CN113824927B - Control method and device for automatic cruising of tripod head, electronic device and storage medium - Google Patents
Control method and device for automatic cruising of tripod head, electronic device and storage medium Download PDFInfo
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- CN113824927B CN113824927B CN202110948316.3A CN202110948316A CN113824927B CN 113824927 B CN113824927 B CN 113824927B CN 202110948316 A CN202110948316 A CN 202110948316A CN 113824927 B CN113824927 B CN 113824927B
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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 cruising of a cradle head, wherein the method comprises the following steps: setting a cradle head cruising preset point and acquiring a monitoring picture corresponding to each preset point; judging whether a preset intelligent event occurs in the monitoring picture; in the case that an intelligent event occurs in the monitoring picture, determining track information corresponding to the intelligent event, wherein the track information comprises: preset 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 cruising 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 cruising track time axis. According to the method and the device for capturing the key pictures, the problem that the capturing rate of the cradle head to the key pictures in video monitoring in the related technology is low is solved, and the technical effect of improving the capturing rate of the cradle head to the key pictures in video monitoring is achieved.
Description
Technical Field
The present disclosure relates to the field of video monitoring technologies, and in particular, to a control method and apparatus for automatic cruise of a pan-tilt, an electronic device, and a storage medium.
Background
The cradle head is supporting equipment for installing and fixing a camera, and is divided into a fixed cradle head and an electric cradle head. The electric cradle head is suitable for scanning and monitoring a large range, and can expand the monitoring range of a camera. The movement of the electric cradle head is realized by a cradle head motor, the cradle head motor receives signals from a controller to accurately run and position, and under the action of control signals, the camera shooting equipment is driven to move in one or more directions by the cooperation of a shaft arm of the cradle head and the motor, so that images are shot in a larger range, and a camera on the cradle head can automatically scan a monitoring area and can track a monitored object under the control of a monitoring center operator.
Because the range of the scene which can be seen when the camera is at a fixed visual angle is prior, when each direction and angle in the monitoring range are required to be effectively monitored, a person on duty cannot perform uninterrupted cradle head control on a plurality of cameras, so that the cradle head automatic cruising function is generated, a cruising track is preset in the cradle head automatic cruising process, and the cradle head is controlled to rotate circularly according to the track.
At present, the generation and modification of the cruise track of the cradle head in the related art all need to be manually participated, or the cruise track is automatically generated based on event detection data of the cradle head, however, the correction timeliness of the cruise track is poor under the condition that the cruise track needs to be modified; the information in the area which cannot be monitored by the holder cannot be captured and utilized in time because the monitoring picture outside the holder is not acquired, and before dynamic information such as a key person, a key vehicle and the like enter the monitoring picture, the holder cannot timely and accurately reach a corresponding preset point to wait for the entering of the person and the vehicle, so that the capturing rate of the holder to the key picture data is low and not timely.
At present, no effective solution is proposed for the problem of low capture rate of a cradle head to a key picture in video monitoring 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 tripod head, which are used for at least solving the problem that the capturing rate of a tripod head on a key picture in video monitoring in the related technology is low.
In a first aspect, an embodiment of the present application provides a control method for automatic cruise of a pan/tilt, including: setting a cradle head cruising 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 under the condition that the intelligent event occurs in the monitoring picture, wherein the track information comprises: preset 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 cruising 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 cruising track time axis.
In some embodiments, the time information includes time point information when a moving target corresponding to the intelligent event moves to a preset point corresponding to a monitoring picture to which the intelligent event belongs, and time period information when the pan-tilt stays at the preset point; determining track information corresponding to the intelligent 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 object moves to the preset point according to the moving speed and the first distance, and determining time period information of the holder on the preset point according to the time point information and preset holder stay time corresponding to the preset point; determining that the track information corresponding to the intelligent event comprises the time point information and the time period information.
In some embodiments, determining the first distance from the occurrence location of the smart event to the preset point corresponding to the 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; updating the preset cruising track time axis according to the preset point information and the time information comprises the following steps: judging whether the intelligent events with time overlapping exist in the plurality of intelligent events according to the time information corresponding to each intelligent event; under the condition that time-overlapped intelligent events exist in a plurality of intelligent events, track information corresponding to the intelligent event with the highest priority in the intelligent events with the time-overlapped intelligent events is recorded into the cruise track time shaft according to priority information corresponding to the intelligent events.
