CN104483983B - A kind of double cloud platform control methods of multi-cam real-time linkage - Google Patents
A kind of double cloud platform control methods of multi-cam real-time linkage Download PDFInfo
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- CN104483983B CN104483983B CN201410682657.0A CN201410682657A CN104483983B CN 104483983 B CN104483983 B CN 104483983B CN 201410682657 A CN201410682657 A CN 201410682657A CN 104483983 B CN104483983 B CN 104483983B
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Abstract
The invention discloses double The Cloud Terrace prosecutor methods of a kind of multi-cam real-time linkage, belong to technical field of security and protection；It includes: system initialization step, periodic detection and correction step, long-range rate-determining steps, rifle ball calibrating procedure；It uses the exclusive independent cloud platform control method of bilayer, linkage of multi-cameras is carried out by the way of automatically rotating gunlock The Cloud Terrace and ball machine head, gunlock angle problem can be considered during installation with the monitoring visual field of remote adjustment wide angle cameras, beneficially rapid deployment；Can automatically find and correct the deviation that the position of wide angle cameras produces, Remote Dynamic regulation wide angle cameras monitoring visual field.
Description
Technical field
The invention belongs to technical field of security and protection, be specifically related to double The Cloud Terrace prosecutor methods of a kind of multi-cam real-time linkage.
Background technology
The existing all designs of ball machine are all single The Cloud Terrace designs.It is one that general security protection high-speed ball-forming machine is typically designed pattern
High-speed holder, adds an integrated zoom movement；Some multiple camera tracking systems, employing mode is, joins above single The Cloud Terrace
Put one and several hard-wired wide angle cameras, then use connecting method, be combined into 360 ° of panoramas or
Directly with single wide angle cameras, then it is reconfigured at the ball machine of a high-speed rotation, when manual mouse is in gunlock monitored picture
Behind a selected region, then control high-speed ball-forming machine and turn to relevant position, i.e. use manual mode to carry out linkage of multi-cameras.
Summary of the invention
It is an object of the invention to design double cloud platform control methods of a kind of multi-cam real-time linkage, use and automatically rotate
The mode of gunlock The Cloud Terrace and ball machine head carries out linkage of multi-cameras；When multi-camera system installation and deployment monitoring region,
In system operation, when video camera installation fixing position puts generation skew, user can revise deviation automatically, can be according to needing automatically
Regulate monitoring visual field neatly, and regulate video camera without artificial pole-climbing.
The present invention takes techniques below scheme:
A kind of double cloud platform control methods of multi-cam real-time linkage, it includes:
1). system initialization step:
A. gunlock cradle head control plate 7 starts gunlock The Cloud Terrace program self-inspection, and high-speed holder panel 9 opens ball machine head program certainly
Inspection, each completes self-inspection, and gunlock horizontal stage electric machine, ball machine head motor each complete to reset；
B. main control module 5 accesses memory module 10, reads gunlock cradle head preset positions information in memory module 10；
C. when reading the success of gunlock cradle head preset positions information, then main control module 5 sends to gunlock cradle head control plate 7 and controls life
Order, rotates to gunlock The Cloud Terrace presetting bit, then reads the rifle ball nominal data corresponding to this presetting bit；Number is demarcated when reading rifle ball
According to success, then terminate；When reading, rifle ball nominal data is unsuccessful, then enter rifle ball calibrating procedure, start rifle ball demarcating module 4 complete
Become the conversion of rifle ball nominal data；
D. when reading the failure of gunlock cradle head preset positions information, then main control module 5 is pointed out to client 1 by mixed-media network modules mixed-media 2
" need to arrange gunlock cradle head preset positions " message；Client 1 sends order, main control module by mixed-media network modules mixed-media 2 to main control module 5
5 control rifle The Cloud Terrace by gunlock cradle head control plate 7 rotates, and gunlock The Cloud Terrace rotates to the preset position (X.Y) of correspondence, gunlock module
6 obtain corresponding monitoring image A, and are saved in memory module 10)；It follows that then enter rifle ball calibrating procedure, start rifle ball
Demarcating module 4 is to complete the conversion of rifle ball nominal data；
2). periodic detection and correction step:
