CN204859351U - It is automatic with burnt device based on video target following - Google Patents
It is automatic with burnt device based on video target following Download PDFInfo
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- CN204859351U CN204859351U CN201520188441.9U CN201520188441U CN204859351U CN 204859351 U CN204859351 U CN 204859351U CN 201520188441 U CN201520188441 U CN 201520188441U CN 204859351 U CN204859351 U CN 204859351U
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Abstract
The utility model discloses an it is automatic with burnt device based on video target following, include: cloud platform, ptz motor, ptz motor driver, be used for the distance measuring sensor of real -time measurement moving target distance, distance measuring sensor installs in the cloud bench, a video signal for receiving the video camera to the video capture card of video terminal is given in output, the pre -installation has video target following software and is used for receiving video capture card's video signal to the output target of trailing is for the video terminal of the coordinate figure of image, including being used for driving first camera lens motor and the second camera lens motor that the camera lens was focused the circle and was zoomed the circle respectively, a camera lens motor drive for driving first camera lens motor and second camera lens motor, a master controller for receiving the target coordinate figure of distance measuring sensor and video terminal output, control ptz motor driver and camera lens motor drive . the utility model discloses have automatic calculation camera coverage angle, need not calibration, easy operation.
Description
Technical field
The utility model relates to radio and television film projection apparatus field, particularly a kind of based on video frequency object tracking automatically with coke installation.
Background technology
In existing technology, having utilizes distance measuring sensor and video frequency object tracking to carry out the equipment of auto-focusing, but need the manual calibration camera angle of visual field, lens focus cannot be utilized to calculate the angle of visual field of video camera, therefore cannot be applied on zoom lens, cause rangefinder to follow target accurate not.In general, the installation site of The Cloud Terrace and the optical axis of video camera in the horizontal direction or vertical direction have certain position deviation, existing based on video frequency object tracking automatically with burnt cannot according to target and the vertical range auto modification level of focal plane or the position deviation of vertical direction.
Therefore, need badly a kind of have automatically calculate camera coverage angle, without the need to calibration, simple to operate based on video frequency object tracking automatically with coke installation.
Utility model content
The purpose of this utility model be to provide a kind of have automatically calculate camera coverage angle, without the need to calibration, simple to operate based on video frequency object tracking automatically with coke installation.
To achieve these goals, the technical scheme that the utility model provides is: provide a kind of and follow coke installation based on the automatic of video frequency object tracking, comprising:
The The Cloud Terrace that can rotate around horizontal direction and vertical direction;
For the horizontal stage electric machine driving described The Cloud Terrace to rotate around horizontal direction and vertical direction, described horizontal stage electric machine is generally stepping motor or servomotor;
For measuring the distance measuring sensor of moving target distance in real time, described distance measuring sensor is installed on described The Cloud Terrace; Described distance measuring sensor refers to laser range sensor or ultrasonic distance-measuring sensor, especially measuring frequency 50Hz and more than, measure error 5cm and within high speed ranging instrument;
For driving the horizontal stage electric machine driver of horizontal stage electric machine;
For receiving the vision signal of video camera, and export to the video frequency collection card of video terminal, especially SDI or HDMI video signal turn the video frequency collection card of USB vision signal;
Be preinstalled with video frequency object tracking software and for the vision signal of receiver, video capture card, and export the target of the following the tracks of video terminal relative to the coordinate figure of image;
Camera lens motor, comprises two camera lens motors, is respectively used to the first camera lens motor and the second camera lens motor that drive lens focusing circle and zoom circle;
For driving the camera lens motor driver of described first camera lens motor and the second camera lens motor;
For the coordinates of targets value that the distance value and described video terminal that receive the output of described distance measuring sensor export, control the main controller of described horizontal stage electric machine driver and described camera lens motor driver.
The horizontal field of view angle θ of described video camera can by the following derivation of equation: tan (θ/2)=(L/2)/f
θ＝2·arctan((L/2)/f)
Wherein θ represents the horizontal field of view angle of described video camera, and L represents described video camera sensitive chip horizontal width, and f represents described camera lens focal length, in like manner, can calculate video camera vertical field of view angle.
Described second camera lens motor is the servomotor of band closed-loop system, described camera lens motor driver can detect the rotational angle of described second camera lens motor gear, described second camera lens motor gear and camera lens gears meshing, also the angle that zoom circle rotates can just be detected, and according to being pre-stored within camera lens rotational angle and the lens zoom circle scale corresponding relation of described main controller, the focal length that camera lens is current can be calculated.
Described video frequency object tracking software exports coordinates of targets value, and in conjunction with described horizontal field of view angle θ, described main controller can control described distance measuring sensor and accurately follow target travel.