In some embodiments, determining whether there is a time overlapping smart event in the plurality of smart events according to the time information corresponding to each smart event includes: acquiring time period information corresponding to each intelligent event, and judging whether time period information with overlapping time points exists in the plurality of time period information; and determining the intelligent event corresponding to the time period information with overlapped existence time points as the intelligent event with overlapped existence 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 the time period information corresponding to the first intelligent event and the time period information corresponding to the second intelligent event; cutting out overlapping time period information in the time period information corresponding to the second intelligent event, determining correction time point information and correction time period information corresponding to the second intelligent event, and determining that correction track information corresponding to the second intelligent event comprises the correction time point information and the correction time period information; track information corresponding to the first intelligent event and corrected track information corresponding to the second intelligent event are recorded in the cruise track time axis respectively.
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 cradle head 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 cradle head cruising, where the device includes: the setting module is used for setting a cradle head cruising preset point 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; the determining module is configured to determine track information corresponding to the intelligent event when the intelligent event occurs in the monitoring screen, where the track information includes: preset point information corresponding to a 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 cruising 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 cruising 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 run the computer program to execute the control method for auto-cruise control of a pan/tilt head 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, where the computer program when executed by a processor implements a control method for auto-cruise control of a pan/tilt head according to the first aspect.
Compared with the related art, the control method, the device, the electronic device and the storage medium for the automatic cruise of the cradle head provided by the embodiment of the application are characterized in that the cradle head cruise preset points are set, a monitoring picture corresponding to each preset point is obtained, whether a preset intelligent event occurs in the monitoring picture is judged, and track information corresponding to the intelligent event is determined under the condition that the intelligent event occurs in the monitoring picture, wherein the track information comprises the following components: and finally, updating a preset cruising track time axis according to the preset point information and the time information corresponding to the intelligent event, controlling the cradle head to automatically cruise according to the updated cruising track time axis, solving the problem of low capturing rate of the cradle head on the key picture in video monitoring in the related technology, and realizing the technical effect of improving the capturing rate of the cradle head on the key picture in video monitoring.
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 other features, objects, and advantages 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 embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:
FIG. 1 is a flow chart of a control method of pan-tilt auto-cruise according to an embodiment of the present application;
fig. 2 is a schematic structural view of a cruise trajectory time axis according to an embodiment of the present application;
FIG. 3 is a flow chart of a control method of pan-tilt auto-cruise according to a preferred embodiment of the present application;
fig. 4 is a block diagram of a control device for pan-tilt auto-cruise 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 is described and illustrated below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden on the person of ordinary skill in the art based on the embodiments provided herein, are intended to be within the scope of the present application. Moreover, it should be appreciated that while such a development effort might be complex and lengthy, it would nevertheless be a routine undertaking of design, fabrication, or manufacture for those of ordinary skill having the benefit of this disclosure, and thus should not be construed as having the benefit of this disclosure.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases 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. It is to be expressly and implicitly understood by those of ordinary skill in the art that the embodiments described herein can be combined with other embodiments without conflict.
Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs. Reference to "a," "an," "the," and similar terms herein do not denote a limitation of quantity, but rather denote the singular or plural. The terms "comprising," "including," "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to only those steps or elements but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. The terms "connected," "coupled," and the like in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The term "plurality" as used herein means greater than or equal to two. "and/or" describes an association relationship of an association object, meaning that there may be three relationships, e.g., "a and/or B" may mean: a exists alone, A and B exist together, and B exists alone. The terms "first," "second," "third," and the like, as used herein, are merely distinguishing between similar objects and not representing a particular ordering of objects.
The embodiment provides a control method for automatic cradle head cruising, fig. 1 is a flowchart of a control method for automatic cradle head cruising according to an embodiment of the application, as shown in fig. 1, the method includes:
step S101, setting a cradle head cruising preset point and acquiring a monitoring picture corresponding to each preset point.