A. starting periodic detection flow process, main control module 5 reads gunlock cradle head preset positions information (X, Y) in memory module 10
With image A；
B. gather the image A` of the current The Cloud Terrace position of gunlock module 6, read current The Cloud Terrace position data (x`, y`),
And (X, Y) and (x`, y`) is subtracted each other, the absolute value taking its difference is that step number is poor；
C. when described step number difference is not 0, then, to gunlock cradle head control plate 7 transmitting control commands, The Cloud Terrace is rotated to (X,
Y), gather the image A`` of current gunlock The Cloud Terrace position, call image registration unit 3, movement images A and A``, as image A and A`
The similarity of ` is more than threshold value, then start rifle ball demarcating module 4, recalculate demarcation conversion parameter, updates presetting bit information for working as
Front gunlock The Cloud Terrace positional information (X, Y) and image A``；D. when described step number difference is 0, then call image registration unit 3 and compare
Image A and A`, when the similarity of image A and A` is more than threshold value, then updating presetting bit information is current gunlock cradle head preset positions letter
Breath (X`, Y`) and image A`, notify that gunlock The Cloud Terrace plate program setting current location is presetting bit, and gunlock The Cloud Terrace rotates to new pre-
Set (X`, Y`), periodic detection and correction terminate；
3). remotely rate-determining steps:
A. client flow process: user sends The Cloud Terrace control by the gunlock cradle head control button in client 1 to main control module 5
System order；By client 1 live preview gunlock module 6 monitored picture, see whether the visual field is adjusted in place；User passes through client
1 sends end order；
B. master control borad program: main control module 5 receives, by mixed-media network modules mixed-media 2, the gunlock cradle head control order that client 1 sends,
Receive client 1 by network to stop operating order；Read current gunlock The Cloud Terrace positional information and the monitoring figure of gunlock module 6
Picture, and update presetting bit information (X, Y) and correspondence image A, enter rifle ball and demarcate flow process, start rifle ball demarcating module 4 and calculate seat
Mark transition matrix parameter；
C. The Cloud Terrace plate program: gunlock cradle head control plate 7 controls motor and rotates or stop motor rotation, updates gunlock The Cloud Terrace pre-
Set information is current gunlock The Cloud Terrace position.
Further technical scheme is:
Described rifle ball calibrating procedure is: obtain gunlock current location and the marked feature angle point of picture, high-speed holder control
Making sheet 9 controls ball machine integrated zoom movement 8 and rotates to position corresponding with gunlock picture successively, and by described aobvious in ball machine
Write feature angle point be amplified to maximum multiple and be placed in ball machine picture center, obtain the level of now ball machine head position motor
Vertical direction angular data, after obtaining three groups of data above, calculates the seat between input picture arbitrfary point and monopod video camera
Mark conversion parameter.
Further technical scheme is:
Described gunlock The Cloud Terrace program self-inspection includes:
A. gunlock cradle head control plate 7 directly reads the presetting bit information being stored in gunlock cradle head control plate 7；
B. when reading the success of described presetting bit information, then gunlock The Cloud Terrace rotates to presetting bit；
C. when read presetting bit information failure, then gunlock horizontal stage electric machine rotate to motor horizontal direction total step-length 1/2 position,
Vertical total step-length 1/2 position.
Further technical scheme is
Described gunlock module 6 is Radix Rumicis gunlock module, and described gunlock module 6 quantity is one or more；Institute
The motor stated is motor.
The present invention compared with prior art, has a following beneficial effect:
The present invention uses the independent cloud platform control method of exclusive bilayer, by automatically rotating gunlock The Cloud Terrace and ball machine head
Mode carries out linkage of multi-cameras, can be permissible during installation with the monitoring visual field of remote adjustment wide angle cameras, beneficially rapid deployment
Gunlock angle problem need not be considered；Can automatically find and correct the deviation that the position of wide angle cameras produces, with Remote Dynamic
Regulation wide angle cameras monitoring visual field；Prevent from, when wide angle cameras visual field occurs skew, causing coordinate information pair between video camera
Should be related to that the target following picture not mated and cause is inaccurate so that Product Experience degree declines.
