CN105700562A - Device and method for correcting camera tripod head - Google Patents
Device and method for correcting camera tripod head Download PDFInfo
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- CN105700562A CN105700562A CN201610070882.8A CN201610070882A CN105700562A CN 105700562 A CN105700562 A CN 105700562A CN 201610070882 A CN201610070882 A CN 201610070882A CN 105700562 A CN105700562 A CN 105700562A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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Abstract
The invention discloses a device and method for correcting a camera tripod head. The correcting device comprises a tripod head fixing part, a tripod head rotating part, an imaging module, a motion recognition processing module, a tripod head motor control module, and a limiting module. The imaging module is electrically connected with the motion recognition processing module and the tripod head motor control module; a tripod head moving module is mechanically connected with the tripod head motor control module; the limiting module is arranged on the tripod head. According to the method for correcting a camera tripod head, the present stepping motor for driving is replaced; the tripod head is returned to zero through presetting the number of required steps to achieve mandatory correction; an image motion detecting technology is used in combination with mechanical control to correct tripod heads so that the method has high reliability.
Description
Technical field
The present invention relates to camera support platform technical field, be specifically related to a kind of camera pan-tilt apparatus for correcting and method。
Background technology
Further development along with video monitoring system, intelligent, unmanned feature becomes one of trend of supervision system development, video camera is as headend equipment, monitoring system plays very important effect, it coordinates the function realizing more intellectuality, automatization with daemon software, and it supports platform and The Cloud Terrace。
There are two motors inside The Cloud Terrace, are each responsible for the rotation of the upper and lower of The Cloud Terrace and left and right all directions。The location of The Cloud Terrace is realized by stopping means, in use once stopping means damages, then can cause the situation that The Cloud Terrace cannot position。
Some The Cloud Terrace is to adopt motor to drive, and needs how many step thus forcing to correct by the method that The Cloud Terrace makes zero by pre-setting。But the problem that The Cloud Terrace transships will necessarily more or less be caused in location every time, even The Cloud Terrace needs to rotate, at original place drive motor, the whole step numbers needed one week, so may result in the horizontal stage electric machine life-span impaired, and reliability is not high yet。
Summary of the invention
In view of this, the application provides a kind of camera pan-tilt apparatus for correcting and method, when avoiding using the method rotating fixing step number to reorientate to realize The Cloud Terrace when limit switch, reduces cost, protects electrical machinery life, improve the purpose of reliability。
For solving above technical problem, the technical scheme of first aspect provided by the invention is a kind of camera pan-tilt apparatus for correcting, including The Cloud Terrace fixed part, cloud platform rotation portion, also includes,
Image image-forming module, is used for gathering image and acquired image being sent to Motion Recognition processing module；
Motion Recognition processing module, for receiving the image that described image image-forming module sends, and is analyzed image, identifies image motion；
Horizontal stage electric machine controls module, for receiving the cradle head control order that described Motion Recognition processing module sends, and described cradle head control order is sent to the control The Cloud Terrace corrective exercise of The Cloud Terrace motion module；
The Cloud Terrace motion module, is used for driving The Cloud Terrace to move；
Spacing module, is used for stoping The Cloud Terrace to move；
Described image image-forming module controls module with described Motion Recognition processing module, horizontal stage electric machine and electrically connects；Described The Cloud Terrace motion module and described horizontal stage electric machine control module and are mechanically connected；Described spacing module is arranged on described The Cloud Terrace。
Further, described The Cloud Terrace motion module includes The Cloud Terrace horizontal movement module and The Cloud Terrace moves both vertically module；
Described The Cloud Terrace horizontal movement module, is used for receiving cradle head control order, and controls the motion of The Cloud Terrace rectification according to cradle head control order；
Described The Cloud Terrace moves both vertically module, is used for receiving cradle head control order, and controls the motion of The Cloud Terrace vertical correction according to cradle head control order。
Further, described spacing module includes the spacing module of The Cloud Terrace fixed part, the spacing module in cloud platform rotation portion；
Described i.e. 0 the spacing module of the spacing module of The Cloud Terrace fixed part, is arranged on described The Cloud Terrace fixed part and The Cloud Terrace pedestal；
The spacing module in described cloud platform rotation portion and photographic head stopping means, be arranged on described cloud platform rotation portion and video camera and The Cloud Terrace connecting portion。
Further, the described spacing module of The Cloud Terrace fixed part, the spacing module in cloud platform rotation portion are cord tissue and position when initial 0 position of the spacing module of The Cloud Terrace fixed part, the spacing module in cloud platform rotation portion is occur spacing。
The technical scheme of second aspect provided by the invention is a kind of camera pan-tilt antidote, comprises the following steps:
A, image image-forming module gather image and acquired image are sent to Motion Recognition processing module；
B, Motion Recognition processing module receive the image that described image image-forming module sends, and image is analyzed, and identify image motion；
C, horizontal stage electric machine control module and receive the cradle head control order that described Motion Recognition processing module sends, and this cradle head control order is sent to The Cloud Terrace motion module；
D, The Cloud Terrace motion module receive cradle head control order, and control The Cloud Terrace corrective exercise according to control command。
Further, the cradle head control order described in described step C includes The Cloud Terrace rectification order and The Cloud Terrace vertical correction order。
Further, described step B comprises the following steps:
B1, Motion Recognition processing module arrange susceptibility threshold, mobile detection region, the picture received is processed and compares with previous frame picture, according to whether the result after comparing exceedes susceptibility threshold, it is judged that image frame changes；The entrance step B2 if image frame changes, if image frame is not changed in continuing step B1；
B2, Motion Recognition processing module transmitting control commands are to The Cloud Terrace motion module, simultaneously, it is judged that whether The Cloud Terrace is corrected is put in place。
Further, described step C comprises the following steps:
C1, The Cloud Terrace motion module receive cradle head control order, and judge described cradle head control command type；
C2 is if The Cloud Terrace rectification order, and first The Cloud Terrace horizontal movement module level rotates clockwise The Cloud Terrace, and whether rectification puts in place to judge The Cloud Terrace；
If C3 The Cloud Terrace rectification puts in place, spacing module stops cloud platform rotation；The Cloud Terrace moves both vertically module rotary platform vertically downward, and whether vertical correction puts in place to judge The Cloud Terrace；Otherwise, The Cloud Terrace horizontal movement module continuation level rotates clockwise The Cloud Terrace；
If C4 The Cloud Terrace vertical correction puts in place, spacing module stops cloud platform rotation；Otherwise, the The Cloud Terrace module that moves both vertically continues rotary platform vertically downward。
Further, described step C comprises the following steps:
C1, The Cloud Terrace motion module receive cradle head control order, and judge described cradle head control command type；
C2 is if The Cloud Terrace vertical correction order, and first The Cloud Terrace moves both vertically module rotary platform vertically downward, and whether vertical correction puts in place to judge The Cloud Terrace；
If C3 The Cloud Terrace vertical correction puts in place, spacing module stops cloud platform rotation；The Cloud Terrace horizontal movement module level rotates clockwise The Cloud Terrace, and whether rectification puts in place to judge The Cloud Terrace；Otherwise, the The Cloud Terrace module that moves both vertically continues rotary platform vertically downward；
If C4 The Cloud Terrace rectification puts in place, spacing module stops cloud platform rotation；Otherwise, The Cloud Terrace horizontal movement module continuation level rotates clockwise The Cloud Terrace。
Compared with prior art, the invention has the beneficial effects as follows:
Camera pan-tilt apparatus for correcting good stability of the present invention, it is to avoid the element that easily strains of limit switch etc., removal sensor element, more succinct in structure, lower in cost。Meanwhile, in use avoid once stopping means damages, then to cause the situation that The Cloud Terrace cannot position。
Camera pan-tilt antidote of the present invention, replace adopting motor to drive at present, needing how many step thus forcing to correct by the method that The Cloud Terrace makes zero by pre-setting, adopting image motion detection techniques to realize correcting to The Cloud Terrace in conjunction with Mechanical course, reliability is high。
Camera pan-tilt antidote of the present invention can be avoided adopting motor to position the problem more or less causing The Cloud Terrace to transship at present；Can avoid causing that the horizontal stage electric machine life-span is impaired because The Cloud Terrace needs to rotate, at original place drive motor, the whole step numbers needed one week in correcting process simultaneously。