In this embodiment, when there are multiple entrances in the monitoring scene, for example, a road intersection, a hall with multiple entrances and exits, a cruising preset point may be set at each entrance and exit, and at the same time, each preset point corresponds to a camera, and the monitoring range of each camera is the entrance area corresponding to the corresponding preset point; the cradle head can be arranged at the centers of a plurality of entrances and exits, so that the entrance area corresponding to each preset point can be monitored when the cradle head automatically cruises.
Step S102, judging whether a preset intelligent event occurs in the monitoring picture.
In this embodiment, the pan-tilt and the camera may be both connected to each channel of the back-end storage device, and the back-end storage device may receive the smart events uploaded by the pan-tilt and the camera; or through the intelligent analysis function of the back-end storage device, the monitoring images uploaded by the cradle head and the camera are subjected to intelligent analysis, and whether a preset intelligent event occurs in the monitoring images is judged.
In the above embodiment, the judging process of the intelligent event may be performed in the pan-tilt and camera, or may be performed in the back-end storage device, where the intelligent event is a trigger time for triggering a subsequent intelligent analysis of the track information corresponding to the intelligent event, and the intelligent event includes, but is not limited to, at least one of the following: personnel flow events, vehicle flow events, fighting events, vehicle accident events, etc.
Step S103, determining track information corresponding to the intelligent event when the intelligent event occurs in the monitoring picture, wherein the track information comprises: preset point information corresponding to a monitoring picture to which the intelligent event belongs and time information corresponding to the intelligent event.
And step S104, updating a preset cruising 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 cruising track time axis.
In this embodiment, the preset point information is used to mark a preset point corresponding to a current intelligent event, the time information is used to mark when the cradle head reaches the preset point and how long the cradle head stays at the preset point, by recording track information corresponding to various intelligent events on a cruising track time axis, the preset cruising track time axis can be updated, and the cradle head is controlled to automatically cruise according to the updated cruising track time axis, so that the cradle head can timely and accurately wait for the entrance of a target or a vehicle at the corresponding preset point before the dynamic information of a key target, a key vehicle and the like enters a picture, and further the capturing rate of the cradle head on the key picture in video monitoring is improved.
Through the steps S101 to S104, a cradle head cruise preset point is set, a monitoring picture corresponding to each preset point is obtained, whether a preset intelligent event occurs in the monitoring picture is judged, and track information corresponding to the intelligent event is determined under the condition that the intelligent event occurs in the monitoring picture, wherein the track information comprises: and finally, updating a preset cruising 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 cruising track time axis. According to the method and the device for capturing the key pictures, the problem that the capturing rate of the cradle head to the key pictures in video monitoring in the related technology is low is solved, and the technical effect of improving the capturing rate of the cradle head to the key pictures in video monitoring is achieved.
In some embodiments, the time information includes time point information when a moving object corresponding to the intelligent event moves to a preset point corresponding to a monitoring picture to which the intelligent event belongs, and time period information when the pan-tilt stays at the preset point; the track information corresponding to the intelligent event is determined by the following steps:
step 1, obtaining 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 object corresponding to the intelligent event.
And step 3, determining time point information when the moving object 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 the first distance from the occurrence location of the smart event to the 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 a 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 the above embodiment, the actual distance from the center position of the monitoring picture acquired by each camera to the corresponding preset point, that is, the second distance, may be acquired in advance according to the actual application scenario; after the occurrence of the intelligent event is detected, 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 an intelligent analysis module of the camera, for example: by arranging two parallel tripwires, the moving speed of the moving object can be calculated based on the position information and the time point information of the two tripwire invasion.
In this embodiment, the time point information of the moving target reaching the corresponding preset point may be t1=t0+l/S, where T0 is the current time point information, L is the first distance, S is the moving speed of the moving target, and if a calculation error E0 is preset, the time point information of the moving target reaching the corresponding preset point may be t=t1-E0; the information of the time period of the holder stay at the preset point is si=2xe0+s0, where S0 is a preset holder stay time corresponding to the preset point.