Described The Cloud Terrace is installed on described video camera top or below, the optical axis of described video camera and described distance measuring sensor point to the optical axis meeting shape ψ 1 at a certain angle during video coordinates central point, and derivation formula is:
ψ1＝arctan(d2/d1)
Wherein d2 is the vertical range of initial point to described video camera optical axis of described distance measuring sensor, d1 be described distance measuring sensor initial point with perpendicular to described video camera optical axis and the vertical range of the plane at target place.
D2 is the eigenvalue with coke installation, and d1 can by the following derivation of equation:
H1＝L1·sinθ
1，H2≈H1，
L2＝L1/cosβ
1，
Wherein L1 represents the distance value that stadia surveying arrives
θ
1represent the angle of the targeted straight line of distance measuring sensor and horizontal plane
β
1represent the angle of the targeted straight line of distance measuring sensor and vertical plane
Described video frequency object tracking software can follow the tracks of multiple target simultaneously, and can switch the tracking target pointed by distance measuring sensor fast.
Compared with prior art, the utility model is followed in coke installation based on the automatic of video frequency object tracking, owing to comprising described horizontal stage electric machine, horizontal stage electric machine driver, video frequency collection card, camera lens motor and main controller, described horizontal stage electric machine can drive described The Cloud Terrace to rotate around horizontal direction and vertical direction, and described horizontal stage electric machine is driven by described horizontal stage electric machine driver, described camera lens motor is driven by described camera lens motor driver, drive the camera lens motor driver of described first camera lens motor and the second camera lens motor, and described horizontal stage electric machine driver, described camera lens motor driver controls by described main controller, therefore described main controller can be unified to control, and can automatically calculate camera coverage angle, without the need to calibration, operate also fairly simple.
By following description also by reference to the accompanying drawings, the utility model will become more clear, and these accompanying drawings are for explaining embodiment of the present utility model.
Accompanying drawing explanation
Fig. 1 is the circuit theory module map of automatically following an embodiment of coke installation of the utility model based on video frequency object tracking.
Fig. 2 is the schematic diagram of the horizontal field of view angle θ of video camera of the present utility model.
Optical axis institute shape ψ 1 at a certain angle when the optical axis that Fig. 3 is video camera and described distance measuring sensor point to video coordinates central point derives schematic diagram.
Embodiment
With reference now to accompanying drawing, describe embodiment of the present utility model, element numbers similar in accompanying drawing represents similar element.As mentioned above, as Figure 1-3, the utility model provides a kind of and follows coke installation 100 based on the automatic of video frequency object tracking, comprising:
The The Cloud Terrace 2 that can rotate around horizontal direction and vertical direction;
For the horizontal stage electric machine 3 driving described The Cloud Terrace 2 to rotate around horizontal direction and vertical direction, described horizontal stage electric machine 3 is generally stepping motor or servomotor;
For measuring the distance measuring sensor 1 of moving target distance in real time, described distance measuring sensor 1 is installed on described The Cloud Terrace 2; Described distance measuring sensor 1 refers to laser range sensor or ultrasonic distance-measuring sensor, especially measuring frequency 50Hz and more than, measure error 5cm and within high speed ranging instrument;
For driving the horizontal stage electric machine driver 4 of horizontal stage electric machine 3;
For receiving the vision signal of video camera 5, and export to the video frequency collection card 7 of video terminal 6, especially SDI or HDMI video signal turn the video frequency collection card of USB vision signal;
Be preinstalled with video frequency object tracking software and for the vision signal of receiver, video capture card 7, and export the target of the following the tracks of video terminal 6 relative to the coordinate figure of image; This video terminal can be the equipment such as panel computer, smart mobile phone.
Camera lens motor 8, comprises two camera lens motors, is respectively used to the first camera lens motor 81 and the second camera lens motor 82 driving lens focusing circle and zoom circle;
For driving the camera lens motor driver 9 of described first camera lens motor 81 and the second camera lens motor 82;
For the coordinates of targets value that the distance value and described video terminal 6 that receive the output of described distance measuring sensor 1 export, control the main controller 10 of described horizontal stage electric machine driver 4 and described camera lens motor driver 9.
As shown in Figure 2, the horizontal field of view angle θ of described video camera 5 can by the following derivation of equation: tan (θ/2)=(L/2)/f
θ＝2·arctan((L/2)/f)
Wherein θ represents the horizontal field of view angle of described video camera 5, and L represents described video camera 5 sensitive chip horizontal width, and f represents described video camera 5 lens focus, in like manner, can calculate video camera 5 vertical field of view angle.