Accompanying drawing explanation
Fig. 1 is camera pan-tilt apparatus for correcting structured flowchart of the present invention；
Fig. 2 is camera pan-tilt apparatus for correcting structural representation of the present invention；
Fig. 3 is camera pan-tilt antidote flow chart of the present invention；
Fig. 4 is the flow chart realized further of step S2 described in Fig. 3；
Fig. 5 is the flow chart realized further of step S3 described in Fig. 3；
Fig. 6 is another flow chart realized further of step S3 described in Fig. 3；
Fig. 7 is the flow chart of camera pan-tilt antidote specific embodiment of the present invention。
Detailed description of the invention
In order to make those skilled in the art be more fully understood that technical scheme, below in conjunction with the drawings and specific embodiments, the present invention is described in further detail。
Camera pan-tilt apparatus for correcting of the present invention and method, replace adopting motor to drive at present, needing how many step thus forcing to correct by the method that The Cloud Terrace makes zero by pre-setting, reducing cost, protecting electrical machinery life, improving the purpose of reliability。
Embodiment 1
Referring to Fig. 1, camera pan-tilt apparatus for correcting described in the invention, control module 5, The Cloud Terrace motion module 6, spacing module 7 including The Cloud Terrace fixed part 1, cloud platform rotation portion 2, image image-forming module 3, Motion Recognition processing module 4, horizontal stage electric machine。Image image-forming module 3 controls module 5 with Motion Recognition processing module 4, horizontal stage electric machine and electrically connects；The Cloud Terrace motion module 6 and horizontal stage electric machine control module 5 and are mechanically connected；Spacing module 7 is arranged on described The Cloud Terrace。
Wherein, The Cloud Terrace motion module 6 includes again The Cloud Terrace horizontal movement module and The Cloud Terrace moves both vertically module, described The Cloud Terrace horizontal movement module, it is used for receiving cradle head control order, and controls the motion of The Cloud Terrace rectification according to cradle head control order；Described The Cloud Terrace moves both vertically module, is used for receiving cradle head control order, and controls the motion of The Cloud Terrace vertical correction according to cradle head control order。Spacing module 7 includes again the spacing module of The Cloud Terrace fixed part, the spacing module in cloud platform rotation portion, the described spacing module of The Cloud Terrace fixed part i.e. 0 spacing module, is arranged on described The Cloud Terrace fixed part 1 i.e. The Cloud Terrace pedestal。The described spacing module in cloud platform rotation portion and photographic head stopping means, be arranged on the i.e. video camera in described cloud platform rotation portion 2 and The Cloud Terrace connecting portion。
Specifically, image image-forming module 3 is photographic head, is used for gathering image and acquired image being sent to Motion Recognition processing module 4；Motion Recognition processing module 4, for receiving the image that described image image-forming module sends, and is analyzed image, identifies image motion；Horizontal stage electric machine controls module 5, for receiving the cradle head control order that Motion Recognition processing module 4 sends, and described cradle head control order is sent to The Cloud Terrace motion module 6 controls The Cloud Terrace corrective exercise；Spacing module 7, is used for stoping The Cloud Terrace to move。
Referring to Fig. 2, The Cloud Terrace fixed part 1 is connected the fixing connection of axle 8 with cloud platform rotation portion 2 by The Cloud Terrace, and The Cloud Terrace drive motor 9 is arranged around connecting axle 8。The spacing module of The Cloud Terrace fixed part is radially arranged on The Cloud Terrace pedestal along connecting axle 8, and the spacing module in cloud platform rotation portion is radially arranged in cloud platform rotation portion along connecting axle 8。The described spacing module of The Cloud Terrace fixed part, the spacing module in cloud platform rotation portion are cord tissue, and namely spacing position occurs in initial 0 position of the spacing module of The Cloud Terrace fixed part, the spacing module in cloud platform rotation portion。
Camera pan-tilt apparatus for correcting of the present invention removes the element that easily strains of current limit switch, sensor etc., more succinct in structure, lower in cost。Meanwhile, in use avoid once stopping means damages, then to cause the situation that The Cloud Terrace cannot position。
Embodiment 2
Referring to Fig. 3, the present invention realizes camera pan-tilt antidote based on aforementioned video camera The Cloud Terrace apparatus for correcting, comprises the following steps:
Acquired image is also sent to Motion Recognition processing module by S1, camera collection image；
