inspection system and method | |
| CN109911188B (en) | Bridge detection unmanned aerial vehicle system in non-satellite navigation and positioning environment | |
| WO2022206978A1 (en) | Roadside millimeter-wave radar calibration method based on vehicle-mounted positioning apparatus | |
| CN202975840U (en) | Remote monitoring system | |
| JP2024063175A (en) | Flight information control method, control device and computer program | |
| US7456847B2 (en) | Video with map overlay | |
| CN104089649B (en) | A kind of indoor environment data collecting system and acquisition method | |
| CN105184776A (en) | Target tracking method | |
| CN102045549A (en) | Method and device for controlling linkage-tracking moving target of monitoring device | |
| CN109885097B (en) | Method for planning inspection route of outer edge surface of bridge | |
| CN106291535A (en) | A kind of obstacle detector, robot and obstacle avoidance system | |
| CN105303899A (en) | Child-mother type robot cooperation system of combination of unmanned surface vessel and unmanned aerial vehicle | |
| CN109885098B (en) | Method for planning inspection route of bridge side fence | |
| CN104469292A (en) | Control device and method for PTZ camera with altitude self-calibration function | |
| CN109737981B (en) | Unmanned vehicle target searching device and method based on multiple sensors | |
| CN103747207A (en) | Positioning and tracking method based on video monitor network | |
| CN109901623B (en) | Method for planning inspection route of pier body of bridge | |
| CN112880599B (en) | Roadbed flatness detection system based on four-foot robot and working method | |
| CN103895584A (en) | Movable lifting type vehicle-mounted panorama holder with high precision locating function | |
| CN208027170U (en) | A kind of power-line patrolling unmanned plane and system | |
| CN104796620A (en) | Rapid and precise camera monitoring method based on GIS (geographic information system) | |
| CN112113565A (en) | Robot positioning system for agricultural greenhouse environment | |
| CN104093000A (en) | Monitoring system based on geographical information control and building method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| DD01 | Delivery of document by public notice |
Addressee: Zhejiang the Polytron Technologies Inc. responsible for receiving the patent Document name: Notification that Application Deemed not to be Proposed |
|
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130605 Termination date: 20211204 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |