CN113824927A - Control method and device for automatic cruise of holder, electronic device and storage medium - Google Patents
Control method and device for automatic cruise of holder, electronic device and storage medium Download PDFInfo
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- CN113824927A CN113824927A CN202110948316.3A CN202110948316A CN113824927A CN 113824927 A CN113824927 A CN 113824927A CN 202110948316 A CN202110948316 A CN 202110948316A CN 113824927 A CN113824927 A CN 113824927A
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- 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
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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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
- G05D3/20—Control of position or direction using feedback using a digital comparing device
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Abstract
The application relates to a control method, a device, an electronic device and a storage medium for automatic cruise of a holder, wherein the method comprises the following steps: setting a tripod head cruise preset point, and acquiring a monitoring picture corresponding to each preset point; judging whether a preset intelligent event occurs in the monitoring picture; determining track information corresponding to an intelligent event when the intelligent event occurs in a monitoring picture, wherein the track information comprises: presetting point information corresponding to a monitoring picture to which the intelligent event belongs and time information corresponding to the intelligent event; and updating a preset cruise track time axis according to the preset point information and the time information, and controlling the cradle head to automatically cruise according to the updated cruise track time axis. By the method and the device, the problem that the capturing rate of the cloud deck to the key picture in video monitoring in the related technology is low is solved, and the technical effect of improving the capturing rate of the cloud deck to the key picture in video monitoring is achieved.
Description
Technical Field
The present disclosure relates to the field of video surveillance technologies, and in particular, to a method and an apparatus for controlling automatic cruise of a pan/tilt, an electronic apparatus, and a storage medium.
Background
The cradle head is a supporting device for mounting and fixing a camera and is divided into a fixed cradle head and an electric cradle head. The electric pan-tilt is suitable for scanning and monitoring a large range, and can enlarge the monitoring range of the camera. The motion of the electric pan-tilt is realized by a pan-tilt motor, the pan-tilt motor receives signals from a controller to accurately run and position, under the action of control signals, a shaft arm of the pan-tilt is matched with the motor to drive the camera shooting equipment to move in one or more directions, so that images are shot in a large range, and a camera on the pan-tilt can automatically scan a monitoring area and can also track a monitoring object under the control of an operator on duty in a monitoring center.
Because the scene range that can be seen when the camera fixes the visual angle is preferred, when needing to carry out effective control to each direction and angle in the control range again, the personnel on duty can't carry out incessant cloud platform control to numerous cameras, therefore, cloud platform automatic cruise function is in force, and cloud platform automatic cruise sets for a cruise orbit in advance promptly, and control cloud platform according to this orbit cycle rotation.
At present, in the related art, the generation and modification of the cruise track of the cradle head both need artificial participation, or the cruise track is automatically generated based on the event detection data of the cradle head, however, the cruise track is poor in correction timeliness under the condition that the cruise track needs to be modified; in the latter, because a monitoring picture outside the pan-tilt is not obtained, information in an area which cannot be monitored by the pan-tilt cannot be captured and utilized in time, and before dynamic information such as key characters, key vehicles and the like enters the monitoring picture, the pan-tilt cannot accurately arrive at a corresponding preset point in time to wait for the entering of the characters and the vehicles, so that the capturing rate of the pan-tilt on key picture data is low and untimely.
At present, no effective solution is provided for the problem of low capture rate of key pictures in video monitoring of a cradle head in the related art.
Disclosure of Invention
The embodiment of the application provides a control method, a control device, an electronic device and a storage medium for automatic cruising of a holder, so as to at least solve the problem that the capturing rate of the holder to key pictures in video monitoring in the related art is low.
In a first aspect, an embodiment of the present application provides a control method for automatic cruising of a pan/tilt head, including: setting a tripod head cruise preset point, and acquiring a monitoring picture corresponding to each preset point; judging whether a preset intelligent event occurs in the monitoring picture; determining track information corresponding to the intelligent event when the intelligent event occurs in the monitoring picture, wherein the track information comprises: presetting point information corresponding to the monitoring picture to which the intelligent event belongs and time information corresponding to the intelligent event; and updating a preset cruise track time axis according to the preset point information and the time information, and controlling the holder to automatically cruise according to the updated cruise track time axis.
