CN211606645U - Target tracking control camera system - Google Patents
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- CN211606645U CN211606645U CN202020835422.1U CN202020835422U CN211606645U CN 211606645 U CN211606645 U CN 211606645U CN 202020835422 U CN202020835422 U CN 202020835422U CN 211606645 U CN211606645 U CN 211606645U
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Abstract
The utility model provides a target tracking control camera system, which comprises a camera module and a servo holder; the camera module is arranged on the servo holder; the camera module comprises a camera lens, an image processing module and a fuzzy controller; the camera lens, the image processing module, the fuzzy controller and the servo holder are sequentially in communication connection. The utility model provides a target tracking control camera system, through being equipped with the module of making a video recording, servo cloud platform, and the integration is equipped with image processing module and fuzzy controller on the module of making a video recording, the recognition that replaces the computer to have realized the image is handled, and realized the adjustment to the camera lens, current photoelectric tracking system has been simplified, the image transmission of camera and computer among the prior art has been avoided postpones, and the delay of video compression and decompression has been avoided, the real-time performance of system has greatly been improved, and the purchase cost of system has been reduced, the degree of difficulty of maintenance cost and debugging.
Description
Technical Field
The utility model relates to a technical field of make a video recording, in particular to target tracking control camera system.
Background
An automatic target tracking system, also called a photoelectric tracking system, is a system capable of monitoring and shooting along with a target, and is often applied to an environment with a high safety requirement or a vision system of a robot.
The existing photoelectric tracking system generally comprises a camera, a holder, a computer, an SDI video capture card or a network switch and other structures; for example, patent application No. CN200720029901.9 discloses a robot remote pan-tilt control device, which structurally comprises a main control computer, a wireless video transceiver module, a robot control module, a pan-tilt control module and a camera, wherein the main control computer comprises a host, a video acquisition card and a wireless data transceiver module, the host is connected with a video receiving module of the wireless video transceiver module through the video acquisition card, and the host is connected with the robot control module and the pan-tilt control module through the wireless data transceiver module; and the camera connected with the holder control module is connected with the video transmitting module of the wireless video receiving and transmitting module.
In view of the above existing photoelectric tracking scheme, the acquisition and analysis of image data are completed by the camera and the computer respectively, there is a delay in image transmission before image analysis, and in the case of using a network video, an extra delay in video compression and decompression is added, which reduces the real-time performance of the tracking system. In conclusion, the conventional photoelectric tracking system has the problems of low response speed and poor real-time performance.
SUMMERY OF THE UTILITY MODEL
In order to solve the problems of slow response speed and poor real-time performance of the existing photoelectric tracking system, the utility model provides a target tracking control camera system, which comprises a camera module used for shooting and a servo pan-tilt used for adjusting the angle of the camera module; the camera module is arranged on the servo holder;
the camera shooting module comprises a camera shooting lens, an image processing module for identifying and processing images and a fuzzy controller for controlling the camera shooting lens to track a target; the camera lens, the image processing module, the fuzzy controller and the servo holder are sequentially in communication connection.
Furthermore, the servo holder comprises a horizontal driving mechanism for adjusting the horizontal angle of the camera module; the horizontal driving mechanism is connected with the camera module.
Further, the horizontal driving mechanism comprises a first motor and a first transmission mechanism; the first motor is connected with the camera module through the first transmission mechanism.
Further, the first motor of the horizontal driving mechanism is made of a stepping motor.
Furthermore, the servo holder also comprises a vertical driving mechanism for adjusting the pitching angle of the camera module; the vertical driving mechanism is connected with the camera module through the horizontal driving mechanism.
Further, the vertical driving mechanism comprises a second motor and a second transmission mechanism; the second motor is connected with the horizontal driving mechanism through the second transmission mechanism.
Further, the second motor of the vertical driving mechanism is made of a stepping motor.
Further, the first transmission mechanism and the second transmission mechanism are made of gear transmission mechanisms.
Further, the camera lens adopts a CMOS camera or a CCD camera.
Further, the fuzzy controller adopts a chip with model number NLX 23O.
The utility model provides a target tracking control camera system, through being equipped with the module of making a video recording, servo cloud platform, and the integration is equipped with image processing module and fuzzy controller on the module of making a video recording, replace the computer and realized the discernment of image and handle, and realized the adjustment to the camera lens direction, integrated image analysis and tracking control's function promptly, the present photoelectric tracking system has been simplified, the image transmission delay of camera and computer among the prior art has been avoided, and the delay of video compression and decompression has been avoided, the response speed and the reliability of system have been greatly improved; in addition, the cost of the system and the difficulty of debugging are greatly reduced by reducing nodes such as a computer, a video acquisition card, a wireless data transceiver module and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor.