Accompanying drawing explanation
Fig. 1 is present configuration schematic diagram；
Fig. 2 is System Initialization Procedure figure in the present invention；
Fig. 3 is periodic detection and correction flow chart in the present invention；
Fig. 4 is medium-long range control flow chart of the present invention；
Fig. 1 has: client 1；Mixed-media network modules mixed-media 2；Image registration unit 3；Rifle ball demarcating module 4；Main control module 5；Gunlock
Module 6；Gunlock cradle head control plate 7；Integration zoom movement 8；High-speed holder panel 9；Memory module 10.
Detailed description of the invention
Below in conjunction with embodiments of the invention, the invention will be further elaborated.
Specific embodiment:
As it is shown in figure 1, cradle head structure layout uses upper and lower two-layer mode.Upper strata The Cloud Terrace is low speed gunlock The Cloud Terrace, and it includes
Gunlock module 6, gunlock module 6 is Radix Rumicis gunlock module, gunlock cradle head control plate 7, and it controls the rotation (left and right of wide angle cameras
Upper and lower 45 ° or by a larger margin)；Lower floor's The Cloud Terrace is 360 ° of continuous screw machine heads of high speed, and it includes integration zoom movement
8, high-speed holder panel 9, its control integration zoom movement furthers and zooms out, and left and right rotates upwardly and downwardly；The angle of two video cameras
It is all to change with cloud platform rotation with monitoring visual field；It also includes embedded main control board, and embedded main control board mainly has: client
1, mixed-media network modules mixed-media 2, image registration unit 3, rifle ball demarcating module 4, main control module 5, memory module 10, embedded main control board is responsible for
Real-time linkage controls wide angle cameras and monopod video camera cooperating.
A kind of double cloud platform control methods of multi-cam real-time linkage, it includes:
1). system initialization step, as shown in Figure 2:
A. gunlock cradle head control plate 7 starts gunlock The Cloud Terrace program self-inspection, and high-speed holder panel 9 opens ball machine head program certainly
Inspection, each completes self-inspection, and gunlock The Cloud Terrace motor, ball machine head motor each complete to reset, and allow gunlock The Cloud Terrace return to
Initial 0 position of hardware (0 position is hardware light sensor position), eliminates step-out impact；Described gunlock The Cloud Terrace
Program self-inspection includes: gunlock cradle head control plate 7 directly reads the presetting bit information being stored in gunlock cradle head control plate 7；Work as reading
Take the success of described presetting bit information, then gunlock The Cloud Terrace rotates to presetting bit；When reading the failure of presetting bit information, then gunlock The Cloud Terrace step
Enter motor and rotate to motor horizontal direction total step-length 1/2 position, vertical total step-length 1/2 position.
B. main control module 5 accesses memory module 10, reads gunlock cradle head preset positions information in memory module 10；
C. when reading the success of gunlock cradle head preset positions information, then main control module 5 sends to gunlock cradle head control plate 7 and controls life
Order, rotates to gunlock The Cloud Terrace presetting bit, then reads the rifle ball nominal data corresponding to this presetting bit；Number is demarcated when reading rifle ball
According to success, then terminate；When reading, rifle ball nominal data is unsuccessful, then enter rifle ball calibrating procedure, start rifle ball demarcating module 4 complete
Become the conversion of rifle ball nominal data；
D. when reading the failure of gunlock cradle head preset positions information, then main control module 5 is pointed out to client 1 by mixed-media network modules mixed-media 2
" need to arrange gunlock cradle head preset positions " message；Client 1 sends order, main control module by mixed-media network modules mixed-media 2 to main control module 5
5 control rifle The Cloud Terrace by gunlock cradle head control plate 7 rotates, and gunlock The Cloud Terrace rotates to the preset position (X.Y) of correspondence, gunlock module
6 obtain corresponding monitoring image A, and are saved in memory module 10；It follows that then enter rifle ball calibrating procedure, start rifle ball
Demarcating module 4 is to complete the conversion of rifle ball nominal data；
Described rifle ball calibrating procedure is: obtain gunlock current location and the marked feature angle point of picture, high-speed holder control
Making sheet 9 controls ball machine integrated zoom movement 8 and rotates to position corresponding with gunlock picture successively, and by described aobvious in ball machine
Write feature angle point be amplified to maximum multiple and be placed in ball machine picture center, obtain the level of now ball machine head position motor
Vertical direction angular data, after obtaining three groups of data above, calculates the seat between input picture arbitrfary point and monopod video camera
Mark conversion parameter.