In some embodiments, the time information includes time point information when a moving object corresponding to the smart event moves to a preset point corresponding to a monitoring picture to which the smart event belongs, and time period information when the cradle head stays at the preset point; determining trajectory information corresponding to the smart event includes: acquiring a first distance from an occurrence place of the intelligent event to a preset point corresponding to a monitoring picture to which the intelligent event belongs; acquiring the moving speed of a moving target corresponding to the intelligent event; determining time point information when the moving target moves to the preset point according to the moving speed and the first distance, and determining time period information of the cloud deck staying at the preset point according to the time point information and preset cloud deck staying time corresponding to the preset point; determining that the track information corresponding to the smart event includes the time point information and the time period information.
In some embodiments, determining a first distance from an occurrence location of the smart event to a preset point corresponding to a monitoring screen to which the smart event belongs includes: acquiring a second distance from the central position of the monitoring picture corresponding to the intelligent event to the preset point; and determining a first distance from the occurrence place of the intelligent event to the preset point according to the position of the occurrence place in the monitoring picture and the second distance.
In some of these embodiments, the trajectory information further includes priority information corresponding to the smart event; according to the preset point information and the time information, updating a preset cruise track time axis comprises: judging whether intelligent events with overlapped time exist in the plurality of intelligent events according to the time information corresponding to each intelligent event; and under the condition that the intelligent events with time overlap exist in the plurality of intelligent events, recording the track information corresponding to the intelligent event with the highest priority in the intelligent events with time overlap into the cruise track time axis according to the priority information corresponding to the intelligent events.
In some embodiments, determining whether there is an intelligent event with overlapping time in the plurality of intelligent events according to the time information corresponding to each intelligent event includes: acquiring time period information corresponding to each intelligent event, and judging whether time period information with overlapped time points exists in the plurality of time period information or not; and determining that the intelligent event corresponding to the time period information with the overlapped time points is the intelligent event with the overlapped time.
In some of these embodiments, the method further comprises: under the condition that time-overlapped intelligent events exist in a plurality of intelligent events, determining that the priority of a first intelligent event is higher than that of a second intelligent event according to priority information corresponding to the intelligent events; determining overlapping time period information of the first intelligent event and the second intelligent event according to time period information corresponding to the first intelligent event and time period information corresponding to the second intelligent event; cutting off overlapped time period information in the time period information corresponding to the second intelligent event, determining corrected time point information and corrected time period information corresponding to the second intelligent event, and determining that corrected track information corresponding to the second intelligent event comprises the corrected time point information and the corrected time period information; and respectively recording track information corresponding to the first intelligent event and corrected track information corresponding to the second intelligent event into the cruise track time axis.
In some of these embodiments, the method further comprises: and under the condition that the intelligent event does not occur in the monitoring picture, controlling the holder to automatically cruise according to a preset cruise track time axis.
In a second aspect, an embodiment of the present application provides a control device for automatic cruise of a pan/tilt head, where the device includes: the device comprises a setting module, a monitoring module and a control module, wherein the setting module is used for setting the cruising preset points of the holder and acquiring a monitoring picture corresponding to each preset point; the judging module is used for judging whether a preset intelligent event occurs in the monitoring picture; a determining module, configured to determine, when the smart event occurs in the monitoring screen, trajectory information corresponding to the smart event, where the trajectory information includes: presetting point information corresponding to the monitoring picture to which the intelligent event belongs and time information corresponding to the intelligent event; and the generation module is used for updating a preset cruise track time axis according to the preset point information and the time information and controlling the holder to automatically cruise according to the updated cruise track time axis.
In a third aspect, an embodiment of the present application further provides an electronic device, including a memory and a processor, where the memory stores a computer program, and the processor is configured to execute the computer program to perform the control method for pan-tilt auto-cruise according to the first aspect.
In a fourth aspect, an embodiment of the present application further provides a storage medium, where a computer program is stored in the storage medium, where the computer program, when executed by a processor, implements the method for controlling the pan-tilt automatic cruise according to the first aspect.
