WO2022057800A1 - Caméra à cardan, procédé de commande de suivi de caméra à cardan, et dispositif - Google Patents

Caméra à cardan, procédé de commande de suivi de caméra à cardan, et dispositif Download PDF

Info

Publication number
WO2022057800A1
WO2022057800A1 PCT/CN2021/118345 CN2021118345W WO2022057800A1 WO 2022057800 A1 WO2022057800 A1 WO 2022057800A1 CN 2021118345 W CN2021118345 W CN 2021118345W WO 2022057800 A1 WO2022057800 A1 WO 2022057800A1
Authority
WO
WIPO (PCT)
Prior art keywords
pan
tilt
change value
frame
target object
Prior art date
Application number
PCT/CN2021/118345
Other languages
English (en)
Chinese (zh)
Inventor
李林芝
郭一民
Original Assignee
华为技术有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from CN202011232127.8A external-priority patent/CN114268732A/zh
Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Publication of WO2022057800A1 publication Critical patent/WO2022057800A1/fr

Links

Images

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Definitions

  • the present application relates to the technical field of video surveillance, and in particular, to a pan-tilt camera and a tracking control method, device and device for a pan-tilt camera.
  • the PTZ camera is a camera that supports adjusting the shooting direction and the focal length of the lens.
  • the PTZ camera observes the surrounding objects in all directions, and the user's field of view is not limited by factors such as the installation position, installation angle and lens angle of the PTZ camera.
  • PTZ cameras are often used to automatically track moving target objects (such as motor vehicles, non-motor vehicles, pedestrians, etc.), so that the target object remains in the set area of the displayed image, such as the central area. .
  • PTZ proportional integral derivative
  • a proportional integral derivative (PID) controller can be used in the gimbal, and a certain linear proportional relationship is formed between the output signal of the controller and the output error signal, and the steady-state error can be eliminated.
  • the change of the moving speed and running direction of the target object is cumbersome and unruly, causing the target object to change non-linearly, which is essentially different from the linear change in the aforementioned automatic control method to eliminate errors, which is easy to lead to the aforementioned automatic control method.
  • the error elimination effect becomes poor, and even the target object is lost.
  • the embodiments of the present application provide a pan-tilt camera, a tracking control method, device, and device for a pan-tilt camera, which can solve the problem of tracking and losing the target object due to the drastic changes in the motion of the target object, and realize the accurate tracking of the target with drastic changes in motion. object, so that the target object can always be displayed at the target position in subsequent frame images.
  • an embodiment of the present application provides a pan-tilt camera, including a camera body, a pan-tilt, and a pan-tilt controller.
  • the PTZ controller is used to obtain the first frame of images and the second frame of images collected by the camera body.
  • the first frame of images is collected late at the acquisition moment of the second frame of image.
  • the pan-tilt controller is further configured to determine a first distance difference between the position of the target object in the first frame of image and the target position of the first frame of image.
  • the pan-tilt controller is further configured to determine the distance change value between the position of the target object in the first frame image and the position of the target object in the second frame image.
  • the PTZ controller is also used to adjust the shooting angle of the camera body based on the first distance difference value and the distance change value, so that the target object is displayed at the target position of the third frame image collected by the camera body, and the third frame image is collected.
  • the time is later than the acquisition time of the first frame image.
  • the first distance difference value can represent the distance error that the position of the target object displayed in the first frame image deviates from the target position of the first frame image, that is, the first distance difference value can indicate the movement posture change of the target object.
  • the distance change value can represent the position change rate of the target object from the second frame image to the first frame image, that is, the distance change value can indicate the relative spatial position of the target image.
  • the error value between the position of the target object in the current frame image and the target position of the current frame image and the difference between the target object in the current frame image and any frame image before the current frame image are analyzed
  • the change value of the error distance between the two can accurately obtain the information such as the movement posture change and relative spatial position of the target object, so as to analyze the current speed change of the target object in multiple dimensions. Therefore, the spatial position between the target object and the PTZ camera is calculated, and the shooting angle of the camera body is precisely adjusted, so as to correct the position of the target object in the subsequent frame images in time, so that the target object is always kept at the target of the subsequent frame images.
  • Position solves the situation that the tracking of the target object is lost due to the drastic changes in the motion of the target object, improves the accuracy of tracking the target object with drastic changes in motion, and improves the tracking ability of the target object with drastic changes in motion.
  • the gimbal controller is specifically configured to obtain a control quantity parameter based on the first distance difference value and the distance change value, and the control quantity parameter includes the distance change value of the gimbal in the horizontal direction and the change value of the gimbal in the horizontal direction.
  • the distance change value in the vertical direction control the first motor in the gimbal to rotate the gimbal according to the distance change value of the gimbal in the horizontal direction, and control the second motor in the gimbal to change according to the distance of the gimbal in the vertical direction value to rotate the gimbal to adjust the shooting angle of the camera body.
  • the pan-tilt server changes the rotation angle of the pan-tilt in the horizontal and vertical directions, and can precisely adjust the posture of the pan-tilt, thereby adjusting the shooting angle of the camera body, so that the target object can be displayed in the subsequent frame images. target location.
  • control quantity parameter further includes a change value of the focal length of the camera body in the direction of the optical axis.
  • the pan-tilt controller is also used to adjust the focal length of the camera body according to the focal length change value of the camera body in the optical axis direction, so that the target object is displayed at the target position of the third frame image.
  • the gimbal server can also learn the current movement line of the target object based on the first distance difference and the distance change value.
  • the magnification of the angular velocity change of the speed on the spherical surface of the camera body, and the focal length change value of the camera body in the direction of the optical axis is obtained. Therefore, the PTZ server can adjust the shooting angle of the camera body and adjust the focal length of the camera in time, so that the target object can be displayed in the target position of the subsequent frame image, which improves the accuracy of tracking the target object that moves rapidly at a short distance, and improves the accuracy of tracking the target object in close range.
  • the pan-tilt controller is specifically used to perform fuzzy processing on the first distance difference value and the distance change value to obtain the proportional-integral-derivative PID control coefficient; based on the proportional-integral-derivative PID control coefficient, obtain the control parameter parameter .
  • the pan-tilt controller is specifically used to perform fuzzy processing on the first distance difference value and the distance change value to obtain a proportional-integral-derivative PID correction coefficient;
  • the product of the initial coefficients is determined as the proportional-integral-derivative PID control coefficient; based on the proportional-integral-derivative PID control coefficient, the control quantity parameter is obtained.
  • the proportional-integral-derivative PID server in the PTZ server can obtain more accurate control parameters, reducing the position of the target object in the subsequent frame image and the subsequent frame image.
  • the position of the target object in the subsequent frame image is adjusted in time, so that the target object is displayed in the target position of the subsequent frame image, and the PTZ camera can track the target object more accurately.
  • the gimbal controller is also used to obtain the depression angle of the gimbal in the vertical direction at the acquisition moment of the first frame of image; since the depression angle of the gimbal in the vertical direction increases, the target can be determined The subject is rapidly approaching the gimbal camera. Therefore, when the depression angle is greater than or equal to the preset angle, the pan-tilt server can determine that the moving linear velocity of the target object increases, which means that the target object moves rapidly. Therefore, the PTZ server can increase at least one of the distance change value of the PTZ in the horizontal direction and the distance change value of the PTZ in the vertical direction, so that the control parameter becomes larger, and the increased control value is obtained. parameter; determine the increased control value parameter as the control value parameter. Therefore, the pan-tilt controller can control the distance of the pan-tilt to change in unit time to increase based on the control parameter parameters, so that the pan-tilt can track the fast-moving target object in time.
  • the value range of the preset angle is greater than or equal to 20° and less than or equal to 90°.
  • the pan-tilt controller is also used to determine the area change value of the target object in the first frame image and the second frame image. Since the proportion of the area of the target object in the image is increasing rapidly, it can be determined that the target object has a tendency to approach the PTZ camera quickly or deviate from the target position quickly. If the area of the target object in the image is small or even negatively increases, it can be determined that the target object has a tendency to quickly move away from the PTZ camera.
