阅读说明：本技术 一种云台控制方法、装置、系统、控制设备及存储介质 (Cloud deck control method, device and system, control equipment and storage medium ) 是由 陈明珠 杨增启 陈天钧 吴惠敏 潘武 邵一轶 于 2019-09-26 设计创作，主要内容包括：本发明公开了一种云台控制方法、装置、系统、控制设备及存储介质,包括：接收第二球机发送的目标对象在每个时刻对应的转动角度,其中,所述每个时刻对应的转动角度是所述第二球机根据所述目标对象在每个时刻的坐标信息确定的；根据当前时刻对应的转动角度和上两个时刻对应的转动角度,确定所述目标对象当前的目标运动参数；根据所述目标运动参数,控制第一球机的第一云台和第二球机的第二云台进行转动,其中,所述第一云台和第二云台转动的合成运动参数与所述目标运动参数相同。通过两个云台协同转动跟踪,缩短了定位时间,提升了跟踪效率,并且两个云台协同转动跟踪,提高了视场范围,避免了目标对象突然加速或减速时,跟踪丢失的问题。(The invention discloses a holder control method, a device, a system, control equipment and a storage medium, wherein the holder control method comprises the following steps: receiving a rotation angle corresponding to a target object sent by a second ball machine at each moment, wherein the rotation angle corresponding to each moment is determined by the second ball machine according to coordinate information of the target object at each moment; determining the current target motion parameters of the target object according to the rotation angle corresponding to the current moment and the rotation angles corresponding to the last two moments; and controlling a first tripod head of the first ball machine and a second tripod head of the second ball machine to rotate according to the target motion parameters, wherein the synthesized motion parameters of the rotation of the first tripod head and the second tripod head are the same as the target motion parameters. The two cloud platforms rotate and track in coordination, so that the positioning time is shortened, the tracking efficiency is improved, the two cloud platforms rotate and track in coordination, the field range is improved, and the problem of tracking loss when a target object is accelerated or decelerated suddenly is solved.)

1. A pan-tilt control method, characterized in that the method comprises:

receiving a rotation angle corresponding to a target object sent by a second ball machine at each moment, wherein the rotation angle corresponding to each moment is determined by the second ball machine according to coordinate information of the target object at each moment;

determining the current target motion parameters of the target object according to the rotation angle corresponding to the current moment and the rotation angles corresponding to the last two moments;

and controlling a first tripod head of the first ball machine and a second tripod head of the second ball machine to rotate according to the target motion parameters, wherein the synthesized motion parameters of the rotation of the first tripod head and the second tripod head are the same as the target motion parameters.

2. The method of claim 1, wherein the determining the current target motion parameter of the target object according to the rotation angle corresponding to the current time and the rotation angles corresponding to the last two times comprises:

and determining the current target speed of the target object according to the rotating angle corresponding to the current moment, the rotating angles corresponding to the last two moments and a PID algorithm.

3. The method of claim 2, wherein said controlling a first head of a first ball machine and a second head of a second ball machine to rotate based on said target motion parameter comprises:

when the target speed is less than or equal to the maximum rotating speed of the second holder, controlling the second holder to rotate according to the target speed;

when the target speed is higher than the maximum rotating speed of the second holder, controlling the second holder to rotate according to the maximum rotating speed, and controlling the first holder to rotate according to the difference value between the target speed and the maximum rotating speed;

wherein the speed includes a horizontal direction speed and a vertical direction speed.

4. The method of claim 1, wherein the determining the current target motion parameter of the target object according to the rotation angle corresponding to the current time and the rotation angles corresponding to the last two times comprises:

determining the current target speed of the target object according to the rotating angle corresponding to the current moment, the rotating angles corresponding to the last two moments and a PID algorithm;

and determining the target acceleration according to the target speed and the time interval between the current moment and the previous moment.

5. The method of claim 4, wherein said controlling a first head of a first ball machine and a second head of a second ball machine to rotate according to the target motion parameter comprises:

acquiring the composite acceleration of the first holder and the second holder at the current moment, and determining an acceleration difference according to the composite acceleration and a target acceleration;

determining a synthesized jerk according to the time interval between the current moment and the previous moment and the acceleration difference;

and controlling the first cloud platform and the second cloud platform to rotate according to the synthesized jerk, wherein the sum of the jerks of the rotation of the first cloud platform and the second cloud platform is the synthesized jerk.