Compared with the related art, the control method, the device, the electronic device and the storage medium for automatic pan/tilt cruise provided by the embodiment of the application set the pan/tilt cruise preset points, acquire the monitoring picture corresponding to each preset point, judge whether the preset intelligent event occurs in the monitoring picture, and determine the track information corresponding to the intelligent event under the condition that the intelligent event occurs in the monitoring picture, wherein the track information comprises: and finally, updating a preset cruise track time axis according to the preset point information and the time information, and controlling the cradle head to automatically cruise according to the updated cruise track time axis, so that the problem of low capture rate of the cradle head on key pictures in video monitoring in the related art is solved, and the technical effect of improving the capture rate of the cradle head on the key pictures in video monitoring is realized.
The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below to provide a more thorough understanding of the application.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a flowchart of a control method for automatic cruise of a pan/tilt head according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a cruise track timeline according to an embodiment of the present application;
fig. 3 is a flow chart of a control method of automatic cruise of a pan-tilt according to a preferred embodiment of the present application;
fig. 4 is a block diagram of a control device for automatic cruise of a pan/tilt head according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments provided in the present application without any inventive step are within the scope of protection of the present application. Moreover, it should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of ordinary skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments without conflict.
Unless defined otherwise, technical or scientific terms referred to herein shall have the ordinary meaning as understood by those of ordinary skill in the art to which this application belongs. Reference to "a," "an," "the," and similar words throughout this application are not to be construed as limiting in number, and may refer to the singular or the plural. The present application is directed to the use of the terms "including," "comprising," "having," and any variations thereof, which are intended to cover non-exclusive inclusions; for example, a process, method, system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to the listed steps or elements, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. Reference to "connected," "coupled," and the like in this application is not intended to be limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. Reference herein to "a plurality" means greater than or equal to two. "and/or" describes an association relationship of associated objects, meaning that three relationships may exist, for example, "A and/or B" may mean: a exists alone, A and B exist simultaneously, and B exists alone. Reference herein to the terms "first," "second," "third," and the like, are merely to distinguish similar objects and do not denote a particular ordering for the objects.
The present embodiment provides a control method for automatic cruise of a pan/tilt head, and fig. 1 is a flowchart of a control method for automatic cruise of a pan/tilt head according to an embodiment of the present application, and as shown in fig. 1, the method includes:
and S101, setting a tripod head cruise preset point, and acquiring a monitoring picture corresponding to each preset point.
In this embodiment, when a plurality of entrances exist in a monitored scene, for example, a road intersection, a hall with a plurality of entrances and exits, a cruise preset point may be set at each entrance and exit, and at the same time, each preset point corresponds to one camera, and the monitoring range of each camera is the entrance and exit area corresponding to the corresponding preset point; the cloud platform can be arranged at the centers of a plurality of entrances and exits so as to ensure that the cloud platform can monitor the entrance and exit areas corresponding to each preset point when automatically patrolling and navigating.
And S102, judging whether a preset intelligent event occurs in the monitoring picture.
In this embodiment, both the pan/tilt and the camera may be connected to each channel of the back-end storage device, and the back-end storage device may receive the intelligent events uploaded by the pan/tilt and the camera; or intelligently analyzing the monitoring pictures uploaded by the pan-tilt and the camera through the intelligent analysis function of the rear-end storage device, and judging whether preset intelligent events occur in the monitoring pictures.
In the above embodiment, the determination process of the intelligent event may be performed in the pan/tilt and the camera, or may be performed in the backend storage device, where the intelligent event is a type of trigger time for triggering the following intelligent analysis on the track information corresponding to the intelligent event, and the intelligent event includes, but is not limited to, at least one of the following: people streaming events, vehicle streaming events, fighting events, vehicle accident events, and the like.
Step S103, determining track information corresponding to the intelligent event when the intelligent event occurs in the monitoring picture, wherein the track information comprises: and the preset point information corresponds to the monitoring picture to which the intelligent event belongs, and the time information corresponds to the intelligent event.
And step S104, updating the preset cruise track time axis according to the preset point information and the time information, and controlling the cradle head to automatically cruise according to the updated cruise track time axis.