  • the pan-tilt controller will determine the distance change value of the pan-tilt in the horizontal direction, the cloud Adjust at least one value of the distance change value of the stage in the vertical direction and the focal length change value of the camera body in the optical axis direction, so that the control amount parameter changes, and the adjusted control amount parameter is obtained; Determined as the control parameter.
  • the pan-tilt controller can control the pan-tilt change in unit time based on the control parameter parameters, and can track the fast-moving target object in time.
  • the pan-tilt controller is also used to acquire the focal length of the camera body at the acquisition moment of the first frame of image.
  • the pan/tilt controller changes the distance change value of the pan/tilt in the horizontal direction, the distance change value of the pan/tilt in the vertical direction, and the focal length of the camera body in the direction of the optical axis. At least one of the values is reduced so that the control quantity parameter becomes smaller, and the reduced control quantity parameter is obtained; the reduced control quantity parameter is determined as the control quantity parameter. Therefore, the pan-tilt controller can control the distance that the pan-tilt changes in unit time to become smaller based on the control parameter parameters, so that the pan-tilt can track the fast-moving target object in time.
  • the pan-tilt controller changes the distance change value of the pan-tilt head in the horizontal direction, the distance change value of the pan-tilt head in the vertical direction, and the focal length change of the camera body in the optical axis direction. At least one of the values is increased so that the control variable parameter becomes larger, and the increased control variable parameter is obtained; the increased control variable parameter is determined as the control variable parameter. Therefore, the pan-tilt controller can control the distance of the pan-tilt to change in unit time to increase based on the control parameter parameters, so that the pan-tilt can track the fast-moving target object in time.
  • the PTZ server can evaluate the current motion of the target object by reading parameters such as the depression angle of the PTZ in the vertical direction, the area change value of the target object in the first frame image and the second frame image, and the focal length of the camera body.
  • the linear velocity is the magnification of the angular velocity change on the spherical surface of the camera body, which realizes the timely adjustment of the shooting angle of the camera body and the focal length of the camera body, so that the target object can display the target position in the subsequent frame images, so that the PTZ camera can be more Accurately track the target object that moves quickly at a short distance, which improves the tracking ability and accuracy of the target object that moves quickly at a short distance.
  • the pan-tilt controller is specifically configured to determine a second distance difference between the position of the target object in the second frame image and the target position of the second frame image; based on the first distance difference and the second distance difference to determine the distance change value.
  • the target position is the central area of any frame of images.
  • an embodiment of the present application provides a tracking control method for a pan-tilt camera, which starts the method when a target object complies with a preset rule or receives an instruction to track the target object instructed by a user.
  • the method includes: obtaining a first frame of images and a second frame of images collected by a camera body, where the collection time of the first frame image is later than the collection time of the second frame image.
  • a first distance difference between the position of the target object in the first frame image and the target position of the first frame image is determined.
  • a distance change value between the position of the target object in the first frame image and the position of the target object in the second frame image is determined.
  • adjusting the shooting angle of the camera body based on the first distance difference value and the distance change value includes: obtaining a control amount parameter based on the first distance difference value and the distance change value, and the control amount parameter includes a pan/tilt head
  • the distance change value in the horizontal direction and the distance change value of the gimbal in the vertical direction Control the first motor in the gimbal to rotate the gimbal according to the distance change value of the gimbal in the horizontal direction, and control the second motor in the gimbal to rotate the gimbal according to the distance change value of the gimbal in the vertical direction, so as to Adjust the shooting angle of the camera body.
  • control quantity parameter further includes a change value of the focal length of the camera body in the direction of the optical axis.
  • the method further includes: adjusting the focal length of the camera body according to the focal length change value of the camera body in the direction of the optical axis, so that the target object is displayed at the target position of the third frame image.
  • obtaining the control parameter parameters based on the first distance difference and the distance change value includes: performing fuzzy processing on the first distance difference and the distance change value to obtain the proportional-integral-derivative PID control coefficient. Based on the proportional-integral-derivative PID control coefficients, the control parameters are obtained.
  • obtaining the control parameter parameters based on the first distance difference value and the distance change value includes: performing fuzzy processing on the first distance difference value and the distance change value to obtain a proportional-integral-derivative PID correction coefficient.
  • the product of the proportional integral derivative PID correction coefficient and the proportional integral derivative PID initial coefficient is determined as the proportional integral derivative PID control coefficient.
  • the control parameters are obtained.
  • the method further includes: at the acquisition moment of the first frame of image, acquiring the depression angle of the pan/tilt head in the vertical direction.
  • the depression angle is greater than or equal to the preset angle, at least one of the distance change value of the gimbal in the horizontal direction and the distance change value of the gimbal in the vertical direction is increased to obtain the increased control parameter;
  • the larger control quantity parameter is determined as the control quantity parameter.
  • the value range of the preset angle is greater than or equal to 20° and less than or equal to 90°.
  • the method further includes: determining area change values of the target object in the first frame image and the second frame image.
  • the area change value is greater than the first threshold, or, when the area change value is smaller than the second threshold and the absolute value of the area change value is greater than the third threshold, the distance change value of the gimbal in the horizontal direction and the distance change of the gimbal in the vertical direction Adjust at least one of the distance change value and the focal length change value of the camera body in the direction of the optical axis to obtain the adjusted control amount parameter; the adjusted control amount parameter is determined as the control amount parameter.
  • the method further includes: at the acquisition moment of the first frame of image, acquiring the focal length of the camera body.
  • the focal length of the camera body is greater than the fourth threshold, change at least one of the distance change value of the pan/tilt in the horizontal direction, the distance change value of the pan/tilt in the vertical direction, and the focal length change value of the camera body in the optical axis direction Adjust it to a smaller value to obtain the reduced control quantity parameter; determine the reduced control quantity parameter as the control quantity parameter.
  • the method further includes: at the acquisition moment of the first frame of image, acquiring the focal length of the camera body.
  • the focal length of the camera body is less than the fifth threshold, at least one of the distance change value of the pan/tilt head in the horizontal direction, the distance change value of the pan/tilt head in the vertical direction, and the focal length change value of the camera body in the optical axis direction Increase the control value to obtain the control value parameter after the increase; determine the control value parameter after the increase as the control value parameter.
  • determining the distance change value between the position of the target object in the first frame image and the position of the target object in the second frame image includes: determining the position of the target object in the second frame image A second distance difference from the target position of the second frame image. A distance change value is determined based on the first distance difference value and the second distance difference value.
  • the target position is the central area of any frame of images.
  • the beneficial effects of the tracking control method can refer to the beneficial effects brought by the first aspect and the possible implementations of the first aspect. The effect will not be repeated here.
  • an embodiment of the present application provides a tracking control device for a pan-tilt camera, including: an acquisition module configured to acquire information about the camera body when the target object conforms to a preset rule or receives an instruction to track the target object instructed by a user. For the first frame image and the second frame image collected, the collection time of the first frame image is later than the collection time of the second frame image.
  • the determining module is configured to determine the first distance difference between the position of the target object in the first frame image and the target position of the first frame image.
  • the determining module is further configured to determine a distance change value between the position of the target object in the first frame of image and the position of the target object in the second frame of image.