2). periodic detection and correction step, as shown in Figure 3:
A. starting periodic detection flow process, main control module 5 reads gunlock cradle head preset positions information (X, Y) in memory module 10
With image A；
B. gather the image A` of the current The Cloud Terrace position of gunlock module 6, read current The Cloud Terrace position data (x`, y`), and will
(X, Y) and (x`, y`) subtracts each other, and the absolute value taking its difference is that step number is poor；
C. when described step number difference is not 0, then, to gunlock cradle head control plate 7 transmitting control commands, The Cloud Terrace is rotated to (X,
Y), gather the image A`` of current gunlock The Cloud Terrace position, call image registration unit 3, movement images A and A``, as image A and A`
The similarity of ` is more than threshold value, then start rifle ball demarcating module 4, recalculate demarcation conversion parameter, updates presetting bit information for working as
Front gunlock The Cloud Terrace positional information (X, Y) and image A``；
D. when described step number difference is 0, and motor numerical value (x ', y ') equal to (x y), shows that gunlock The Cloud Terrace does not move
Dynamic, it is not necessary to revise The Cloud Terrace position；Call image registration unit 3, movement images A and A`, when the similarity of image A and A` is more than
Threshold value, then updating presetting bit information is current gunlock cradle head preset positions information (X`, Y`) and image A`, notifies gunlock The Cloud Terrace plate journey
Sequence sets current location as presetting bit, and gunlock The Cloud Terrace rotates to new presetting bit (X`, Y`), and periodic detection and correction terminate；
3). remotely rate-determining steps, as shown in Figure 4:
A. client flow process: user sends The Cloud Terrace control by the gunlock cradle head control button in client 1 to main control module 5
System order；By client 1 live preview gunlock module 6 monitored picture, see whether the visual field is adjusted in place；User passes through client
1 sends end order；
B. master control borad program: main control module 5 receives, by mixed-media network modules mixed-media 2, the gunlock cradle head control order that client 1 sends,
Receive client 1 by network to stop operating order；Read current gunlock The Cloud Terrace positional information and the monitoring figure of gunlock module 6
Picture, and update presetting bit information (X, Y) and correspondence image A, enter rifle ball and demarcate flow process, start rifle ball demarcating module 4 and calculate seat
Mark transition matrix parameter；
C. The Cloud Terrace plate program: gunlock cradle head control plate 7 controls motor and rotates or stop motor rotation, updates gunlock The Cloud Terrace pre-
Set information is current gunlock The Cloud Terrace position.
Although reference be made herein to invention has been described for the explanatory embodiment of the present invention, and above-described embodiment is only this
Bright preferably embodiment, embodiments of the present invention are also not restricted to the described embodiments, it should be appreciated that people in the art
Member can be designed that a lot of other amendments and embodiment, and these amendments and embodiment will fall in principle disclosed in the present application
Within scope and spirit.