In this embodiment, the preset point information is used for marking the preset point corresponding to the current smart event, the time information is used for marking when the pan-tilt reaches the preset point and how long the pan-tilt stays at the preset point, the preset cruise track time axis can be updated by recording the track information corresponding to various smart events on the cruise track time axis, and the pan-tilt is controlled to automatically cruise according to the updated cruise track time axis, so that the pan-tilt can wait for the entry of a target or a vehicle at the corresponding preset point in time before the pan-tilt enters a picture in the dynamic information such as a key target, a key vehicle and the like, and further the capture rate of the pan-tilt to the key picture in video monitoring is improved.
Through the steps S101 to S104, by setting the pan/tilt/zoom preset points and acquiring the monitoring picture corresponding to each preset point, it is determined whether a preset intelligent event occurs in the monitoring picture, and under the condition that the intelligent event occurs in the monitoring picture, trajectory information corresponding to the intelligent event is determined, where the trajectory information includes: and finally, updating a preset cruise track time axis according to the preset point information and the time information, and controlling the cradle head to automatically cruise according to the updated cruise track time axis. By the method and the device, the problem that the capturing rate of the cloud deck to the key picture in video monitoring in the related technology is low is solved, and the technical effect of improving the capturing rate of the cloud deck to the key picture in video monitoring is achieved.
In some embodiments, the time information includes time point information when a moving target corresponding to the smart event moves to a preset point corresponding to a monitoring picture to which the smart event belongs, and time period information when the holder stays at the preset point; determining the track information corresponding to the intelligent event is realized by the following steps:
step 1, acquiring a first distance from an occurrence place of an intelligent event to a preset point corresponding to a monitoring picture to which the intelligent event belongs.
And 2, acquiring the moving speed of the moving target corresponding to the intelligent event.
And 3, determining time point information when the moving target moves to a preset point according to the moving speed and the first distance, and determining time period information of the holder staying at the preset point according to the time point information and preset holder staying time corresponding to the preset point.
And 4, determining that the track information corresponding to the intelligent event comprises time point information and time period information.
In this embodiment, determining a first distance from the occurrence location of the smart event to a preset point corresponding to the monitoring screen to which the smart event belongs may include: acquiring a second distance from the central position of the monitoring picture corresponding to the intelligent event to the preset point; and determining a first distance from the occurrence point of the intelligent event to the preset point according to the position of the occurrence point in the monitoring picture and the second distance.
In the above embodiment, according to an actual application scenario, an actual distance from the center position of the monitoring picture acquired by each camera to the corresponding preset point, that is, a second distance, may be acquired in advance; after the intelligent event is detected to occur, the position of the occurrence place of the current intelligent event in the monitoring picture is obtained, and the actual distance from the occurrence place of the current intelligent event to the corresponding preset point, namely the first distance, can be obtained by combining the actual distance from the central position of the monitoring picture obtained by the camera to the corresponding preset point.
The moving speed of the moving object can be calculated by the intelligent analysis module of the camera, for example: by arranging two parallel tripwire lines, the moving speed of the moving target can be calculated based on the position information and the time point information of two times of tripwire invasion.
In this embodiment, the time point information when the moving object reaches the corresponding preset point may be T1 ═ T0+ L/S, where T0 is the current time point information, L is the first distance, and S is the moving speed of the moving object, and if a calculation error E0 is preset, the time point information when the moving object reaches the corresponding preset point may be T1-E0; the time period information of the cradle head staying at the preset point is Si 2 × E0+ S0, wherein S0 is the preset cradle head staying time corresponding to the preset point.
In the above embodiment, based on the smart event obtained from the monitoring picture, time point information and time period information of the corresponding preset points on the cruise track time axis are generated, and then the sequence of each preset point on the cruise track time axis is obtained, the cruise track of the cradle head can be generated or corrected in real time according to the smart event, and compared with the related technology in which the cradle head is controlled to automatically cruise by setting a fixed cruise track, the embodiment can dynamically and intelligently generate or correct the cruise track of the cradle head, so that the capture rate of the cradle head on the key picture is improved, and the use experience of a user is improved.