  • the adjustment module is used to adjust the shooting angle of the camera body based on the first distance difference value and the distance change value, so that the target object is displayed at the target position of the third frame image collected by the camera body, and the collection time of the third frame image is later than The acquisition moment of the first frame of image.
  • the adjustment module is specifically configured to obtain a control amount parameter based on the first distance difference value and the distance change value, and the control amount parameter includes the distance change value of the pan/tilt in the horizontal direction and the pan/tilt in the vertical direction
  • the distance change value on the PTZ control the first motor in the gimbal to rotate the gimbal according to the distance change value of the gimbal in the horizontal direction, and control the second motor in the gimbal to rotate the gimbal according to the distance change value of the gimbal in the vertical direction.
  • the gimbal rotates to adjust the shooting angle of the camera body.
  • control quantity parameter further includes a change value of the focal length of the camera body in the direction of the optical axis.
  • the adjustment module is further configured to adjust the focal length of the camera body according to the focal length change value of the camera body in the direction of the optical axis, so that the target object is displayed at the target position of the third frame image.
  • the adjustment module is specifically configured to perform fuzzy processing on the first distance difference value and the distance change value to obtain a proportional-integral-derivative PID control coefficient; based on the proportional-integral-derivative PID control coefficient, obtain a control parameter parameter.
  • an adjustment module which is specifically used to perform fuzzy processing on the first distance difference value and the distance change value to obtain a proportional-integral-derivative PID correction coefficient; and determine the product of the proportional-integral-derivative PID correction coefficient and the proportional-integral-derivative PID initial coefficient as proportional-integral Differential PID control coefficient; based on the proportional integral derivative PID control coefficient, the control parameter is obtained.
  • the device further includes: a first acquisition module, configured to acquire the depression angle of the pan/tilt head in the vertical direction at the acquisition moment of the first frame of image.
  • the adjustment module is also used to increase at least one of the distance change value of the gimbal in the horizontal direction and the distance change value of the gimbal in the vertical direction when the depression angle is greater than or equal to the preset angle, to obtain the increased value.
  • Control quantity parameter determine the enlarged control quantity parameter as the control quantity parameter.
  • the value range of the preset angle is greater than or equal to 20° and less than or equal to 90°.
  • the determining module is further configured to determine the area change value of the target object in the first frame image and the second frame image.
  • the adjustment module is also used for adjusting the distance change value of the pan/tilt in the horizontal direction, the cloud value when the area change value is greater than the first threshold value, or when the area change value is smaller than the second threshold value and the absolute value of the area change value is greater than the third threshold value. Adjust at least one of the distance change value of the stage in the vertical direction and the focal length change value of the camera body in the optical axis direction to obtain the adjusted control quantity parameter; the adjusted control quantity parameter is determined as the control quantity parameter.
  • the device further includes: a second acquisition module, configured to acquire the focal length of the camera body at the acquisition moment of the first frame of image.
  • the adjustment module is also used to change the distance change value of the gimbal in the horizontal direction, the distance change value of the gimbal in the vertical direction, and the focal length change of the camera body in the direction of the optical axis when the focal length of the camera body is greater than the fourth threshold At least one of the values is reduced to obtain a reduced control quantity parameter; the reduced control quantity parameter is determined as a controlled quantity parameter.
  • the adjustment module is also used to adjust the distance change value of the pan/tilt in the horizontal direction, the distance change value of the pan/tilt in the vertical direction, and the distance change of the camera body in the optical axis direction when the focal length of the camera body is smaller than the fifth threshold. At least one of the focal length change values is increased to obtain an increased control amount parameter; the increased control amount parameter is determined as a control amount parameter.
  • the determining module is specifically configured to determine a second distance difference between the position of the target object in the second frame image and the target position of the second frame image; based on the first distance difference and the first distance difference Two distance difference, determine the distance change value.
  • the target position is the central area of any frame of images.
  • the beneficial effects of the tracking control device can refer to the beneficial effects brought by the possible implementations of the second aspect and the second aspect. The effect will not be repeated here.
  • the present application provides an electronic device, comprising: a memory and a processor; the memory is used to store program instructions; the processor is used to call the program instructions in the memory to enable the electronic device to execute the second aspect and any possibility of the second aspect The tracking control method of the PTZ camera in the design.
  • the present application provides a chip system, which is applied to an electronic device including a memory, a display screen, and a sensor; the chip system includes: a processor; when the processor executes the computer instructions stored in the memory, the electronic device executes the first The tracking control method of the PTZ camera in the second aspect and any possible design of the second aspect.
  • the present application provides a computer-readable storage medium on which a computer program is stored, and the computer program is executed by the processor to enable the electronic device to implement the second aspect and the PTZ in any possible design of the second aspect.
  • Camera tracking control method
  • the present application provides a computer program product, comprising: execution instructions, the execution instructions are stored in a readable storage medium, at least one processor of an electronic device can read the execution instructions from the readable storage medium, and at least one processor Executing the execution instruction enables the electronic device to implement the second aspect and the tracking control method for the pan-tilt camera in any possible design of the second aspect.
  • FIGS. 1A-1B are schematic structural diagrams of a pan-tilt camera provided by an embodiment of the application.
  • FIG. 2 is a schematic flowchart of a tracking control method for a PTZ camera provided by an embodiment of the present application
  • FIG. 3 is a schematic diagram of a proportional-integral-derivative PID controller using fuzzy control provided by an embodiment of the present application;
  • FIG. 4 is a schematic diagram of a scene of a tracking control method for a PTZ camera provided by an embodiment of the present application
  • FIG. 5 is a schematic scene diagram of a tracking control method for a PTZ camera provided by an embodiment of the present application
  • FIG. 6 is a schematic structural diagram of a tracking control device for a pan-tilt camera according to an embodiment of the present application.
  • the present application provides a pan-tilt camera, a tracking control method for a pan-tilt camera, a tracking control device for a pan-tilt camera, an electronic device, a computer storage medium, a computer program product, and a chip system, which can accurately know the movement posture change of a target object, relative Spatial position and other information, multi-dimensional analysis of the speed change of the target object, so as to solve the spatial position between the target object and the PTZ camera, and accurately adjust the shooting angle of the camera body, so as to correct the target object in subsequent frame images
  • the position of the target object is always kept at the target position of the subsequent frame image, which solves the situation that the target object tracking is lost due to the drastic changes in the motion of the target object, improves the tracking accuracy of the target object with drastic changes in motion, and improves the accuracy of the target object.
  • FIGS. 1A-1B are schematic structural diagrams of a pan-tilt camera according to an embodiment of the present application.
  • the pan-tilt camera in this embodiment of the present application may include: a camera body 101 , a pan-tilt 102 , and a pan-tilt controller 103 .
  • the camera body 101 and the pan-tilt controller 103 are communicatively connected, and the pan-tilt controller 103 and the pan-tilt 102 are electrically connected.
  • the camera may be a dome camera (spherical camera) or a camera connected to the external pan/tilt 102 .
  • the pan-tilt controller 103 may be integrated in the camera body 101 , or may be provided separately from the camera body 101 .
  • the camera body 101 and the pan/tilt head 102 may be integrally provided, or may be provided separately.
  • the embodiments of the present application do not limit the foregoing contents.
  • the camera body 101 includes a lens, a sensor and a processor.
  • the function of the lens is to present the light image of the observed target on the sensor of the camera.
  • the lens combines various optical parts (reflectors, transmission mirrors, prisms) of different shapes and different media (plastic, glass or crystal) in a certain way, so that after the light is transmitted or reflected by these optical parts, according to people's expectations. It is necessary to change the transmission direction of the light to be received by the receiving device to complete the optical imaging process of the object.
  • each lens is composed of multiple groups of lenses with different curved curvatures combined at different intervals.
  • the focal length of the lens is determined by the selection of indicators such as spacing, lens curvature, and light transmittance.