In the embodiment, based on the intelligent event acquired from the monitoring picture, the time point information and the time period information of the corresponding preset points on the cruising track time axis are generated, so that the sequence of each preset point on the cruising track time axis is acquired, the cruising track of the tripod head can be generated or corrected in real time according to the intelligent event, and compared with the method in the prior art that the tripod head is controlled to automatically cruise through setting the fixed cruising track, the method and the device can dynamically and intelligently generate or correct the cruising track of the tripod head, further improve the capturing rate of the tripod head to the key picture, and improve the use experience of a user.
In some of these embodiments, the track information further includes priority information corresponding to the smart event; updating the preset cruising track time axis according to the preset point information and the time information is implemented by the following steps:
and step 1, judging whether the intelligent events with time overlapping exist in the plurality of intelligent events according to the time information corresponding to each intelligent event.
And 2, under the condition that time-overlapped intelligent events exist in the plurality of intelligent events, recording track information corresponding to the intelligent event with the highest priority in the intelligent events with the time-overlapped existence into a cruise track time shaft according to the priority information corresponding to the intelligent events.
In this embodiment, the priority order of the various intelligent events may be preset by the user, for example, the priority of the fighting event is higher than that of the personnel flow event and the vehicle flow event, and the priority of the vehicle accident event is higher than that of the fighting event, and so on.
Fig. 2 is a schematic structural diagram of a cruise track time axis according to an embodiment of the present application, as shown in fig. 2, in this embodiment, track information may include event information, priority information, time point information, stay time period information, and corresponding preset point information, and when intelligent events occur at the same time at a plurality of preset points, track information corresponding to an 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 in real time.
As shown in fig. 2, when the cradle head performs automatic cruising according to the updated cruising track time axis, the cradle head reaches a preset point 1 at time t0, stays for a corresponding time according to the stay time period information recorded in the track information, then reaches a preset point 2 at time t1, reaches a preset point 5 at time t2, and so on.
In the above embodiment, under the condition that no intelligent event occurs in the monitoring screen, the cradle head may be controlled to automatically perform the cruise according to the preset cruise track time axis (i.e., the cruise track time axis that is not updated).
The method comprises the steps of setting the track information corresponding to the intelligent event, and recording the track information corresponding to the intelligent event in a cruise track time axis to control the cradle head to automatically cruise according to the cruise track time axis, wherein priority information corresponding to the track information preset by the user is the lowest, so that when the intelligent event occurs, the track information corresponding to the intelligent event can be covered on the track information preset by the user in time, and the capturing rate of the cradle head to a key picture in the automatic cruise process is ensured.
In some embodiments, determining whether there is a time overlapping smart event in the plurality of smart events according to the time information corresponding to each smart event may include: acquiring time period information corresponding to each intelligent event, and judging whether time period information with overlapping time points exists in the plurality of time period information; and determining the intelligent event corresponding to the time period information with overlapped existence time points as the intelligent event with overlapped existence time.
In this embodiment, it may be assumed that the existing smart event a has time point information of T0 and time period information of Si0, where in the smart event a time period where the cradle head stays at a corresponding preset point is [ T0, t0+si0], and in the other smart event B, a time period where the cradle head stays at a corresponding preset point is [ T1, t1+si1], and if there is an overlapping time point of [ T0, t0+si0] and [ T1, t1+si1], it is determined that the smart event a and the smart event B are smart events with overlapping time.
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 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.
And 3, cutting out overlapping time period information in the time period information corresponding to the second intelligent event, determining correction time point information and correction time period information corresponding to the second intelligent event, and determining that the correction track information corresponding to the second intelligent event comprises the correction time point information and the correction time period information.
And 4, respectively recording track information corresponding to the first intelligent event and corrected track information corresponding to the second intelligent event into a cruise track time axis.
In the embodiment, under the condition that time-overlapping intelligent events exist in a plurality of intelligent events, overlapping time period information can be cut off from time period information corresponding to the intelligent events with low priority, correction time point information and correction time period information are obtained, correction track information is further obtained, the correction track information is recorded in a cruising track time axis, the purpose of correcting the cruising track of the tripod head in real time is achieved, and when a plurality of preset points are monitored by the tripod head at the same time, the tripod head can more effectively perform time-sharing multiplexing, so that the tripod head can optimally capture a key picture in automatic cruising, and the key picture can be captured more timely.