In some of these embodiments, the trajectory information further includes priority information corresponding to the smart event; according to the preset point information and the time information, updating the preset cruise track time axis is implemented through the following steps:
step 1, judging whether time-overlapped intelligent events exist in a plurality of intelligent events according to time information corresponding to each intelligent event.
And 2, under the condition that the intelligent events with time overlap exist in the plurality of intelligent events, recording track information corresponding to the intelligent event with the highest priority in the intelligent events with time overlap into a cruise track time axis according to the priority information corresponding to the intelligent events.
In this embodiment, the priority order of the various types of smart events can be preset by the user, for example, the fighting event has higher priority than the people moving event and the vehicle moving event, the vehicle accident event has higher priority than the fighting event, and the like.
Fig. 2 is a schematic structural diagram of a cruise track time axis according to an embodiment of the present application, and as shown in fig. 2, in this embodiment, the track information may include event information, priority information, time point information, stay time period information, and corresponding preset point information, and when an intelligent event occurs at the same time at a plurality of preset points, the track information corresponding to the intelligent event with the highest priority may be recorded in the cruise track time axis according to the priority order of each intelligent event, so as to correct the cruise track of the pan-tilt-zoom-pan in real time.
As shown in fig. 2, when the pan/tilt head performs automatic cruise according to the updated cruise track time axis, the pan/tilt head reaches the preset point 1 at time t0, stays for the corresponding time according to the stay time period information recorded in the track information, then reaches the preset point 2 at time t1, reaches the preset point 5 at time t2, and so on.
In the above embodiment, when no smart event occurs in the monitoring screen, the pan/tilt head may be controlled to automatically cruise according to a preset cruise track time axis (i.e., an un-updated cruise track time axis).
The method can also record track information preset by a user into a cruise track time axis to control the cradle head to automatically cruise according to the cruise track time axis, wherein the priority information corresponding to the track information preset by the user is the lowest, so that when an intelligent event occurs, the track information corresponding to the intelligent event can be timely covered with the track information preset by the user, and the capture rate of the cradle head on key pictures in automatic cruise is ensured.
In some embodiments, determining whether there is an intelligent event with overlapping time in the plurality of intelligent events according to the time information corresponding to each intelligent event may include: acquiring time period information corresponding to each intelligent event, and judging whether time period information with overlapped time points exists in the plurality of time period information or not; and determining that the intelligent event corresponding to the time period information with the overlapped time points is the intelligent event with the overlapped time.
In this embodiment, it may be assumed that an existing smart event a has time point information of T0 and time period information of Si0, in the smart event, a time period in which the pan/tilt stays at its corresponding preset point is [ T0, T0+ Si0], in another smart event B, a time period in which the pan/tilt stays at its corresponding preset point is [ T1, T1+ Si1], and if there are overlapping time points of [ T0, T0+ Si0] and [ T1, T1+ Si1], it is determined that the smart event a and the smart event B are smart events having time overlapping.
In this embodiment, the method implements the following steps:
step 1, under the condition that time-overlapped intelligent events exist in a plurality of intelligent events, determining that the priority of a first intelligent event is higher than that of a second intelligent event according to priority information corresponding to the intelligent events.
And 2, determining the overlapped time period information of the first intelligent event and the second intelligent event according to the time period information corresponding to the first intelligent event and the time period information corresponding to the second intelligent event.
And 3, cutting off overlapped time period information in the time period information corresponding to the second intelligent event, determining corrected time point information and corrected time period information corresponding to the second intelligent event, and determining that the corrected track information corresponding to the second intelligent event comprises the corrected time point information and the corrected time period information.
And 4, respectively recording the track information corresponding to the first intelligent event and the corrected track information corresponding to the second intelligent event into a cruise track time axis.
In the above embodiment, when there is an intelligent event with overlapping time in a plurality of intelligent events, the overlapping time period information may be cut from the time period information corresponding to the intelligent event with a low priority, and the corrected time point information and the corrected time period information may be obtained, so as to obtain the corrected track information, and record the corrected track information in the time axis of the cruise track, so as to achieve the purpose of correcting the cruise track of the pan-tilt head in real time.