Fig. 1 is a connection block diagram of the target tracking control camera system provided by the present invention;
FIG. 2 is a schematic structural diagram of a target tracking control camera system;
FIG. 3 is a schematic diagram of tracking control of a target tracking control camera system;
FIG. 4 is a schematic diagram of a membership function of an input quantity;
FIG. 5 is a graph of membership functions for outputs;
FIG. 6 is a table of fuzzy control rules for Δ Kp;
FIG. 7 is a table of fuzzy control rules for Δ Ki;
FIG. 8 is a table of fuzzy control rules for Δ Kd.
Reference numerals:
horizontal driving mechanism of 100 camera module 200 servo holder 210
211 first motor 212 first transmission mechanism 220 vertical driving mechanism
221 second motor 222 second transmission mechanism 300 radar
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The utility model provides a target tracking control camera system, which comprises a camera module 100 for shooting and a servo pan-tilt 200 for adjusting the angle of the camera module 100; the camera module 100 is arranged on the servo holder 200;
the camera module 100 comprises a camera lens, an image processing module for identifying and processing images and a fuzzy controller for controlling the camera lens to track a target; the camera lens, the image processing module, the fuzzy controller and the servo holder 200 are sequentially in communication connection.
In specific implementation, as shown in fig. 1, the target tracking control camera system provided by the embodiment of the present invention includes a camera module 100 and a servo pan-tilt 200; the camera module 100 is arranged on the servo holder 200; the camera module 100 comprises a camera lens, an image processing module and a fuzzy controller; the camera lens is used for shooting and acquiring videos; the camera lens adopts a CMOS camera or a CCD camera; the image processing module is used for identifying and detecting a target; the fuzzy controller is used for controlling the servo holder 200 so as to control the camera lens to track the target; the fuzzy controller is made of a chip with the model number of NLX 23O; it should be noted that the image processing module may adopt the prior art, and details are not described herein.
The target tracking control camera system mainly tracks a maneuvering target in real time, and generally comprises two stages, wherein the first stage is a target capturing stage, generally after target azimuth and distance information sent by a radar 300 or a frequency spectrum system is received, a servo cradle head 200 is controlled to enable an optical axis of a camera lens to point to the target, meanwhile, the focal length and defocusing amount of the lens are adjusted according to the target distance, the target is waited to enter a view field, a window is automatically tracked through an image on a monitoring video, a picture with a cross hair and a capturing window overlapped in the center of the image can be seen, and when the target is scratched from the view field, an image processing module extracts the target through processing of continuous frame images; the second stage is a target tracking stage, in which the image processing module sends the offset (i.e., miss distance) of the target position relative to the image center to the servo pan-tilt 200, and drives the horizontal driving mechanism 210 or the vertical driving mechanism 220 of the servo pan-tilt 200 to make the optical axis of the camera lens point to the target, and ideally, the target to be measured should be located on the optical axis, i.e., the center point of the field of view, so that the system completes the closed-loop automatic tracking process of the target.
The utility model provides a target tracking control camera system, through being equipped with the module of making a video recording, servo cloud platform, and the integration is equipped with image processing module and fuzzy controller on the module of making a video recording, replace the computer and realized the discernment of image and handle, and realized the adjustment to the camera lens direction, integrated image analysis and tracking control's function promptly, the present photoelectric tracking system has been simplified, the image transmission delay of camera and computer among the prior art has been avoided, and the delay of video compression and decompression has been avoided, the response speed and the reliability of system have been greatly improved; in addition, the cost of the system and the difficulty of debugging are greatly reduced by reducing nodes such as a computer, a video acquisition card, a wireless data transceiver module and the like.
The existing fixed parameter PID control method is difficult to give consideration to the dynamic performance and the steady-state performance of a maneuvering target tracking system. An object of the utility model is to provide a photoelectric tracking system based on fuzzy PID control method can realize that the target tracking is fast, and stability is strong, the robustness is good. As shown in fig. 3, the fuzzy PID control method of the photoelectric tracking camera based on the servo pan/tilt 200 includes the following steps:
the position deviation e and the deviation change rate ec are used as the input of a fuzzy controller, the fuzzy relation between the change quantities delta Kp, delta Ki and delta Kd of three parameters of the PID controller and the change quantities e and ec is calculated through a fuzzy rule and fuzzy reasoning, and the following concrete implementation is as follows:
step 2.1, selecting discourse domain:
the fuzzy controller adopts a double-input single-output form, input variables are error e and change rate ec of the error, and output control quantity u is variable quantity delta Kp, delta Ki and delta Kd of three parameters of the PID controller. The quantization discourse domain of the variables e, ec and u is [ -3,3], the quantization level is [ -3, -2, -1,0,1,2,3], and the fuzzy subset is: [ NB, NM, NS, ZO, PS, PM, PB ], elements in a subset represent negative big, negative medium, negative small, zero, positive small, positive medium, positive big, respectively.