Fig. 3 is a flowchart of a control method for pan-tilt auto-cruise according to a preferred embodiment of the present application, as shown in fig. 3, in some embodiments, the method includes:
step S301, a current smart event occurring in the monitoring screen is acquired.
Step S302, according to the position of the occurrence place of the current intelligent event in the monitoring picture and the position of the preset point corresponding to the current intelligent event, calculating to obtain the distance between the occurrence place of the current intelligent event and the preset point.
Step S303, determining the moving speed of the moving object corresponding to the current intelligent event by utilizing an intelligent analysis module of the camera and/or the rear-end storage device.
Step S304, calculating to obtain time point information of the moving object reaching a preset point, and calculating to obtain 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 which is overlapped with the current intelligent event time exists in a cruise track time axis of the cradle head, and entering step S307 under the condition that the new intelligent event which is overlapped with the current intelligent event time exists in the cruise track time axis of the cradle head; otherwise, the process advances to step S310.
Step S307, judging whether the priority of the new intelligent event is higher than the current intelligent event, and entering step S308 under the condition that the priority of the new intelligent event is higher than the current intelligent event; otherwise, the process advances to step S309.
In step S308, the time point information and the time period information of the current smart event are modified so that the current smart event is time-interleaved with the new smart event.
In step S309, the time point information and the time period information of the new smart event are modified so that the current smart event is time-interleaved with the new smart event.
Step S310, track information corresponding to the current intelligent event and/or the new intelligent event is recorded in a cruising track time axis.
It should be noted that, specific examples in this embodiment may refer to examples described in the foregoing embodiments and alternative implementations, and this embodiment is not repeated herein.
The embodiment provides a control device for automatic cradle head cruising, fig. 4 is a block diagram of the control device for automatic cradle head cruising according to the embodiment of the application, as shown in fig. 4, the device includes: the setting module 41 is configured to set a tripod head cruise preset point and obtain a monitoring picture corresponding to each preset point; a judging module 42, configured to judge whether a preset intelligent event occurs in the monitoring screen; the determining module 43 is configured to determine, in a case where an intelligent event occurs in the monitoring screen, track information corresponding to the intelligent event, where the track information includes: preset point information corresponding to a monitoring picture to which the intelligent event belongs and time information corresponding to the intelligent event; the generating module 44 is configured to update a preset cruising track time axis according to the preset point information and the time information, and control the cradle head to automatically cruise according to the updated cruising track time axis.
In some embodiments, the time information includes time point information when a moving object corresponding to the intelligent event moves to a preset point corresponding to a monitoring picture to which the intelligent event belongs, and time period information when the pan-tilt 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 an intelligent event; determining time point information when the moving object 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 track information corresponding to a smart event includes time point information and time period information
In some of these embodiments, the determining module 43 is further configured to obtain a second distance from the center position of the monitoring screen corresponding to the smart event to the preset point; 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 track information further includes priority information corresponding to the smart event; the generating module 44 is further configured to determine whether there is a time overlapping smart event in the plurality of smart events according to the time information corresponding to each smart event; when a plurality of intelligent events exist in a time overlapping mode, track information corresponding to the intelligent event with the highest priority in the intelligent events with the time overlapping mode is recorded into a cruising track time shaft according to priority information corresponding to the intelligent events.
In some embodiments, the generating module 44 is further configured to obtain time slot information corresponding to each smart event, and determine whether there is time slot information overlapping time points in the plurality of time slot information; and determining the intelligent event corresponding to the time period information with overlapped existence time points as the intelligent event with overlapped existence time.
In some of these embodiments, the generating module 44 is further configured to determine, in the event that there is a time overlapping one of the plurality of smart events, that the first smart event has a higher priority than the second smart event based on the priority information corresponding to the smart event; 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 out overlapping time period information in the time period information corresponding to the second intelligent event, determining correction time point information and correction time period information corresponding to the second intelligent event, and determining that the correction track information corresponding to the second intelligent event comprises the correction time point information and the correction time period information; track information corresponding to the first intelligent event and corrected track information corresponding to the second intelligent event are recorded in a cruise track time axis respectively.