  • the main parameters of the lens include: effective focal length, aperture, maximum image plane, field of view, distortion, relative illumination, etc. The value of each index determines the overall performance of the lens.
  • a sensor also known as an image sensor
  • CCD charge-coupled device
  • CMOS complementary metal oxide semiconductor
  • Both CCD and CMOS have a large number (eg, tens of millions) of photodiodes, each photodiode is called a photosensitive cell, and each photosensitive cell corresponds to a pixel.
  • the photodiode converts the light signal into an electrical signal containing brightness (or brightness and color) after receiving light, and the image is reconstructed accordingly.
  • Bayer array is a common image sensor technology that can be used in CCD and CMOS.
  • Bayer array uses Bayer color filter to make different pixels only sensitive to one of the three primary colors of red, blue and green. These pixels are interleaved and then interpolated by demosaicing to restore the original image.
  • Bayer arrays can be applied to CCD or CMOS, and sensors using Bayer arrays are also called Bayer sensors.
  • sensor technologies such as X3 (developed by Foveon). X3 technology uses three layers of photosensitive elements, each layer records one of the color channels of RGB, so it can capture all colors on one pixel. Image sensor.
  • a processor also known as an image processor is used to perform operations such as digital signal processing, image signal processing (ISP), and encoding.
  • the pan/tilt 102 is a supporting device for installing and fixing the camera body 101 . With the rotation of the pan/tilt 102, the camera body 101 can be driven to rotate, thereby changing the rotation angle of the camera body 101, so that the camera body 101 can automatically scan a predetermined area.
  • the gimbal 102 can be divided into a horizontal rotating gimbal that can only rotate left and right, and an omnidirectional gimbal that can rotate left and right as well as up and down.
  • the pan/tilt head 102 may be a mounting platform composed of a first motor and a second motor.
  • the first motor can be used to realize the rotation of the pan-tilt 102 in the horizontal direction
  • the second motor can be used to realize the rotation of the pan-tilt 102 in the vertical direction
  • the first motor and the second motor may be AC motors or DC motors.
  • FIG. 1B shows that the pan/tilt head 102 can rotate in the horizontal direction along the P-axis, and can also rotate in the vertical direction along the T-axis.
  • the P axis pan
  • the horizontal rotation axis is perpendicular to the horizontal plane.
  • the T-axis (tilt), called the vertical axis of rotation, is parallel to the horizontal plane.
  • the pan-tilt controller 103 is configured to output control parameters to the pan-tilt 102 based on the tracking control method provided by the embodiment of the present application, so that the motor in the pan-tilt 102 controls the pan-tilt 102 to rotate based on the control-level parameters, so as to adjust the camera body Rotation angle of 101. And the pan-tilt controller 103 is also used for adjusting the focal length of the camera body 101 based on the control parameter. Wherein, the present application does not limit parameters such as the quantity and model of the PTZ controller 103 .
  • the camera body 101 can transmit the collected images to the pan-tilt controller 103 so that the pan-tilt controller 103 can identify the target object in each frame of image.
  • the target object There may be one or more target objects, which is not limited in this embodiment of the present application.
  • an algorithm module may be set in the pan-tilt controller 103, so that the pan-tilt controller 103 determines whether the target object conforms to the preset rule through the algorithm module.
  • the preset rules may include but are not limited to rules such as violating traffic rules, breaking into a private residence, or matching images of criminal suspects.
  • the pan-tilt controller 103 can trigger to execute the tracking control method provided by the embodiment of the present application, so as to correct the position of the target object in the subsequent frame images.
  • the pan-tilt controller 103 may be connected to the terminal device in communication, and the pan-tilt controller 103 may receive an instruction to track the target object instructed by the user from the terminal device.
  • the pan-tilt controller 103 may be communicatively connected to the server, and the server may be communicatively connected to the terminal device, and the pan-tilt controller 103 may receive, through the server, an instruction to track the target object indicated by the user and sent by the terminal device.
  • the present application does not limit the specific implementation manner of the instruction.
  • the user designates the target object as the target A, or the user designates the target object as the target appearing in each frame of the image at the target moment.
  • the pan-tilt controller 103 can trigger to execute the tracking control method provided by the embodiment of the present application to correct the position of the target object in the subsequent frame images.
  • FIG. 2 is a schematic flowchart of a tracking control method for a pan-tilt camera according to an embodiment of the present application.
  • the PTZ server 103 is used as the main body of execution, and the current frame image is taken as an example of the first frame image, any frame image before the current frame image is taken as an example of the second frame image, and any frame image after the current frame image is taken as an example.
  • One frame of image is illustrated by taking the third frame of image as an example.
  • the tracking control method of the pan-tilt camera according to the embodiment of the present application may include:
  • the PTZ server 103 has learned the target object and the position of the target object in the subsequent frame images that needs to be corrected.
  • the pan-tilt server 103 can determine the position of the target object in the first frame of image, and the target position of the first frame of image (ie, the position where the target object is correctly displayed in the first frame of image).
  • the present application does not limit the specific position of the target position in the first frame of image.
  • the target position is the central area of the first frame image.
  • the pan-tilt server 103 can obtain the first distance difference based on the position of the target object in the first frame of image and the target position of the first frame of image.
  • the present application does not limit the implementation manner in which the PTZ server 103 obtains the first distance difference.
  • the PTZ server 103 may equate the position of the target object in the first frame image with the center coordinates of the target object in the first frame image. Likewise, the pan-tilt server 103 may equate the target position of the first frame image with the center coordinates of the target position. Therefore, the pan-tilt server 103 can obtain the first distance difference by taking the difference between the aforementioned two center coordinates.
  • the PTZ server 103 may be provided with a first initial model.
  • the first initial model is a model of the distance difference between two irregular images.
  • the pan-tilt server 103 may obtain a plurality of boundary coordinates from the position of the target object in the first frame image.
  • the pan-tilt server 103 can also take a plurality of boundary coordinates from the target position of the first frame of image. Therefore, the pan-tilt server 103 inputs the aforementioned two sets of boundary coordinates into the first initial model, and trains the first initial model to obtain the first distance difference.
  • S103 Determine a distance change value between the position of the target object in the first frame image and the position of the target object in the second frame image.
  • the PTZ server 103 may determine the position of the target object in the first frame of image and the position of the target object in the second frame of image.
  • the acquisition time of the first frame of image is later than the acquisition time of the second frame of image.
  • the second frame of image may be the previous frame of the first frame of image, or may be the Nth frame of image before the first frame of image, where N is greater than or equal to 2, which is not limited in this embodiment of the present application.
  • the pan-tilt server 103 can obtain the distance change value based on the position of the target object in the first frame of image and the position of the target object in the second frame of image.
  • the embodiment of the present application does not limit the specific implementation manner in which the pan-tilt server 103 obtains the distance change value.
  • the pan-tilt server 103 determines the second distance between the position of the target object in the second frame image and the target position of the second frame image in the same manner as the first distance difference value obtained in step S101 difference. Therefore, the pan-tilt server 103 may use the form of the difference or quotient of the first distance difference and the second distance difference as the distance change value. Wherein, the target position of the first frame image is the same as the target position of the second frame image.
  • the PTZ server 103 may be provided with a second initial model.
  • the second initial model is a model of the distance change value of the same target in the two images.
  • the pan-tilt server 103 may obtain a plurality of boundary coordinates from the position of the target object in the first frame image.
  • the pan-tilt server 103 may also obtain a plurality of boundary coordinates from the position of the target object in the second frame image. Therefore, the PTZ server 103 inputs the aforementioned two sets of boundary coordinates into the second initial model, and trains the second initial model to obtain the distance change value.
  • steps S102 and S103 have no sequential order, and steps S102 and S103 may be performed simultaneously or sequentially.
  • the pan-tilt server 103 can know the distance error of the target object deviating from the target position of the first frame image based on the first distance difference value, so as to know the movement posture change of the target object.
  • the pan-tilt server 103 can know the position change rate of the target object from the second frame image to the first frame image based on the distance change value, so as to know the relative spatial position of the target object moving from the second frame image to the first frame image .