The rotating angle range of the azimuth axis of the holder is-180 degrees, the basic argument range of the input deviation e and the deviation change rate ec is set as-180, 180 degrees, and the basic argument range of the variation Kp, Ki and Kd of three parameters of the PID controller is set as-3, 3 degrees. The upper limit values of the basic discourse domain of the variables are respectively as follows: emax 180, ecmax 180, umax 3. The input quantization factor is: ke is 3/emax, Kec is 3/ecmax, and the output scaling factor is: ku is umax/3.
Step 2.2, setting input and output membership functions, and establishing a fuzzy rule:
in order to reduce the calculation amount, the membership functions of e, ec and u are all triangular membership functions, as shown in fig. 4 and 5.
And after the membership function of the fuzzy variable is determined, establishing a control rule. The fuzzy control rule is composed of input and output quantities and corresponding fuzzy reasoning, and the quantity of the control rule determines the control precision of the output quantity of the system. According to the PID control characteristics:
when the error e is large, a large control signal is required and a differential overflow is prevented in order to increase the response speed of the system, a large proportional coefficient correction amount Δ Kp and a small differential coefficient correction amount Δ Kd should be selected, and Δ Ki should take 0 in order to prevent a large overshoot of the system during operation.
When the deviation e is small, Δ Kp and Δ Ki may be increased appropriately in order to improve the steady-state performance of the system, and when ec is small, Δ Kd is increased appropriately in consideration of the anti-interference capability of the system.
When the value of e is moderate, a small Δ Kp should be selected in order to reduce system overshoot and speed up the system response.
Based on the above control experience, a fuzzy control rule table can be established, and since the input variables have 7 fuzzy linguistic values, 49 control rules can be generated corresponding to each output quantity, the fuzzy control rules are shown in the rule table shown in fig. 6 to 8.
And 2.3, carrying out fuzzy reasoning according to the position deviation, the deviation change rate and the fuzzy rule to obtain a fuzzy value corresponding to the PID control parameter variation.
As a specific implementation, the inference is carried out by adopting a traditional fuzzy reasoning method. The inference method adopts corresponding algorithm to calculate the input quantity according to the fuzzy degree of the input quantity and 49 rules established above to obtain the output quantity of the fuzzy controller.
And 2.4, resolving the fuzzy value to determine PID control parameters.
The method of implementing fuzzy control in microprocessor generally adopts off-line table look-up method. First fuzzify e and ec input to the controller, calculate their membership values in each fuzzy subset, then find the activated fuzzy subset, store it, and finally calculate the output value using weighted average. The specific formula is as follows:
wherein, muAi(x) Degree of membership of e, μBi(y) degree of membership ec and Zi is the pair of cusps of the fuzzy degree of membership function of uThe corresponding abscissa value.
And 3, adjusting PID control parameters according to the control parameter variation, performing PID control on the rotating speeds of the two shafts of the holder, and controlling the optical axis of the optical lens to automatically track the target.
The fuzzy controller can adjust the control parameters of the PID controller in time according to the error and the error change condition of the system, can realize the automatic tracking of the target, and improves the tracking stability and the robustness to the environmental change.
Compared with the prior art, the utility model, it is showing the advantage and is: the utility model discloses according to the error of system and the control parameter of the timely adjustment PID of error change condition, can realize quick target tracking to the stability of tracking and the robustness to the environmental change have been improved.
Preferably, the servo pan/tilt head 200 includes a horizontal driving mechanism 210 for adjusting the horizontal angle of the camera module 100; the horizontal driving mechanism 210 is connected to the camera module 100.
Preferably, the horizontal driving mechanism 210 includes a first motor 211 and a first transmission mechanism 212; the first motor 211 is connected to the camera module 100 through the first transmission mechanism 212.
Preferably, the first motor 211 of the horizontal driving mechanism 210 is made of a stepping motor.
In a specific implementation, as shown in fig. 2, the servo pan/tilt head 200 includes a horizontal driving mechanism 210, and the horizontal driving mechanism 210 is used for adjusting a horizontal angle of the camera module 100; the horizontal driving mechanism 210 specifically includes a first motor 211 and a first transmission mechanism 212, and the first motor 211 is connected to the camera module 100 through the first transmission mechanism 212; the first motor 211 is made of a stepping motor; the first transmission mechanism 212 is made of a gear transmission mechanism.
Preferably, the servo pan/tilt head 200 further comprises a vertical driving mechanism 220 for adjusting the pitch angle of the camera module 100; the vertical driving mechanism 220 is connected to the camera module 100 through the horizontal driving mechanism 210.