S2, Motion Recognition processing module receive the image that described image image-forming module sends, and image is analyzed, and identify image motion；
S3, horizontal stage electric machine control module cradle head control order, and this cradle head control order is sent to The Cloud Terrace motion module, and The Cloud Terrace motion module receives cradle head control order, and controls The Cloud Terrace corrective exercise according to control command。
Specifically, the cradle head control order described in described step S3 includes The Cloud Terrace rectification order and The Cloud Terrace vertical correction order。Described cradle head control order Motion Recognition processing module again is sent to horizontal stage electric machine and controls module。
Referring to Fig. 4, above-mentioned steps S2 specifically includes following steps:
S201, Motion Recognition processing module arrange susceptibility threshold, mobile detection region, the picture received is processed and compares with reference picture, according to whether the result after comparing exceedes susceptibility threshold, it is judged that image frame changes；The entrance step S202 if image frame changes, if image frame is not changed in continuing step S201；Wherein, described reference picture be previous frame or upper one second image image-forming module and the picture that arrives of camera collection。
S202, Motion Recognition processing module transmitting control commands are to The Cloud Terrace motion module, simultaneously, it is judged that whether The Cloud Terrace is corrected is put in place。
A kind of implementation referring to Fig. 5, described step S3 specifically includes following steps:
S301, The Cloud Terrace motion module receive cradle head control order, and judge described cradle head control command type；
S302 is if The Cloud Terrace rectification order, and first The Cloud Terrace horizontal movement module level rotates clockwise The Cloud Terrace, and whether rectification puts in place to judge The Cloud Terrace；
If S303 The Cloud Terrace rectification puts in place, spacing module stops cloud platform rotation；The Cloud Terrace moves both vertically module rotary platform vertically downward, and whether vertical correction puts in place to judge The Cloud Terrace；Otherwise, The Cloud Terrace horizontal movement module continuation level rotates clockwise The Cloud Terrace；
If S304 The Cloud Terrace vertical correction puts in place, spacing module stops cloud platform rotation；Otherwise, the The Cloud Terrace module that moves both vertically continues rotary platform vertically downward。
Another kind of implementation referring to Fig. 6, above-mentioned steps S3 specifically includes following steps:
S305, The Cloud Terrace motion module receive cradle head control order, and judge described cradle head control command type；
S306 is if The Cloud Terrace vertical correction order, and first The Cloud Terrace moves both vertically module rotary platform vertically downward, and whether vertical correction puts in place to judge The Cloud Terrace；
If S307 The Cloud Terrace vertical correction puts in place, spacing module stops cloud platform rotation；The Cloud Terrace horizontal movement module level rotates clockwise The Cloud Terrace, and whether rectification puts in place to judge The Cloud Terrace；Otherwise, the The Cloud Terrace module that moves both vertically continues rotary platform vertically downward；
If S308 The Cloud Terrace rectification puts in place, spacing module stops cloud platform rotation；Otherwise, The Cloud Terrace horizontal movement module continuation level rotates clockwise The Cloud Terrace。
Camera pan-tilt antidote of the present invention, replace adopting motor to drive at present, needing how many step thus forcing to correct by the method that The Cloud Terrace makes zero by pre-setting, adopting image motion detection techniques to realize correcting to The Cloud Terrace in conjunction with Mechanical course, reliability is high。
Specifically, the realization of camera pan-tilt antidote of the present invention comprises the following steps:
S101, equipment start, and camera collection image, Motion Recognition processing module pre-sets susceptibility threshold, reference picture numerical value；Acquired image is sent to Motion Recognition processing module by photographic head；
S102, Motion Recognition processing module process the image received, it is judged that whether image frame changes；
Specifically, carry out the picture received processing calculating, calculating of making comparisons with the reference picture numerical value pre-set, judge whether image frame changes according to the result after comparing。If the result after comparing exceedes set susceptibility threshold, then image frame changes, and sensitivity triggers output, and the output cradle head control order of Motion Recognition processing module controls module to horizontal stage electric machine。If the result after comparing is less than set susceptibility threshold, then image frame does not change, and sensitivity will not trigger output, and Motion Recognition processing module would not export cradle head control order and control module to horizontal stage electric machine。