In an embodiment, described second camera lens motor 82 is the servomotor of band closed-loop system, described camera lens motor driver 9 can detect the rotational angle of described second camera lens motor 82 gear, described second camera lens motor 82 gear and camera lens gears meshing, also the angle that zoom circle rotates can just be detected, and according to being pre-stored within camera lens rotational angle and the lens zoom circle scale corresponding relation of described main controller 9, the focal length that camera lens is current can be calculated.
In an embodiment, described video frequency object tracking software exports coordinates of targets value, and in conjunction with described camera coverage angle, described main controller 10 can control described distance measuring sensor 1 and accurately follow target travel.
In an embodiment, described The Cloud Terrace 2 is installed on described video camera 5 top or below, the optical axis of described video camera 5 and described distance measuring sensor 1 point to the optical axis meeting shape ψ 1 at a certain angle during video coordinates central point, and derivation formula is:
ψ1＝arctan(d2/d1)
Wherein d2 is the vertical range of initial point to described video camera 5 optical axis of described distance measuring sensor 1, d1 be described distance measuring sensor 1 initial point with perpendicular to described video camera 5 optical axis and the vertical range of the plane at target place.
D2 is the eigenvalue with coke installation, and d1 can by the following derivation of equation:
H1＝L1·sinθ
1，H2≈H1，
L2＝L1/cosβ
1，
Wherein L1 represents the distance value that stadia surveying arrives
θ
1represent the angle of the targeted straight line of distance measuring sensor and horizontal plane
β
1represent the angle of the targeted straight line of distance measuring sensor and vertical plane
In an embodiment, described video frequency object tracking software can follow the tracks of multiple target simultaneously, and can switch the tracking target pointed by described distance measuring sensor 1 fast.
Compared with prior art, composition graphs 1-3, the utility model follows coke installation 100 based on the automatic of video frequency object tracking, owing to comprising described horizontal stage electric machine 3, horizontal stage electric machine driver 4, video frequency collection card 7, camera lens motor 8 and main controller 10, described horizontal stage electric machine 3 can drive described The Cloud Terrace 2 to rotate around horizontal direction and vertical direction, and described horizontal stage electric machine 3 is driven by described horizontal stage electric machine driver 4, described camera lens motor 8 is driven by described camera lens motor driver 9, drive the camera lens motor driver 9 of described first camera lens motor 81 and the second camera lens motor 82, and described horizontal stage electric machine driver 4, described camera lens motor driver 9 controls by described main controller 10, therefore described main controller 10 can be unified to control, and can automatically calculate camera coverage angle, without the need to calibration, operate also fairly simple.
Above disclosedly be only preferred embodiment of the present utility model, certainly can not limit the interest field of the utility model with this, therefore according to the equivalent variations that the utility model claim is done, still belong to the scope that the utility model is contained.
Claims (6)
1. follow a coke installation based on the automatic of video frequency object tracking, it is characterized in that, comprising:
The The Cloud Terrace that can rotate around horizontal direction and vertical direction;
For the horizontal stage electric machine driving described The Cloud Terrace to rotate around horizontal direction and vertical direction; For driving the horizontal stage electric machine driver of horizontal stage electric machine;
For measuring the distance measuring sensor of moving target distance in real time, described distance measuring sensor is installed on described The Cloud Terrace;
For receiving the vision signal of video camera, and export to the video frequency collection card of video terminal;
Be preinstalled with video frequency object tracking software and for the vision signal of receiver, video capture card, and export the target of the following the tracks of video terminal relative to the coordinate figure of image;
Camera lens motor, comprises two camera lens motors, is respectively used to the first camera lens motor and the second camera lens motor that drive lens focusing circle and zoom circle;
For driving the camera lens motor driver of described first camera lens motor and the second camera lens motor;
For receiving the coordinates of targets value of described distance measuring sensor and the output of described video terminal, control the main controller of described horizontal stage electric machine driver and described camera lens motor driver.
2. follow coke installation based on the automatic of video frequency object tracking as claimed in claim 1, it is characterized in that, the horizontal field of view angle θ of described video camera can by the following derivation of equation: tan (θ/2)=(L/2)/f
θ＝2·arctan((L/2)/f)
Wherein θ represents the horizontal field of view angle of described video camera, and L represents described video camera sensitive chip horizontal width, and f represents described camera lens focal length;
According to same method, the vertical field of view angle of described video camera can by the following derivation of equation:
tan(β/2)＝(H/2)/f
β＝2·arctan((H/2)/f)
Wherein β represents the vertical field of view angle of described video camera, and H represents described video camera sensitive chip vertical height, and f represents described camera lens focal length.