  • the PTZ server 103 can analyze the speed change of the target object in a multi-dimensional manner, which is beneficial to solve the problem between the target object and the PTZ camera. In order to precisely adjust the shooting angle of the camera body, to adjust the position of the target object in the third frame image, so that the target object can be displayed in the target position of the third frame image.
  • the acquisition time of the third frame of image is later than the acquisition time of the first frame of image.
  • the third frame of image may be the next frame of the first frame of image, or may be the M-th frame of image after the first frame of image, where M is greater than or equal to 2, which is not limited in this embodiment of the present application.
  • the tracking control method of the PTZ camera provided by the present application, by analyzing the error value between the position of the target object in the current frame image and the target position of the current frame image and any one of the target object before the current frame image and the current frame image.
  • the change value of the error distance between the frame images can accurately know the movement posture change, relative spatial position and other information of the target object, so as to analyze the current speed change of the target object in multiple dimensions. Therefore, the spatial position between the target object and the PTZ camera is calculated, and the shooting angle of the camera body is precisely adjusted, so as to correct the position of the target object in the subsequent frame images in time, so that the target object is always kept at the target of the subsequent frame images.
  • Position solves the situation that the tracking of the target object is lost due to the drastic changes in the motion of the target object, improves the accuracy of tracking the target object with drastic changes in motion, and improves the tracking ability of the target object with drastic changes in motion.
  • the pan-tilt server 103 can obtain the control amount parameter based on the first distance difference value and the distance change value.
  • the pan/tilt 102 is a supporting device for installing and fixing the camera body 101 . Therefore, the rotation of the pan/tilt head 102 in the horizontal direction and the vertical direction can drive the camera body 101 to rotate in any direction within the mechanical movement range, so that the camera body 101 can monitor the predetermined area in real time.
  • control amount parameter can be used to adjust the posture of the gimbal 102 , so that the adjustment of the shooting angle of the camera body 101 can change with the change of the posture of the gimbal 102 .
  • the PTZ server 103 obtains the proportional-integral-derivative PID control coefficient based on the first distance difference value and the distance change value.
  • the PTZ server 103 can use a PID controller with proportional integral derivative PID control coefficients to perform fuzzy processing on the attitude of the PTZ 102 to obtain control parameters.
  • the gimbal server 103 can decompose the control quantity parameter orthogonally along the P-axis and the T-axis into the components in the horizontal direction and the vertical direction, that is, The distance change value of the gimbal 102 in the horizontal direction and the distance change value of the gimbal 102 in the vertical direction.
  • the gimbal server 103 can decompose the first distance difference orthogonally along the P-axis and the T-axis into the horizontal direction and the vertical direction.
  • the pan-tilt server 103 obtains the proportional-integral-derivative PID control coefficient in the horizontal direction based on the component of the first distance difference in the horizontal direction and the component of the distance change value in the horizontal direction.
  • the pan-tilt server 103 can use a PID controller with proportional-integral-derivative PID control coefficients in the horizontal direction to perform fuzzy processing on the posture of the pan-tilt 102 to obtain the distance change value of the pan-tilt 102 in the horizontal direction.
  • the PTZ server 103 obtains the proportional-integral-derivative PID control coefficient in the vertical direction based on the vertical component of the first distance difference value and the vertical component of the distance change value.
  • the PTZ server 103 can use a PID controller with proportional integral derivative PID control coefficients in the vertical direction to perform fuzzy processing on the attitude of the PTZ 102 to obtain the distance change value of the PTZ 102 in the vertical direction.
  • the pan-tilt controller 103 can output the distance change value of the pan-tilt 102 in the horizontal direction to the first motor in the pan-tilt 102, so that the first motor in the pan-tilt 102 is in accordance with the position of the pan-tilt 102.
  • the distance change value in the horizontal direction determines the speed change value of the first motor.
  • the first motor in the gimbal 102 rotates the gimbal 102 based on the change value of the rotational speed of the first motor, and changes the rotation angle of the gimbal 102 in the horizontal direction, so that the shooting angle of the camera body 101 is adjusted according to the rotation of the gimbal 102 change by rotation.
  • the gimbal controller 103 can output the distance change value of the gimbal 102 in the vertical direction to the second motor in the gimbal 102 , so that the second motor in the gimbal 102 changes according to the distance of the gimbal 102 in the vertical direction value to determine the rotational speed change value of the second motor.
  • the second motor in the gimbal 102 rotates the gimbal 102 based on the rotational speed change value of the second motor to change the rotation angle of the gimbal 102 in the vertical direction.
  • the embodiments of the present application do not limit parameters such as specific types, parameters, and models of the first motor and the second motor.
  • the pan-tilt server 103 can accurately adjust the posture of the pan-tilt 102 in the horizontal and vertical directions, so that the shooting angle of the camera body 101 is adjusted as the pan-tilt 102 rotates.
  • the pan-tilt server 103 can also precisely adjust the posture of the pan-tilt 102 in the horizontal direction or the vertical direction, and it is not necessary to adjust the posture of the pan-tilt 102 in both directions.
  • the pan-tilt server 103 can also change the focal length of the camera body 101 . That is, when the focal length of the camera body 101 changes, the position of the target object captured by the camera body 101 in the current frame image will change.
  • the focal length of the camera body 101 refers to Z zoom, which is called zoom zoom.
  • Zooming changing the distance between the lens and the imaging surface to achieve the target object with a clear image, that is, the focal length of the objective lens remains unchanged, and the focal length of the eyepiece is changed to achieve the purpose of zooming.
  • Zoom Change the focal length of the lens, that is, change the angle of view, that is, the focal length of the eyepiece remains unchanged, and the focal length of the objective lens is changed to achieve the purpose of zooming.
  • control parameter parameters can also be used to adjust the posture of the pan/tilt head 102 and the focal length of the camera body 101 , so that both the shooting angle of the camera body 101 and the focal length of the camera body 101 can be changed.
  • control parameter in addition to the distance change value of the gimbal 102 in the horizontal direction and the distance change value of the gimbal 102 in the vertical direction, the control parameter may further include: the focal length of the camera body 101 in the optical axis direction change value.
  • the pan-tilt server 103 can obtain the magnification of the angular velocity change of the current linear velocity of the target object on the spherical surface of the camera body 101, and obtain the focal length of the camera body 101 in the direction of the optical axis change value. Therefore, the pan-tilt controller 103 can precisely adjust the focal length of the camera body 101 according to the change value of the focal length of the camera body 101 in the optical axis direction, so that the target object is displayed at the target position of the third frame image, which improves the tracking speed at close range. The accuracy of moving target objects improves the tracking ability of fast moving target objects at close range.
  • the PTZ server 103 is provided with a proportional-integral-derivative PID controller that adopts fuzzy control as exemplarily shown in FIG. 3 .
  • the PTZ server 103 inputs the first distance difference value and the distance change value into the proportional-integral-derivative PID controller.
  • the proportional-integral-derivative PID controller calculates the first distance difference and the distance change value through the fuzzy algorithm, and can obtain the proportional-integral-derivative PID correction coefficients, namely Ka, Kb, Kc in Fig. 3 .
  • the proportional-integral-derivative PID controller determines the product of the proportional-integral-derivative PID correction coefficient and the proportional-integral-derivative PID initial coefficient (that is, Kp, Ki, Kd in Fig. 3) as the proportional-integral-derivative PID control coefficient, that is, in Fig. 3 Ka*Kp, Kb*Ki, Kc*Kd.
  • the proportional integral derivative PID control coefficient can affect the size of each control factor in the proportional integral derivative PID controller
  • the proportional integral derivative PID initial coefficient is the control parameter initially set by the proportional integral derivative PID controller.
  • the proportional-integral-derivative PID controller can obtain the control parameters based on the proportional-integral-derivative PID control coefficients.
  • the PTZ server 103 inputs the first distance difference value and the distance change value into the proportional-integral-derivative PID controller.
  • the proportional-integral-derivative PID controller calculates the first distance difference and the distance change value through the fuzzy algorithm, and can obtain the proportional-integral-derivative PID control coefficients, namely Ka*Kp, Kb*Ki, Kc*Kd in Figure 3.
  • the proportional-integral-derivative PID controller can obtain the control quantity parameter based on the proportional-integral-derivative PID control coefficient.
  • the proportional-integral-derivative PID server in the PTZ server 103 can obtain more accurate control parameters, reducing the position of the target object in the subsequent frame images and the subsequent frame images.
  • the position of the target object in the subsequent frame image is adjusted in time, so that the target object is displayed in the target position of the subsequent frame image, and the PTZ camera can track the target object more accurately.