Described reference picture is previous frame or picture that upper one second, camera collection arrived。
S103, horizontal stage electric machine control module and receive cradle head control order, it is judged that The Cloud Terrace is corrected by cradle head control command type correspondingly control The Cloud Terrace motion module。
Specifically, if The Cloud Terrace rectification order, first The Cloud Terrace horizontal movement module level rotates clockwise The Cloud Terrace, and whether rectification puts in place to judge The Cloud Terrace；
If The Cloud Terrace rectification puts in place, spacing module stops cloud platform rotation；The Cloud Terrace moves both vertically module rotary platform vertically downward, and whether vertical correction puts in place to judge The Cloud Terrace；Otherwise, The Cloud Terrace horizontal movement module continuation level rotates clockwise The Cloud Terrace；
If The Cloud Terrace vertical correction puts in place, spacing module stops cloud platform rotation；Otherwise, the The Cloud Terrace module that moves both vertically continues rotary platform vertically downward。
Same, it is possible to first vertical correction, rear rectification, as follows:
If The Cloud Terrace vertical correction order, first The Cloud Terrace moves both vertically module rotary platform vertically downward, and whether vertical correction puts in place to judge The Cloud Terrace；
If The Cloud Terrace vertical correction puts in place, spacing module stops cloud platform rotation；The Cloud Terrace horizontal movement module level rotates clockwise The Cloud Terrace, and whether rectification puts in place to judge The Cloud Terrace；Otherwise, the The Cloud Terrace module that moves both vertically continues rotary platform vertically downward；
If The Cloud Terrace rectification puts in place, spacing module stops cloud platform rotation；Otherwise, The Cloud Terrace horizontal movement module continuation level rotates clockwise The Cloud Terrace。
Rectification terminates。Of the present invention judge that whether The Cloud Terrace is horizontally or vertically corrected and put in place, realize by continuing to judge image frame whether to be moved after correcting The Cloud Terrace。If image frame is moved, then prove that The Cloud Terrace puts in place but without rectification, also need to continue to correct；If image frame is not moved, then proves that The Cloud Terrace is corrected and put in place, it is not necessary to continuing to correct, now spacing module hinders The Cloud Terrace to be rotated further。
Below being only the preferred embodiment of the present invention, it is noted that above-mentioned preferred implementation is not construed as limitation of the present invention, protection scope of the present invention should be as the criterion with claim limited range。For those skilled in the art, without departing from the spirit and scope of the present invention, it is also possible to make some improvements and modifications, these improvements and modifications also should be regarded as protection scope of the present invention。
Claims (9)
1. a camera pan-tilt apparatus for correcting, including The Cloud Terrace fixed part, cloud platform rotation portion, it is characterised in that also include,
Image image-forming module, is used for gathering image and acquired image being sent to Motion Recognition processing module；
Motion Recognition processing module, for receiving the image that described image image-forming module sends, and is analyzed image, identifies image motion；
Horizontal stage electric machine controls module, for receiving the cradle head control order that described Motion Recognition processing module sends, and described cradle head control order is sent to the control The Cloud Terrace corrective exercise of The Cloud Terrace motion module；
The Cloud Terrace motion module, is used for driving The Cloud Terrace to move；
Spacing module, is used for stoping The Cloud Terrace to move；
Described image image-forming module controls module with described Motion Recognition processing module, horizontal stage electric machine and electrically connects；Described The Cloud Terrace motion module and described horizontal stage electric machine control module and are mechanically connected；Described spacing module is arranged on described The Cloud Terrace。
2. camera pan-tilt apparatus for correcting according to claim 1, it is characterised in that module that described The Cloud Terrace motion module includes The Cloud Terrace horizontal movement module and The Cloud Terrace moves both vertically；
Described The Cloud Terrace horizontal movement module, is used for receiving cradle head control order, and controls the motion of The Cloud Terrace rectification according to cradle head control order；
Described The Cloud Terrace moves both vertically module, is used for receiving cradle head control order, and controls the motion of The Cloud Terrace vertical correction according to cradle head control order。
3. camera pan-tilt apparatus for correcting according to claim 1, it is characterised in that described spacing module includes the spacing module of The Cloud Terrace fixed part, the spacing module in cloud platform rotation portion；