Fig. 3 is a flow chart of a control method for automatic cruise of a pan-tilt according to a preferred embodiment of the present application, as shown in fig. 3, which, in some embodiments, comprises:
step S301, acquiring the current intelligent event occurring in the monitoring picture.
Step S302, calculating the distance between the occurrence location of the current intelligent event and the preset point according to the location of the occurrence location of the current intelligent event in the monitoring picture and the location of the preset point corresponding to the current intelligent event.
Step S303, the moving speed of the moving target corresponding to the current intelligent event is determined by using an intelligent analysis module of the camera and/or the rear-end storage device.
And step S304, calculating the time point information of the moving target reaching the preset point, and calculating the time period information of the holder staying at the preset point according to the time point information.
Step S305, determining the priority information of the current intelligent event according to the preset intelligent event priority configuration information.
Step S306, judging whether a new intelligent event with time overlapping with the current intelligent event exists in the cruise track time axis of the holder, and entering step S307 under the condition that the new intelligent event with time overlapping with the current intelligent event exists in the cruise track time axis of the holder; otherwise, the process proceeds to step S310.
Step S307, judging whether the priority of the new intelligent event is higher than that of the current intelligent event, and entering step S308 under the condition that the priority of the new intelligent event is higher than that of the current intelligent event; otherwise, the process proceeds to step S309.
Step S308, the time point information and the time period information of the current intelligent event are modified, so that the current intelligent event and the new intelligent event are staggered in time.
Step S309, modify the time point information and the time period information of the new smart event so as to stagger the time of the current smart event and the new smart event.
And step S310, recording track information corresponding to the current intelligent event and/or the new intelligent event into a cruise track time axis.
It should be noted that, for specific examples in this embodiment, reference may be made to examples described in the foregoing embodiments and optional implementations, and details of this embodiment are not described herein again.
The present embodiment provides a control device for automatic cruise of a pan/tilt head, fig. 4 is a block diagram of a control device for automatic cruise of a pan/tilt head according to an embodiment of the present application, and as shown in fig. 4, the device includes: the setting module 41 is used for setting the pan-tilt cruise preset points and acquiring a monitoring picture corresponding to each preset point; the judging module 42 is configured to judge whether a preset intelligent event occurs in the monitoring picture; a determining module 43, configured to determine, when an intelligent event occurs in the monitoring screen, trajectory information corresponding to the intelligent event, where the trajectory information includes: presetting point information corresponding to a monitoring picture to which the intelligent event belongs and time information corresponding to the intelligent event; and the generating module 44 is configured to update the preset cruise track time axis according to the preset point information and the time information, and control the pan-tilt to automatically cruise according to the updated cruise track time axis.
In some embodiments, the time information includes time point information when a moving target corresponding to the smart event moves to a preset point corresponding to a monitoring picture to which the smart event belongs, and time period information when the holder stays at the preset point; the determining module 43 is further configured to obtain a first distance from the occurrence location of the smart event to a preset point corresponding to the smart event; acquiring the moving speed of a moving target corresponding to the intelligent event; determining time point information when the moving target moves to a preset point according to the moving speed and the first distance, and determining time period information of the holder staying at the preset point according to the time point information and preset holder staying time corresponding to the preset point; determining that the track information corresponding to the smart event includes time point information and time period information
In some embodiments, the determining module 43 is further configured to obtain a second distance from the central position of the monitoring screen corresponding to the smart event to the preset point; determining a first distance from the occurrence point of the intelligent event to a preset point according to the position of the occurrence point in the monitoring picture and the second distance
In some of these embodiments, the trajectory information further includes priority information corresponding to the smart event; the generating module 44 is further configured to determine whether there is an intelligent event with overlapping time in the plurality of intelligent events according to the time information corresponding to each intelligent event; and under the condition that the intelligent events with time overlap exist in the plurality of intelligent events, recording the track information corresponding to the intelligent event with the highest priority in the intelligent events with time overlap into a cruise track time axis according to the priority information corresponding to the intelligent events.
In some embodiments, the generating module 44 is further configured to obtain time period information corresponding to each smart event, and determine whether there is time period information with overlapping time points in the multiple pieces of time period information; and determining that the intelligent event corresponding to the time period information with the overlapped time points is the intelligent event with the overlapped time.