  • the proportional-integral-derivative PID controller can adopt various methods, and the first distance difference value and the distance change value are calculated by the fuzzy algorithm, and the proportional-integral-derivative PID correction coefficient or the proportional-integral-derivative PID control coefficient can be obtained.
  • the proportional-integral-derivative PID controller can obtain the proportional-integral-derivative PID correction coefficient or the proportional-integral-derivative PID control coefficient based on the first distance difference and the distance change value by looking up a table, as shown in FIG. 3 . Any of Ka, Kb, Kc, Ka*Kp, Kb*Ki, Kc*Kd.
  • the variation range of the first distance difference value is [-100, 100]
  • the PTZ server 103 can be divided into five control strength intervals, which can form a 5 ⁇ 5 fuzzy table, as shown in Table 3.
  • the symbol "+” and the symbol “-” in the fuzzy table represent the control strength, respectively. Among them, one “+” means to increase the control strength, multiple “+” means that the control strength needs to continue to increase, one “-” means to weaken the control strength, and multiple “-” means that the control strength needs to continue to be weakened.
  • the proportional-integral-derivative PID controller can obtain a strategy for adjusting the control variable parameters, that is, when the first distance difference is large and the distance change value is large, the PTZ server 103 can increase the control variable parameters. Control strength. When the first distance difference is large and the distance change value is small, the PTZ server 103 can weaken the control strength of the control quantity parameter.
  • the proportional-integral-derivative PID controller can obtain the proportional-integral-derivative PID correction coefficient or the proportional-integral-derivative PID control coefficient based on the above strategy.
  • the proportional-integral-derivative PID controller can obtain the proportional-integral-derivative PID correction coefficient or the proportional-integral-derivative PID control coefficient based on the first distance difference value and the distance change value by means of a formula, as shown in FIG. 3 Any of Ka, Kb, Kc, Ka*Kp, Kb*Ki, Kc*Kd.
  • the PTZ server 103 can substitute the first distance difference value and the distance change value into Formula 1 to obtain the proportional-integral-derivative PID correction coefficient or the proportional-integral-derivative PID control coefficient:
  • a is the first distance difference, and the variation range of the first distance difference is [-A, A].
  • b is the distance change value, and the change range of the distance change value is [-2A, 2A].
  • m is the proportional-integral-derivative PID correction coefficient or the proportional-integral-derivative PID control coefficient.
  • embodiments of the present application include, but are not limited to, methods of looking up tables or formulas to obtain proportional-integral-derivative PID correction coefficients or proportional-integral-derivative PID control coefficients.
  • the PTZ server 103 can also adjust the shooting angle of the camera body 101 through other parameters, or adjust the shooting angle of the camera body 101 and the camera body 101 , so that the target object is displayed at the target position of the subsequent frame image.
  • FIG. 4 is a schematic diagram of a scene of a tracking control method for a pan-tilt camera provided by an embodiment of the present application.
  • the pan/tilt 102 is located at the observation point A, the height of the observation point A from the horizontal plane aa is h, and the distance between the target object (illustrated by taking a car as an example in FIG. 4 ) and the observation point A in the horizontal direction is s.
  • the line connecting the observation point A and the target object is the line of sight, the angle between the line of sight and the vertical direction of the observation point A is ⁇ , and ⁇ and the depression angle of the gimbal 102 in the vertical direction are complementary angles to each other.
  • the sight of the gimbal 102 rotates with the movement of the target object, so the change of ⁇ corresponds to the change of the depression angle of the gimbal 102 in the vertical direction.
  • v ⁇ is the rotational angular velocity of the gimbal 102
  • v s is the linear velocity of the target object.
  • the current linear velocity of the target object is mapped to the rotational angular velocity of the pan/tilt head 102 , which will increase significantly.
  • the pan-tilt controller 103 can acquire the depression angle of the pan-tilt 102 in the vertical direction at the acquisition moment of the first frame of image.
  • the gimbal server 103 may increase at least one of the distance change value of the gimbal 102 in the horizontal direction and the distance change value of the gimbal 102 in the vertical direction according to a certain ratio, Make the control quantity parameter larger, and obtain the enlarged control quantity parameter.
  • the pan-tilt server 103 adjusts the posture of the pan-tilt 102 by using the increased control quantity parameter as the final control parameter, so that the distance that the pan-tilt 102 changes per unit time becomes larger, and the target that moves quickly at a short distance can be tracked in time. object.
  • the embodiment of the present application does not limit the size of the preset angle.
  • the value range of the preset angle is greater than or equal to 20° and less than or equal to 90°.
  • the pan-tilt server 103 may determine that the target object has a tendency to rapidly approach the pan-tilt camera or rapidly deviate from the target position. In addition, under this trend, the pan-tilt server 103 can adjust the posture of the pan-tilt 102 in time in combination with the distance change value, so that the shooting angle of the camera body 101 changes in time. When the area ratio of the target object in the image is small or even negatively increases, the PTZ server 103 may determine that the target object tends to move away from the PTZ camera quickly.
  • the pan-tilt controller 103 can determine the area ratio value of the target object in the first frame of image, and the area ratio value of the target object in the second frame image. Therefore, the pan-tilt controller 103 takes the form of the difference or quotient of the aforementioned two area ratios as the area change value of the target object in the first frame image and the second frame image.
  • the pan/tilt controller 103 may, according to a certain proportion, measure the horizontal direction of the pan/tilt 102 in the horizontal direction. Adjust at least one of the distance change value, the distance change value of the gimbal 102 in the vertical direction, and the focal length change value of the camera body 101 in the direction of the optical axis, so that the control amount parameter changes, and the adjusted control amount parameter is obtained. .
  • the pan-tilt server 103 uses the adjusted control amount parameter as the final control amount parameter to adjust the shooting angle of the camera body 101 and the focal length of the camera body 101, so that the distance changed by the pan-tilt 102 per unit time can be tracked to the close range in time A fast-moving target object.
  • the embodiments of the present application do not limit the sizes of the first threshold, the second threshold, and the third threshold.
  • the distance of the target object affects the size of the Z zoom of the camera body 101 . In general, the farther the distance is, the larger the Z zoom will be.
  • FIG. 5 is a schematic diagram of a scene of a tracking control method for a pan-tilt camera provided by an embodiment of the present application. As shown in Figure 5, the PTZ camera is located at observation point B.
  • one target object A1 needs the Z zoom of the camera body 101 to be z times
  • the other target object A2 needs the Z zoom of the camera body 101
  • the distance ratio between the two target objects and the observation point A is about 1:20.
  • the rotation range of the gimbal 102 corresponding to the camera body 101 with a large Z zoom is smaller, and the camera body 101 with a small Z zoom corresponds to The rotation range of the gimbal 102 is relatively large.
  • the pan-tilt server 103 can determine the focal plane where the target object is located.
  • the Z zoom of the camera body 101 is large, the distance between the target object and the pan-tilt camera is long, and the rotation of the pan-tilt 102 is small, that is, the Z zoom
  • the control quantity parameter required by the pan/tilt 102 corresponding to the camera body 101 with a larger magnification is smaller than that required by the pan/tilt 102 corresponding to the camera body 101 with a smaller Z zoom.
  • the pan-tilt server 103 can determine the focal plane where the target object is located.
  • the Z zoom of the camera body 101 is small, the distance between the target object and the pan-tilt camera is short, and the rotation of the pan-tilt 102 is large, that is, the Z zoom is small.
  • the control quantity parameter required by the pan/tilt 102 corresponding to the camera body 101 of 100 is larger than that required by the pan/tilt 102 corresponding to the camera body 101 with a larger Z zoom.
  • the pan-tilt controller 103 acquires the focal length of the camera body 101 at the acquisition moment of the first frame of image.
  • the pan/tilt controller 103 may change the distance change value of the pan/tilt head 102 in the horizontal direction, the distance change value of the pan/tilt head 102 in the vertical direction, and the camera body 101 according to a certain ratio. At least one of the focal length change values in the direction of the optical axis is reduced, so that the control quantity parameter becomes smaller, and the reduced control quantity parameter is obtained.
  • the pan/tilt server 103 uses the reduced control amount parameter as the final control amount parameter to adjust the shooting angle of the camera body 101 and/or the focal length of the camera body 101, so that the distance changed by the pan/tilt 102 per unit time becomes smaller and more /or the focal length of the camera body 101 is reduced, so that a target object that moves rapidly at a short distance can be tracked in time.
  • the pan/tilt controller 103 may change the distance change value of the pan/tilt head 102 in the horizontal direction, the distance change value of the pan/tilt head 102 in the vertical direction, and the camera body 101 according to a certain ratio. At least one of the focal length change values in the direction of the optical axis is increased, so that the control amount parameter is increased, and the increased control amount parameter is obtained.