3. follow coke installation based on the automatic of video frequency object tracking as claimed in claim 2, it is characterized in that, described second camera lens motor is the servomotor of band closed-loop system, described camera lens motor driver can detect the rotational angle of described second camera lens motor gear, described second camera lens motor gear and camera lens gears meshing, also the angle that zoom circle rotates can just be detected, and according to being pre-stored within camera lens rotational angle and the lens zoom circle scale corresponding relation of described main controller, the focal length that camera lens is current can be calculated.
4. follow coke installation based on the automatic of video frequency object tracking as claimed in claim 3, it is characterized in that, described video frequency object tracking software exports coordinates of targets value, and in conjunction with described horizontal field of view angle θ and vertical field of view angle β, described main controller can control described distance measuring sensor and accurately follow target travel.
5. follow coke installation based on the automatic of video frequency object tracking as claimed in claim 4, it is characterized in that, described The Cloud Terrace is installed on described video camera top or below, the optical axis of described video camera and described distance measuring sensor point to the optical axis meeting shape ψ 1 at a certain angle during video coordinates central point, and derivation formula is:
ψ1＝arctan(d2/d1)
Wherein d2 is the vertical range of initial point to described video camera optical axis of described distance measuring sensor, d1 be described distance measuring sensor initial point with perpendicular to described video camera optical axis and the vertical range of the plane at target place;
D2 is the eigenvalue with coke installation, and d1 can by the following derivation of equation:
H1＝L1·sinθ
1，H2≈H1，
L2＝L1/cosβ
1
Wherein L1 represents the distance value that stadia surveying arrives
θ
1represent the angle of the targeted straight line of distance measuring sensor and horizontal plane
β
1represent the angle of the targeted straight line of distance measuring sensor and vertical plane.
6. follow coke installation based on the automatic of video frequency object tracking as claimed in claim 5, it is characterized in that, described video frequency object tracking software can follow the tracks of multiple target simultaneously, and can switch the tracking target pointed by distance measuring sensor fast.
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| CN201520188441.9U CN204859351U (en) | 2015-03-31 | 2015-03-31 | It is automatic with burnt device based on video target following |
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| CN201520188441.9U CN204859351U (en) | 2015-03-31 | 2015-03-31 | It is automatic with burnt device based on video target following |
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| CN204859351U true CN204859351U (en) | 2015-12-09 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106161957A (en) * | 2016-08-19 | 2016-11-23 | 维高时代（北京）科技有限公司 | A kind of control device of gyrocontrol high definition camera chain photographic lens |
| CN108965748A (en) * | 2018-07-18 | 2018-12-07 | 张家港市鸿嘉数字科技有限公司 | Video control system |
| CN104822020B (en) * | 2015-03-31 | 2019-02-12 | 深圳市莫孚康技术有限公司 | It is automatic with coke installation based on video frequency object tracking |
| CN109479088A (en) * | 2017-06-02 | 2019-03-15 | 深圳市大疆创新科技有限公司 | The system and method for carrying out multiple target tracking based on depth machine learning and laser radar and focusing automatically |
| WO2022141197A1 (en) * | 2020-12-30 | 2022-07-07 | 深圳市大疆创新科技有限公司 | Method and device for controlling cradle head, movable platform and storage medium |
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2015
- 2015-03-31 CN CN201520188441.9U patent/CN204859351U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104822020B (en) * | 2015-03-31 | 2019-02-12 | 深圳市莫孚康技术有限公司 | It is automatic with coke installation based on video frequency object tracking |
| CN106161957A (en) * | 2016-08-19 | 2016-11-23 | 维高时代（北京）科技有限公司 | A kind of control device of gyrocontrol high definition camera chain photographic lens |
| CN106161957B (en) * | 2016-08-19 | 2021-11-19 | 维高时代（北京）科技有限公司 | Control device for gyro-stabilized high-definition photographic system photographic lens |
| CN109479088A (en) * | 2017-06-02 | 2019-03-15 | 深圳市大疆创新科技有限公司 | The system and method for carrying out multiple target tracking based on depth machine learning and laser radar and focusing automatically |
| US11006033B2 (en) | 2017-06-02 | 2021-05-11 | SZ DJI Technology Co., Ltd. | Systems and methods for multi-target tracking and autofocusing based on deep machine learning and laser radar |
| US11283986B2 (en) | 2017-06-02 | 2022-03-22 | SZ DJI Technology Co., Ltd. | Systems and methods for multi-target tracking and autofocusing based on deep machine learning and laser radar |
| CN108965748A (en) * | 2018-07-18 | 2018-12-07 | 张家港市鸿嘉数字科技有限公司 | Video control system |
| WO2022141197A1 (en) * | 2020-12-30 | 2022-07-07 | 深圳市大疆创新科技有限公司 | Method and device for controlling cradle head, movable platform and storage medium |
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