6. The method of claim 5, wherein said controlling said first and second heads to rotate according to said resultant jerk comprises:

when the synthesized jerk is smaller than or equal to the maximum jerk of the second holder, controlling the second holder to rotate according to the synthesized jerk;

when the synthesized jerk is larger than the maximum jerk of the second holder, controlling the second holder to rotate according to the maximum jerk, and controlling the first holder to rotate according to the difference value between the synthesized jerk and the maximum jerk;

wherein the jerk includes a horizontal jerk and a vertical jerk.

7. A pan-tilt control apparatus, characterized in that the apparatus comprises:

the receiving module is used for receiving a rotation angle corresponding to a target object sent by a second dome camera at each moment, wherein the rotation angle corresponding to each moment is determined by the second dome camera according to coordinate information of the target object at each moment;

the determining module is used for determining the current target motion parameters of the target object according to the rotating angle corresponding to the current moment and the rotating angles corresponding to the last two moments;

and the control module is used for controlling a first tripod head of the first ball machine and a second tripod head of the second ball machine to rotate according to the target motion parameters, wherein the resultant motion parameters of the rotation of the first tripod head and the second tripod head are the same as the target motion parameters.

8. A pan-tilt control system, the system comprising: the device comprises a control device, a first ball machine and a second ball machine; the first tripod head of the first ball machine is connected with the second tripod head of the second ball machine, and the control equipment is respectively connected with the first tripod head, the second tripod head and the second ball machine;

the second ball machine is used for determining a rotation angle corresponding to the target object at each moment according to the coordinate information of the target object at each moment and sending the rotation angle corresponding to each moment to the control equipment;

the control device is used for determining the current target motion parameters of the target object according to the rotation angle corresponding to the current moment and the rotation angles corresponding to the last two moments; and controlling the first cloud platform and the second cloud platform to rotate according to the target motion parameters, wherein the resultant motion parameters of the rotation of the first cloud platform and the second cloud platform are the same as the target motion parameters.

9. The control equipment is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor and the communication interface are used for realizing mutual communication by the memory through the communication bus;

a memory for storing a computer program;

a processor for implementing the method steps of any one of claims 1 to 6 when executing a program stored in the memory.

10. A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, which computer program, when being executed by a processor, carries out the method steps of any one of claims 1-6.

Technical Field

The invention relates to the technical field of monitoring, in particular to a holder control method, a holder control device, a holder control system, a holder control device and a storage medium.

Background

With the rapid development of scientific technology in recent years, the tracking of target objects is more and more widely applied. In the prior art, when tracking a target object, the following methods are included:

1. based on single-ball machine tracking, the method is characterized in that a ball machine is installed in a scene, the ball machine identifies a target object in a picture through an intelligent algorithm, a rotating angle of the ball machine is determined according to coordinate information of the target object in the picture, and the ball machine rotates according to the rotating angle to realize the tracking of the target object.

2. Based on gun and ball linkage tracking, a gun camera and a ball machine are installed in a scene, the gun camera is fixed, and the ball machine rotates to track a target object. Specifically, the gunlock identifies a target object through an intelligent algorithm, coordinate information of the target object is sent to the ball machine, the ball machine determines a rotation angle according to the coordinate information, and the ball machine rotates according to the rotation angle to achieve tracking of the target object.

Disclosure of Invention

The embodiment of the invention provides a holder control method, a holder control device, a holder control system, a holder control device and a storage medium, which are used for solving the problems that in the prior art, when a target object is suddenly accelerated or decelerated, the tracking efficiency is low, and the target object possibly runs out of a view field range to cause tracking loss.