  • the pan-tilt server 103 uses the increased control amount parameter as the final control amount parameter to adjust the shooting angle of the camera body 101 and/or the focal length of the camera body 101, so that the distance changed by the pan-tilt 102 per unit time becomes larger and/or Or the focal length of the camera body 101 becomes larger, so that a target object that moves rapidly at a short distance can be tracked in time.
  • the size of the fourth threshold and the fifth threshold is not limited in this embodiment of the present application.
  • the PTZ server 103 reads the depression angle of the PTZ 102 in the vertical direction, the area change value of the target object in the first frame image and the second frame image, and the focal length of the camera body 101, etc. parameter, can evaluate the current moving linear velocity of the target object on the spherical surface of the camera body 101 angular velocity change magnification, realize the adjustment of the shooting angle of the camera body 101 and the focal length of the camera body 101, so that the PTZ camera can track more accurately
  • the target object that moves quickly at a short distance improves the tracking ability and accuracy of the target object that moves quickly at a short distance.
  • the embodiments of the present application further provide a tracking control device for a pan-tilt camera.
  • FIG. 6 is a schematic structural diagram of a tracking control device for a pan-tilt camera according to an embodiment of the present application.
  • the tracking control device of the PTZ camera according to the embodiment of the present application may include:
  • the acquisition module 11 is configured to acquire the first frame of images and the second frame of images collected by the camera body, and the collection time of the first frame of images is later than the collection time of the second frame of images.
  • the determining module 12 is used to determine the first position between the position of the target object in the first frame image and the target position of the first frame image when the target object conforms to the preset rules or receives an instruction to track the target object indicated by the user. distance difference.
  • the determining module 12 is further configured to determine a distance change value between the position of the target object in the first frame of image and the position of the target object in the second frame of image.
  • the adjustment module 13 is used to adjust the shooting angle of the camera body based on the first distance difference value and the distance change value, so that the target object is displayed at the target position of the third frame image collected by the camera body, and the third frame image is collected later. at the acquisition moment of the first frame of image.
  • the adjustment module 13 is specifically configured to obtain a control amount parameter based on the first distance difference value and the distance change value, where the control amount parameter includes the distance change value of the pan/tilt in the horizontal direction and the pan/tilt in the vertical direction the distance change value; control the first motor in the gimbal to rotate the gimbal according to the distance change value of the gimbal in the horizontal direction, and control the second motor in the gimbal to rotate the gimbal according to the distance change value of the gimbal in the vertical direction
  • the stage is rotated to adjust the shooting angle of the camera body.
  • control quantity parameter further includes a focal length change value of the camera body in the direction of the optical axis.
  • the adjustment module 13 is further configured to adjust the focal length of the camera body according to the focal length change value of the camera body in the optical axis direction, so that the target object is displayed at the target position of the third frame image.
  • the adjustment module 13 is specifically configured to perform fuzzy processing on the first distance difference value and the distance change value to obtain a proportional-integral-derivative PID control coefficient; and based on the proportional-integral-derivative PID control coefficient, obtain a control parameter parameter.
  • the adjustment module 13 is specifically configured to perform fuzzy processing on the first distance difference value and the distance change value to obtain a proportional-integral-derivative PID correction coefficient; the product of the proportional-integral-derivative PID correction coefficient and the proportional-integral-derivative PID initial coefficient is determined as a proportional Integral-derivative PID control coefficient; based on the proportional-integral-derivative PID control coefficient, the control parameter is obtained.
  • the acquisition module 11 is further configured to acquire the depression angle of the pan-tilt head in the vertical direction at the acquisition moment of the first frame of image.
  • the adjustment module 13 is also used to increase at least one value of the distance change value of the gimbal in the horizontal direction and the distance change value of the gimbal in the vertical direction when the depression angle is greater than or equal to the preset angle, so as to obtain the increased value.
  • Control quantity parameter determine the enlarged control quantity parameter as the control quantity parameter.
  • the value range of the preset angle is greater than or equal to 20° and less than or equal to 90°.
  • the determining module 12 is further configured to determine the area change value of the target object in the first frame image and the second frame image.
  • the adjustment module 13 is also used for adjusting the distance change value of the pan/tilt head in the horizontal direction, Adjust at least one of the distance change value of the gimbal in the vertical direction and the focal length change value of the camera body in the optical axis direction to obtain the adjusted control amount parameter; the adjusted control amount parameter is determined as the control amount parameter.
  • the acquiring module 11 is configured to acquire the focal length of the camera body at the acquisition moment of the first frame of image.
  • the adjustment module 13 is also used to adjust the distance change value of the pan/tilt in the horizontal direction, the distance variation value of the pan/tilt in the vertical direction, and the focal length of the camera body in the direction of the optical axis when the focal length of the camera body is greater than the fourth threshold At least one value of the change value is reduced to obtain a reduced control variable parameter; the reduced control variable parameter is determined as a controlled variable parameter.
  • the adjustment module 13 is further configured to adjust the distance change value of the pan/tilt in the horizontal direction, the distance variation value of the pan/tilt in the vertical direction, and the camera body in the optical axis direction when the focal length of the camera body is smaller than the fifth threshold. At least one value of the focal length change value of , is increased to obtain the increased control amount parameter; the increased control amount parameter is determined as the control amount parameter.
  • the determining module 12 is specifically configured to determine a second distance difference between the position of the target object in the second frame image and the target position of the second frame image; based on the first distance difference and the second distance difference Distance difference, to determine the distance change value.
  • the target position is the center area of any frame of images.
  • the tracking control device for a pan-tilt camera provided in the embodiments of the present application can execute the above method embodiments, and the specific implementation principles and technical effects thereof can be found in the above method embodiments, which are not repeated in the embodiments of the present application.
  • the present application provides an electronic device, including: a memory and a processor; the memory is used to store program instructions; the processor is used to call the program instructions in the memory to enable the electronic device to execute the tracking control of the pan-tilt camera in the foregoing embodiment. method.
  • the present application provides a chip system, which is applied to an electronic device including a memory, a display screen and a sensor; the chip system includes: a processor; when the processor executes the computer instructions stored in the memory, the electronic device executes the foregoing The tracking control method of the PTZ camera in the embodiment.
  • the present application provides a computer-readable storage medium on which a computer program is stored, and the computer program is executed by the processor to cause the electronic device to implement the tracking control method of the pan-tilt camera in the foregoing embodiment.
  • the present application provides a computer program product, comprising: execution instructions, the execution instructions are stored in a readable storage medium, at least one processor of an electronic device can read the execution instructions from the readable storage medium, and at least one processor Executing the execution instruction enables the electronic device to implement the tracking control method for the pan-tilt camera in the foregoing embodiment.
  • all or part of the functions may be implemented by software, hardware, or a combination of software and hardware.
  • software When implemented in software, it can be implemented in whole or in part in the form of a computer program product.
  • a computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the procedures or functions according to the embodiments of the present application are generated in whole or in part.
  • the computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable device.
  • Computer instructions may be stored in a computer-readable storage medium.
  • a computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, a data center, or the like that includes an integration of one or more available media.
  • Useful media may be magnetic media (eg, floppy disks, hard disks, magnetic tapes), optical media (eg, DVDs), or semiconductor media (eg, solid state disks (SSDs)), and the like.
  • the process can be completed by instructing the relevant hardware by a computer program, and the program can be stored in a computer-readable storage medium.
  • the program When the program is executed , which may include the processes of the foregoing method embodiments.
  • the aforementioned storage medium includes: ROM or random storage memory RAM, magnetic disk or optical disk and other mediums that can store program codes.