Claims (5)
1. double cloud platform control methods of a multi-cam real-time linkage, it is characterised in that it includes:
1). system initialization step:
A. gunlock cradle head control plate (7) starts gunlock The Cloud Terrace program self-inspection, and high-speed holder panel (9) starts ball machine head program
Self-inspection, each completes self-inspection, and gunlock horizontal stage electric machine, ball machine head motor each complete to reset；
B. main control module (5) accesses memory module (10), reads gunlock cradle head preset positions information in memory module (10)；
C. when reading the success of gunlock cradle head preset positions information, then main control module (5) sends to gunlock cradle head control plate (7) and controls life
Order, rotates to gunlock The Cloud Terrace presetting bit, then reads the rifle ball nominal data corresponding to this presetting bit；Number is demarcated when reading rifle ball
According to success, then terminate；When reading, rifle ball nominal data is unsuccessful, then enter rifle ball calibrating procedure, start rifle ball demarcating module (4)
Complete the conversion of rifle ball nominal data；
D. when reading the failure of gunlock cradle head preset positions information, then main control module (5) is carried to client (1) by mixed-media network modules mixed-media (2)
Show " needing to arrange gunlock cradle head preset positions " message；Client (1) sends order by mixed-media network modules mixed-media (2) to main control module (5),
Main control module (5) controls gunlock The Cloud Terrace by gunlock cradle head control plate (7) and rotates, and gunlock The Cloud Terrace rotates to the preset position of correspondence
(X, Y), gunlock module (6) obtains corresponding monitoring image A, and is saved in memory module (10))；It follows that then enter rifle
Ball calibrating procedure, starts rifle ball demarcating module (4) to complete the conversion of rifle ball nominal data；
2). periodic detection and correction step:
A. starting periodic detection flow process, main control module (5) reads gunlock cradle head preset positions information (X, Y) in memory module (10)
With image A；
B. gather the image A` of the current The Cloud Terrace position of gunlock module (6), read current The Cloud Terrace position data (x`, y`),
And (X, Y) and (x`, y`) is subtracted each other, the absolute value taking its difference is that step number is poor；
C. when described step number difference is not 0, then, to gunlock cradle head control plate (7) transmitting control commands, The Cloud Terrace is rotated to (X,
Y), gather the image A`` of current gunlock The Cloud Terrace position, call image registration unit (3) movement images A and A``, as image A and A
The similarity of `` is more than threshold value, then start rifle ball demarcating module (4), recalculate coordinate transformation parameter, update presetting bit information
For current gunlock The Cloud Terrace positional information (X, Y) and image A``；
D. when described step number difference is 0, then image registration unit (3) movement images A and A` are called, similar as image A with A`
Degree is more than threshold value, then updating presetting bit information is current gunlock cradle head preset positions information (X`, Y`) and image A`, notifies gunlock cloud
Platen program setting current location is presetting bit, and gunlock The Cloud Terrace rotates to new presetting bit (X`, Y`), periodic detection and correction knot
Bundle；
3). remotely rate-determining steps:
A. client flow process: user sends The Cloud Terrace control by the gunlock cradle head control button in client (1) to main control module (5)
System order；By client (1) live preview gunlock module (6) monitored picture, see whether the visual field is adjusted in place；User is by visitor
Family end (1) sends and terminates order；
B. master control borad program: main control module (5) receives, by mixed-media network modules mixed-media (2), the gunlock cradle head control life that client (1) sends
Order, receives client (1) by network and stops operating order；Read current gunlock The Cloud Terrace positional information and gunlock module (6)
Monitoring image, and update presetting bit information (X, Y) and correspondence image A, enter rifle ball and demarcate flow process, start rifle ball demarcating module
(4) coordinates computed conversion parameter；
C. The Cloud Terrace plate program: gunlock cradle head control plate (7) controls motor and rotates or stop motor rotation, updates gunlock The Cloud Terrace preset
Position information is current gunlock The Cloud Terrace position.
2. according to double cloud platform control methods of the multi-cam real-time linkage described in claim 1, it is characterised in that described
Rifle ball calibrating procedure is: obtain gunlock current location and the marked feature angle point of picture, high-speed holder panel (9) control marble forming machine
Integration zoom movement (8) rotates to position corresponding with gunlock picture successively, and by described marked feature angle point in ball machine
It is amplified to maximum multiple and is placed in ball machine picture center, obtaining the horizontal vertical deflection of now ball machine head position motor
Data, after obtaining three groups of data above, calculate between gunlock monopod video camera picture arbitrfary point and ball machine head video camera
Coordinate transformation parameter.
Double cloud platform control methods of multi-cam real-time linkage the most according to claim 1, it is characterised in that described rifle
Machine head program self-inspection includes:
A. gunlock cradle head control plate (7) directly reads the presetting bit information being stored in gunlock cradle head control plate (7)；
B. when reading the success of described presetting bit information, then gunlock The Cloud Terrace rotates to presetting bit；
C. when reading the failure of presetting bit information, then gunlock horizontal stage electric machine rotates to motor horizontal direction total step-length 1/2 position, vertical
Total step-length 1/2 position.
Double cloud platform control methods of multi-cam real-time linkage the most according to claim 1, it is characterised in that described rifle
Machine module (6) is Radix Rumicis gunlock module, and described gunlock module (6) quantity is more than one.
Double cloud platform control methods of multi-cam real-time linkage the most according to claim 1, it is characterised in that described electricity
Machine is motor.
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