In some embodiments, the generating module 44 is further configured to determine that the first smart event has a higher priority than the second smart event according to the priority information corresponding to the smart events in the case that there are smart events with overlapping time in the plurality of smart events; determining overlapping time period information of the first intelligent event and the second intelligent event according to the time period information corresponding to the first intelligent event and the time period information corresponding to the second intelligent event; cutting off overlapped time period information in the time period information corresponding to the second intelligent event, determining corrected time point information and corrected time period information corresponding to the second intelligent event, and determining that corrected track information corresponding to the second intelligent event comprises corrected time point information and corrected time period information; and respectively recording the track information corresponding to the first intelligent event and the corrected track information corresponding to the second intelligent event into a cruise track time shaft.
In some embodiments, the generating module 44 is further configured to control the pan/tilt head to automatically cruise according to a preset cruise track time axis when no smart event occurs in the monitoring screen.
It should be noted that, for specific examples in this embodiment, reference may be made to examples described in the foregoing embodiments and optional implementations, and details of this embodiment are not described herein again.
The present embodiment further provides an electronic device, fig. 5 is a schematic diagram of a hardware structure of the electronic device according to an embodiment of the present application, and as shown in fig. 5, the electronic device includes a memory 504 and a processor 502, a computer program is stored in the memory 504, and the processor 502 is configured to execute the computer program to perform the steps in any of the method embodiments.
Specifically, the processor 502 may include a Central Processing Unit (CPU), or A Specific Integrated Circuit (ASIC), or may be configured to implement one or more Integrated circuits of the embodiments of the present Application.
The processor 502 reads and executes the computer program instructions stored in the memory 504 to implement the control method for pan-tilt auto-cruise in any of the above embodiments.
Optionally, the electronic apparatus may further include a transmission device 506 and an input/output device 508, wherein the transmission device 506 is connected to the processor 502, and the input/output device 508 is connected to the processor 502.
Optionally, in this embodiment, the processor 502 may be configured to execute the following steps by a computer program:
and S1, setting the pan-tilt cruise preset points, and acquiring a monitoring picture corresponding to each preset point.
And S2, judging whether a preset intelligent event occurs in the monitoring picture.
And S3, when the intelligent event occurs in the monitoring picture, determining track information corresponding to the intelligent event, wherein the track information comprises: and the preset point information corresponds to the monitoring picture to which the intelligent event belongs, and the time information corresponds to the intelligent event.
And S4, updating the preset cruise track time axis according to the preset point information and the time information, and controlling the cradle head to automatically cruise according to the updated cruise track time axis.
It should be noted that, for specific examples in this embodiment, reference may be made to examples described in the foregoing embodiments and optional implementations, and details of this embodiment are not described herein again.
In addition, by combining the control method for automatic cruising of the holder in the above embodiment, the embodiment of the present application can provide a storage medium to implement. The storage medium having stored thereon a computer program; the computer program, when executed by a processor, implements any of the above-described embodiments of the control methods for pan-tilt auto-cruise.
It should be understood by those skilled in the art that various features of the above embodiments can be combined arbitrarily, and for the sake of brevity, all possible combinations of the features in the above embodiments are not described, but should be considered as within the scope of the present disclosure as long as there is no contradiction between the combinations of the features.
The above examples are merely illustrative of several embodiments of the present application, and the description is more specific and detailed, but not to be construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.
Claims (10)
1. A control method for automatic cruise of a holder is characterized by comprising the following steps:
setting a tripod head cruise preset point, and acquiring a monitoring picture corresponding to each preset point;
judging whether a preset intelligent event occurs in the monitoring picture;
determining track information corresponding to the intelligent event when the intelligent event occurs in the monitoring picture, wherein the track information comprises: presetting point information corresponding to the monitoring picture to which the intelligent event belongs and time information corresponding to the intelligent event;
and updating a preset cruise track time axis according to the preset point information and the time information, and controlling the holder to automatically cruise according to the updated cruise track time axis.