Landscapes

  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Studio Devices (AREA)

Abstract

L'invention concerne une caméra à cardan, un procédé et un appareil de commande de suivi de caméra à cardan, ainsi qu'un dispositif. Lorsqu'un objet cible satisfait une règle prédéfinie ou qu'une instruction de suivi d'objet cible indiquée par un utilisateur est reçue, une valeur d'erreur entre la position de l'objet cible dans l'image de trame actuelle et une position cible de l'image de trame actuelle est analysée afin d'obtenir un changement de posture de mouvement de l'objet cible ; et une valeur de variation de distance d'erreur entre l'objet cible dans l'image de trame actuelle et l'objet cible dans l'une quelconque des images de trame précédant l'image de trame actuelle est analysée afin d'obtenir une position spatiale relative de l'objet cible, ce qui permet d'analyser l'état de changement de vitesse actuel de l'objet cible dans de multiples dimensions et de calculer les positions spatiales de l'objet cible et d'un support d'une caméra à cardan. En ajustant avec précision un angle de prise de vue d'un corps de caméra, la position de l'objet cible dans une image de trame suivante est corrigée à temps, de sorte que l'objet cible est toujours maintenu à une position cible de l'image de trame suivante, ce qui permet de résoudre le problème de perte de suivi d'objet cible dû à un changement de mouvement violent de l'objet cible.
PCT/CN2021/118345 2020-09-16 2021-09-14 Caméra à cardan, procédé de commande de suivi de caméra à cardan, et dispositif WO2022057800A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN202010974180 2020-09-16
CN202010974180.9 2020-09-16
CN202011232127.8 2020-11-06
CN202011232127.8A CN114268732A (zh) 2020-09-16 2020-11-06 云台摄像机、云台摄像机的追踪控制方法、装置及设备

Publications (1)

Publication Number Publication Date
WO2022057800A1 true WO2022057800A1 (fr) 2022-03-24

Family

ID=80776473

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/118345 WO2022057800A1 (fr) 2020-09-16 2021-09-14 Caméra à cardan, procédé de commande de suivi de caméra à cardan, et dispositif

Country Status (1)

Country Link
WO (1) WO2022057800A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117557167A (zh) * 2024-01-03 2024-02-13 微网优联科技(成都)有限公司 一种云台机的生产质量管理方法及系统
CN117648001A (zh) * 2024-01-29 2024-03-05 微网优联科技(成都)有限公司 基于云台机的追踪校正方法及系统
WO2024051330A1 (fr) * 2022-09-07 2024-03-14 华为技术有限公司 Procédé de commande de caméra et appareil associé

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160171330A1 (en) * 2014-12-15 2016-06-16 Reflex Robotics, Inc. Vision based real-time object tracking system for robotic gimbal control
CN107016367A (zh) * 2017-04-06 2017-08-04 北京精英智通科技股份有限公司 一种跟踪控制方法及跟踪控制系统
CN108230362A (zh) * 2017-12-29 2018-06-29 北京视觉世界科技有限公司 环境监控方法、装置、电子设备和存储介质
CN109189105A (zh) * 2018-10-18 2019-01-11 上海电力学院 一种巡检机器人云台控制方法
CN111105429A (zh) * 2019-12-03 2020-05-05 华中科技大学 一种一体化无人机检测方法
CN111314609A (zh) * 2020-02-24 2020-06-19 浙江大华技术股份有限公司 一种控制云台追踪摄像的方法及装置

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160171330A1 (en) * 2014-12-15 2016-06-16 Reflex Robotics, Inc. Vision based real-time object tracking system for robotic gimbal control
CN107016367A (zh) * 2017-04-06 2017-08-04 北京精英智通科技股份有限公司 一种跟踪控制方法及跟踪控制系统
CN108230362A (zh) * 2017-12-29 2018-06-29 北京视觉世界科技有限公司 环境监控方法、装置、电子设备和存储介质
CN109189105A (zh) * 2018-10-18 2019-01-11 上海电力学院 一种巡检机器人云台控制方法
CN111105429A (zh) * 2019-12-03 2020-05-05 华中科技大学 一种一体化无人机检测方法
CN111314609A (zh) * 2020-02-24 2020-06-19 浙江大华技术股份有限公司 一种控制云台追踪摄像的方法及装置

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
LANG KEWEI: "Real-Time Target Image Transmission and Tracking System Design", CHINESE MASTER'S THESES FULL-TEXT DATABASE, INFORMATION TECHNOLOGY, no. 7, 15 July 2014 (2014-07-15), XP055913418 *

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024051330A1 (fr) * 2022-09-07 2024-03-14 华为技术有限公司 Procédé de commande de caméra et appareil associé
CN117557167A (zh) * 2024-01-03 2024-02-13 微网优联科技(成都)有限公司 一种云台机的生产质量管理方法及系统
CN117557167B (zh) * 2024-01-03 2024-03-19 微网优联科技(成都)有限公司 一种云台机的生产质量管理方法及系统
CN117648001A (zh) * 2024-01-29 2024-03-05 微网优联科技(成都)有限公司 基于云台机的追踪校正方法及系统
CN117648001B (zh) * 2024-01-29 2024-04-09 微网优联科技(成都)有限公司 基于云台机的追踪校正方法及系统

Similar Documents

Publication Publication Date Title
WO2022057800A1 (fr) Caméra à cardan, procédé de commande de suivi de caméra à cardan, et dispositif
CN107659774B (zh) 一种基于多尺度相机阵列的视频成像系统及视频处理方法
CN111147741B (zh) 基于对焦处理的防抖方法和装置、电子设备、存储介质
WO2020259474A1 (fr) Procédé et appareil de suivi de mise au point, équipement terminal, et support d'enregistrement lisible par ordinateur
CN110166695B (zh) 摄像头防抖方法、装置、电子设备和计算机可读存储介质
US8279297B2 (en) Image processing apparatus, image processing method, and storage medium
TWI521255B (zh) 自動對焦方法、其自動對焦裝置和其影像擷取裝置
CN111246089B (zh) 抖动补偿方法和装置、电子设备、计算机可读存储介质
CN107223330B (zh) 一种深度信息获取方法、装置及图像采集设备
WO2019114617A1 (fr) Procédé, dispositif et système de capture rapide d'image fixe
WO2017045326A1 (fr) Procédé de traitement de photographie pour un véhicule aérien sans équipage
WO2012151777A1 (fr) Système de surveillance vidéo par prise de vue en gros plan et suivi de multiples cibles
JP5843454B2 (ja) 画像処理装置、画像処理方法およびプログラム
US8872944B2 (en) Method and system for image centering during zooming
CN103971375A (zh) 一种基于图像拼接的全景凝视相机空间标定方法
US20220180484A1 (en) Image processing method, electronic device, and computer-readable storage medium
WO2023236508A1 (fr) Procédé et système d'assemblage d'images basés sur une caméra ayant un réseau d'un milliard de pixels
CN109598764A (zh) 摄像头标定方法和装置、电子设备、计算机可读存储介质
US20240114245A1 (en) Imaging support device, imaging support system, imaging system, imaging support method, and program
CN113391644A (zh) 一种基于图像信息熵的无人机拍摄距离半自动寻优方法
CN113949814B (zh) 一种枪球联动抓拍方法、装置、设备及介质
CN109697737B (zh) 摄像头标定方法、装置、电子设备和计算机可读存储介质
CN112001224A (zh) 基于卷积神经网络的视频采集方法和视频采集系统
JP2007049266A (ja) 画像撮像装置
US11394877B2 (en) Control apparatus, image pickup apparatus, and control method

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21868622

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21868622

Country of ref document: EP

Kind code of ref document: A1