In some embodiments, the generating module 44 is further configured to control the pan-tilt to automatically cruise according to a preset cruise track time axis if no intelligent event occurs in the monitor screen.
It should be noted that, specific examples in this embodiment may refer to examples described in the foregoing embodiments and alternative implementations, and this embodiment is not repeated herein.
The present embodiment also provides an electronic device, and 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, where the memory 504 stores a computer program, and the processor 502 is configured to execute the computer program to perform steps in any one of the method embodiments described above.
In particular, the processor 502 may include a Central Processing Unit (CPU), or an application specific integrated circuit (Application Specific Integrated Circuit, abbreviated as ASIC), or may be configured to implement one or more integrated circuits of embodiments of the present application.
Memory 504 may include, among other things, mass storage for data or instructions. By way of example, and not limitation, memory 504 may comprise a Hard Disk Drive (HDD), floppy Disk Drive, solid state Drive (Solid State Drive, SSD), flash memory, optical Disk, magneto-optical Disk, tape, or universal serial bus (Universal Serial Bus, USB) Drive, or a combination of two or more of the foregoing. The memory 504 may include removable or non-removable (or fixed) media, where appropriate. The memory 504 may be internal or external to the control device for pan-tilt auto-cruise, where appropriate. In a particular embodiment, the memory 504 is a Non-Volatile (Non-Volatile) memory. In a particular embodiment, the Memory 504 includes Read-Only Memory (ROM) and random access Memory (Random Access Memory, RAM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (Programmable Read-Only Memory, abbreviated PROM), an erasable PROM (Erasable Programmable Read-Only Memory, abbreviated EPROM), an electrically erasable PROM (Electrically Erasable Programmable Read-Only Memory, abbreviated EEPROM), an electrically rewritable ROM (Electrically Alterable Read-Only Memory, abbreviated EAROM), or a FLASH Memory (FLASH), or a combination of two or more of these. The RAM may be Static Random-Access Memory (SRAM) or dynamic Random-Access Memory (Dynamic Random Access Memory DRAM), where the DRAM may be a fast page mode dynamic Random-Access Memory (Fast Page Mode Dynamic Random Access Memory FPMDRAM), extended data output dynamic Random-Access Memory (Extended Date Out Dynamic Random Access Memory EDODRAM), synchronous dynamic Random-Access Memory (Synchronous Dynamic Random-Access Memory SDRAM), or the like, as appropriate.
Memory 504 may be used to store or cache various data files that need to be processed and/or used for communication, as well as possible computer program instructions for execution by processor 502.
The processor 502 reads and executes the computer program instructions stored in the memory 504 to implement any of the control methods for pan-tilt auto-cruise in the above embodiments.
Optionally, the electronic apparatus may further include a transmission device 506 and an input/output device 508, where the transmission device 506 is connected to the processor 502 and the input/output device 508 is connected to the processor 502.
Alternatively, in this embodiment, the processor 502 may be configured to execute the following steps by a computer program:
s1, setting a cradle head cruising preset point and acquiring a monitoring picture corresponding to each preset point.
S2, judging whether a preset intelligent event occurs in the monitoring picture.
S3, under the condition that an intelligent event occurs in the monitoring picture, determining track information corresponding to the intelligent event, wherein the track information comprises: preset point information corresponding to a monitoring picture to which the intelligent event belongs and time information corresponding to the intelligent event.
And S4, updating a preset cruising 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 cruising track time axis.
It should be noted that, specific examples in this embodiment may refer to examples described in the foregoing embodiments and alternative implementations, and this embodiment is not repeated herein.
In addition, in combination with the control method for automatic cruise of the pan-tilt head in the above embodiment, the embodiment of the application may provide a storage medium for implementation. The storage medium has a computer program stored thereon; the computer program when executed by the processor implements any one of the control methods for automatic cruise control of the pan-tilt in the above embodiments.
It should be understood by those skilled in the art that the technical features of the above embodiments may be combined in any manner, and for brevity, all of the possible combinations of the technical features of the above embodiments are not described, however, they should be considered as being within the scope of the description provided herein, as long as there is no contradiction between the combinations of the technical features.