Described i.e. 0 the spacing module of the spacing module of The Cloud Terrace fixed part, is arranged on described The Cloud Terrace fixed part and The Cloud Terrace pedestal；
The spacing module in described cloud platform rotation portion and photographic head stopping means, be arranged on described cloud platform rotation portion and video camera and The Cloud Terrace connecting portion。
4. camera pan-tilt apparatus for correcting according to claim 3, it is characterized in that, the described spacing module of The Cloud Terrace fixed part, the spacing module in cloud platform rotation portion are cord tissue and position when initial 0 position of the spacing module of The Cloud Terrace fixed part, the spacing module in cloud platform rotation portion is occur spacing。
5. a camera pan-tilt antidote, it is characterised in that comprise the following steps:
A, image image-forming module gather image and acquired image are sent to Motion Recognition processing module；
B, Motion Recognition processing module receive the image that described image image-forming module sends, and image is analyzed, and identify image motion；
C, horizontal stage electric machine control module and receive the cradle head control order that described Motion Recognition processing module sends, and this cradle head control order is sent to The Cloud Terrace motion module；
D, The Cloud Terrace motion module receive cradle head control order, and control The Cloud Terrace corrective exercise according to control command。
6. camera pan-tilt antidote according to claim 5, it is characterised in that the cradle head control order described in described step C includes The Cloud Terrace rectification order and The Cloud Terrace vertical correction order。
7. camera pan-tilt antidote according to claim 5, it is characterised in that described step B comprises the following steps:
B1, Motion Recognition processing module arrange susceptibility threshold, mobile detection region, the picture received is processed and compares with previous frame picture, according to whether the result after comparing exceedes susceptibility threshold, it is judged that image frame changes；The entrance step B2 if image frame changes, if image frame is not changed in continuing step B1；
B2, Motion Recognition processing module transmitting control commands are to The Cloud Terrace motion module, simultaneously, it is judged that whether The Cloud Terrace is corrected is put in place。
8. camera pan-tilt antidote according to claim 5, it is characterised in that described step C comprises the following steps:
C1, The Cloud Terrace motion module receive cradle head control order, and judge described cradle head control command type；
C2 is if The Cloud Terrace rectification order, and first The Cloud Terrace horizontal movement module level rotates clockwise The Cloud Terrace, and whether rectification puts in place to judge The Cloud Terrace；
If C3 The Cloud Terrace rectification puts in place, spacing module stops cloud platform rotation；The Cloud Terrace moves both vertically module rotary platform vertically downward, and whether vertical correction puts in place to judge The Cloud Terrace；Otherwise, The Cloud Terrace horizontal movement module continuation level rotates clockwise The Cloud Terrace；
If C4 The Cloud Terrace vertical correction puts in place, spacing module stops cloud platform rotation；Otherwise, the The Cloud Terrace module that moves both vertically continues rotary platform vertically downward。
9. camera pan-tilt antidote according to claim 5, it is characterised in that described step C comprises the following steps:
C1, The Cloud Terrace motion module receive cradle head control order, and judge described cradle head control command type；
C2 is if The Cloud Terrace vertical correction order, and first The Cloud Terrace moves both vertically module rotary platform vertically downward, and whether vertical correction puts in place to judge The Cloud Terrace；
If C3 The Cloud Terrace vertical correction puts in place, spacing module stops cloud platform rotation；The Cloud Terrace horizontal movement module level rotates clockwise The Cloud Terrace, and whether rectification puts in place to judge The Cloud Terrace；Otherwise, the The Cloud Terrace module that moves both vertically continues rotary platform vertically downward；
If C4 The Cloud Terrace rectification puts in place, spacing module stops cloud platform rotation；Otherwise, The Cloud Terrace horizontal movement module continuation level rotates clockwise The Cloud Terrace。
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610070882.8A CN105700562A (en) | 2016-01-29 | 2016-01-29 | Device and method for correcting camera tripod head |
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| CN201610070882.8A CN105700562A (en) | 2016-01-29 | 2016-01-29 | Device and method for correcting camera tripod head |
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| CN110107786A (en) * | 2019-03-29 | 2019-08-09 | 安徽清新互联信息科技有限公司 | A kind of cradle head preset positions realization method and system based on video detection |
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