Preferably, the vertical driving mechanism 220 includes a second motor 221 and a second transmission mechanism 222; the second motor 221 is connected to the horizontal driving mechanism 210 through the second transmission mechanism 222.
Preferably, the second motor 221 of the vertical driving mechanism 220 is made of a stepping motor.
In specific implementation, as shown in fig. 2, the servo pan/tilt head 200 further includes a vertical driving mechanism 220, and the vertical driving mechanism 220 is used for adjusting a pitch angle of the camera module 100; the vertical driving mechanism 220 specifically includes a second motor 221 and a second transmission mechanism 222; the second motor 221 is connected with the horizontal driving mechanism 210 through the second transmission mechanism 222, the second motor 221 drives the second transmission mechanism 222 to rotate, the second transmission mechanism 222 drives the horizontal driving mechanism 210 to rotate, and the horizontal driving mechanism 210 thereby drives the camera module 100 to rotate, so that the adjustment of the pitch angle of the camera module 100 is realized; the second motor 221 is made of a stepping motor; the second transmission mechanism 222 is made of a gear transmission mechanism; through being equipped with vertical drive mechanism 220 to make the angle of adjustment of module 100 of making a video recording more comprehensive.
Although terms such as camera module, servo-head, camera lens, image processing module and fuzzy controller are used more often in this document, the possibility of using other terms is not excluded. These terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed in a manner that is inconsistent with the spirit of the invention.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (10)
1. A target tracking control camera system is characterized in that: the device comprises a camera module (100) for shooting and a servo pan-tilt head (200) for adjusting the angle of the camera module (100); the camera module (100) is arranged on the servo holder (200);
the camera shooting module (100) comprises a camera shooting lens, an image processing module for identifying and processing images and a fuzzy controller for controlling the camera shooting lens to track a target; the camera lens, the image processing module, the fuzzy controller and the servo holder (200) are sequentially in communication connection.
2. The object tracking control camera system according to claim 1, characterized in that: the servo pan-tilt (200) comprises a horizontal driving mechanism (210) for adjusting the horizontal angle of the camera module (100); the horizontal driving mechanism (210) is connected with the camera module (100).
3. The object tracking control camera system according to claim 2, characterized in that: the horizontal driving mechanism (210) comprises a first motor (211) and a first transmission mechanism (212); the first motor (211) is connected with the camera module (100) through the first transmission mechanism (212).
4. The object tracking control camera system according to claim 3, characterized in that: the first motor (211) of the horizontal driving mechanism (210) is made of a stepping motor.
5. The object tracking control camera system according to claim 3, characterized in that: the servo cradle head (200) further comprises a vertical driving mechanism (220) for adjusting the pitching angle of the camera module (100); the vertical driving mechanism (220) is connected with the camera module (100) through the horizontal driving mechanism (210).
6. The object tracking control camera system according to claim 5, characterized in that: the vertical driving mechanism (220) comprises a second motor (221) and a second transmission mechanism (222); the second motor (221) is connected with the horizontal driving mechanism (210) through the second transmission mechanism (222).
7. The object tracking control camera system according to claim 6, characterized in that: the second motor (221) of the vertical driving mechanism (220) is made of a stepping motor.
8. The object tracking control camera system according to claim 6, characterized in that: the first transmission mechanism (212) and the second transmission mechanism (222) are made of gear transmission mechanisms.
9. The object tracking control camera system according to any one of claims 1 to 8, characterized in that: the camera lens adopts a CMOS camera or a CCD camera.
10. The object tracking control camera system according to claim 9, characterized in that: the fuzzy controller adopts a chip with the model number of NLX 23O.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112532932A (en) * | 2020-11-20 | 2021-03-19 | 南昌工程学院 | Monitoring device with target tracking function |
| CN114556879A (en) * | 2020-12-16 | 2022-05-27 | 深圳市大疆创新科技有限公司 | Time delay detection method, device, system, movable platform and storage medium |
| CN117173430A (en) * | 2023-09-14 | 2023-12-05 | 中国民航大学 | Target tracking control parameter acquisition method, electronic equipment and storage medium |
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2020
- 2020-05-18 CN CN202020835422.1U patent/CN211606645U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112532932A (en) * | 2020-11-20 | 2021-03-19 | 南昌工程学院 | Monitoring device with target tracking function |
| CN114556879A (en) * | 2020-12-16 | 2022-05-27 | 深圳市大疆创新科技有限公司 | Time delay detection method, device, system, movable platform and storage medium |
| WO2022126436A1 (en) * | 2020-12-16 | 2022-06-23 | 深圳市大疆创新科技有限公司 | Delay detection method and apparatus, system, movable platform, and storage medium |
| CN117173430A (en) * | 2023-09-14 | 2023-12-05 | 中国民航大学 | Target tracking control parameter acquisition method, electronic equipment and storage medium |
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