The embodiment of the invention provides a holder control method, which comprises the following steps:

receiving a rotation angle corresponding to a target object sent by a second ball machine at each moment, wherein the rotation angle corresponding to each moment is determined by the second ball machine according to coordinate information of the target object at each moment;

determining the current target motion parameters of the target object according to the rotation angle corresponding to the current moment and the rotation angles corresponding to the last two moments;

and controlling a first tripod head of the first ball machine and a second tripod head of the second ball machine to rotate according to the target motion parameters, wherein the synthesized motion parameters of the rotation of the first tripod head and the second tripod head are the same as the target motion parameters.

Further, the determining the current target motion parameter of the target object according to the rotation angle corresponding to the current time and the rotation angles corresponding to the last two times includes:

and determining the current target speed of the target object according to the rotating angle corresponding to the current moment, the rotating angles corresponding to the last two moments and a PID algorithm.

Further, the controlling the first pan-tilt head of the first dome camera and the second pan-tilt head of the second dome camera to rotate according to the target motion parameter includes:

when the target speed is less than or equal to the maximum rotating speed of the second holder, controlling the second holder to rotate according to the target speed;

when the target speed is higher than the maximum rotating speed of the second holder, controlling the second holder to rotate according to the maximum rotating speed, and controlling the first holder to rotate according to the difference value between the target speed and the maximum rotating speed;

wherein the speed includes a horizontal direction speed and a vertical direction speed.

Further, the determining the current target motion parameter of the target object according to the rotation angle corresponding to the current time and the rotation angles corresponding to the last two times includes:

determining the current target speed of the target object according to the rotating angle corresponding to the current moment, the rotating angles corresponding to the last two moments and a PID algorithm;

and determining the target acceleration according to the target speed and the time interval between the current moment and the previous moment.

Further, the controlling the first pan-tilt head of the first dome camera and the second pan-tilt head of the second dome camera to rotate according to the target motion parameter includes:

acquiring the composite acceleration of the first holder and the second holder at the current moment, and determining an acceleration difference according to the composite acceleration and a target acceleration;

determining a synthesized jerk according to the time interval between the current moment and the previous moment and the acceleration difference;

and controlling the first cloud platform and the second cloud platform to rotate according to the synthesized jerk, wherein the sum of the jerks of the rotation of the first cloud platform and the second cloud platform is the synthesized jerk.

Further, the controlling the first and second holders to rotate according to the synthesized jerk includes:

when the synthesized jerk is smaller than or equal to the maximum jerk of the second holder, controlling the second holder to rotate according to the synthesized jerk;

when the synthesized jerk is larger than the maximum jerk of the second holder, controlling the second holder to rotate according to the maximum jerk, and controlling the first holder to rotate according to the difference value between the synthesized jerk and the maximum jerk;

wherein the jerk includes a horizontal jerk and a vertical jerk.

On the other hand, an embodiment of the present invention provides a pan/tilt control apparatus, where the apparatus includes:

the receiving module is used for receiving a rotation angle corresponding to a target object sent by a second dome camera at each moment, wherein the rotation angle corresponding to each moment is determined by the second dome camera according to coordinate information of the target object at each moment;

the determining module is used for determining the current target motion parameters of the target object according to the rotating angle corresponding to the current moment and the rotating angles corresponding to the last two moments;

and the control module is used for controlling a first tripod head of the first ball machine and a second tripod head of the second ball machine to rotate according to the target motion parameters, wherein the resultant motion parameters of the rotation of the first tripod head and the second tripod head are the same as the target motion parameters.

The determining module is specifically configured to determine the current target speed of the target object according to the rotation angle corresponding to the current time, the rotation angles corresponding to the last two times, and a PID algorithm.

The control module is specifically configured to control the second pan/tilt head to rotate according to the target speed when the target speed is less than or equal to the maximum rotation speed of the second pan/tilt head; when the target speed is higher than the maximum rotating speed of the second holder, controlling the second holder to rotate according to the maximum rotating speed, and controlling the first holder to rotate according to the difference value between the target speed and the maximum rotating speed; wherein the speed includes a horizontal direction speed and a vertical direction speed.

The determining module is specifically configured to determine a current target speed of the target object according to a rotation angle corresponding to a current moment, rotation angles corresponding to last two moments, and a PID algorithm; and determining the target acceleration according to the target speed and the time interval between the current moment and the previous moment.