2. The control method for automatic cruise of a pan-tilt according to claim 1, characterized in that said time information comprises time point information when a moving object corresponding to said smart event moves to a preset point corresponding to a monitoring picture to which said smart event belongs, and time period information when said pan-tilt stays at said preset point; determining trajectory information corresponding to the smart event includes:
acquiring a first distance from an occurrence place of the intelligent event to a preset point corresponding to a monitoring picture to which the intelligent event belongs;
acquiring the moving speed of a moving target corresponding to the intelligent event;
determining time point information when the moving target moves to the preset point according to the moving speed and the first distance, and determining time period information of the cloud deck staying at the preset point according to the time point information and preset cloud deck staying time corresponding to the preset point;
determining that the track information corresponding to the smart event includes the time point information and the time period information.
3. The pan-tilt automatic cruise control method according to claim 2, wherein determining a first distance from an occurrence location of the smart event to a preset point corresponding to the monitoring picture to which the smart event belongs comprises:
acquiring a second distance from the central position of the monitoring picture corresponding to the intelligent event to the preset point;
and determining a first distance from the occurrence place of the intelligent event to the preset point according to the position of the occurrence place in the monitoring picture and the second distance.
4. The pan-tilt automatic cruise control method according to claim 2, characterized in that said trajectory information further comprises priority information corresponding to said smart events; according to the preset point information and the time information, updating a preset cruise track time axis comprises:
judging whether intelligent events with overlapped time exist in the plurality of intelligent events according to the time information corresponding to each intelligent event;
and under the condition that the intelligent events with time overlap exist in the plurality of intelligent events, recording the track information corresponding to the intelligent event with the highest priority in the intelligent events with time overlap into the cruise track time axis according to the priority information corresponding to the intelligent events.
5. The control method for automatic cruise of a pan/tilt head according to claim 4, wherein determining whether there are smart events with overlapping time in the plurality of smart events according to the time information corresponding to each smart event comprises:
acquiring time period information corresponding to each intelligent event, and judging whether time period information with overlapped time points exists in the plurality of time period information or not;
and determining that the intelligent event corresponding to the time period information with the overlapped time points is the intelligent event with the overlapped time.
6. A control method for automatic cruise of a pan-tilt according to claim 4, characterized in that it further comprises:
under the condition that time-overlapped intelligent events exist in a plurality of intelligent events, determining that the priority of a first intelligent event is higher than that of a second intelligent event according to priority information corresponding to the intelligent events;
determining overlapping time period information of the first intelligent event and the second intelligent event according to time period information corresponding to the first intelligent event and time period information corresponding to the second intelligent event;
cutting off overlapped time period information in the time period information corresponding to the second intelligent event, determining corrected time point information and corrected time period information corresponding to the second intelligent event, and determining that corrected track information corresponding to the second intelligent event comprises the corrected time point information and the corrected time period information;
and respectively recording track information corresponding to the first intelligent event and corrected track information corresponding to the second intelligent event into the cruise track time axis.
7. A control method for automatic cruise of a pan-tilt according to claim 1, characterized in that it further comprises:
and under the condition that the intelligent event does not occur in the monitoring picture, controlling the holder to automatically cruise according to a preset cruise track time axis.
8. A control device for automatic cruise of a pan-tilt head, characterized in that it comprises:
the device comprises a setting module, a monitoring module and a control module, wherein the setting module is used for setting the cruising preset points of the holder and acquiring a monitoring picture corresponding to each preset point;
the judging module is used for judging whether a preset intelligent event occurs in the monitoring picture;
a determining module, configured to determine, when the smart event occurs in the monitoring screen, trajectory information corresponding to the smart event, where the trajectory information includes: presetting point information corresponding to the monitoring picture to which the intelligent event belongs and time information corresponding to the intelligent event;
and the generation module is used for updating a preset cruise track time axis according to the preset point information and the time information and controlling the holder to automatically cruise according to the updated cruise track time axis.
9. An electronic device comprising a memory and a processor, characterized in that the memory has stored therein a computer program, and the processor is configured to execute the computer program to perform the method for controlling pan-tilt auto-cruise according to any of claims 1 to 7.
10. A storage medium, characterized in that it stores a computer program, wherein said computer program, when executed by a processor, implements a control method for pan-tilt auto-cruise according to any of claims 1 to 7.
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