The foregoing examples merely represent several embodiments of the present application, the description of which is more specific and detailed and which should not be construed as limiting the scope of the present application in any way. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application shall be subject to the appended claims.
Claims (9)
1. The control method for the automatic cruising of the tripod head is characterized by comprising the following steps of:
setting a cradle head cruising 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 under the condition that the intelligent event occurs in the monitoring picture, wherein the track information comprises: preset point information corresponding to a monitoring picture to which the intelligent event belongs and time information corresponding to the intelligent event; the time information comprises time point information when a moving target corresponding to the intelligent event moves to a preset point corresponding to a monitoring picture to which the intelligent event belongs, and time period information when the holder stays at the preset point; wherein the determining track information corresponding to the intelligent 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 object moves to the preset point according to the moving speed and the first distance, and determining time period information of the holder on the preset point according to the time point information and preset holder stay time corresponding to the preset point;
determining that the track information corresponding to the intelligent event comprises the time point information and the time period information;
and updating a preset cruising 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 cruising track time axis.
2. The control method of pan-tilt auto-cruise according to claim 1, wherein determining a first distance from an occurrence location of the smart event to a preset point corresponding to a monitor screen 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.
3. The control method of pan-tilt auto-cruise according to claim 1, wherein the trajectory information further includes priority information corresponding to the smart event; updating the preset cruising track time axis according to the preset point information and the time information comprises the following steps:
judging whether the intelligent events with time overlapping exist in the plurality of intelligent events according to the time information corresponding to each intelligent event;
under the condition that time-overlapped intelligent events exist in a plurality of intelligent events, track information corresponding to the intelligent event with the highest priority in the intelligent events with the time-overlapped intelligent events is recorded into the cruise track time shaft according to priority information corresponding to the intelligent events.
4. The control method for automatic cruise of pan-tilt according to claim 3, wherein determining whether there is a time overlapping smart event among 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 overlapping time points exists in the plurality of time period information;
and determining the intelligent event corresponding to the time period information with overlapped existence time points as the intelligent event with overlapped existence time.
5. A control method of pan-tilt auto-cruise according to claim 3, characterized in that 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 the time period information corresponding to the first intelligent event and the time period information corresponding to the second intelligent event;
cutting out overlapping time period information in the time period information corresponding to the second intelligent event, determining correction time point information and correction time period information corresponding to the second intelligent event, and determining that correction track information corresponding to the second intelligent event comprises the correction time point information and the correction time period information;
track information corresponding to the first intelligent event and corrected track information corresponding to the second intelligent event are recorded in the cruise track time axis respectively.
6. The control method of pan-tilt auto-cruise according to claim 1, characterized in that the method further comprises:
and under the condition that the intelligent event does not occur in the monitoring picture, controlling the cradle head to automatically cruise according to a preset cruise track time axis.
7. A control device for automatic cruising of a pan/tilt head, the device comprising:
the setting module is used for setting a cradle head cruising preset point 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;
the determining module is configured to determine track information corresponding to the intelligent event when the intelligent event occurs in the monitoring screen, where the track information includes: preset point information corresponding to a monitoring picture to which the intelligent event belongs and time information corresponding to the intelligent event; the time information comprises time point information when a moving target corresponding to the intelligent event moves to a preset point corresponding to a monitoring picture to which the intelligent event belongs, and time period information when the holder stays at the preset point; wherein the determining track information corresponding to the intelligent 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 object moves to the preset point according to the moving speed and the first distance, and determining time period information of the holder on the preset point according to the time point information and preset holder stay time corresponding to the preset point;
determining that the track information corresponding to the intelligent event comprises the time point information and the time period information;
and the generation module is used for updating a preset cruising 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 cruising track time axis.
8. An electronic device comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to run the computer program to perform the control method of pan-tilt auto-cruise according to any one of claims 1 to 6.
9. A storage medium having a computer program stored therein, wherein the computer program, when executed by a processor, implements the control method of pan-tilt auto-cruise of any one of claims 1 to 6.
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