The control module is specifically used for acquiring the composite acceleration of the first holder and the second holder at the current moment, and determining an acceleration difference according to the composite acceleration and a target acceleration; determining a synthesized jerk according to the time interval between the current moment and the previous moment and the acceleration difference; and controlling the first cloud platform and the second cloud platform to rotate according to the synthesized jerk, wherein the sum of the jerks of the rotation of the first cloud platform and the second cloud platform is the synthesized jerk.

The control module is specifically configured to control the second pan-tilt to rotate according to the synthesized jerk when the synthesized jerk is less than or equal to the maximum jerk of the second pan-tilt; when the synthesized jerk is larger than the maximum jerk of the second holder, controlling the second holder to rotate according to the maximum jerk, and controlling the first holder to rotate according to the difference value between the synthesized jerk and the maximum jerk; wherein the jerk includes a horizontal jerk and a vertical jerk.

In another aspect, an embodiment of the present invention provides a pan/tilt control system, where the system includes: the device comprises a control device, a first ball machine and a second ball machine; the first tripod head of the first ball machine is connected with the second tripod head of the second ball machine, and the control equipment is respectively connected with the first tripod head, the second tripod head and the second ball machine;

the second ball machine is used for determining a rotation angle corresponding to the target object at each moment according to the coordinate information of the target object at each moment and sending the rotation angle corresponding to each moment to the control equipment;

the control device is used for determining the current target motion parameters of the target object according to the rotation angle corresponding to the current moment and the rotation angles corresponding to the last two moments; and controlling the first cloud platform and the second cloud platform to rotate according to the target motion parameters, wherein the resultant motion parameters of the rotation of the first cloud platform and the second cloud platform are the same as the target motion parameters.

On the other hand, an embodiment of the present invention provides a control device, including a processor, an intelligent coprocessor (NNIE), a communication interface, a memory, and a communication bus, where the processor and the communication interface are configured, and the memory completes mutual communication through the communication bus;

a memory for storing a computer program;

a processor for implementing any of the above method steps when executing a program stored in the memory;

and the intelligent coprocessor (NNIE) is used for executing a target object identification task distributed by the processor, and identifying the tracking target object and the motion situation in the image through the neural network convolution calculation.

In another aspect, an embodiment of the present invention provides a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the method steps of any one of the above.

The embodiment of the invention provides a holder control method, a device, a system, control equipment and a storage medium, wherein the method comprises the following steps: receiving a rotation angle corresponding to a target object sent by a second ball machine at each moment, wherein the rotation angle corresponding to each moment is determined by the second ball machine according to coordinate information of the target object at each moment; determining the current target motion parameters of the target object according to the rotation angle corresponding to the current moment and the rotation angles corresponding to the last two moments; and controlling a first tripod head of the first ball machine and a second tripod head of the second ball machine to rotate according to the target motion parameters, wherein the synthesized motion parameters of the rotation of the first tripod head and the second tripod head are the same as the target motion parameters.

In the embodiment of the invention, after the current target motion parameter of the target object is determined, the first tripod head of the first dome camera and the second tripod head of the second dome camera are controlled to rotate according to the target motion parameter, wherein the resultant motion parameter of the rotation of the first tripod head and the second tripod head is the same as the target motion parameter. The two cloud platforms rotate and track in coordination, so that the positioning time is shortened, the tracking efficiency is improved, the two cloud platforms rotate and track in coordination, the field range is improved, and the problem of tracking loss when a target object is accelerated or decelerated suddenly is solved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic view of a pan-tilt control process provided in embodiment 1 of the present invention;

fig. 2 is a schematic structural diagram of a pan/tilt control apparatus provided in embodiment 4 of the present invention;

fig. 3 is a schematic structural diagram of a pan/tilt control system provided in embodiment 5 of the present invention;

fig. 4 is a schematic structural diagram of a pan-tilt control system in an actual scene according to embodiment 5 of the present invention;

fig. 5 is a schematic structural diagram of a control device according to embodiment 6 of the present invention;

fig. 6 is a schematic diagram of internal structures of a first ball machine and a second ball machine provided in the embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the attached drawings, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.